Please enlighten me on this topic.
How does the pulsecoders in FANUC robots actually work?
As I have understood, when not supplied with voltage (either through the controller when power is turned on or through backup batteries) they will loose track of their values.
To me this indicates some sort of incremental encoder.
But ok, no problem. We provide voltage to the pulsecoder and it needs to be moved past it's "0-mark" (I do not mean the physical axis' zero mark, but rather the pulsecoder's zero mark) in order to establish a pulse count.
I would assume then that regardless of power loss, the pulsecoder would (once it has established a pulse count) report the exact same pulse count when the physical axis is att a certain position, as it did before the power loss. But it seems as though that's not the case....
Because when you perform a Quick Mastering after having a BZAL for instance, then the $MASTER_COUN values will be different than before. And sure, I can agree that with the ridiculously high resolution of the pulsecoders, it will be basically impossible to jog the robot back to those exact pulse counts. but after a QM, if you run the robot to it's 0°-marks, wouldn't you then be at the $REF_COUNT values? And if you do a QM while there, wouldn't the $MASTER_COUN be the same as $REF_COUNT then?
Or am I completely mistaken?
Please, someone who actually knows, explain it to me. Feel free to draw pictures and treat me like a 5-year old if needed