Vacuum Robot Manual
4000-0315 Rev 1
23
Teaching and Operating
When you teach the robot system, you save the position, or coordinates, of
the robot axes and assign the coordinates to a specific station. The station
is labeled with any alphabetic character. The station position includes the
Theta axis, the Z axis, and the R axis.
Equipe recommends training for anyone who programs, teaches, operates,
maintains, or repairs a robot or robotic system. Equipe offers end-user
training courses that provide proper safety training to people responsible
for the safe programming, operation, or maintenance of the robot.
Robot Axis and Station Naming Conventions
The robot incorporates a three-axis system of motion:
• T (Theta) axis controls rotation of the arm
• R (Radial) axis controls the reaching and retracting of the arm
• Z axis controls vertical movement.
When axis parameters such as speed, acceleration, or current position are
listed or modified by software commands, the parameter values for the
three axes are always listed in the order T, R, Z.
To issue commands, define each station with a one-character name or
letter. For example, the robot might get a wafer from Station A and put it
in a loadlock named Station B. Station names can be any upper or lower
case letter. It is helpful to use a naming convention that suggests the
function or location of the stations. For example, if the robot uses a dual
end effector, all upper case station names (A to Z) might be for End
Effector 1 and all lower case station names (a to z) might be for End
Effector 2.
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