MagnaTran 7.1 User’s Manual
Installation
MN-003-1600-00
Mount the Arm Set
Brooks Automation
Revision 2.2
3-33
11.
Set the arm state of the robot to on.
Enter the following path: SETUP/CONFIG ROBOT/ARM STATE/ARE THE
ARMS CURRENTLY ON?/YES
12.
Re-engage the servos.
Issue the following command: HOME R
During the HOME action, check for vibration.
After the arms are in the HOME position, check the alignment. The upper arm
should be in line with the lower arm. This can be verified by observing that the
plane of the wrist plates are parallel relative to each other.
If vibration is observed or the alignment is off, perform the procedure again.
13.
Check the alignment of the arm and the position of home by entering the fol-
lowing command:
HOME ALL
If the home position is not where desired, use the procedure
