6. Trobleshooting

6.5.2. Encoder Reset

Turn the controller power [ON] for 3 minutes, and then turn it [OFF].

Take off the rear cover of the robot. (Check the batteries/encoder backup batteries are well conneceted.)

Turn the controller power [ON].

After connecting the reset connector(CNRST16) 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.

Cover the rear of the robot.

Table 6-5 Reset connectors corresponding to axes

Axis NameConnectin 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)

 

 

 

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