Backup battery alarm recovery
Content
OPTIONAL FUNCTION
Backup battery alarm recovery
Upon receipt of this product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
Document No: MRS6105GB.0.S
Reference list
Revision
051206 First release of this document.
Page 2
Revised: 05-12-06
NX_framsida eng.fm
Backup battery alarm recovery
1. 2. 3. 4.
General Function Data recovery Confirm position
5 5 6 8
MRS6105GB.0.UTOC.fm
Revised: 05-12-06
Page 3
Backup battery alarm recovery
Page 4
Revised: 05-12-06
MRS6105GB.0.UTOC.fm
Backup battery alarm recovery
Battery backup alarm recovery
Valid for all NX software versions.
1. General
Rotation amount (Multi Turn Data) memorized in servo motor encoder disappears when the control power supply is turned OFF. This function provides the feature of recovering of the Home position.
Info
For more detail information concerning home position setting, see System setup manual. (Motoman document No. MRS6101).
2. Function
Explanation of the principle of Battery backup alarm recovery function. Motor position PMH is shown by the following expression as an absolute data when home position calibaration is done. PMH = (N1 [turn] x PPR) + P1. N1 = Multi turn data at home position calibration PPR = Pulse per revolution of the encoder P1 = Encoder value in a turn at home position calibration Multi turn data of encoder disappears when control power supply is turned off. To recover this, at first operate the robot arm to the home position. Then, you can use the Battery backup alarm recovery. Absolute data PNEW is the following expression. PNEW = (N2 [turn] x PPR) + P2 N2 = Multi turn data at new home position calibration P2 = Encoder value in a turn at new home position calibration Even if the multi turn data disappears, the encoder value in a turn should be the same as the encoder value in a turn P1 at the position where home position calibration was done first. Actual absolute data PTRUE is the next expression. PTRUE = (N2 [turn] x PPR) + P1
MRS6105GB-ch1.0.fm
Revised: 05-12-06
Page 5
Backup battery alarm recovery
3. Data recovery
1. 2. 3.
Alarm 4311 “ENCODER BACK-UP ERROR” is generated when absolute data is lost. Reset the alarm. Move the axis for the arm for which the alarm is generated to the home position. Match the key slots, see picture. The mismatch must not be more than 5 to 7 mm.
Match
Mismatch
4. 5. 6.
Enter MANAGEMENT MODE. Enter code >99999999<. Select {ROBOT} on the top menu. Select {HOME POSITION} on sub-menu to display original position calibrating screen.
DATA
EDIT
DISPLAY
UTILITY
HOME POSITIONING SELECT ABSOLUTE DATA 3911 R1:S * L * U R 1277 -189 B T 1153
Main Menu
ShortCut
7. 8.
Move cursor to {MENU AREA} using the area key. Select {UTILITY} on menu to display the pull-down menu.
Note!
This pull-down meny (Backup battery alarm recovery function) does not show if alarm 4311 hasn’t been activated.
Page 6
Revised: 05-12-06
MRS6105GB-ch1.0.fm
Backup battery alarm recovery
9.
Select {RECOVER BACKUP ALM}. Display is shown as below.
DATA
EDIT
DISPLAY
UTILITY
BACKUP ALM RECOVERY ALM. OCCUR. AXIS ABSOLUTE DATA ---------R1:S 965 L 968 U R ------------------B T ----------
Main Menu
ShortCut
10.
Select the axis you would like to modify and press {ENTER} to display confirmation dialogue. If no absolute data is shown in the menu the confirmation display is not shown.
Confirm home position? YES NO
11.
When YES is selected the home position is set for the selected axis. As confirmation, the mark is changed to “OK” and absolute data becomes “---”. Repeate the steps for each axis to be set.
