THE CONTROLLED VERSION OF THIS DOCUMENT IS ELECTRONICALLY MAINTAINED.

HARD COPIES ARE CONSIDERED UNCONTROLLED. HOLDERS ARE RESPONSIBLE

FOR VERIFYING THE REVISION LEVEL WITH ASG ENGINEERING PRIOR TO USE.
REV DESCRIPTION DATE BY
2
A RELEASED THIS DATE 11/02/2007 P.S.
B DOWEL DISTANCE CHANGED 12/06/2007 P.S.
C GAGE POSITION CHANGED 01/12/2008 P.S.
D GAGE POSITION CHANGED 04/22/2008 P.S.
E M110477 - BAAN RELEASE, ADDED SHT 2 07/05/2011 R.G.
F M110616 - ADD SHT3 INTEG. AXIS SETUP 08/24/2011 R.G.
- - - -
- - - -
8 12 - - - -
50.000 12 8 - - - -

50.000

3
9 11

5 13 2 DOWEL M8 x 30 LG.
12 2 REGULAR LOCK WASHER M5 NOM.
11 1 HI COLLAR LOCK WASHER M5 NOM.
10 2 HI COLLAR LOCK WASHER M4 NOM.
4 9 1 SOC. HD. CAP SCR., CL 12.9 M5x0.8 x 20 LG.
8 2 SOC. HD. CAP SCR., CL 12.9 M5x0.8 x 8 LG.
7 2 SOC. HD. CAP SCR., CL 12.9 M4x0.7 x 25 LG.
6 1 CARR LANE #CL-73-KA-6.5
13 5 1 MISUMI BLOCK #TSBB6-15
4 1 MISUMI KNURLED KNOB #NOOSC6-30
10 7 3 1 Peacock #107 Dial Indicator
CALL-BACK 2 1 SETUP GAGE #EO-3971-715-003
1 1 2 BRACKET MO-6024-540-001
DET. QTY. SHT. S.P. DESCRIPTION PART NUMBER
TITLE:
METRIC
UNLESS OTHERWISE SPECIFIED ASG OVERSLUNG RAIL
SPARE PARTS INDICATED BY ASTERISK IN BILL OF MATERIAL
DO NOT SCALE DRAWING
FANUC Robotics America, Inc. J7 MASTERING FIXTURE
Automation Systems Group
ALL DIMENSIONS ARE IN MILLIMETERS
ALL STOCK AND CUT-OFF DIMENSIONS 0.5 3900 West Hamlin Road -
ALL OTHER ONE PLACE DECIMAL DIMENSIONS 0.2 Rochester Hills, Michigan 48309
ALL TWO PLACE DECIMAL DIMENSIONS 0.10
ALL THREE PLACE DECIMAL DIMENSIONS 0.013
www.fanucrobotics.com PROJECT NO: ASGSTD DRAWN BY: P.S. DATE: 11/2007
ALL MACHINED ANGLES 0 -15'
WELDMENT, CASTING AND BURNOUT DIMENSIONS 3.0 SCALE: 1:25 SHEET SIZE: D CHECKED BY: R.M. DATE: 11/2007
C'SINK ALL TAPPED HOLES
REMOVE ALL BURRS AND SHARP CORNERS THIS MATERIAL IS THE PROPERTY OF FANUC ROBOTICS AND MUST BE RETURNED TO FANUC SHEET NO: TOTAL SHEETS: DRAWING NO:
DO NOT USE REF. DIMENSIONS FOR MANUFACTURING ROBOTICS IMMEDIATELY UPON REQUEST. THIS MATERIAL AND THE INFORMATION ILLUSTRATED
DIMENSIONS IN [XX] ARE IN INCHES
3.2 [125 ] OR BETTER ON ALL MACHINED SURFACES
OR CONTAINED HEREIN MAY NOT BE REPRODUCED, COPIED, USED OR TRANSMITTED IN WHOLE
OR IN PART IN ANY WAY WITHOUT THE PRIOR WRITTEN CONSENT OF FANUC ROBOTICS.
2/11
1 3 MO-6024-540
FANUC SolidWorks File Name: MO-6024-540 J7 Mastering Fixture.slddrw
 THE CONTROLLED VERSION OF THIS DOCUMENT IS ELECTRONICALLY MAINTAINED.
HARD COPIES ARE CONSIDERED UNCONTROLLED. HOLDERS ARE RESPONSIBLE
FOR VERIFYING THE REVISION LEVEL WITH ASG ENGINEERING PRIOR TO USE.
REV DESCRIPTION DATE BY
A RELEASED THIS DATE 11/02/2007 P.S.
B DOWEL DISTANCE CHANGED 12/06/2007 P.S.
C GAGE POSITION CHANGED 01/12/2008 P.S.
D GAGE POSITION CHANGED 04/22/2008 P.S.
E M110477 - BAAN RELEASE, ADDED SHT 2 07/05/2011 R.G.
F M110616 - ADD SHT3 INTEG. AXIS SETUP 08/24/2011 R.G.
MASTERING FIXTURE - - - -

