MITSUBISHI ELECTRIC Mitsubishi Industrial Robot RV-6S - Manual (Page 61)

5Maintenance and Inspection
Maintenance and inspection procedures 5-51
5.3.5 Replacing the backup battery
An absolute encoder is used for the position detector, so the position must be saved with the backup battery
when the power is turned OFF. The controller also uses a backup battery to save the program, etc. These
batteries are installed when the robot is shipped from the factory, but as these are consumable parts, they must
be replaced periodically by the customer.
The guideline for replacing the battery is one year, but this will differ according to the robot's usage state. When
the battery life nears, the "Battery cumulative time over alarm (Alarm No. 7520)" will occur. Once the alarm
occurs, replace all batteries in the robot arm and controller as soon as possible. Lithium batteries (type: A6BAT
and ER6) are used in both the controller and robot arm.
(1) Replacing the robot arm battery
Don't disconnect connector, etc. While replacing the battery, the encoder position
data is saved by the power supplied from the controller. Thus, if the cable
connection is incomplete, the encoder position data will be lost when the controller
power is turned OFF. Several batteries are used in the robot arm, but replace all old
batteries with new batteries at the same time.
Fig.5-7 ： Replacing the battery
1) Confirm that the robot arm and controller are connected with a cable.
2) Turn the controller control power ON.
The position data is retained by the power supplied from the controller while replacing the battery. Thus, if
the cable is not connected correctly, or if the controller power is OFF, the position data will be lost.
3) Press the emergency stop button to set the robot in the emergency stop state. This is a measure for safety,
and must always be carried out.
4) Remove the two installation screws<2>, and remove the battery cover <1>.
5) The battery holder is located in the connector box <3>. Remove the old battery from the holder, and discon
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nect the lead connector.
6) Insert the new battery into the holder, and connect the lead connector. Replace all batteries with new ones
at the same time.
7) Carry out steps 4) in reverse to install the parts.
8) Initialize the battery consumption time.
Always carry out this step after replacing the battery, and initialize the battery usage time. Refer to the
separate "Instruction Manual/Detailed Explanation of Functions and Operations" for details on the opera
-
tion methods.
[Caution] If the old battery is replaced because it has been used up, it is necessary to set the origin again. Refer
to "5.5Resetting the origin" on page 53 and reset the origin using the jig method or ABS origin method.
CAUTION
<3>Connector box
<2>Installation screw
<1>Battery cover
Lead connector
Battery