Brooks Marathon Express - Marathon Express Frames of Reference

6. Operation Marathon Express
Marathon Express Frames of Reference Part Number: 605914 Rev. B
assumed).ThePitchparameterisusedtodefinethedistancebetweenslots.WhenusingtheSlot
andPitchparameters,thetotalnumberofslotsmaynotexceedtheverticaldistancethattherobotis
capableoftraveling.
NOTE: Anyorallofthesevaluescandifferfromstationtostation.
Refertotheappropriaterobotusermanualformoreinformation.
Marathon Express Frames of Reference
BeforesettingstationsorusingtheMarathonExpressClusterToolIntegrationPlatform,itis
importanttounderstandtheFramesofReferenceusedwithinthesystem.
Materialistransportedtospecificlocations,orstations,withinthesystembytherobot.Each
locationisdefinedbyitsTandRpolarcoordinatesanditsZpositionwithinthesystem’sFrameof
Reference.Stationdefinitionistheprocessofdefiningeachoftheselocations,whicharethen
storedintherobot’smemoryforfuturereferencebytherobot.Itisimportanttonotethatthe
system’sframeofreferenceisdefinedbytherobotasdescribedbelowandthateachstationis
definedbytheR,T,Z,andotherstationvaluesprogrammedintotherobot.
Figure 6-2: Frames of Reference
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