1. Backup/Load in Normal Mode
Method: MEUN—FILE—F5 (UILT)
SET DEVICE, select MC, then select ALL ABOVE to back up all files to the MC card.
Image backup in normal mode
After selecting the MC card, on the next page after the single-file backup above (press 0), there is an IMAGE BACKUP option.
After selecting this option, the system will automatically restart to perform a backup.
Loading in normal mode
Normal mode can only load a single file, and write-protected system files that are being edited cannot be loaded.
2. Backup and restore in control start mode
Startup method: Press and hold [PREV] + [NEXT] simultaneously while powering on until the CONFIGUATION MENU appears. Select controlled start to enter controlled start mode.
The interface is the same as the backup and restore in normal mode, except that "controlled start" is displayed in the upper right corner.
Note: After backing up in controlled start mode, restart the system to check if it is still in controlled start mode. If it is, select HOT START or COLD START in the CONFIGUATION MENU. Programs do not run in controlled start mode.
3. Backup and Loading in BOOTMonitor Mode
Booting method: Press and hold [F1] + [F5] simultaneously during power-on until the BOOTMENU menu appears. Select controlled backup/restore to enter the backup/restore menu. Enter IMAGE mode.
Then select BACKUP CONTROLLER AS IMAGE, then select MC (USB) from the device selector to back up, and select RESTORE CONTROLLED IMAGE to restore.
Image backups offer the most detailed backups, including the operating system, personal user TP files, and more. Image backups are highly recommended.
As for personal TP programs, the TP files can also be copied out using FTP service. For example: enter FTP://192.168.***.***FTP in your browser, where the IP address of the robot is next to the URL.
Zero-point calibration of the robot
Zero-point calibration is required in the following situations:
1: The robot has performed the initial startup.
2: SRAM battery (motherboard) voltage drop causes mastering data loss.
3: The SPC (shaft encoder) backup battery voltage drops, causing pulse count loss.
4. Remove the battery compartment while the device is powered off.
5: Encoder power cord disconnected
6: Replace the encoder
The following alarm will occur if MASTERING data is lost or encoder power is disconnected.
SRVO-062BZALSRVO-038
Error 062 usually occurs when the device is powered on.
038 Pulse encoder mismatch,
First, check the zero-point calibration menu display. Confirm that the system parameter $MASTER ENB (modified via MENU SYSTEM F1 Variables) is 1.1 for display. When alarm 038 appears in the MASTERCALL menu, the robot cannot move. First, clear the 038 alarm and enter the MASTER/CALL menu.
Press F3 to reset the pulse, then select YES in the RESET PULSE CODER prompt to power off and restart, which will clear the .038 alarm.
Sometimes the robot still cannot move. Check the alarm list (MENU_ALARM_F3) to view the historical alarm information and find alarm 075 (pulse encoder cannot count). To clear alarm 065, when the robot is in JOINT (joint coordinate system), move the alarm axis (shift + alarm axis) about 20 degrees, and then press reset to clear the alarm.
The first method of zero-point attribution.
Zero-point verification method (ZERO POSITION MASTER)
1: Enter the MASTER/CALL interface
2: Teach each axis to the 0-degree position (there are two labels at the connection of each motion axis; as long as the scale lines coincide, it is the 0-degree position of this axis).
3: Select option 2: ZERO POSITION MASTER, then ENTER, and then YES in the lower right corner.
4: Then be sure to select 6 CALIBRATE (calibration) YES.
The second method: Single-axis verification
1: Enter the MASTER/CALL interface
2: Select 4 single-axis alignment method.
3: Change the alarm axis SEL to 1, then teach the alarm axis to point 0 (mark the position).
4: Input zero to alarm axis MSTR POS
5: Then press F5 to execute SET. The status will automatically change from 1 to 0ST, and the status will change from 0 to 2.
6: Return to the MASERCALL interface, select 6 CALIBRATE, press Enter, and then YES.
The third method is a quick verification method.
This method is only applicable to cases where the zero point is lost due to accidental electrical or software malfunction. Mechanical disassembly is not suitable for this method; a quick verification reference point must be set first.
1. Enter the MASTER/cal interface and move the robot to the MASTER REF (reference point) location.
2: Select 5QUICK MATER REF and press ENTERYES to confirm that the robot has now memorized a relative point for quick verification.
The restoration method requires that a reference point has already been set using the SETTING MASTERING DATA quick check method.
To enter the MATER/CALL interface, select 3 QUICK MASTER and then ENTERYES.
Then, be sure not to forget to select the 6CALIBRTE calibration coordinates.
For each zero-point calibration method, remember to perform the final calibration (select 6), otherwise the changes made will be invalid. It is recommended to use the first or second method for zero-point calibration.
