Fanuc R–j3ib Controller Mastering [b–81524en01] 1b3f4b
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APPENDIX
B–81524EN/01
B.2 Mastering Mastering associates the angle of each axis of the robot with the pulse count of the absolute pulse coder (APC) connected to the motor of each axis. More specifically, mastering is performed by obtaining the pulse count read at the zero–degree position. The current position of the robot is determined by the pulse counts of the absolute pulse coders (APCs) for the axes. Since mastering data is factory–set, mastering is unnecessary in normal operation. If one of the following events occurs, however, mastering must be performed: F
Mastering data is lost for some reason such as a drop in the voltage of the backup battery for C–MOS in the controller or memory erasing with an initial start.
F
The APC pulse counts are lost for some reason such as a drop in the voltage of the backup battery for APC pulse counts backup in the mechanical unit or exchange of pulse coder.
F
The pulse counts do not indicate the angles of the axes because the mechanical unit was hit bumped, etc. CAUTION
The robot data including mastering data and the pulse coder data are maintained independently by backup batteries. If the batteries go empty, data is lost. To prevent this, replace both batteries periodically. When the battery voltage drops, an alarm ‘BLAL’ notifies the .
There are five types of mastering as listed below. Table B–1.
Mastering types
Type of mastering
Explanation
Jig mastering
Mastering is performed using a special jig. Jig mastering is performed at the factory.
Mastering at the zero–degree positions
Mastering is performed with each axis of the robot aligned with the zero–degree position. The zero–degree position mark attached to each axis of the robot is referenced.
Quick mastering
The mastering position can be set at any position. To do this, reference points must be set in advance.
Single axis mastering
Single axis mastering is that the mastering is performed every one axis.
Setting mastering data
Mastering data is set in mastering counters directly.
CAUTION After the robot is installed, the quick mastering reference points should be stored in case the factory–adjusted settings are needed in mastering in the future.
577
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After mastering, be sure to perform positioning (calibration). Positioning means that the controller reads the current pulse counts and recognizes the current position. Figure B–2. Mastering Mastering table 1 Angle of axis 1 deg
pulse count 144,000 $PARAM_GROUP . $ENCSCALE
Mastering table 2 Angle of axis
pulse count
90 deg
28,600,000
9 deg
16,900,000
Quick mastering
0 deg
15,600,000
Mastering at the zero–degree positions
$DMR_GRP . $MASTER_COUN –90 deg
2,600,000
Jig mastering
The current position of the robot is determined by the following data: F
Pulse count per degree (See mastering table 1.) This value is defined in system variable $PARAM_GROUP.$ENCSCALE.
F
Pulse count at the zero–degree position (See mastering table 2.) This data is stored in $DMR_GRP.$MASTER_COUN by mastering. – In jig mastering, the pulse count at the jig position is received and converted to mastering data. – In quick mastering, the pulse count at the quick mastering reference position defined by the is received and converted to mastering data.
F
Current pulse count. The current pulse count is received from the by calibration.
Mastering and calibration are performed on the Master/Cal screen [6 SYSTEM, Master/Cal]. NOTE Mastering by mistake may cause the robot to move unexpectedly and it is very dangerous. Therefore, the Master/Cal screen will be displayed only when the system variable, $MASTER_ENB, is set to 1 or 2. Press F5,DONE,which is displayed in the Master/Cal screen after mastering. $MASTER_ENG is automatically set to 0 and then the Master/Cal screen can not be displayed. If you want to display the Master/Cal screen again, set $MASTER_ENB to 1 in the system variable screen again.
578
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B.2.1 Jig mastering Jig mastering is performed at the factory using a special jig. This mastering is performed at the mastering position set beforehand. With this mastering, the accurate mastering can be performed by using the special jig. This mastering is usually unnecessary to perform it in normal operation because this is used at shipment. For details of jig mastering, refer to the maintenance manual. Procedure B–6 Condition
Jig mastering
H System variable $MASTER_ENB must be set to 1 or 2. SYSTEM Variables
T 10% 57/136 1
57 $MASTER_ENB
Step
1 Press the MENUS key. The screen menu is displayed. 2 Select ”0 –– NEXT ––” and then select ”6 SYSTEM”. 3 Press F1, [TYPE]. The screen change menu is displayed. 4 Select “Master/Cal” on the screen change menu. The positioning screen appears.
