Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
64
current position, you add tension in increments of 50 or 100 steps. The
number of steps should not exceed 400.
Use the PR command to specify a move a number of steps, the BG
command to begin the motion, and the RP command to read the final
position, which should be less than 400.
Enter: To:
PR ,,, 100 Position Relative Move axis from current position for 100 steps
PR ,,, 50 Position Relative Move Axis from current position for 50 steps
BGW Begin motion for the W axis
RPW Read reference (current) position for the W axis
Continue to add steps and test spring tension and level until it is
satisfactory. Use the RPW command to verify that the number is less than
400. Edit the auxiliary parameter file and make your RPW value the home
offset for W.
Defining the 180-degree Flip
To find the number of steps required for the Flipper to complete a 180-
degree flip and apply enough tension to the spring, follow these steps.
1. To redefine the current position as 0, enter:
DP,,,0
2.
To position the axis 5000 steps from the move position and then move
the flipper, enter:
PR,,,5000
BGW
3. Until you have enough tension, add steps in 50 or 100 increments,
using either PR,,,50 or PR,,,,100.
4.
When the tension on the spring is enough, read the reference position
for the W axis. The reference position is the number of pulses
required to complete a 180 degree flip and should not exceed –5800.
Enter:
RPW
5. Write down the number. You will save the number to the station
coordinate file in the next step.
6. Exit Galil mode by pressing CTRL + I.
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