Command Reference
MagnaTran 7.1 User’s Manual
Go To Station with Offset
MN-003-1600-00
Brooks Automation
8-36
Revision 2.2
Go To Station with Offset
Purpose
Moves to an offset specified station-referenced location. This command performs all
interlocking necessary to maintain safe wafer handling.
Format
GOTO ([[N] stn] [R (EX|RE)] [RO r_offset] [TO t_offset] [Z (UP|DN)] [SLOT num])
[[ARM] arm]
Arguments
N stn:
Specifies station number. Range: 1-16. The “N” identifier is optional.
R (EX|RE):
Specifies radial position of arm:
EX = extended
RE = retracted.
RO r_offset:
Specifies the positive or negative offset from the extend/retract location
for that station.
TO t_offset:
Specifies the positive or negative offset from the theta location for that
station.
Z (UP|DN):
Specifies vertical deployment of arm:
UP = up
DN = down.
SLOT num :
Indicates the slot to which the arm should move. Use a value of 1 (or 0)
for a non-slotted station; 1 to n for a slotted station, where n = the num-
ber of slots previously set for the particular station.
ARM arm:
Indicates the arm that should move. Use a value of A (the default) or B.
If no arm is specified, Arm A will move. The “ARM” identifier is
optional.
NOTE:
At least one of the optional arguments N, R, Z, or Slot must be specified or the robot
will return an error message.
