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FANUC Robot M-710iC MECHANICAL UNIT. OPERATOR'S MANUAL (B-82274EN/09) - page 4

B-82274EN/09

6.AXIS LIMIT SETUP

Front of robot

J1 movable stopper

The maximum stopping

distance (position)

The maximum stopping

distance (position)

Specified motion range

Specified motion range

or minus side

of plus side

Fig. 6.2(g) The maximum stopping distance of movable mechanical stopper(J1-axis of M-710iC/70)

Specified motion range

of minus side

Specified motion range

of plus side

The maximum stopping

distance (position)

The maximum stopping

distance (position)

Fig. 6.2(h) The maximum stopping distance of movable mechanical stopper

(J2-axis of M-710iC/50, /50H, /50E)

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6.AXIS LIMIT SETUP

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Specified motion range

of minus side

Specified motion range

of plus side

The maximum stopping

distance (position)

The maximum stopping

distance (position)

Fig. 6.2(i) The maximum stopping distance of movable mechanical stopper(J2-axis of M-710iC/70)

Specified motion range

Specified motion range

of minus side

of plus side

The maximum stopping

distance (position)

The maximum stopping

distance (positon)

Fig. 6.2(j) The maximum stopping distance of movable mechanical stopper

(J3-axis of M-710iC/50, /70, /50H ,/50E)

6.3

CHANGING THE MOTION RANGE BY THE LIMIT SWITCH

(OPTION)

The limit switch is an over travel switch, which interrupts power to the servo motor and stops the robot

when turned on. The limit switch is optionally provided for the J1-axis.

To change the motion range by the limit switch, move the dog. The following figure shows the

relationship between the dog position and the motion range.

The dog of the J1-axis is placed in the same position as with the mechanical stopper.

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6.AXIS LIMIT SETUP

Fig. 6.3 J1-Axis Dog Position and Motion Range (Option)

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6.AXIS LIMIT SETUP

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6.4

ADJUSTING LIMIT SWITCH (OPTION)

After the motion range is changed by the limit switch, be sure to make adjustment.

ADJUSTING PROCEDURE

1

Set the $MOR_GRP.$CAL_DONE system parameter to FALSE. This disables the motion limit

specified by the software. As a result, the operator can rotate the robot by a jog feed which goes

beyond the motion limit.

2

Loosen the following bolts.

M8×12

2 pcs M4×25

2 pcs

3

Move the limit switch so that the robot activates it at about 1.0° degree before the stroke end. Step

on the dog, and position the limit switch in such a place that only one of the step-on allowance

indication lines at the tip of the switch is hidden.

4

When the limit switch operates and detects overtravel (OT), the robot stops, and an error message,

“OVERTRAVEL”, is displayed. To restart the robot, hold on the SHIFT key and press the RESET

key. Then, while holding on the SHIFT key, move the adjusting axis off the OT limit switch by

jogging in joint mode.

5

Check that the robot also activates the limit switch when the robot is approx. 1.0° degrees from the

opposite stroke end in the same way as above. If the limit switch does not operate at the position,

adjust the position of the switch again.

6

Set the $MOR_GRP.$CAL_DONE system parameter to TRUE.

7

Turn off the power, then turn it on again to restart the controller.

Fig. 6.4 Adjusting J1-axis limit switch (option)

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7.CHECKS AND MAINTENANCE

7 CHECKS AND MAINTENANCE

Optimum performance of the robot can be maintained by performing the periodic maintenance procedures

presented in this chapter.(See the Appendix A PERIODIC MAINTENANCE TABLE.)

NOTE

The periodic maintenance procedures described in this chapter assume that the

FANUC robot is used for up to 3840 hours a year. When using the robot

beyond this total operating time, correct the maintenance frequencies shown in

this chapter by calculation in proportion to the difference between the actual

operating time and 3840 hours/year.

7.1

PERIODIC MAINTENANCE

7.1.1

Daily Checks

Clean each part, and visually check component parts for damage before daily system operation. Check the

following items as the occasion demands.

(1) Before turning on power

Item

Check items

Check points

1

Oil exudation

Check there is oil exudation on sealed part of each joint parts.

NOTE

1 Oil exudation may be attached (Slightly a loot oil stick) to outside of lip depend

on the movement condition or environment of the circumference. If this oil

contents change to a state of dew, it may fail depend on the movement.

You can prevent oil spot from falling down by wiping the oil contents which is

accumulated to under part of oil seal before operation.

2 Also, motors may become the high temperature and the internal pressure of

grease bath may rise by frequent repetition movement and use in the high

temperature environment.

