Troubleshooting
Atmospheric Single-Arm Robot
Troubleshooting Robot Start up
User’s Manual
Brooks Automation
10-6
Revision 1
Robot Will Not Home Procedure
P e r fo r m
D ia g n o s tic s S te p
# 8 ( H o m e te s t
a n d S e t )
D id t h e r o b o t
h o m e ?
P e r fo r m D ia g n o s tic s
s te p # 4 ( L im it a n d
H o m e te s t)
D Id r o b o t p a s s
te s t?
D id th e r o b o t
h o m e ?
e n te r < S V O N > < C R >
e n te r < H O M E A > < C R >
C h e c k s y n ta x o f
h o m in g c o m m a n d
D id th e r o b o t
S e r v o o n ?
R e fe r to " R o b o t
w ill n o t s e r v o o n "
tr o u b le s h o o tin g
P e r fo r m D ia g n o s tic s
s te p # 3 ( E n c o d e r
R e a d te s t)
D Id r o b o t p a s s
te s t?
R e p la c e L im it
S w itc h th a t fa ile d
M a c r o p r o b le m
c h e c k th a t m o to r
e n c o d e r c a b le s
a r e p r o p e r ly
a tta c h e d to r o b o t
in te r n a l in te r fa c e
b o a r d
A r e c a b le
P r o p e r ly
a tta c h e d ?
R e p la c e M o to r
F ix c a b le s
a n d r e te s t
C h e c k a n d a d ju s t a s
n e c e s s a r y th e s e r v o
p a r a m e te r s in th e P a r a m e te r
file
N o
Y e s
Y e s
N o
Y e s
N o
Y e s
Y e s
N o
N o
Y e s
N o
Figure 10-2: Robot Will Not Home Flow Chart
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