I see. Thanks for clarifying that up!
Posts by Morthe1st
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We have a M-6iB robot in my campus that had a faulty cable running from robot to the control cabinet. It caused a SRVO-138 alarm for 6 axis. Before we found out about the cable I tried mastering using both the zero point and quick master in master/cal.
Now the robot is working again and I can jog it in joint. The problem is that when i jog the robot to it's witness marks, the values in joint are 0,0,0,0,0,0 but when i change to world(cartesian) the coordinates are nowhere close to 0. If i try to move the robot in world it causes a singularity alarm.
Can I change the home position somehow or do I have to master again? What is the correct procedure for mastering in this situation? I have written down the old master_count and ref_count values but there is no backup available.
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Nevermind. I came back to school today and booted the robot and it's working now. I got another problem though, that although I can jog the robot to 0-position and save position, that position has different values than in menu -> position. Do I have to reset the home position from somewhere?
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I'm a student and recently I ran into the SRVO-038 error using R-30iA with my school robot. I used this procedure https://2rirobotics.com/blog/ufaqs/srv…pulse-mismatch/ but the robot failed to calibrate.
After that I followed post #11 here Mastering by Direct Entry of Encoder Pulses and failed to calibrate again.
I then entered back the old $MASTER_COUN values , but the picture I took from them was not that good because small part of the picture was behind a lamp glare and I'm not sure I entered the correct value for axis-6. After that I did the quick master and zero point master (robot is in 0-position).
Now I get the SRVO-138 alarm, and the value for axis-6 in $MASTER_COUN is way off. SRVO-138 tells me the pulse coder for axis-6 is faulty.
So is there a problem with the pulse coder or did I mess up something? There is no backup available. Is there a way to fix this? Any help would be much appreciated.