Part 2: Maintenance 10. Replacing the Signal Relay Board
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10.2 Replacing the Lithium Battery
When the lithium battery power is low, an error will occur when EPSON RC+ / SPEL
95(SRC5**) / SRC-3** starts to warn the user about the low battery status. When this
happens, the position data of the motors will be lost and all the joints need to be calibrated
all over again (refer to chapter 11. Calibration).
The life for a lithium battery is 3 years. Even if the manipulator is constantly connected to
power, it is necessary to replace the lithium battery every 3 years.
The manipulator must be connected to power for more than 30 minutes before the lithium
battery is to be replaced.
Each motor’s super-capacitor must be charged to retain position data in memory. The
motor can retain position data for about 2 hours after being disconnected from the battery
on the signal relay board. (The motors for those manipulators whose serial number starts
with “0” can retain position data for about 2 days.) If the motor is disconnected from the
battery for more than the above hold-time, the position data will be lost and errors will
occur when software is started.
RC+ : Error 5016
SPEL 95 : Error 5016
SRC-3** : Error 195
When this happens, all the joints must be recalibrated (refer to chapter 11. Calibration).
Removal
(1) Disconnect cables from the base connector plate. Open the base connector plate
forward. (Refer to chapter 2. Opening the Covers.)
(2) Remove the four screws (M3×6) from the signal relay board on the base connector
plate and remove the relay board. Pull out the signal relay board carefully so as not to
stretch or bend the cables since the cables and connectors are still connected to it.
Pulling it too hard may cause cable disconnection.
(3) Disconnect the X4 connector of the battery unit from the board. Cut off the wire ties
securing the lithium battery unit to remove it.
Wire ties
NOTE
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