MagnaTran 7.1 User’s Manual
Command Reference
MN-003-1600-00
Place
Brooks Automation
Revision 2.2
8-59
Place
Purpose
Causes the 3-Axis robot arm to place a wafer at a specified station and (optionally) slot
number.
Format
PLACE station [SLOT slot] [[ARM] arm]
Arguments
station:
The number of the station to which to place. Range: 1-16.
SLOT slot :
The number of the slot to which to place, if this station has been estab-
lished as a multi-slot station. At a multi-slot station, the slot number
must be specified only to target a slot number other than one.
ARM arm:
The arm (A or B) which will perform the pick. The default is Arm A.
The arm descriptor must be specified only to pick with Arm B. The
“ARM” identifier is optional.
Description
The speed and acceleration at which the robot moves during a PLACE 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 PLACE failure
occurs, all motions will be performed at “with wafer” speed until a successful mate-
rial hand-off has been accomplished.
NOTE:
The PLACE 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 PLACE 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.
