A47
Alarm code A47 means <encoder battery voltage below 2.5V>.
Cause analysis: 1. Encoder battery voltage too low; 2. Problem with the encoder battery power supply circuit.
Remedy:
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Measure the encoder battery voltage. If the voltage is low (standard value: 3.6V), replace the battery promptly;
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If the voltage is normal, measure the voltage again at the motor encoder plug to further determine whether the problem is with the robot body encoder cable (poor cable contact) or a false alarm.
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This alarm requires using Fn010 and Fn011 to clear the encoder multi-turn information error and homing the robot axis corresponding to the drive.