G'day all. We have an old IRC5 in our lab that only gets fired up once in a while for some testing work. And lately, it's started to throw some recurring problems. Once it's been powered down for a while, it comes up with Joint Sync errors on all axes with Rev Counters Not Updated, and goes into System Failure, such that I can't even get the motors on to jog it to the reference position.
An I-Start usually gets us to the point where we can perform the axis calibration, which (so far!) works okay. But sometimes it requires multiple I-Starts before this works.
In addition, when this happens, it also thinks that it's midnight, January First, 2002. The only "additional" error, aside from all the rev-counter errors, is "System Data from last shutdown was lost."
This combination leads me to suspect I have a battery in the controller (possibly on the motherboard?) that needs replacing. But my IRC hardware-fu is weak. If "dead battery" is a reasonable conclusion, does anyone have a recommendation on where I can find this battery and a procedure for replacing it?