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To replace the Encoder Battery the user must:
1. Turn off power to the robot and remove the AC power plug.
2. Remove the Top Plate of the robot by removing the 4 M5 low socket head screws from the top
plate of the robot that attach the top plate to the Z column. Lift up the Top Plate.
3. Remove the Front Cover by lifting it out vertically.
4. The Encoder Battery is located in the base of the robot behind the Z Column Front Cover. The
Encoder Battery has a connector which plugs into one of two identical connectors on a pigtail. A
new Encoder Battery should be plugged into the second connector before the depleted Battery is
removed. This allows the procedure to be performed without robot power.
5. Attach the new Encoder Battery to the hold down with a tie wrap.
6. Replace the Front Cover and Top Plate.
If the error message “Encoder Battery Down” was generated, the robot must be re-calibrated after this
procedure. Otherwise it is not necessary to re-calibrate the robot.
Calibrating the Robot: Setting the Encoder Zero Positions
Cal_PP is a service program that must be run to set the zero positions of the absolute encoders on each
motor. The zero positions must be re-established if any of the motors are replaced, their cables
disconnected for a long duration, or the encoder backup battery has been disconnected.
Cal_PP is supplied on the Guidance Controller System Software CD. To run Cal_PP, the controller must
be configured to run GPL programs and Cal_PP must be loaded into the controller's memory (See
Appendix D).
Tools Required:
1. 2.5mm and 3.0mm hex drivers or hex L wrenches
2. Set of 3 Calibration Dowel Pins, located in plastic bag inside the hollow slot in the front
cover.
The following describes the procedure for defining the zero positions of the PF400 robot axes using
Cal_PP.
1. Enable power to the robot’s controller, but do not turn on power to the motors.
(This procedure should be executed with motor power off. The robot does not move.)
2. The CALPP program is typically installed at the factory and should be loaded into flash memory.
Using the Web based Operator Control Panel first unload any currently loaded programs. Select
the"UnLoad" item in the left scrolling window and press the "Perform Operation" button. This
ensures that no GPL project is currently selected for execution. Select the "Load" item and press
the "Perform Operation" button. This displays a popup list of Projects that are in the flash disk
and available for execution. In the popup display, click on CALPP_RevXX and press "Select".
When you are ready to execute the Project, select "Start application" and press the "Perform
Operation" button. If CALPP is not loaded in the robot, first Load Cal_PP into the controller’s
memory from a PC, using the web Operator Control Panel, as described above in the Software
Reference Section.
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