MOUNTED TO RACK WAY -

-
-
-
-
-
-
-
- - - -

5620.0 VIEW PORT ON MASTERING

FIXTURE
CL LH ROBOT
5000.0 At Mastered Position
0.00 END OF RAIL

DETAIL B
CL Mastering Fixture 620.0
(REF.) SCALE 1 : 2
Viewing Port

B
OVERSLUNG SETUP PARAMETERS
MOTOR TYPE aiF 30/3000
GEAR RATIO 50.0000
EXT DIRECTION X
JOINT MAX SPEED 3000 mm/S
MOTION SIGN ROBOT "A" R.H. FALSE
MOTION SIGN ROBOT "B" L.H. FALSE
UPPER LIMIT RAIL LENGTH
LOWER LIMIT 0
MASTER POSITION ROBOT "A" R.H. 6060
75.0 545.0 985.0 MASTER POSITION ROBOT "B" L.H. 5620
ACCEL TIME 1 1360
1530.0
ACCEL TIME 2 680
MIN ACCEL TIME 256

ROBOT "B" LOAD RATIO 5

L.H. AXIS AMP NUMBER 2

AXIS AMP TYPE 2
BRAKE NUMBER 1
SERVO OFF ENABLE TRUE
SERVO OFF TIME 20 sec

6060.0
CL RH ROBOT
MASTERING PROCEDURE:
0.00 END OF RAIL

At Mastered Position
5000.0 1. LOCATE THE MASTERING TAG ALONG RAIL. TYPICALLY THIS IS IN
THE MAINTENANCE AREA OF THE ROBOT.
CL Mastering Fixture 1060.0
(REF.)
2. JOG THE ROBOT TO THE LEFT SIDE OF THE TAG LEAVING ENOUGH
Viewing Port ROOM TO INSTALL THE MASTERING FIXTURE MO-6024-540 AND
CALIBRATION GAGE. REFERENCE VIEW B.

3. CALIBRATE GAGE USING GAGE EO-3971-715-003.

4. JOG ROBOT INTO DIAL INDICATOR UNTIL INDICATOR READS "0".

5. FOLLOW THE PROCEDURE FOR "SINGLE AXIS MASTERING"

DESCRIBED IN THE STANDARD TOPLOADER PRODUCT MANUAL.
THE MASTER POSITION IS THE THE POSITION WRITTEN ON THE
TAG MOUNTED TO THE RAIL AT THE MASTERING LOCATION.

