1. Reasons for zero point failure:
Before analyzing the cause of zero-point failure, let's first clarify a problem.
For a long time, we have been calling this failure "zero point drop", which is an inaccurate depiction. The zero point parameter of the KUKA robot is not "lost", it is recorded in an EEPROM (Electrically Rewritable Read-Only Memory), and it will not be "lost" due to long-term power failure, insufficient battery power, etc.
The correct interpretation should be "zero-point failure". When the robot is turned on or operated, it will always detect the relationship between the robot's current position and the zero point parameters, and if it is found that there is a fault, the robot will suspend all missions in order to ensure the safety of the equipment, force the zero point parameters to be deleted and require the operator to proofread from the beginning.
In other words, the zero parameter is automatically deleted, not discarded. So, instead of "throwing away", it is "failing".
The reference zero parameters of the KUKA robot are recorded in the RDC, a black box at the base of the robot.
Under normal circumstances, every time the power is cut off or shut down, the system will use the power of the backup battery to delay the shutdown time, so that the system has enough time to store the azimuth parameters of the robot at that time in the RDC. The next time the machine is turned on, the system will read the parameters in the RDC and compare them with the position of the robot at that time, and if they are inconsistent, the zero parameters in the RDC will be forcibly deleted to maintain the device.
If the computer crashes, the system will not be able to effectively manipulate the backup battery operation and ensure that there is enough time to store the parameters in the RDC. Then the next time the machine is turned on, the robot orientation parameters will be inconsistent with the RDC, the reference zero point will be deleted, and the operator will be prompted to proofread from the beginning.
Second, the handling method:
1. When the robot crashes and the demand starts from scratch, our usual practice is to turn off the main power switch. At this moment, you will find that when you turn off the main switch, the system immediately loses power and shuts down, the same as the power outage. And when the machine is turned on again, the system will state the fault of zero point failure. Proofreading zero from scratch is a time-consuming and laborious task, and it can even affect quality.
2. In fact, the crash is just that the computer loses its response, and restarting only needs to start the computer from the beginning. We just need to make sure that the robot is not powered on during the restart process to ensure that the zero point will not fail.
Based on this principle, this problem can be handled well if you only restart the computer and do not shut down the robot.
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