9 0 –– NEXT ––
SYSTEM Master/Cal 1 2 3 4 5 6
MENUS
5 POSITION 6 SYSTEM 7
T 30%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. Master/Cal [TYPE]
TYPE
LOAD RES_PCA
DONE
F1 5 Move the robot by jog feed to the mastering position. Release the brake on the manual brake control screen if necessary. 6 Select “1 FIXTURE POSITION MASTER” and press the F4 key (yes). Mastering data is set. SYSTEM Master/Cal
SYSTEM Master/Cal ENTER
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER Master at master position? [NO] Master at master position? [NO] [ TYPE ] YES
F4
NO
T
30 %
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Mastered! Mastering Data: <0> <11808249> <38767856> <9873638> <122000309> <2000319> [ TYPE ]
579
LOAD
RES_PCA
DONE
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7 Select “6 CALIBRATE” and press the F4 key (yes). Calibration is performed. 5 SET QUICK MASTER REF 6 CALIBRATE ENTER Calibrate? [NO] Calibrate? [NO] [ TYPE ]
SYSTEM Master/Cal
YES
NO
F4
T
30 %
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Calibrated! Cur Jnt Ang(deg): <10.000> <–25.000> <40.000> <5.000> <–15.000> <0.000> [ TYPE ] LOAD RES_PCA DONE
8 Press F5 “DONE”, after mastering. DONE
F5 9 Alternatively, to perform positioning, turn the power off, then turn it on again. Calibration is performed whenever the power is turned on.
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B.2.2 Mastering at the zero–degree positions Mastering at the zero–degree positions is performed for the robot with its all axes at the zero–degree positions. On each axis of the robot, a zero–degree position mark is attached. Using these marks as a reference, move the robot by jog feed to the zero–degree positions for all axes. Mastering at the zero–degree positions cannot be performed as accurate by as other types of mastering because it relies on visual adjustment. Perform mastering at the zero–degree positions only as an emergency measure. For details of mastering at the zero–degree positions, refer to the maintenance manual. Procedure B–7 Condition Step
Mastering at the zero–degree positions
H System variable $MASTER_ENB must be set to 1 or 2. 1 Press the MENUS key. The screen menu is displayed. 2 Select ”0 –– NEXT ––” and then select ”6 SYSTEM”. 3 Press F1, [TYPE]. The screen change menu is displayed. 4 Select “Master/Cal” on the screen change menu. The Master/Cal screen appears.
9 0 –– NEXT ––
SYSTEM Master/Cal 1 2 3 4 5 6
MENUS
5 POSITION 6 SYSTEM 7
T 30%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. [TYPE]
Master/Cal
LOAD RES_PCA
DONE
TYPE
F1 5 Move the robot by jog feed to the zero–degree positions for all axes. Set brake control to off, if necessary. 6 Select “2 ZERO POSITION MASTER” and press the F4 key (yes). Mastering data is set. 1 FIXTURE POSITION MASTER ENTER 2 ZERO POSITION MASTER 3 QUICK MASTER Master at zero position? [NO] YES
F4
NO
SYSTEM Master/Cal
T
30 %
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Mastered! Mastering Data: <0> <11808249> <38767856> <9873638> <122000309> <2000319> [ TYPE ]
581
LOAD
RES_PCA
DONE
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7 Select “6 CALIBRATE” and press the F4 key (yes). Calibration is performed. 5 SET QUICK MASTER REF 6 CALIBRATE ENTER Calibrate? [NO]
YES
NO
F4
SYSTEM Master/Cal
T
30 %
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Calibrated! Cur Jnt Ang(deg): <0.000> <0.000> <0.000> <0.000> <0.000> <0.000> [ TYPE ]
LOAD
RES_PCA
DONE
8 Press F5 “DONE”, after mastering. DONE
F5 9 Alternatively, to perform calibration, turn the power off, then turn it on again. Calibration is performed whenever the power is turned on.
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B.2.3 Quick mastering Quick mastering allows mastering at any –defined position. The pulse counts are calculated from the speed and angular displacement within one rotation of the APCs connected to the motors. Quick mastering uses the fact that the absolute angular displacement within one rotation is not lost. F
If mastering data is lost due to the empty of the backup battery for the pulse coder, quick mastering can be used.
F
When the pulse coder is replaced or when mastering data in the robot controller is lost, quick mastering cannot be used.
