MagnaTran 7.1 User’s Manual
Command Reference
MN-003-1600-00
Set Low Speed
Brooks Automation
Revision 2.2
8-135
Set Low Speed
Purpose
Sets the force low-speed option on.
Format
SET LOSPD speed
Arguments
speed:
Y forces the next motion (complex or primitive) to operate at the “with
wafer” (low) speed.
N forces the next motion (complex of primitive) to operate at the normal
speed for that command.
Description
Since the wafer is held in position on the end effector only by friction, high speed
motion is likely to cause misalignment of the wafer relative to the end effector. To
prevent this, the only allowed high speed motions are as follows:
The “without wafer” velocity and acceleration will be used only during the ini-
tial motions in a PICK and the final motions in a PLACE, and is selected by the
robot based on the PICK/PLACE history of both arms.
The SET LOSPD command allows the operator to ensure that the arm will move at
low speed throughout an entire command such as PICK or PLACE.
To ensure the safest operation, slower forced speed commands will overwrite faster
forced speed options, but faster forced speed commands will not overwrite slower
forced speed commands. To turn off any of the forced speed options use the N argu-
ment.
NOTE:
This option cannot be stored in non-volatile memory since it toggles back to N after
the subsequent action command. LOSPD is always set to N at power-up.
