Robot is not calibrated
Getting battery alarm on motors
Summary/Issue Description
Robot Status Panel displays a BA alarm accompanied by E1,E2,E3,E4,E5 or E6 encoder error, along with the Ace software "Hardware Diagnostics" showing an encoder alarm E0 or E7.
Root Cause
Probably the batteries ran out or they were replaced incorrectly causing the low battery alarm to be set on all motors.
These errors can also be observed if the encoder cable of any joint was removed.
Solution
Measure the battery voltage, it should measure 3.4 VDC if it's brand new, if the result is lower than 3.1 VDC or so, then the battery is ready to fail. Therefore, it will need to be replaced and re-calibrate robot.
Date/Revision History
First review 09/03/2024 V1.0
2nd review 01/07/2025 V1.1
Author:
Javier Romo, Technical Support Engineer
References
Cobra 450,500, and 650 Robots User's guide:
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