6. Trobleshooting
6.5.3. Confirming the ResetWarning
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.
①Connect 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
②Move the cursor to the encoder calibration value of axis that were reset, and press 『0』.
③Confirm 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.