Connecting The Absolute Battery - Yamaha ERCX Series User Manual

2-7 Connecting the Absolute Battery

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2-7 Connecting the Absolute Battery
Connect the absolute battery to the controller as shown below. Use a cable tie and binding strap
(supplied) to secure the battery to the side of the controller or at the proper position in the system. A
"B1 type" or "B2 type" battery is supplied with the controller depending on your order.
Fig. 2-2 Absolute battery connection to the controller
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CAUTION
Do not modify the battery wire or extend it. Modification and extended wire may cause troubles or malfunction
of the robot.
* When the absolute battery is disconnected from the controller, an alarm (24: ABS. DATA
ERROR) is issued. Since the controller is shipped with the absolute battery disconnected, an
alarm is always issued when the controller is first turned on. But this is not an equipment
problem. (An alarm "23: ABS. BAT. L-VOLTAGE" might occur in some cases.)
* When the controller is first used or is kept turned off for a period in excess of the data backup
time, the battery must be recharged. The battery is automatically charged while the controller
is turned on. Keep the battery charged for longer than the time listed in the table below. Since
the battery charging time does not affect robot operation, the controller can be used to perform
teaching, program editing and robot operation while the battery is still being charged.
Type B1
(3.6V/700mAh)
Type B2
(3.6V/2000mAh)
* If the absolute backup function is unnecessary, the controller can be used with the absolute
battery left removed. (See "16-1 Operation When Not Using Absolute Function".)
Connect to the controller
Hours until full charge * 1)
15h
48h
*1) At ambient temperature of 20:
*2) After power is off with absolute battery fully charged.
B2 type battery
(3.6V/2000mAh)
B1 type battery
(3.6V/700mAh)
Backup time * 2)
120h
340h