Operation
MagnaTran 7.1 User’s Manual
Discrete I/O Control (DIO)
MN-003-1600-00
Brooks Automation
6-50
Revision 2.2
R POSITION
Used in MOVE Type GOTO. The arm will extend or retract at the spec-
ified station.
NOTE:
The EXTEND position is defined using the CDM or the serial interface.
The RETRACT position is usually the factory set retract position.
Z POSITION
Used in MOVE Type GOTO. The arm will move up or down in the Z
axis at the specified station. Z motion is performed at the RETRACT
position if radial motion is also specified. Any Z motion may be per-
formed if the arm is already EXTENDED at the station.
NOTE:
Up and down positions are defined using the CDM or the serial
interface.
Table 6-14: DIO R POSITION
LOW
HIGH
OPTION A
GOTO EXTEND
GOTO RETRACT
OPTION B
GOTO RETRACT
GOTO EXTEND
Table 6-15: DIO Z POSITION
LOW
HIGH
OPTION A
GOTO UP
GOTO DOWN
OPTION B
GOTO DOWN
GOTO UP