In these cases, you can return internal pressure by releasing grease out let just

after operation of robot. (When opening grease outlet, pay attention grease is

not scattered referring to Subsection 7.2.2.)

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7.CHECKS AND MAINTENANCE

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Fig.7.1.1 (a) Check parts of oil exudation

Check items

Wipe off the oil contents of each joint part which has oil seal.

When air control set is combined

Item

Check items

Check points

1

Air pressure

Check air pressure using the pressure gauge on the air regulator

as shown in Fig.7.1.1 (a). If it does not meet the specified pressure

of 0.49 to 0.69 MPa (5-7 kgf/cm²), adjust it using the regulator

pressure-setting handle.

2

Lubricator oil mist

Check the drop quantity during wrist or hand motion. If it does not

quantity

meet the specified value (1 drop/10-20 sec), adjust it using the

lubricator control knob. Under normal usage, the lubricator

In case of

becomes empty in about 10 to 20 days under normal operation.

air control

3

Lubricator oil level

Check to see that the lubricator level is within the specified level

set

shown meet the specified pressure of 10 KPa (0.1kgf/cm²), adjust

it using the regulator pressure-setting handle.

4

Leakage from hose

Check the joints, tubes, etc. for leaks. Repair leaks, or replace

parts, as required.

5

Drain

Check drain and release it. When quantity of the drain is

remarkable, examine the setting of the air dryer to the air supply

side.

6

Supply pressure

Check the supply pressure using the air

purge kit shown in Fig.7.1.1 (b). If it does not

meet the specified pressure of 10 KPa (0.1

kgf/cm²), adjust it using the regulator pressure setting handle.

7

In case of

Dryer

Check whether the color of the dew point

air purge

checker is blue. When it is not blue, identify

kit

the cause and replace the dryer. Maintenance

for air purge kit, refer to the operator’s

manual attached kit.

8

Drain

Check drain, When quantity of the drain is remarkable, examine

the setting of the air dryer to the air supply side.

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7.CHECKS AND MAINTENANCE

Lubricator

Adjusting knob

Oil inlet

Lubricator

mist amount check

Lubricator

Regulator

Filter

Pressure

pressure

setting

Fig.7.1.1 (b) Air control set

Dew point checker

2-7x11

Length round hole

Air outlet

(O6 Air tube)

Pressure gauge

Pneumatic

air outlet

Air inlet

(O10 air tube)

Pressure adjustment knob

S

S

Dryer unit

Fig.7.1.1 (c) Air purge kit (option)

(2) After automatic operation

Item

Check items

Check points

1

Vibration, abnormal noises,

Check whether the robot moves along and about the axes smoothly

and motor heating

without unusual vibration or sounds. Also, check whether the

temperatures of the motors are excessively high.

2

Changing repeatability

Check to see that the stop positions of the robot have not deviated from

the previous stop positions.

3

Peripheral devices for

Check whether the peripheral devices operate properly according to

proper operation

commands

from the robot.

4

Brakes for each axis

Check that the end effector drops within 0.5 mm when the power is cut.

7.1.2

First 1-Month (320 hours operating) Check

Check the following items after the first one-month operation (or 320 hours operating)

Item

Check items

Check points

1

Ventilation portion of controller

If the ventilation portion of the controller is dusty, turn off

power and clean the unit.

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7.CHECKS AND MAINTENANCE

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7.1.3

First 3-month (960 hours) Checks

Check the following items at the first quarterly inspection, then every year thereafter.(See the

Subsection 7.1.5.)

Item

Check items

Check points

1

Retightening external main bolts

Further, tighten the end-effecter mounting bolts and external

main bolts. (Note 1)

2

Check the mechanical stopper and

Check the looseness of mounting bolts of mechanical stopper

adjustable mechanical stopper

and adjustable

mechanical stopper. Particular, check swing stopper of

J1-axis rotates smoothly (Note 2)

3

Cleaning and checking each part

Clean each part (remove chips, etc.) and check component

parts for cracks and flaws.(Note 3)

4

Check the end effector (hand) cable

Confirm whether there is wound in the coating of cable

5

Check the fan.

Confirm whether the fan operates normally when fan is

attached,

6

Check the teach pendant cable,

Check whether the cable connected to the teach pendant and

operation box connecting cable and robot

robot is unevenly twisted.

connecting cable

Note 1) Points to be retightened

• The end effecter mounting bolts, robot installation bolts, and bolts to be removed for inspection need

to be retightened.

• The bolts exposed to the outside of the robot need to be retightened.

