Adjustments and Calibration
Atmospheric Single-Arm Robot
Flipper Setup
User’s Manual
Brooks Automation
7-8
Revision 1
>SCSI A,14, [ result of RPW ]
; Set the number of flip pulses. This
should not exceed–5800.
11.
Set the position that R should move to before a Flip. This is stored in coordinate
special item #13.
>SCSI A,13,-4000
; This will cause R to move to –4000 before Flip.
12.
The Flip position for each station that you teach must be specified. If you wish
the end effector to be in the 0 position you must set the Coordinate Special Item
#15 for the station you are teaching to 0. If you wish the end effector to be in the
Flip position while moving to a taught station you must set the Item to 123.
>SCSI D,15,123
; This will cause all Get and Put commands for Station
D to be completed with the end effector in the 123
(Flip) position.
13.
Test the flipper using the following commands:
IFLIP 0
; Move Flipper to the 0 degree position.
IFLIP 123
; Move the Flipper to the 180 degree position.
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