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5 Maintenance and Inspection
(1) Replacing the battery of the robot arm
CAUTION
CAUTION
CAUTION
The battery installation position is shown below. Refers to the figure and replaces the batteries in the following
procedures.
Fig.5-14 ： Replacing the battery
1) Turn the controller control power OFF.
2) Remove the battery cover, referring to
3) Check that the capacitor is fully charged. Press the button on the DQ006 circuit board and check that the
LED on the same circuit board turns on.
Replace the battery within 15 minutes after checking that the LED turns on.
If the LED does not turn on when the button is pressed, the capacitor needs to be charged. Turn on the
controller and charge the capacitor for approximately 30 minutes.
4) Replaces the backup battery one by one. The battery holder is located inside the //battery cover. Remove
the old battery from the holder, and disconnect the lead connector.
5) Insert the new battery into the holder, and connect the lead connector. Replace all batteries with new ones
at the same time.
6) All the batteries should be checked that it has been exchanged newly. If the old battery is contained, gener -
ating heat and damaging may occur.
7) Install the battery cover as before. Be careful so that the cable may not be inserted.
[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again.
Refer to
The CR800-D controller requires time setup. Refer to the separate "Instruction Manual/Detailed Expla -
nation of Functions and Operations" for details on the operation methods.
[Caution] When inserting and removing a lead connector of the backup battery, pay sufficient attention to the fol -
lowing points to prevent excessive force from being applied to the connector: Do not twist the connec -
tor during removal, and do not forcibly insert the connector when not mated properly.
Maintenance and inspection procedures
5-86
The battery circuit board connection cable is used to supply power from the backup
battery to the encoder. 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 resetting the origin is necessary.
Before replacing the backup battery, check that the capacitor is fully charged.
If the robot has been used for over 36,000 hours, the battery life is gradually short -
ened due to deterioration of the capacitor.
Replace the battery one by one . If all batterys are removed the encoder data will be
lost, and resetting the origin is necessary.
Page 89, "5.6 Resetting the origin"
Page 67, "5.3.2 Installing/removing the
and reset the origin using the ABS origin method.
cover".
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