Strasbaugh nTellect 7AF - Page 2264

Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
viii
NVS-Ram Test ...........................................................................................................69
Galil and I/O Test .......................................................................................................70
Encoder Read Test......................................................................................................72
Limit and Home Test..................................................................................................72
Servo Test...................................................................................................................73
Home Test and Set......................................................................................................74
R-Home Test and Set..................................................................................................75
Scaling Factor Test.....................................................................................................76
Vacuum Valve and Vacuum Sensor Test...................................................................76
Scanning Test .............................................................................................................77
Using the Teach Pendant to Run Diagnostics ............................................................78
STEP #1 (NVSRAM Test).........................................................................................78
STEP #2 (GALIL & I/O TEST).................................................................................79
STEP #3 (ENCODER READ TEST).........................................................................82
STEP #4 (LIMIT & HOME TEST)............................................................................82
STEP #5 (AMP. BOARD SETUP) ............................................................................83
STEP #6 (AMP. MODULE SETUP).........................................................................83
STEP #7 (SERVO TEST) ..........................................................................................83
STEP #8 (HOME TEST & SET)................................................................................84
STEP #9 (R-HOME TEST & SET)............................................................................85
STEP #10 (SCALING FACTOR TEST)....................................................................88
STEP #11 (VAC. VALVE/SENSOR)........................................................................89
STEP #12 (ROBOT I/O’S).........................................................................................89
STEP #13 (SCANNING)............................................................................................90
Troubleshooting ...............................................................................................................91
Common Problems ........................................................................................................91
Frequently Asked Questions..........................................................................................92
Checking Robot Status...................................................................................................94
Cause and Recovery for STAT Messages..................................................................95
Checking NVSRAM with RNCS Command .............................................................97
Checking Limit Switch Status with the RLS Command............................................98
Using the GLST Command......................................................................................101
Problem Causes and Suggested Actions......................................................................102
Aftermath Analysis......................................................................................................106
Appendix A: Approved Laser Scanners........................................................................107
Appendix B: Circuit Drawings .....................................................................................109
Glossary of Acronyms, Abbreviations, and Terms........................................................115