4.2 Position Detector Error
If a position detector error (encoder error) occurs, either of the following errors is
shown on the error display of the robot controller.
Error code Error content
8–401 Axis1 Encoder abnormal
8–403 Axis3 Encoder abnormal
8–404 Axis4 Encoder abnormal
8–405 Axis5 Encoder abnormal
The position detector error is an error detected by the encoder itself. Even if the data
in the parameter file is lost (or changed) to change the home point coordinates of the
robot, for instance, a position detector error will not occur. If the machine coordinates
have changed without causing a position detector error, the mechanical connecting
position of the servo motor and mechanical unit shifted or the data in the parameter
file described above was changed. (Ex.: Tooth skip of timing belt, etc.)
Errors detected by the encoder itself include the battery voltage drop, error caused by
temperature rise in the encoder, counter overflow, internal counter data inconsistency,
etc. Among these errors, the error which occurs most frequently is the battery voltage
drop which is caused by the absence of maintenance at specified change intervals
(once a year) due to a long-term shutdown or cable breakage.
To prevent the position detector error, therefore, replace the batteries on a regular
basis. For the battery replacement, see Para. 2.9.
Also, a heavy vibration should not be exerted on the robot or the robot should not be
moved suddenly by hand during power OFF. Especially, when transporting and
storing the robot, secure the robot in a posture for shipment, using the attached
clamps.
Restoration from position detector error:
The restoring operation from the position detector error comes in the following four (4)
manners.
[1] Encoder error reset operation: See Para. 4.3.2.
[2] HOME operation: See Para. 4.4.
[3] ZEROP operation: See Para. 4.5.
[4] Multi-turn data reset operation: See Para. 4.6.
STE 85306
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