SRVO-034

Verify reference position existence

From teach pendant: Press MENU > SETUP > Frames > [OTHER] > Reference Position. Check if the referenced position number exists in the list. Note which positions are defined and their numbers.

Reference positions are numbered 1-10 on most R-30iA/B systems. If you see '****' or blank entries, those positions are undefined.

Identify program reference

Open the faulting program and search for 'REFPOS' instructions. Note the position number specified (e.g., 'REFPOS[2]'). Cross-reference this number with the defined positions from step 1.

Use FIND function (FCTN + FIND) in the program editor to quickly locate all REFPOS instructions in the program.

Teach the missing reference position

Navigate to MENU > SETUP > Frames > [OTHER] > Reference Position. Select the required position number, press ENTER. Jog the robot to the desired reference location using COORD button to select appropriate coordinate system. Press RECORD to save the position.

Ensure adequate clearance and verify work envelope before jogging. Use deadman switch and reduced speed (LOW override) when teaching new positions.

Validate and test

After teaching, move robot away from the position. Return to Reference Position setup screen and use 'MOVE_TO' softkey to verify the robot moves correctly to the taught position. Reset alarm with RESET button and test program in T1 mode at low speed.

Always backup reference positions using controlled start > EXEC_CHK before running production. Reference positions are stored in $REFPOS system variable array.

Check mastering status and history

Navigate to MENU > SYSTEM > Master/Cal > mastering. Verify 'Master Update Date' against last known reference position teaching date. Check MENU > SYSTEM > Variables > $SCR.$MASTER_ENB to confirm mastering is valid (value should be 1).

Check alarm history (MENU > ALARM > Log) for recent SRVO-075 alarms indicating mastering was performed. Filter by date to correlate with reference position issues.

Validate work envelope accessibility

Access MENU > SETUP > Frames > [OTHER] > Reference Position. Attempt to move to each reference position using MOVE_TO softkey. If position is outside envelope or unreachable, alarm MOTN-023 or MOTN-002 may occur, confirming mastering mismatch.

Monitor robot closely during MOVE_TO attempts. Keep hand on deadman switch and be prepared to E-stop if unexpected motion occurs.

Re-teach all reference positions

Manually jog robot to each required reference position location. In MENU > SETUP > Frames > [OTHER] > Reference Position, select each position number and press RECORD to update with current location. Document each position purpose for reference.

Before re-teaching, use SHIFT+COORD to display current position values. Take screenshots or write down approximate coordinates to verify new positions are similar to original intent.

Backup updated configuration

After re-teaching all positions, create backup: MENU > FILE > Backup > select 'All of Above' or minimally select 'Position Registers & Variables'. Save to controller or USB device. Update robot documentation with new teaching date.

Save reference positions separately using IMAGE > Reference Position option for quick restoration. Store backup file as 'REFPOS_YYYYMMDD.SV' with date stamp.

Identify referenced position number

Review the faulting program line shown in alarm detail. Note the exact REFPOS number called. Navigate to the program (SELECT > program name) and locate the instruction. Verify syntax is correct: 'REFPOS[n]' where n is 1-10.

Check program header comments for original robot cell information. Programs transferred from other cells may reference positions configured differently on the target robot.

Audit all defined reference positions

Go to MENU > SETUP > Frames > [OTHER] > Reference Position. Document all currently defined position numbers (1-10). Compare this list against all REFPOS calls in the program. Identify any mismatches or out-of-range numbers.

Use F5 LIST on the Reference Position screen to see all 10 positions simultaneously with their definition status marked by asterisks or coordinate values.

Resolve numbering conflict

Option A: Modify program to reference correct existing position numbers using program edit mode. Option B: Define new reference position at the number called by the program. Ensure chosen solution maintains program logic and intended robot motion.

Changing reference position numbers in programs affects robot motion paths. Verify program logic in T1 mode at reduced speed after any modifications.

Implement standardization

Create reference position naming standard document for the cell. Consider using system variable $REFPOS[n] in controlled start for position validation. Set up $REFPOS_NUM[n].$COMMENT fields with descriptive names for each position.

Advanced users can add program logic: IF $REFPOS[n]=$UNINIT THEN PAUSE with message 'REFPOS n NOT SET' to catch undefined positions before motion attempts.