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6. Trobleshooting
6-17
6.5.2. Encoder Reset
① Turn the controller power [ON] for 3 minutes, and then turn it [OFF].
② Take off the rear cover of the robot. (Check the batteries/encoder backup
batteries are well conneceted.)
③ Turn the controller power [ON].
④ After connecting the reset connector(CNRST1 6) of the axis to reset with the ∼
plug located in the cover of the rear robot for 5 seconds, pull the reset plug
out. (Reset connectors of the respective axis should be connected for the
reset work only. Besides, there is usually no connection in the reset
connector.
⑤ Cover the rear of the robot.
Table 6-5 Reset connectors corresponding to axes
Axis Name
Connectin of Reset connector pin [CNRST1 ↔ RESET CONNECTOR]
S RST1 ↔ RST(1), P5E ↔ RST(2)
H RST2 ↔ RST(1), P5E ↔ RST(2)
V RST3 ↔ RST(1), P5E ↔ RST(2)
R2 RST4 ↔ RST(1), P5E ↔ RST(2)
B RST5 ↔ RST(1), P5E ↔ RST(2)
R1 RST6 ↔ RST(1), P5E ↔ RST(2)