To perform simple mastering, a reference point set after mastering is necessary (→ reference point setting). The reference point is factory–set to the zero position. Figure B–3. Quick Mastering Angle of axis Absolute pulse corder value
9 deg
10 deg
260,000
304,000
1 deg = 144,000
1 rotation = 520,000 16,900,000
Pulse count
Quick mastering uses the fact that the deviation of the angle of the axis from the reference point can accurately be compensated when it is within one rotation of the APC. For details of quick mastering, refer to the maintenance manual. CAUTION If the robot is installed in such a way that the robot cannot be set to the 0° position, which is the reference point of initial simple mastering, the reference point of simple mastering should be stored after the installation. This must be done to store the factory–set mastering setting, providing for future mastering.
583
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Procedure B–8 Condition
Quick mastering
H System variable $MASTER_ENB must be set to 1 or 2. H Quick mastering reference position (reference position) must be set.
Step
1 Display the Master/Cal screen. SYSTEM Master/Cal 1 2 3 4 5 6
T 30%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. [TYPE]
LOAD RES_PCA
DONE
2 Jog the robot to the quick mastering position(reference position). If it is necessary,turn off the brake control. 3 Select “3 QUICK MASTER” and press the F4 key (yes). Mastering data is set. 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER
YES
ENTER
NO
F4 4 Select “6 CALIBRATE” and press the F4 key (yes). Calibration is performed. 5 Press F5 “DONE” after mastering. DONE
F5
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Procedure B–9
Setting reference points for quick mastering (If the robot is installed in such a way that the robot cannot be set to the 0° position)
CAUTION This operation cannot be executed if the mastering data is lost because of mechanical disassembly or maintenance. If that is the case, jig mastering or zero–degree positions mastering should be executed to restore the mastering data.
Condition Step
H System variable $MASTER_ENB must be set to 1 or 2. 1 Select “6 SYSTEM” on the screen menu. 2 Select “Master/Cal” on the screen change menu. The Master/Cal screen appears.
5 POSITION 6 SYSTEM 7
SYSTEM Master/Cal 1 2 3 4 5 6
MENUS
Master/Cal
T 30%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select.
TYPE
[TYPE]
LOAD RES_PCA
DONE
F1 3 Move the robot by jog feed to the quick mastering reference position. Set brake control to off, if necessary. 4 Select “5 SET QUICK MASTER REF” and press the F4 key (yes). The reference points for quick mastering are stored in memory. 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE
YES
ENTER
NO
F4
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B.2.4 Single axis mastering can select the arbitrary position for the mastering of each axis. Single axis mastering should be used when the mastering data of some axes is lost for some reason such as the drops of the voltage of the backup battery for pulse coder or exchanging of the pulse coder. SINGLE AXIS MASTER ACTUAL POS 25.255 25.550 –50.000 12.500 31.250 0.000 0.000 0.000 0.000
J1 J2 J3 J4 J5 J6 E1 E2 E3
T
(MSTR POS ) ( 0.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000)
30 % 1/9 (SEL)[ST] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2]
GROUP
Table B–2
EXEC
Settings for single axis mastering
ITEMS
DESCRIPTIONS
ACTUAL POS
The current position expressed by t (degree) of the robot is displayed.
MSTR POS
Specifies the mastering position to the axis to be performed the single axis mastering. It is usually specified 0 degree.
SEL
For the axis to be performed mastering,set this item to 1. It is usually 0.
ST
Display the state of completion of the single axis mastering. The value displayed at this item can not be directly changed. The values of $EACHMST_DON[1 to 9] are displayed at this column. – 0 Specifies that the mastering data has been lost. The single axis mastering need to be performed. – 1 The mastering data has been lost.(Only other interactive axes is performed mastering.) This axis need to be performed mastering. – 2 The mastering has been completed. Refer to the maintenance manual for an accurate method of single axis mastering.
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Procedure B–10 Single axis mastering Condition Step
H System variable $MASTER_ENBL must be set to 1. 1 Select “6 SYSTEM” on the screen menu. 2 Select “Master/Cal” on the screen change menu. The Master/Cal screen appears.
5 POSITION 6 SYSTEM 7
SYSTEM Master/Cal 1 2 3 4 5 6
MENUS
Master/Cal
T 30%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select.
TYPE
[TYPE]
LOAD RES_PCA
DONE
F1 3 Select ”4 SINGLE AXIS MASTER”. The single axis mastering screen is displayed. In the example on the mastering of J2 and the J3 axis needs to be executed.