DATA
EDIT
DISPLAY
UTILITY
BACKUP ALM RECOVERY ALM. OCCUR. AXIS ABSOLUTE DATA ---------R1:S ---------L 968 U R ------------------B T ---------DATA EDIT DISPLAY UTILITY
= position not set = position OK
Main Menu
ShortCut
BACKUP ALM RECOVERY ALM. OCCUR. AXIS ABSOLUTE DATA ---------R1:S ---------L 968 U R ------------------B T ----------
Main Menu
ShortCut
MRS6105GB-ch1.0.fm
Revised: 05-12-06
Page 7
Backup battery alarm recovery
12.
When you completed setting for all axes where the alarm is generated display changes to Home position menu.
DATA
EDIT
DISPLAY
UTILITY
HOME POSITIONING SELECT ABSOLUTE DATA 3911 R1:S 965 L 968 U R 1277 -189 B T 1153
Main Menu
ShortCut
4. Confirm position
1. 2. 3. 4. 5. 6.
Move the axis for which the alarm was generated to its home position (0 pulse position) again. Go to {ROBOT} and {CURRENT POSITION}. Move the robot with the axis keys. Confirm position of the key slots. If the slots match each other, everything is OK. If the slots mismatch about 7 to 10 mm, the servo motor encoder is one turn wrong. To adjust, add or subtract 4096 pulses to/from the absolute data for this axis. Check position once more.
Info
One turn of the servo motor (encoder) corresponds to 4096 pulses.
Page 8
Revised: 05-12-06
MRS6105GB-ch1.0.fm
Notes
Headquarters: Sweden
MOTOMAN Robotics Europe AB
Box 4004, SE-390 04 Kalmar, Sweden Tel: +46-480-417800, Fax: +46-480-417999
Distributors: Czech Republic
Hadyna Internation Ltd
Kravarska 571/2, CZ-70900 Ostrava, Czech Republic
Boki robotizované systémy s.r.o.
Knezeves 178, CZ-252 68 Stredokluky, Czech Republic
Group companies: Denmark MOTOMAN Robotics Europe AB
Anelystparken 47A, DK-8381 Tilst, Denmark Tel: +45-7022-2477, Fax: +45-7022-2478
Greece Hungary Israel Norway Polen
Kouvalias Industrial Robots
25, El. Venizelou Ave., GR-17671 Kallithea, Greece Tel: +30-1-9589243-6, Fax: +30-1-9567289
Finland France
MOTOMAN Robotics Finland OY
Messinkikatu 2, FI-20380 Turku, Finland Tel: +358-403000600, Fax: +358-403000660
REHM Hegesztéstechnika Kft.
Tápiószele, Jászberényi út 4., H-2766, Hungary Tel: +36-30-9510065, Fax: +36-1-2562012
MOTOMAN Robotics SARL
Rue Nungesser et Coli, D2A Nantes-Atlantique, F-44860 Saint-Aignande-Grand-Lieu, France Tel: +33-2-40131919, Fax: +33-40754147
KNT Engineering Ltd.
