Vacuum Robot Manual
4000-0315 Rev 1
46
Scaling Factor Test
To verify the scaling factor on each axis or to verify that the Mechanical
Ratio parameter is correct, select the Scaling Factor test. The R-axis
position is not linear with respect to encoder counts. The scaling factor
algorithm requires the precise Zero position of the R axis to be at the COP.
The position of Theta is expressed in 0.01°, Radial in 0.001 in, and Z-axis
position in 0.001 in units. Before executing this test, be sure that the R
axis is homed. You will need a measuring device.
Move the R-axis. Measure the physical movement, that is, the
displacement of the axis, not the absolute position. Compare your result
with the reading on the screen.
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