Position Detector Error - Toshiba TH180 Maintenance Manual

Home position data within one (1) full turn of motor:
At home point setting operation of the robot (i.e., ZEROP operation and REORG
operation), the data are written into the parameter file. As the data is backed up by
batteries, the parameters should be loaded again from the attached system disk at
replacement of the main control printed board.
Motor multi-turn data:
This data is kept in the encoder by battery backup, which differs from the backup
battery of the main control printed board. When the battery voltage drops, correct
multi-turn data cannot be guaranteed and the encoder itself outputs an alarm. This
data is set to zero (0) at home point setting operation of the robot (i.e., ZEROP
operation and REORG operation). Likewise, it is set to zero (0) also by multi-turn
data reset operation.

2.5.2 Position Detector Error

If a position detector error (encoder error) occurs, either of the following errors is
shown on the error display of the robot controller.
The position detector error is an error detected by the encoder itself. Even if the data
in the parameter file is lost (or changed) to change the home point coordinates of the
robot, for instance, a position detector error will not occur. If the machine coordinates
have changed without causing a position detector error, the mechanical connecting
position of the servo motor and mechanical unit shifted or the data in the parameter
file described above was changed. (Ex.: Tooth skip of timing belt, etc.)
Table 2.2 List of error
Error code
8-401 Axis1 Encoder abnormal
8-402 Axis2 Encoder abnormal
8-403 Axis3 Encoder abnormal
8-404 Axis4 Encoder abnormal
8-405 Axis5 Encoder abnormal
8-601 Axis1 Enc multi count err
8-602 Axis2 Enc multi count err
8-603 Axis3 Enc multi count err
8-604 Axis4 Enc multi count err
8-605 Axis5 Enc multi count err
MAINTENANCE MANUAL
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