MAINTENANCE MANUAL
246
STE 85357
(1)
When a position detection error has occurred during normal operation with
the mechanical connection position unchanged:
A position detector error may occur after battery voltage drop, or battery or cable
replacement. When this happens, execute the following restoring operation.
1)
Execute “[1] Encoder error reset operation.”
2)
Make sure that the error has been reset, referring to the error display.
After resetting the error, effect an emergency stop, manually move each axis to
the motion limit and make sure that a soft limit error generates.
1.1)
When the error has been reset:
Connect the controller power (DO NOT turn on the servo power), and make
sure by moving the arm, etc. by hand that the position detector error will not
occur again. Then disconnect the controller power and turn on again to
make sure that the same error will not recur.
1.1.1)
When the error occurs again:
The position detector has possibly malfunctioned.
1.1.2)
When the error will not occur again:
Turn on the servo power. Select the TEACHING mode and gradually
move each axis at LOW-SPEED to make sure of its soft stroke. If the
soft stroke or machine coordinate is abnormal, perform “[4] Multi-turn data
reset operation.”
1.2)
When the error is not reset:
Replace the batteries, then perform “[1] Encoder error reset operation” again.
Make sure again that the error has been reset, referring to the error display.
1.2.1)
When the error has been reset:
Execute the same operation as in Para. 1.1) above.
1.2.2)
When the error cannot be reset:
The position detector has possibly malfunctioned, or the encoder cable
has broken.