Atmospheric Single-Arm Robot
Maintenance
User’s Manual
Using the Teach Pendant to Run Diagnostics
Brooks Automation
Revision 1
9-33
Controller Internal Connection and Port G
In the display, the order of XXXXXXXX, Bit 0 to Bit 7, is left to right.
Bit 0
XXXXXXXX
Bit 7
That is, the left-most digit is the least significant bit (LSB) and the right-most
digit is the most significant bit (MSB).
When all cables, including the Robot signal cable, are connected, Input port G
should be all zeros. The following table describes each bit when it is set to 1
and how to correct the problem.
Table 9-5: Robot Signal Cable Bits for Input Port G
Bit Description
Corrective
Action
0
Internal amplifier con-
nections or robot sig-
nal cable.
Check I/O to Galil cable, I/O to amplifier board, and
the signal cable. If all cables are OK, replace the I/O
board. If a problem persists, replace the robot interface
board.
1
Motor off.
Check the interlock switch (EMS/MOFF) to ensure it is
in the correct state.
2
Stop input.
Check stop input.
3
Amplifier Board
Under Power indicator
Check green LED on amplifier board.
• If ON (board under power), check I/O to amplifier
board cable and I/O board.
• If OFF (board has no power), and there is voltage to
the amplifier board (P3 pin # 2 and 3 should be 41V
to 46V), replace the amplifier board. If no voltage,
check motor power supply (torroidal transformer)
and relay
4
Motor Power Supply
indicator
Check I/O to power supply cable and I/O board.
Testing Input G
VALUE:
XXXXXXXX
Generate Error
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