Maintenance and Repair
MagnaTran 7.1 User’s Manual
Z Home Flag Sensor Board Replacement Procedure
MN-003-1600-00
Brooks Automation
9-52
Revision 2.2
WARNING
Warning: Do not lift the robot upward by the armset. Armset damage
will occur. Only lift the T1/T2 motor housing assembly from below.
16.
Remove the arm mounting fixture from the armset and issue the following
command: HOME ALL. Verify that the distance between the uppermost plane
of the robot top flange and the armset forearms is 0.062”. If not, repeat the pro-
cedure.
NOTE:
IMPORTANT: The following robot settings are dependent upon a properly set
home position:
•
With the robot in the home position, use gap feeler gauges to verify that the fol-
lowing dimensions have been maintained:
0.024” (0.6mm) between the Z lower microswitch and the z lower microswitch
flag.
0.040” (1.0 mm) between the Z lower hard stops (qty 2) and the bottom of the
robot T1/T2 motor assembly.
If these dimensions are not correct, see
Z Hard Stop and Overtravel Limit
Switch Adjustment on page 9-53
.
•
Move the arms to the maximum Z height by issuing the command:
MOVE Z ABS [position value], where [position value] is in microns (meters x
10
-6
). The maximum Z height may vary pending user’s needs. To determine
the maximum Z travel of the robot by issuing the command: RQ ARMS ALL.
The maximum Z travel for the robot will be provided in the miscellaneous arm
data in the following example format: “total z travel........0.035000”. Dimen-
sions are given in meters.
•
With the robot in the maximum Z position, use either shims or gap feeler
gauges to verify the following dimensions have been maintained:
0.024” (0.6mm) between the Z upper microswitch and the z upper microswitch
flag.
0.040” (1.0 mm) between the Z upper hard stops (qty 2) and the top of the robot
T1/T2 motor assembly.
If these dimensions are not correct, see
Z Hard Stop and Overtravel Limit
Switch Adjustment on page 9-53
.
Procedure complete.
