Alignment and Calibration
MagnaTran 7.1 User’s Manual
Teaching Arm B of the Dual Arm Sets
MN-003-1600-00
Brooks Automation
7-18
Revision 2.2
Teaching Arm B of the Dual Arm Sets
Once the robot’s R, T, and Z axes have been set up for all stations (transfer and process
modules) for arm A, it is necessary to teach all stations for arm B.
NOTE:
This procedure must be performed during initial setup and at any time that the
robot’s arms or end effector(s) are damaged, removed and replaced, or changed.
Required Tools and Test Equipment
•
The robot’s Control/Display Module (CDM)
Adjustment/Calibration Strategy
This procedure sets the R, T, and Z axes for arm B by calculating their positions based
upon the values obtained for arm A. Brooks Automation MagnaTran 6 and MTR/
VTR5 users can employ the same teaching techniques used on these previous robots
while using one of the compatibility modes (see
Configuration Compatibility Com-
).
Teach Arm B Procedure I
1.
Set the R, Z, and LOWER position for each station to the same values used for
the arm A.
2.
Verify all stations for pan B by repeating the alignment procedures for pan B
using the station definitions just entered from pan A as a starting point.
•
Calculate new theta positions for pan B by adding 180° to the Theta val-
ues obtained for pan A if the Theta value is < 180°.
Table 7-1: Arm B Teaching Procedure
Robot mode
Teaching Procedure
MagnaTran 7 standard commands
Teach Arm B Procedure I
MagnaTran 7 using MTR/VTR5 compatibility, dual
coordinate system
Teach Arm B Procedure I
MagnaTran 7 using MagnaTran 6 compatibility,
singe coordinate system
Teach Arm B Procedure II
