Quick Mastering Procedure

This procedure will help you recover the calibration of the robot. You cannot quick master a robot unless the quick master reference position has been previously recorded. You must clear any servo faults that prevent you from jogging the robot. All axis must be at less then 1 motor turn from the reference position recorded. This procedure must be done with controller selector key to T1 and teach pendant to ON.

You will find a downloadable PDF icon PDF version at the end of this page.

  • DURATION

+/- 60 minutes

  • RECOMMENDATION

Create a backup before making any modifications to your program and make sure to have access to mastering lines.

  • WARNING!

Run the robot in teach mode in a software you know before running it in automatic mode.

  • DANGER

A mastering containing errors could lead to major robot collisions.

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STEP BY STEP

ENABLING MASTERING

  1. PRESS –> [ MENU ]
  2. SELECT –> [ 0 ] 0 NEXT
  3. SELECT –> [ 6 ] 6 SYSTEM
  4. SELECT –> [ 2 ] Variables (see screenshot)
  5. Using Arrow –> Scroll down to the variables list until you get to $MASTER_ENB
  6. PRESS –> [ 1 ] (see screenshot)
  7. PRESS –> [ ENTER ]

QUICK MASTERING

Jog each joint of the robot until the reference marks used are align (most of the time they are the 0° marks of each joint).

  1. PRESS –> [ MENU ]
  2. SELECT –> [ 0 ] 0 NEXT
  3. SELECT –> [ 6 ] 6 SYSTEM
  4. SELECT –> [ 2 ] Variables
  5. Using Arrow –> Scroll down to $DMR_GRP.
  6. PRESS –> [ F2 ] DETAIL
  7. PRESS –> [ F2 ] DETAIL
  8. Using Arrow –> Scroll down to $REF_POS.
  9. PRESS –> [ F2 ] DETAIL
  10. Put each data from line 1 to 9 to –> 0  (see screenshot)
  11. PRESS –> [ PREV ]
  12. Using Arrow –> Scroll down to $MASTER_COUN.
  13. PRESS –> [ F2 ] DETAIL
  14. Note each value written on line 1 to 6. (see screenshot)
  15. PRESS –> [ PREV ]
  16. Using Arrow –> Scroll down to $REF_COUNT.
  17. PRESS –> [ F2 ] DETAIL
  18. ENTER –> Each value of the $MASTER_COUN to the corresponding lines (1 to 6) and PRESS–> [ ENTER ] after each line to enter the number. (see screenshot)
  19. PRESS –> [ PREV ]
  20. Using arrow –> Scroll up to $MASTER_DONE
  21. PRESS –> [ F4 ] TRUE
  22. Using Arrow –> Scroll down to $REF_DONE
  23. PRESS –> [ F4 ] TRUE
  24. PRESS –> [ MENU ]
  25. SELECT –> [ 0 ] 0 NEXT
  26. SELECT –> [ 6 ] 6 SYSTEM
  27. SELECT –> [ 3 ] 3 Master/Cal (see screenshot)
  28. Using Arrow –> Scroll down to line 3 QUICK MASTER. (see screenshot)
  29. PRESS –> [ ENTER ]
  30. PRESS –> [ F4 ] YES
  31. Using Arrow –> Scroll down to line 7 CALIBRATE. (see screenshot)
  32. PRESS –> [ ENTER ]
  33. PRESS –> [ F4 ] YES
  34. PRESS –> [ F5 ] DONE (see screenshot)

IF A DCS IS IN FUNCTION

  1. PRESS –> [ MENU ]
  2. SELECT –> [ 0 ] 0 NEXT
  3. SELECT –> [ 6 ] 6 SYSTEM
  4. SELECT –> [ 8 ] DCS (see screenshot)
  5. Using Arrow –> Scroll down to line 11 MASTERING PARAMETERS.
  6. PRESS –> [ F2 ] APPLY (see screenshot)
  7. ENTER –> Code Number (master) xxx xx (this code is provided by the integrator.)
  8. PRESS –> [ F4 ] OK (see screenshot)
  9. PRESS –> [ FCTN ]
  10. PRESS –> [ F4 ] OK (see screenshot)
  11. SELECT –> [ 0 ] 0 NEXT
  12. SELECT –> [ 8 ] CYCLE POWER (see screenshot)
  13. PRESS –> [ YES ] (see screenshot)

CHECKING CALIBRATION

  1. PRESS –> [ SELECT ]
  2. Using Arrow –> Scroll down the program list until ZERO. (see screenshot)
  3. PRESS –> [ ENTER ]
  4. PRESS –> [ SHIFT + COORD ]
  5. At TOOL line, ENTER –> [ 1 ]
  6. PRESS –> [ SHIFT + COORD ]
  7. At USER line, ENTER –> [ 0 ]
  8. Place cursor to line 1. (see screenshot)
  9. PRESS –> [ SHIFT + FWD ] Press and hold the SHIFT key until the robot is at this position.
  10. Check 0° marks on each joint of the robot to see if they perfectly match.
  11. PRESS –> [ POSN ]
  12. PRESS –> [ F2 ] JOINT
  13. Each joint should be at 0.

Tutorial – Quick Mastering Procedure.pdf

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