MagnaTran 7.1 User’s Manual
Command Reference
MN-003-1600-00
Set Station Option VIA Point
Brooks Automation
Revision 2.2
8-145
Set Station Option VIA Point
Purpose
Sets, for the specified station, the VIA point for Off-Center PICK and PLACE func-
tions. The VIA is defined as the point which the end effector moves go through to per-
form a Compound Move (curved move).
Format
SET STN station [[ARM]arm] OPTION VIA [POST|POSR] value
Arguments
station:
Station number
Range 1 - 25
arm:
Arm descriptor
Range A, B
Default: A
The arm descriptor must be specified only to pick with Arm B.
The “ARM” identifier is optional.
POST value :
The theta coordinate of the VIA point in millidegrees.
POSR value :
The radial coordinate of the VIA point in microns.
A non-zero value for POSR causes Compound Moves to occur
for the designated station.
Setting this value to zero causes only straight moves to occur for
the designated station.
NOTE:
At least one argument must be specified. If the ALL argument is specified no other
argument name may be specified.
Description
This command is used with additional stations setting to perform compound moves
rather that traditional pure radial moves by introducing a VIA point. This point acts
as a calculation from which the end effector must go through before entering a station.
Firmware Version V1.01
