4. Servo using method and gain adjustment
4-21
3) Battery replacement
The encoder battery alarm is generated when the battery voltage drops under 2.7 V. The
alarm is generated by receiving the data from the absolute encoder when the power is
connected to the servo drive. If the servo drive control power is ON and the battery voltage is
dropped, the alarm will not be generated.
♥ Battery replacement method
- Replace the battery when the control power of the servo drive is ON. If you replace the
battery when the servo drive control power is OFF, the absolute encoder must be initialized.
- After replacing the battery, turn the control power of the servo drive OFF.
- Check the condition after turning the control power of the servo drive ON.
Caution
• Wire the battery to the one of the servo drive side or the host controller side. It is dangerous
when you connect to both sides because it can create a short circuit.
4.5.2 Absolute value encoder initialization
1) When the absolute value encoder requires initialization
- During first operation
- When the encoder cable is separate from the servo drive
- After replacing the battery
- When the absolute encoder related alarm is generated
2) Absolute value encoder initialization (reset) method
- 17bit serial absolute value encoder: When it sets the origin by itself, set the parameter
(P01-20) to “ON” and it will change to “ON =>OFF” to initialize the current position. (Multi-
Turn data reset). When the absolute value related alarm is generated, execute alarm reset
by using alarm reset contact point (ALMRST).
- When it sets the origin by itself, set the parameter (P01-20) to “ON” and it will change to
“ON =>OFF” to initialize the current position. Or connect the power to encoder terminal
ERST (CN2-20) and Vcc terminal (CN2-19) for more than 4 seconds.
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