Strasbaugh nTellect 7AF - Section 6

Vacuum Robot Manual
4000-0315 Rev 1
v
Table of Contents
Overview of Vacuum Robots..............................................................................................1
End Effectors ...................................................................................................................2
Home and Limit Switches................................................................................................2
Equipe Smart Controller ..................................................................................................2
User Interfaces .................................................................................................................3
Hardware Connections.....................................................................................................5
Software Control..............................................................................................................6
Macros ..........................................................................................................................6
Coordinate File.............................................................................................................6
Robot Parameter File....................................................................................................6
Moving and Homing a Robot Axis..................................................................................7
Facilities Requirements......................................................................................................9
Environmental..................................................................................................................9
Mechanical.......................................................................................................................9
Electrical ..........................................................................................................................9
Installing the Robot..........................................................................................................11
Unpacking......................................................................................................................11
Moving or Hoisting the Robot.......................................................................................12
Installing the Controller and Pre-aligner........................................................................13
Connecting the Robot and Controller ............................................................................13
Accessing a User Interface.............................................................................................15
Connecting the Teach Pendant ...................................................................................16
Installing the EQT 32 Interface ..................................................................................16
Verifying Connections...................................................................................................18
Attaching the Arm to a VAC514 Robot ........................................................................19
Attaching the End Effector to the Robot Arm ...............................................................21
Leveling the Robot System............................................................................................22
Safety Verification.........................................................................................................22
Teaching and Operating ..................................................................................................23
Robot Axis and Station Naming Conventions...............................................................23
Commands and Macros for Robots................................................................................24
Coordinate File...............................................................................................................24
Setting the Z-Axis Brake ...............................................................................................27
Teaching Stations...........................................................................................................28
Teaching a Robot Only...............................................................................................28
Teaching a Robot and an Indexer...............................................................................30
Adjusting the VAC400 Radial Arm...............................................................................32
Robot Parameter File .....................................................................................................34
Adjusting Robot Parameters.......................................................................................35