Adjustments and Calibration
Atmospheric Single-Arm Robot
Robot Radial Home Flag, Index, and Offset Adjustments
User’s Manual
Brooks Automation
7-14
Revision 1
6.
Loosen the 2 bolts (4 bolts for ATM 400 series robots) holding the R-axis motor
assembly to the Transmission Plate and remove the belt.
7.
Press
Enter
when
you complete step 6 of this procedure. The motor will move
to an acceptable R Index position. The software response is "Correction Done
Replace the Belt".
8.
Replace the belt and tighten the radial motor screws while apply appropriate
amount of tension to the belt. Press
Enter
when done.
9.
Repeat
STEP #8 (HOME TEST & SET) on page 9-36
to verify proper index is
achieved.
To Set the Home Offset
1.
Open the diagnostics step,
STEP #8 (HOME TEST & SET) on page 9-36
. Select
the Adjust R Offset option. The robot moves to find the INDEX and then to
OFFSET position, this location is also Zero for the Radial Axis.
2.
When prompted Is the offset correct, click NO to servo off the radial motor.
3.
Do the Home Offset correction by moving the Radial arm links center over cen-
ter as shown in
Figure 7-3
.
4.
After completing this diagnostic step, select OK.
5.
Escape from the diagnostic screen to the terminal mode. Type SAV to save the
Offset into the parameters file.
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