For the tightening torque, see the recommended bolt tightening torque shown in the Appendix.

A loose prevention agent (adhesive) is applied to some bolts. If the bolts are tightened with greater than

the recommended torque, the loose prevention agent may be removed. So, follow the recommended

tightening torque when retightening them.

Note 2) Check of mechanical stopper and adjustable mechanical stopper.

-

Check the looseness of stopper mounting bolts. If they are loose, they are needed to be retightened.

Especially, check the looseness of mounting bolts of J1-axis swing stopper.

-

Check that J1-axis swing stopper rotates smoothly.

Check the looseness

of bolts.

Check the looseness of bolts

and stopper rotate smoothly.

Fig.7.1.3 (a) Check of mechanical stopper and adjustable mechanical stopper.

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7.CHECKS AND MAINTENANCE

Note 3) Cleaning

• Necessary cleaning points, dust on the flat part, sedimentation of spatters

Clean sediments periodically. In particular, clean the following points carefully.

Vicinity of the wrist axis and oil seal

→ If chippings or spatters are attached to the oil seal, an oil leak may be caused.

• Check if the vicinity of the necessary inspection points, wrist part, and J3 arm significantly wears

due to rubbing against the welding cable or hand cable.

• Check if there is a trace of a collision around the gun or hand.

• Check the reducer or grease bath for an oil leak.

→ If oil can be found a day after wiping oil, an oil leak may be caused.

Vicinity of the welding torch and wrist flange (When ARC welding application is specified.)

→The insulation failure occurs when the spatter has collected around the wrist flange or welding torch,

and there is a possibility of damaging the robot mechanism by the welding current. (See Appendix C)

Fig.7.1.3 (b) Cleaning part

7.1.4

3-month (960 hours) Checks

Check the following item at the first one-months (320 hours), then every 3-month thereafter. (See the

Subsection 7.1.3.)

Item

Check items

Check points

1

Ventilation portion of controller

(See Section 7.1.2.)

7.1.5

1-year (3,840 hours) Checks

Check the following items about once every year (3,840 hours).

Item

Check items

Check points

1

Cables used in mechanical unit

Check whether the jackets of the mechanical unit cables are

damaged. Also, check whether the cables are excessively bent

or unevenly twisted. Check that the connectors of the motors

and connector panels are securely engaged.(Note 4)

2

Retightening external main bolts

(See Section 7.1.3.)

3

Check the mechanical stopper and

(See Section 7.1.3.)

adjustable mechanical stopper

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7.CHECKS AND MAINTENANCE

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Item

Check items

Check points

4

Cleaning each parts and inspection

(See Section 7.1.3.)

5

Check the end effector (hand) cable

(See Section 7.1.3.)

6

Check the fan

(See Section 7.1.3.)

7

Check the teach pendant cable,

(See Section 7.1.3.)

operation box connecting cable and

robot connecting cable

Note 1) Inspection points and check items of the mechanical unit cables and

connectors

Inspection points of the mechanical unit cables

For the J1-axis and J2-axis,check cables after remove J2 motor cover.

For the J3-axis,check cables after remove cover of J3 casing.

When severe dust/liquid protection option is selected, packing is attached to the cover. If you remove

covers, exchange packing for the new article absolutely.

Check items

For cables with a cable protection sheet, open the protection sheet before making the check.

Check the cables for a sheath break and wear.

If wires of the cable appear, replace it.

Please remove

these cover,too.

Spec. of gasket

(When severe dust/liquid

option is selected)

use part

spec

side of J1 base

A290-7125-X801

J1 motor cover

A290-7125-X806

side of J2 base

A290-7125-X805

below side of

A290-7125-X808

J2 arm

Please remove

upper side of

A290-7125-X809

J2 arm

this cover,too.

J3 motor cover

A290-7125-X810

side of J3 casing

A290-7125-X815

Fig 7.1.5 (a) Check items of Mechanical unit cable

Inspection points of the connectors

•

Power/brake connectors of the motor

•

Robot connection cables and user cables

Check items

• Circular connector: Check the connector for looseness by turning it manually.

• Square connector: Check the connector for disengagement of its lever.

• Earth terminal: Check the connector for looseness.

When severe dust/liquid protection option is selected, packing is attached to the cover. If you remove

covers, exchange packing for the new article absolutely.

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7.CHECKS AND MAINTENANCE

Fan motor

Fan motor

M-710iC/50H

Fig 7.1.5 (b) Check items of connector

7.1.6

1.5-year (5,760 hours) Checks

Check the following item once every 1.5-year (5,760 hours).

