Maintenance and Repair
MagnaTran 7.1 User’s Manual
PC 104 CPU Board Replacement
MN-003-1600-00
Brooks Automation
9-58
Revision 2.2
PC 104 CPU Board Replacement
NOTE:
It is not necessary to remove the robot to perform this repair procedure.
Required Tools and Test Equipment
•
7/32” nut driver
•
Laptop computer with ProComm or equivalent
•
Small flat head screwdriver
•
Medium phillips head screwdriver
Removal Procedure
1.
Connect the laptop to the robot via the serial communications port.
2.
Retrieve present calibration parameters, firmware version, and configuration
number by opening a log file and entering the following commands:
RQ CONFIG (ensure the robot is set to ARMS ON for armset configuration
data as opposed to SHAFT7Z configuration data)
RQ ENCODER T1 ALL
RQ ENCODER T2 ALL
RQ SYNC PHASE ALL
RQ SYNC ZERO ALL
RQ IO MAP ALL
RQ COMM ALL
RQ COMPATIBILITY ALL
RQ MOUNT (for reference only; this procedure will redefine the MOUNT
position)
RQ BIRTH
RQ VERSION
3.
For every robot station taught on the system, retrieve the station coordinates
and station options using either the CDM or serial communication. For serial
communication, enter the following command for each station:
RQ STN station ARM arm ALL
RQ STN
station
ARM
arm
OPTION ALL
RQ STNSENSOR station ARM arm ALL
