Brooks Automation 6. Service Procedures
Part Number: 603988 Rev. A Replacing the Encoder Battery
Step Procedure
3.
In the drop-down menu at the top right of the screen, select the robot axis that was
associated with the error and check to see if the Overspeed panel is yellow. This indicates
an overspeed error during encoder standby mode due to shock or vibration. This error can
be reset by selecting the Reset button next to Reset and initialize encoder. This button
resets error flags but does not reset the encoder counters. The robot can then be homed
normally.
4.
For cases where the encoder operation error was triggered by shipping vibration, IN
MOST CASES the encoder will not have lost any position data. However, after homing the
robot, it is a good idea to move the robot to the calibration position (using the calibration
pins where required desired), or another known position, and check the joint angles in the
Virtual Pendant in the Web Operator Interface. The joint angles in the Calibration Position
are:
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X-axis at hard stop opposite connector panel: -2 mm
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Z-axis at upper hard stop: -2 mm
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Y-axis at hard stop near X axis: -2 mm
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Theta axis when rotated to negative hard stop and reversed to calibration pin: -270
degrees for the XY
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Gripper closed with power off after calibration: 72 mm
If the robot joints after this procedure followed by homing are different from the above, then
the robot needs to be re-calibrated.
Replacing the Encoder Battery
Electrical Shock
Improper electrical connection or connection to an improper electrical supply can result in
electrical shock, burns, fire, and damage to the equipment and death or serious injury.
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Before replacing the encoder battery, the AC power should be disconnected.
Removing the rear cover allows access to the AC power terminals.
The Encoder Battery is designed to last for several years with robot power turned off. With robot
power turned on, there is no drain on the battery. The battery voltage is monitored by the system.
The nominal battery voltage is 3.6 Volts. If the battery voltage drops to 3.2 Volts an error message
“Encoder Battery Low” is generated. At this level the absolute encoder backup function will still
work, however the Battery should be replaced. If the voltage drops to 2.75 Volts, an error message
“Absolute Encoder Down” is generated. At this point, the absolute encoder backup function will not
work.
Note that if any motor/encoder is disconnected from the encoder battery by disconnecting the
encoder cable, the “Encoder Battery Low” or Encoder Battery Down” message will be generated.
Copyright © 2023 Brooks Automation, Inc.
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