MagnaTran 7.1 User’s Manual
Alignment and Calibration
MN-003-1600-00
Adjusting the Robot’s End Effector
Brooks Automation
Revision 2.2
7-9
total “dip” is the sum of the “dip” measurements. Record the measurement.
For example: If the end effector’s right fork has a total dip of -0.004 inches and
the left for has a total dip of +0.002 inches, then the total dip runout is 0.006 TIR.
If the end effector’s right fork has a total dip of -0.004 inches and the left fork
has a total dip if -0.002 inches, then the total dip runout is 0.004 TIR.
4.
Position the tip of the dial indicator on the end effector to measure “twist”
where indicated in
, being careful not to deflect the end effector.
5.
Jog the robot’s arm right and left (theta motion) in the module while watching
the reading on the dial indicator. Record the measurement.
6.
Add the total “dip” and “twist” runout of the end effector. If the total is less
than the allowable TIR as indicated in
above, then the end
effector levelness is within specification. If the total runout is more than the
allowable TIR, then the end effector levelness must be adjusted as indicated in
the next steps.
