Title: Assignment: Manual Mastering and Pulse Coder Reset
Course: Applied Industrial Robotics (ATR-145-1)(2018SP)

See the last chapter in your manual including the Appendix.

These procedures have been done on all these robots at one time or another, some more than once.

Reasons:

Backup Batteries are low or dead  BZAL alarm

Robot has been moved with power off... Pulse coder mismatch

Robot had catastrophic crash.  Robot Not Mastered, or Pulse Coder Mismatch.

ALL Fanuc robots with serial encoders have this, since the beginning of their robots.

It these alarms mean the stored values of reference for any or all axis, ... don't match what the

encoders are feeding back to the CPU.