9 Hapalmach Street, IL-Kfar Azar 55905, Israel Tel: +972-3 9231944, Fax: +972-3 9231933
Optimove AS
Industrigata 6, P.O. Box 534, NO-3412 Lierstranda, Norway Tel: +47-32240600, Fax: +47-32240601
Germany Germany Great Britain Italy Netherlands Portugal Slovenia Spain
MOTOMAN Robotec GmbH
Kammerfeldstraße 1, DE-85391 Allershausen, Germany Tel: +49-8166-90-0, Fax: +49-8166-90-103
Roboprojekt Boc Sp.z.o.o
ul Kielecka 30, PL-42-470 Siewierz, Polen Tel:+48 (0-32) 672 89 16, Fax: +48 (0-32) 672 88 08
MOTOMAN Robotec GmbH
Im Katzenforst 2, DE-61476 Kronberg/Taunus, Germany Tel: +49-6173-60-77-30, Fax: +49-6173-60-77-39
South Africa
Robotic Systems S.A. PTY Ltd
P.O. Box 90741, Bertsham 2013, Johannesburg, South Africa Tel: +27-11-4943604, Fax: +27-11-4942320
MOTOMAN Robotics UK (Ltd)
Johnson Park, Wildmere Road, Banbury, Oxon OX16 3JU, Great Britain Tel: +44-1295-272755, Fax: +44-1295-267127
MOTOMAN Robotics Italia SRL
Via Emilia 1420/16, IT-41100 Modena, Italy Tel: +39-059-280496, Fax: +39-059-280602
Switzerland
Messer SAG
Langweisenstrasse 12, CH-8108 Dällikon, Switzerland Tel: +41-18471717, Fax: +41-18442432
MOTOMAN Benelux B.V
Smederijstraat 2, NL-4814 DB Breda, The Netherlands Tel: +31-76-5424278, Fax: +31-76-5429246
Turkey
Teknodrom Robotik Otomasyon San. Tic. Ltd Sti
Sultan Orhan Mah. 1150 Sok. No : 8/A, 41400 Gebze / Kocaeli Turkey Tel: +90 (0) 262 644 3 444, Fax: +90 (0) 262 644 4 480
MOTOMAN Robotics Iberica S.L. - Sucursal em Portugal
Z. Ind. Aveiro Sul, Lote 21, N. S. Fátima, PT-3810 Aveiro, Portugal Tel: +351-234 943 900, Fax: +351-234 943 108
RISTRO d.o.o.
Lepovce 23, SI-1310 Ribnica, Slovenia Tel: +386-61-861113, Fax: +386-61-861227
MOTOMAN Robotics Iberica S.L.
Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), Spain Tel: +34-93-6303478, Fax: +34-93-6543459
Sweden
MOTOMAN Robotics Europe AB
Box 504, SE-385 25 Torsås, Sweden Tel: +46-480-417800, +46-486-41410
www.motoman.se
[email protected]
a subsidiary of YASKAWA Electric Corporation
Backup battery alarm recovery
Upon receipt of this product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
Document No: MRS6105GB.0.S
Reference list
Revision
051206 First release of this document.
Page 2
Revised: 05-12-06
NX_framsida eng.fm
Backup battery alarm recovery
1. 2. 3. 4.
General Function Data recovery Confirm position
5 5 6 8
MRS6105GB.0.UTOC.fm
Revised: 05-12-06
Page 3
Backup battery alarm recovery
Page 4
Revised: 05-12-06
MRS6105GB.0.UTOC.fm
Backup battery alarm recovery
Battery backup alarm recovery
Valid for all NX software versions.
1. General
Rotation amount (Multi Turn Data) memorized in servo motor encoder disappears when the control power supply is turned OFF. This function provides the feature of recovering of the Home position.
Info
For more detail information concerning home position setting, see System setup manual. (Motoman document No. MRS6101).
2. Function
Explanation of the principle of Battery backup alarm recovery function. Motor position PMH is shown by the following expression as an absolute data when home position calibaration is done. PMH = (N1 [turn] x PPR) + P1. N1 = Multi turn data at home position calibration PPR = Pulse per revolution of the encoder P1 = Encoder value in a turn at home position calibration Multi turn data of encoder disappears when control power supply is turned off. To recover this, at first operate the robot arm to the home position. Then, you can use the Battery backup alarm recovery. Absolute data PNEW is the following expression. PNEW = (N2 [turn] x PPR) + P2 N2 = Multi turn data at new home position calibration P2 = Encoder value in a turn at new home position calibration Even if the multi turn data disappears, the encoder value in a turn should be the same as the encoder value in a turn P1 at the position where home position calibration was done first. Actual absolute data PTRUE is the next expression. PTRUE = (N2 [turn] x PPR) + P1
MRS6105GB-ch1.0.fm
Revised: 05-12-06
Page 5
Backup battery alarm recovery
3. Data recovery
1. 2. 3.
