Adjustments and Calibration
Atmospheric Single-Arm Robot
Flipper Setup
User’s Manual
Brooks Automation
7-6
Revision 1
Flipper Setup
This procedure provides information about how to set up a stepper flipper on a
Brooks Automation ATM or ABM robot.
Setting up the Flipper
1.
Before you set up the flipper in Galil mode, be sure that the flipper is offset to
about the midpoint of its travel.
2.
From terminal mode, type “
GALIL
” to enter into Galil mode from the host
computer or Teach Pendant. Galil mode should respond with a “:” at which
you may enter Galil commands. Later, to exit from Galil mode type
CTL I
.
Enter the following commands to find the home switch. The semicolon indi-
cates comments.
3.
After the Home switch is found, determine the number of steps you need to
apply enough tension to the spring so that it is held in the level position against
the mechanical stops. Enter:
:PR,,, 100
; Position Relative Move axis from current position
this number of steps (here the number of steps = 100
:BGW
; Begin motion for W-Axis.
4.
Test the spring tension. If there is not enough tension, add steps in increments
of 50. Use the commands that follow:
:PR ,,, 50
; Position Relative Move Axis from current position
this number of steps.
:BGW
; Begin motion.
5.
Test the spring tension. If there is not enough tension, repeat the procedure of
adding steps, in increments of 50 (previous step), until the desired tension is
Table 7-1: Galil Commands to Find the Home Switch
:SHW
; Servo Here W-Axis.
:FEW
; Find Edge of Home Switch.
:BGW
; Begin motion for W-Axis.
:RPW
; Read Reference Position for W-Axis.
:DP ,,,0
; Define Current Position as 0.
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