K465i Operations and Maintenance
P/N 1212831 Rev C
Page 4-52
Copyright
©
2012
Veeco Instruments, Inc. Confidential
All Rights Reserved
TROUBLESHOOTING
Note:
If you cannot determine why the robot transfer system is operating incorrectly, call
Veeco TurboDisc Operations at 1-8TURBODISC.
Symptom:
Loss of power to robot controller.
Actions:
1. Re-energize the robot controller.
2. Turn on the servomotors using the SVN command.
3. If a wafer carrier is on the fork perform the following actions.
a. Use the MVR command for the T, R and Z-axes to move the robot fork to the desired station. Small
increments are recommended.
b. Place the wafer carrier on the station.
4. Verify that the robot arm and fork are fully inside the Transfer Hub chamber. If either are not fully
inside the Transfer Hub chamber, use the MVR command for the T, R and Z-axes to move the robot
arm and fork inside the Transfer Hub.
5. Home the robot using the HOM command.
6. Restore the working speeds using the RSA command.
Symptom:
The robot arm has crashed into the chamber wall.
Actions:
1. Verify that the robot arm and fork are fully inside the Transfer Hub chamber. If it is not use the MVR
command for the T, R and Z-axes to accomplish this.
2. Home the robot by using the HOM command.
3. Check the fork to see if it is bent or damaged.
4. Check fork alignment. Verify that alignment is aligned with mark. If not centered when robot is in home
position, verify that the alignment plane is centered over the center mark of the upper link cover. If
alignment is necessary, align as follows:
a. Enter SVF to turn servomotors off.
b. Remove upper link cover and adjust cables in upper arm by equally tightening and loosening cables
to move arm side to side until fork is aligned as described in step 4, above.