Replacing The Battery Unit (Lithium Battery) - Epson SCARA ROBOT Manipulator Manual

11.1 Replacing the Battery Unit (Lithium Battery)

(1) Turn OFF the Controller.
Battery unit
(lithium battery)
(2) Push down the shaft to its lower limit while pressing the brake release switch. Be
Removal
(3) Remove the arm top cover.
(4) Connect the connector of the new lithium battery to
NOTE

(5) Cut off the wire tie banding the lithium battery and
(6) Cut off the wire tie banding the lithium battery,
Battery unit (1) Mount the new lithium battery to the battery board.
(lithium battery)
(2 ) Fix the cable of lithium battery and connector cable connecting to battery board with
Installation
(3) Mount the arm top cover.
(4) Turn ON the Controller.
(5) Check if the Manipulator moves to points (poses) correctly.
(6) If the Manipulator does not move to the points (poses) correctly, perform the
G6 Rev.21
sure to keep enough space and prevent the end effector hitting any peripheral
equipment.
The brake release switch is applied to both Joints #3 and #4. When the brake
release switch is pressed, the respective brakes of the Joints #3 and #4 are released
simultaneously. (The brake for Joint #4 is only installed to G6-**3**.)
Be careful of the shaft falling and rotating while the brake release switch is being
pressed because the shaft may be lowered by the weight of an end effector.
For details, refer to Maintenance: 3.1 Arm Top Cover.
the battery board.
User the unused connector of the two connectors
X60A, X60B on the upper part of the battery board.
Be sure to connect the connector of the new battery
before disconnecting the old battery. If the current
battery is disconnected before connecting the new
one, the robot will lose the origin position data and
the calibration must be executed again.
Except when the Power-Low warning is appearing.
remove the lithium battery.
Remove the battery.
wire tie. Refer to the procedure (4).
For details, refer to Maintenance: 3.1 Arm Top Cover.
To do so, select 2 points (poses) or more from the registered points (poses) and move
the Manipulator to the points (poses).
calibration of all joints and axes.
For details, refer to Maintenance: 13. Calibration.
Maintenance 11. Lithium Battery
X60B
Battery board
Lithium battery
Battery board
Wire tie
X60A
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