Item

Check items

Check points

1

Battery

Replace battery in the mechanical unit. (See Section 7.2)

7.1.7

3-year (11,520 hours) Checks

Check the following items about once every 3 years (11,520 hours).

Item

Check items

Check points

1

Replacing grease of each axis

(See Section 7.2)

reducer and gearbox

7.1.8

4-year (15,360 hours) Checks

Check the following items once every 4 years (15,360 hours).

Item

Check items

Check points

1

Replace the mechanical unit cable

Contact FANUC about replacing method

7.2

MAINTENANCE

7.2.1

Replacing the Batteries (1.5 Years checks)

The position data of each axis is preserved by the backup batteries. The batteries need to be replaced

every 1.5 years. Also, use the following procedure to replace when the backup battery voltage drop alarm

occurs.

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7.CHECKS AND MAINTENANCE

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Procedure of replacing the battery

1

Keep the power on. Press the EMERGENCY STOP button to prohibit the robot motion.

CAUTION

Replacing the batteries with the power supply turned off causes all current

position data to be lost. Therefore, mastering will be required again.

2

Remove the battery case cap.( Fig. 7.2.1 (a))

3

Take out the old batteries from the battery case.

4

Insert new batteries into the battery case. Pay attention to the direction of batteries.

5

Close the battery case cap.

CAUTION

When using a robot with the severe dust/liquid protection option, remove the

cover from the battery case as shown in Fig. 7.2.1 (b) to replace the battery. After

replacing the battery, reinstall the cover. In this time, please be sure to replace

packing to new one for effects of severe dust/liquid protection.

Battery case

Battery

Case cap

（1.5V size D, 4pcs）

Fig. 7.2.1 (a) Replacing the battery

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7.CHECKS AND MAINTENANCE

Packing

A290-7125-X820

Plate

Seal bolt

Fig. 7.2.1 (b) Removing the plate

7.2.2

Replacing the Grease of the Drive Mechanism (3 years

(11,520 hours) checks)

Replace the grease of the reducers of J1, J2, and J3 axes, the J4-axis gearbox and the wrist every three

years or 11,520 hours by using the following procedures.

Table 7.2.2 (a) Grease for 3-year periodical replacement

Supply position

Quantity

Gun tip pressure

Grease name

J1-axis reducer

2950g (3300ml)

J2-axis reducer

1500g (1660ml)

(M-710iC/50, /70, /50S, /50E)

J2-axis reducer

1260g (1400ml)

(M-710iC/50H)

J3-axis reducer

950g(1060ml)

Kyodo Yushi

0.1MPa

J4/J5/J6-axis gearbox

VIGOGREASE RE0

810g (920ml)

or less (NOTE)

(M-710iC/50, /70, /50S, /50E)

Spec.:A98L-0040-0174

J4/J5-axis gearbox

580g (650ml)

(M-710iC/50H)

Wrist

580g (650ml)

(M-710iC/50, /70 ,/50H, 50S)

Wrist (M-710iC/50E)

510g (580ml)

NOTE

When using a hand pump, apply grease approximately once per two seconds. For

grease replacement or replenishment, use the postures indicated below.

Table 7.2.2 (b) Postures for greasing

Posture

Supply position

J1

J2

J3

J4

J5

J6

J1-axis reducer

Arbitrary

Arbitrary

J2-axis reducer

0°

Arbitrary

Arbitrary

Arbitrary

J3-axis reducer

Arbitrary

0°

0°

J4-axis gearbox

0°

Arbitrary

Wrist

0°

0°

0°

0°

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7.CHECKS AND MAINTENANCE

Note）Don't remove

J1-axis reducer

this bolt.

outlet

M12X20（seal bolt）

Detail A

J1-axis reducer inlet

A

Grease nipple

Left side

Right side

Left side

Right side

Fig. 7.2.3 (a) Replacing grease of the J1-axis reducer

J2-axis reducer inlet

Note）Don't remove

Grease nipple

this bolt.

Detail B

B

Detail B

J2-axis reducer

outlet

M12X20（seal bolt）

Left side

Right side

Left side

Right side

Fig. 7.2.3 (b) Replacing grease of the J2-axis reducer

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J3-axis reducer

outlet

M12X20（seal bolt）

J3-axis reducer inlet

Grease nipple

Fig. 7.2.3 (c) Replacing grease of the J3-axis reducer(M-710iC/50, /70, /50H, /50E)

J3-axis reducer inlet

Grease nipple

J3-axis reducer

outlet

M12X20（seal bolt）

Fig. 7.2.3 (d) Replacing grease of the J3-axis reducer(M-710iC/50S)

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7.CHECKS AND MAINTENANCE

7.2.4

Grease Replacement Procedure for the J4/J5/J6-Axis

Gearbox (J4/J5-axis gearbox)

1

Move the robot to the greasing posture described in Table 7.2.2 (b).

