XR Series Encoder Battery Replacement

Modified on Tue, 08 Feb 2022 at 01:45 PM


The encoder built in the servomotor stores position data. To prevent the  position data from being lost, the encoder backup batteries supply  power to the encoder memory.
Periodically replace the encoder backup batteries that are loaded in the robot unit.

This procedure applies to the following robot types: XR-4341*, XR-437**, XR-43A**, XR2-43411.

Tools and Parts needed

  • Philips-head screwdriver
  • Encoder backup battery for HS series robots. 
    • 410679-0010 – Encoder backup battery (2set)

If you are not sure which part number you need or the Robot Arm you own, please stop and contact your DENSO Robotics sales representative.    

Video Tutorial

Step by Step Guide

Step 1

Prepare a new set of 2 backup batteries for replacement.

When you replace batteries, be sure to replace both batteries at the same replacement timing.

Step 2

Turn the controller power OFF. 

Step 3

The location of the encoder backup batteries is shown below. 

Step 4

There are three connectors, two of which are connected to batteries and the remaining one is covered with a connector cap. 

Put the battery cover back into place and tighten the three bolts. (Tightening torque: 0.8 ±0.2 N▪m)

Next Steps:

Owner's Manual Reference


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