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Answered J2 Mastering out

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Laurence Price

Hi folks,

I am having an ARCMATE 120iB/10L having a controller of RJ3iB. Recently I have hired operator and he is seeing few of the welds out of the position but, not all of the welds are out of position. I have moved the robot from 0 degrees over its all axis and then noticed that the J2 is also out. I have then jogged the robot for realignment of the position as J2=-1.833 which is in turn putting the J3 to a point -1.939.

Now, I then ran it on my TCP for checking the program which i created and it also went out for about 0.250 degrees at its origin. I have also moved the wire back to the point where it must be located and cycled to J4, J5, and J6 and then noticed that the wire is not located at the central point.

I didn't try the reteaching of anything at the point and I getting errors mentioned below.

  • Group 2 having positioner :SRVO-021 G:2 A:1
  • Group 3 having positioner but not to be used for the program: SRVO-023 G:3 A:1
  • Group 1 of the arm which is caused by one of the cable which is going through servo torch is getting caught: SRVO-050 G:1 A:6 
  • SRV0-171 G:2 A:1

If I am trying to follow all of its errors which I mentioned, all errors seems to lead back to its power to the servo amp board. I am not able to check the input voltage of the board.

My question is that if anyone of you could fix above errors along with combination of any of the above cause the arm to be out of master?

Need feedback asap :)

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6 comments

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  • Avatar
    Chadwick Dockstader
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    Hello , 

    Based on your explanation , It seems like you need to perform the mastering J2 . If not succeed perform on all axis. 

    You can follow below method for mastering. 

    https://forum.diy-robotics.com/hc/en-us/articles/360035963372-Quick-Mastering-Procedure

    https://forum.diy-robotics.com/hc/en-us/articles/360035963732-Single-axis-quick-mastering-procedure

    Once performed mastering procedure , Run the program again. Check if you encounter the alarm again .

    I believe after mastering , It will sort out all the errors , As they are all related to position. 

     

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    Muhammad Ishaq
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    Hi Laurance,

    I think there is nothing of electrical nature which may have caused the mastering to have a change. Even in cases of lower voltages or the bad amps of servo would not make such a case. The controller would be knowing that the position error is of higher nature and having a flag error. To me it looks like you are having a reducer or some sort of mechanical problem. 

    Therefore, I would suggest you to have a look at the J2 and J3 problems related to reducers.

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    Frankie Ellis
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    Hey Laurance,

    My answer is "No" until and     unless you are able to state that on a specific date the mastering was good enough, till that only putting blame over mastering conditions is not good. Moreover, one of the common cause is that torch often gets bend and its mastering is off. 

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  • Avatar
    Laurence Price
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    Dear all, thank you so much for your responses.

    I have just remastered the robot through 0 degrees mastering. I have setup the frames and then made programming for 2 of the main programs which are needed to be run through these user frames and i have made backups for both controller image and other programs. I have changed the backup batteries as well and now monitoring what would happen?

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    Juan Turner
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    To me it seems like if such status continued to happen, then it would be suggesting to have a scheck on the grease over axis 2 and 3 for seeing if there is any type of glitter in grease or shaving. In such a status you might be having a bad gear drive for which ever axis it is that show most grease. 

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  • Avatar
    Howard Coleman
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    Most probably there is a problem with a few of the axis and you are needed be troubleshooted and you should apply repeated greasing. If you still have any problems then look at it one by one. Such an issue happened to me when I was working on ARCMATE 100iB and I had to apply greasing along with replacement of the transmission of axis 2

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