MagnaTran 7.1 User’s Manual
Operation
MN-003-1600-00
Control/Display Module (CDM) Operation
Brooks Automation
Revision 2.2
6-63
Control/Display Module (CDM) Operation
The CDM may be plugged into or removed from the robot at any time.
All major functions available through the robot’s control software are available
through the CDM.
The CDM is designed to be easy to use and self explanatory.
Power Control
On/Off (CDM Mode)
When the CDM is turned on, it will identify itself to the user with the following
message:
BROOKS AUTOMATION
Next, it prompts for selection of the control mode to allow control and moni-
toring of the robot.
When the CDM is turned off, it relinquishes control of the robot to the host con-
troller.
NOTE:
The CDM does not relinquish control of the robot until it is turned off.
Unplugging the CDM while it is turned on will not return control of the
robot to the host controller.
The CDM will run an internal check upon power-up to determine if the
robot is in DIO control mode.
Emergency Stop (Standard)
The CDM Emergency Stop (EMS) button is located on the top of the CDM as
shown in
. To initiate an Emergency Stop, press down on the but-
ton.
The CDM Emergency Stop button will halt any robot motion currently in
progress and release servo control of the robot arms. An “Error, Emergency
Stop circuit is Active”, error 10029, will be displayed on the CDM (if the CDM
is turned on) and on the serial controller. All arm position data and arm refer-
encing will remain.
