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Maintenance 4. Replacing the Cable Unit
4.1 Before Replacing the Cable Unit
Before replacing the cable unit, 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-capacitors that keep the position data.
A super-capacitor is mounted on each motor. The charged motors can keep the position
data for about 2 hours after their cables are disconnected.
Since the power is supplied to each motor from the lithium battery on the signal relay
board via the signal connectors, 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, execute the calibration of all joints and axes.
For details on the calibration method, refer to Maintenance: 14 Calibration.
4.2 How to Replace the Cable Unit
The procedure for replacing the cable unit varies with the Manipulator used.
■ If the connectors have been disconnected during the replacement of the cable
unit, be sure to reconnect the connectors to their proper positions. Refer to the
block diagrams.
Improper connection of the connectors may result in improper function of the
robot system.
For details on the connections, refer to Maintenance: 4.5 Connector Pin
Assignments.
■ When installing the cover, be careful not to allow the cables to interfere with the
cover mounting and do not bend these cables forcibly to push them into the
cover.
disconnection, and/or contact failure.
contact failure is extremely hazardous and may result in electric shock and/or
CAUTION
improper function of the robot system.
When routing the cables, observe the cable locations after removing the cover.
Be sure to place the cables back to their original locations.
■ Be sure to connect the cables properly. Do not allow unnecessary strain on the
cables. (Do not put heavy objects on the cables. Do not bend or pull the cables
forcibly.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure. Damaged cables, disconnection,
or contact failure is extremely hazardous and may result in electric shock and/or
improper function of the robot system.
86
message that Encoder alarm has occurred is displayed.
Unnecessary strain on cables may result in damage to the cables,
Damaged cables, disconnection, or
E2C Rev.6
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