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 FAQ

expand  How do I perform single axis mastering on an RH controller 
expand  How do you zero Master a Robot with an RH Controller? 

1.                   Reset all alarms, jog robot to fixture or at all witness marks

2.                   At KCL> prompt type “UTIL”, Press “ENTER, INPUT” Key.

3.                   Check the key switch “REMOTE”, and make sure it is in the REMOTE position.

4.                   Press “F1” for MASTER.

5.                   Press “F1” , Are you sure? ‘Y’.

6.                   Do you want to master at “0” position ‘Y,N’=

6.1.         Y = The robot is at all the witness marks or “0” position. 

6.2.         N = The robot is in the mastering fixture.

7.                   Type “SSAVE SYSVARS” to save the new mastering data.

8/25/2009
expand  How do you zero Master a Robot with an RF Controller? 
expand  How do I get rid of an SRVO-037 IMSTP Immediate Stop Fault? 
This fault is generated by a controlling device, such as a PLC, sending an Immediate Stop Signal to the robot on the UOP Input. To temporarily disable this signal and all UOP signals disable the UOP inputs.
1) Hit menu -> 0 Next -> System
2) Hit F1 and select Variables
3) scroll down to $OPWORK -> hit enter
4) scroll to $UOP_DISABLE
5) change value to 1 and hit enter
** the robot will no longer run in an automatic mode with UOP control until the value is changed back to Zero.
8/25/2009
expand  How do I master an RG or RG2 robot? 
expand  How do you master an RJ, RJ2, RJ3, RJ3iB or R30iA robot? 

The following are the steps to master an RJ series robot

  1. Press [MENU] button
  2. Choose “SYSTEM”
    1. Found on 2nd page of full menus
  3. Press [F1] “TYPE”
  4. Choose “MASTER/CAL”
    1. If “MASTER/CAL” not listed perform the following

                                                              i.      Choose “VARIABLES”

                                                            ii.      Scroll to the variable “MASTER_ENB”

                                                          iii.      Change the variable from “FALSE” to “TRUE”

                                                          iv.      Press [F1] “TYPE”

                                                            v.      Choose “MASTER/CAL”

  1. Select mastering type to perform
    1. “ZERO” position
    2. “SINGLE AXIS”
    3. “MASTERING JIG”
  2. Press [F4] for “YES”
  3. Select “CALIBRATE”
  4. Press [F4] for “YES”

 

Mastering is complete

9/27/2012
expand  How do you reset the BZAL (SRVO-062) Alarm 
expand  Why does the RJ2 CPU not fully boot or start up? 

There are two common causes for this problem.  The first and most likely is TP communications failure.  If you see a 3, 4 or 5 "_" appear under the checksum number, and no red LED's on the CPU, then this is the problem.  This means that part of the communications signal is missing.  Swap the Pendant and cable (Cable is probably crushed or cut), and the CPU should be able to fully boot-up.  There is a possibility of damage on the CPU side however, in which case the swap of pendant and cable will not fix this problem. The CPU itself would have to be  replaced.

The second possibility is a corruption of software on the CPU.  This will result in any of the red LEDs on the CPU turning on (excluding the one on the left which indicates a low CPU battery).  The only ways to recover from this is to drop in an image, perform an INIT start, or reload core.  It will be necessary to put in your most recent backup after performing any of the above solutions.  Corruptions can occur from the backup battery being dead, noisy power being supplied, or any major power glitch while the system was on (power loss, lightning strike, etc.)

 

 

9/27/2012
expand  How to recover from SRVO-038 SERVO Pulse mismatch 
expand  How do you backup and restore an image on an RJ3, RJ3iB, RJ3iC, R30iA or R30iB robot? 

Images on RJ3 series controllers

(includes RJ3, RJ3 RIA, RJ3iB, RJ3iC* and R30iA*)

* These backups can be initiated from within the file menu as well

 

To perform a backup image of the system:

  1. Turn off robot
  2. Press and hold [F1] and [F5] on the pendant
  3. Turn on robot
  4. At the BMON MENU release the F keys
  5. Choose “Controller Backup/Restore”

1.      [4] followed by [ENTER]

  1. Choose “Backup Controller as Images”

1.      [2] followed by [ENTER]

  1. Choose storage location

1.      Usually MC:

  1. Insert memory card (Or setup ethernet FTP server)
  2. Press [1] to Backup
  3. Wait till backup completes
  4. Remove card, and backup the files to an computer
  5. Power off robot
  6. Power up robot normally

 

To Restore an image of the system:

  1. Turn off robot
  2. Press and hold [F1] and [F5] on the pendant
  3. Turn on robot
  4. At the BMON MENU release the F keys
  5. Choose “Controller Backup/Restore”

1.      [4] followed by [ENTER]

  1. Choose “Restore Controller as Images”

1.      [2] followed by [ENTER]

  1. Choose storage location

1.      Usually MC:

  1. Insert memory card with the images loaded in the root folder(Or setup ethernet FTP server)
  2. Press [1] to Restore
  3. Wait till Restore completes
  4. Remove card
  5. Power off robot
  6. Power up robot normally
  7. Load in latest backup to add changes performed since last image.
2/10/2015