MagnaTran 7.1 User’s Manual
Alignment and Calibration
MN-003-1600-00
Adjusting the Robot’s End Effector
Brooks Automation
Revision 2.2
7-11
CAUTION
When moving the robots’ arm to make the following measure-
ments do not allow the arm or end effector to hit or contact the
sides of the slots
7.
If adjustments are necessary, select the appropriate type of wrist plate supplied
with the MagnaTran 7 and follow the procedure below:
TOP VIEW:
1.
The 3 set screws act as adjusting screws in the robot arm’s wrist
plate, shown in
and allow leveling of the end effector.
If the dip of the end effector is low, raise it by tightening the set
screws. If the dip of the end effector is high, lower it by backing
off the set screws. If the twist is not level, loosen or tighten the
outside set screws and use the middle screw as a pivot point. If
necessary, loosen the 4 end effector mounting screws before
making the adjustment. Be sure to tighten the mounting screws
after making any adjustments.
BOTTOM VIEW shown in
Twist Adjustment
1.
Loosen the twist securing screws
2.
Back out the twist adjusting screws until the end effector mount-
ing plate bottoms out against the wrist plate
3.
Tighten the twist securing screws until lock washers make con-
tact, but do not compress
4.
Begin leveling by tightening the twist adjustment screw on the
side of the end effector that needs to be raised. If one side is
raised too much, do not loosen the twist adjustment screw. To
compensate, tighten the opposite twist adjustment screw.
5.
Tighten the twist securing screws completely.
6.
Check adjustment with gauge and adjust if necessary.
Dip Adjustment
