Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
vii
Coordinate File...........................................................................................................30
Robot Parameter File..................................................................................................30
Moving and Homing a Robot Axis................................................................................30
Facilities Requirements....................................................................................................33
Environmental................................................................................................................33
Electrical ........................................................................................................................33
Installing the Robot..........................................................................................................35
Unpacking......................................................................................................................35
Mechanical Setup...........................................................................................................36
Moving the Robot or Robotic System ...........................................................................36
Attaching the Robot to the Frame..................................................................................38
Leveling .........................................................................................................................38
Connecting the Robot and Controller ............................................................................40
Accessing a User Interface.............................................................................................42
Connecting the Teach Pendant ...................................................................................42
Installing the EQT 32 Interface ..................................................................................44
Verifying Connections...................................................................................................45
Adjusting the Vacuum Sensor .......................................................................................46
Verifying Vacuum Sensor Connections.........................................................................47
Safety Verification.........................................................................................................47
Teaching and Operating ..................................................................................................49
Robot Axis and Station Naming Conventions...............................................................49
Commands and Macros for Robots................................................................................50
Coordinate File...............................................................................................................50
Teaching Stations...........................................................................................................52
Setting the Optional Z-Axis Brake.............................................................................53
Teaching a Robot Only...............................................................................................54
Teaching a Robot and Pre-Aligner.............................................................................55
Scanner Mapping ...........................................................................................................57
Teaching the Scanner Mapping..................................................................................58
Teaching the Scanner in Special Situations................................................................60
Robot Parameter File .....................................................................................................61
Adjusting Robot Parameters.......................................................................................62
Flipper End Effector ......................................................................................................63
Accessing Galil Mode ................................................................................................63
Finding the Home Switch...........................................................................................63
Applying Tension to the Spring..................................................................................63
Defining the 180-degree Flip......................................................................................64
Saving the Positions ...................................................................................................65
Testing the Flipper......................................................................................................65
Maintenance and Diagnostics .........................................................................................67
Shipping and Storage.....................................................................................................67
Diagnostics for the Robot ..............................................................................................68
Using EQT to Run Diagnostics..................................................................................69
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