Feature on Yaskawa Motoman Robots for Zero Position (Mastering)

In cutting applications, losing your pulse count data in your robot can be a disaster. All of your programs are dependent on this data. If this does happen, when re-mastering, homing, zeroing (depending on brand) it is extremely critical to get this accurate or else all of your programs will be off.

We found that the witness marks on some robots were often stickers. These stickers were sometimes missing or had moved around because the adhesive failed. This only allowed us to get close but not exact when re-mastering these robots. To be exact, we had to fixture master these robots which required a service technician and their fixture for that robot model.

No alt text provided for this image — Witness marks (stickers)

Some Yaskawa Motoman robots have a feature which avoids this issue and streamlines the process.

On each axis of these Yaskawa Motoman robots, there are built in physical features which allows you to zero the robot without the need of a fixture master. This is usually a precise hole in the casting on each axis where you can move the robot to the position and insert a dowel.

Users can now zero the robot accurately on their own. The location and dowel size information of each axis can be found in the Yaskawa Motoman Maintenance manuals.