How long does this procedure take?

FANUC Mastering After Battery Loss (BZAL/BLAL) is rated Intermediate and takes about 40 minutes across 8 steps.

What tools do I need?

You will need Teach pendant, New pulsecoder batteries matched to the robot's spec.

What should I do before starting?

BLAL or BZAL alarm has appeared. Fresh batteries on hand. Access to System Variables and Master/Cal on the pendant.

Mastering & calibration

FANUC Mastering After Battery Loss (BZAL/BLAL)

For a technician recovering a FANUC robot after a BZAL or BLAL condition on the pulsecoder batteries. BLAL means power on and replace the battery soon. BZAL means the position count is lost and the robot must be remastered after clearing $MCR.$SPC_RESET and performing a pulse reset.

Intermediate~40 min8 steps

Replace the batteries with power on

Swap the pulsecoder batteries in the robot-base battery box with the controller powered so the position count is not lost during the swap. For BLAL, this alone is often enough.

Caution: Keep clear of the arm during the swap. Do not open the controller cabinet for this task.

Check the alarm state

If only BLAL was present and the swap was done with power on, a power cycle may clear it. If BZAL is present, the position count is lost and mastering will be required.

Clear BZAL with $MCR.$SPC_RESET

For BZAL, go to System, Variables, find $MCR.$SPC_RESET and set it TRUE. The system will clear the BZAL state.

Perform a pulse reset

Run PULSE RESET as documented for the controller. This prepares the pulsecoder for remastering.

Jog to the mastering position and remaster

In T1 low speed with the deadman held, jog to the mastering position for the method you plan to use. If a valid quick master reference exists, run Quick Master. Otherwise use the appropriate mastering method for the situation.

Caution: Keep the cell clear and stay out of the work envelope while jogging.

Calibrate and power-cycle

Run CALIBRATE from Master/Cal, then restart the controller so the mastering takes effect.

Verify against a known point

Move to a saved production position at low speed and confirm accuracy before returning to service.

Back up the new mastering data

On the pendant, go to File, press F4 BACKUP, and save System files. SYSMAST.SV holds the mastering data.

Common questions

How long does this procedure take?: FANUC Mastering After Battery Loss (BZAL/BLAL) is rated Intermediate and takes about 40 minutes across 8 steps.
What tools do I need?: You will need Teach pendant, New pulsecoder batteries matched to the robot's spec.
What should I do before starting?: BLAL or BZAL alarm has appeared. Fresh batteries on hand. Access to System Variables and Master/Cal on the pendant.
What is the first step?: Replace the batteries with power on. Swap the pulsecoder batteries in the robot-base battery box with the controller powered so the position count is not lost during the swap. For BLAL, this alone is often enough.