Atmospheric Single-Arm Robot
Maintenance
User’s Manual
Using the Teach Pendant to Run Diagnostics
Brooks Automation
Revision 1
9-35
STEP #3 (ENCODER READ TEST)
Use this test to verify that the controller receives the correct feedback from the robot.
Before you move an axis as requested, make sure the robot signal cable is securely
connected.
As you manually move one axis, observe whether the encoder number counts up or
down. As an axis moves in the positive diretion, the number should count up and as
it moves in a negative direction, the number should count down smoothly.
If this test fails for an axis, use a test motor to test the encoder. If the test succeeds with
the test motor, replace the failing motor and encoder.
If this doesn’t resolve the problem, 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.
STEP #4 (LIMIT & HOME TEST)
Before you move the axes to activate the switch indicators, make sure the robot signal
cable is securely connected.
In the display, the symbols [-], [H], and [+] indicate the locations for negative limit
switch, home switch, and positive limit switch, respectively.
When you manually move the axes to their limits (negative or positive), limit switches
are activated and the display changes accordingly. Activating the negative limit
switch for an axis triggers the Home switch for that axis. Note that the R axis has a
Home switch, but not a limit switch.
•
If the Limit switches remain
off
at all times, verify that the signal cable, robot
internal interface, and Flex-PCB are securely connected.
•
If the Limit switches remain
on
at all times, unplug the signal cable. If limit
switch then turns off, replace the limit switch assembly. If the limit switch
remains on, replace the signal cable or Galil board.
T: XXXXXXX
R: XXXXXXX
Z: XXXXXXX
Move Axes
T: [-] [H] [+]
R: [-] [H] [+]
Z: [-} [H] [+]
Act. Limit Switches
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