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 fault "zero point drop", which is an inaccurate description. 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 explanation 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 an error is found, the robot will stop all its 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 listed 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 a time to meet the time to store the orientation 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 control the operation of the backup battery, and it will not be able to ensure that the parameters will be stored in the RDC at a satisfactory time. 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.
2. Solution:
1. When the robot crashes and needs to be started from scratch, our usual practice is to close the main power switch. At this time, you will find that when you close the main switch, the system will immediately power off and shut down, just like a power outage. When the machine is turned on again, the system states a zero failure error. Proofreading zero from scratch is a time-consuming and laborious task that can even affect quality.
2. In fact, the crash is just the computer losing its response, and restarting only needs to start the computer from the beginning. We only need to ensure that the robot is not powered on during the restart process to ensure that the zero point will not fail.
Based on this criterion, if you use the method of only restarting the computer and not closing the robot, you can solve this problem well.
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