System Setup
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9.20 Encoder backup error recovery function
9.20.1 About encoder backup error recovery function
A motor of the robot, the travel axis or the rotation station which is controlled by the
YRC1000 is connected with the backup battery in order to keep the position information
even though the control power is disconnected. This battery consumes battery power
through time, and the alarm “4312 ENCODER BATTERY ERROR” occurs when the voltage
becomes lower than 2.8V. If the battery is not replaced and keep consuming more battery
power, it will cause the lost of the position information. In addition, the alarm “4311
ENCODER BACKUP ERROR” occurs. Meanwhile, there would be a gap between the robot
position and the position of the absolute encoder.
This function is used to recover the absolute data by moving the axis whose position
information is lost to a position close to the home position by axis operation.
9.20.2 Encoder backup error recovery function operation
1. Press {SELECT}.
– When select the “RESET” in the alarm display, the alarm is reset. The robot can be
move by the axis operation key.
2. Adjust the alarm occurring axis to the home position mark of the each robot axis by the
axis operation key.
3. Change the SECURITY mode to the MANAGEMENT mode.
– Refer to chapter 8.2 "Security mode" at page 67 for the operation of the changing the
SECURITY mode.
4. Select {ROBOT} in the main menu.
5. Select {HOME POSITIONNING}.
– The home positioning display appears. The absolute data of the axis which is occurring
the encoder backup error appears with the "*" which indicates the undefined state.
6. Select the control group.
7. Select {UTILITY} in the menu.
– The pull-down menu appears.
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