Maintenance
Atmospheric Single-Arm Robot
Using the Teach Pendant to Run Diagnostics
User’s Manual
Brooks Automation
9-40
Revision 1
Release the belt directly attached to the motor and move to position. Press
Enter when you are finished or ESC to start over.
3.
After the servo motor turns off, tighten the screws.
Remember, Step #9 changes the Distance to Index. To make sure it is still
within the recommended distance, repeat Step #8. If the Distance to Index is
not correct, it is because the combination of the physical positions of the Home
switch and Index is not achievable. Try a different combination.
To set the Home offset:
1.
The robot homes to its Radial axis and then moves to its COP.
2.
You are prompted to determine if the offset is correct. If the upper link
is in the correct COP, press Y (Yes) and return to the Main Menu. If it is
not in the correct COP, press N to correct it. The servo motor is turned
off; manually move the R axis to its COP and press the HERE button. To
return to the Main Menu without making a correction, press ESC.
3.
If you established a new Home Offset in this step,
6.0+ firmware
prompts you to save the new home offset to the Robot Parameter File in
NVSRAM.
For
earlier firmware
, send these commands to save the new home offset:
RSA A
SAV
Figure 9-20: Axis R Moved to the Index Position
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