Troubleshooting
MagnaTran 7.1 User’s Manual
Z Binding Test Using the Trace Command
MN-003-1600-00
Brooks Automation
10-30
Revision 2.2
Z Binding Test Using the Trace Command
TOOLS:
Laptop computer with Procomm or equivalent
PROCEDURE:
This procedure uses the diagnostic command TRACE to determine the Z motor
torque required to move the robot in the Z axis. The trace command results provide
the duty cycle percentage of the Z motor during a given move. This duty cycle per-
centage must be less than 75%.
1.
Connect laptop to robot via serial communications port.
2.
Ensure the robot is in the home position by issuing the command: HOME ALL.
3.
Enter the appropriate trace settings by issuing the following commands:
TRACE CLEAR
TRACE ADD ZACTTRQ
TRACE TRIGGER TRJSTART
TRACE PERIOD 5
TRACE START
NOTE:
Note: the TRACE function will initiate immediately following the robot’s
next movement.
4.
Move the robot upward to the maximum Z height by issuing the following
command:
MOVE Z ABS 25000
NOTE:
Note: the maximum Z height is normally 25 mm or 35 mm, pending the
user application. The units of measure for the following command are
micrometers (25 mm = 25000 units).
5.
Stop the TRACE function by issuing the following command:
TRACE STOP
6.
Request the trace function results by issuing the command:
TRACE DNLD 200
