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.


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)  

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