96
Troubleshooting and Test Functions
Intermittent lock-ups with or without vial in the gripper fingers
Step 6 Check the tension of the belts.
For this use the Tor q u e 2. m a c and measure the torque for each axis.
NOTE If the Gripper open/closed torque is not in the range, proceed with STEP 7. If
the theta or X torque is not in the range, proceed with STEP 8 (if you think you
can adjust the torque), otherwise proceed with STEP 9.
Step 7 Exchange the gripper arm assembly (part number G1313-60010).
Step 8 Adjust the belt tension.
• If the measured torque value is too low, the belt needs to be tightened.
• If the measured torque value is too high, the belt needs to be loosened.
For this, slide the motor (X or theta) on the holder bracket in the appropriate
direction and test the tension with the torque2 macro. Repeat this steps until
the values are in the appropriate torque range.
Step 9 Exchange the sample transport assembly (part number G1313-60009
or G1329-60009).
Step 10 Exchange the main board (part number G1313-69520 or
G1329-69520).
Typical ranges Theta (both) 30-50
X-axis (both) 50-90
Z-axis (both) 90-130
Gripper open 30-65
Gripper closed maximum 30
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