SINGLE AXIS MASTER ACTUAL POS 25.255 25.550 –50.000 12.500 31.250 0.000 0.000 0.000 0.000
J1 J2 J3 J4 J5 J6 E1 E2 E3
T
30 % 1/9 (MSTR POS ) (SEL)[ST] ( 0.000) (0) [2] ( 0.000) (0) [0] ( 0.000) (0) [0] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] GROUP EXEC
4 Enter 1 to SEL setting field of the axis that you want to perform the mastering. SEL can be specified every one axis or plural axes simultaneously. R ( (
T 0.000) 0.000)
(0) (0)
30 % 2/9 [0] [0]
SINGLE AXIS MASTER J2 J3
25.550 –50.000
( (
T 0.000) 0.000)
(1) (1)
GROUP
30 % 3/9 [0] [0] EXEC
5 Jog the robot to the mastering position. Turn off the brake control if it is necessary. 6 Enter the axis data of the mastering position. R ( (
T 0.000) 0.000)
(1) (1)
30 % 2/9 [0] [0]
SINGLE AXIS MASTER J2 J3
25.550 –50.000
( (
T 0.000) 90.000)
(1) (1)
GROUP
587
30 % 3/9 [0] [0] EXEC
APPENDIX
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7 Press F5 ”EXEC.” The mastering is performed. This operation causes that SEL is set to 0 and ST is set to 2 or 1. GROUP
EXEC
F5
SINGLE AXIS MASTER ACTUAL POS 25.255 25.550 –50.000 12.500 0.000 0.000 0.000 0.000 0.000
J1 J2 J3 J4 J5 J6 E1 E2 E3
T
30 % 1/9 (MSTR POS ) (SEL)[ST] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 90.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] GROUP EXEC
8 When the single axis mastering is completed, press the PREV key to display the Master/Cal screen. PREV
SYSTEM Master/Cal
T 30%
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Press ’ENTER’ or number key to select. [TYPE] LOAD RES_PCA DONE
9 Select ”6 CALIBRATE” and press F4 ”YES.” The calibration is performed. 10 Press F5 ”DONE”, after calibration. DONE
F5
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B.2.5 Setting mastering data Mastering data can directly be set to the system variable. Setting mastering data can be performed when the pulse counts are not changed. F
If C–MOS mastering data is lost for some reason such as an initial start, set the recorded mastering data.
F
Setting mastering data cannot be performed when pulse count data is lost.
Procedure B–11 Directly setting mastering data Step
1 Select “6 SYSTEM” on the screen menu. 2 Select “Variables” on the screen change menu. The system variable screen appears.
5 POSITION 6 SYSTEM 7
SYSTEM Variables 1 2 3 4 5 6
MENUS
Variables
T 10% 1/98
$AP_MAXAX $AP_PLUGGED $AP_TOTALAX $AP_USENUM $AUTOINIT $BLT
536870912 4 16777216 [12] 0f Byte 2 19920216
[TYPE]
TYPE
F1 3 Change mastering data. Mastering data is stored in system variable $DMR_GRP.$MASTER_COUN. 13 $DMR_GRP 14 $ENC_STAT
DMR_GRP_T [2]of ENC_STAT_T
[TYPE]
4 Select “$DMR_GRP.” DMR_GRP_T [2] of ENC_STAT_T
SYSTEM Variables $DMR_GRP 1 [1]
T 10% 1/1 DMR_GRP_T
ENTER
SYSTEM Variables $DMR_GRP 1 $MASTER_DONE 2 $OT_MINUS 3 $OT_PLUS 4 $MASTER_COUN 5 $REF_DONE 6 $REF_POS 7 $REF_COUNT 8 $BCKLSH_SIGN [ TYPE ]
T
30 % 1/8
FALSE [9]of Boolean [9]of Boolean [9]of Integer FALSE [9]of Real [9]of Integer [9]of Boolean TRUE FALSE
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5 Select “$MASTER_COUN” and enter mastering data. [9] of Boolean [9] of integer FALSE
SYSTEM Variables $DMR_GRP[1].$MASTER_COUN 1 [1] 2 [2] 3 [3] 4 [4] 5 [5] 6 [6]
ENTER
T 10% 1/9 95678329 10223045 3020442 304055030 20497709 0
[TYPE]
6 Press the PREV key. 7 Set “$MASTER_DONE” to “TRUE.” TRUE
FALSE
F4
SYSTEM Valiables $DMR_GRP[1] 1 $MASTER_DONE 2 $OT_MINUS
T 10% 1/8 TRUE [9]of Boolean
8 Display the Master/Cal screen and select “6 CALIBRATE.” 9 Press F5 ”DONE”, after calibration. DONE
F5
590
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B.2 Mastering Mastering associates the angle of each axis of the robot with the pulse count of the absolute pulse coder (APC) connected to the motor of each axis. More specifically, mastering is performed by obtaining the pulse count read at the zero–degree position. The current position of the robot is determined by the pulse counts of the absolute pulse coders (APCs) for the axes. Since mastering data is factory–set, mastering is unnecessary in normal operation. If one of the following events occurs, however, mastering must be performed: F
Mastering data is lost for some reason such as a drop in the voltage of the backup battery for C–MOS in the controller or memory erasing with an initial start.