2

Turn off the controller power.

3

Remove the seal bolt from the grease outlet.(Fig. 7.2.4 (a), 7.2.4 (b))

4

Supply new grease until new grease is output from the grease outlet.

5

After greasing, release remaining pressure as the Subsection 7.2.6.

J4/J5/J6-axis gearbox inlet

J4/J5/J6-axis gearbox outlet

Grease nipple

R 1/8（taper plug）

Left side

Right side

Fig. 7.2.4 (a) Replacing grease of the J4/J5/J6-axis gearbox (M-710iC/50, /70, /50E)

J4/J5-axis gearbox outlet

M8X10 (seal bolt)

J4/J5-axis gearbox inlet

Grease nipple

Fig. 7.2.4 (b) Replacing grease of the J4/J5-axis gearbox(M-710iC/50H)

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J4/J5/J6-axis gearbox outlet

R 1/8（taper plug）

J4/J5/J6-axis gearbox inlet

Grease nipple

Left side

Right side

Fig. 7.2.4 (c) Replacing grease of the J4/J5/J6-axis gearbox(M-710iC/50S)

7.2.5

Grease Replacement Procedure for the Wrist

Grease Replacement Procedure for the Wrist (M-710iC/50, /70, /50H, /50S)

1

Move the robot to the greasing posture described in Table 7.2.2 (b).

2

Turn off the controller power.

3

Remove the plug with a sealant from the wrist grease outlet and attach the grease nipple that comes

with the robot (Fig. 7.2.5 (a)).

4

Supply new grease through the wrist grease inlet until new grease is output from wrist grease outlet.

5

After greasing, release remaining pressure as the Subsection 7.2.6.

Wrist unit inlet

Wrist unit outlet

(Remove taper plug and attach the

Rc1/8 (taper plug)

grease nipple then supply grease.)

Fig. 7.2.5 (a) Replacing grease of the wrist (M-710iC/50, /70, /50H, /50S)

Grease Replacement Procedure for the Wrist (M-710iC/50E)

1

Move the robot to the greasing posture described in table 7.2.2 (b).

2

Turn off the controller power.

3

Remove the seal bolt of wrist grease outlet 1 (Fig. 7.2.5 (b) ).

4

Supply grease to the wrist grease inlet until new grease outputs from wrist grease outlet 1.

5

Attach the seal bolt to wrist grease outlet 1.

6

Next, remove the seal bolt of wrist grease outlet 2.

7

Supply new grease through the wrist grease inlet until new grease is output from wrist grease outlet

2

8

Release remaining pressure using the procedure given in Section 7.2.6.

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7.CHECKS AND MAINTENANCE

Grease inlet for the

wrist unit

grease nipple

Grease outlet 2 for the

wrist unit

seal bolt M6X8

Grease outlet 1 for the

wrist unit

seal bolt M6X8

Fig. 7.2.5 (b) Replacing grease of the wrist (M-710iC/50E)

7.2.6

Procedure for Releasing Remaining Pressure within the

Grease Bath

After greasing, operate the robot for 20 minutes or more with the grease nipple of the grease inlet and the

seal bolt of the grease outlet uncapped to release remaining pressure within the grease bath.

Attach the reclaim bags under the grease inlet and grease outlet to prevent spilled grease from splattering.

Operating axis

J1-axis

J2-axis

J3-axis

J4-axis

J5-axis

J6-axis

Grease

replacement part

Axis angle of

J1-axis reducer

60° or more

Arbitrary

OVR 80%

Axis angle of

J2-axis reducer

Arbitrary

60° or more

Arbitrary

OVR 100%

Axis angle of

J3-axis reducer

Arbitrary

60° or more

Arbitrary

OVR 100%

Axis angle of 60° or more

J4-axis gearbox

Arbitrary

OVR 100%

Axis angle of 60° or more

Wrist axis

Arbitrary

OVR 100%

If the above operations cannot be performed due to local circumstances, the same count operation is

necessary.

(When the maximum allowable axis angle is 30°, perform twice the operation for 40 minutes

or more.)

When multiple axes are greased at the same time, the axes can be run at the same time.

