Encoder Operation Error - Brooks PreciseFlex DD 6-Axis Service Manual

2. Service Procedures

Encoder Operation Error

Encoder Operation Error
The PFDD robots are equipped with absolute encoders that keep track of the robot position even
when AC power to the robot is disconnected. There are batteries in the back of the Z column of
the robot and outer link that provides standby power to the encoders for the Z axis and
outer link motors. J1 and J3 axes have single turn absolute encoders and do not require
standby batteries. In standby mode, there is a limit on how quickly the motor can turn and still
have the standby counter operate properly. The limits are 6,000 rpm and 4000 rad/s
100% speeds the robot joints normally do not move faster than about 2,000 rpm and 1300 rad/s
However, if the robot is shocked during shipping, it is possible the standby operation acceleration
error limit may be exceeded. This can generate an encoder operation error that will prevent the
robot from homing after power up.
This error will be displayed in the Operator Window of the Web Interface as "Encoder Operation
Error" Robot 1: <axis number>.
Assuming the robot has not been damaged by the shipping process, reset this error by performing
the procedure in Table
Step
Access the Web Operator Interface to the robot with either "Maintenance" or "Administrator"
1.
privileges.
In the "Setup" menu, select "Hardware Tuning and Diagnostics", then select "Absolute Encoder". A
screen similar to that shown below should display.
2.
13
2-2:
Table 2-2: Resetting the Error
PreciseFlex™ Direct Drive Robots - Service Manual
Action
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