Strasbaugh nTellect (Model 7AF) Wafer Grinder
12 - 34 Version 1.2 - June 2004
HOM
Homes all three axes of the robot in a predetermined order; must be issued upon
powering up the robot before the robot can be utilized.
HOMFF
Will home all three axes of the pre-aligner; must be issued upon powering up the pre-
aligner before pre-aligner can be utilized.
MOVA [AXIS],[VALUE] or MOVA [THETA],[RADIUS],
[Z-AXIS]
Used to move the robot or any individual axis to an absolute position. The command
"MOVA Z,4000" would move the Z-axis to position 4000. However, the command
"MOVA 1200,-8400,300" would move the robot to the absolute position of (1200,-
8400,300).
MOVR [AXIS],[VALUE] or MOVA [THETA],[RADIUS],
[Z-AXIS]
Used to move the robot or any individual axis a specified distance from its current
position. The command "MOVR R,1000" would move the robot arm one inch from its
current position. However, the command "MOVR 1000,1000,1000" would move all
three axes 1000 increments from their current position.
PREST
Returns a four-digit hexadecimal number used to indicate the current status of several
aspects of the pre-aligner. Refer to the Equipe Technologies Technical Manual for a
full description of this hexadecimal number and a table of the information it provides.
RCP
Returns the coordinates of the robot's current position.
RCS [STATION]
Displays the current coordinates for a selected [STATION]. For example, the
command "RCS A" would return the current set coordinates for station A.
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