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8.MASTERING

8 MASTERING

Mastering is an operation performed to associate the angle of each robot axis with the pulse count value

supplied from the absolute Pulsecoder connected to the corresponding axis motor. To be specific,

mastering is an operation for obtaining the pulse count value corresponding to the zero position.

8.1

GENERAL

The current position of the robot is determined according to the pulse count value supplied from the

Pulsecoder on each axis.

Mastering is factory-performed. It is unnecessary to perform mastering in daily operations. However,

mastering becomes necessary after:

・ Motor replacement.

・ Pulsecoder replacement

・ Reducer replacement

・ Cable replacement

・ Batteries for pulse count backup in the mechanical unit have gone dead

CAUTION

Robot data (including mastering data) and Pulsecoder data are backed up by

their respective backup batteries. Data will be lost if the batteries go dead.

Replace the batteries in the control and mechanical units periodically. An alarm

will be issued to warn the user of a low battery voltage.

Types of Mastering

There are five methods of the following mastering.

Table 8.1 Type of mastering

Fixture position mastering

This is performed using a mastering Fixture before the machine is shipped from

the factory.

Zero-position mastering

This is performed with all axes set at the 0-degree position. A zero-position mark

(witness mark mastering)

(witness mark) is attached to each robot axis. This mastering is performed with all

axes aligned to their respective witness marks.

Quick mastering

This is performed at a user-specified position. The corresponding count value is

obtained from the rotation speed of the Pulsecoder connected to the relevant

motor and the rotation angle within one rotation. Quick mastering uses the fact that

the absolute value of a rotation angle within one rotation will not be lost.

Single-axis mastering

This is performed for one axis at a time. The mastering position for each axis can

be specified by the user. This is useful in performing mastering on a specific axis.

Mastering data entry

Mastering data is entered directly.

Once mastering is performed, it is necessary to carry out positioning, or calibration. Positioning is an

operation in which the controller reads the current pulse count value to sense the current position of the

robot.

This section describes zero-position mastering, quick mastering, single-axis mastering, and mastering data

entry. For more detailed mastering (Fixture position mastering), contact FANUC.

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8.MASTERING

8.3

ZERO POSITION MASTERING

Zero-position mastering (witness mark mastering) is performed with all axes set at the 0-degree position.

A zero-position mark (witness mark) is attached to each robot axis. This mastering is performed with all

axes set at the 0-degree position using their respective witness marks.

Zero-position mastering involves a visual check. It cannot be so accurate. It should be used only as a

quick-fix method.

Procedure of Zero-position Mastering

1.

Press MENUS.

2.

Select NEXT and press SYSTEM.

3.

Press F1, [TYPE].

4.

Select Master/Cal.

SYSTEM Master/Cal

JOINT 10%

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

5.

Release brake control, and jog the robot into a posture for mastering.

NOTE

Brake control can be released by setting the system variables as follows:

$PARAM_GROUP.SV_OFF_ALL: FALSE

$PARAM_GROUP.SV_OFF_ENB[*]: FALSE (for all axes)

After changing the system variables, turn off the controller power and on again.

6.

Select Zero Position Master.

7.

Press F4, YES. Mastering will be performed automatically. Alternatively, turn off the controller

power and on again. Turning on the controller power always causes positioning to be performed.

8.

Return brake control to original setting, and turn off the controller power and on again.

Table 8.3 Posture with position marks (witness mark) aligned

Axis

Position

J1-axis

0 deg

J2-axis

0 deg

J3-axis

0 deg (NOTE) When J2-axis is 0 deg.

J4-axis

0 deg

J5-axis

0 deg

J6-axis

0 deg

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8.MASTERING

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C

J3

J2

J1

Fig. 8.3 (a) zero-position mark (witness mark) for each axis

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8.MASTERING

F (offset wrist)

E (offset wrist)

M-710iC/50E　(offset wrist)

DETAIL E

E

VIEW DD

DETAIL D (except 50H)

FF

F

DD

D

Detail F

(FANUC Flange, Special Flange)

Detail F(ISO Flange)

DIetail FF

(FANUC Flange, Special Flange)

Detail

offset wrist

Detail

offset wrist

(ISO flange)

Detail

offset wrist

(FANUC flange, Special Flange)

Fig. 8.3 (b) zero-position mark (witness mark) for each axis

8.4

QUICK MASTERING

Quick mastering is performed at a user-specified position. The corresponding count value is obtained

from the rotation speed of the Pulsecoder connected to the relevant motor and the rotation angle within

one rotation. Quick mastering uses the fact that the absolute value of a rotation angle within one rotation

will not be lost.

