K465i Operations and Maintenance
P/N 1212831 Rev C
Page 4-46
Copyright
©
2012
Veeco Instruments, Inc. Confidential
All Rights Reserved
ROBOT AXIS IDENTIFICATION
The Genmark GB-9 robot moves along three separate axes. The rotation of the robot
around it’s center is called the T-axis (Figure 4-13). The extension and retraction (horizontal
movement) of the end effector (fork) is referred to as the R-axis (Figure 4-13). The
movement of the robot platform in the vertical direction is called the Z-axis. A separate
servomotor controls each movement axis. There are three elevator motors controlling the Z-
axis location (Figure 4-14). The robot uses encoders that are attached to the servomotors to
determine its position and amount of movement.
Figure 4-13. Robot Station Labels
T-Axis - 1 deg = 1,000 units
R-Axis - 1 inch = 10,000 units
Z-Axis - 1 inch = 10,000 units
Figure 4-14. Top View Z Axis Elevator Motor Locations
