Command Reference
MagnaTran 7.1 User’s Manual
Request Load
MN-003-1600-00
Brooks Automation
8-86
Revision 2.2
Request Load
Purpose
Requests the load status of the specified arm.
Format
RQ LOAD [[ARM] arm]
Response
LOAD [arm] status
Arguments
arm:
The arm (A or B) for which parameters are being set; the default arm is
A. The “ARM” identifier is optional.
status:
Provides the load status for the specified arm.
ON
= Arm has a load on the specified end effector
OFF
= Arm does not have a load on the specified end effector
? = UNKNOWN
Arm cannot determine of a load is present.
Description
The UNKNOWN status is only available if the LOAD MODE has been set to TRI.
When the active status is UNKNOWN, the robot will move at “with wafer” slow
speed.
When LOAD MODE is set to TRI, at power-up the robot arm loads are set to
UNKNOWN. The robot will continue to assume the load is UNKNOWN until either
a PICK, PLACE, CHECK LOAD or SET LOAD ON|OFF command is executed.
This command is used to determine the current load status of the robot’s arm(s). Note
that at power-up, the robot’s arm(s) are assumed to be loaded. The robot will con-
tinue to assume the arm(s) are loaded until either a PLACE or a SET LOAD OFF com-
mand is executed.
NOTE:
Request commands display the current value stored in RAM.
See Also:
SET LOAD
