Replacing The Encoder Batteries - Brooks PreciseFlex DD 6-Axis Service Manual

Brooks Automation
Part Number: 628651 Rev. A
Step
In the drop-down menu at the top right of the screen, select the robot axis that was associated with
the error and check to see if the Overspeed panel is yellow. This indicates an overspeed error
3.
during encoder standby mode due to shock or vibration. This error can be reset by selecting the
reset button next to "Reset and initialize encoder." This button resets error flags, but does NOT
reset the encoder counters. The robot can then be homed normally.
For cases where the encoder operation error was triggered by shipping vibration, IN MOST CASES
the encoder will not have lost any position data. However, after homing the robot it is a good idea to
move the robot to the calibration position (using the calibration pins if desired-see Calibrating the
4.
Robot), or another known position, and check the joint angles in the Virtual Pendant in the Web
Operator Interface. See the Calibration Procedure in
Zero Positionsfor the joint angles in the Calibration Position.
If the robot joints after this procedure followed by homing are different from the above, then the
robot needs to be re-calibrated. See the procedure in
Zero Positions.

Replacing the Encoder Batteries

Electrical Shock
Before replacing the encoder battery, the AC power should be disconnected. Removing
the front cover allows access to the AC power terminals.
The Encoder Batteries are designed to last for several years with robot power off. With robot power
on, there is no drain on the battery. The battery voltage is monitored by the system. The nominal
battery voltage is 3.6 Volts. If the battery voltage drops to 3.3 Volts an error message "Encoder
Battery Low" is generated. At this level the absolute encoder backup function will still work, however
the Battery should be replaced. If the voltage drops to 2.5 Volts, an error message "Absolute
Encoder Down" is generated. At this point, the absolute encoder backup function will not work.
Note that if any motor/encoder is disconnected from the encoder battery by disconnecting the
encoder cable, the "Encoder Battery Low" or Encoder Battery Down" message will be generated.
However, in this case the encoder battery does not need to be replaced. It is only necessary to re-
calibrate the robot (see
locations in Figure
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Calibrating the Robot: Setting the Encoder Zero
2-1, Figure 2-2, and Figure
Action
Calibrating the Robot: Setting the Encoder
Calibrating the Robot: Setting the Encoder
2-3.
2. Service Procedures
Replacing the Encoder Batteries
Positions. See the battery
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