MagnaTran 7.1 User’s Manual
Installation
MN-003-1600-00
Mount the Arm Set
Brooks Automation
Revision 2.2
3-41
changed, Brooks Automation recommends reteaching the robot all
stations.
Using the red arm mounting fixture, place the arms on the T1/T2 shafts, posi-
tioning the 4 locating pins of the shafts into the arm set. Slightly loosen the
black knobs of the mounting fixture and seat onto shafts. The arm set must be
fully seated.
5.
Secure the arms to the T2 shaft (inner shaft) using one 5mm SHCS and lock-
washer. Secure the arms to the T1 shaft (outer shaft) using two 5mm SHCS and
lockwashers. Torque all three screws to 75-88 inch-pounds.
6.
Remove the red arm mounting fixture.
NOTE:
Save the mounting fixture for possible future use. If the robot is returned to
Brooks for service or shipped to another location, the original mounting fix-
ture must be used. Also, keep the fixture close to the robot. Additional pro-
cedures will require the use of this fixture.
7.
Set the arm state of the robot to on.
Enter the following path: SETUP/CONFIG ROBOT/ARM STATE/ARE THE
ARMS CURRENTLY ON?/YES
8.
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
.
