7.3.1.2    Replacing Encoder Battery

The battery is located on the main controller of the base or Forearm. The position of the battery depends on the production batch of Dobot M1.

Warning

Ÿ   If a fuse is not installed on the battery, please contact technical support engineer. We will provide the replacing solution of the Encoder battery with a fuse.

Ÿ   If a fuse is not installed on the battery, in some cases, for example, disassembling machine without professional may cause wire breakage and battery charging, leading to equipment damage or even battery explosion.

Table 7.1  Replacement parts list

Type

Name

Quality

Remark

Maintenance parts

Battery with welding cable LS 14250

1

-

Wire tie

1

Please prepare by yourself

Tools

Hexagonal wrench

(2.5mm)

1

-

Cross head screw-driver

1

Please prepare by yourself

Nippers

1

Please prepare by yourself

Insulating tape

1

Please prepare by yourself

 

NOTICE

After replacing the battery, please do not dispose elsewhere. All discarded batteries must be uniformly reclaimed to avoid environmental contamination.

 

Procedure

Step 1         Hold down the power button in the base of Dobot M1 for about 5 seconds, and then release your fingers to power off Dobot M1. Pull out the power plug from the power source to shut off power to the robot system.

Step 2         Detach all cables from the interface board of the base.

Step 3         Check the location of the battery and remove it.

&NOTE

Ÿ   If the SN number of Dobot M1 is earlier than DT2118xxxxx, the Encoder battery is located on the base of the Dobot M1. If the SN number of Dobsot M1 is DT2118xxxxx and later numbers, the Encoder battery is located on the forearm of the Dobot M1. Please check the SN number on the M1Studio > Help > About M1Studio page.

xxxxx is random number, please replace it based on site requirements.

Ÿ   If the SN number is DT2118xxxxx but the encoder battery is not located on the forearm, the battery must be located on the base.

 

Ÿ   If the battery is located on the base, please perform the following steps.

1.         Loosen the four screws on the interface board of the base using 2.5# hexagonal wrench, as shown in Figure 7.6.

Figure 7.6  Interface board of the base

 

&NOTE

The appearance of the interface board depends on the production batch of Dobot M1. However, the replacement method remains unchanged.

 

2.         Move out the main controller from the base.

Please move out the main controller lightly to prevent disconnection between the main controller and the robotic arm.

3.         Remove the original battery.

&NOTE

After removing the battery from the main controller on the base, you need to install the battery to be replaced on Forearm instead of the base. For details, please see Step 4 to Step 9.

Ÿ   If a fuse is installed on the battery, please cut off the wire tie that fixed the original battery, as shown in Figure 7.7. Remove the battery from the battery holder and disconnect the connector of the original battery to the battery adapter cable, as shown in Figure 7.8.

After removing the original battery, please wrap the connector of the battery adapter with insulating tape to prevent short circuit.

Figure 7.7  Location of battery holder

 

Figure 7.8  Disconnect the connector of the battery to the battery adaptor cable

 

Ÿ   If a fuse is not installed on the battery, please remove the cover of battery holder to take out the original battery and detach the battery connector of bus cable connecting to the battery holder, as shown in Figure 7.9.

After removing the original battery, please wrap the battery connector of the bus cable with insulating tape to prevent short circuit.

Figure 7.9  Connection between battery and robotic arm

 

4.         Put the main controller into the base, and fix the interface board.

Ÿ   If the battery is located on Forearm, please perform the following steps.

1.         Remove the Forearm cover with 2.5mm hexagon wrench and cross head screw-driver, as shown in Figure 7.10.

Figure 7.10  Forearm of Dobot M1

 

2.         Cut off the wire tie that fixed the original battery, as shown in Figure 7.11.

Figure 7.11  Location of battery holder on Forearm

 

3.         Remove the original battery and disconnect the connector of the battery to the battery adapter cable, as shown in Figure 7.12.

Figure 7.12  Disconnect the battery to the batter adapter

 

Step 4         Remove the Forearm cover with 2.5mm hexagon wrench and cross head screw-driver. If it has been removed, please skip this step.

Step 5         Connect one end of the battery adapter cable to the battery interface on the Driver Board, as shown in Figure 7.13. If it has been connected, please skip this step.

Figure 7.13  Connect the battery adapt to the battery interface

&NOTE

There are two battery interfaces on the Driver Board, as shown in the red box of Figure 7.14. You need to connect the battery adapter to the unused battery interface.

 

Figure 7.14  Battery interfaces on the Driver Board

 

Step 6         Connect the connector of the standby battery to the other end of the battery adapter cable, as shown in Figure 7.15.

Figure 7.15  Connect the battery to the batter adapter

Step 7         Insert the wire tie to the battery holder on Forearm to fix battery, as shown in Figure 7.16.

Figure 7.16  Insert wire tie

 

Step 8         Put the standby battery into the battery holder as shown in Figure 7.17 and cut off the redundant wire tie.

s

Figure 7.17  Put battery into battery holder

 

Step 9         Re-fix the Forearm cover.

Step 10      Reconnect the external equipment required to Dobot M1, and restart Dobot M1.

Step 11      Reset Encoder.

After replacing the battery, the position data on the Encoder will be lost. It is necessary to reset Rear Arm Encoder, Forearm Encoder, Z-axis Encoder and R-axis Encoder respectively.

1.         Click Initialization.exe in the installing directory/M1Studio/tools/Initialization directory.

The M1Studio tool page is displayed.

2.         Select the corresponding serial port from the serial drop-down list, and click Connect.

If Connect turns to Disconnect, the connection is successful, and Dobot M1 can be controlled by M1Studio.

3.         Click Reset Encoder1, Reset Encoder2, Reset Encoder3, and Reset Encoder4 respectively on the Debug page to reset J1 Encoder, J2 Encoder, J3 Encoder and J4 Encoder, as shown in Figure 7.18.

Figure 7.18  Reset Encoders

 

 DANGER

Clearing alarm on the alarm page is not allowed after resetting the Encoder. Otherwise, Dobot M1 may move following an unexpected path, resulting in interference with peripheral equipment. Moreover, please reboot Dobot M1 after resetting Encoder to avoid resetting failure.

4.         Restart Dobot M1.

5.         Check whether encoders are reset on the Debug page. Please check the default values of the encoders (UserParam5 to UserParam8). If the values range from 163790000 to 196548000, the operation is successfully.

6.         Select the corresponding serial port from the serial drop-down list, and click Connect.

If Connect turns to Disconnect, the connection is successful, and Dobot M1 can be controlled by M1Studio.

7.         Click the  icon of Motor on the Calibration page to make the motor of Dobot M1 in the open-loop state.

8.         Jog Dobot M1 by hand to make Rear Arm and Forearm in a straight line and perpendicular to the base forward, and then jog Dobot M1 to the bottom of Z-axis, as shown in Figure 7.19.

Figure 7.19  Location of Dobot M1 after Factory calibration

 

9.         Click the  icon of Motor on the Calibration page to make the motor of Dobot M1 in the close-loop state.

10.    Click InitPos on the Debug page to make Dobot M1 in the origin position of which the coordinate is (400,0,0,0).

NOTICE

After restoring factory setting, an alarm about limitation is generated and meanwhile the red indicator on the base of robotic arm is on, which is a normal phenomenon. At that point, you need to click J3+ under Joint coordinate system to jog robotic arm to the position where the J3 value is above 10mm, and then the alarm will be cleared.

 

Step 12      After resetting Encoder, you need to calibrate J2. For details, please see 7.3.2 Calibration.














 Issue V1.2.1 (2019-04-10)User GuideCopyright © Yuejiang Technology Co., Ltd