Atmospheric Single-Arm Robot
Operation
User’s Manual
Flipper End Effector
Brooks Automation
Revision 1
6-17
Applying Tension to the Spring
Find the motor position that will apply enough tension to the flipper spring so it is
held in a level position against the mechanical stops. From the current position, you
add tension in increments of 50 or 100 steps. The number of steps should not exceed
400.
Use the PR command to specify a move a number of steps, the BG command to begin
the motion, and the
RP
command to read the final position, which should be less than
400.
Continue to add steps and test spring tension and level until it is satisfactory. Use the
RPW
command to verify that the number is less than 400. Edit line 17 of the Auxiliary
Parameter File and make your
RPW
value the home offset for W.
Defining the Flip
To find the number of steps required for the Flipper to complete a 180º flip and apply
enough tension to the spring, follow these steps. For a 90º flip, follow these steps, but
use a smaller increment.
1.
To redefine the current position as 0, enter:
DP,,,0
BG W
Begin motion for W axis. Wait for the motion
to complete.
RP W
Read Reference Position for the W axis
DP ,,,0
Define Current Position of the W axis as 0
Table 6-4: PR Comman to Specify aMove of a Numbe or Steps
Enter:
To:
PR ,,,
100
Position Relative Move axis from current position for 100 steps
PR ,,, 50
Position Relative Move axis from current position for 50 steps
BGW
Begin motion for the W axis
RPW
Read reference (current) position for the W axis
Table 6-3: Galil Commands to Find the Edge of the Home Switch for the W Axis
Enter:
To:
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