Brooks Automation MagnaTran 7.1, User Manual

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Troubleshooting MagnaTran 7.1 User’s Manual
Z Motion Related Issues MN-003-1600-00
Brooks Automation
10-12
Revision 2.2
Z Motion Related Issues
Symptoms:
Robot is able to move in the Z direction, but any of the following armset motion
characteristics are observed:
Armset has jerky motion, OR
Armset oscillates, OR
Armset overshoots taught position.
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 Chapter 7: Alignment and
Calibration .
Verify end effector is level and not hitting or scraping any objects. Refer to Chapter 7:
Alignment and Calibration .
Check for Z-axis binding by performing Z Binding Test Using the Trace Command on
page 10-30 .
Check for Z brake binding by performing Z Brake Binding Test on page 10-27 .
Verify armset mounting bolts are torqued to 75-88 in-lbs.
Verify armset is installed correctly. Refer to Chapter 9: Maintenance and Repair .
Verify Z encoder is properly tightened to the Z leadscrew shaft. Refer to Z Encoder
Replacement on page 9-45 .