Operation
MagnaTran 7.1 User’s Manual
Discrete I/O Control (DIO)
MN-003-1600-00
Brooks Automation
6-56
Revision 2.2
To change a robot to Active Low, use the following serial commands:
REMOVE IO DIO_IN
MAP DIO_IN NUMERIC_IN LOW TO DIGITAL_IN 0x7fffffff
REMOVE IO DIO_OUT
MAP DIO_OUT NUMERIC_OUT LOW TO DIGITAL_OUT 0x7ffff
To change a robot to Active High, use the following serial commands:
REMOVE IO DIO_IN
REMOVE IO DIO_OUT
RESET
To check the current state of the robot:
RQ IO MAP ALL
Enable DIO Initialization Sequence
Upon start up, a particular initialization sequence must be followed to enable the ser-
vos and reference all axes. When the incremental encoders used in the robot are pow-
ered, they are not referenced in absolute space. Therefore, part of the initialization
sequence includes moving the robot’s arm to a known HOME position on each axis
and resetting the corresponding encoder. This references the encoders in absolute
space. The initialization sequence is the same for all robots even though they have dif-
ferent style arms. The sequence is described below:
1.
Assert DRIVE ENABLE
2.
Set MOVE Type to HOME
3.
Assert MOVE
Arm moves to Radial (R) Home
Arm moves to Vertical (Z) Home
Arm moves to Rotational (T) Home
Robot asserts HOME STATUS and COMMAND STATUS signals
Robot Motion DIO Inhibition
The motion of the robot can be halted or inhibited to ensure the safety of the robot
and/or wafers in several ways as follows:
1.
In DIO mode, any motion can be halted by dis-asserting the MOVE command
bit. This action will halt any motion with profiled velocity. While this profiled