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11.2 Replacing the Battery Board
After parts have been replaced (motors, reduction gear units, brakes, timing belts, etc.), the
Manipulator cannot perform positioning properly because a gap exists between the origin
stored in each motor encoder and its corresponding origin stored in the Controller.
Therefore, it is necessary to match these origins after replacing the parts.
The process of aligning the two origins is called "Calibration".
Refer to Maintenance 16. Calibration and perform the calibration after the parts replacement.
Removal: Battery board
1.
Turn OFF the Controller power.
2.
Remove the Arm #1 side cover.
For details, refer to Maintenance: 3. Covers.
3.
Remove the battery from the battery box.
4.
Remove the battery connectors.
Hold the board by hand and pull the battery cable upward to
NOTE
remove the connector.
5.
Remove the plate where the battery box is fixed to.
Hexagon socket head cap bolts: 2-M4×10
6.
Remove the connectors.
Connectors: CN3, CN6
C8 Rev.13
Maintenance 11. Replacing the Battery Unit
305
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