Overview

If error of number in 85404670s occurs when the encoder backup batteries are dead or motors are replaced (if position data in encoder is erased), it is necessary  to reset the  encoder and perform CALSET. Ignoring this will disable normal operation of the robot.

Cases when encoder must be reset

No.  Cases when reset is necessary  Specific phenomena 
1Voltage supplied from backup to motor encoder connectors is shut off(1) After motor is replaced, error of number in 85404670s (encoder system down error) occurs.
(2) After internal wiring is checked, error of number in 85404670s occurs.
(3) When encoder backup batteries are dead.
(4) Error of number 85404690s (encoder counter overflow) occurs.
2The motor speed exceeds the allowable valueError of number 85404690s (encoder counter overflow) occurs.
3Each axis motor operates abruptly with control power OFF. Error of number 85404680s (encoder speed error with controller power OFF) occurs.


Step by Step Guide


Step 1

Access: Top Screen — [F2 Arm] — [F12 Maintenance] — [F2 Encoder]



Step 2

Press [F7 Reset encoder].


[Encoder reset setting window] is displayed.



Step 3

Press "OFF" button of the joint which issues an error. The indicator of the button turns into "ON".
The following example is the display when an error occurs in 7th axes.
 When all encoder reset settings are completed, press [OK] button.


Step 4

System message is displayed to confirm whether to execute the encoder reset. Press [OK] to execute.
Encoder reset is executed.
 Encoder reset is not executed if [Cancel] is pressed.


When the encoder reset is completed, [Encoder setting window] is displayed.


Tools and Parts needed 

Full size Teach Pendant to follow this menus. 

  • 410100-1761 - Teach Pendant (4m) (RC7/8)
  • 410100-1771 - Teach Pendant (8m) (RC7/8) 
  • 410100-1781 - Teach Pendant (12m) (RC7/8)  

Download Resources

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