MagnaTran 7.1 User’s Manual
Command Reference
MN-003-1600-00
Request Position Station
Brooks Automation
Revision 2.2
8-95
The current slot number of the arm. The return value will be 1 for a for
a station with no slots specified, 0 if the robot is not at a station.
up/dn-location:
Response field size: 2
The up or the down position of the arm. The returned values indicate:
UP (for up)
DN (for down)
-- (not at a station)
NOTE:
At least one argument must be specified. If the ALL argument is specified no other
argument name may be specified.
Description
If the robot has been commanded by a station-oriented command such as PICK,
PLACE, or GOTO the position for the specified axis for the specified arm is returned.
The number and order of the data fields returned will reflect the number and order of
the Request. Use of ALL implies that the return data-values will appear in the stan-
dard order (ARM, R, T, SLOT, Z).
To position the arm in Station Coordinates, use the GOTO command with the Station
Number specified.
See Also:
RQ POS ABS, RQ POS TRG, RQ STN, SET STN, STORE STN
Example
In the following example arm ‘A’ is currently extended in station #5, slot #2 and in the
down position. The robot returns the current position of the ‘A’ arm in station coor-
dinates.
RQ POS STN ARM A ALL
POS STN ARM A EX 5 2 DN