F
The APC pulse counts are lost for some reason such as a drop in the voltage of the backup battery for APC pulse counts backup in the mechanical unit or exchange of pulse coder.
F
The pulse counts do not indicate the angles of the axes because the mechanical unit was hit bumped, etc. CAUTION
The robot data including mastering data and the pulse coder data are maintained independently by backup batteries. If the batteries go empty, data is lost. To prevent this, replace both batteries periodically. When the battery voltage drops, an alarm ‘BLAL’ notifies the .
There are five types of mastering as listed below. Table B–1.
Mastering types
Type of mastering
Explanation
Jig mastering
Mastering is performed using a special jig. Jig mastering is performed at the factory.
Mastering at the zero–degree positions
Mastering is performed with each axis of the robot aligned with the zero–degree position. The zero–degree position mark attached to each axis of the robot is referenced.
Quick mastering
The mastering position can be set at any position. To do this, reference points must be set in advance.
Single axis mastering
Single axis mastering is that the mastering is performed every one axis.
Setting mastering data
Mastering data is set in mastering counters directly.
CAUTION After the robot is installed, the quick mastering reference points should be stored in case the factory–adjusted settings are needed in mastering in the future.
577
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After mastering, be sure to perform positioning (calibration). Positioning means that the controller reads the current pulse counts and recognizes the current position. Figure B–2. Mastering Mastering table 1 Angle of axis 1 deg
pulse count 144,000 $PARAM_GROUP . $ENCSCALE
Mastering table 2 Angle of axis
pulse count
90 deg
28,600,000
9 deg
16,900,000
Quick mastering
0 deg
15,600,000
Mastering at the zero–degree positions
$DMR_GRP . $MASTER_COUN –90 deg
2,600,000
Jig mastering
The current position of the robot is determined by the following data: F
Pulse count per degree (See mastering table 1.) This value is defined in system variable $PARAM_GROUP.$ENCSCALE.
F
Pulse count at the zero–degree position (See mastering table 2.) This data is stored in $DMR_GRP.$MASTER_COUN by mastering. – In jig mastering, the pulse count at the jig position is received and converted to mastering data. – In quick mastering, the pulse count at the quick mastering reference position defined by the is received and converted to mastering data.
F
Current pulse count. The current pulse count is received from the by calibration.
Mastering and calibration are performed on the Master/Cal screen [6 SYSTEM, Master/Cal]. NOTE Mastering by mistake may cause the robot to move unexpectedly and it is very dangerous. Therefore, the Master/Cal screen will be displayed only when the system variable, $MASTER_ENB, is set to 1 or 2. Press F5,DONE,which is displayed in the Master/Cal screen after mastering. $MASTER_ENG is automatically set to 0 and then the Master/Cal screen can not be displayed. If you want to display the Master/Cal screen again, set $MASTER_ENB to 1 in the system variable screen again.
578
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B.2.1 Jig mastering Jig mastering is performed at the factory using a special jig. This mastering is performed at the mastering position set beforehand. With this mastering, the accurate mastering can be performed by using the special jig. This mastering is usually unnecessary to perform it in normal operation because this is used at shipment. For details of jig mastering, refer to the maintenance manual. Procedure B–6 Condition
Jig mastering
H System variable $MASTER_ENB must be set to 1 or 2. SYSTEM Variables
T 10% 57/136 1
57 $MASTER_ENB
Step
1 Press the MENUS key. The screen menu is displayed. 2 Select ”0 –– NEXT ––” and then select ”6 SYSTEM”. 3 Press F1, [TYPE]. The screen change menu is displayed. 4 Select “Master/Cal” on the screen change menu. The positioning screen appears.
