Mastering & calibration
Zero-Position Mastering a FANUC Robot
Zero-position mastering aligns each axis to its visual zero-degree position mark using jog feed. It relies on eyeballing the marks, so it is not as accurate as other mastering types. Use it only as an emergency measure when no other mastering method is available.
- Step 1.
Confirm emergency use
Verify that fixture-position or quick mastering is not available before proceeding. Zero-position mastering depends on visual alignment and is meant only as an emergency measure.
Caution: Do not treat this method as accurate. Re-master with a fixture jig or quick master reference as soon as possible.
- Step 2.
Select jog and reduce speed
Put the pendant in T1 and set a low jog override. Slow motion gives you finer control when lining up each mark.
Caution: Keep clear of the robot work envelope and be ready to release the enabling device.
- Step 3.
Jog each axis to its zero-degree mark
Jog one axis at a time until its moving witness line lines up with the fixed zero-degree position mark. Sight the marks straight on to reduce parallax error.
Caution: This is a visual alignment only. There are no pins, blocks, or fixture seating for zero-position mastering.
- Step 4.
Verify all axes are aligned
Recheck each axis mark after moving the others, since jogging one joint can nudge your view of another. Correct any axis that has drifted off its mark.
- Step 5.
Open Zero Position Master
On the pendant go to System, Master/Cal and select Zero Position Master. This tells the controller to record the current pose as the zero-degree position.
- Step 6.
Execute and confirm
Start Zero Position Master and answer the confirmation prompt to apply. The controller stores the new mastering data for the aligned pose.
- Step 7.
Calibrate and power-cycle
Run Calibrate from Master/Cal, then power-cycle the controller so the values take effect. Check that current position readouts look sane before normal use.
Caution: Positions may be off because the method is visual. Verify by jogging to a known point at low speed.
Common questions
- How long does Zero-Position Mastering a FANUC Robot take?
- Zero-Position Mastering a FANUC Robot is rated Advanced and takes about 60 minutes across 7 steps.
- What tools do I need?
- You will need Teach pendant.
- What should I do before starting?
- Robot power on and the teach pendant enabled in T1.. Each axis zero-degree position mark located and clean so the witness lines are readable.. Access to System, Master/Cal on the teach pendant.. Cause of lost mastering understood so mastering is the correct recovery step..
- What is the first step?
- Confirm emergency use. Verify that fixture-position or quick mastering is not available before proceeding. Zero-position mastering depends on visual alignment and is meant only as an emergency measure.