Hyundai Robotics
58
_Maintenance | Maintenance of the collaborative robot
Hyundai Robotics
32.
Run the robot, and check that is operates normally.
4.2.3
Encoder backup battery replacement
A dedicated battery attached to the serial encoder retains the position data of each axis regardless of whether
power is supplied to the controller. The battery should be replaced at two-year intervals.
The method for replacing the encoder backup battery of each axis is as follows:
33.
While the controller power is on, press the emergency stop switch.
Caution
Before correcting the encoder offset, set the operation preparation at ON, and ensure that
the power is connected by pressing the enabling switch of the teach pendant for two to
three seconds.
34.
Identify the position of the battery of each axis, and remove the frame cover of the battery by removing bolts
with a torque wrench.
No.
Axis
Cover
Bolts
S
Lower frame cover
Hex socket bolts (M3X6, five pieces)
H
Upper frame cover
Hex socket bolts (M3X6, five pieces)
V
Upper frame cover
Hex socket bolts (M3X6, six pieces)
R2
Arm frame cover
Hex socket bolts (M3X6, five pieces)
B
Arm pipe cover
Hex socket bolts (M3X6, six pieces)
R1
Hand grip
M3 small-diameter bolts (four pieces)
35.
Identify the orientation of the battery terminals, and replace the old battery with a new one.
Caution
Only use the battery of the designated specifications (ER6C (AA 3.6 V) / manufacturer:
Maxcell).