{"id":110,"date":"2026-05-26T23:57:19","date_gmt":"2026-05-26T15:57:19","guid":{"rendered":"https:\/\/www.rwr.ink\/?p=110"},"modified":"2026-05-26T23:57:19","modified_gmt":"2026-05-26T15:57:19","slug":"brooks-magnatran-leap-%e7%bc%96%e7%a8%8b%e6%89%8b%e5%86%8c","status":"publish","type":"post","link":"https:\/\/www.rwr.ink\/index.php\/2026\/05\/26\/brooks-magnatran-leap-%e7%bc%96%e7%a8%8b%e6%89%8b%e5%86%8c\/","title":{"rendered":"Brooks MAGNATRAN\u00ae LEAP\u2122 \u7f16\u7a0b\u624b\u518c"},"content":{"rendered":"<h1>Brooks MAGNATRAN\u00ae LEAP\u2122 \u7f16\u7a0b\u624b\u518c<\/h1>\n<blockquote>\n<p><strong>\u57fa\u4e8e\u5b98\u65b9\u6587\u6863\u7f16\u5199<\/strong><\/p>\n<ul>\n<li>\u300a238485 Leap Manual REV G\u300b\u2014 \u786c\u4ef6\u4e0e\u7528\u6237\u624b\u518c\uff08263\u9875\uff09<\/li>\n<li>\u300a278805 MAGNATRAN\u00ae LEAP\u2122 Software Manual REV E\u300b\u2014 \u8f6f\u4ef6\u7f16\u7a0b\u624b\u518c\uff08278\u9875\uff09<\/li>\n<\/ul>\n<p><strong>\u6587\u6863\u7248\u672c<\/strong>: \u7efc\u5408\u6574\u7406\u7248 v1.0 | <strong>\u9002\u7528\u56fa\u4ef6<\/strong>: V8.2.x \u7cfb\u5217 | <strong>\u7248\u6743<\/strong>: Brooks Automation, Inc.<\/p>\n<\/blockquote>\n<hr \/>\n<h2>\u76ee\u5f55<\/h2>\n<ul>\n<li><a href=\"#\u7b2c\u4e00\u7ae0-\u7cfb\u7edf\u6982\u8ff0\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u4e00\u7ae0 \u7cfb\u7edf\u6982\u8ff0<\/a>\n<ul>\n<li><a href=\"#11-\u4ea7\u54c1\u7b80\u4ecb\" target=\"_blank\"  rel=\"nofollow\" >1.1 \u4ea7\u54c1\u7b80\u4ecb<\/a><\/li>\n<li><a href=\"#12-\u673a\u68b0\u81c2\u7c7b\u578b\" target=\"_blank\"  rel=\"nofollow\" >1.2 \u673a\u68b0\u81c2\u7c7b\u578b<\/a><\/li>\n<li><a href=\"#13-\u5750\u6807\u7cfb\u7edf\" target=\"_blank\"  rel=\"nofollow\" >1.3 \u5750\u6807\u7cfb\u7edf<\/a><\/li>\n<li><a href=\"#14-\u63a7\u5236\u5668\u4e0e\u8f6f\u4ef6\u67b6\u6784\" target=\"_blank\"  rel=\"nofollow\" >1.4 \u63a7\u5236\u5668\u4e0e\u8f6f\u4ef6\u67b6\u6784<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u4e8c\u7ae0-\u5b89\u5168\u89c4\u8303\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u4e8c\u7ae0 \u5b89\u5168\u89c4\u8303<\/a>\n<ul>\n<li><a href=\"#21-\u5b89\u5168\u8b66\u544a\u7b49\u7ea7\" target=\"_blank\"  rel=\"nofollow\" >2.1 \u5b89\u5168\u8b66\u544a\u7b49\u7ea7<\/a><\/li>\n<li><a href=\"#22-\u901a\u7528\u5b89\u5168\u6ce8\u610f\u4e8b\u9879\" target=\"_blank\"  rel=\"nofollow\" >2.2 \u901a\u7528\u5b89\u5168\u6ce8\u610f\u4e8b\u9879<\/a><\/li>\n<li><a href=\"#23-\u5b89\u5168\u8054\u9501\u7cfb\u7edf\" target=\"_blank\"  rel=\"nofollow\" >2.3 \u5b89\u5168\u8054\u9501\u7cfb\u7edf<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u4e09\u7ae0-\u901a\u4fe1\u4e0e\u8fde\u63a5\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u4e09\u7ae0 \u901a\u4fe1\u4e0e\u8fde\u63a5<\/a>\n<ul>\n<li><a href=\"#31-rs-232-\u4e32\u53e3\u901a\u4fe1\" target=\"_blank\"  rel=\"nofollow\" >3.1 RS-232 \u4e32\u53e3\u901a\u4fe1<\/a><\/li>\n<li><a href=\"#32-\u4ee5\u592a\u7f51\u901a\u4fe1\" target=\"_blank\"  rel=\"nofollow\" >3.2 \u4ee5\u592a\u7f51\u901a\u4fe1<\/a><\/li>\n<li><a href=\"#33-\u901a\u4fe1\u6a21\u5f0f\u914d\u7f6e\" target=\"_blank\"  rel=\"nofollow\" >3.3 \u901a\u4fe1\u6a21\u5f0f\u914d\u7f6e<\/a><\/li>\n<li><a href=\"#34-\u6570\u636e\u5b58\u50a8\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >3.4 \u6570\u636e\u5b58\u50a8\u547d\u4ee4<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u56db\u7ae0-\u547d\u4ee4\u8bed\u6cd5\u89c4\u8303\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u56db\u7ae0 \u547d\u4ee4\u8bed\u6cd5\u89c4\u8303<\/a>\n<ul>\n<li><a href=\"#41-\u547d\u4ee4\u683c\u5f0f\u7ea6\u5b9a\" target=\"_blank\"  rel=\"nofollow\" >4.1 \u547d\u4ee4\u683c\u5f0f\u7ea6\u5b9a<\/a><\/li>\n<li><a href=\"#42-\u547d\u4ee4\u54cd\u5e94\u683c\u5f0f\" target=\"_blank\"  rel=\"nofollow\" >4.2 \u547d\u4ee4\u54cd\u5e94\u683c\u5f0f<\/a><\/li>\n<li><a href=\"#43-\u517c\u5bb9\u6027\u6a21\u5f0f\" target=\"_blank\"  rel=\"nofollow\" >4.3 \u517c\u5bb9\u6027\u6a21\u5f0f<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u4e94\u7ae0-\u7cfb\u7edf\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u4e94\u7ae0 \u7cfb\u7edf\u547d\u4ee4<\/a>\n<ul>\n<li><a href=\"#51-\u7cfb\u7edf\u67e5\u8be2\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >5.1 \u7cfb\u7edf\u67e5\u8be2\u547d\u4ee4<\/a><\/li>\n<li><a href=\"#52-\u914d\u7f6e\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >5.2 \u914d\u7f6e\u547d\u4ee4<\/a><\/li>\n<li><a href=\"#53-\u7cfb\u7edf\u590d\u4f4d\" target=\"_blank\"  rel=\"nofollow\" >5.3 \u7cfb\u7edf\u590d\u4f4d<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u516d\u7ae0-io-\u7cfb\u7edf\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u516d\u7ae0 I\/O \u7cfb\u7edf<\/a>\n<ul>\n<li><a href=\"#61-\u6807\u51c6-io-\u6a21\u5f0f\" target=\"_blank\"  rel=\"nofollow\" >6.1 \u6807\u51c6 I\/O \u6a21\u5f0f<\/a><\/li>\n<li><a href=\"#62-\u6269\u5c55-io-\u6a21\u5f0f\" target=\"_blank\"  rel=\"nofollow\" >6.2 \u6269\u5c55 I\/O \u6a21\u5f0f<\/a><\/li>\n<li><a href=\"#63-dio-\u6a21\u5f0f\" target=\"_blank\"  rel=\"nofollow\" >6.3 DIO \u6a21\u5f0f<\/a><\/li>\n<li><a href=\"#64-io-\u6620\u5c04\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >6.4 I\/O \u6620\u5c04\u547d\u4ee4<\/a><\/li>\n<li><a href=\"#65-io-\u72b6\u6001\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >6.5 I\/O \u72b6\u6001\u547d\u4ee4<\/a><\/li>\n<li><a href=\"#66-io-\u4e8b\u4ef6\u7cfb\u7edf\" target=\"_blank\"  rel=\"nofollow\" >6.6 I\/O \u4e8b\u4ef6\u7cfb\u7edf<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u4e03\u7ae0-\u5f52\u96f6\u4e0e\u57fa\u672c\u8fd0\u52a8\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u4e03\u7ae0 \u5f52\u96f6\u4e0e\u57fa\u672c\u8fd0\u52a8<\/a>\n<ul>\n<li><a