Operation
MagnaTran 7.1 User’s Manual
Theory of Operation
MN-003-1600-00
Brooks Automation
6-16
Revision 2.2
Hardware Memory Structure
The internally mounted control boards feature both volatile and non-volatile memory
consisting of random access memory (RAM), and a disk-on-chip (DOC). The disk-on-
chip holds the control program, version, build date, a complete library of application
specific parameters, an event log, and a factory-loaded set of working parameters.
The default application specific parameters are listed in Chapter 8 with each specific
command setting and on the QR. The arm parameters have been set for the arm
geometry ordered and the robot has been optimized for the specific application.
The user must set-up the robot for the specific user configuration by storing the actual
station parameter to non-volatile memory on the disk-on-chip. Every time the robot is
started or reset, the values of all parameters stored in non-volatile memory are loaded
into RAM for active use by the controller. Using non-volatile memory, the robot is
able to store a unique set of station parameters described in
, for each of the
sixteen possible stations. The STORE command must be used to load the parameters
into non-volatile memory on the disk-on-chip.
NOTE:
Any or all of these values can differ from station to station.
Table 6-3: Station Parameters
Station Storable Parameters
Description
R
The full radial extension in increments of 0.001
mm.
T
The rotational position, Theta, in increments of
0.001 degrees over a range of 360
o
.
BTO
The Z axis location, in microns, of the Wafer
Transfer Plane, which is also the Up position of
the robot arm in Station 1.
LOWER
The distance in microns below the Wafer Trans-
fer Plane at which the Down position of the
robot arm is located.
NSLOTS
The number of slots at that station.
PITCH
The uniform distance, in microns, between the
slots.
