Atmospheric Single-Arm Robot
Maintenance
User’s Manual
Diagnostics for the Single-Arm Robot
Brooks Automation
Revision 1
9-21
Test 3: Encoder Read
Use this test to verify that the controller receives the correct feedback from the robot.
Before you move an axis, make sure the robot signal cable is securely connected.
As you manually move one axis, observe whether the number counts up or down. As
an axis moves in the positive direction, the number should count up and as it moves
in a negative direction, the number should count down. The number should count
smoothly, one increment at a time.
If this test fails for an axis, use a test motor to test the encoder input. If the test suc-
ceeds with the test motor, replace the failing motor and encoder.
If this doesn’t resolve the problem, replace the robot signal cable. If the problem per-
sists, replace the robot interface board. If the problem persists, replace the Galil
board. If the problem persists, replace the Flex-PCB. Finally, replace the motor.
Figure 9-8: Encoder Read Test Information Box
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