Operation
MagnaTran 7.1 User’s Manual
Off Center PICK and PLACE Feature
MN-003-1600-00
Brooks Automation
6-42
Revision 2.2
Off Center PICK and PLACE Feature
The Time Optimal Path Off Center PICK and PLACE (OCP) feature allows the robot
to execute compound move trajectories which are not limited to pure radial moves.
•
Eliminates Traverser requirement
•
Simultaneous rotation and extension
•
combination of straight lines and curves
•
works with all Brooks MagnaTran robots and arm sets
•
Allows PICK and PLACE to cassettes and pods off the radial axis without
interference
•
Utilizes Time Optimal Path™ trajectories
•
Utilizes BAI command structures
•
Minimizes unnecessary acceleration and deceleration experienced with
sequential moves
•
Computational efficient implementation using pre-defined Optimal Trajectory
segments where a single constraint is active
shows that the end effector first moves through an intermediate (VIA)
point on the way to its final destination.
