Operation
MagnaTran 7.1 User’s Manual
PASIV™ Safety Feature Operation
MN-003-1600-00
Brooks Automation
6-62
Revision 2.2
Tmax: Station T value
Zmax: For slots < 2 = Station Z value; For slots > 1 = Station Z value +
(pitch (slots - 1))
Defining Tmin and Tmax
Tmin can be set to a value less than, equal to, or greater than Tmax. The robot will
consider the area starting from Tmin and rotating clockwise to Tmax as the valid theta
workspace. By this definition, workspaces starting from Tmax and rotating clockwise
to Tmin, or starting from Tmin and rotating counterclockwise to Tmax are outside of
the workspace.
Assigning an Interlock to a Workspace
To define an interlock to a workspace, the corresponding input signal must already be
mapped. The mapped input signal must be of wither SVLV_SEN or SBIT_SVLV_SEN
type. Refer to
Operational Interlocks on page 6-23
for the description and operation of
the MAP command.
Once an interlock as been defined to a workspace, then the ability to access that work-
space is dependent on the state of the interlock. If the interlock signal indicates that
the slot valve is closed, then the workspace is considered inactive and movement into
it is prohibited. If the interlock signal indicates that the slot valve is open, then access
into the workspace is permitted.
PASIV™ commands
The following commands are used to create, define and verify the PASIV™ work-
spaces:
Create Workspace on page 8-26
Remove Workspace on page 8-68
Request Workspace Mode on page 8-117
Request Workspace AutoCreate on page 8-116
Set Workspace on page 8-153
Set Workspace AutoCreate on page 8-154
Set Workspace Mode on page 8-155
Store Workspace on page 8-173
Store Workspace AutoCreate on page 8-174
Store Workspace Mode on page 8-175
