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Maintenance 12. Replacing the Lithium Battery
12.1 Before Replacing the Lithium Battery
Before replacing the lithium battery, turn ON the Controller and keep it ON for 30 or more
minutes. Then, turn OFF the Controller.
This preparation is necessary to charge the super-capacitor that keeps the position data.
The super-capacitor is mounted on each motor.
position data for about 2 hours after the motors are disconnected from the lithium battery
on the signal relay board.
Since the power is supplied to each motor from the lithium battery on the signal relay
board via signal connector, the position data will exist even when the Controller is turned
OFF. When the signal connectors are disconnected, only the super-capacitors in the
motors will keep the position data.
When the data storage time of the super-capacitor is exceeded, the position data will be
lost, and the error* will occur when the Controller is turned ON.
* : In the case of SPEL CT, the "Error F-5016" occurs. In case of EPSON RC+, the error
If the error occurs, perform the calibration of all joints and axes. For details on the
calibration method, refer to Maintenance: 14. Calibration.
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message that Encoder alarm has occurred is displayed.
The charged motors can keep the
E2C Rev.6
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