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Replacing Encoder Battery
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 24VDC
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. If, for example, a 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 24VDC input supply to the robot.
3. Switch off the 200/240VAC input supply to the robot.
4. Disconnect the 24VDC supply cable from the robot +24VDC input connector. See
Figure 3-3 on page 34 for locations of connectors.
5. Disconnect the 200/240VAC supply cable from the robot AC Input connector.
6. Using a 5 mm Allen key, carefully unscrew the chassis securing screw. See Figure
8-2 on page 105. 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.
7. While holding the chassis heat sink, carefully and slowly lower the chassis down
(see Figure 8-3 on page 106), so there is access to the battery. See Figure 8-7.
Encoder Battery
Figure 8-7. Location of Encoder Battery
<strong>Adept</strong> <strong>Cobra</strong> <strong>i600</strong>/i800 Robot User’s <strong>Guide</strong>, Rev B 109