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.
All the three connectors are connected to encoder backup batteries by factory default.

Old Model

The old model has four connectors that can be connected to encoder backup batteries.
Three connectors are connected to encoder backup batteries while the remaining connector is covered with a dummy connector cap by factory default.

How to Replace Encoder Backup Batteries

Some of the steps for replacing the batteries differ between the new model and the old model.
This section describes only the replacement steps that differ between the two models respectively.
The images describing the replacement steps below might differ from the images of the actual board.
Replace the batteries by following the steps appropriately for the actual board.

1

Prepare a new set of three backup batteries for replacement.

Note: Be sure to replace all of three batteries with new ones at one time.

2

Turn the controller power OFF.

3

Remove the hexagon socket-head bolts from the battery support plate.

<Standard type (VM-6083, VM-60B1)>

<Dust- & splash-proof type (VM-6083-W, VM-60B1-W)>

4

Pull out the battery support plate from the robot unit.

<Standard type ( VM-6083 ,VM-60B1)>

< Dust- & splash-proof type (VM-6083-W, VM-60B1-W) >

5

For the New Model

Disconnect the first old backup battery and connect a new battery (1st one).

In replacing the encoder backup batteries, be sure to replace the batteries one by one in stead of disconnecting all the old batteries at once. Disconnecting all the old encoder backup batteries at once may delete the positional data stored in the encoder.

For the Old Model

Remove the dummy connector cap from the board.

Connect a new encoder backup battery (1st one) to the connector from which the dummy connector cap was removed.

In replacing the encoder backup batteries, be sure to connect a new encoder backup battery to the dummy connector pin before disconnecting all the old encoder backup batteries. Disconnecting all the old encoder backup batteries first may delete the positional data stored in the encoder.

6

Disconnect the old battery right next to the one that was connected in STEP5, then connect a new battery (2nd one).

 

7

For the New Model

Disconnect the old battery next to the one that was connected in STEP6, then connect a new battery (3rd one).

Be sure to replace all the three batteries with new ones at one time. Otherwise, the battery service life will become short.

For the Old Model

Disconnect the old battery next to the one that was connected in STEP6, then connect a new battery (3rd one).
After connecting the new battery, attach the dummy connector cap, which was removed in STEP 5, to the empty pin.

Be sure to replace all the three batteries with new ones at one time.

Otherwise, the battery service life will become short.

8

Secure the battery support plate to the connector plate.

Tightening torque: 1.6 ±0.3 Nm

<Standard type (VM-6083D, VM-60B1D)>

< Dust- & splash-proof type (VM-6083D-W, VM-60B1D-W) >