Maintenance and Repair
MagnaTran 7.1 User’s Manual
Motor Electrical Phase Calibration
MN-003-1600-00
Brooks Automation
9-70
Revision 2.2
FIND PHASE ALL
The Z drive will move to the home position, then up 10mm and begin pulsing.
When the Z drive is complete, the Z brake will click on. Then the T1/T2 shafts
will start rotating, first in the clockwise direction (CW) in order to reference
each other, then in the CCW direction. Both shafts should move together and
at the same speed and for approximately one full revolution.
It is also possible to use the FIND PHASE T or FIND PHASE Z to find the indi-
vidual axis phase values.
NOTE:
To stop the robot from continuing through the stepping portions of the
FIND PHASE, enter <CTRL> <C> at the user keyboard.
3.
Request the values by entering the following command:
RQ SYNC PHASE ALL
An example of the response:
SYNC PHASE
T1........-0.280613
T2........-0.184195
Z.........-0.846788
4.
Record the values.
5.
Repeat steps 2-4 three or more times. Verify that the each of the values are
/- 0.001 units for T1 or T2 and +/- 0.002 units for Z of each other to
demonstrate repeatability.
6.
Calculate the average of all readings.
7.
Input the averages with the following command:
SET SYNC PHASE ALL t1value t2value zvalue
8.
Store the values with the following command:
STORE SYNC PHASE ALL
