Robot Macros
Be sure to read documentation for version 3.06 for information about the included robot macros. Users of
the ESC 212 controller (combined robot and prealigner) should read the document, Using the New ESC 212
Scan Macros. It is highly recommended that all users of the ESC 212 controller load the new macros.
7AF Version 4.01 Features
5/5/98 Ken Hill
Purpose
Software version 4.01 for the model 7AF is primarily to implement features for AlTiC and alternative
materials Grinding. If upgraded from a version before v3.00, new FloPro runtime software, version 2.776,
will be automatically installed. Likewise, new screen files (.GRS) may be used and are automatically
installed. This software must use Robot Macros, V2_04.MAC or above for ESC 100 controllers (version
2.05 included) and RP212.MAC for ESC 212 controllers! For square media, new macros, SQ212.MAC, are
included for the ESC212 controller. The new macros, described below, are included in this release.
Hardware Work and Spin Chuck Homing
Homing for the work and spin chucks operates differently now. The position is only set when a “Home All”
is performed in the Home Screen. Hardware home sensors are now supported. The spin chuck always
includes this hardware and will therefore position to the same place in all cases, using the hardware index as a
reference. The work chucks will check for a home index (hardware must be installed) and use this for a
reference, if available. If the hardware is not detected, the chuck will be left in the same position as it entered
the Home Screen and this will be used as the home position. Note that for machines without home index
hardware, the chuck position can still be changed by manually positioning the chuck in the Main Menu and
then doing a “Home All” in the Home Screen.
If the hardware for home indexing is not installed, Machine Variables in LT Chuck Home Offset (variable
10) and RT Chuck Home Offset (variable 11) should be set to 0.0, which is the default value. Setting these
variables without the indexing hardware installed will result in a “Rotational Home” Fault.
When the hardware is installed, the homing procedure will first locate the edge of the index pulse. After this
is complete, the chuck will rotate to an optional offset. Change the offset in fractions of a rotation, positive
or negative with positive numbers going counter clockwise. Use the Machine Variables in LT Chuck Home
Offset (variable 10) and RT Chuck Home Offset (variable 11) for the left and right chucks, respectively.
The spin chuck does not have an offset.
A “Rotational Home” fault can be caused if the sensor is not detected and any offset is requested (indicating
that hardware is installed) or if there was a problem positioning the servo to a requested position. Correct the
problem and do another “Home All” to clear the fault. The spin station must index and home correctly to
clear the fault. The work chucks, however can operate without the hardware by disconnecting the sensor and
setting the Machine Variables 10 and 11 to 0.0, as outlined above. On installation, the PC-DSP card must
have been loaded with the configuration that supports this function. Also, jumpers must be instaleed on the
PC-DSP card grounding the home input signals from the work and spin chucks.
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