Service and Maintenance

This section provides information on how to service and maintain your Trossen Arm hardware.

Cable Replacement Guides

See the cable replacement guides for detailed instructions on how to replace the cables in the Trossen Arm.

Motor Replacement Guides

See the motor replacement guides for detailed instructions on how to replace the motors in the Trossen Arm.

Arm Homing

If a motor is replaced or if the arm loses its position for any reason, it is necessary to home the arm. The process for homing the arm is as follows:

1. Power off the arm.

2. Remove the gripper fingers or paddles from the gripper carriages.

3. Install the homing jigs on the base and wrist rotate motors.

   Base Motor Homing Jig	Wrist Rotate Motor Homing Jig

4. Close the gripper carriages such that they are both in contact with the retainer bearing housing.

   

5. Power on the arm.

6. Download, unzip, and run the Trossen Arm Homing script.

7. Follow the instructions in the script to home the arm.

8. Power off the arm.

9. Remove the homing jigs from the base and wrist rotate motors.

10. Reinstall the gripper fingers or paddles on the gripper carriages.

11. Your arm is now homed and ready for use!