User manual of EL8-EC***F AC Servo
275
6.16.3 Absolute Encoder Related Alarm
The alarm can determine if absolute value encoder is valid. If battery power is low, not a
motor with absolute encoder, encoder error etc. occurs, user can find out about the error
from alarm output or on the front panel. Controller will stop any operation until alarm is
cleared.
Alarm output:
Err153 will be shown on front panel or by I/O ALM signal and from controller.
Err153 might occur,
（
1
）
If absolute encoder is used for the first time and due to installation of new
batteries Axis needs to be homed and multiturn data needs to be cleared.
（
2
）
If battery voltage is lower than 3.2v. Replace battery and restart the motor.
（
3
）
If battery voltage is lower than 2.5v or battery power was cut off. Replacing the
battery won’t clear the alarm. Axis needs to be homed and multiturn data needs to be
cleared.
4
、
Alarm processing flow chart
Er153
Replace
battery,
power-on
Alarm clear
？
Return to home
point, set Pr0.15=9
Alarm clear
YES
NO
Absolute
Encoder
NO
YES
Replace encoder
or set Pr0.15=0
6.16.6 Battery kit
In multiturn absolute mode, Er153 might occur upon first time installation. Pr0.15 needs to be
set to 0 to reset error and clear multiturn data.
When battery supply voltage < 3.0V, ArA03 might occur. Change battery as per steps below:
1.
Power on driver (Make sure axis is disabled)
2.
Change battery
3.
Servo drive will reset warning automatically.
