Encoder System Down Failure

Modified on Fri, 11 Oct at 6:22 PM

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Overview

Applicable Errors:

6411 - J1 encoder system down failure

6412 - J2 encoder system down failure

6413 - J3 encoder system down failure

6414 - J4 encoder system down failure

6415 - J5 encoder system down failure

6416 - J6 encoder system down failure

6417 - J7 encoder system down failure

6418 - J8 encoder system down failure

Error Description:

Failed to read the encoder information of the corresponding axis.

Possible Causes:

1.Dead Batteries in the robot. Batteries inside of the robot operate at 3.6V +/- 20%. If the batteries are low the batteries in the robot arm need to be replaced, the affected encoder(s) need to be reset, cycle power on the controller,

2. A motor was changed or was unplugged from the wiring harness inside of the robot arm. To resolve this error - confirm affected joints, reset encoder(s), cycle power on the controller, and calibrate robot.

3.Temporary disconnection of the power conversion board inside of the robot.

4. A motors encoder has become damaged. Exchange the motor, reset encoder, calibrate affected joint.

Remedy:

Identify and resolve the cause of the error and then reset the encoder using the guide below.

Tools and Parts Needed

Full Sized Teaching Pendant

Step by Step Guide

Step 1 Confirm affected joint(s) by using the full-sized teaching pendant.	From the main screen of the pendant select – Arm –Shift – Maint – ENC INF.
Step 2 Identify the affected joint(s)	Joint(s) affected by this error can be identified by a black square in the System Status column.
Step 3 Reset encoder(s) for affected joint(s)	Resetting Encoder (RC7 / RC7M) : DENSO Robotics KB
Step 4 Cycle power on your controller.
Step 5 Calibrate all joints that were reset.	How do I perform a CALSET for the robot? : DENSO Robotics KB

Next Steps:

For repair options in the Americas please contact support@densorobotics.com
For repair options outside of the Americas, please contact your local Denso Service Center.