Replacing the Encoder Backup Battery

There are two models of the board to which encoder backup batteries are connected: the new model and the old model. You can distinguish between the two models by checking the number of encoder backup battery connectors on the board.

New Model

The new model has three connectors that can be connected to encoder backup batteries.
The one that is not connected to an encoder backup battery by factory default is a dummy connector.
The dummy connector will not be used.

Old Model

The old model has four connectors that can be connected to encoder backup batteries.
The connectors that are not connected to encoder backup batteries by factory default are dummy connectors.
The dummy connector will not be used.

How to Replace Encoder Backup Batteries

Although the new model and the old model have different numbers of dummy connectors, they require the same procedure for replacing encoder backup batteries as their dummy connectors will not be used.
The type of the board shown in the images below might differ from the one you have, but replace the batteries by following this procedure.

1

Prepare two new backup batteries for replacement.

2

Turn the controller power OFF.

3

Remove the cover from the robot unit.

Four hex. socket-head bolts (M3x8)

4

Disconnect the old battery (1st one) from the battery board and then remove it from the holder.

5

Connect a new battery (1st one) to the battery board from which you have disconnected the old one in Step 4, and then load it into the holder.

6

Disconnect the remaining old battery (2nd one) from the battery board and then remove it from the holder.

7

Connect a new battery (2nd one) to the battery board from which you have disconnected the old one in Step 6, and then load it into the holder.

8

Install the cover to the robot unit.

Hex. socket-head bolt (M3x8): 1.6±0.3 N•m