Title: Assignment: Robot axis maintenance testing (group exercise)
Course: Applied Industrial Robotics (ATR-145-1)(2018SP)

Test all 6 axis for repeatability using a dial indicator.

Recall the dynamic lost motion program from CNC Mill training...it qualifies servos, encoders, mechanicals.

PERFORMANCE TEST #1, CREATE new program LOSTM

Set uframe=1

Set tool=1

Set an indicator with a stable robot tool tip touching the indicator.

Teach that point    J P[1] with indicator slightly touched, zero the indicator

Go to joint mode.  jog ALL axis + some distance away from J P [1], teach J P[2].

Move robot back to J P[1],                      Read the indicator. ___________

Jog ALL axis - some distance away from J P[1], then teach J P[3].

Move robot back to J P[1],                          Read the indicator ____________

Factory Spec. is +/- .03mm for the Fanuc 200iD robot.  Report findings.

PERFORMANCE TEST #2, SERVO OFF SAG, tests wear in J2 and J3 due to gravity.

Servo's on, using same program, relocate indicator below J [P1] pointing straight up, set to ZERO.

Manually jog robot safely away/above J P[1].

Single STEP LOSTM program to J P[1] to touch indicator.  Read the indicator. _________

Press Estop.  Read the indicator. ________ report findings, ______________.

There is NO SPEC for this... it varies.  You should manage it in your workplace, to less than 1mm for these robots. Robots between the 200iD and M400 robots and larger, 2 mm should be a reasonable limit.

Larger than M400, consult your Fanuc dealer.