IRB6700 Encoder Battery Change – Remastering Required?

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Hello Aiden,
The IRB 6700 uses resolvers for position feedback, not encoders.
You will not need to remaster the robots. But you will need to update the revolution counters. Before powering down the robots move them to the “zero” position. You can do this by creating a MoveabsJ instruction and populate the jointtarget with 0 for all axis. Execute the move instruction, then you are safe to remove power. Replace the batteries then apply power. You will be prompted to update the revolution counters

Thank you for the clarification, Aaron.

Am I required to set all axes to 0? The configuration of my EOAT doesn't allow me to set axis 6 to 0.
Would it be acceptable to, for example, set the axis to 180° and apply an offset when updating the counters?

Aiden,

You can create an alternative calibration position for any axis in the MOC config file.  For 180 the value will be 3.14159.  More info on this can be found in the system parameters manual.

Alternatively, since the batteries are only used when the robot power is removed, One way to avoid having to update the rev counters is to leave power applied to the robot controller while you change the batteries on the SMB board.  Ensure you follow the proper LOTO procedures while performing the exchange.

Thank you very much for your help, Aaron. I really appreciate it