Lubricating Joint 3 Ball Screw/Spline
Adept Cobra i600/i800 Robot User’s Guide, Rev G 69
5.8 Replacing Encoder Battery
The data stored by the encoders is protected by a 3.6 V lithium backup battery located in
the base of the robot.
NOTE: The previous battery, P/N 02704-000, has been superceded by this
battery pack. The battery replacement interval and procedure have not
changed.
Battery Replacement Time Periods
If the robot is kept in storage and not in production, or the robot is turned off (no 24 VDC
supply) most of the time, then the battery should be replaced every 5 years.
If the robot is turned on with 24 VDC supplied to the robot more than half the time, then
you can increase the replacement interval to a maximum of 10 years.
NOTE: Dispose of the battery according to all local and national
environmental regulations regarding electronic components.
Battery Replacement Procedure
1. Obtain the replacement battery pack.
2. Switch off the 24 VDC input supply to the robot.
3. Switch off the 200/240 VAC input supply to the robot.
4. Disconnect the 24 VDC supply cable from the robot +24 VDC input connector. See
Figure 2-3 on page 22 for locations of connectors.
5. Disconnect the 200/240 VAC supply cable from the robot AC Input connector.
6. Using a 5 mm Allen key, carefully unscrew the chassis securing screw. See Figure
5-2 on page 65. Note that the screw does not need to be completely removed in
order to remove the chassis, as this screw is captured on the chassis heat sink.
7. While holding the chassis heat sink, carefully and slowly lower the chassis down
(see Figure 5-3 on page 66), so there is access to the battery. See Figure 5-7.
CAUTION: Replace the battery pack only with a 3.6 V,
6.8 Ah lithium battery pack, Adept P/N 09977-000. Battery
information is located in the base of the robot.
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