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Check Robot for Oil Around Harmonic Drive
8.7 Replacing Encoder Battery
The data stored by the encoders is protected by a 3.6 V lithium backup battery located in
the base of the robot.
Battery Replacement Time Periods
If the robot is kept in storage and not in production, or the robot is turned off (no 24 VDC
supply) most of the time, then the battery should be replaced every 18 months.
If the robot is turned on with 24 VDC supplied to the robot more than half the time, then
you can increase the replacement interval to three years. For example, if the robot is
typically turned off only on weekends, the battery would need to be replaced every four
years.
Battery Replacement Procedure
1. Obtain the replacement battery. <strong>Adept</strong> part number: 02704-000.
2. Switch off the PLC Server.
3. Switch off the 24 VDC input supply to the robot.
4. Switch off the 200/240VAC input supply to the robot.
5. Disconnect the 24 VDC supply cable from the robot +24 VDC input connector. See
Figure 4-2 on page 44 for locations of connectors.
6. Disconnect the 200/240VAC supply cable from the robot AC Input connector.
7. Using a 5mm Allen key, carefully unscrew the AIB chassis securing screw. See
Figure 8-2 on page 119. Note that the screw does not need to be <strong>com</strong>pletely
removed in order to remove the chassis, as this screw is captured on the chassis
heat sink.
8. While holding the chassis heat sink, carefully and slowly lower the chassis down
(see Figure 8-3 on page 120), so there is access to the battery. See Figure 8-7.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 123