Command Reference
MagnaTran 7.1 User’s Manual
Request Position Absolute
MN-003-1600-00
Brooks Automation
8-90
Revision 2.2
Request Position Absolute
Purpose
Returns, for the specified axis, the actual position of the pan in absolute coordinates
for the specified arm.
Format
RQ POS ABS [[ARM]arm] [R] [T] [Z]
or
RQ POS ABS [[ARM]arm] ALL
Response
POS ABS [r-location] [t-location] [z-location]
or
POS ABS r-location t-location z-location
Arguments
ALL:
Specifies R, T, and Z in the order presented in the command format.
ARM arm:
Field size: 1
The arm for which the pan location is being measured. If unspecified,
the response will be for the default arm, Arm A.
The “ARM” identifier is optional.
r-location:
Response field size: 7
The current R axis location of the robot arm in microns (m) (.001 mm).
t-location:
Response field size: 6
The current T axis location of the robot arm in 0.001 degrees.
z-location:
Response field size: 6
The current Z axis location of the arm in microns (m) (.001 mm).
NOTE:
At least one argument must be specified. If the ALL argument is specified no other
argument name may be specified.
