Single axis quick mastering procedure

In certain circumstances, mastering all axis at the same time is impossible. This procedure will execute quick mastering for selected axis. These selected axis must be at their reference positions. This procedure must be done with the 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. PRESS –> [ 2 ] Variables (see screenshot )
  5. Using Arrow –> Scroll down the variables list until you get to $MASTER_ENB.
  6. PRESS –> [ 1 ] (see screenshot)
  7. PRESS –> [ ENTER ]

QUICK MASTERING

Jog the joint of the robot until the reference marks are aligned (most of the time they are the 0° marks of each joint) Other joints but the one to be mastered don’t have to be at mastering position. With this procedure, you can master more than one joint at the time.

  1. PRESS –> [ MENU ]
  2. SELECT –> [ 0 ] 0 NEXT
  3. SELECT –> [ 6 ] 6 SYSTEM
  4. SELECT –> [ 3 ] 3 Master/Cal (see screenshot)
  5. Using Arrow –> Scroll down to line 4 QUICK MASTER FOR SINGLE AXIS. (see screenshot)
  6. ENTER –> [ 1 ] (In the (Sel), on each axis to be mastered (0 in (ST) column)
  7. PRESS –> [ F5 ] EXEC (see screenshot)
  8. If mastering has been done for selected axis, a “2” in column (ST) should appear in all of these axis.
  9. PRESS –> [ PREV ]
  10. Using Arrow –> Scroll down to line 7 CALIBRATE. (see screenshot)
  11. PRESS –> [ F4 ] YES
  12. 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 ] 8 DCS (see screenshot)
  5. Using Arrow –> Scroll down to line 11 Mastering parameters.
  6. PRESS –> [ F2 ] APPLY (see screenshot)
  7. ENTER –> The code number (master): xxxx (This code is provided by the integrator.)
  8. PRESS –> [ F4 ] OK (see screenshot)
  9. PRESS –> [ FCTN ] (see screenshot)
  10. PRESS –> [ F4 ] OK
  11. SELECT –> [ 0 ] 0 NEXT
  12. SELECT –> [ 8 ] 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 – Single axis quick mastering procedure.pdf

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