Come to think of it, I remembered that I hadn’t changed the batteries in my FANUC 6-axis robot in a while.
Everything was fine until I turned on the robot and changed the batteries, but
when I restarted it and tried to run it, I got the “SVRO-062 BZAL alarm”.
Isn’t this a bad sign?…
BZAL stands for Battery Zero Alarm, and it seems that location data is lost and mastering is required.
When this happens, the robot won’t move at all.
The best course of action at this point would be to call a manufacturer to fix it.
However, this will require both time and money.
If you want to fix it immediately and want to do it yourself, please proceed at your own risk.
Looking at the instruction manual, it seems there are several types of mastering.
- Fixture Position Mastering
- Zero position mastering
- Quick Mastering
- Quick Mastering For Single Axis
- Single Axis Mastering
- Direct entry of mastering data
Fixture Position Mastering is a special process performed before factory shipment, so it’s not possible in this case. Since all 6 axes are showing alarms, it will be either Zero position mastering or Quick Mastering.
Zero position mastering involves visually aligning each axis to the zero position mark (alignment mark), so accurate mastering cannot be expected; it’s said that only a temporary fix.
I’ve actually tried this before,and with zero position mastering, it moves,
but attempting to move it linearly along the X and Y axes resulted in meandering rather than a straight line.
On the other hand, the explanation for Quick mastering says, “This is mastering performed at any position set by the user,” but ignoring this for now, it says, “Quick mastering utilizes the fact that the absolute value of the rotation angle is not lost within one rotation.” While zero position mastering is a temporary fix, Quick mastering seems like it will return to accurate positions.
Upon closer reading, I realized that the first sentence, “This is mastering performed at any position set by the user,” was incorrect. The correct statement should be, “This is mastering that can be performed at any position set by the user.”
In other words, if the user does not set a position, it seems that the zero position is used for mastering, just like with zero-position mastering.
To address situations where the device is built in and obstacles prevent it from reaching the zero position, it appears that a user-defined position can be pre-set as a reference point for simplified mastering instead of the zero position.
So, after that lengthy introduction, the following pages will contain my notes on actually trying out “Quick mastering.”
Note: The latest robot OS has a method called Quick Mastering (Master using power-off position), which is simpler. This method is not available in older robot OSs
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