Qualstar XLS Series, Technical & Service Manual

Page: 196 / 366

12.1 Replacing the Gripper Assembly
12-10
501610 Rev. 07-01-19
3. Move the X-beam by hand until the gripper assembly is just under the gripper
alignment cartridge.
Important: Make sure the alignment cartridge aligns with the
gripper assembly guide rod. The alignment cartridge
should be flush with the gripper assembly and the
cartridge slot.
4. Select Get Robot Status . X-Link displays information about the robot’ s position.
5. Write down the values for Left Theta Position (“TPOS”) and X Position (“'XPOS” ).
6. Move the X-beam down by hand so that it is not blocking the gripper alignment
cartridge.
7. Remove the gripper alignment cartridge.
8. Align the gripper assembly with the right back wall as described in
Section 12.1.5 .
12.1.5 Aligning the Gripper Assembly with the Right Back Wall
To align the gripper assembly with the right back wall, follow these steps:
1. Insert the gripper alignment cartridge into the right column of the back wall as
follows:
–
XLS-832700: Insert the cartridge into slot H36
–
XLS-820500: Insert the cartridge in the slot G36
–
XLS-812300: Insert the cartridge into slot G36
Important: Make sure the alignment cartridge indicates “This side
up for Theta Alignment. ”
2. Move the X-beam by hand until the gripper assembly is just under the gripper
alignment cartridge.
Important: Make sure the alignment cartridge aligns with the
gripper assembly guide rod. The alignment cartridge
should be flush with the gripper assembly and the
cartridge slot.
3. Select Get Robot Status . X-Link displays information about the robot’ s position.
4. Write down the values for Right Theta Position (“TPOS” ) and X Position
(“'X P OS”).