Strasbaugh nTellect 7AF - Saving the Positions; Testing the Flipper

Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
65
Saving the Positions
You set coordinate special items (SCSI) for each station that you teach.
Special items are numbered 0 through 15; flipper values use item numbers
13 (R position before a flip), 14 (number of flip pulses), and 15 (flipping
position, homed or inverted).
The following examples are for Station A.
1.
Using the results from your RPW command, enter the number of steps
for 180-degree flip into the Coordinate Special Item #14. For
example:
SCSI A, 14, -5500
2. Set the position where R should move before a Flip. In this example,
R will move to position 3000 before a flip:
SCSI A, 13, 3000
3. For the flipper to be in the homed (upright) position, set Coordinate
Special Item 15 to 0. For the flipper to be in the Flip (inverted)
position while moving to a taught station, set Item 15 to 123. In this
example, all Get and Put commands are completed in the inverted
position.
SCSI A, 15, 123
4. The SCSI command stores the value in the station coordinate (*.cor)
file. To read back a value, use the RCSI command. For our example,
RCSI A,13 reads back 3000.
Testing the Flipper
Test the flipper using the following Equipe macros.
Enter: To:
IFLIP 0 Move the Flipper to the 0 degree position
IFLIP 123 Move the Flipper to the 180 degree position