75.0 985.0 545.0

MASTERING FOR
MULTI-GROUP SET-UP
ROBOT "A" METRIC TITLE:
ASG OVERSLUNG RAIL
R.H.
UNLESS OTHERWISE SPECIFIED
SPARE PARTS INDICATED BY ASTERISK IN BILL OF MATERIAL
DO NOT SCALE DRAWING
FANUC Robotics America, Inc. J7 MASTERING FIXTURE
Automation Systems Group
ALL DIMENSIONS ARE IN MILLIMETERS
ALL STOCK AND CUT-OFF DIMENSIONS 0.5 3900 West Hamlin Road -
ALL OTHER ONE PLACE DECIMAL DIMENSIONS 0.2 Rochester Hills, Michigan 48309
ALL TWO PLACE DECIMAL DIMENSIONS 0.10
ALL THREE PLACE DECIMAL DIMENSIONS 0.013
www.fanucrobotics.com PROJECT NO: ASGSTD DRAWN BY: P.S. DATE: 11/2007
ALL MACHINED ANGLES 0 -15'
WELDMENT, CASTING AND BURNOUT DIMENSIONS 3.0 SCALE: 1:10 SHEET SIZE: E CHECKED BY: R.M. DATE: 11/2007
C'SINK ALL TAPPED HOLES
REMOVE ALL BURRS AND SHARP CORNERS THIS MATERIAL IS THE PROPERTY OF FANUC ROBOTICS AND MUST BE RETURNED TO FANUC SHEET NO: TOTAL SHEETS: DRAWING NO:
DO NOT USE REF. DIMENSIONS FOR MANUFACTURING ROBOTICS IMMEDIATELY UPON REQUEST. THIS MATERIAL AND THE INFORMATION ILLUSTRATED
DIMENSIONS IN [XX] ARE IN INCHES
3.2 [125 ] OR BETTER ON ALL MACHINED SURFACES
OR CONTAINED HEREIN MAY NOT BE REPRODUCED, COPIED, USED OR TRANSMITTED IN WHOLE
OR IN PART IN ANY WAY WITHOUT THE PRIOR WRITTEN CONSENT OF FANUC ROBOTICS.
2/11
2 3 MO-6024-540
FANUC SolidWorks File Name: MO-6024-540 J7 Mastering Fixture.slddrw
 THE CONTROLLED VERSION OF THIS DOCUMENT IS ELECTRONICALLY MAINTAINED.
HARD COPIES ARE CONSIDERED UNCONTROLLED. HOLDERS ARE RESPONSIBLE
FOR VERIFYING THE REVISION LEVEL WITH ASG ENGINEERING PRIOR TO USE.
REV DESCRIPTION DATE BY
A RELEASED THIS DATE 11/02/2007 P.S.
B DOWEL DISTANCE CHANGED 12/06/2007 P.S.
C GAGE POSITION CHANGED 01/12/2008 P.S.
D GAGE POSITION CHANGED 04/22/2008 P.S.
E M110477 - BAAN RELEASE, ADDED SHT 2 07/05/2011 R.G.
F M110616 - ADD SHT3 INTEG. AXIS SETUP 08/24/2011 R.G.
MASTERING FIXTURE - - - -
MOUNTED TO RACK WAY - - - -
- - - -
- - - -

5000.0
CL Mastering Fixture
Viewing Port

END OF RAIL
4380.0
620.0
(REF.) CL LH ROBOT VIEW PORT ON MASTERING
At Mastered Position FIXTURE
DETAIL C
SCALE 1 : 2

OVERSLUNG SETUP PARAMETERS

MOTOR TYPE aiF 30/3000
C
X
GEAR RATIO 50.0000
EXT TYPE INTEGRATED
EXT DIRECTION X
JOINT MAX SPEED 3000 mm/s
MOTION SIGN ROBOT "A" R.H. FALSE
MOTION SIGN ROBOT "B" L.H. TRUE
75.0 545.0 985.0 UPPER LIMIT RAIL LENGTH
LOWER LIMIT 0
1530.0
MASTER POSITION ROBOT "A" R.H. 6060
MASTER POSITION ROBOT "B" L.H. 4380
ACCEL TIME 1 1360
ROBOT "B"
Y L.H. ACCEL TIME 2
MIN ACCEL TIME
680
256
LOAD RATIO 5
AXIS AMP NUMBER 2
AXIS AMP TYPE 2
BRAKE NUMBER 1
SERVO OFF ENABLE TRUE
SERVO OFF TIME 20 sec

