Recently, a customer consulted JSR Automation about encoders. Let’s discuss it today:
Yaskawa Robot Encoder Error Recovery Function Overview
In the YRC1000 control system, motors on the robot arm, external axes, and positioners are equipped with backup batteries. These batteries preserve position data when the control power is turned off. Over time, battery voltage decreases. When it drops below 2.8V, the controller will issue alarm 4312: Encoder Battery Error.
If the battery is not replaced in time and operation continues, absolute position data will be lost, triggering alarm 4311: Encoder Backup Error. At this point, the actual mechanical position of the robot will no longer match the stored absolute encoder position, leading to positional offset.
Steps to Recover from Encoder Backup Error:
On the alarm screen, press [RESET] to clear the alarm. You can now move the robot using the jog keys.
Use the jog keys to move each axis until it aligns with the physical zero-point marks on the robot.
It is recommended to use the Joint coordinate system for this adjustment.
Switch the robot to Management Mode.
From the Main Menu, select [Robot]. Choose [Zero Position] – The Zero Position Calibration screen will appear.
For any axis affected by the encoder backup error, the zero position will display as “＊”, indicating missing data.
Open the [Utility] menu. Select [Fix Backup Alarm] from the drop-down list. The Backup Alarm Recovery screen will open. Select the axis to recover.
– Move the cursor to the affected axis and press [Select]. A confirmation dialog will appear. Choose “Yes”.
– The absolute position data for the selected axis will be restored, and all values will be displayed.
Go to [Robot] > [Current Position], and change the coordinate display to Pulse.
Check the pulse values for the axis that lost its zero position:
Approximately 0 pulses → Recovery is complete.
Approximately +4096 pulses → Move that axis +4096 pulses, then perform individual zero position registration.
Approximately -4096 pulses → Move that axis -4096 pulses, then perform individual zero position registration.
After the zero positions are adjusted, power off and restart the robot controlle
Tips: Easier Method for Step 10 (When Pulse ≠ 0)
If the pulse value at step 10 is not zero, you can use the following method for easier alignment:
From the Main Menu, select [Variable] > [Current Type (Robot)].
Choose an unused P-variable. Set the coordinate type to Joint, and enter 0 for all axes.
For axes with lost zero positions, input +4096 or -4096 as needed.
Use the [Forward] key to move the robot to that P-variable position, then perform individual zero position registration.
Due to language problems, if we have not expressed ourselves clearly, please contact us for further discussion. Thank you.
#Yaskawarobot #yaskawaencoder #robotencoder #robotbackup #yaskawamotoman #weldingrobot #JSRAutomation
Post time: Jun-05-2025
