Vacuum Robot Manual
4000-0315 Rev 1
26
In addition to coordinate positions, you can define special coordinate
items (SCI) to be stored in the coordinate file and used by the macros.
Here is part of a coordinate file that defines Station E.
SPC E,3742,14017,813 T is in centidegrees (.01º).
R and Z are in milliinches (0.001 in).
SOF E,30 Offset distance is 0.03 inch.
SST E,100 Stroke distance is 0.1 inch.
SRET E,-9500 Retract position is -9.5 inches
PITCH E,2500 The distance between two slots is 2.5 inches.
SPSC E,0,0,0 (not used)
SSEE E,0 Station E uses the first end effector.
INDEX E,1 Move to position relative to taught position
SCSI E,0,0 |
SCSI E,1,0 |
… | Items 0 through 13 are not used.
SCSI E,12,0 |
SCSI E,13,0 |
SCSI E,14,114 Item 14 is 114, ASCII for r, the axis name.
SCSI E,15,7495 Item 15 is the indexer height or WTP
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