Vacuum Robot Manual
4000-0315 Rev 1
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Indexer 2 positive vertical axis triggered
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Robot negative Theta triggered
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Robot negative Z triggered
Pre-aligner negative theta triggered
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Indexer 1 negative vertical axis triggered
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Indexer 2 negative vertical axis triggered
When a limit switch is triggered during robot operation, the robot stops its
motion and returns an error message. In this situation you should:
1. Send the RLS command to determine which switch was triggered.
2. Send the RLS command again to determine if the switch is still active.
3. If the limit switch remains on after the second RLS command, the
robot is at its travel limit. Manually move it away from this limit.
Send the RLS command again. If it clears, it is likely that the robot
was instructed by software to go too close to the limit.
This can occur even during teaching, if the position taught was beyond the
limit. Or, if a stroke used for a Z motion is too large, the taught position
can be within the robot range, but the stroke requires the robot to enter the
software limit switch area.
To resolve these problems:
1. Change the taught position. This might require physically moving the
station to a position farther away from the limit.
2. If the RLS command you sent after changing the robot position cleared
all bits, this indicates a problem in the limit switch assembly. The
robot might need to be serviced. Call Equipe Customer Support for
assistance.
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