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6. Trobleshooting
6-19
6.5.3. Confirming the Reset
Warning
This operation is used to verify an encoder reset was performed correctly. Note this
procedure is different from『Encoder Calibration』which determines encoder data
from basic posture of the robot.
The number of pulses per revolution of the currently used encoder data is 8192bit
irrespective of the robot model. The current value of encoder displays what is added
by compensation value to the actual encoder value. In other word, the difference
between the current value of encoder and the absolute compensation value of
encoder is real encoder value.
After reset, the actual encoder value is classified as what it becomes less than 1
revolution and as what it becomes less than minus 1 revolution depending on the
robot model. Follow the procedure below to confirm the encoder has been
successfully reset.
① Connect the encoder connectors of motors and turn controller power on.
Select 『Encoder Calibration』in a constant setting mode, and select
『Encoder Calibration (Data Input)』at the next display. The encoder
calibration value for each axis is displayed in left-side and the present
encoder value in right-side.
② Move the cursor to the encoder calibration value of axis that were reset, and
press 『0』.
③ Confirm that the present encoder value is within the range of 0~8192. If not,
reset the encoder again.
Warning
After connecting the motor, the following errors may occur according to the discharge
of electricity of the encoder internal capacitor.
E0107 Encoder error: Poor bit sequence
W1014 : Voltage drop of encoder battery.
In this case, turn controller power on for more than 10 minutes, and reset encoder.
And then, turn controller power 『OFF』once again, and power 『ON』. It will be
restored to normal condition.