Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
73
This tests the Limit switches and Home switches. As you move each axis
to its negative and positive limits, the corresponding limit position
indicator should illuminate when the robot reaches each of the motion
stops. Activating the negative limit switches triggers the Home switch for
that axis. Note that the R axis has one limit switch, the negative limit or
home switch.
If the Limit switches remain off at all times, verify that the signal cable,
robot internal interface, and Flex-PCB are securely connected.
If the Limit switches remain on at all times, unplug the signal cable. If the
limit switch then turns off, replace the limit switch assembly. If the limit
switch remains on, replace the signal cable or Galil board.
Servo Test
Run the Servo Test only after you pass the Encoder Read Test. Before
you move an axis, make sure the robot signal cable is securely connected.
To test the continuous action of amplifier modules:
1. In the Set torque limit box, select the lowest torque limit.
2.
In the Servo box, toggle the servo on.
3. Manually move one axis at a time. You should feel the motor apply
counter-directional force smoothly and continuously without jerking.
4. Repeat Step 3 for another axis.
5. Increase torque limit and repeat.
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