Incorrect robot movement after battery replacement

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Hi,

What mastering procedure did you followed? Do you still have the Fanuc paper that has the pulse count on it?

I did it according to the manual, like this:

At first I had SRVO-062 BZAL error, I did Menu->System->Master/cal and press F3 (RES_PCA) > F4 (yes) and rebooted the controller, then there was SRVO-075 Pulse Mismatch error, I moved the robot axes +/- 5 degrees, the error is gone (I do everything according to the manual). Then Menu -> System -> Variables> $MASTER_ENB and change it from 0 to 1, then > 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), press MENU -> 0 (NEXT) -> SYSTEM -> Variables > $DMR_GRP and press the ‘Enter’ button twice, then you need to find the system variable $REF_COUNT and press ‘Enter' -> make sure that the values for each of the axes in this system variable match the values specified in the work passport (everything coincided). Then F1 (Type) -> Master/cal -> QUICK MASTER press Enter and F4(yes), then choose CALIBRATE - enter- F4(yes) wait for the procedure to complete F5(DONE), this is all that was in the manual, maybe I'm doing something wrong, I will be grateful for any help, thank you.

"Do you still have the Fanuc paper that has the pulse count on it?" - I have something similar, well, I think this is it, because there is nothing else.

P.S. sorry if it was written incorrectly somewhere, I use a translator, of course I double-check everything myself, ty.

Hi,

The first thing you need to check is if your MASTER_COUNT in the DMR_GRP match the Mastering data that you can find on the inspection sheet provided with the robot. Can you validate that?

Yes, I checked it, the data matches.

Hi,

Have you tried the Robot Accuracy Enhancement Techniques? If not, check this post and follow the steps that you can see starting at the post from February 22

Fanuc 100ib axis issues – DIY-Robotics (Help Center)

No, I haven't tried, I'll try and let you know what happened (it will be tomorrow or a little later), thank you.

I did it, now the robot is working correctly. If anyone is interested, the problem was as follows:

1. I found out that the batteries were replaced when the robot's power was turned off, because of this, using Quick Master Option its really not the good choice (in this situation it will not work because he mastering data were lost from the robotcontrol unit).
2. The second problem was in incorrect zero position points.

When I correctly set the robot to the zero position points and made the Zero Position Master, after I calibrated and configured TCP, the robot worked correctly.

Thank you for your feedback.