No just reset the fault in the mastering screen menu/0/system type master/cal press F3 pca .
Type/ variables
$DMR_GRP enter ....enter set master done = true ...reboot
The robot does not have to be at "zero" position to reset a pulse mismatch. It looks like in the second link you provided, the suggestion to move the robot to zero was simply to ensure that mastering data is still accurate. If the backup that was restored to this robot was pretty recent and no hardware changes have been made (pulsecoders replaced/disconnected, etc.) then this should be the case. To reset a pulse mismatch:
After this is done, the robot will need to be calibrated. That should get you back into service, assuming no other issues are present.
The robot does not have to be at "zero" position to reset a pulse mismatch. It looks like in the second link you provided, the suggestion to move the robot to zero was simply to ensure that mastering data is still accurate. If the backup that was restored to this robot was pretty recent and no hardware changes have been made (pulsecoders replaced/disconnected, etc.) then this should be the case. To reset a pulse mismatch:
- Go to Menu\System\Variables and set $MASTER_ENB to 1.
- Press f1 [TYPE] and select "Master/Cal."
- Press f3 "RES_PCA" (Reset Pulsecoder Alarm).
- It will ask "Reset Pulsecoder Alarm?" Select f4 "YES."
- Cycle power.
After this is done, the robot will need to be calibrated. That should get you back into service, assuming no other issues are present.
Adding to this, when this happens, ensure to jog all the axis from the robot +-10dg so the encoder moves a full turn, if not done, pulse mismatch may not be cleared.
