JEL-Leading Manufacturer of Clean Robot

Robot Equipped with Backup Battery

Some of our robots and aligners are equipped with the batteries for backup of absolute encoders (the batteries back up the absolute encoder multi-turn data). The following includes how to replace the battery or the recommended replacement period, which are also described in an accompanying instruction manual.

Notice
When the batteries have run out, the encoder multi-turn data (initialization data) will disappear. When the data is lost, it is necessary to operate the encoder initialization (origin setting).
The recommended battery replacement period is 1 year.

1．The type of robots equipped with battery
(1) All the robots with the robot model number that contains "AM”
    Example) GTCR5280-300-AM, MTHR4183C-330-AM, etc.
(2) Some of the robots with the robot model number that contains "PM”
    a. The robots with the robot model number that begins from "GHR”: example) GHR4180-280-PM
    b. The robots with the robot model number that begins from "EHR”: example) EHR3156-320-PM
    c. The robots with the robot model number that begins from "DTVHR”: example) DTVHR4275-050-PM
    d. The robots with the robot model number that begins from "GTHR”: example) GTHR5281-300-PM
    e. The robots with the robot model number that begins from "GCR”: example) GCR4210-320-PM
(3) Some of aligners
    SAL20C1, SAL20C2, SAL2681, SAL30C2
(4) Some of vacuum elevators
    SVEL1200

2．Error codes and alarm codes that appear in low battery voltage
(1) Error "Low battery voltage”: When battery voltage has dropped, the following error /alarm codes appear.
     Error codes: 91000000-95000000
     Alarm codes: 91h-95h, 77h
(2) Error "Loss of multi-turn data”: When battery of absolute-value encoder has run down, the following error/alarm codes appear.
     Error codes: 96000000-9a000000
     Alarm codes: 96h-9Ah, 77h

Note: The error/alarm codes may differ according to the robot specification.

3．Recovery method
(1) Error "Low battery voltage”
     Replace the battery while the robot is turned on.
     Note: In case the robot is turned off during replacement, it may lose the encoder multi-turn data (initialization data).
(2) Error "Loss of multi-turn data”
     Turn the robot power off and replace the battery, then operate the origin setting.
     Note: For the origin setting, please refer to an accompanying instruction manual.

4．The robot conditions with the risk of "loss of multi-turn data”, which means the battery has run down
(1) The robot has been stored for a long time without power delivery.
(2) It runs beyond the recommended replacement period.


To prevent the"Low battery voltage”and the"Loss of multi-turn data",
it is recommended to replace the battery regularly (recommended replacement period: 1 year).

If you have any questions about the matter, please contact our Service Engineering Section. (Please confirm the serial number that is inscribed on the robot or controller.)