9 0 –– NEXT ––
SYSTEM Master/Cal 1 2 3 4 5 6
MENUS
5 POSITION 6 SYSTEM 7
T 30%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. Master/Cal [TYPE]
TYPE
LOAD RES_PCA
DONE
F1 5 Move the robot by jog feed to the mastering position. Release the brake on the manual brake control screen if necessary. 6 Select “1 FIXTURE POSITION MASTER” and press the F4 key (yes). Mastering data is set. SYSTEM Master/Cal
SYSTEM Master/Cal ENTER
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER Master at master position? [NO] Master at master position? [NO] [ TYPE ] YES
F4
NO
T
30 %
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Mastered! Mastering Data: <0> <11808249> <38767856> <9873638> <122000309> <2000319> [ TYPE ]
579
LOAD
RES_PCA
DONE
APPENDIX
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7 Select “6 CALIBRATE” and press the F4 key (yes). Calibration is performed. 5 SET QUICK MASTER REF 6 CALIBRATE ENTER Calibrate? [NO] Calibrate? [NO] [ TYPE ]
SYSTEM Master/Cal
YES
NO
F4
T
30 %
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Calibrated! Cur Jnt Ang(deg): <10.000> <–25.000> <40.000> <5.000> <–15.000> <0.000> [ TYPE ] LOAD RES_PCA DONE
8 Press F5 “DONE”, after mastering. DONE
F5 9 Alternatively, to perform positioning, turn the power off, then turn it on again. Calibration is performed whenever the power is turned on.
580
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B.2.2 Mastering at the zero–degree positions Mastering at the zero–degree positions is performed for the robot with its all axes at the zero–degree positions. On each axis of the robot, a zero–degree position mark is attached. Using these marks as a reference, move the robot by jog feed to the zero–degree positions for all axes. Mastering at the zero–degree positions cannot be performed as accurate by as other types of mastering because it relies on visual adjustment. Perform mastering at the zero–degree positions only as an emergency measure. For details of mastering at the zero–degree positions, refer to the maintenance manual. Procedure B–7 Condition Step
Mastering at the zero–degree positions
H System variable $MASTER_ENB must be set to 1 or 2. 1 Press the MENUS key. The screen menu is displayed. 2 Select ”0 –– NEXT ––” and then select ”6 SYSTEM”. 3 Press F1, [TYPE]. The screen change menu is displayed. 4 Select “Master/Cal” on the screen change menu. The Master/Cal screen appears.
9 0 –– NEXT ––
SYSTEM Master/Cal 1 2 3 4 5 6
MENUS
5 POSITION 6 SYSTEM 7
T 30%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. [TYPE]
Master/Cal
LOAD RES_PCA
DONE
TYPE
F1 5 Move the robot by jog feed to the zero–degree positions for all axes. Set brake control to off, if necessary. 6 Select “2 ZERO POSITION MASTER” and press the F4 key (yes). Mastering data is set. 1 FIXTURE POSITION MASTER ENTER 2 ZERO POSITION MASTER 3 QUICK MASTER Master at zero position? [NO] YES
F4
NO
SYSTEM Master/Cal
T
30 %
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Mastered! Mastering Data: <0> <11808249> <38767856> <9873638> <122000309> <2000319> [ TYPE ]
581
LOAD
RES_PCA
DONE
APPENDIX
B–81524EN/01
7 Select “6 CALIBRATE” and press the F4 key (yes). Calibration is performed. 5 SET QUICK MASTER REF 6 CALIBRATE ENTER Calibrate? [NO]
YES
NO
F4
SYSTEM Master/Cal
T
30 %
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Robot Calibrated! Cur Jnt Ang(deg): <0.000> <0.000> <0.000> <0.000> <0.000> <0.000> [ TYPE ]
LOAD
RES_PCA
DONE
8 Press F5 “DONE”, after mastering. DONE
F5 9 Alternatively, to perform calibration, turn the power off, then turn it on again. Calibration is performed whenever the power is turned on.
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B.2.3 Quick mastering Quick mastering allows mastering at any –defined position. The pulse counts are calculated from the speed and angular displacement within one rotation of the APCs connected to the motors. Quick mastering uses the fact that the absolute angular displacement within one rotation is not lost. F
If mastering data is lost due to the empty of the backup battery for the pulse coder, quick mastering can be used.
F
When the pulse coder is replaced or when mastering data in the robot controller is lost, quick mastering cannot be used.
To perform simple mastering, a reference point set after mastering is necessary (→ reference point setting). The reference point is factory–set to the zero position. Figure B–3. Quick Mastering Angle of axis Absolute pulse corder value
9 deg
10 deg
260,000
304,000
1 deg = 144,000
1 rotation = 520,000 16,900,000
Pulse count
Quick mastering uses the fact that the deviation of the angle of the axis from the reference point can accurately be compensated when it is within one rotation of the APC. For details of quick mastering, refer to the maintenance manual. CAUTION If the robot is installed in such a way that the robot cannot be set to the 0° position, which is the reference point of initial simple mastering, the reference point of simple mastering should be stored after the installation. This must be done to store the factory–set mastering setting, providing for future mastering.
