MagnaTran 7.1 User’s Manual
Command Reference
MN-003-1600-00
Set Station
Brooks Automation
Revision 2.2
8-141
argument name may be specified.
Description
All stations being used must be set for both Arm A and Arm B. For a station at a given
physical location, the T parameter for Arm B may be different from the T parameter
for Arm A.
The specified values for Base Transfer Offset (BTO), Pitch, and Number of Slots are
legality checked according to the following formula:
BTO + (NSLOTS - 1) PITCH < maximum allowed vertical travel
This command requires the station number and one or more data fields. ALL applies
only to the data fields after station-number and arm-descriptor. When using ALL, be
sure to specify the variables in the standard order: ARM, R, T, Z, LOWER, NSLOTS,
PITCH.
NOTE:
Set commands only store the specified setting in RAM. Resetting the robot will
cause the original setting to be loaded from non-volatile memory.
CAUTION
If station coordinates are set using the SET STN or STORE STN com-
mands they should be verified before performing any wafer transfers
to ensure accurate station definition.
See Also:
RQ STN, STORE STN
Example
If the absolute coordinates of the station are known, using the ALL option provides a
quick method of setting up a station:
The following command sets station 4 parameters for arm ‘A’ to; the arm extended to
46843 microns (46 mm), the angular station position at 270
o
, the BTO (Wafer Transfer
Plane) to 200 microns above the Home position, and the down position to 0 (200
microns below the Wafer Transfer Plane). The last two numbers indicate that it is an
unslotted station (only one slot) and, therefore, that the pitch is zero.
SET STN 4 A ALL 46843 27000 200 200 1 0
NOTE:
The default factory setting for all stations is T = Z = 0, R = the Retracted position.
