MagnaTran 7.1 User’s Manual
Operation
MN-003-1600-00
Discrete I/O Control (DIO)
Brooks Automation
Revision 2.2
6-57
velocity does not allow the robot to stop immediately, it minimizes decelera-
tion and consequently reduces the possibility of wafer motion relative to the
end effector and of subsequent wafer damage.
2.
If a fault or error condition occurs, and any axis becomes un-referenced, nor-
mal motion is not resumed following re-assertion of the DRIVE ENABLE bit.
The robot must be re-referenced according to the Enable DIO Initialization
Sequence in the previous section.
3.
If CDM control is released to DIO control while the robot arm is not fully
retracted, then the robot proceeds in a safe sequence to the position defined by
the current DIO inputs. However, Brooks Automation does not recommend
that the CDM control be released while in non-station coordinate mode, such
as JOG or ABS. This could result in a fault or error condition under certain cir-
cumstances. Instead, Brooks recommends placing the robot into station coor-
dinate mode by selecting the MOVE function before releasing the CDM.
