MagnaTran 7.1 User’s Manual
Maintenance and Repair
MN-003-1600-00
Encoder Setup
Brooks Automation
Revision 2.2
9-67
After 30 seconds have expired, the robot will return a RDY prompt.
4.
Enter the following command to request the values:
RQ ENCODER T1 ALL
An example of the response is as follows:
ENCODER T1
SINE MIN: -1340
SINE MAX: 1400
COSINE MIN: -1256
COSINE MAX: 1328
The values should be between 1500 and 1950 for MagnaTran 7.1 robots.
Record the values for future calculations.
5.
Perform the steps 1-4 three times. Take the average of all three responses and
input the average values using the following command:
SET ENCODER T1 ALL -sinmin sinmax -cosmin cosmax
6.
Store the values using the following command:
STORE ENCODER T1 ALL
Find T2 Encoder Value
CAUTION
The following commands are NOT used in the initial set up or the nor-
mal operation of the robot. These commands are used in repair oper-
ations only.
Brooks Automation recommends contacting Brooks
Technical Support before beginning this procedure.
1.
Power up the robot and establish serial communications.
2.
Enter the following command to begin collecting values:
FIND ENCODER T2
3.
Rotate the T2 motor shaft (the inner shaft) slowly.
Rotate the shaft and attempt to complete one full revolution within 30 seconds.
