Operation
Atmospheric Single-Arm Robot
Flipper End Effector
User’s Manual
Brooks Automation
6-16
Revision 1
Flipper End Effector
For 6.0+ firmware
, the Flipper is controlled as the W axis. The parameter values for
the W axis are stored in the first column of the Auxiliary Parameter File (AUXxxxx.par
file).
For firmware prior to 6.0,
the Flipper is the t axis in a 4-axis system, and the W axis in
an 8-axis system. The t values are stored in the first column of the PRExxxx.par file.
The W values are stored in the first column of the AUXxxxx.par file.
To customize the motion control for the flipper end effector, you use Galil commands
to define positions for the flipper axis. You can issue Galil commands from either the
EQT interface or the Teach Pendant.
Before you begin teaching the Flipper, ensure that it is offset from 0 degrees to about
90 degrees.
Accessing Galil Mode
The flipper is controlled by the first Galil card. To access Galil mode for the first Galil
card, from the Terminal mode, enter:
GALIL
A semi-colon (:), the Galil prompt, is displayed. You enter all Galil commands in
UPPER CASE. Use commas to separate parameters. Spaces are optional. The first
two letters of the command represent the function; additional letters represent an axis
or a coordinated sequence. In the commands used for setting up the flipper, the W
indicates the W axis.
To exit from Galil mode, press
CTRL+I
.
Finding the Home Switch
Enter Galil commands in the following order to find the edge of the home switch for
the W axis.
Table 6-3: Galil Commands to Find the Edge of the Home Switch for the W Axis
Enter:
To:
SH W
Servo Here for the W axis
FE W
Find Edge of Home Switch
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