Alarm 4311 “ENCODER BACK-UP ERROR” is generated when absolute data is lost. Reset the alarm. Move the axis for the arm for which the alarm is generated to the home position. Match the key slots, see picture. The mismatch must not be more than 5 to 7 mm.
Match
Mismatch
4. 5. 6.
Enter MANAGEMENT MODE. Enter code >99999999<. Select {ROBOT} on the top menu. Select {HOME POSITION} on sub-menu to display original position calibrating screen.
DATA
EDIT
DISPLAY
UTILITY
HOME POSITIONING SELECT ABSOLUTE DATA 3911 R1:S * L * U R 1277 -189 B T 1153
Main Menu
ShortCut
7. 8.
Move cursor to {MENU AREA} using the area key. Select {UTILITY} on menu to display the pull-down menu.
Note!
This pull-down meny (Backup battery alarm recovery function) does not show if alarm 4311 hasn’t been activated.
Page 6
Revised: 05-12-06
MRS6105GB-ch1.0.fm
Backup battery alarm recovery
9.
Select {RECOVER BACKUP ALM}. Display is shown as below.
DATA
EDIT
DISPLAY
UTILITY
BACKUP ALM RECOVERY ALM. OCCUR. AXIS ABSOLUTE DATA ---------R1:S 965 L 968 U R ------------------B T ----------
Main Menu
ShortCut
10.
Select the axis you would like to modify and press {ENTER} to display confirmation dialogue. If no absolute data is shown in the menu the confirmation display is not shown.
Confirm home position? YES NO
11.
When YES is selected the home position is set for the selected axis. As confirmation, the mark is changed to “OK” and absolute data becomes “---”. Repeate the steps for each axis to be set.
DATA
EDIT
DISPLAY
UTILITY
BACKUP ALM RECOVERY ALM. OCCUR. AXIS ABSOLUTE DATA ---------R1:S ---------L 968 U R ------------------B T ---------DATA EDIT DISPLAY UTILITY
= position not set = position OK
Main Menu
ShortCut
BACKUP ALM RECOVERY ALM. OCCUR. AXIS ABSOLUTE DATA ---------R1:S ---------L 968 U R ------------------B T ----------
Main Menu
ShortCut
MRS6105GB-ch1.0.fm
Revised: 05-12-06
Page 7
Backup battery alarm recovery
12.
When you completed setting for all axes where the alarm is generated display changes to Home position menu.
DATA
EDIT
DISPLAY
UTILITY
HOME POSITIONING SELECT ABSOLUTE DATA 3911 R1:S 965 L 968 U R 1277 -189 B T 1153
Main Menu
ShortCut
4. Confirm position
1. 2. 3. 4. 5. 6.
Move the axis for which the alarm was generated to its home position (0 pulse position) again. Go to {ROBOT} and {CURRENT POSITION}. Move the robot with the axis keys. Confirm position of the key slots. If the slots match each other, everything is OK. If the slots mismatch about 7 to 10 mm, the servo motor encoder is one turn wrong. To adjust, add or subtract 4096 pulses to/from the absolute data for this axis. Check position once more.
Info
One turn of the servo motor (encoder) corresponds to 4096 pulses.
Page 8
Revised: 05-12-06
MRS6105GB-ch1.0.fm
Notes
Headquarters: Sweden
MOTOMAN Robotics Europe AB
Box 4004, SE-390 04 Kalmar, Sweden Tel: +46-480-417800, Fax: +46-480-417999
Distributors: Czech Republic
Hadyna Internation Ltd
Kravarska 571/2, CZ-70900 Ostrava, Czech Republic
Boki robotizované systémy s.r.o.
