Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
82
STEP #3 (ENCODER READ TEST)
Use this test to verify that the controller receives the correct feedback from
the robot. Before you move an axis as requested, make sure the robot
signal cable is securely connected.
As you manually move one axis, observe whether the encoder 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 smoothly.
If this test fails for an axis, use a test motor to test the encoder. If the test
succeeds with the test motor, replace the failing motor and encoder.
If this doesn’t resolve the problem, 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.
STEP #4 (LIMIT & HOME TEST)
Before you move the axes to activate the switch indicators, make sure the
robot signal cable is securely connected.
In the display, the symbols [–], [H], and [+] indicate the locations for
negative limit switch, home switch, and positive limit switch, respectively.
When you manually move the axes to their limits (negative or positive),
limit switches are activated and the display changes accordingly.
Activating the negative limit switch for an axis triggers the Home switch
for that axis. Note that the R-axis has a Home switch, but not a limit
switch.
•
If the Limit switches remain off at all times, verify that the signal
cable, robot internal interface, and Flex-PCB are securely connected.
T: XXXXXXX
R: XXXXXXX
Z: XXXXXXX
Move Axes
T: [-] [H] [+]
R: [-] [H] [+]
Z: [-] [H] [+]
Act. Limit Switches
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