Hello All,
Recently an operator crashed one of our LR Mate 200 iB robots real hard. The resulting error was "Pulse Mismatch SRVO 038 Error". I was able to reset the error and jog the robot. However, now the robot needs to be re-mastered and calibrated. Is this a typical result from a robot crash? Or do I have a different issue like a low battery or something? Thanks
Pulse Mismatch SRVO 038 Error
- gdemark
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You shouldn't have to remaster a robot after SRVO-038. This is just a mismatch NO BATTERIES 6V LOST IN PULSE CODERS!
When it happens just RES_PCA then set $DMR_GRP[1].$MASTER_DONE=TRUE, calibrate then cycle power. If you need to remaster
You have something else going on .... you may have knocked an axis out. -
This alarm occurs when the robot positional data that is stored in the CPU does not match the positional data of the pulse coders.
Mastering is not necessarily required but it could be. As in the instance of restoring an image that has different mastering data.
I suggest jogging the robot to zero and verifying the witness marks. If all is OK RES_PCA, cycle power, set $DMR_GRP[1].$MASTER_DONE=TRUE, and calibrate -
Thanks everyone. In fact I did NOT need to re-master. I simply reset the alarm, calibrtaed, and set the mastering variable to true. That did the trick and saved me a great deal of time. Thanks
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Do you have to do Calibrate? Does the robot have to be in mastering position to reset the error?
In the manual I have it says to do res_pca and then say yes to reset alarm and that should be it to reset this error -
You have to calibrate. Once the pulse mismatch error is set, master done is set to false.
This alarm occurs when the robot positional data that is stored in the CPU does not match the positional data of the pulse coders.
Mastering is not necessarily required but it could be. As in the instance of restoring an image that has different mastering data.
I suggest jogging the robot to zero and verifying the witness marks. If all is OK RES_PCA, cycle power, set $DMR_GRP[1].$MASTER_DONE=TRUE, and calibrateHere is an example where pulse mismatch is set but mastering is still valid.
A robot backup is restored. The robot was in one position the when the back up was made, but the robot is in a different position when the backup was restored.
The CPU and the pulse coder data do not match and the pulse mismatch is set. Mastering is set to false and the robot needs to be mastered. In this case you can set master done to true and calibrate after resetting the pulse coders.
In cases where the batteries go dead, a motor or cable was replaced or disconnected then the robot needs to be mastered and calibrated.
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