MagnaTran 7.1 User’s Manual
Maintenance and Repair
MN-003-1600-00
Reset the Home Position to the User Preference
Brooks Automation
Revision 2.2
9-73
Reset the Home Position to the User Preference
This procedure will allow the user to hand locate the arms to the desired home posi-
tion and store the new values. This procedure is used in two circumstances: when the
user prefers to establish the HOME position in a location other than the factory set
position and when the robot arms are not exactly aligned after an arm set is replaced.
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.
Observe the wrist plates. Visually verify that the wrist plates are equal dis-
tance from the center and parallel with each other.
2.
Enter the following command:
FIND ZERO T
3.
Move the arms so that the robot’s end effector Pan A points in the direction that
will be defined as zero.
Position the arms within 20 seconds. The arms must be moved by at least
15 °. Hold the arms in the HOME position until the RDY (:) prompt appears.
4.
Request the Sync Zero values:
RQ SYNC ZERO ALL
An example of the response is as follows:
SYNC ZERO
T1..........-7.646136
T2..........-4.162485
Z............0.106358
5.
Store the values:
STORE SYNC ZERO ALL
6.
To set the Z axis home position for the MagnaTran 7, place two 0.062” shims
