OPTIONAL FUNCTION
Backup battery alarm recovery Upon receipt of this product and prior to initial operation, read these instructions thoroughly, and ...
Backup battery alarm recovery Upon receipt of this product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
Document No: MRS6105GB.0.S
Reference list
Revision
051206 First release of this document.
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Revised: 05-12-06
NX_framsida eng.fm
Backup battery alarm recovery
1.
General
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2.
Function
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3.
Data recovery
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4.
Confirm position
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MRS6105GB.0.UTOC.fm
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Backup battery alarm recovery
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MRS6105GB.0.UTOC.fm
Backup battery alarm recovery
Battery backup alarm recovery Valid for all NX software versions.
1. General Rotation amount (Multi Turn Data) memorized in servo motor encoder disappears when the control power supply is turned OFF. This function provides the feature of recovering of the Home position.
Info For more detail information concerning home position setting, see System setup manual. (Motoman document No. MRS6101).
2. Function Explanation of the principle of Battery backup alarm recovery function. Motor position PMH is shown by the following expression as an absolute data when home position calibaration is done. PMH = (N1 [turn] x PPR) + P1. N1 = Multi turn data at home position calibration PPR = Pulse per revolution of the encoder P1 = Encoder value in a turn at home position calibration Multi turn data of encoder disappears when control power supply is turned off. To recover this, at first operate the robot arm to the home position. Then, you can use the Battery backup alarm recovery. Absolute data PNEW is the following expression. PNEW = (N2 [turn] x PPR) + P2 N2 = Multi turn data at new home position calibration P2 = Encoder value in a turn at new home position calibration Even if the multi turn data disappears, the encoder value in a turn should be the same as the encoder value in a turn P1 at the position where home position calibration was done first. Actual absolute data PTRUE is the next expression. PTRUE = (N2 [turn] x PPR) + P1
MRS6105GB-ch1.0.fm
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Backup battery alarm recovery
3. Data recovery 1. 2.
Alarm 4311 “ENCODER BACK-UP ERROR” is generated when absolute data is lost.
3.
Move the axis for the arm for which the alarm is generated to the home position. Match the key slots, see picture. The mismatch must not be more than 5 to 7 mm.
