Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
98
2.
Upload all macros to the host computer.
3.
After teaching all stations, upload the coordinate files to your host
computer.
4. Whenever you edit the macro file, upload the *.mac file to your host
computer.
Checking Limit Switch Status with the RLS Command
Limit switches prevent over-travel of the robot 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 robot should not
move into the limit switch area. Limit switches are also used to home the
axes.
The limit switches are optical emitter-detector switches. The T and R axes
use diode and transistor-type limit switches. The Z axis uses an amplifier-
type sensor with open collector output and output polarity selection.
If you disconnect a switch from the robot internal interface board switch,
input will read as active.
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 robot 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 for an integrated system:
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
Robot negative theta
Robot negative radial
Robot negative Z
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