Atmospheric Single-Arm Robot
Maintenance
User’s Manual
Diagnostics for the Single-Arm Robot
Brooks Automation
Revision 1
9-25
If the
Distance to Index
is too short, the controller can miss the first occurrence of index
signal because it occurs too soon after the home switch signal. Thus, the motor is
required to move one more revolution to generate the signal. At a particular distance,
this doesn’t happen every time and thus creates two different home positions, where
the second home is too far.
This test determines the distance to index, evaluates it, and assists in making the cor-
rection. To verify which axis is incorrect, press the Home all button. All home dis-
tances are displayed without activating the correction software.
Adjusting the Distance to Index on an ABM 400 Series with Track
This procedure is used when the distance is ovvurring too close to the limit switch for
ABM 400 series with track robots.
First find the distance to the index using the following commands in GALIL mode. It
may not be necessary to do this in GALIL mode if you are set up to do it using
STEP
#8 (HOME TEST & SET) on page 9-36
. Issue the
GALIL
command from the terminal
mode.
Subtract the second
TP
(tell position) value from the previous value of
TP W.
If the
difference in counts is between 1000 and 3000, then the distance to index is fine. Oth-
erwise, do the hardware correction.
To apply the hardware correction:
Use these steps to chang the distance to index to be within 1000 and 3000 range
count by making these hardware changes.
Table 9-3: Galil Commands
GALIL
;If Track is used with Pre-Aligner, then type
GALIL
1
HMW
;Home the Track axis
BGW
;Starts motion and stops at first index after home flag
TPW
;Tell position of the axis
FEW
:Finds edge, moves back to home flag
BGW
;Begins motion
TP W
;Tell new position of axis
CTRL+I
;Exit GALIL mode
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