MagnaTran 7.1 User’s Manual
Operation
MN-003-1600-00
Wafer Presence Sensors-Extend and Retract
Brooks Automation
Revision 2.2
6-37
NOTE:
If the Successful Action Test fails, all robot motion will have been com-
pleted.
There is no need to clear the error before issuing another command.
Servo Position Recording
During any operation the robot performs, the position of the servos for all three axis
may be recorded at a specific sensor location. Each time the specified sensor makes a
state transition from either a high to a low or from a low to high, the servo position
data and the type of sensor transition will be recorded for a maximum of ten transi-
tions.
NOTE:
The sensor's configuration does not affect the triggering of servo data collection
and all servo position and transition data is stored in a table that may be read at any
time.
Only one sensor may be configured to collect servo position data at a time.
Enabling another sensor will clear all existing data from the Servo Position Table.
Sensor Interface Specifications
The robot is designed to accept inputs from any sensor that provides an open collector
current sink. The sensor must be capable of meeting the requirements described in
MISC I/O Communications on page 5-9
. The robot provides power and ground for all
sensors, refer to the connector pin-outs provided in
Chapter 5: Operational Interfaces
for more information.
Ex/Re Sensor Commands
The following commands are used to create, define and verify the Extend/Retract
Sensors:
Set Station Sensor on page 8-147
Request Station Sensor on page 8-108
Go To on page 8-33
Set Interlock on page 8-128
Request Interlock on page 8-80
