Error handling: Display;
Error reset: Possible
Description: The voltage of the battery connected to the encoder battery backup board has dropped to +3.3V or lower, or the encoder battery alarm harness has an open circuit. This encoder is installed in the external axis encoder junction box. Note that this error can be detected only when both controller power and motor power are ON.
Encoder
Encoder
Servo
Encoder
CPU
Interface
Battery alarm signal
Power supply circuit/
Battery voltage
Battery
Encoder power supply +12V
Detection circuit
Servo board
Encoder battery backup board
External axis encoder box
Controller
Main causes:
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The battery has aged.
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A problem with the encoder battery backup board.
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A faulty encoder, a short circuit in the harness between the encoder battery backup board and encoder, or a similar problem increases battery consumption and shortens battery life.
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An open circuit in the battery alarm signal wire from the encoder battery backup board.
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A problem with the servo board.
Countermeasures:
- When this error occurs, the encoder's internal data may already have been lost. Therefore, carefully verify in teach mode that all axis angle values are 0 when the alignment marks on all axes are aligned (mechanical origin). If an angle value is not zero, zeroing must be performed.
WARNING
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Automatic operation is possible after the error is reset. However, abnormal current encoder values are very likely to cause robot misalignment. Be sure to perform the zero-position check described above and run several steps in check mode.
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When this error occurs, note that the internal data in the encoder may not be retained if the controller power is turned off.
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When the encoder backup battery voltage drops to +3.3V or lower, replace the batteries promptly. Replace the batteries for multiple axes and the conveyor at the same time.
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Check the connections of all harnesses.
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Replace the encoder, servo board, or encoder battery backup board.