Command Reference
MagnaTran 7.1 User’s Manual
Pick
MN-003-1600-00
Brooks Automation
8-54
Revision 2.2
Pick
Purpose
Causes the 3-Axis robot arm to pick a wafer from a specified station and slot number.
Format
PICK station [SLOT slot] [[ARM] arm]
Arguments
station:
The number of the station from which to pick. Range: 1-16.
SLOT slot:
The number of the slot from which to pick. At a multi-slot station, the
slot number must be specified only to target a slot number other than
one.
ARM arm:
The arm (A or B) which will perform the pick. The default is Arm A.
The arm descriptor must be specified only to pick with Arm B. The
“ARM” identifier is optional.
Description
The speed and acceleration at which the robot moves during a PICK operation is
dependent on the status of the pans: with or without wafers. In any case the robot
always moves at “with wafer” (slow) speed and acceleration for all three axes, when
there is a wafer on one of the arms. If both arms are empty, the robot uses high speed
for all three axes. If a PICK failure occurs, all motions will be performed at “with
wafer” speed until a successful material hand-off has been accomplished.
NOTE:
The PICK command is meant to be used with robots that have the Z-Axis option
installed. If using a 2-axis robot, this command may also be used for PICK and
PLACE commands but no Z-Axis motion will occur. No error will be issued.
During a PICK operation, the MagnaTran 7 robot executes the following sequence of
moves.
•
Retracts the arm using a speed and acceleration profile appropriate for the cur-
rently defined load.
•
Simultaneously moves downward and rotates to the Down position at the Sta-
tion and Slot number specified using a speed and acceleration profile appropri-