Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
63
Flipper End Effector
The Flipper is controlled as the t axis in a 4-axis Galil system and a W axis
in an eight-axis system.
• In a four-axis system, the t values are the first of the three values for
each parameter in the PRExxxx.par file.
• In an eight-axis system, the W values are the first of the three values
for each parameter in the AUXxxxx.par file.
To customize the motion control for the flipper end effector, you use Galil
commands to define positions for the flipper axis. You can issue Galil
commands from either the EQT interface or the Teach Pendant.
Before you start, ensure that the Flipper is offset from 0 degrees to about
90 degrees.
Accessing Galil Mode
From Terminal mode, enter:
GALIL
A semi-colon (:) is displayed. The Galil prompt is a semi-colon. You
enter all Galil commands in UPPER CASE. Use commas to separate
parameters. Spaces are optional. The first two letters of the command
represent the function; additional letters represent an axis or a coordinated
sequence. In the commands used for setting up the flipper, the W
indicates the W axis.
To exit from Galil mode, press CTRL + I.
Finding the Home Switch
Enter Galil commands in the following order to find the edge of the home
switch for the W axis.
Enter: To:
SH W Servo Here for the W axis
FE W Find Edge of Home Switch
BG W Begin motion for W axis. Wait for the motion to complete.
RP W Read Reference Position for the W axis
DP ,,,0 Define Current Position of the W axis as 0
Applying Tension to the Spring
Find the motor position that will apply enough tension to the flipper spring
so it is held in a level position against the mechanical stops. From the
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