YASKAWA Motoman UP6 Instructions Manual page 528

AL-4312 (ENCODER BATTERY ERROR)
Although an absolute encoder has 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.
SERVOPACK
CNPG456
CNPG123
Fig. 35
AL-4313 (SERIAL ENCODER OVERHEAT)
Replace the battery.
Yes
Check the battery cable
(disconnection, etc.).
Yes
Remove connectors CNPB123 and
CNPB456 of the WRCA01 circuit board
and re-insert them. (See Fig. 35.)
Yes
Contact your Yaskawa
representative.
An alarm
occurs.
Turn OFF the control power supply and
wait until the encoder cools.
Alarm?
Yes
Operate the encoder at 80°C or less.
Alarm?
Yes
Replace the motor (encoder).
Alarm?
Yes
Contact your Yaskawa
representative.
62
An alarm
occurs.
Alarm?
No
Alarm?
No
The diconnected cable caused the alarm.
Alarm?
No
No
No
Continue normal operation.
The overheated encoder caused the alarm.
No
Continue normal operation.
A defective encoder caused the alarm.
Continue normal operation.
The battery being low caused the alarm.
Continue normal operation.
Continue normal operation.
A faulty connection caused the alarm.