Author Topic: BZAL Alarm on Fanuc 50iAL with RJ3 controller  (Read 3053 times)

Offline sccrcoach

  • Full Member
  • ***
  • Thank You
  • -Given: 0
  • -Receive: 0
  • Posts: 104
BZAL Alarm on Fanuc 50iAL with RJ3 controller
« on: September 02, 2010, 05:18:48 PM »
I am getting a bzal alarm on this robot when I power on...with bigger robots it means change batteries and master..with this small robot I cannot find a battery compartment...please help!!!!! :help:
« Last Edit: September 03, 2010, 08:56:38 PM by sccrcoach »

Professor_J

  • Guest
Re: BZAL Alarm on Fanuc 50iAL with RJ3iB controller
« Reply #1 on: September 02, 2010, 11:48:45 PM »
Have you been through the reset procedure for a BZAL alarm?

Display the positioning menu by following steps 1 to 6.
1 Press the screen selection key.
2 Select [6 SYSTEM].
3 Press F1 [TYPE], and select [SYSTEM Variable] from the menu.
4 Place the cursor on $MASTER_ENB, then key in “1” and press [ENTER].
5 Press F1 [TYPE], and select[Mater/Cal] from the menu.
6 Select the desired mastering type from the [Master/Cal] menu.
2 Toreset the “Servo 062 BZAL” alarm, follow steps 1 to 5.
1 Press the MENUS key.
2 Select [0 NEXT] and select [6 SYSTEM].
3 Press F1 [TYPE], and select [SYSTEM Variable] from the menu.
4 Place the cursor on$SPC_RESET, then press F4 [TRUE].
The message “ TRUE” appears and disappears immediately.
5 Switch the controller power off and on again.

Offline freemanleon

  • Newbie
  • *
  • Thank You
  • -Given: 0
  • -Receive: 0
  • Posts: 25
Re: BZAL Alarm on Fanuc 50iAL with RJ3iB controller
« Reply #2 on: September 03, 2010, 06:00:59 AM »
Maybe the battery box is installed in the controller, on the back of the door. If so ,you can see it when you open the controller and  look down to the door.

Offline sccrcoach

  • Full Member
  • ***
  • Thank You
  • -Given: 0
  • -Receive: 0
  • Posts: 104
Re: BZAL Alarm on Fanuc 50iAL with RJ3iB controller
« Reply #3 on: September 03, 2010, 04:53:47 PM »
Professor I have done all of that and it does not clear the error...it will not allow me to master the robot...says robot not mastered

Offline hagsy

  • Full Member
  • ***
  • Thank You
  • -Given: 2
  • -Receive: 7
  • Posts: 145
Re: BZAL Alarm on Fanuc 50iAL with RJ3 controller
« Reply #4 on: September 04, 2010, 12:50:47 PM »
 Try System variables,   DMR and set master to true then turn off /on robot and see if that will help

Offline anonymous

  • Full Member
  • ***
  • Thank You
  • -Given: 0
  • -Receive: 24
  • Posts: 155
Re: BZAL Alarm on Fanuc 50iAL with RJ3 controller
« Reply #5 on: September 04, 2010, 06:59:47 PM »
sccrcoach,

You probably already know this, but be sure to rotate each servomotor in the unmastered motion group by at least one motor revolution. This will clear any pulse not established alarms that exist after resetting a BZAL alarm, which will prevent mastering to occur.

Also, try clearing the alarm history before mastering the robot. If it fails to master, check the history for servo errors.

- anon

fanuc_insider

  • Guest
Re: BZAL Alarm on Fanuc 50iAL with RJ3 controller
« Reply #6 on: September 08, 2010, 05:49:37 AM »
You should not be mastering anything if you have alarms BZAL or pulse not established. Robot will not master in either state. Simply press the reset button and the pulse not establish will appear again if one or more axis has not established pulse. Reset the BZAL is the first thing you do. Press......Menus/0/system .....F1 (type) select MASTER/CAL. Press F3 RES_PCA acknowledge the reset with F4 press. Turn off then turn back on. Reset the pulse not established by jogging the robot in JOINT ONLY each axis at least one motor rev. pressing the reset button on the pendant will post pulse not established again if you have not rotated enough. After pulse not established error goes away move the robot to it's zero position by jogging in JOINT ONLY. Press menus/0/system......F1 (type) select master/cal move the cursor down to zero position master press enter and acknowledge then move cursor to calibrate press enter and acknowledge.

Offline sccrcoach

  • Full Member
  • ***
  • Thank You
  • -Given: 0
  • -Receive: 0
  • Posts: 104
Re: BZAL Alarm on Fanuc 50iAL with RJ3 controller
« Reply #7 on: September 08, 2010, 07:14:52 PM »
I have done the reset PCA numerous times to no avail...any other ideas?

Offline Napierian

  • Moderator
  • Sr. Member
  • *****
  • Thank You
  • -Given: 0
  • -Receive: 32
  • Posts: 298
    • 2Ri Robotics
Re: BZAL Alarm on Fanuc 50iAL with RJ3 controller
« Reply #8 on: September 13, 2010, 04:59:09 PM »
I believe the battery on this robot is located under a yellow cover at the top of axis 1.  it will be between the joints for axis 2.

Good luck
Jeff Kocher
Robotics Technologist
2Ri Robotics
www.2rirobotics.com
FAQ - http://www.2rirobotics.com/Robot-Info/Pages/FAQ.aspx
15 Cope Court
Guelph, ON N1K 0A4
Tel 519-829-2335 Ext 24
Fax 519-829-2346
24 Hour service 519-993-2335