583
APPENDIX
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Procedure B–8 Condition
Quick mastering
H System variable $MASTER_ENB must be set to 1 or 2. H Quick mastering reference position (reference position) must be set.
Step
1 Display the Master/Cal screen. SYSTEM Master/Cal 1 2 3 4 5 6
T 30%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select. [TYPE]
LOAD RES_PCA
DONE
2 Jog the robot to the quick mastering position(reference position). If it is necessary,turn off the brake control. 3 Select “3 QUICK MASTER” and press the F4 key (yes). Mastering data is set. 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER
YES
ENTER
NO
F4 4 Select “6 CALIBRATE” and press the F4 key (yes). Calibration is performed. 5 Press F5 “DONE” after mastering. DONE
F5
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APPENDIX
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Procedure B–9
Setting reference points for quick mastering (If the robot is installed in such a way that the robot cannot be set to the 0° position)
CAUTION This operation cannot be executed if the mastering data is lost because of mechanical disassembly or maintenance. If that is the case, jig mastering or zero–degree positions mastering should be executed to restore the mastering data.
Condition Step
H System variable $MASTER_ENB must be set to 1 or 2. 1 Select “6 SYSTEM” on the screen menu. 2 Select “Master/Cal” on the screen change menu. The Master/Cal screen appears.
5 POSITION 6 SYSTEM 7
SYSTEM Master/Cal 1 2 3 4 5 6
MENUS
Master/Cal
T 30%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select.
TYPE
[TYPE]
LOAD RES_PCA
DONE
F1 3 Move the robot by jog feed to the quick mastering reference position. Set brake control to off, if necessary. 4 Select “5 SET QUICK MASTER REF” and press the F4 key (yes). The reference points for quick mastering are stored in memory. 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE
YES
ENTER
NO
F4
585
APPENDIX
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B.2.4 Single axis mastering can select the arbitrary position for the mastering of each axis. Single axis mastering should be used when the mastering data of some axes is lost for some reason such as the drops of the voltage of the backup battery for pulse coder or exchanging of the pulse coder. SINGLE AXIS MASTER ACTUAL POS 25.255 25.550 –50.000 12.500 31.250 0.000 0.000 0.000 0.000
J1 J2 J3 J4 J5 J6 E1 E2 E3
T
(MSTR POS ) ( 0.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000) ( 0.000)
30 % 1/9 (SEL)[ST] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2] (0) [2]
GROUP
Table B–2
EXEC
Settings for single axis mastering
ITEMS
DESCRIPTIONS
ACTUAL POS
The current position expressed by t (degree) of the robot is displayed.
MSTR POS
Specifies the mastering position to the axis to be performed the single axis mastering. It is usually specified 0 degree.
SEL
For the axis to be performed mastering,set this item to 1. It is usually 0.
ST
Display the state of completion of the single axis mastering. The value displayed at this item can not be directly changed. The values of $EACHMST_DON[1 to 9] are displayed at this column. – 0 Specifies that the mastering data has been lost. The single axis mastering need to be performed. – 1 The mastering data has been lost.(Only other interactive axes is performed mastering.) This axis need to be performed mastering. – 2 The mastering has been completed. Refer to the maintenance manual for an accurate method of single axis mastering.
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APPENDIX
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Procedure B–10 Single axis mastering Condition Step
H System variable $MASTER_ENBL must be set to 1. 1 Select “6 SYSTEM” on the screen menu. 2 Select “Master/Cal” on the screen change menu. The Master/Cal screen appears.
5 POSITION 6 SYSTEM 7
SYSTEM Master/Cal 1 2 3 4 5 6
MENUS
Master/Cal
T 30%
FIXTURE POSITION MASTER ZERO POSITION MASTER QUICK MASTER SINGLE AXIS MASTER SET QUICK MASTER REF CALIBRATE
Press ’ENTER’ or number key to select.
TYPE
[TYPE]
LOAD RES_PCA
DONE
F1 3 Select ”4 SINGLE AXIS MASTER”. The single axis mastering screen is displayed. In the example on the mastering of J2 and the J3 axis needs to be executed.