Quick mastering is factory-performed at the position indicated in Table 8.3. Do not change the setting

unless there is any problem.

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8.MASTERING

B-82274EN/09

If it is impossible to set the robot at the position mentioned above, it is necessary to re-set the quick

mastering reference position using the following method. (It would be convenient to set up a marker that

can work in place of the witness mark.)

CAUTION

1 Quick mastering can be used, if the pulse count value is lost, for example,

because a low voltage has been detected on the backup battery for the pulse

counter.

2 Quick mastering cannot be used, after the Pulsecoder is replaced or after the

mastering data is lost from the robot controller.

Procedure Recording the Quick Mastering Reference Position

1

Select SYSTEM.

2

Select Master/Cal.

SYSTEM Master/Cal

JOINT 10%

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

3

Release brake control, and jog the robot to the quick mastering reference position.

4

Set quick master ref? [NO] Move the cursor to SET QUICK MASTER REF and press ENTER.

Press F4, YES.

CAUTION

If the robot has lost mastery due to mechanical disassembly or repair, you

cannot perform this procedure. In this case, Fixture position mastering or zero

-position mastering to restore robot mastery.

Procedure of Quick Mastering

1

Display the Master/Cal screen.

SYSTEM Master/Cal

JOINT 10%

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

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B-82274EN/09

8.MASTERING

2

Release brake control, and jog the robot to the quick mastering reference position.

3

Quick master? [NO] Move the cursor to QUICK MASTER and press ENTER. Press F4, YES.

Quick mastering data is memorized.

Quick master? [NO]

4

Move the cursor to CALIBRATE and press ENTER. Calibration is executed. Calibration is

executed by power on again.

5

After completing the calibration, press F5 Done.

6

Return brake control to original setting, and turn off the controller power and on again.

8.5

SINGLE AXIS MASTERING

Single axis mastering is performed for one axis at a time. The mastering position for each axis can be

specified by the user.

Single axis mastering can be used, if mastering data for a specific axis is lost, for example, because a low

voltage has been detected on the pulse counter backup battery or because the Pulsecoder has been

replaced.

SINGLE AXIS MASTER

JOINT 33%

ACTUAL AXIS

(MSTR POS)

(SEL)

[ST]

J1

25.255

(0.000)

(0)

[2]

J2

25.550

(0.000)

(0)

[2]

J3

-50.000

(0.000)

(0)

[2]

J4

12.500

(0.000)

(0)

[2]

J5

31.250

(0.000)

(0)

[2]

J6

43.382

(0.000)

(0)

[2]

E1

0.000

(0.000)

(0)

[2]

E2

0.000

(0.000)

(0)

[2]

E3

0.000

(0.000)

(0)

[2]

GROUP EXE

Table 8.5 Items set in single axis mastering

Item

Description

Current position

The current position of the robot is displayed for each axis in degree units.

(ACTUAL AXIS)

Mastering position

A mastering position is specified for an axis to be subjected to single axis mastering. It

(MSTR POS)

would be convenient to set to it to the 0_ position.

SEL

This item is set to 1 for an axis to be subjected to single axis mastering. Usually, it is 0.

ST

This item indicates whether single axis mastering has been completed for the

corresponding axis. It cannot be changed directly by the user.

The value of the item is reflected in $EACHMST_DON

(1 to 9).

0 :Mastering data has been lost. Single axis mastering is necessary.

1 :Mastering data has been lost. (Mastering has been

performed only for the other interactive axes.) Single axis

mastering is necessary.

2 :Mastering has been completed.

Procedure of Single axis mastering

1

Select SYSTEM.

2

Select Master/Cal.

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8.MASTERING

B-82274EN/09

SYSTEM Master/Cal

JOINT 10%

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

3

Select 4, Single Axis Master. You will see a screen similar to the following.

SINGLE AXIS MASTER

JOINT 10%

1/9

ACTUAL POS

(MSTR POS)

(SEL)

[ST]

J1

25.255

(

0.000)

(0)

[2]

J2

25.550

(

0.000)

(0)

[2]

J3

-50.000

(

0.000)

(0)

[2]

J4

12.500

(

0.000)

(0)

[2]

J5

31.250

(

0.000)

(0)

[0]

J6

43.382

(

0.000)

(0)

[0]

E1

0.000

(

0.000)

(0)

[2]

E2

0.000

(

0.000)

(0)

[2]

E3

0.000

(

0.000)

(0)

[2]

[ TYPE ]

GROUP EXEC

4.

