Quick Mastering on R-30iB Plus Using Power Off Position

In this video, we’ll walk through the process of quick mastering a FANUC robot on an R-30iB Plus controller using the power off position method, presented by Sterling Shepherd. Whether you're recovering from a battery zero alarm or simply need to re-establish mastering without predefined reference positions, this method offers a streamlined and reliable solution.

We’ll start by explaining what mastering is and why it’s essential for accurate robot motion. You’ll learn how pulse coders track motor shaft positions and how mastering assigns those values to each axis at its zero position. From there, we’ll explore the different mastering methods available, including vision mastering, fixture mastering, zero position mastering, and quick mastering.

Our focus will be on quick mastering using the power off position, a method that uses the robot’s last known position before master counts were lost. This technique is especially useful when the robot hasn’t physically moved during power loss and doesn’t require a predefined reference position.

What you’ll learn in this video:

• The fundamentals of robot mastering and encoder pulse counts
• Differences between mastering methods and when to use each
• Step-by-step instructions for:
  • Accessing the alarm log
  • Resetting pulse coder alarms
  • Jogging each axis to establish pulses
  • Performing quick mastering using power off position
  • Calibrating and applying DCS parameters
• How to verify mastering accuracy post-calibration

Requirements and considerations:

• Software version must be V9.40P/62 or higher to use power off position mastering
• Robot must not have moved during power loss
• Quick mastering is not valid after mechanical disassembly or encoder replacement
• Available for both collaborative and standard yellow FANUC robots

This video is ideal for technicians, integrators, and engineers looking for a fast and effective way to recover mastering data. If you're working with FANUC robots and want to minimize downtime, mastering using the power off position is a valuable tool to have in your workflow.