2.9 Replacing Position Detector (or Encoder) Batteries
• The batteries should be disposed of according to the user’s in-house
regulations.
NEVER drop the battery into fire. NEVER short-circuit, charge, disassemble
or heat it. Otherwise, liquid leakage or rupture may be caused.
To keep the data of the position detector attached to the motor, they are backed up by
batteries. Be sure to replace the batteries with new ones at the time of annual
inspection. When the robot is not used for a long term (i.e., the batteries are left
intact in the power OFF condition), replace the batteries at the time of robot startup.
As a yardstick, the shutdown period is two (2) months.
(Three (3) size AA batteries)
• When the battery voltage has dropped, a battery alarm will generate. If the
batteries are replaced just after generation of the battery alarm, the battery
voltage returns to normal with the battery alarm reset automatically. Unless
the batteries are changed just after generation of the battery alarm, however,
the battery voltage will drop further and a battery error will occur. Under this
condition, position data detected by the encoder is not reliable. As a result, a
position detection error occurs and the robot enters an emergency stop state so
that the servo system cannot be turned on. If the power is turned off in this
condition, the position data is lost.
To avoid the above, be sure to replace the batteries with new ones at the
time of annual inspection.
STE 85306
– 79 –
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