6060.0
CL RH ROBOT
MASTERING PROCEDURE:
At Mastered Position
5000.0
END OF RAIL

1. LOCATE THE MASTERING TAG ALONG RAIL. TYPICALLY THIS IS IN

CL Mastering Fixture 1060.0
(REF.)
THE MAINTENANCE AREA OF THE ROBOT.

Viewing Port Y
2. JOG THE ROBOT TO THE LEFT SIDE OF THE TAG LEAVING ENOUGH
ROOM TO INSTALL THE MASTERING FIXTURE MO-6024-540 AND
CALIBRATION GAGE. REFERENCE VIEW B.

3. CALIBRATE GAGE USING GAGE EO-3971-715-003.

4. JOG ROBOT INTO DIAL INDICATOR UNTIL INDICATOR READS "0".

5. FOLLOW THE PROCEDURE FOR "SINGLE AXIS MASTERING"

DESCRIBED IN THE STANDARD TOPLOADER PRODUCT MANUAL.
THE MASTER POSITION IS THE THE POSITION WRITTEN ON THE
TAG MOUNTED TO THE RAIL AT THE MASTERING LOCATION.

MASTERING FOR
75.0 985.0 545.0
EXTENDED AXIS SET-UP
(INTEGRATED)
ROBOT "A"
R.H.
TITLE:
METRIC
UNLESS OTHERWISE SPECIFIED ASG OVERSLUNG RAIL
SPARE PARTS INDICATED BY ASTERISK IN BILL OF MATERIAL
DO NOT SCALE DRAWING
FANUC Robotics America, Inc. J7 MASTERING FIXTURE
Automation Systems Group
ALL DIMENSIONS ARE IN MILLIMETERS
ALL STOCK AND CUT-OFF DIMENSIONS 0.5 3900 West Hamlin Road -
ALL OTHER ONE PLACE DECIMAL DIMENSIONS 0.2 Rochester Hills, Michigan 48309
ALL TWO PLACE DECIMAL DIMENSIONS 0.10
ALL THREE PLACE DECIMAL DIMENSIONS 0.013
www.fanucrobotics.com PROJECT NO: ASGSTD DRAWN BY: P.S. DATE: 11/2007
ALL MACHINED ANGLES 0 -15'
WELDMENT, CASTING AND BURNOUT DIMENSIONS 3.0 SCALE: 1:10 SHEET SIZE: E CHECKED BY: R.M. DATE: 11/2007
C'SINK ALL TAPPED HOLES
REMOVE ALL BURRS AND SHARP CORNERS THIS MATERIAL IS THE PROPERTY OF FANUC ROBOTICS AND MUST BE RETURNED TO FANUC SHEET NO: TOTAL SHEETS: DRAWING NO:
DO NOT USE REF. DIMENSIONS FOR MANUFACTURING ROBOTICS IMMEDIATELY UPON REQUEST. THIS MATERIAL AND THE INFORMATION ILLUSTRATED
DIMENSIONS IN [XX] ARE IN INCHES
3.2 [125 ] OR BETTER ON ALL MACHINED SURFACES
OR CONTAINED HEREIN MAY NOT BE REPRODUCED, COPIED, USED OR TRANSMITTED IN WHOLE
OR IN PART IN ANY WAY WITHOUT THE PRIOR WRITTEN CONSENT OF FANUC ROBOTICS.
2/11
3 3 MO-6024-540
FANUC SolidWorks File Name: MO-6024-540 J7 Mastering Fixture.slddrw