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FANUC Alarm ACAL-090 — Large joint angle correction

Description

Calibration joint angle correction exceeds the limit

Remedy · Remède

Identify the cause of the large correction. If the robot joint angle is actually off by that large amount, then you can either increase the tolerance in the schedule or manually remaster the robot to reduce the error and touchup the calibration points and rerun the calibration. If the calibration result is incorrect, then check that Calibrate UFrame is TRUE unless you are doing calibration recovery or use a precision fixture. Check that Calibrate UTool is TRUE unless you are doing calibration recovery or use a precision calibration tool. If you are doing recovery then check that the calibration fixture is in the correct location and the UFrame is the same as the original UFrame from when the calibration was run in MASTER mode. If recovering J6, then verify that UTool and the calibration tool are the same as when the calibration was run in MASTER mode

Related codes / Codes liés

ACAL-088Points are colinearACAL-089Not enough search directionACAL-091UFrame orienation not zeroACAL-092Position close to joint limit

Indicative field information — the robot manufacturer's manual and safety procedures always prevail. Never bypass a safety device; apply lockout/tagout (LOTO) before any physical intervention. · Informations indicatives issues du terrain — le manuel du constructeur et ses procédures de sécurité font foi. Ne shuntez jamais un organe de sécurité ; consignez (LOTO) avant toute intervention physique.