Knezeves 178, CZ-252 68 Stredokluky, Czech Republic
Group companies: Denmark MOTOMAN Robotics Europe AB
Anelystparken 47A, DK-8381 Tilst, Denmark Tel: +45-7022-2477, Fax: +45-7022-2478
Greece Hungary Israel Norway Polen
Kouvalias Industrial Robots
25, El. Venizelou Ave., GR-17671 Kallithea, Greece Tel: +30-1-9589243-6, Fax: +30-1-9567289
Finland France
MOTOMAN Robotics Finland OY
Messinkikatu 2, FI-20380 Turku, Finland Tel: +358-403000600, Fax: +358-403000660
REHM Hegesztéstechnika Kft.
Tápiószele, Jászberényi út 4., H-2766, Hungary Tel: +36-30-9510065, Fax: +36-1-2562012
MOTOMAN Robotics SARL
Rue Nungesser et Coli, D2A Nantes-Atlantique, F-44860 Saint-Aignande-Grand-Lieu, France Tel: +33-2-40131919, Fax: +33-40754147
KNT Engineering Ltd.
9 Hapalmach Street, IL-Kfar Azar 55905, Israel Tel: +972-3 9231944, Fax: +972-3 9231933
Optimove AS
Industrigata 6, P.O. Box 534, NO-3412 Lierstranda, Norway Tel: +47-32240600, Fax: +47-32240601
Germany Germany Great Britain Italy Netherlands Portugal Slovenia Spain
MOTOMAN Robotec GmbH
Kammerfeldstraße 1, DE-85391 Allershausen, Germany Tel: +49-8166-90-0, Fax: +49-8166-90-103
Roboprojekt Boc Sp.z.o.o
ul Kielecka 30, PL-42-470 Siewierz, Polen Tel:+48 (0-32) 672 89 16, Fax: +48 (0-32) 672 88 08
MOTOMAN Robotec GmbH
Im Katzenforst 2, DE-61476 Kronberg/Taunus, Germany Tel: +49-6173-60-77-30, Fax: +49-6173-60-77-39
South Africa
Robotic Systems S.A. PTY Ltd
P.O. Box 90741, Bertsham 2013, Johannesburg, South Africa Tel: +27-11-4943604, Fax: +27-11-4942320
MOTOMAN Robotics UK (Ltd)
Johnson Park, Wildmere Road, Banbury, Oxon OX16 3JU, Great Britain Tel: +44-1295-272755, Fax: +44-1295-267127
MOTOMAN Robotics Italia SRL
Via Emilia 1420/16, IT-41100 Modena, Italy Tel: +39-059-280496, Fax: +39-059-280602
Switzerland
Messer SAG
Langweisenstrasse 12, CH-8108 Dällikon, Switzerland Tel: +41-18471717, Fax: +41-18442432
MOTOMAN Benelux B.V
Smederijstraat 2, NL-4814 DB Breda, The Netherlands Tel: +31-76-5424278, Fax: +31-76-5429246
Turkey
Teknodrom Robotik Otomasyon San. Tic. Ltd Sti
Sultan Orhan Mah. 1150 Sok. No : 8/A, 41400 Gebze / Kocaeli Turkey Tel: +90 (0) 262 644 3 444, Fax: +90 (0) 262 644 4 480
MOTOMAN Robotics Iberica S.L. - Sucursal em Portugal
Z. Ind. Aveiro Sul, Lote 21, N. S. Fátima, PT-3810 Aveiro, Portugal Tel: +351-234 943 900, Fax: +351-234 943 108
RISTRO d.o.o.
Lepovce 23, SI-1310 Ribnica, Slovenia Tel: +386-61-861113, Fax: +386-61-861227
MOTOMAN Robotics Iberica S.L.
Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), Spain Tel: +34-93-6303478, Fax: +34-93-6543459
Sweden
MOTOMAN Robotics Europe AB
Box 504, SE-385 25 Torsås, Sweden Tel: +46-480-417800, +46-486-41410
www.motoman.se
[email protected]
a subsidiary of YASKAWA Electric Corporation
