Vacuum Robot Manual
4000-0315 Rev 1
3
• The power cable provides 24 VDC and PWM power for the servo
motors.
• The signal cables provide the Galil motion controller board with
encoder signals from the servo motors and I/O, or brake commands to
the robot, in addition to +5V and status indications.
For more information about the controller and printed circuit boards, refer
to the Equipe Software and Controller Manual.
User Interfaces
You can interface with the ESC using a personal computer or a hand-held
Teach Pendant. With a PC, you have the advantage of a full screen for
editing macros or parameter files and the convenience of transferring files
between the controller and the PC.
The Teach Pendant is a hand-held terminal with a 4-line, 20-character,
LCD screen. The small size of the Teach Pendant allows you to walk
around the robot and observe closely as you command its movement.
Either interface provides several modes, including:
• Teach Mode for teaching and testing robot stations.
• Terminal Mode for executing commands and macros, writing or
editing macros, or checking ESC status.
• Diagnostic Mode for troubleshooting and diagnosing robot problems.
Refer to the Equipe User Interface Manual for information on using the
Teach Pendant or EQT 32.
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