Installation
MagnaTran 7.1 User’s Manual
Mount the Arm Set
MN-003-1600-00
Brooks Automation
3-26
Revision 2.2
NOTE:
Save the fixtures for possible future use. If the robot is returned to Brooks
for service or shipped to another location, the original fixture must be used.
Also, keep the fixture close to the robot. Additional procedures will require
the use of this fixture.
10.
Set the arm state of the robot to on.
Issue the following command: SET ARMS ON
11.
Re-engage the servos.
Issue the following command: HOME R
During the HOME action, check for vibration.
After the arms are in the HOME position, check the alignment. The upper arm
should be in line with the lower arm. This can be verified by observing that the
plane of the wrist plates are parallel relative to each other.
If vibration is observed or the alignment is off, perform the procedure again.
12.
Check the alignment of the arm and the position of home by entering the fol-
lowing command:
HOME ALL
If the home position is not where desired, use the procedure
Position to the User Preference on page 9-73
Mount/CDM
1.
Ensure the arm state of the robot is off.
Enter the following path: SETUP/CONFIG ROBOT/ARM STATE/ARE THE
ARMS CURRENTLY ON?/NO
2.
Move the robot to the mount position.
Enter the following path: SETUP/CONFIG ROBOT/ARM MOUNT/ARE
THE ARMS CURRENTLY ON?/NO
When the robot is in the mount position, the 2 locating pins of the robot outer
shaft should be oriented as indicated in
