User manual | 11. Lithium Battery and Boards

Maintenance
11. Lithium Battery
11. Lithium Battery and Boards
■ Do not insert or pull out the motor connectors while the power to the robot system
is turned ON. Inserting or pulling out the motor connectors with the power ON is
extremely hazardous and may result in serious bodily injury as the Manipulator
may move abnormally, and also may result in electric shock and/or malfunction of
the robot system.
WARNING
■ To shut off power to the robot system, pull out the power plug from the power
source. Be sure to connect the AC power cable to a power receptacle. DO
NOT connect it directly to a factory power source.
■ Before performing any replacement procedure, turn OFF the Controller and
related equipment, and then pull out the power plug from the power source.
Performing any replacement procedure with the power ON is extremely
hazardous and may result in electric shock and/or malfunction of the robot
system.
■ Use meticulous care when handling the lithium battery. Improper handling of
the lithium battery as mentioned below is extremely hazardous, may result in
heat generation, leakage, explosion, or inflammation, and may cause serious
safety problems.
<Improper Handling>
WARNING
- Battery Charge
- Disassembly
- Incorrect Installation
- Exposing to Fire
- Forced Discharge
- Deformation by Pressure
- Short-circuit (Polarity; Positive/Negative)
- Heating (85°C or more)
- Soldering the terminal of the lithium battery directly
■ When disposing of the battery, consult with the professional disposal services or
comply with the local regulation.
Spent battery or not, make sure the battery terminal is insulated. If the terminal
contacts with the other metals, it may short and result in heat generation,
leakage, explosion, or inflammation.
When the lithium battery power is low, an error will occur to warn the user about the low
battery status when the Controller is turned ON (when software is started up).
When the error occurs, the position data in motors will be lost and all joints need to be
completely calibrated again.
The life span of the lithium battery is 1.5 years. Even if the Manipulator is constantly
connected to power, the lithium battery needs to be replaced every 1.5 years.
Make sure to use our specified lithium battery.
(Refer to Maintenance: 14. Maintenance Parts List.)
Be sure to set the correct polar when installing the battery.
LS
Rev.5
127
Maintenance
11. Lithium Battery
Name
Maintenance
parts
Tools
Material
128
Quantity
Battery unit
1
Resolver board
Control board
Nippers
Hexagonal wrench (width across flats: 3 mm)
1
1
1
1
Wire tie
2
Note
R13B060007
Lithium battery for replacement
(A set of 3 batteries)
R13B040501
R13B040502
For cutting wire tie
For M4 screw
(For replacing battery board)
For fixing battery unit (battery)
LS
Rev.5
Maintenance
11. Lithium Battery
11.1 Replacing the Battery Unit (Lithium Battery)
Battery unit
(lithium battery)
Removal
(1) Turn OFF the controller.
(2) Remove the Connector Plate.
For details, refer to Maintenance: 3.3 Connector Plate.
(3) Take out the battery plate from the Base.
Battery plate mounting screw: 1 - M3×5
Be careful not to disconnect the battery connector.
NOTE
)
If you disconnect all the current batteries before connecting the new battery, the robot
will lose the home position data and the calibration must be executed again. The
battery units are exchanged according to the following procedures.
Cable Support
Mounting Screw
Battery Plate
Battery
(4) Cut off the wire tie binding the lithium batteries to the battery plate.
(5) Bind new batteries to the battery plate with a new wire tie.
(6) Mount the battery plate to the cable support.
Battery plate mounting screw: 1 - M3×5
(7) Disconnect one connector of the old three batteries and connect a new one.
(8) Disconnect the other old batteries connector and connect new ones.
(9) Mount the Connector Plate.
For details, refer to Maintenance: 3.3 Connector Plate.
(10) Turn ON the controller.
(11) Check if the manipulator moves to points correctly in correct orientation.
To do so, select some points already registered and move the manipulator to the
points.
(12) If the manipulator does not move to the points correctly, execute the calibration of all
joints and axes.
For details, refer to Maintenance: 13. Calibration.
LS
Rev.5
129

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