AL-4314 (SERIAL ENCODER BATTERY ERROR)
Since a serial encoder does not have a capacitor in the motor, the
data for accumulated rotation in the motor is lost if the control power
supply is turned OFF when the battery voltage is low.
Replace the battery immediately.
When the battery alarm occurs and the data for the accumulated
rotation is lost, perform zero-point positioning, paying attention to the
robot's working envelope before restarting the operation.
An alarm
occurs.
Contact your Yaskawa
representative.
Replace the battery.
Alarm?
Yes No
Check the battery cable
(disconnection, etc.).
Alarm?
Yes No
Remove connectors CNPB123 and
CNPB456 of the WRCA01 circuit board
and re-insert them. (See Fig. 36.)
Alarm?
Yes No
CNPG456
CNPG123
SERVOPACK
Fig. 36
Continue normal operation.
The disconnected cable caused the alarm.
Continue normal operation.
A faulty connection caused the alarm.
Continue normal operation.
The data was cleared because the
battery was low causing the alarm.
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