Atmospheric Single-Arm Robot
Maintenance
User’s Manual
Using the Teach Pendant to Run Diagnostics
Brooks Automation
Revision 1
9-37
If the Distance to Index is too short, the controller can miss the first occurrence of the
index signal because it occurs too soon after the home switch signal. Thus, the motor
is required tomove one more revolution to generate the signal. At a particular dis-
tance, this does not happen every time and thus creates two different home positions,
where the second home is too far.
Step 8 determines the Distance to Index, evaluates it, and assists in making the correc-
tion. The operation is as follows:
1.
Press Enter. The Amplifier board initializes. If there is no closed loop, the test
stops. If this happens, check the connection.
2.
You are prompted to select an axis to home. Use the toggle buttons to select the
axis.
3.
The axis homes, stopping at the home switch and then at the index mark. The
Distance to Index is displayed in encoder counts. (One revolution is 4 times the
encoder pulses per channel.)
4.
If the Distance to Index is corrupt, you are prompted to move the axis to a
GOOD
position. This is the position where you can release the belt attached to
the motor. Press ESC to start over or press Enter to Continue.
5.
You are prompted to lock the axis so it cannot move. Release the belt. When
you are finished, press ESC to start over or press Enter to continue.
6.
While the motor is moved to position, the display reads
MAKING CORREC-
TION…
4. D
istance to Index
H
om
e Sw
itch
2. M
ove to H
om
e Sw
itch
1. A starting position
Index
Index
3. M
ove to Index
H
om
e Sw
itch
Index
H
om
e Sw
itch
Figure 9-17: Hojming the Z Axis
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