Atmospheric Pre-aligner Manual
4000-0015 Rev 1
56
23 Track positive w in eight-axis system triggered
24
25
26
27
Robot negative theta triggered
Robot negative radial triggered
Robot negative Z triggered
Track negative t in a four-axis system triggered
28
29
30
31
Pre-aligner negative theta triggered
Pre-aligner negative radial triggered
Pre-aligner negative Z triggered
Track negative w in eight-axis system triggered
When a limit switch is triggered during pre-aligner operation, the pre-
aligner stops and the controller returns an error message. In this situation
you should:
1. Send the RLS command to determine which switch was triggered.
2. Send the RLS command again to determine if the switch is still active.
3. If the limit switch remains on after the second RLS command, the pre-
aligner is probably at its travel limit. Manually move it away from this
limit. Send the RLS command again. If it clears, it is likely that the
pre-aligner was instructed by software to go too close to the limit.
This can occur even during teaching, if the position taught is beyond the
limit. In this case, change the taught position.
Also, if the pre-aligner goes slightly beyond its taught position as it
decelerates at the end of a motion in a given axis and then returns to its
designated position. To avoid this, decrease the speeds and accelerations.
If the RLS command you sent after changing the pre-aligner position
cleared all bits, this indicates a problem in the limit switch assembly. The
pre-aligner might need to be serviced. Call Equipe Customer Support for
assistance.
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