Maintenance 10. Battery Unit (Lithium Battery)
184 S5 Rev.5
10.3 Data Recovery
In this section, there are steps to execute some commands. The dialogs and startup
procedures used in the following sections depend on which software you are using.
Please follow the instructions for the software you are using.
EPSON RC+ 5.0 / EPSON RC+ 6.0
: Select menu-[Tools]-[Command Window] to display [Command] window.
(1) Turn ON the Controller with all joints in the motion range.
(2) Reset the encoder.
(3) Execute the following command.
> EncReset 1,2,3,4,5,6
(4) Select menu-[Tools]-[Controller] and click the <Reset Controller> button to restart
the Controller.
(5) Move the robot to the origin position (0 pulse position).
Release the electromagnetic brake and move the arms manually, or set the jog mode
to “Joint” from the [Jog & Teach] and operate the Manipulator in jog motion to
match the home position of the joint accurately.
Make sure to match the home position of the joint as accurate as possible visually.
CAUTION
■
The Arm #4 does not have a mechanical stop. The used of Arm #4 in motion
exceeding the maximum pulse range may cause inner wiring damage to and/or
malfunction of the Manipulator.
(6) Reset the encoder again by the procedure in step (2).
(7) Restart.
EPSON RC+ 5.0 / EPSON RC+ 6.0
: Select menu-[Tools]-[Controller] and click the <Reset Controller> button
to restart the Controller.
(8) Execute the following command to move to 0 pulse position.
> Go Pulse(0,0,0,0,0,0)
Be sure to check that all joints have moved to their home positions (0 pulse position).
If no differences are found, recovery is complete.
Joint(s) that did not move to the proper home position will be out of position in
multiples of degrees shown in the following table.
S5-A701**
Joint
#1 #2 #3 #4 #5 #6
Difference
3.76 deg. 3.37 deg 4.05 deg 4.5 deg 4.5 deg 7.2 deg
S5-A901**
Joint
#1 #2 #3 #4 #5 #6
Difference
2.74 deg 2.7 deg 3.24 deg 4.5 deg 4.5 deg 7.2 deg
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