MagnaTran 7.1 User’s Manual
Operation
MN-003-1600-00
Discrete I/O Control (DIO)
Brooks Automation
Revision 2.2
6-51
ACCELERATION ARM A
Changes the arm ‘A’ speed. Arm motions may have two speeds.
Slow: velocities and accelerations safe for wafer transport
Fast: higher velocities and accelerations when no wafer is on
the end effector.
NOTE:
The actual speed of the arms is determined by both the End Effector
‘A’ and End Effector ‘B’ parameters.
Full speed will only be
achieved if both end effectors are empty.
ACCELERATION AT ARM B
Changes the arm ‘B’ speed. Arm motions may have two speeds.
Slow: velocities and accelerations safe for wafer transport
Fast: higher velocities and accelerations when no wafer is on
the end effector.
NOTE:
The actual speed of the arms is determined by both the End Effector
‘A’ and End Effector ‘B’ parameters.
Full speed will only be
achieved if both end effectors are empty.
Table 6-16: DIO Acceleration Arm A
LOW
HIGH
OPTION A
HIGH speed
LOW speed
OPTION B
LOW speed
HIGH speed
Table 6-17: DIO Acceleration Arm B
LOW
HIGH
OPTION A
HIGH speed
LOW speed
OPTION B
LOW speed
HIGH speed
