MagnaTran 7.1 User’s Manual
Command Reference
MN-003-1600-00
Go To Station with Offset
Brooks Automation
Revision 2.2
8-37
Description
Any or all of the data-fields may be specified on a single command line. If the arm is
not already at a station, N must be specified as part of the command. Otherwise, a
“not at station” error will occur. All motions will follow the speed and acceleration
profile appropriate for the currently defined load.
NOTE:
The LOAD command may be used to define the load status of the robot’s arms
before executing the GOTO command.
The software applies the following limit checks:
•
Theta position between the minimum and maximum allowed (0
o
and 360
o
)
•
Z position between the minimum and maximum allowed, based on the arm
geometry
•
R position between the minimum and maximum allowed, based on the arm
geometry
For multi-axis moves, the following sequence of checks and motions occur in the
order given for the currently defined load:
•
If “N” is specified (station #), or if “SLOT” is specified, or if “R RE” (retract) is
specified, the arm will retract if it is not already retracted.
•
The rotation axis (variable N) and the Z axis (variables SLOT and Z) will move
to their target locations simultaneously. If N is specified and SLOT is not, the
slot is assumed to be #1. If N is specified and Z is not, the position is assumed
to be Down.
•
The arm will extend if so commanded. If no arm is specified, ARM A will
extend. This means that unless the arm is explicitly commanded to extend as
part of a GOTO command that specifies a Station or Slot number, it will remain
in the retracted position. This is true even if the arm is already at the specified
Station or Slot number.
See Also:
MOVE, PICK, PLACE, RQ POS DST
Examples
In the following example arm ‘A’ is currently extended in station #5, slot #2 and in the
down position. The arm will move to the up position without retracting.
