Troubleshooting
MagnaTran 7.1 User’s Manual
Theta Motion Related Issues
MN-003-1600-00
Brooks Automation
10-10
Revision 2.2
Theta Motion Related Issues
Symptoms:
Robot is able to move in the theta direction, but any of the following armset
motion characteristics are observed: Armset has jerky motion, Armset oscil-
lates, Armset overshoots taught position.
Troubleshooting Process:
Verify robot application number is correct.
Verify that motion is repeatable. Refer to
Position Repeatability Test on page 10-33
.
Check for physical obstruction. Remove or adjust physical obstruction to prevent
interference.
Verify system alignment has been taught properly. 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
Inspect armset wrist bearings for missing ball-bearings.
Inspect armset elbow bearings for missing ball-bearings.
Verify wave-washer is located between the robot T2 shaft and the T2 arm mounting
flange.
Replace theta driver board. Refer to
T1/T2 Axis Driver Board Replacement on page 9-
.
Call Brooks Technical Support.
Symptoms:
Robot is unable to move in the theta direction and generates the following
error: Error 10009 - MCC hard tracking error
Troubleshooting Process:
Refer to
