Vacuum Robot Manual
4000-0315 Rev 1
55
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. Note that if the space is too confined, you will
not be able to test 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.
STEP #12 (ROBOT I/O’S)
This step tests the output connections for Port A and reads the input for
Port F.
Use the number keys, 0 to 7, to toggle the eight output bits. The first five
bits should toggle, indicating the connections are working. The last three
bits do not toggle.
To exit Diagnostics, press CTRL + ESC.
T: TTTTTTT
R: RRRRRR
Z: ZZZZZZZ
Move Axes
BYTE #: 01234567
OUT 00000111
IN 11111111
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