Qualstar XLS Series Installation Manual page 162

11.3 Calibrating an Expansion Pod Equipped Library
11.3.2 For Right Side Expansion Pods
1. Insert the Gripper Alignment Cartridge into slot 30 - column A (A-30) of the right
side expansion pod. Make sure the tool is fully inserted and seated in the slot.
2. Move the gripper assembly over until it is positioned under the Gripper
Alignment Cartridge.
3. Turn the gripper assembly Theta-axis (330 degrees rotation of the gripper
assembly) until the gripper is aligned with the Gripper Alignment Cartridge.
4. Slowly raise the X-Beam by hand until the gripper assembly is touching the
bottom of the Gripper Alignment Cartridge.
Figure 11-15 Gripper alignment cartridge seated on the gripper assembly
Note: Make sure the gripper alignment cartridge is aligned with the gripper assembly
guide rod. Please verify this alignment using a flashlight. You may need to adjust
the gripper alignment cartridge up and down to insure that it is properly seated
with the front and back of the gripper assembly and the cartridge slot.
5. From the Robot section in X-link, select Get Robot Status to read the robot
positions.
6. Record the robot XPOS (X Position) and TPOS (Theta Position) (yaw).
7. Repeat this alignment procedure at least 3 to 6 times until you see consistent
reading results.
11-16
501601 Rev. 07-01-19