Move the cursor to the SEL column for the unmastered axis and press the numeric key “1.” Setting

of SEL is available for one or more axes.

5.

Turn off brake control as required, then jog the robot to the mastering position

6.

Enter axis data for the mastering position.

7

Press F5 [EXEC]. Mastering is performed. Therefore, SEL is reset to 0, and ST is re-set to 2 or 1.

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8.MASTERING

SINGLE AXIS MASTER

JOINT 30%

GROUP EXEC

1/9

ACTUAL AXIS

(MSTR POS)

(SEL)

[ST]

F5

J1

25.255

(0.000)

(0)

[2]

J2

25.550

(0.000)

(0)

[2]

J3

-50.000

(0.000)

(0)

[2]

J4

12.500

(0.000)

(0)

[2]

J5

0.000

(0.000)

(0)

[2]

J6

0.000

(0.000)

(0)

[2]

E1

0.000

(0.000)

(0)

[2]

E2

0.000

(0.000)

(0)

[2]

E3

0.000

(0.000)

(0)

[2]

GROUP EXEC

8

When single axis mastering is completed, press the previous page key to resume the previous screen.

SYSTEM Master/Cal

JOINT 30%

BACK

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 ]

DONE

9.

Select [6 CALIBRATE], then press F4 [YES]. Positioning is performed. Alternatively, turn off the

controller power and on again. Positioning is performed.

10. After positioning is completed, press F5 [DONE].

DONE

F5

11 Return brake control to original setting, and turn off the controller power and on again.

8.6

MASTERING DATA ENTRY

This function enables mastering data values to be assigned directly to a system variable. It can be used if

mastering data has been lost but the pulse count is preserved.

Mastering data entry method

1

Press MENUS, then press NEXT and select SYSTEM.

2

Press F1, [TYPE]. Select [Variables]. The system variable screen appears.

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8.MASTERING

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SYSTEM Variables

JOINT 10%

1/98

1

$AP MAXAX

536870912

2

$AP PLUGGED

4

3

$AP TOTALAX

16777216

4

$AP USENUM

[12] of Byte

5

$AUTOINIT

2

6

$BLT

19920216

[ TYPE ]

3

Change the mastering data.

The mastering data is saved to the $DMR_GRP.$MASTER_COUN system variable.

SYSTEM Variables

JOINT 10%

13

$DMR GRP

DMR GRPT

14

$ENC STAT

[2] of ENC STATT

[ TYPE ]

4

Select $DMR_GRP.

5

Select $MASTER_COUN, and enter the mastering data you have recorded.

6

Press the PREV key.

7

Set $MASTER_DONE to TRUE.

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8.MASTERING

8

Display the positioning screen, and select [6 CALIBRATE], then press F4 [YES].

9

After completing positioning, press F5 [DONE].

DONE

F5

8.7

CHECKING THE MASTERING

1

Checking whether mastering has been made correctly

Usually, positioning is performed automatically at power-on. To check whether mastering has

been made correctly, note whether the displayed current position agrees with the actual robot

position. Use the procedure described below:

(1) Reproduce a particular point in a program. Check whether the point agrees with the specified

position.

(2) Set all axes of the robot to their 0-degree (0rad) positions. Check that the zero-degree position

marks indicated in Section 8.3 are aligned. There is no need to use any visual aid.

(3) Using fixtures, set the robot to the mastering position in the same way as when performing

mastering. Check that the displayed current position agrees with the actual mastering

position.

If the displayed and actual positions do not match, the counter value for a Pulsecoder may have been

invalidated as a result of an alarm described below 2. Alternatively, the mastering data in system

variable $DMR_GRP.$MASTER_COUN may have been overwritten as a result of an operation

error or some other reason.

Compare the data with the values indicated on the supplied data sheet. This system variable is

overwritten whenever mastering is performed. Whenever mastering is performed, record the value

of the system variable on the data sheet.

2

Alarms that may be output during mastering and remedy for it

(1) BZAL alarm

This alarm is output if the voltage of the Pulsecoder's backup battery falls to 0 V while the

power to the controller is disconnected. Also, if Pulsecoder connector is removed for replacing

cables etc. this alarm is output because voltage becomes to 0. To clear the alarm, fit a new

battery, execute the pulse reset (See Section 8.2.), then turn the power off then on again and

confirm alarm is not output.

Battery might be weak if you can’t reset alarm, then replace battery to new one , perform pulse

reset , turn off and on the controller power. Note that, if this alarm occurs, all data originally

held by the Pulsecoder will have been lost. Mastering must be performed again.

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