Strasbaugh nTellect 7AF - Page 2454

Vacuum Robot Manual
4000-0315 Rev 1
65
normal operation, the robot should not move into the limit switch area.
The negative limit switch is 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.
Bit Meaning when set to 1
0
1
2
3
Robot positive Theta for VAC400, 0 for VAC514
0
Robot positive Z
Pre-aligner positive theta
4
5
6
7
0
Indexer 1 positive vertical axis
0
Indexer 2 positive vertical axis
8
9
10
11
Robot negative Theta
0
Robot negative Z
Pre-aligner negative theta
12
13
14
15
0
Indexer 1 negative vertical axis
0
Indexer 2 negative vertical axis
16
17
18
19
Robot positive Theta triggered for VAC400, 0 for VAC514
0
Robot positive Z triggered
Pre-aligner positive theta triggered
20
21
0
Indexer 1 positive vertical axis triggered