7. Service Procedures (Undefined variable: MyVariables.ProductName)
Replacing the Encoder Battery Part Number: PF40-DI-00010 Rev. A
Step Action
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 if desired-see
Calibrating the Robot), 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:
l
Z-axis: -1 mm (-2 mm for Beta robots)
l
J2 or Shoulder: -90
l
J3 or Elbow: 179.99
l
J4 or Wrist: -180
If the robot joints after this procedure followed by homing are different from the above, then the
robot needs to be re-calibrated. See Replacing the Encoder Battery.
Replacing the Encoder Battery
Electrical Shock
Before replacing the encoder battery, the AC power should be disconnected. Removing
the front 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 3.3 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 2.5 Volts, an error message
“Absolute Encoder Down” is generated. At this point, the absolute encoder backup function will not
work.
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. However in this
95
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