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5 Maintenance and Inspection
(1) Replacing the battery (robot arm)
CAUTION
CAUTION
The battery installation position is shown in
following procedures.
Lead connector
Fig.5-15 ： Replacing the battery
1) Confirm that the robot arm and controller are connected with a cable.
2) Turn the controller control power ON.
The position data is retained by the power supplied from the controller while replacing the battery. Thus, if
the cable is not connected correctly, or if the controller power is OFF, the position data will be lost.
3) Press the emergency stop button to set the robot in the emergency stop state. This is a measure for safety,
and must always be carried out.
4) Remove battery cover <1>, referring to
5) The battery holder is located in the battery cover <1>. Remove the old battery from the holder, and discon -
nect the lead connector.
6) Insert the new battery into the holder, and connect the lead connector. The "+" pole is left-hand side.
Replace all batteries with new ones at the same time.
7) Replaces the backup battery one by one in the above-mentioned procedure.
8) All the batteries should check that it has been exchanged newly. If the old battery is contained, generating
heat and damaging may occur.
9) Install battery cover <1>.
10) Initialize the battery consumption time.
Always carry out this step after replacing the battery, and initialize the battery usage time. Refer to the
separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on the opera -
tion methods.
[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again.
Refer to
stopper method or ABS origin method.
Maintenance and inspection procedures
5-67
The power supply for the encoder is supplied by cable connected with battery board.
The cable must be connected while replacing the battery or operating usually. Thus, if
the cable connection is incomplete, the encoder position data will be lost, and reset -
ting the origin is necessary.
Replace the battery one by one . If all batterys are removed the encoder data will be
lost, and resetting the origin is necessary.
＋
＋
Inside the battery cover (The back of the robot-arm base portion)
Page 70, "5.6 Resetting the origin"
Fig.
5-15. Refers to the figure and replaces the batteries in the
-
-
＋
-
-
＋
Page 49, "5.3.2 Installing/removing the
and reset the origin using the jig method or mechanical
Battery
Battery holder
cover".
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