MagnaTran 7.1 User’s Manual
Maintenance and Repair
MN-003-1600-00
Restore the Home Position to the Factory Settings
Brooks Automation
Revision 2.2
9-71
Restore the Home Position to the Factory Settings
It is possible to restore the home position as it was set when the robot was first pow-
ered up. The values for the SYNC ZERO (the home positions) found on the QR that
accompanied the robot can be stored to restore the original home position. This
allows the home position to be restored after any problem. It is important that if the
home position has been changed from the original location set before shipment, that
the values for SYNC ZERO are recorded for future reference.
NOTE:
Each robot has unique values for the SYNC ZERO that can only be used with that
particular robot. Be sure to check the values for the encoders (T1, T2, and Z), as
well as SYNC PHASE of the robot, with the values recorded on the QR to be sure
that the values entered for the SYNC ZERO are viable. If the values do not coin-
cide, then the home position must be found again.
This procedure will allow the user to enter the values of the QR to the desired factory
default settings home position and store the values.
WARNING
When equipment is energized, live circuits covered, and work per-
formed remotely, the robot is at a Type 2 hazard category. See
1.
Install the mounting fixture to the armset. Visually verify that the wrist plates
are equal distance from the center and parallel with each other.
2.
Locate the QR. An attached sheet will contain a series of parameter values
(encoder, sync phase, etc.) that will be used to restore the original home posi-
tion.
If the QR cannot be located, call Brooks Automation Customer Support
3.
Enter the following command:
SET SYNC ZERO ALL t1 t2 z
The sync zero t1, t2, and z values are entered as: (-)0.xxxxxx
4.
Store the values:
STORE SYNC ZERO ALL