href=\"#71-\u5750\u6807\u7cfb\u5b9a\u4e49\" target=\"_blank\"  rel=\"nofollow\" >7.1 \u5750\u6807\u7cfb\u5b9a\u4e49<\/a><\/li>\n<li><a href=\"#72-\u53c2\u8003\u70b9\u5efa\u7acb-reference\" target=\"_blank\"  rel=\"nofollow\" >7.2 \u53c2\u8003\u70b9\u5efa\u7acb (Reference)<\/a><\/li>\n<li><a href=\"#73-\u4f3a\u670d\u63a7\u5236\" target=\"_blank\"  rel=\"nofollow\" >7.3 \u4f3a\u670d\u63a7\u5236<\/a><\/li>\n<li><a href=\"#74-\u5f52\u96f6\u547d\u4ee4-home\" target=\"_blank\"  rel=\"nofollow\" >7.4 \u5f52\u96f6\u547d\u4ee4 (HOME)<\/a><\/li>\n<li><a href=\"#75-\u91ca\u653e\u4e0e\u505c\u6b62\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >7.5 \u91ca\u653e\u4e0e\u505c\u6b62\u547d\u4ee4<\/a><\/li>\n<li><a href=\"#76-\u4f4d\u7f6e\u67e5\u8be2\" target=\"_blank\"  rel=\"nofollow\" >7.6 \u4f4d\u7f6e\u67e5\u8be2<\/a><\/li>\n<li><a href=\"#77-\u8f7d\u8377\u6a21\u5f0f\" target=\"_blank\"  rel=\"nofollow\" >7.7 \u8f7d\u8377\u6a21\u5f0f<\/a><\/li>\n<li><a href=\"#78-\u8fd0\u52a8\u547d\u4ee4-move\" target=\"_blank\"  rel=\"nofollow\" >7.8 \u8fd0\u52a8\u547d\u4ee4 (MOVE)<\/a><\/li>\n<li><a href=\"#79-\u901f\u5ea6\u8bbe\u7f6e\" target=\"_blank\"  rel=\"nofollow\" >7.9 \u901f\u5ea6\u8bbe\u7f6e<\/a><\/li>\n<li><a href=\"#710-\u8054\u9501\u8bbe\u7f6e\" target=\"_blank\"  rel=\"nofollow\" >7.10 \u8054\u9501\u8bbe\u7f6e<\/a><\/li>\n<li><a href=\"#711-\u5b89\u88c5\u547d\u4ee4-mount\" target=\"_blank\"  rel=\"nofollow\" >7.11 \u5b89\u88c5\u547d\u4ee4 (MOUNT)<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u516b\u7ae0-\u5de5\u4f4d\u8bbe\u7f6e-station-setup\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u516b\u7ae0 \u5de5\u4f4d\u8bbe\u7f6e (Station Setup)<\/a>\n<ul>\n<li><a href=\"#81-\u5de5\u4f4d\u6982\u8ff0\" target=\"_blank\"  rel=\"nofollow\" >8.1 \u5de5\u4f4d\u6982\u8ff0<\/a><\/li>\n<li><a href=\"#82-\u5de5\u4f4d\u5750\u6807\u8bbe\u7f6e\" target=\"_blank\"  rel=\"nofollow\" >8.2 \u5de5\u4f4d\u5750\u6807\u8bbe\u7f6e<\/a><\/li>\n<li><a href=\"#83-\u5de5\u4f4d\u9009\u9879--\u66f2\u7ebf\u8fd0\u52a8-curve-move\" target=\"_blank\"  rel=\"nofollow\" >8.3 \u5de5\u4f4d\u9009\u9879 \u2014 \u66f2\u7ebf\u8fd0\u52a8 (Curve Move)<\/a><\/li>\n<li><a href=\"#84-\u5de5\u4f4d\u9009\u9879--via-\u8def\u5f84\u70b9\" target=\"_blank\"  rel=\"nofollow\" >8.4 \u5de5\u4f4d\u9009\u9879 \u2014 VIA \u8def\u5f84\u70b9<\/a><\/li>\n<li><a href=\"#85-\u5de5\u4f4d\u9009\u9879--z-\u8f74\" target=\"_blank\"  rel=\"nofollow\" >8.5 \u5de5\u4f4d\u9009\u9879 \u2014 Z \u8f74<\/a><\/li>\n<li><a href=\"#86-\u5de5\u4f4d\u9009\u9879--io\" target=\"_blank\"  rel=\"nofollow\" >8.6 \u5de5\u4f4d\u9009\u9879 \u2014 I\/O<\/a><\/li>\n<li><a href=\"#87-\u5de5\u4f4d\u9762-facet-\u8bbe\u7f6e\" target=\"_blank\"  rel=\"nofollow\" >8.7 \u5de5\u4f4d\u9762 (Facet) \u8bbe\u7f6e<\/a><\/li>\n<li><a href=\"#88-\u5de5\u4f4d\u590d\u5236\" target=\"_blank\"  rel=\"nofollow\" >8.8 \u5de5\u4f4d\u590d\u5236<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u4e5d\u7ae0-goto-\u4e0e\u6676\u5706\u4f20\u9001\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u4e5d\u7ae0 GOTO \u4e0e\u6676\u5706\u4f20\u9001\u547d\u4ee4<\/a>\n<ul>\n<li><a href=\"#91-goto-\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >9.1 GOTO \u547d\u4ee4<\/a><\/li>\n<li><a href=\"#92-goto-\u504f\u79fb\u91cf\" target=\"_blank\"  rel=\"nofollow\" >9.2 GOTO \u504f\u79fb\u91cf<\/a><\/li>\n<li><a href=\"#93-pick-\u53d6\u7247\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >9.3 PICK \u53d6\u7247\u547d\u4ee4<\/a><\/li>\n<li><a href=\"#94-place-\u653e\u7247\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >9.4 PLACE \u653e\u7247\u547d\u4ee4<\/a><\/li>\n<li><a href=\"#95-xfer-\u4f20\u9001\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >9.5 XFER \u4f20\u9001\u547d\u4ee4<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u5341\u7ae0-active-wafer-centering-awc-\u4e3b\u52a8\u6676\u5706\u5bf9\u4e2d\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u5341\u7ae0 Active Wafer Centering (AWC) \u4e3b\u52a8\u6676\u5706\u5bf9\u4e2d<\/a>\n<ul>\n<li><a href=\"#101-awc-\u6982\u8ff0\" target=\"_blank\"  rel=\"nofollow\" >10.1 AWC \u6982\u8ff0<\/a><\/li>\n<li><a href=\"#102-\u5168\u5c40\u8bbe\u7f6e\" target=\"_blank\"  rel=\"nofollow\" >10.2 \u5168\u5c40\u8bbe\u7f6e<\/a><\/li>\n<li><a href=\"#103-\u5de5\u4f4d\u4f20\u611f\u5668\u8bbe\u7f6e\" target=\"_blank\"  rel=\"nofollow\" >10.3 \u5de5\u4f4d\u4f20\u611f\u5668\u8bbe\u7f6e<\/a><\/li>\n<li><a href=\"#104-awc-\u5de5\u4f4d\u53c2\u6570\" target=\"_blank\"  rel=\"nofollow\" >10.4 AWC \u5de5\u4f4d\u53c2\u6570<\/a><\/li>\n<li><a href=\"#105-awc-\u4f20\u611f\u5668\u6821\u51c6\" target=\"_blank\"  rel=\"nofollow\" >10.5 AWC \u4f20\u611f\u5668\u6821\u51c6<\/a><\/li>\n<li><a href=\"#106-awc-\u64cd\u4f5c\u4e0e\u6570\u636e\u67e5\u8be2\" target=\"_blank\"  rel=\"nofollow\" >10.6 AWC \u64cd\u4f5c\u4e0e\u6570\u636e\u67e5\u8be2<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u5341\u4e00\u7ae0-\u5de5\u4f5c\u7a7a\u95f4-workspace\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u5341\u4e00\u7ae0 \u5de5\u4f5c\u7a7a\u95f4 (Workspace)<\/a>\n<ul>\n<li><a href=\"#111-\u5de5\u4f5c\u7a7a\u95f4\u6982\u8ff0\" target=\"_blank\"  rel=\"nofollow\" >11.1 \u5de5\u4f5c\u7a7a\u95f4\u6982\u8ff0<\/a><\/li>\n<li><a href=\"#112-\u521b\u5efa\u4e0e\u5220\u9664\u5de5\u4f5c\u7a7a\u95f4\" target=\"_blank\"  rel=\"nofollow\" >11.2 \u521b\u5efa\u4e0e\u5220\u9664\u5de5\u4f5c\u7a7a\u95f4<\/a><\/li>\n<li><a href=\"#113-\u5de5\u4f5c\u7a7a\u95f4\u53c2\u6570\u8bbe\u7f6e\" target=\"_blank\"  rel=\"nofollow\" >11.3 \u5de5\u4f5c\u7a7a\u95f4\u53c2\u6570\u8bbe\u7f6e<\/a><\/li>\n<li><a href=\"#114-\u5de5\u4f5c\u7a7a\u95f4\u6a21\u5f0f\" target=\"_blank\"  rel=\"nofollow\" >11.4 \u5de5\u4f5c\u7a7a\u95f4\u6a21\u5f0f<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u5341\u4e8c\u7ae0-\u5bf9\u51c6\u5668-aligner-\u96c6\u6210\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u5341\u4e8c\u7ae0 \u5bf9\u51c6\u5668 (Aligner) \u96c6\u6210<\/a>\n<ul>\n<li><a href=\"#121-\u5bf9\u51c6\u5668\u6982\u8ff0\" target=\"_blank\"  rel=\"nofollow\" >12.1 \u5bf9\u51c6\u5668\u6982\u8ff0<\/a><\/li>\n<li><a href=\"#122-\u901a\u4fe1\u94fe\u63a5\u914d\u7f6e\" target=\"_blank\"  rel=\"nofollow\" >12.2 \u901a\u4fe1\u94fe\u63a5\u914d\u7f6e<\/a><\/li>\n<li><a href=\"#123-\u5bf9\u51c6\u5668\u8bbe\u7f6e\" target=\"_blank\"  rel=\"nofollow\" >12.3 \u5bf9\u51c6\u5668\u8bbe\u7f6e<\/a><\/li>\n<li><a href=\"#124-\u5bf9\u51c6\u5668\u64cd\u4f5c\u547d\u4ee4\" target=\"_blank\"  rel=\"nofollow\" >12.4 \u5bf9\u51c6\u5668\u64cd\u4f5c\u547d\u4ee4<\/a><\/li>\n<li><a href=\"#125-\u96c6\u6210\u547d\u4ee4pickplacexfer--algn\" target=\"_blank\"  rel=\"nofollow\" >12.5 \u96c6\u6210\u547d\u4ee4\uff08PICK\/PLACE\/XFER + ALGN\uff09<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u5341\u4e09\u7ae0-\u793a\u6559\u5668\u64cd\u4f5c-teach-pendant\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u5341\u4e09\u7ae0 \u793a\u6559\u5668\u64cd\u4f5c (Teach Pendant)<\/a>\n<ul>\n<li><a href=\"#131-liveman-\u793a\u6559\u5668\u5b89\u5168\u987b\u77e5\" target=\"_blank\"  rel=\"nofollow\" >13.1 Liveman \u793a\u6559\u5668\u5b89\u5168\u987b\u77e5<\/a><\/li>\n<li><a href=\"#132-\u793a\u6559\u5668\u57fa\u672c\u64cd\u4f5c\" target=\"_blank\"  rel=\"nofollow\" >13.2 \u793a\u6559\u5668\u57fa\u672c\u64cd\u4f5c<\/a><\/li>\n<li><a href=\"#133-\u5de5\u4f4d\u793a\u6559\u6d41\u7a0b\" target=\"_blank\"  rel=\"nofollow\" >13.3 \u5de5\u4f4d\u793a\u6559\u6d41\u7a0b<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u5341\u56db\u7ae0-\u9519\u8bef\u4ee3\u7801\u53c2\u8003\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u5341\u56db\u7ae0 \u9519\u8bef\u4ee3\u7801\u53c2\u8003<\/a>\n<ul>\n<li><a href=\"#141-\u9519\u8bef\u4ee3\u7801\u5bf9\u7167\u8868\" target=\"_blank\"  rel=\"nofollow\" >14.1 \u9519\u8bef\u4ee3\u7801\u5bf9\u7167\u8868<\/a><\/li>\n<li><a href=\"#142-\u5e38\u89c1\u9519\u8bef\u4e0e\u6392\u67e5\" target=\"_blank\"  rel=\"nofollow\" >14.2 \u5e38\u89c1\u9519\u8bef\u4e0e\u6392\u67e5<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u7b2c\u5341\u4e94\u7ae0-\u64cd\u4f5c\u6d41\u7a0b\u901f\u67e5\" target=\"_blank\"  rel=\"nofollow\" >\u7b2c\u5341\u4e94\u7ae0 \u64cd\u4f5c\u6d41\u7a0b\u901f\u67e5<\/a>\n<ul>\n<li><a href=\"#151-\u5b8c\u6574\u521d\u59cb\u5316\u8bbe\u7f6e\u6d41\u7a0b\" target=\"_blank\"  rel=\"nofollow\" >15.1 \u5b8c\u6574\u521d\u59cb\u5316\u8bbe\u7f6e\u6d41\u7a0b<\/a><\/li>\n<li><a href=\"#152-\u65e5\u5e38\u542f\u52a8\u6d41\u7a0b\" target=\"_blank\"  rel=\"nofollow\" >15.2 \u65e5\u5e38\u542f\u52a8\u6d41\u7a0b<\/a><\/li>\n<li><a href=\"#153-\u5e38\u7528\u547d\u4ee4\u901f\u67e5\u8868\" target=\"_blank\"  rel=\"nofollow\" >15.3 \u5e38\u7528\u547d\u4ee4\u901f\u67e5\u8868<\/a><\/li>\n<\/ul>\n<\/li>\n<li><a href=\"#\u9644\u5f55\" target=\"_blank\"  rel=\"nofollow\" >\u9644\u5f55<\/a>\n<ul>\n<li><a href=\"#\u9644\u5f55-a-wave-\u5230-leap-\u8fc1\u79fb\u8bf4\u660e\" target=\"_blank\"  rel=\"nofollow\" >\u9644\u5f55 A: WAVE \u5230 LEAP \u8fc1\u79fb\u8bf4\u660e<\/a><\/li>\n<li><a href=\"#\u9644\u5f55-b-\u53cc\u72ec\u7acb\u673a\u5668\u4eba\u6ce8\u610f\u4e8b\u9879\" target=\"_blank\"  rel=\"nofollow\" >\u9644\u5f55 B: \u53cc\u72ec\u7acb\u673a\u5668\u4eba\u6ce8\u610f\u4e8b\u9879<\/a><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<hr \/>\n<h2>\u7b2c\u4e00\u7ae0 \u7cfb\u7edf\u6982\u8ff0<\/h2>\n<h3>1.1 \u4ea7\u54c1\u7b80\u4ecb<\/h3>\n<p><strong>MAGNATRAN\u00ae LEAP\u2122<\/strong> \u662f Brooks Automation \u516c\u53f8\u751f\u4ea7\u7684\u9ad8\u6027\u80fd\u771f\u7a7a\u6676\u5706\u4f20\u9001\u673a\u5668\u4eba\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u534a\u5bfc\u4f53\u5236\u9020\u8bbe\u5907\u4e2d\u3002\u8be5\u673a\u5668\u4eba\u901a\u8fc7\u5355\u4e00\u540c\u5fc3\u8f74\u80a9\u8f74\u673a\u6784\uff0c\u63d0\u4f9b\u5bf9\u5355\u81c2\u6216\u53cc\u534a\u72ec\u7acb\u81c2\u7684\u7cbe\u786e\u63a7\u5236\u3002<\/p>\n<p><strong>\u6838\u5fc3\u7279\u6027\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u7279\u6027<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><strong>\u8fd0\u52a8\u7c7b\u578b<\/strong><\/td>\n<td>\u65cb\u8f6c\uff08Theta\uff09\u3001\u5f84\u5411\uff08Extend\/Retract\uff09\u3001\u5782\u76f4\uff08Z\u8f74\uff09<\/td>\n<\/tr>\n<tr>\n<td><strong>\u9a71\u52a8\u7c7b\u578b<\/strong><\/td>\n<td>4\u8f74 \/ 6\u8f74\uff084T+Z \u9a71\u52a8\uff09<\/td>\n<\/tr>\n<tr>\n<td><strong>\u81c2\u7c7b\u578b<\/strong><\/td>\n<td>SCARA \/ Dual Pan SCARA \/ Frogleg \/ QuadraFly<\/td>\n<\/tr>\n<tr>\n<td><strong>\u63a7\u5236\u65b9\u5f0f<\/strong><\/td>\n<td>\u4e3b\u673a\u547d\u4ee4 \/ Liveman \u793a\u6559\u5668<\/td>\n<\/tr>\n<tr>\n<td><strong>\u901a\u4fe1\u534f\u8bae<\/strong><\/td>\n<td>RS-232 \u4e32\u53e3 \/ \u4ee5\u592a\u7f51\uff08Ethernet\uff09<\/td>\n<\/tr>\n<tr>\n<td><strong>\u8f6f\u4ef6\u7248\u672c<\/strong><\/td>\n<td>V8.2.x \u7cfb\u5217\uff08\u57fa\u4e8e Series 8 Controller\uff09<\/td>\n<\/tr>\n<tr>\n<td><strong>\u5b89\u5168\u7cfb\u7edf<\/strong><\/td>\n<td>\u5d4c\u5165\u5f0f\u5b89\u5168\u63a7\u5236\u5668\uff0c\u5197\u4f59\u901a\u9053 A\/B<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u4e3b\u8981\u6587\u6863\u7f16\u53f7\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u6587\u6863<\/th>\n<th>\u7f16\u53f7<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>\u7528\u6237\u624b\u518c<\/td>\n<td>238485 Rev. G<\/td>\n<td>\u786c\u4ef6\u5b89\u88c5\u3001\u5b89\u5168\u3001\u89c4\u683c\u3001\u64cd\u4f5c<\/td>\n<\/tr>\n<tr>\n<td>\u8f6f\u4ef6\u624b\u518c<\/td>\n<td>278805 