Robot Not Mastered/Calibrated After Battery Change

    A few days ago, I changed the battery due to a BZAL alarm and tried to calibrate the robot. First, I used the "single axis master" function and jog the robot to the zero position and set the "master pos" to 0 for all joints. After that, I clicked "zero position master," but it showed the error "robot not mastered!" I also attempted to calibrate the robot directly without using "zero position master," but I received the error "robot not calibrated!"

    I found some resources suggesting that I should check if `$MASTER_COUN` and `$SPC_COUNT` are the same. They are not the same, so I adjusted `$MASTER_COUN` to match `$SPC_COUNT`, but it still didn't work. Can anyone help me resolve this issue?

    The real calibration data is stored on the $mastercount variables, not into the $spccount.

    The $spccount and $refcount are used for calibration when you use the QuickMasterRef method. On a new robot spccount should be the same as mastercount, also refpos should be all 0s.

    But if you executed a "SetQuickMasterRef" because you needed to set an auxiliary calibration position (per example, calibraring with axis1 at 90° because you can't reach 0° due to an interference) the actual values from the encoders will be copied to spccount and the actual angles of the robot will be saved into $refcount on radians.

    With this data, you can calibrate the robot on a different position than marks if you use the quickmaster method, the values of this two variables will be used to calculate the new mastercount values accounting the offset you used when you performed the setquickmasterref. It's like creating a new zero for every axis just on the position you want.


    So, if you have changed the batteries of the encoders after a bzal, masterize each axis, then execute the setquickmasterref so the mastercount values are copied to spccount, or just copy the mastercount values into spccount and set all variables from refpos to 0. The reason your spccount doesn't match is that these values are probably the old pulse values before you lost the calibration, you just need to update them after you calibrate the robot.

    You need to start with getting a "pulse" on your J4 and J6. Without a pulse you can't calibrate the robot. Move each axis individually in "Joint" back and forth around 20-30 degrees and then under the SEL column for that axis enter a "1" and hit "Enter". You should see the "0" change to a "2" under the "ST" column then you can calibrate.

    "I could tell that my parents hated me. My bath toys were a toaster and a radio."

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