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 depiction. The zero point parameter of the KUKA robot will not be "lost", it is recorded in an EEPROM (Electrically Rewritable Read-Only Memory), and will not be "lost" due to long-term power failure, lack of battery power, etc.
The correct explanation should be "zero point failure". When the robot is turned on or operated, the time will detect the interrelationship between the time orientation of the robot and the zero point parameters, assuming that there is a fault, the robot will suspend all tasks in order to ensure the safety of the equipment, force the deletion of the zero point parameters and require the operator to correct from the beginning.
In other words, the zero parameter is actively 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 postpone the shutdown time, so that the system has a sufficient time to store the azimuth parameters of the robot in the RDC. The next time the machine is turned on, the system will read the parameters in the RDC, compare them with the robot position at that time, and if they are inconsistent, the zero parameters in the RDC will be forcibly deleted to protect the device.
Suppose the computer crashes, the system will not be able to control the backup battery operation and cannot ensure that there is a sufficient 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 correct it from scratch.
Second, the handling method:
1. When the robot crashes and needs to be started 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 will immediately power off and shut down, just like a power outage. When the machine is turned on again, the system will state that the fault of zero point failure. Correcting the zero point from scratch is a time-consuming and laborious task, and may even have an impact on quality.
2. In fact, the crash is just the loss of the computer, and the reboot only needs to start the computer from the beginning. We only need to make sure that the robot is not powered on during the restart process to ensure that the zero point does not fail.
Based on this criterion, this problem can be handled well assuming that you only restart the computer and do not shut down the robot.
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