Command Reference
MagnaTran 7.1 User’s Manual
Error Code Reference
MN-003-1600-00
Brooks Automation
8-190
Revision 2.2
While attempting Z motion, verify that all 3 phase LEDs of the Z motor (DS1, DS2, DS3) are
illuminated on the Z driver board.
Verify armset mounting bolts are torqued to 75-88 in-lbs.
Verify armset is installed correctly. Refer to
Mount the Arm Set on page 3-23
Verify that no FETs of the theta driver board have shorted-out. For each FET, apply an ohmme-
ter between pins 1 and 3 to verify resistivity. If a FET has shorted-out, replace theta driver
board.
Verify that the T1/T2 encoder values and T1/T2/Z sync phase values match those of the robot’s
Quality Report (QR). The QR is shipped with the robot or can be requested from Brooks Tech-
nical Support. Issue the commands RQ ENCODER T1 ALL, RQ ENCODER T2 ALL, and
RQ SYNC PHASE ALL for the values stored in the robot.
For additional troubleshooting steps, refer to
Radial Motion Related Issues on page 10-8
,
Motion Related Issues on page 10-10
, or
Z Motion Related Issues on page 10-12
.
Error 10010:
MCC soft tracking error.
Error 10011:
Error, motor is already moving.
Error 10012:
Error, motor is not configured.
Error 10013:
Error, motor is not referenced.
Home the robot by issuing the command HOME ALL.
Error 10014:
Error, motor is already referencing.
Error 10015:
Error, motor is currently moving.
Error 10016:
Error, unable to calculate trajectory.
Error 10017:
Illegal number of polls calculated.
Error 10018:
Unable to calculate absolute position.
Error 10019:
Error, Encoder off by many sectors.
Error 10020:
Error, Encoder failed multiple times.
Check if failure location is repeatable. Record position of failure.
For Z encoder failure:
Verify Z encoder is secured to leadscrew via two 4-40 SHCS and Loctite.
Verify Z encoder is tightly secured to robot chassis via three M3 SHCS.
Replace Z encoder. Refer to
Z Encoder Replacement on page 9-45
.
Call Brooks Technical Support.
For T1 or T2 encoder failures:
Record which encoder (T1 or T2) failure occurred.
Error 10021:
Error, Board Power Failure (Blown Fuse?).
Check if fuse is blown by inspecting fuses or if respective LED is not illuminated. Refer to
. Replace fuse as needed.
Check if robot cables and/or board set have a good ground to the chassis.
