IAI America XSEL-S - Manual (Page 263)

Chapter 4
Absolute Reset and
Absolute Battery
4.2
Absolute Battery 4.2.1
Absolute Encoder Backup
Type
255
4.2 Absolute Battery
4.2.1 Absolute Encoder Backup Type
The backup for the absolute position data is conducted by the battery.
The absolute encoder position data will be maintained even if the power to the robot is turned
OFF.
Batteries have a life, so it is recommended that you replace them at regular intervals.
Replacement Cycle (reference) 2 years
Replace the battery immediately if the absolute data backup battery voltage drop warning
(Error No. A23) is generated as a result of the battery voltage monitoring (Note 1) of the controller.
The period of grace after detecting the error till absolute data backup battery voltage error
(Error No. 914 and CA2) is approximately 10 days under the condition of continuously power
conducted in the ambient temperature at 20degC.
Once the Absolute Data Backup Battery Voltage Error (Error No. 914 and CA2) is detected,
the absolute reset operation becomes necessary.
Note1 You can cause a signal to be output to an output port when the absolute data backup
battery voltage drop warning is present.
Set I/O parameter No. 60 to “1,” and output port No. 314 will turn ON when the absolute
data backup battery voltage drop warning is present.
Absolute Encoder Battery Backup Type
Item Specifications
Battery model AB-5 (IAI model code)
Battery voltage 3.6V
Current capacity 2000mAH
2 years after start using
(in case being left without controller turned on)
Reference battery replacement
interval (Note 2)
(Surrounding air temperature 40�C) 2 years after start using
(in case power conducted duration to controller is
50%)
Absolute Data Backup Battery
Voltage Drop Warning (Error No.
A23) Detecting voltage
3.0V to 3.2V
Absolute Data Backup Battery
Voltage Error (Error No. 914, and
CA2) Detecting voltage
2.3V to 2.7V
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Time before detecting Absolute
Data Backup Battery Voltage Error
(Error No. 914 and CA2) after
detecting Absolute Data Backup
Battery Voltage Drop Warning
(Error No. A23) (for reference only)
10 days of continuous operation, or 7 days without
power supply, at 20�C
10 days of continuous operation, or 2.5 days
without power supply, at 40�C
Minimum Data Retaining Voltage Min. 2.7V (depends on encoder performance)
Time after detecting the absolute
battery voltage error (Error No. 914 and
CA2) till the data retaining failure (for
reference only)
If an error is detected in the absolute encoder, the
absolute reset is required with no exception.
Absolute data retaining time at battery
replacement
15 minutes
(It is the maximum allowable time.)
Note 2 Replace the battery regularly.