Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
72
Encoder Read Test
Use this test to verify that the controller receives the correct feedback from
the robot. Before you move an axis, make sure the robot signal cable is
securely connected.
As you manually move one axis, observe whether the number counts up or
down. As an axis moves in the positive direction, the number should
count up and as it moves in a negative direction, the number should count
down. The number should count smoothly, one increment at a time.
If this test fails for an axis, use a test motor to test the encoder input. If the
test succeeds with the test motor, replace the failing motor and encoder.
If this doesn’t resolve the problem, replace the robot signal cable. If the
problem persists, replace the robot interface board. If the problem
persists, replace the Galil board. If the problem persists, replace the Flex-
PCB. Finally, replace the motor.
Limit and Home Test
Before you move the axes to activate the switch indicators, make sure the
robot signal cable is securely connected.
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