Strasbaugh nTellect 7AF - Checking Limit Switch Status with the RLS Command

Atmospheric Pre-aligner Manual
4000-0015 Rev 1
55
Checking Limit Switch Status with the RLS Command
Limit switches prevent over-travel of the pre-aligner into the hard stops of
each axis of motion, and are normally activated just prior to contact with
the hard stops. The limit switches signal the Galil board to kill power to
the motor and stop the motion. In normal operation, the pre-aligner should
not move into the limit switch area. Limit switches are also used to home
the axes.
Limit switch problems can be caused by software, mechanical position
setup, or hardware. To determine if limit switch hardware is functional,
perform Diagnostic Step 4, the Limit & Home Test.
If the pre-aligner fails because a limit switch was triggered (Bit 5 in the
response to the STAT command), use the RLS command to determine
which limit switch was activated. The response to RLS has the following
bit assignments:
Bit Meaning when set to 1
0
1
2
3
Robot positive theta
Robot positive radial
Robot positive Z
Track positive t in four-axis system
4
5
6
7
Pre-aligner positive theta
Pre-aligner positive radial
Pre-aligner positive Z
Track positive w in eight-axis system
8
9
10
11
Robot negative theta
Robot negative radial
Robot negative Z
Track negative t in a four-axis system
12
13
14
15
Pre-aligner negative theta
Pre-aligner negative radial
Pre-aligner negative Z
Track negative w in eight-axis system
16
17
18
19
Robot positive theta triggered
Robot positive radial triggered
Robot positive Z triggered
Track positive t in a four-axis system triggered
20
21
22
Pre-aligner positive theta triggered
Pre-aligner positive radial triggered
Pre-aligner positive Z triggered