MagnaTran 7.1 User’s Manual
Command Reference
MN-003-1600-00
Pick with an Offset
Brooks Automation
Revision 2.2
8-57
Description
The speed and acceleration at which the robot moves during a PICK operation is
dependent on the status of the pans: with or without wafers. The robot always moves
at “with wafer” (slow) speed and acceleration for all three axes, when there is a wafer
on the active arm. If the active arm is empty and the inactive arm contains a wafer,
the robot moves at medium speed for the R axis, but slow speed for T and Z. If both
arms are empty, the robot uses high speed for all three axes. If a PICK failure occurs,
all motions will be performed at “with wafer” speed until a successful material hand-
off has been accomplished.
NOTE:
The PICK command is meant to be used with robots that have the Z-Axis option
installed. If using a 2-axis robot, this command may also be used for PICK and
PLACE commands but no Z-Axis motion will occur. No error will be issued.
During a PICK operation, the MagnaTran 7 robot executes the following sequence of
moves.
•
Retracts the arm using a speed and acceleration profile appropriate for the cur-
rently defined load.
•
Simultaneously moves downward and rotates to the Down position at the Sta-
tion and Slot number specified using a speed and acceleration profile appropri-
ate for the currently defined load.
•
Extends the arm using a speed and acceleration profile appropriate for the cur-
rently defined load to the R position for the station.
•
Moves to the Up position using a speed and acceleration profile appropriate
for the currently defined load picking up a wafer.
•
Defines the arm executing the PICK as being “loaded”.
•
Retracts the arm using a speed and acceleration profile appropriate for the cur-
rently defined load.
For a discussion of speed and acceleration profiles for the MagnaTran 7 robot, see
NOTE:
The operator can force a uniform high speed throughout the PICK operation by first
invoking the SET HISPD command. The set speed remains in effect only until the
completion of the action command following the set speed command.
