Troubleshooting Mastering Alarms

Read the exact alarm code and text

Note the axis number and alarm code. SRVO-062 BZAL, SRVO-065 BLAL, and SRVO-038 pulse mismatch have different causes and fixes.

Check pulsecoder battery voltage

If the alarm points to low battery or battery loss, check and replace the pulsecoder batteries in the robot base battery box. Keep power on during the swap so the count is preserved.

Check for recent mechanical work

Confirm whether a motor, encoder, or gearbox was recently replaced or disturbed on the affected axis.

Check for a recent collision or overtravel

Review production history or operator reports for any recent hard stop or crash near the time the alarm appeared.

Check for a recent backup restore

If backup data was recently loaded, a SRVO-038 pulse mismatch can result from the load itself and requires remastering to clear.

Handle SRVO-062 BZAL

For BZAL, set $MCR.$SPC_RESET to TRUE, then remaster. A power cycle alone will not clear the alarm without remastering.

Caution: Do not assume a power cycle resolves BZAL, BLAL, or pulse mismatch. Mastering is required.

Handle SRVO-065 BLAL

For BLAL with position data lost, mastering becomes necessary. Plan the remastering method before clearing.

Choose the appropriate mastering method

Pick quick, single-axis, fixture, or zero-position mastering based on cause and required accuracy.

Master, verify, and back up

Complete the mastering procedure, verify against a known point, and save a fresh backup of the mastering data.