Scara Mechanical Unit Manual
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7.
Run CALIBRATION program
8.
Restart the cabinet
9.
Via Motion Perfect, make sure the Ethercat network is operational. If not, restart Ethercat network
via Controller pane in Motion Perfect.
10.
Axis parameter ENCODER (previously of about 0) for each axis should now reflect the proximity of
the value executed in CALIBRATION program.
11.
Execute CALIBRATION program one more time
12.
Switch ON Master Enable and jog each axis with Motion Perfect Jog Axes window. This step confirms
axis setup procedure.
Fig 0.8 Motion Perfect Jog Axes window
6.2.3.
SCARA Definition
1.
Import ROBOT_DEFINITIONS file
2.
Run ROBOT_DEFINITIONS file. Notice the axis parameter values have been modified to match the
SCARA definition.
3.
Make sure the inputs are all set to allow robot to move. Expected input states are as shown below.