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

Frequently asked · Questions fréquentes

What does FANUC alarm ACAL-090 mean?

FANUC ACAL-090 (“Large joint angle correction”): Calibration joint angle correction exceeds the limit

How do you troubleshoot FANUC alarm ACAL-090?

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,…

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