Atmospheric Single-Arm Robot
Adjustments and Calibration
User’s Manual
Flipper Setup
Brooks Automation
Revision 1
7-7
achieved.
:RPW
; Read reference position for W-axis
6.
The negative of the number displayed after the
:
RPW
command must be
inserted as the Theta Home Offset position in line 17 of the flipper parameter
file.
In some cases (depending on the firmware) it may be required that this number
be inserted as a positive number. If the sign of the number is incorrect, it will
become apparent once the flipper is homed, as the flipper will move away from
the hard stop instead of towards it. This number should not exceed 400.
7.
The next step is to determine the number of steps required for the flipper to
complete a 180-degree flip and apply enough tension to the spring. (The same
procedure applies to 90-degree flippers, except the required number of steps
will obviously be smaller.)
:DP ,,,0
; Redefines the current position as 0.
:PR ,,,-5000
; Position Relative Move Axis from the current posi
tion this number of steps.
:BGW
; Begin motion for W-Axis.
8.
Test the spring tension. If there is not enough tension, add negative steps in
increments of 50 or 100, depending on how far it is from the desired position.
:PR ,,, -50
; Position Relative Move Axis from current position
this number of steps.
:BGW
; Begin motion.
9.
Test the spring tension and flipper level. Again, repeat the procedure of adding
steps until the desired tension on the spring is achieved. When there is enough
tension on the spring , type:
:RPW
; Read Reference Position for W-Axis. This will be the
number of pulses required to complete a 180-degree
flip.
CTRL+I
; Exit Galil mode
10.
Enter the number of steps for 180-degree flip into the Coordinate Special Item
#14 by typing the command
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