Strasbaugh nTellect 7AF - Step #10 (Scaling Factor Test)

Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
88
To set the Home offset:
1. The robot homes to its Radial axis and then moves to its COP.
2. You are prompted to determine if the offset is correct. If the upper
link is in the correct COP, press Y (Yes) and return to the Main Menu.
If it is not in the correct COP, press N to correct it. The servo motor is
turned off; manually move the R-axis to its COP and press the HERE
button. To return to the Main Menu without making a correction,
press ESC.
3.
If you established a new Home Offset in this step, save it to NVSRAM
by issuing these commands:
RSA A
SAV
STEP #10 (SCALING FACTOR TEST)
Use Step 10 to verify the scaling factor on each axis or to verify that the
Mechanical Ratio parameter is correct. The R axis is not linear with
respect to encoder counts. The scaling factor algorithm needs the precise
Zero position of the R axis.
Before executing this test, make sure you HOME the R-axis (Step 9 or
HOME R command in Terminal mode). You need a measuring device.
The display reads:
where TTTTTT is the position of Theta in 0.01°, RRRRRR is the Radial
position expressed in 0.001-in., and ZZZZZZ is the Z-axis position
expressed in 0.001-in. units.
Manually move the axis you want to check. Measure the physical
movement, that is, the displacement of the axis, not the absolute position.
Compare the result with the reading on the Teach Pendant.
T: TTTTTTT
R: RRRRRR
Z: ZZZZZZZ
Move Axes