Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 256)

D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
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2.8.2 BATTERY ON 1FG/1HG BOARD
1. Record the encoder value for all axes before replacing a battery.
2. Before replacing the battery, confirm that the new battery has +3.6V or more voltage.
3. Turn OFF the control power.
4. For the 1HG board, pull out the connector box located on the base of the robot main body.
For the 1FG board, remove the plate that is installed with a battery.
5. Remove the battery connector (CN10 for 1FG, CN4 for 1HG), cut two bands fixing the
battery, and remove the battery.
6. Fix the new battery with two bands, and restore the connector removed in step 4.
7. For the 1HG, restore the connector box. For the 1FG, restore the plate that is installed
with a battery.
8. Reinstall the cover on the robot arm. Turn ON the control power and check if the encoder
value has changed.
1. Battery life is about year and a half (assuming control power is OFF
continuously), but longevity differs depending on ambient temperature, etc.
2. The encoder assembly contains a super capacitor that maintains memory
power for approximately 30 minutes. In order to maintain encoder data
when replacing the 1FG batteries or disconnecting the encoder from the
1FG board, the batteries must be replaced or the encoder reconnected
within the 30 minutes period. (Take note that if the super capacitor is not
fully charged, encoder data may not be maintained for the full 30 minutes.)
CAUTION
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