Error code: PRIO-100 Model B comm Fault

[lrsgi]

I am attempting to get a Fanuc S430iW running off an RJ3 controller up and jogging, but I keep getting the same error codes:

PRIO-100 Model B comm Fault
SRVO-062 BZAL alarm (Group:1, Axis: 1)
SRVO-062 BZAL alarm (Group:1, Axis: 2)
SRVO-062 BZAL alarm (Group:1, Axis: 3)
SRVO-062 BZAL alarm (Group:1, Axis: 4)
SRVO-062 BZAL alarm (Group:1, Axis: 5)
SRVO-062 BZAL alarm (Group:1, Axis: 6)

If anyone could help me understand what these codes are trying to tell me and help me clear them I would very much appreciate it.

Thanks!

[hotline]

PRIO-100 Model B comm Fault  Model B IO Interface Module is faulted. (missing connector, no power ect)

The below errors are stating batteries in robot are dead.  Replace them and remaster robot

SRVO-062 BZAL alarm (Group:1, Axis: 1)
SRVO-062 BZAL alarm (Group:1, Axis: 2)
SRVO-062 BZAL alarm (Group:1, Axis: 3)
SRVO-062 BZAL alarm (Group:1, Axis: 4)
SRVO-062 BZAL alarm (Group:1, Axis: 5)
SRVO-062 BZAL alarm (Group:1, Axis: 6)

[lrsgi]

Thank you very much!  I have managed to jog the robot by clearing the SRVO-062 errors.

I still get PRIO-100 Model B comm Fault, however, and have to hold Shift and Reset while pressing the + and - Axis buttons to move the robot.  Do you know how to bypass or disconnect the IO module so that the system doesn't even bother looking for it?

[hotline]

The shift-reset option is there to allow you to jog to zero position to remaster. Unless you replaced batteries and remastered your robot, it doesnt know where it is and you wont be able to teach positions.

(Someone correct me if Iam wrong) 
The I/O error shouldnt keep you from jogging.  To get have the robot not look at I/O select menu then I/O
for each type (digital,anolog,uop,ect) of I/O select type then each type listed then select output then config.  Set all values to 0.  Write down the values for each before setting to 0 so you can reactivate the I/O cards. Do this for inputs also.  Then power down controller.

You may have to unplug cable from cpu to I/O interface module, not sure but setting above values to zero (this is where I/O is define as rack   slot   bits on card at.  The controller will powerup and see no I/O.

[lrsgi]

Thank you so much!

[Franklin]

I also have a BZAL alarm(Group:1 Axis:6)

this means a battery is dead, somewhere, according to the previous posts. Where can I get a replacement battery and how do I replace it?

[bnradams]

I also have a BZAL alarm(Group:1 Axis:6)

this means a battery is dead, somewhere, according to the previous posts. Where can I get a replacement battery and how do I replace it?

Depending on the type of robot you have, the batteries are commonly standard D cell, usually in the base of the robot or in a battry box inside the controller.  Replace with the robot controller powered on to prevent loosing mastering, after changing batteries you can reset by "reset pulse coder alarm" at the master-cal screen and cycle power on the controller.

[cunaf]

Franklin:  The alarm banner can only post one alarm at a time.  It is more likely that all axis have a Battery Zero Alarm.  To check go to menus--> alarm--> active alarms to see if all axis have this alarm.  Otherwise it may be harness issues

[Franklin]

Thank you, I have replaced the batteries but can't find the master-cal screen. Any help? :) I'll post the controller model and robot as soon as I get back to the lab.

[fanuc_insider]

the master/cal needs to be turned on. press menus/0/system    F1-TYPE select variables   scroll down to master_ENABLE set it to 1 press enter. press F1 TYPE again master/cal will be there.

By the way, if you have a battery zero alarm mastering is always required. this alarm only post when the 6v backup power to the pulse coders is lost with the controller power off.

You will get a pulse not established after you reset this error. You need to move each axis at least one motor rev. for it to clear and for mastering to be accepted.

[Franklin]

alright, I've cleared the alarms and jogged each axis at least one motor revolution. I got an message "robot not calibrated." How do I properly calibrate the robot?  As far as I can tell, no quick mastering file was ever saved.