BZAL Alarm on Fanuc 50iAL with RJ3 controller

[sccrcoach]

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!!!!!

[Professor_J]

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.

[freemanleon]

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.

[sccrcoach]

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

[hagsy]

 Try System variables,   DMR and set master to true then turn off /on robot and see if that will help

[anonymous]

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]

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.

[sccrcoach]

I have done the reset PCA numerous times to no avail...any other ideas?

[Napierian]

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