Table of Contents
Advertisement
Errors detected by the encoder itself include the battery voltage drop, error caused by
temperature rise in the encoder, counter overflow, internal counter data inconsistency,
etc. Among these errors, the error which occurs most frequently is the battery voltage
drop which is caused by the absence of maintenance at specified change intervals
(once a year) due to a long-term shutdown or cable breakage.
To prevent the position detector error, therefore, replace the batteries on a regular
basis. For the battery replacement, see Para. 2.3.8.
Also, a heavy vibration should not be exerted on the robot or the robot should not be
moved suddenly by hand during power OFF. Especially, when transporting and
storing the robot, secure the robot in a posture for shipment, using the attached
clamps.
2.5.3 Restoration from position detector error
The restoring operation from the position detector error comes in the following four (4)
manners.
[1]
Encoder error reset operation
[2]
Multi-turn data reset operation
[3]
REORG operation
[4]
ZEROP operation
(1)
When the mechanical connecting position with the motor has changed
after motor or belt replacement:
A position detector error may occur after replacement and adjustment of the
servo motor or timing belt. When this happens, execute the following restoring
operation.
1)
Execute "[3] REORG operation."
2)
Execute "[4] ZEROP operation." At this time, the contents in the parameter
file (i.e., home position data within one (1) full turn of motor) are updated.
Rewriting of the data into the system disk is necessary.
3)
Make sure that the error has been reset, referring to the error display.
4)
In the "[3] REORG operation" and "[4] ZEROP operation", some error may be
caused according to the adjusting method. Re-teaching of the teach points
may be required under some circumstances.
MAINTENANCE MANUAL
35
Advertisement
Table of Contents
