Command Reference
MagnaTran 7.1 User’s Manual
Set Station Sensor
MN-003-1600-00
Brooks Automation
8-148
Revision 2.2
Description
The SET STNSENSOR command is used to assign a sensor to a specific robot station
and configure the sensor for operation. The sensor must be fully configured if it will
be used for wafer detection or for triggering servo position data collection.
The sensor number corresponds to I/O input. For example, number 1 corresponds to
I/O input 1, sensor number 2 corresponds to I/O input 2, etc.
The referenced Radial Motion sensor (R_MT) requires POS R coordinates (r_coord)
and POS T coordinates (t_coord). If sensor type is R_MT and the coordinates are not
defined or are defined as zero, an error will be returned. See
The SET STNSENSOR command automatically creates a new I/O in the robot I/O
map. The new I/O will name will appear as SET station arm STNSENSOR where sta-
tion is the tow digit station number and arm is the arm letter.
To “un-set” a wafer sensor, enter the following command:
SET STNSENSOR TYPE NONE
Notes:
•
If the sensor type is R_MT and r_coord is not defined, an error is reported.
•
If the sensor type is R_MT and t_coord is not defined, the t_coord is set to zero
and no offset for that station is assumed.
•
If the sensor type is not R_MT, then the r_coord and t_coord options are not
available.
See also:
Operational Interlocks on page 6-23
for a complete description of how
to setup this command with examples
Request Station Sensor on page 8-108
Store Station Sensor on page 8-169
Examples
In the following command, the automatic I/O name will be set as: STN03BSENSOR.
SET STNSENSOR 3 ARM B TYPE R_MT ACT LO SEN 17 POS R 700000 POS T 10000
