How long does this procedure take?

Fixture-Position Mastering on FANUC R-30iB is rated Intermediate and takes about 25 minutes across 7 steps.

What tools do I need?

You will need Teach pendant, Factory mastering jig for the specific robot model (if available).

What should I do before starting?

You have the correct factory mastering jig for this robot model. Mechanical manual for the model, since jig fit and position are model-specific. Robot power on and the teach pendant enabled in T1. Access to System, Master/Cal on the teach pendant.

Mastering & calibration

Fixture-Position Mastering on FANUC R-30iB

Fixture-position mastering is the FANUC factory method that records the pulse count at a special jig position. FANUC performs it at shipment, so it is usually unnecessary in normal field operation. This guide covers the R-30iB controller-side flow only; jig details are in the model's mechanical manual.

Intermediate~25 min7 steps

Confirm this is the right method

Fixture position mastering is performed at the factory using a special jig and is usually unnecessary in normal operation. If you do not have the factory jig for this exact model, choose another mastering method.

Caution: Do not substitute a shop-built fixture. The pulse count recorded is only meaningful at the true factory jig position defined in the mechanical manual.

Install the factory jig per the mechanical manual

Follow the model's mechanical manual for jig mounting and axis engagement. Those details are not in the controller manual.

Jog the robot to the fixture position

In T1 low speed with the deadman held, jog each axis into the jig until the robot is fully seated at the fixture position.

Caution: Keep hands clear of pinch points between the arm and the jig.

Open Master/Cal

On the pendant, go to System, Master/Cal.

Select FIXTURE POSITION MASTER

Choose 1 FIXTURE POSITION MASTER and confirm the prompt. The controller records the current pulse count as the mastering reference.

Calibrate and power-cycle

Run CALIBRATE from Master/Cal, then power-cycle the controller so the mastering takes effect.

Verify at low speed

Jog to a known taught point at low speed and confirm the position looks correct before running any program.

Common questions

How long does this procedure take?: Fixture-Position Mastering on FANUC R-30iB is rated Intermediate and takes about 25 minutes across 7 steps.
What tools do I need?: You will need Teach pendant, Factory mastering jig for the specific robot model (if available).
What should I do before starting?: You have the correct factory mastering jig for this robot model. Mechanical manual for the model, since jig fit and position are model-specific. Robot power on and the teach pendant enabled in T1. Access to System, Master/Cal on the teach pendant.
What is the first step?: Confirm this is the right method. Fixture position mastering is performed at the factory using a special jig and is usually unnecessary in normal operation. If you do not have the factory jig for this exact model, choose another mastering method.