Brooks Marathon Express - Verifying Flatness of Robot’s End Effector

Brooks Automation 9. Maintenance and Repair
Part Number: 605914 Rev. B Verifying Flatness of Robot’s End Effector
Step Action
4.
Reconnectallpower,communications,andairconnections,thenre-energizethesystemfollowingthe
"Power-upSequence"onpage79.
Verifying Flatness of Robot’s End Effector
Theendeffector(s)mustbeflattoensurepropersupportofthematerialbeinghandledbytherobot.
Thisprocedurechecksforthetopsurfacesofthematerialsupportsontheendeffectortobewithin
0.076mm(0.003in)ofeachotherandthatnopartoftheendeffectorrisesabovethelowest
materialsupport.
Thisproceduremustbeperformedduringinitialsetupiftheendeffectorissuspectedofdamage
duringshipmentandatanytimethattherobot’sarmsorendeffector(s)aredamaged,removedand
replaced,orchangedwhileinthesystem.Itisalsorecommendedthatthisprocedurebeperformed
asapreventivemaintenancepractice.
NOTE: Tosuccessfullyaligntherobotandtoobtainconsistentandprecisehandling
ofmaterial,thelimitsandtolerancesstatedinthisverificationproceduremustbemet.
ProcedureCategory
Type1Procedure:Equipmentisfullyde-energized.
RequiredToolsandTestEquipment
l
Granitesurfaceblock
l
Heightgauge
LimitsandTolerances
l
Maximumdeviationbetweensupports0.076mm(0.003in).
l
Nopointontheendeffector’ssurfacewillbehigherthanthelowestsupport.
Adjustment/CalibrationStrategy
Thisprocedureusesthegranitesurfaceblockasareferencepointtodeterminetheheightofeach
materialsupportontheendeffectorandtoensurethatnopartoftheendeffectorrisesabovethe
materialsupports.Turnoffanddisconnectallpower,communications,andairconnectionsas
detailedintheMeasurementProcedurebelow.
Copyright © 2023, Brooks Automation, Inc.
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