MagnaTran 7.1 User’s Manual
Alignment and Calibration
MN-003-1600-00
Teaching Arm B of the Dual Arm Sets
Brooks Automation
Revision 2.2
7-19
•
Calculate new theta positions for pan B by subtracting 180° from the
Theta values obtained for pan A if the Theta value is > 180°.
•
Set the T position for each station for arm B to the calculated Theta posi-
tion.
3.
Adjust R, T, Z, and LOWER values for arm B by verifying the position of each
station for arm B, as required.
4.
Store all values.
Teach Arm B Procedure II
1.
Set the R, T, Z, and LOWER values for each station to the same values used for
arm A.
2.
Adjust R, T, Z, and LOWER values for arm B by verifying the position of each
station for arm B, as required.
3.
Store all values.
