Maintenance and Repair
MagnaTran 7.1 User’s Manual
Z Encoder Replacement
MN-003-1600-00
Brooks Automation
9-46
Revision 2.2
CAUTION
Observe proper ESD precautions when handling any electronic
device.
3.
Reconnect robot power cable and CDM cable.
Power up robot.
4.
Using the CDM, jog the robot in Z direction so that the 4-40 x 3/16” SHCS (qty
2) that secure the Z encoder assembly collar to the Z leadscrew shaft are acces-
sible. Brooks recommends positioning these 2 screws opposite the personality
PCB for best accessibility.
5.
Power down robot.
Disconnect robot power cable and cdm cable.
6.
Remove the theta driver PCB:
Disconnect the following cables from the theta driver PCB: fan (J1), I/O power
(J2-PWR), T1 motion (P1), T2 motion (P2), Z power (P4).
Remove the 4-M3 SHCS that mount theta driver PCB.
Disconnect theta driver PCB from the personality PCB.
7.
Disconnect the Z encoder cable from the personality PCB (J4).
Disconnect the Z encoder cable ground lead from the robot chassis.
8.
Remove the 4-40 x 3/16” SHCS (qty 2) that secure the Z encoder collar to the Z
leadscrew shaft.
Note: these 2 SHCS are secured with removable strength Loctite.
9.
Remove the Z encoder from its mounting flange by removing 3-M3 SHCS.
10.
Inspect the new Z encoder assembly. Ensure that the sheet metal mounting
flexure (has 3 large slots) does NOT sit on the center ring that protrudes from
the Z encoder housing. If it does, loosen 3 small black phillips head screws and
re-center the sheet metal mounting flexure around the center ring of the Z
encoder housing.
