New robot? Lost batteries? FANUC BZAL alarm? Look no further. In this video I cover Zero Axis Mastering, Quick Mastering, Reference Position, and more, to get you up and running again. Thanks guys! Enjoy!
One thing I would like to add, is that if you replace a motor or RV reducer or something like that, go the single axis mastering menu and remaster just the axis that was changed, after lining up the witness marks, of course. That way if any of your points are off, you know it has to be in the mastering of that one axis and can get them back much easier than if you remaster every axis.
Pinning this. Yessir, I wish I mentioned that in the video, but Single Axis Mastering works just like Zero Axis Mastering but only affects the axis you need to modify. Great point to add, thank you!!
Hi Adam. Great videos by the way. We have managed to get hold of an LR mate from another department at a university. Its been sat around doing nothing for years. The batteries are therefore flat. I've managed to get hold of the original mastering figures from Fanuc UK. As the original paperwork has disappeared. We ran through your procedure from top to bottom. Yet the arm is a long way out. The arm have never been stripped or had parts replaced. Is there a way that someone could have inadvertently zeroed the motor encoders.
For example , Robot A was being loaded image file and sram data from Robot B ( same model , specification) because we did not keep the Robot A original data. And robot A set "Zero position" for all axis , Robot A will have an un-exactly machanical position . However, the A robot still have its own Master count data sheet. Can we apply the above solution to recover Robot A original position while Robot A is using Robot B data ? . Im looking for to hearing your answer, Thank you so much !!
I don't know if this has changed since you made the video, but J6 does have a scribe/witness mark on our robot. It's very hard to see in low light and I probably wouldn't use it to make sure it's in position unless you don't want to take tooling off. But if you are looking at it like it's depicted in that image, its on the left hand side for our robot. Again, the two lines are not very defined but they are there. I don't know if I would trust someone to eyeball it, but it is an option.
Need some help, a work FANUC robot lost power and we did a manual zero point master but now it’s way off when we run the torch alignment program, any advice?
Thanks for the video Adam! A few questions, though. First, in your video you explained using the quick master function while the robot happened to be at zero position, but I presume that if you record the reference position and the reference counts you can remaster the robot using quick master from any position. Correct? My logic for that being that if you have to move it for the axis marks to line up before you can quick master, you might as well do it as a zero position master. Second, doesn't using the SET QUICK MASTER REF menu option do the same thing as entering the reference position counts and setting it to true? Finally, could you talk about vision mastering at some point? Thanks for all your work doing these videos!
Some month ago we was changing the batteries and also trying to remaster the robot. We was doing the same steps as in video but it doesn't allow us to make "true" for mastering finish. Then we open the 3D-panel and current position panel to find 0 position of a robot. That was i have never expected position, all six axis were not at the 0 mark points on the robots body. And than when the robot was in this position the system allows us to finish mastering....
Hello Adam. If I lost zero in a known position, is there anyway I can put the coordinates of that position in to tell it where it’s at? I’ve been told that this was an option instead of running everything to its tick marks.
Great question!!! Yes you can. In the same DMR_GRP sub menus, there is Master Position. By default, it is all at 0deg. But - you could manually enter in each joint's exact degrees position, then master it there. When you Calibrate, verify that the 6 values it returns show the mastering position you entered, and you should be all set.
Great video I feel I have some robots to look at now, so you have your master counts, I get a BZAL alarm, are the master counts still there on power up? Can I not just at that point transfer the master counts and make a reference position then or is all lost. I've had to do mastering twice on paint robots I've tried the quick master makes sense now why it didn't work so I did fixture position master. Other times I did quick master for single axis because I had replaced a servo or joint. Last time I did quick master I thought that was easy but then the robot was going to hit the ceiling when I ran the home program 😆
You've felt the pain! Yessir, if you encounter BZAL, then most likely your Master Counts are lost forever. That's where having them already saved in Ref Counts is key, or you're stuck having to Zero Axis master from scratch.
@@AdamWillea thanks for the info! After adding the master counts to the reference counts I see you calibrated it is that a must after you apply the ref counts?
@@jbod4933 Only need to Calibrate after setting the Mastering. If you've never mastered it before (new robot) or are re-mastering it, then yes - need to calibrate. But just putting values into Ref Counts does not require calibrate. Thanks!
@@AdamWillea , maybe a stupid question. You said Master Counts are lost forever. So, we cannot use the Inspection Data Sheet that came with the robot that contains the Mastering Data to fill the Ref Counts? Or you're saying that we cannot push Master Counts into the pulse coder ($SPC_count) at Zero position to have it as in the paper? I cannot find anywhere this info. Is there any material that deeply explains the Mastering process?
Good afternoon Adam! Thank you for your hard work. I am from Russia and I want to understand learning and programming robots. Do you have the "Robot Whispering" book? Can you share it with a download link?
Got a little question for you regarding the mastering. What happens if someone has remastered the robot and all the original DMR group values have changed. My question is…??? Will it be possible to re-enter the original factory DMR group values and follow the steps which you have explained in the video. Will that set the robot back to factory Zero position mastering. Thanks in advance. 🙏
If you remaster a Fanuc robot do you have to redefine where your user frames are or any position registers? And is there a way to know/check if a Fanuc robot master has been modified by an integrator? I just took the Handling Tool and Operation and Programming class last week and was shown your videos, thank you for creating them!
Thanks for the video! I'm curious if one knows they have to dissemble the arm to do mechanical work on multiple joints, would the most accurate method to set yourself up for the zero remaster be to take a digital angle indicator and record the angles of each part of the arm while at 0 before disassembly, and then take everything back to those angles for the zero mastering? J1 maybe extend the arm out as far as you can horizontally and mark a spot below with a plumb bob? Would you have a higher level of accuracy than just using the hash marks? How do applications that require extreme accuracy do remastering after mechanical joint work?
Quick question I’m new to this. If I replaced the example axis 3 motor do I have to remaster it? Or can I just input the master count. Idk if I make sense. Thanks
Adam, can you go back after the master counts have been entered and mastering has been set to true and than calibrated and then add the Ref counts and set Ref done to true and not recalibrate the robot? Our does both need to be set at the same time then calibrate the robot?
Hello Adam, thanks for another great video. Everything is making a lot more sense now. One thing I am still not 💯 about is the SPC count. If the power is lost to the encoders, does the value of the SPC count change, when next powered up? Thanks
Great Video, love that you can also do a reference. 2 Quenstions... Is there a way to check battery level/voltage or percentage before the BLAL/BZAL alarm through the TP? #2 If you lose power at the robot while replacing batteries, do the robot controller batteries/power save the axis points preventing us from having to re-zero?
I'm no Solidworks wiz, but if you set the origin of your tooling to be exactly where it mounts to the center of your robot flange (J6 on a 6-axis) then you can easily pull measurements from that zero down to tool tip. It's all relative. Otherwise, RoboGuide makes it easy if you can import the CAD into our software. Else, watch my video on teaching UTools and go old school manual teaching :-)
Thanks, Adam! My robot was sitting in a closet for a couple years and the mastering was lost. I Googled around how to do this but I don't think I got it quite right because programs that worked before would go out of bounds. Anyway, I made sure it had fresh batteries and it was plugged into a UPS but someone unplugged it and it died again.
Yep, an aged robot is where we most often see this. If the movement is weird, try the Zero Axis Master with lining up the tick marks, and it should be a happy robot again!