Rev. E<\/td>\n<td>\u7f16\u7a0b\u547d\u4ee4\u3001I\/O\u3001\u5de5\u4f4d\u8bbe\u7f6e\u3001AWC<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>1.2 \u673a\u68b0\u81c2\u7c7b\u578b<\/h3>\n<p>MAGNATRAN LEAP \u652f\u6301\u591a\u79cd\u673a\u68b0\u81c2\u914d\u7f6e\uff1a<\/p>\n<h4>SCARA \u81c2<\/h4>\n<ul>\n<li>\u63d0\u4f9b\u65cb\u8f6c\uff08Theta\uff09\u3001\u5f84\u5411\uff08Extend\/Retract\uff09\u548c\u5782\u76f4\uff08Z, Up\/Down\uff09\u4e09\u79cd\u8fd0\u52a8<\/li>\n<li>\u5355\u672b\u7aef\u6267\u884c\u5668<\/li>\n<li>\u9002\u5408\u6807\u51c6\u771f\u7a7a\u4f20\u9001\u5e94\u7528<\/li>\n<\/ul>\n<h4>Dual Pan SCARA\u2122 \u81c2<\/h4>\n<ul>\n<li>\u53cc\u534a\u72ec\u7acb\u81c2\u8bbe\u8ba1<\/li>\n<li>\u4e24\u4e2a\u672b\u7aef\u6267\u884c\u5668\uff08Arm A \/ Arm B\uff09<\/li>\n<li>\u901a\u8fc7\u5355\u4e00\u540c\u5fc3\u8f74\u80a9\u8f74\u673a\u6784\u9a71\u52a8<\/li>\n<li>\u652f\u6301\u5feb\u901f\u4ea4\u6362\uff08swap\uff09\u64cd\u4f5c<\/li>\n<\/ul>\n<h4>Dual Independent Frogleg\u2122 \u81c2<\/h4>\n<ul>\n<li>\u53cc\u72ec\u7acb\u86d9\u817f\u5f0f\u81c2<\/li>\n<li>\u4e24\u4e2a\u672b\u7aef\u6267\u884c\u5668\u72ec\u7acb\u8fd0\u52a8<\/li>\n<li>\u8fd0\u52a8\u7531\u5185\u7f6e LEAP \u63a7\u5236\u5668\u534f\u8c03\u63a7\u5236<\/li>\n<\/ul>\n<h4>Dual Arm SCARA \u81c2<\/h4>\n<ul>\n<li>\u901a\u8fc7\u4e09\u4e2a Theta \u8f74\u5b9e\u73b0\u5f84\u5411\u548c\u65cb\u8f6c\u8fd0\u52a8<\/li>\n<li>\u4e24\u4e2a\u672b\u7aef\u6267\u884c\u5668<\/li>\n<\/ul>\n<h4>QuadraFly\u2122 \u81c2<\/h4>\n<ul>\n<li>\u56db\u81c2\u8bbe\u8ba1\uff0c\u9002\u5408\u91cd\u8f7d\u5e94\u7528<\/li>\n<li>\u8759\u8760\u7ffc\u5f0f\u8155\u677f\u8fde\u63a5\u672b\u7aef\u6267\u884c\u5668<\/li>\n<li>\u6bcf\u4e2a\u8759\u8760\u7ffc\u53ef\u5bb9\u7eb3\u4e24\u4e2a\u672b\u7aef\u6267\u884c\u5668\uff08Pan L \/ Pan R\uff09<\/li>\n<\/ul>\n<h3>1.3 \u5750\u6807\u7cfb\u7edf<\/h3>\n<p>MAGNATRAN LEAP \u4f7f\u7528<strong>\u6781\u5750\u6807\u7cfb<\/strong>\uff08Polar Coordinate System\uff09\uff0c\u4ee5\u673a\u5668\u4eba\u9a71\u52a8\u4e2d\u5fc3\u4e3a\u5750\u6807\u539f\u70b9\uff1a<\/p>\n<pre><code>    R (\u5f84\u5411) \u2014 \u672b\u7aef\u6267\u884c\u5668\u5230\u4e2d\u5fc3\u7684\u8ddd\u79bb\uff08\u5fae\u7c73\/microns\uff09\n    T (\u65cb\u8f6c) \u2014 \u65cb\u8f6c\u89d2\u5ea6\uff08\u6beb\u5ea6\/millidegrees\uff09\n    Z (\u5782\u76f4) \u2014 \u5782\u76f4\u9ad8\u5ea6\u4f4d\u7f6e\uff08\u5fae\u7c73\/microns\uff09<\/code><\/pre>\n<blockquote>\n<p><strong>\u6ce8\u610f\uff1a<\/strong> R \u548c T \u786e\u5b9a\u672b\u7aef\u6267\u884c\u5668\u4e2d\u5fc3\u7684\u76ee\u6807\u4f4d\u7f6e\uff1bW\uff08\u65cb\u8f6c\u8155\uff09\u5b9a\u4e49\u672b\u7aef\u6267\u884c\u5668\u7684\u76ee\u6807\u65b9\u5411\u3002<\/p>\n<\/blockquote>\n<p><strong>\u5173\u952e\u4f4d\u7f6e\u672f\u8bed\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u672f\u8bed<\/th>\n<th>\u82f1\u6587<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>\u57fa\u51c6\u4f20\u9001\u504f\u79fb<\/td>\n<td>BTO (Base Transfer Offset)<\/td>\n<td>\u4ece\u673a\u5668\u4eba Home \u4f4d\u7f6e\u5230\u7cfb\u7edf\u6676\u5706\u4f20\u9001\u5e73\u9762\uff08WTP\uff09\u7684\u5782\u76f4\u8ddd\u79bb<\/td>\n<\/tr>\n<tr>\n<td>\u6676\u5706\u4f20\u9001\u5e73\u9762<\/td>\n<td>WTP (Wafer Transfer Plane)<\/td>\n<td>\u6676\u5706\u5e95\u9762\u6240\u5728\u7684\u6c34\u5e73\u9762<\/td>\n<\/tr>\n<tr>\n<td>\u7f29\u56de\u4f4d\u7f6e<\/td>\n<td>Retract (R1\/R2)<\/td>\n<td>\u81c2\u7f29\u56de\u65f6\u7684\u5f84\u5411\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>\u4f38\u51fa\u4f4d\u7f6e<\/td>\n<td>Extend (EX)<\/td>\n<td>\u81c2\u5b8c\u5168\u4f38\u51fa\u81f3\u5de5\u4f4d\u65f6\u7684\u5f84\u5411\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>\u4e0a\u4f4d\/\u4e0b\u4f4d<\/td>\n<td>Z UP \/ Z DN<\/td>\n<td>Z \u8f74\u7684\u4e0a\u65b9\/\u4e0b\u65b9\u4f20\u9001\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>\u69fd\u4f4d<\/td>\n<td>SLOT<\/td>\n<td>\u5361\u5323\u6216\u8154\u4f53\u5185\u7684\u5177\u4f53\u6676\u5706\u4f4d\u7f6e\u7f16\u53f7<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>1.4 \u63a7\u5236\u5668\u4e0e\u8f6f\u4ef6\u67b6\u6784<\/h3>\n<p>MAGNATRAN LEAP \u91c7\u7528 <strong>Series 8 Controller<\/strong>\uff0c\u5185\u7f6e\u5d4c\u5165\u5f0f\u5b89\u5168\u63a7\u5236\u5668\uff1a<\/p>\n<pre><code>\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n\u2502        \u4e3b\u673a\u7cfb\u7edf (Host)               \u2502\n\u2502  (OEM \u7cfb\u7edf\u63a7\u5236\u5668 \/ PC \/ PLC)        \u2502\n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n           \u2502  RS-232 \/ Ethernet\n           \u25bc\n\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n\u2502     Series 8 Controller             \u2502\n\u2502  \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510  \u2502\n\u2502  \u2502  \u8fd0\u52a8\u63a7\u5236\u5f15\u64ce                  \u2502  \u2502\n\u2502  \u2502  \u547d\u4ee4\u89e3\u6790\u5668                    \u2502  \u2502\n\u2502  \u2502  I\/O \u7ba1\u7406                      \u2502  \u2502\n\u2502  \u2502  \u5b89\u5168\u63a7\u5236\u5668 (Channel A\/B)      \u2502  \u2502\n\u2502  \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518  \u2502\n\u2502  \u56fa\u4ef6\u7248\u672c: V8.2.x                   \u2502\n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n           \u2502          \u2502\n     \u250c\u2500\u2500\u2500\u2500\u2500\u2518          \u2514\u2500\u2500\u2500\u2500\u2500\u2510\n     \u25bc                      \u25bc\n\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510          \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n\u2502 \u7535\u673a\u9a71\u52a8  \u2502          \u2502 I\/O \u9762\u677f  \u2502\n\u2502 (R\/T\/Z)  \u2502          \u2502 \u5b89\u5168 I\/O \u2502\n\u2502          \u2502          \u2502 MISC I\/O \u2502\n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518          \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<\/code><\/pre>\n<p><strong>\u517c\u5bb9\u6027\u6a21\u5f0f<\/strong>\uff1aLEAP \u652f\u6301\u4e24\u79cd\u517c\u5bb9\u6027\u6a21\u5f0f\uff1a<\/p>\n<ul>\n<li><strong>MAG6 \u6a21\u5f0f<\/strong> \u2014 \u4e0e MagnaTran 6 \u7cfb\u5217\u517c\u5bb9<\/li>\n<li><strong>VT5 \u6a21\u5f0f<\/strong> \u2014 \u4e0e MT5\/VT5 \u7cfb\u5217\u517c\u5bb9<\/li>\n<\/ul>\n<hr \/>\n<h2>\u7b2c\u4e8c\u7ae0 \u5b89\u5168\u89c4\u8303<\/h2>\n<h3>2.1 \u5b89\u5168\u8b66\u544a\u7b49\u7ea7<\/h3>\n<table>\n<thead>\n<tr>\n<th>\u4fe1\u53f7\u8bcd<\/th>\n<th>\u989c\u8272<\/th>\n<th>\u542b\u4e49<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><strong>DANGER\uff08\u5371\u9669\uff09<\/strong><\/td>\n<td>\u767d\u5b57\u7ea2\u5e95<\/td>\n<td>\u5982\u4e0d\u907f\u514d\uff0c<strong>\u5c06\u5bfc\u81f4\u6b7b\u4ea1\u6216\u4e25\u91cd\u4f24\u5bb3<\/strong><\/td>\n<\/tr>\n<tr>\n<td><strong>WARNING\uff08\u8b66\u544a\uff09<\/strong><\/td>\n<td>\u9ed1\u5b57\u6a59\u5e95<\/td>\n<td>\u5982\u4e0d\u907f\u514d\uff0c<strong>\u53ef\u80fd\u5bfc\u81f4\u6b7b\u4ea1\u6216\u4e25\u91cd\u4f24\u5bb3<\/strong><\/td>\n<\/tr>\n<tr>\n<td><strong>CAUTION\uff08\u6ce8\u610f\uff09<\/strong><\/td>\n<td>\u9ed1\u5b57\u9ec4\u5e95<\/td>\n<td>\u5982\u4e0d\u907f\u514d\uff0c<strong>\u53ef\u80fd\u5bfc\u81f4\u8f7b\u5ea6\u6216\u4e2d\u5ea6\u4f24\u5bb3<\/strong><\/td>\n<\/tr>\n<tr>\n<td><strong>NOTICE\uff08\u63d0\u793a\uff09<\/strong><\/td>\n<td>\u767d\u5b57\u84dd\u5e95<\/td>\n<td>\u4e0d\u6d89\u53ca\u4eba\u8eab\u4f24\u5bb3\u7684\u91cd\u8981\u64cd\u4f5c\u4fe1\u606f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<blockquote>\n<p>\u26a0\ufe0f <strong>\u5b89\u5168\u56fe\u6807\u9075\u5faa ISO 3864 \u548c ANSI Z535 \u6807\u51c6\u3002<\/strong><\/p>\n<\/blockquote>\n<h3>2.2 \u901a\u7528\u5b89\u5168\u6ce8\u610f\u4e8b\u9879<\/h3>\n<pre><code>\u2554\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2557\n\u2551  \u26a0\ufe0f  \u5173\u952e\u5b89\u5168\u8b66\u544a                                                \u2551\n\u2551                                                                  \u2551\n\u2551  \u2022 \u8f6f\u4ef6\u4e0d\u5177\u5907\u5b89\u5168\u8bc4\u7ea7 \u2014 \u53ea\u8981\u7535\u673a\u901a\u7535\uff0c\u5c31\u53ef\u80fd\u53d1\u751f\u975e\u8ba1\u5212\u8fd0\u52a8         \u2551\n\u2551  \u2022 \u6700\u5927\u626d\u77e9\u53ef\u80fd\u77ac\u95f4\u65bd\u52a0\uff0c\u5bfc\u81f4\u6b7b\u4ea1\u3001\u4e25\u91cd\u4f24\u5bb3\u6216\u8bbe\u5907\u635f\u574f             \u2551\n\u2551  \u2022 \u4ec5\u5728\u673a\u5668\u4eba\u5de5\u4f5c\u7a7a\u95f4\u88ab\u5c01\u95ed\u65f6\uff0c\u624d\u80fd\u5728\u81ea\u52a8\u6a21\u5f0f\u4e0b\u8fd0\u884c               \u2551\n\u2551  \u2022 \u786e\u4fdd\u5b89\u5168\u63a7\u5236\u5668\u529f\u80fd\u5df2\u7ecf\u5230\u4f4d\u5e76\u6b63\u786e\u8fd0\u884c                           \u2551\n\u2551  \u2022 \u62c6\u5378\u673a\u5668\u4eba\u5916\u7f69\u5c06\u89e6\u53d1\u8054\u9501\uff0c\u5c06\u901f\u5ea6\u9650\u5236\u81f3 250mm\/sec               \u2551\n\u2551  \u2022 \u91cd\u65b0\u5b89\u88c5\u5916\u7f69\u4e0d\u4f1a\u91cd\u7f6e\u901f\u5ea6\u8054\u9501 \u2014 \u9700\u8054\u7cfb Brooks \u6280\u672f\u652f\u6301          \u2551\n\u255a\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u255d<\/code><\/pre>\n<p><strong>\u8f6f\u4ef6\u5b89\u5168\u8b66\u544a\uff1a<\/strong><\/p>\n<ul>\n<li>\u4ec5\u5728\u5b89\u88c5\u4e86\u5916\u7f69\u7684\u60c5\u51b5\u4e0b\u64cd\u4f5c\u673a\u5668\u4eba<\/li>\n<li>\u4f7f\u7528\u7269\u7406\u5c4f\u969c\u9632\u6b62\u4eba\u5458\u8fdb\u5165\u673a\u5668\u4eba\u8fd0\u52a8\u8def\u5f84<\/li>\n<li>\u5728\u673a\u5668\u4eba\u5de5\u4f5c\u7a7a\u95f4\u5185\u64cd\u4f5c\u65f6\uff0c\u59cb\u7ec8\u4f7f\u7528 Liveman \u793a\u6559\u5668<\/li>\n<li>\u4f7f\u7528\u5fc3\u810f\u8282\u5f8b\u7ba1\u7406\u8bbe\u5907\u7684\u4eba\u5458\uff0c\u9700\u4e0e\u7535\u673a\u4fdd\u6301\u81f3\u5c11 30cm \u5b89\u5168\u8ddd\u79bb<\/li>\n<\/ul>\n<h3>2.3 \u5b89\u5168\u8054\u9501\u7cfb\u7edf<\/h3>\n<p><strong>\u5b89\u5168 I\/O \u8fde\u63a5\u5668<\/strong>\uff1aLEAP \u914d\u5907\u4e13\u7528\u5b89\u5168 I\/O \u8fde\u63a5\u5668\uff0c\u5305\u542b\u5197\u4f59\u901a\u9053 A \u548c B\u3002<\/p>\n<table>\n<thead>\n<tr>\n<th>\u8054\u9501\u7c7b\u578b<\/th>\n<th>\u529f\u80fd<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><strong>\u4fdd\u62a4\u505c\u6b62 (Protective Stop)<\/strong><\/td>\n<td>\u5fc5\u987b\u95ed\u5408\u624d\u80fd\u63a5\u53d7\u8fd0\u52a8\u547d\u4ee4<\/td>\n<\/tr>\n<tr>\n<td><strong>\u7d27\u6025\u505c\u6b62 (E-Stop)<\/strong><\/td>\n<td>\u89e6\u53d1\u65f6\u5207\u65ad\u7535\u673a\u7535\u6e90<\/td>\n<\/tr>\n<tr>\n<td><strong>\u5fc3\u8df3\/\u72b6\u6001\u4fe1\u53f7<\/strong><\/td>\n<td>\u9a8c\u8bc1\u5b89\u5168\u63a7\u5236\u5668\u8fd0\u884c\u72b6\u6001<\/td>\n<\/tr>\n<tr>\n<td><strong>\u5916\u7f69\u8054\u9501<\/strong><\/td>\n<td>\u68c0\u6d4b\u673a\u5668\u4eba\u5916\u7f69\u662f\u5426\u5c31\u4f4d<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<blockquote>\n<p><strong>\u6ce8\u610f\uff1a<\/strong> \u7981\u6b62\u7ed5\u8fc7\u5b89\u5168\u8054\u9501\u3002Muting\uff08\u5c4f\u853d\uff09\u8fde\u63a5\u5668\u4ec5\u7528\u4e8e\u7279\u5b9a\u6539\u88c5\u6216\u53d7\u63a7\u8bca\u65ad\u573a\u666f\u3002<\/p>\n<\/blockquote>\n<hr \/>\n<h2>\u7b2c\u4e09\u7ae0 \u901a\u4fe1\u4e0e\u8fde\u63a5<\/h2>\n<h3>3.1 RS-232 \u4e32\u53e3\u901a\u4fe1<\/h3>\n<p><strong>\u9ed8\u8ba4\u4e32\u53e3\u914d\u7f6e\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u53c2\u6570<\/th>\n<th>\u9ed8\u8ba4\u503c<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>\u6ce2\u7279\u7387 (Baud Rate)<\/td>\n<td>9600<\/td>\n<\/tr>\n<tr>\n<td>\u6570\u636e\u4f4d (Data Bits)<\/td>\n<td>8<\/td>\n<\/tr>\n<tr>\n<td>\u6821\u9a8c\u4f4d (Parity)<\/td>\n<td>None<\/td>\n<\/tr>\n<tr>\n<td>\u505c\u6b62\u4f4d (Stop Bits)<\/td>\n<td>1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<blockquote>\n<p>\u26a0\ufe0f \u5982\u679c\u793a\u6559\u5668\u5df2\u8fde\u63a5\u5e76\u6fc0\u6d3b\uff0c\u673a\u5668\u4eba\u53ef\u80fd\u4f18\u5148\u54cd\u5e94\u793a\u6559\u5668\u8f93\u5165\u800c\u975e\u4e3b\u673a\u4e32\u53e3\u547d\u4ee4\u3002<\/p>\n<p>\u26a0\ufe0f \u5728\u4e0a\u7535\u524d\uff0c\u786e\u4fdd\u6240\u6709\u901a\u4fe1\u548c\u7535\u6e90\u8fde\u63a5\u5df2\u5b8c\u6210\u3002<\/p>\n<\/blockquote>\n<h3>3.2 \u4ee5\u592a\u7f51\u901a\u4fe1<\/h3>\n<p>LEAP \u673a\u5668\u4eba\u53ef\u901a\u8fc7\u4ee5\u592a\u7f51\u8fde\u63a5\u5916\u90e8\u63a7\u5236\u5668\u3002I\/O \u9762\u677f\u63d0\u4f9b\u4ee5\u4e0b\u4ee5\u592a\u7f51\u7aef\u53e3\uff1a<\/p>\n<table>\n<thead>\n<tr>\n<th>\u7aef\u53e3<\/th>\n<th>\u7528\u9014<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><strong>HOST (IOIOI)<\/strong><\/td>\n<td>\u4e3b\u673a\u901a\u4fe1\u7aef\u53e3<\/td>\n<\/tr>\n<tr>\n<td><strong>Ethernet<\/strong><\/td>\n<td>\u4e3b\u4ee5\u592a\u7f51\u901a\u4fe1<\/td>\n<\/tr>\n<tr>\n<td><strong>Diagnostics<\/strong><\/td>\n<td>\u8bca\u65ad\u7528\u4ee5\u592a\u7f51<\/td>\n<\/tr>\n<tr>\n<td><strong>Auxiliary<\/strong><\/td>\n<td>\u8f85\u52a9\u8bbe\u5907\u4ee5\u592a\u7f51<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u914d\u7f6e\u4ee5\u592a\u7f51\u547d\u4ee4\uff1a<\/strong><\/p>\n<pre><code>CONFIG ETHERNET ADDRESS ip_address MASK subnet_mask<\/code><\/pre>\n<blockquote>\n<p><strong>\u6ce8\u610f\uff1a<\/strong> \u6b64\u547d\u4ee4\u4e0d\u9700\u8981 STORE\uff0c\u66f4\u6539\u7acb\u5373\u751f\u6548\u3002\u5982\u679c\u901a\u8fc7\u4ee5\u592a\u7f51\u8fde\u63a5\u66f4\u6539 IP \u5730\u5740\uff0c\u8fde\u63a5\u5c06\u65ad\u5f00\u3002<\/p>\n<\/blockquote>\n<p><strong>\u67e5\u8be2\u4ee5\u592a\u7f51\u914d\u7f6e\uff1a<\/strong><\/p>\n<pre><code>RQ ETHERNET<\/code><\/pre>\n<h3>3.3 \u901a\u4fe1\u6a21\u5f0f\u914d\u7f6e<\/h3>\n<p><strong>\u67e5\u8be2\u6240\u6709\u901a\u4fe1\u8bbe\u7f6e\uff1a<\/strong><\/p>\n<pre><code>RQ COMM ALL<\/code><\/pre>\n<p><strong>\u8bbe\u7f6e\u6570\u636e\u5305\u6a21\u5f0f (Packet Mode)\uff1a<\/strong><\/p>\n<pre><code>SET COMM M\/B PKT<\/code><\/pre>\n<p><strong>\u8bbe\u7f6e\u987a\u5e8f\u6a21\u5f0f (Sequential Mode)\uff1a<\/strong><\/p>\n<pre><code>SET COMM FLOW SEQ<\/code><\/pre>\n<p><strong>\u8bbe\u7f6e\u7ec8\u7aef\u56de\u663e\uff1a<\/strong><\/p>\n<pre><code>SET IO ECHO Y          # \u5f00\u542f\u56de\u663e\nSET IO ECHO N          # \u5173\u95ed\u56de\u663e<\/code><\/pre>\n<p><strong>\u6362\u884c\u7b26\u8bbe\u7f6e\uff1a<\/strong><\/p>\n<pre><code>SET COMM LF Y          # \u5728\u54cd\u5e94\u672b\u5c3e\u6dfb\u52a0\u6362\u884c\u7b26\nSET COMM LF N          # \u4e0d\u6dfb\u52a0\u6362\u884c\u7b26<\/code><\/pre>\n<p><strong>\u6821\u9a8c\u548c\u6a21\u5f0f\uff1a<\/strong><\/p>\n<pre><code>SET COMM CHECKSUM offa6    # \u5173\u95ed\u6821\u9a8c\u548c\uff08\u9ed8\u8ba4 OFF\uff0c\u533a\u5206\u5927\u5c0f\u5199\uff09<\/code><\/pre>\n<p><strong>I\/O \u56de\u663e\u6ce8\u91ca\uff08ECHO\uff09\uff1a<\/strong><\/p>\n<pre><code>ECHO PROCESS NUMBER 7 HAS STARTED<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>PROCESS NUMBER 7 HAS STARTED<\/code><\/pre>\n<blockquote>\n<p>ECHO \u547d\u4ee4\u4e0d\u6267\u884c\u4efb\u4f55\u673a\u5668\u4eba\u64cd\u4f5c\uff0c\u4ec5\u7528\u4f5c\u811a\u672c\u548c\u65e5\u5fd7\u6ce8\u91ca\u7684\u8bca\u65ad\u529f\u80fd\u3002<\/p>\n<\/blockquote>\n<h3>3.4 \u6570\u636e\u5b58\u50a8\u547d\u4ee4<\/h3>\n<p>\u8bb8\u591a\u53c2\u6570\u8bbe\u7f6e\u540e\u9700\u8981\u4f7f\u7528 STORE \u547d\u4ee4\u6301\u4e45\u5316\u4fdd\u5b58\u3002\u90e8\u5206\u547d\u4ee4\u6709\u72ec\u7acb\u7684 STORE \u5b50\u547d\u4ee4\uff0c\u90e8\u5206\u8bbe\u7f6e\u81ea\u52a8\u4fdd\u5b58\u3002<\/p>\n<p><strong>\u5b58\u50a8\u6240\u6709\u53c2\u6570\uff1a<\/strong><\/p>\n<pre><code>STORE ALL<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>_RDY<\/code><\/pre>\n<blockquote>\n<p><strong>\u91cd\u8981\uff1a<\/strong> \u6bcf\u6b21\u4fee\u6539\u53c2\u6570\u540e\uff0c\u52a1\u5fc5\u4f7f\u7528\u5bf9\u5e94\u7684 STORE \u547d\u4ee4\u4fdd\u5b58\u3002\u672a\u4fdd\u5b58\u7684\u53c2\u6570\u5c06\u5728\u65ad\u7535\u540e\u4e22\u5931\u3002<\/p>\n<\/blockquote>\n<hr \/>\n<h2>\u7b2c\u56db\u7ae0 \u547d\u4ee4\u8bed\u6cd5\u89c4\u8303<\/h2>\n<h3>4.1 \u547d\u4ee4\u683c\u5f0f\u7ea6\u5b9a<\/h3>\n<p>\u547d\u4ee4\u4ee5\u7b49\u5bbd\u6587\u672c\uff08MONOSPACE TEXT\uff09\u5f62\u5f0f\u5728\u547d\u4ee4\u63d0\u793a\u7b26\u4e0b\u8f93\u5165\uff1a<\/p>\n<table>\n<thead>\n<tr>\n<th>\u683c\u5f0f<\/th>\n<th>\u542b\u4e49<\/th>\n<th>\u793a\u4f8b<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><strong>\u5927\u5199\u5b57\u6bcd<\/strong><\/td>\n<td>\u56fa\u5b9a\u5173\u952e\u5b57\uff0c\u987b\u7cbe\u786e\u8f93\u5165<\/td>\n<td><code>RQ VERSION<\/code><\/td>\n<\/tr>\n<tr>\n<td><strong>\u5c0f\u5199\u659c\u4f53<\/strong><\/td>\n<td>\u53d8\u91cf\uff0c\u987b\u66ff\u6362\u4e3a\u5b9e\u9645\u503c<\/td>\n<td><code>station<\/code>, <code>value<\/code><\/td>\n<\/tr>\n<tr>\n<td><code>[\u65b9\u62ec\u53f7]<\/code><\/td>\n<td>\u53ef\u9009\u53c2\u6570<\/td>\n<td><code>[ARM]<\/code>, <code>[SLOT slot]<\/code><\/td>\n<\/tr>\n<tr>\n<td><code>(\u5706\u62ec\u53f7 \\| \u7ad6\u7ebf)<\/code><\/td>\n<td>\u4ece\u4e2d\u9009\u62e9\u4e00\u9879<\/td>\n<td><code>(A\\|B)<\/code>, <code>(ON\\|OFF)<\/code><\/td>\n<\/tr>\n<tr>\n<td><code>&lt;\u5c16\u62ec\u53f7&gt;<\/code><\/td>\n<td>\u5fc5\u9700\u53c2\u6570<\/td>\n<td><code>&lt;ARM&gt;[(A\\|B)]<\/code><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u547d\u4ee4\u793a\u4f8b\u89e3\u8bfb\uff1a<\/strong><\/p>\n<pre><code>SET STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; R rVal T tVal Z