D.2 RESETTING ALARMS AND PREPARING FOR MASTERING

When you turn on the robot after pulse coder backup battery power has been interrupted you will see a SRVO-062 BZAL alarm. You might also see a SRVO-038 Pulse Mismatch alarm. Before mastering the robot you must reset these alarms and rotate the motor of each axis that lost battery power to prepare the robot for mastering.Use Procedure D.1 Preparing the Robot for Mastering to reset these alarms and prepare the robot for mastering.

Procedure D.1 Preparing the Robot for Mastering

Conditions

  • You see a SRVO-062 BZAL or SRVO-038 Servo mismatch alarm.

  • You are not mastering a P-200 robot.

Steps

  1. If necessary, replace the robot batteries with four new 1.5 volt alkaline batteries, size D. Observe the direction arrows in the battery box for proper orientation of the batteries.

  2. Press MENUS.

  3. Select SYSTEM.

  4. Press F1, [TYPE].

  5. If Master/Cal is not listed on the [TYPE] menu, do the following; otherwise, continue to Step 6 .

    1. Move the cursor to VARIABLE and press ENTER.

    2. Move the cursor to $MASTER_ENB.

    3. Press the numeric key "1" and then press ENTER on the teach pendant.

    4. Press F1, [TYPE].

  6. Select Master/Cal. You will see a screen similar to the following.

    Warning

    For the M-6i (ARC Mate 100i), M-16i (ARC Mate 120i), and M-16iL (ARC Mate 120iL) robots, setting TORQUE to OFF using the F4, TORQUE function key on the SYSTEM Master/Cal screen releases the robot brakes. When the brakes are released, the robot arm will drop suddenly unless it is supported. DO NOT use this function key unless instructed to do so, otherwise, you could injure personnel or damage equipment.


    SYSTEM Master/Cal
    
        TORQUE = ON
    1 FIXTURE POSITION MASTER
    2 ZERO POSITION MASTER
    3 QUICK MASTER
    4 SINGLE AXIS MASTER
    5 SET QUICK MASTER REF
    6 CALIBRATE
    
     Press ’ENTER’ or number key to select.
    Note

    F4, TORQUE does not appear on the Master/Cal screen for all robot models. When F4, TORQUE appears on the Master/Cal screen, it allows the robot brakes to be released.


  7. Press F3, RES_PCA. You will see a screen similar to the following.
    SYSTEM Master/Cal
    
    1 FIXTURE POSITION MASTER
    2 ZERO POSITION MASTER
    3 QUICK MASTER
    4 SINGLE AXIS MASTER
    5 SET QUICK MASTER REF
    6 CALIBRATE
    
     Press ’ENTER’ or number key to select.
    
    Reset pulse coder alarm? [NO]

  8. Press F4, YES. You will see a screen similar to the following.
    SYSTEM Master/Cal
        TORQUE = ON
    1 FIXTURE POSITION MASTER
    2 ZERO POSITION MASTER
    3 QUICK MASTER
    4 SINGLE AXIS MASTER
    5 SET QUICK MASTER REF
    6 CALIBRATE
    
       Pulse coder alarm reset!

    Note

    If you exit the Master/Cal screen by pressing F5, DONE, the Master/Cal screen will be hidden. Master/Cal will not be available by pressing F1, [TYPE]. To display the Master/Cal screen again, perform Step 1 through Step 6.


  9. Turn off the controller.

  10. Wait a few seconds, then press the ON button on the operator panel to turn the controller on again.

  11. If the SRVO-062 BZAL alarm is still present; there is a battery, cable or pulsecoder problem. Refer to the FANUC Robotics Controller Maintenance Manual for further information.

  12. If a SRVO-038 Pulse Mismatch alarm is present at this time, repeat Step 1 through Step 8 to reset it. It is not necessary to restart the robot after resetting to clear this alarm.

  13. If a SRVO-075 Pulse Not Established alarm is present at this time, press the RESET key to clear it.

  14. Rotate each axis that lost battery power by at least one motor revolution in either direction. Failure to do so will result in the SRVO-075 Pulse Not Established alarm recurring and mastering will not be possible.

    1. For each rotary axis, jog at least twenty degrees.

    2. For each linear axis, jog at least thirty millimeters.

  15. Perform any of the mastering procedures from the MASTER/CAL menu.