IAI America XSEL-QX - Manual (Page 122)

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Part 1 Installation
4. Replacement Procedure for Absolute-Encoder Backup Battery for Linear Movement
Axis
The replacement procedure will vary depending on if errors are present at the time of replacement and if
so, which errors are present (Nos. A23, 914, CA2).
x If no error is present, perform steps (1) to (8).
x If an absolute data backup battery low voltage warning (error No. A23) is present, perform steps (1) to
(15).
x If an absolute data backup battery voltage error (error No. 914 or CA2) is present, perform steps (1) to
(8), and then perform an absolute encoder reset by referring to Chapter 8, “How to Perform An
Absolute Encoder Reset.”
Note: Of the following steps, complete steps (3) to (6) within 15 minutes.
(1) Turn off the controller power (both the control power and drive power).
(2) Take out the brake/absolute unit panel at the far right.
(Remove the two screws indicated by arrows, and
take out the panel.)
(3) Remove the applicable battery connector and pull out
the battery.
* For a SCARA robot with an arm length of 700/800,
take out the battery for axis 5.
(4) Set the absolute data backup battery enable/disable switch to the bottom position.
(Note) This operation is not required if no error has occurred or an A23 error has occurred.
Battery for axis 5
Battery for axis 6*