Installation
MagnaTran 7.1 User’s Manual
Mount the Arm Set
MN-003-1600-00
Brooks Automation
3-40
Revision 2.2
Issue the following command: SET ARMS ON
10.
Re-engage the servos.
Issue the following command: HOME R
During the HOME action, check for vibration.
After the arms are in the HOME position, check the alignment. The upper arms
should be 180° apart. This can be verified by observing the wrist plates relative
to the center of the robot.
If vibration is observed or the alignment is off, the radial home must be reset.
Follow the procedure
Reset the Home Position to the User Preference on page
.
Mount/CDM
1.
Ensure the arm state of the robot is off.
Enter the following path: SETUP/CONFIG ROBOT/ARM STATE/ARE THE
ARMS CURRENTLY ON?/NO
2.
Move the robot to the mount position.
Enter the following path: SETUP/CONFIG ROBOT/ARM MOUNT/ARE
THE ARMS CURRENTLY ON?/NO
When the robot is in the mount position, the 4 locating pins of the robot shafts
should be oriented as indicated in
.
3.
Disengage the robot servos.
Enter the following path: SETUP/CONFIG ROBOT/SET SERVOS OFF
4.
Install the arms on the robot.
For the following procedure, the red arm mounting fixture must be installed on
the arm set.
CAUTION
The mounting fixture is an installation fixture. It does not provide
precise alignment for the Radial Home.
If the arms are being
