Atmospheric Pre-aligner Manual
4000-0015 Rev 1
36
Running Diagnostic Tests
Equipe provides Diagnostic tests to troubleshoot the Pre-aligner. Pre-
aligner Diagnostics are available only with the Teach Pendant, not with
EQT. Refer to the User Interface Manual for detailed information on
using the Teach Pendant.
The Pre-aligner Diagnostic Mode has 10 or 11 steps:
• For a system with only a pre-aligner, you have Steps 1 to 11 without
Steps 5 and 6, as shown in the first column in the table below.
• If you have an integrated system with both robot and pre-aligner, you
have Steps 14 to 24, as shown in the second column below.
The diagnostic tests are presented in numerical order in this chapter, but
you can run any test by itself as needed.
PRE INT Test Purpose Warnings and Cautions
1 14 NVSRAM Verify that NVSRAM is
correctly formatted and all
required files are available.
2 15 Galil and I/O Verify that the Galil board and
I/O ports are functioning
correctly. Do not use to test
external I/O.
If this test fails, you
cannot run any other
steps.
3 16 Encoder Read Verify that the controller
receives the correct encoder
feedback from the pre-aligner
Ensure the pre-aligner
signal cable is securely
connected.
4 17 Limit & Home Test the limit and home
switches.
Ensure the pre-aligner
signal cable is securely
connected.
7 18 Servo Check servo motors for all three
axes of 200 and 300 series. For
the PRE-050 and PRE-350,
checks t axis servo motor.
Run only if Encoder
Read test passed.
8 19 Home Test and
Set
Use if belt slipping is suspected
or after replacing robot parts
that require detaching belts.
Ensure all belts, pulleys,
motors, and so on are
securely attached.
9 20 r and z Home
Offset
Sets the physical Home for pins
with z axes.
Ensure no limit switch is
triggered.
10 21 Scaling Factor Check mechanical ratio. Ensure the pre-aligner
signal cable is securely
connected.
11 22 Vacuum
Valve/Sensor
Check vacuum sensor
adjustment.
Ensure vacuum source is
connected.
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