Position & mastering
Battery alarm won't clear after replacing batteries
You swapped the batteries and the alarm is still up.
Most likely causes
The battery-to-encoder cable inside the robot is disconnected or grounded
The source names the internal cable feeding power from the battery to the Pulsecoder as a suspect when BZAL (SRVO-062) appears right after a fresh battery install. New cells won't clear the alarm if that cable is disconnected or grounded.
SRVO-062 needs its full recovery sequence
The source states BZAL clears through a sequence: battery, pulse reset, power cycle, then dealing with SRVO-075 and re-mastering.
The alarm you're seeing is SRVO-075, the expected follow-up after BZAL and battery work
The source says SRVO-075 'Pulse not established' appears normally after a BZAL (SRVO-062) event and battery work, because the absolute encoder hasn't established its position reference yet. It can read like the alarm won't clear when it's the next step in recovery.
The battery was not replaced with controller power on
The source's BLAL entry (SRVO-065) says to replace the battery with system power on. A delay in replacement may result in BZAL with lost position data, which then requires the full recovery and mastering.
Failed motor or pulse coder
The source lists a failed motor/pulse coder as the last suspect for SRVO-062 if the battery and internal cable check out and BZAL persists.
Where to start
- Note the exact code: SRVO-062 (BZAL), SRVO-065 (BLAL), or SRVO-075 (Pulse not established).
- If you see SRVO-075 after a battery swap and power cycle, the source calls this the expected follow-up to a BZAL event. See SRVO-075.
- If BZAL returned after new batteries, the source says to check the internal battery-to-encoder cable. See SRVO-062.
- Hand mastering and position verification to qualified maintenance, and verify positions before production.
Related alarm codes
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