Troubleshooting
MagnaTran 7.1 User’s Manual
Radial Motion Related Issues
MN-003-1600-00
Brooks Automation
10-8
Revision 2.2
Radial Motion Related Issues
Symptom:
Robot is able to move in the radial direction, but any of the following armset
motion characteristics are observed: Armset has jerky motion, Armset oscillates, Arm-
set overshoots taught position, Armset sways from side to side during motion.
Troubleshooting Process:
Verify robot application number is correct.
Check for physical obstruction. Remove or adjust physical obstruction to prevent
interference.
Verify that motion is repeatable. Refer to
Position Repeatability Test on page 10-33
.
Verify system alignment has been taught properly. Refer to
Verify end effector is level and not hitting or scraping any objects. Refer to
Verify armset mounting bolts are torqued to 75-88 in-lbs.
Verify armset is installed correctly. Refer to
Mount the Arm Set on page 3-23
Verify armset wrist band tension is adjusted properly. Refer to
Inspect armset wrist bearings for missing ball-bearings.
Inspect armset elbow bearings for missing ball-bearings.
Inspect armset wrist bearings and elbow bearings for excessive wear.
Verify wave-washer is located between the robot T2 shaft and the T2 arm mounting
flange for arms with a bearing installed between the T1 and T2 shafts.
Replace theta driver board. Refer to
T1/T2 Axis Driver Board Replacement on page 9-
.
Call Brooks Automation Technical Support.
Symptom:
Robot is unable to move in the radial direction and generates the following
error: Error 10009 - MCC hard tracking error
Troubleshooting Process:
Refer to
Communication Related Issues on page 10-4
Symptoms:
Arm looses reference and servo position on extension.
Troubleshooting Process:
Check EMO switches. Check pins 23 and 24 of I/O con-
nector. Verify the arm speed when error occurred. Attempt to duplicate the failure
under the same conditions. If error occurred at high speed, replace the T1/T2 Axis
Driver Board; if error occurred at medium or low speed, call Brooks Automation
Technical Support.
