Installation Atmospheric Single-Arm Robot
Teaching and Operating User’s Manual
Brooks Automation
3-22 Revision 1
When axis parameters such as speed, acceleration, or current position are listed or
modified by software commands, the parameter values for the three axes are always
listed in the order T, R, Z.
To issue commands, define each station with a one-character name or letter. For
example, the robot might get a wafer for Station A and put it in a cassette named Sta-
tion B. Station names can be any upper or lower case letter. It is helpful to use a nam-
ing convention that suggests the function or location of the stations. For example, all
upper case station names (A to Z) might be cassettes and all lower case station names
(a to z) might be stands.
For a cassette station, you need to teach only the first wafer slot. The controller will
use the pitch for each station to determine the distance between slots in the cassette.
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