MagnaTran 7.1 User’s Manual
Operation
MN-003-1600-00
Off Center PICK and PLACE Feature
Brooks Automation
Revision 2.2
6-43
To set-up the OCP feature, two positions must be defined:
1.
Set the station values
2.
Set the VIA value: a location radially outward from the station to which the
robot will travel in a straight path in order to remove a wafer without interfer-
ence.
The travel path of the arm is adjusted for optimal travel in relation to the origin and
destination of these two taught positions. This travel path is followed for both PICK
and PLACE functions.
Set the Station Values
1.
Teach the robot the station using the CDM
OR use the command
2.
and Store the values
Figure 6-11: Off-Center PICK
and PLACE
VIA Point
Final Destination
