MagnaTran 7.1 User’s Manual
Troubleshooting
MN-003-1600-00
Z Binding Test Using the Trace Command
Brooks Automation
Revision 2.2
10-31
The robot will provide 200 lines of duty cycle percentage data. An example of
this data is shown below:
trace dnld 200
zTrq
0.586605
0.585223
0.585713
0.585382
0.586448
0.585883
0.585537
0.585722
0.585630
0.585806
7.
Verify that the maximum value is less than 0.750000 (which is less than 75% of
the Z motor duty cycle). If any number is greater than 0.750000, then call
Brooks Technical Support.
8.
Reinstate the trace function by issuing the following command. Note the trace
command settings from Step #3 will be retained in the robot until the TRACE
CLEAR command is issued.
START TRACE
9.
Move the robot downward to the minimum Z height by issuing the following
command. The minimum Z height is 0 mm. The units of measure for the fol-
lowing command are micrometers (0 mm = 0 units).
MOVE Z ABS 0
10.
Stop the TRACE function by issuing the following command:
TRACE STOP
11.
Request the trace function results by issuing the command:
TRACE DNLD 200
12.
The robot will provide 200 lines of duty cycle percentage data.
13.
Calculate and record the average of the duty cycle percentage data for down-
ward motion. Verify that all numbers are less than 0.750000 (which is less than
75% of the Z motor duty cycle) and similar to the average value calculated in
Step #7. If either of these conditions is not met, then call Brooks Technical Sup-
port.
Procedure is complete.
