Vacuum Robot Manual
4000-0315 Rev 1
52
• If the Limit switches remain on at all times, unplug the signal cable. If
limit switch then turns off, replace the limit switch assembly. If the
limit switch remains on, replace the signal cable or Galil board.
STEP #5 (AMP. BOARD SETUP)
Do not perform Step 5. Press the >>> key to advance to the next step.
STEP #6 (AMP. MODULE SETUP)
Do not perform Step 6. Press the >>> key to advance to the next step.
STEP #7 (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.
In the display, XXXX TL is the torque limit being sent to the
corresponding motor, and YYYY is the current torque limit setting.
To test the continuous action of the amplifier modules:
1. Set the torque limit (TL) to 3333 by pressing the > and < buttons as
needed.
2. Without pushing on the outer link, manually move one axis at a time.
You should feel the motor apply a counter-directional force smoothly
and continuously without jerking.
Repeat Step 2 for another axis. At higher torque settings, be careful to not
apply too much force because the belts might slip.
T: XXXX
R: XXXX TL
Z: XXXX YYYY
Move Axes
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