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  mceclip3.png PDF version at the end mceclip5.png 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.

 

VIDEO TUTORIAL

 

STEP BY STEP

ENABLING MASTERING

      1. PRESS --> [ MENU ]
      2. SELECT --> [ 0 ] 0 NEXT
      3. SELECT --> [ 6 ] 6 SYSTEM
      4. SELECT --> [ 2 ] Variables (see screenshot mceclip1.png)
      5. Using Arrow --> Scroll down to the variables list until you get to $MASTER_ENB
      6. PRESS --> [ 1 ] (see screenshot mceclip1.png)
      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 mceclip1.png)
      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 mceclip1.png)
      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 mceclip1.png)
      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 mceclip1.png)
      28. Using Arrow --> Scroll down to line 3 QUICK MASTER. (see screenshot mceclip1.png)
      29. PRESS --> [ ENTER ]
      30. PRESS --> [ F4 ] YES
      31. Using Arrow --> Scroll down to line 7 CALIBRATE. (see screenshot mceclip1.png)
      32. PRESS --> [ ENTER ]
      33. PRESS --> [ F4 ] YES
      34. PRESS --> [ F5 ] DONE (see screenshot mceclip1.png)

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 mceclip1.png)
      5. Using Arrow --> Scroll down to line 11 MASTERING PARAMETERS.
      6. PRESS --> [ F2 ] APPLY (see screenshot mceclip1.png)
      7. ENTER --> Code Number (master) xxx xx (this code is provided by the integrator.)
      8. PRESS --> [ F4 ] OK (see screenshot mceclip1.png)
      9. PRESS --> [ FCTN ]
      10. PRESS --> [ F4 ] OK (see screenshot mceclip1.png)
      11. SELECT --> [ 0 ] 0 NEXT
      12. SELECT --> [ 8 ] CYCLE POWER (see screenshot mceclip1.png)
      13. PRESS --> [ YES ] (see screenshot mceclip1.png)

CHECKING CALIBRATION

      1. PRESS --> [ SELECT ]
      2. Using Arrow --> Scroll down the program list until ZERO. (see screenshot mceclip1.png)
      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 mceclip1.png)
      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.

 

PDF_3.png

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