Toshiba TH180 Maintenance Manual page 36

(2) When a position detection error has occurred during normal operation with
the mechanical connection position unchanged:
For example, if the battery voltage drops, or after changing the battery or cables,
the position detector may operate abnormally. In such a case, perform recovery
operation according to the procedure described below.
1) Perform [1] Encoder error reset operation.
2) Referring to the error screen, make sure that the error has been cleared.
• When moving the robot by hand while the power is turned on, be sure to assure
the safe work and effect an emergency stop beforehand.
• In the above situation, if the work is to be done while the axis 3 motor brake
OFF switch is pressed, be sure to perform the work by two (2) persons.
One person should carry out the work while the other is monitoring the work
outside the hazardous zone. The latter person should watch the work and be
ready to turn off the controller switch if any abnormality occurs. Once the
controller power is turned off, the motor brake actuates even if the axis 3 motor
brake OFF switch is kept pressed.
• If the axis 3 motor brake OFF switch is pressed while the robot is carrying a
heavy workpiece, the axis 3 may drop suddenly. To avoid this, the customer
should take all necessary measures by themselves.
2.1) When the error has been reset:
Turn on the controller power only (DO NOT turn on the servo power), and
make sure by moving the arm, etc. by hand that the position detector error
will not occur again. Then turn off the controller power and turn on again to
make sure that the same error will not recur.
2.1.1) When the error occurs again:
The position detector has possibly malfunctioned.
2.1.2) When the error will not occur again:
Turn on the servo power. Select the TEACHING mode and gradually
move each axis at low speed to make sure of its soft stroke. If the soft
stroke or machine coordinate is abnormal, perform "[2] Multi-turn data
reset operation."
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MAINTENANCE MANUAL