SINGLE AXIS MASTER ACTUAL POS 25.255 25.550 –50.000 12.500 31.250 0.000 0.000 0.000 0.000
J1 J2 J3 J4 J5 J6 E1 E2 E3
T
30 % 1/9 (MSTR POS ) (SEL)[ST] ( 0.000) (0) [2] ( 0.000) (0) [0] ( 0.000) (0) [0] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] GROUP EXEC
4 Enter 1 to SEL setting field of the axis that you want to perform the mastering. SEL can be specified every one axis or plural axes simultaneously. R ( (
T 0.000) 0.000)
(0) (0)
30 % 2/9 [0] [0]
SINGLE AXIS MASTER J2 J3
25.550 –50.000
( (
T 0.000) 0.000)
(1) (1)
GROUP
30 % 3/9 [0] [0] EXEC
5 Jog the robot to the mastering position. Turn off the brake control if it is necessary. 6 Enter the axis data of the mastering position. R ( (
T 0.000) 0.000)
(1) (1)
30 % 2/9 [0] [0]
SINGLE AXIS MASTER J2 J3
25.550 –50.000
( (
T 0.000) 90.000)
(1) (1)
GROUP
587
30 % 3/9 [0] [0] EXEC
APPENDIX
B–81524EN/01
7 Press F5 ”EXEC.” The mastering is performed. This operation causes that SEL is set to 0 and ST is set to 2 or 1. GROUP
EXEC
F5
SINGLE AXIS MASTER ACTUAL POS 25.255 25.550 –50.000 12.500 0.000 0.000 0.000 0.000 0.000
J1 J2 J3 J4 J5 J6 E1 E2 E3
T
30 % 1/9 (MSTR POS ) (SEL)[ST] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 90.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] ( 0.000) (0) [2] GROUP EXEC
8 When the single axis mastering is completed, press the PREV key to display the Master/Cal screen. PREV
SYSTEM Master/Cal
T 30%
1 FIXTURE POSITION MASTER 2 ZERO POSITION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALIBRATE Press ’ENTER’ or number key to select. [TYPE] LOAD RES_PCA DONE
9 Select ”6 CALIBRATE” and press F4 ”YES.” The calibration is performed. 10 Press F5 ”DONE”, after calibration. DONE
F5
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APPENDIX
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B.2.5 Setting mastering data Mastering data can directly be set to the system variable. Setting mastering data can be performed when the pulse counts are not changed. F
If C–MOS mastering data is lost for some reason such as an initial start, set the recorded mastering data.
F
Setting mastering data cannot be performed when pulse count data is lost.
Procedure B–11 Directly setting mastering data Step
1 Select “6 SYSTEM” on the screen menu. 2 Select “Variables” on the screen change menu. The system variable screen appears.
5 POSITION 6 SYSTEM 7
SYSTEM Variables 1 2 3 4 5 6
MENUS
Variables
T 10% 1/98
$AP_MAXAX $AP_PLUGGED $AP_TOTALAX $AP_USENUM $AUTOINIT $BLT
536870912 4 16777216 [12] 0f Byte 2 19920216
[TYPE]
TYPE
F1 3 Change mastering data. Mastering data is stored in system variable $DMR_GRP.$MASTER_COUN. 13 $DMR_GRP 14 $ENC_STAT
DMR_GRP_T [2]of ENC_STAT_T
[TYPE]
4 Select “$DMR_GRP.” DMR_GRP_T [2] of ENC_STAT_T
SYSTEM Variables $DMR_GRP 1 [1]
T 10% 1/1 DMR_GRP_T
ENTER
SYSTEM Variables $DMR_GRP 1 $MASTER_DONE 2 $OT_MINUS 3 $OT_PLUS 4 $MASTER_COUN 5 $REF_DONE 6 $REF_POS 7 $REF_COUNT 8 $BCKLSH_SIGN [ TYPE ]
T
30 % 1/8
FALSE [9]of Boolean [9]of Boolean [9]of Integer FALSE [9]of Real [9]of Integer [9]of Boolean TRUE FALSE
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APPENDIX
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5 Select “$MASTER_COUN” and enter mastering data. [9] of Boolean [9] of integer FALSE
SYSTEM Variables $DMR_GRP[1].$MASTER_COUN 1 [1] 2 [2] 3 [3] 4 [4] 5 [5] 6 [6]
ENTER
T 10% 1/9 95678329 10223045 3020442 304055030 20497709 0
[TYPE]
6 Press the PREV key. 7 Set “$MASTER_DONE” to “TRUE.” TRUE
FALSE
F4
SYSTEM Valiables $DMR_GRP[1] 1 $MASTER_DONE 2 $OT_MINUS
T 10% 1/8 TRUE [9]of Boolean
8 Display the Master/Cal screen and select “6 CALIBRATE.” 9 Press F5 ”DONE”, after calibration. DONE
F5
590
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