How long does it take to single-axis mastering a fanuc robot?

This is a intermediate task that takes about 30 minutes across 7 steps.

What tools do I need?

You will need Teach pendant, Axis zero position fixture or scribed marks.

Only one axis lost its mastering reference. Replacement motor or encoder already installed and wired.

Identify the affected axis. Check the alarm code and axis number reported by the controller before starting.

Mastering & calibration

For a technician who needs to re-master one axis after replacing its motor or pulse coder without disturbing mastering on the other axes.

Intermediate~30 min7 steps

1
Identify the affected axis
Check the alarm code and axis number reported by the controller before starting.
2
Jog the affected axis to its zero reference
Use joint jog to bring only that axis to its scribed mark or fixture position.
3
Open the mastering menu
On the pendant, go to System, Mastering/Cal, and select the single-axis mastering option.
4
Select the axis number
Enter or select the specific axis being mastered so the other axes are left untouched.
5
Execute mastering
Confirm the prompt to record the new reference for that axis only.
6
Cycle power
Restart the controller to load the updated mastering data.
7
Verify with a test point
Run to a known program position at low speed and confirm the robot arrives accurately.

How long does it take to single-axis mastering a fanuc robot?: This is a intermediate task that takes about 30 minutes across 7 steps.
What tools do I need?: You will need Teach pendant, Axis zero position fixture or scribed marks.
What should I do before starting?: Only one axis lost its mastering reference. Replacement motor or encoder already installed and wired.
What is the first step?: Identify the affected axis. Check the alarm code and axis number reported by the controller before starting.