zVal<\/code><\/pre>\n<p>\u89e3\u8bfb\uff1a<\/p>\n<ul>\n<li><code>SET STN<\/code> \u2014 \u56fa\u5b9a\u5173\u952e\u5b57<\/li>\n<li><code>station<\/code> \u2014 \u5de5\u4f4d\u7f16\u53f7\uff081-99\uff09<\/li>\n<li><code>ARM<\/code> \u2014 \u56fa\u5b9a\u5173\u952e\u5b57\uff08\u5728\u67d0\u4e9b\u6a21\u5f0f\u4e0b\u4e3a\u53ef\u9009\uff09<\/li>\n<li><code>(A|B)<\/code> \u2014 \u9009\u62e9 Arm A \u6216 Arm B<\/li>\n<li><code>R rVal T tVal Z zVal<\/code> \u2014 \u8bbe\u7f6e\u5f84\u5411\u3001\u65cb\u8f6c\u3001Z \u8f74\u5750\u6807\u503c<\/li>\n<\/ul>\n<p><strong>\u5b9e\u9645\u547d\u4ee4\u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>SET STN 1 ARM A R 350000 T 090000 Z 025000<\/code><\/pre>\n<h3>4.2 \u547d\u4ee4\u54cd\u5e94\u683c\u5f0f<\/h3>\n<p>\u673a\u5668\u4eba\u63a7\u5236\u5668\u7684\u6807\u51c6\u54cd\u5e94\u683c\u5f0f\uff1a<\/p>\n<table>\n<thead>\n<tr>\n<th>\u54cd\u5e94<\/th>\n<th>\u542b\u4e49<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>_RDY<\/code><\/td>\n<td>\u547d\u4ee4\u6267\u884c\u5b8c\u6210\uff0c\u5c31\u7eea<\/td>\n<\/tr>\n<tr>\n<td><code>_ACK nn<\/code><\/td>\n<td>\u547d\u4ee4\u5df2\u786e\u8ba4\uff08\u591a\u8bbe\u5907\u6a21\u5f0f\uff0cnn \u4e3a\u6807\u8bc6\u7b26\uff09<\/td>\n<\/tr>\n<tr>\n<td><code>_DONE nn<\/code><\/td>\n<td>\u547d\u4ee4\u6267\u884c\u5b8c\u6210\uff08\u591a\u8bbe\u5907\u6a21\u5f0f\uff09<\/td>\n<\/tr>\n<tr>\n<td><code>_ERR nn code<\/code><\/td>\n<td>\u9519\u8bef\u54cd\u5e94\uff0ccode \u4e3a\u9519\u8bef\u4ee3\u7801<\/td>\n<\/tr>\n<tr>\n<td><code>_EVENT code<\/code><\/td>\n<td>\u4e8b\u4ef6\u901a\u77e5<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>Monitor \u6a21\u5f0f\u54cd\u5e94\u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>> RQ WHO\nWHO BROOKS AUTOMATION V8.2.0.11\n_RDY<\/code><\/pre>\n<p><strong>Packet \u6a21\u5f0f\u54cd\u5e94\u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>> 01 RQ WHO\n_ACK 01\nWHO BROOKS AUTOMATION V8.2.0.11\n_DONE 01<\/code><\/pre>\n<h3>4.3 \u517c\u5bb9\u6027\u6a21\u5f0f<\/h3>\n<p>LEAP \u652f\u6301 MAG6 \u548c VT5 \u4e24\u79cd\u517c\u5bb9\u6027\u6a21\u5f0f\uff0c\u4e3b\u8981\u5dee\u5f02\u5982\u4e0b\uff1a<\/p>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4\/\u884c\u4e3a<\/th>\n<th>MAG6 \u6a21\u5f0f<\/th>\n<th>VT5 \u6a21\u5f0f<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><strong>GOTO<\/strong><\/td>\n<td>ARM \u53ef\u9009<\/td>\n<td>ARM \u5fc5\u987b\u6307\u5b9a<\/td>\n<\/tr>\n<tr>\n<td><strong>HALT<\/strong><\/td>\n<td>\u53d7\u63a7\u505c\u6b62\uff0c\u81c2\u4fdd\u6301\u4f3a\u670d<\/td>\n<td>\u53d7\u63a7\u505c\u6b62\uff0c\u81c2\u4f3a\u670d\u8131\u79bb<\/td>\n<\/tr>\n<tr>\n<td><strong>HLLO<\/strong><\/td>\n<td>\u8fd4\u56de &quot;HELLO&quot;<\/td>\n<td>\u8fd4\u56de ready \u5b57\u7b26\u4e32<\/td>\n<\/tr>\n<tr>\n<td><strong>MOVE<\/strong><\/td>\n<td>ARM \u53ef\u9009<\/td>\n<td>ARM \u5fc5\u987b\u6307\u5b9a<\/td>\n<\/tr>\n<tr>\n<td><strong>SET STN<\/strong><\/td>\n<td>ARM \u53ef\u9009<\/td>\n<td>\u4e0d\u652f\u6301 ARM<\/td>\n<\/tr>\n<tr>\n<td><strong>RQ POS ABS<\/strong><\/td>\n<td>ARM \u53ef\u9009\uff0c\u603b\u662f RTZ \u987a\u5e8f<\/td>\n<td>\u4e0d\u652f\u6301 ARM<\/td>\n<\/tr>\n<tr>\n<td><strong>Theta \u5750\u6807<\/strong><\/td>\n<td>\u2014<\/td>\n<td>Arm A = 0\u00b0 \/ Arm B = 180\u00b0<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u67e5\u8be2\u517c\u5bb9\u6027\u8bbe\u7f6e\uff1a<\/strong><\/p>\n<pre><code>RQ COMPATIBILITY ALL<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>COMPATIBILITY COORDT (MAG6|VT5) ECHO (MAG6|VT5) HALT (MAG6|VT5) \nCPTR (MAG6|VT5) RESP (MAG6|VT5) SPEED (MAG6|VT5)<\/code><\/pre>\n<p><strong>\u8bbe\u7f6e\u517c\u5bb9\u6027\uff1a<\/strong><\/p>\n<pre><code>SET COMPATIBILITY COORDT VT5\nSET COMPATIBILITY HALT VT5\nSTORE COMPATIBILITY COORDT\nSTORE COMPATIBILITY HALT<\/code><\/pre>\n<blockquote>\n<p>\u26a0\ufe0f <strong>\u66f4\u6539\u517c\u5bb9\u6027\u6a21\u5f0f\u4f1a\u6539\u53d8\u673a\u5668\u4eba\u884c\u4e3a\u3002\u6b64\u547d\u4ee4\u5728\u51fa\u5382\u65f6\u8bbe\u7f6e\uff0c\u901a\u5e38\u4e0d\u5e94\u66f4\u6539\u3002<\/strong><\/p>\n<\/blockquote>\n<hr \/>\n<h2>\u7b2c\u4e94\u7ae0 \u7cfb\u7edf\u547d\u4ee4<\/h2>\n<h3>5.1 \u7cfb\u7edf\u67e5\u8be2\u547d\u4ee4<\/h3>\n<h4>RQ WHO \u2014 \u67e5\u8be2\u673a\u5668\u4eba\u8eab\u4efd<\/h4>\n<pre><code>RQ WHO<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>WHO BROOKS AUTOMATION V8.2.0.11\n_RDY<\/code><\/pre>\n<h4>RQ VERSION \u2014 \u67e5\u8be2\u7248\u672c\u548c\u65e5\u671f<\/h4>\n<pre><code>RQ VERSION<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>V8.2.0.19\n10\/29\/2020\n_RDY<\/code><\/pre>\n<h4>RQ RVSN \u2014 \u67e5\u8be2\u96f6\u4ef6\u53f7\u548c\u8f6f\u4ef6\u4fee\u8ba2\u53f7<\/h4>\n<pre><code>RQ RVSN<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>RVSN part_num revision<\/code><\/pre>\n<h4>RQ DATE \u2014 \u67e5\u8be2\u65e5\u671f<\/h4>\n<pre><code>RQ DATE            # \u8fd4\u56de MM\/DD\/YYYY \u683c\u5f0f\nRQ DATE YMD        # \u8fd4\u56de YYYY-MM-DD \u683c\u5f0f\nRQ DATE MDY        # \u8fd4\u56de YYYY-MM-DD \u683c\u5f0f<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>DATE: 2020-02-06\n_RDY<\/code><\/pre>\n<h4>RQ TIME \u2014 \u67e5\u8be2\u65f6\u95f4<\/h4>\n<pre><code>RQ TIME<\/code><\/pre>\n<blockquote>\n<p><strong>\u6ce8\u610f\uff1a<\/strong> \u65e5\u671f\u548c\u65f6\u95f4\u59cb\u7ec8\u4ee5\u6807\u51c6 GMT \u65f6\u95f4\u7ed9\u51fa\uff0c\u4e0d\u8c03\u6574\u65f6\u533a\u3002<\/p>\n<\/blockquote>\n<h3>5.2 \u914d\u7f6e\u547d\u4ee4<\/h3>\n<h4>CONFIG ROBOT \u2014 \u673a\u5668\u4eba\u5e94\u7528\u7a0b\u5e8f\u914d\u7f6e<\/h4>\n<pre><code>RQ CONFIG                              # \u67e5\u8be2\u5f53\u524d\u5e94\u7528\u7a0b\u5e8f\u7f16\u53f7\nCONFIG ROBOT APLIC application_id      # \u52a0\u8f7d\u6307\u5b9a\u5e94\u7528\u7a0b\u5e8f<\/code><\/pre>\n<blockquote>\n<p>\u5e94\u7528\u7a0b\u5e8f\u7f16\u53f7\u9700\u4e0e\u8d28\u91cf\u8bb0\u5f55\uff08QR\uff09\u6587\u6863\u4e2d\u7684\u7f16\u53f7\u4e00\u81f4\u3002<\/p>\n<\/blockquote>\n<h4>RQ SYNC ZERO \u2014 \u67e5\u8be2\u540c\u6b65\u96f6\u70b9<\/h4>\n<pre><code>RQ SYNC ZERO ALL     # \u67e5\u8be2\u6240\u6709\u8f74\u7684\u540c\u6b65\u96f6\u70b9<\/code><\/pre>\n<h4>FIND ZERO \u2014 \u5efa\u7acb\u65b0\u96f6\u70b9<\/h4>\n<pre><code>FIND ZERO R          # \u5efa\u7acb\u5f84\u5411\u96f6\u70b9\nFIND ZERO T          # \u5efa\u7acb\u65cb\u8f6c\u96f6\u70b9\nFIND ZERO ALL        # \u5efa\u7acb\u6240\u6709\u8f74\u96f6\u70b9<\/code><\/pre>\n<h3>5.3 \u7cfb\u7edf\u590d\u4f4d<\/h3>\n<h4>RESET \u2014 \u590d\u4f4d\u547d\u4ee4<\/h4>\n<pre><code>RESET<\/code><\/pre>\n<blockquote>\n<p>\u590d\u4f4d\u540e\u9700\u8981\u91cd\u65b0\u6267\u884c HOME \u547d\u4ee4\u3002<\/p>\n<\/blockquote>\n<hr \/>\n<h2>\u7b2c\u516d\u7ae0 I\/O \u7cfb\u7edf<\/h2>\n<h3>6.1 \u6807\u51c6 I\/O \u6a21\u5f0f<\/h3>\n<p>\u6807\u51c6 I\/O \u6a21\u5f0f\u63d0\u4f9b <strong>22 \u4e2a\u8f93\u5165\u4fe1\u53f7<\/strong> \u548c <strong>20 \u4e2a\u8f93\u51fa\u4fe1\u53f7<\/strong>\uff0c\u901a\u8fc7 D-Sub 50 \u9488\u8fde\u63a5\u5668\u5b9e\u73b0\u3002<\/p>\n<p><strong>\u6807\u51c6 I\/O \u5f15\u811a\u5b9a\u4e49\uff08\u90e8\u5206\uff09\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u5f15\u811a #<\/th>\n<th>\u4fe1\u53f7\u540d<\/th>\n<th>\u63cf\u8ff0<\/th>\n<th>I\/O Mask<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>1<\/td>\n<td>IN_0<\/td>\n<td>INPUT 1<\/td>\n<td>0x01<\/td>\n<\/tr>\n<tr>\n<td>2<\/td>\n<td>IN_1<\/td>\n<td>INPUT 2<\/td>\n<td>0x02<\/td>\n<\/tr>\n<tr>\n<td>3<\/td>\n<td>IN_2<\/td>\n<td>INPUT 3<\/td>\n<td>0x04<\/td>\n<\/tr>\n<tr>\n<td>...<\/td>\n<td>...<\/td>\n<td>...<\/td>\n<td>...<\/td>\n<\/tr>\n<tr>\n<td>23<\/td>\n<td>INT_LCK 0<\/td>\n<td>INTLCK 0<\/td>\n<td>-<\/td>\n<\/tr>\n<tr>\n<td>35<\/td>\n<td>STN_0<\/td>\n<td>STATION_0<\/td>\n<td>-<\/td>\n<\/tr>\n<tr>\n<td>36<\/td>\n<td>STN_1<\/td>\n<td>STATION_1<\/td>\n<td>-<\/td>\n<\/tr>\n<tr>\n<td>37<\/td>\n<td>STN_2<\/td>\n<td>STATION_2<\/td>\n<td>-<\/td>\n<\/tr>\n<tr>\n<td>38<\/td>\n<td>STN_3<\/td>\n<td>STATION_3<\/td>\n<td>-<\/td>\n<\/tr>\n<tr>\n<td>39<\/td>\n<td>STN_4<\/td>\n<td>STATION_4<\/td>\n<td>-<\/td>\n<\/tr>\n<tr>\n<td>40<\/td>\n<td>AT_STN<\/td>\n<td>AT STATION<\/td>\n<td>-<\/td>\n<\/tr>\n<tr>\n<td>41<\/td>\n<td>ARM_IN_USE<\/td>\n<td>ARM IN USE<\/td>\n<td>-<\/td>\n<\/tr>\n<tr>\n<td>42<\/td>\n<td>NOT_MOVING<\/td>\n<td>NOT MOVING<\/td>\n<td>-<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>6.2 \u6269\u5c55 I\/O \u6a21\u5f0f<\/h3>\n<p>\u6269\u5c55 I\/O \u6a21\u5f0f\u63d0\u4f9b <strong>32 \u4e2a\u8f93\u5165\u4fe1\u53f7<\/strong> \u548c <strong>10 \u4e2a\u8f93\u51fa\u4fe1\u53f7<\/strong>\uff0c\u4ec5 LEAP \u673a\u5668\u4eba\u652f\u6301\u3002<\/p>\n<p><strong>\u914d\u7f6e\u6269\u5c55 I\/O \u6a21\u5f0f\uff1a<\/strong><\/p>\n<pre><code>CONFIG IO DRIVE HIGH_SIDE_EXT    # \u8bbe\u7f6e\u4e3a\u9ad8\u8fb9\u6269\u5c55 I\/O \u6a21\u5f0f\nCONFIG IO DRIVE LOW_SIDE_EXT     # \u8bbe\u7f6e\u4e3a\u4f4e\u8fb9\u6269\u5c55 I\/O \u6a21\u5f0f<\/code><\/pre>\n<h3>6.3 DIO \u6a21\u5f0f<\/h3>\n<p>DIO (Discrete I\/O) \u6a21\u5f0f\u4f7f\u7528 18 \u4f4d\u8868\u793a\u673a\u5668\u4eba\u72b6\u6001\uff1a<\/p>\n<table>\n<thead>\n<tr>\n<th>\u4fe1\u53f7\u4f4d<\/th>\n<th>\u542b\u4e49<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>bit 18<\/td>\n<td>SERVO ON\uff08\u4f3a\u670d\u5f00\u542f\uff09<\/td>\n<\/tr>\n<tr>\n<td>bit 17<\/td>\n<td>DISC CNTRL\uff08\u59cb\u7ec8\u4e3a\u96f6\uff09<\/td>\n<\/tr>\n<tr>\n<td>STN_0 - STN_4<\/td>\n<td>\u5de5\u4f4d\u7f16\u53f7\uff08\u4e8c\u8fdb\u5236\u7f16\u7801\uff09<\/td>\n<\/tr>\n<tr>\n<td>AT_STN<\/td>\n<td>0 = NOT AT STATION, 1 = AT STATION<\/td>\n<\/tr>\n<tr>\n<td>ARM_IN_USE<\/td>\n<td>0 = ARM A IN USE, 1 = ARM B IN USE<\/td>\n<\/tr>\n<tr>\n<td>NOT_MOVING<\/td>\n<td>0 = MOVING, 1 = NOT MOVING<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u5de5\u4f4d\u53f7\u4e8c\u8fdb\u5236\u6620\u5c04\u793a\u4f8b\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>STN_4<\/th>\n<th>STN_3<\/th>\n<th>STN_2<\/th>\n<th>STN_1<\/th>\n<th>STN_0<\/th>\n<th>\u5bf9\u5e94\u5de5\u4f4d<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>0<\/td>\n<td>0<\/td>\n<td>0<\/td>\n<td>0<\/td>\n<td>1<\/td>\n<td>Station #2<\/td>\n<\/tr>\n<tr>\n<td>0<\/td>\n<td>0<\/td>\n<td>0<\/td>\n<td>1<\/td>\n<td>0<\/td>\n<td>Station #3<\/td>\n<\/tr>\n<tr>\n<td>0<\/td>\n<td>0<\/td>\n<td>1<\/td>\n<td>0<\/td>\n<td>1<\/td>\n<td>Station #6<\/td>\n<\/tr>\n<tr>\n<td>0<\/td>\n<td>1<\/td>\n<td>0<\/td>\n<td>0<\/td>\n<td>0<\/td>\n<td>Station #9<\/td>\n<\/tr>\n<tr>\n<td>1<\/td>\n<td>0<\/td>\n<td>0<\/td>\n<td>0<\/td>\n<td>0<\/td>\n<td>Station #17<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u67e5\u8be2 DIO \u8f93\u51fa\u72b6\u6001\uff1a<\/strong><\/p>\n<pre><code>RQ DIO OUTPUT<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>DIO OUTPUT [YES|NO]<\/code><\/pre>\n<h3>6.4 I\/O \u6620\u5c04\u547d\u4ee4<\/h3>\n<h4>MAP \u2014 \u6620\u5c04 I\/O<\/h4>\n<p>\u5c06\u7269\u7406 I\/O \u5206\u914d\u903b\u8f91\u540d\u79f0\u548c\u7279\u6027\uff1a<\/p>\n<pre><code>MAP io_name io_type polarity io_direction io_mask<\/code><\/pre>\n<p><strong>\u6620\u5c04\u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>MAP P_GAUGE_1 DISCRETE_IN HI DIGITAL_IN 0x00000004\nMAP STN_1_WFR WAF_SEN HI DIGITAL_IN 0x00000040\nMAP STN_1_SLOT SBIT_SVLV_SEN DIGITAL_IN 0x00000003\nMAP PRESSURE NUMERIC_IN DIGITAL_IN 0x00000F00<\/code><\/pre>\n<p><strong>\u67e5\u8be2\u6240\u6709 I\/O \u6620\u5c04\uff1a<\/strong><\/p>\n<pre><code>RQ IO MAP ALL<\/code><\/pre>\n<h4>REMOVE IO \u2014 \u79fb\u9664 I\/O \u6620\u5c04<\/h4>\n<pre><code>REMOVE IO P_GAUGE_1<\/code><\/pre>\n<h4>MAP PASSTHROUGH \u2014 \u76f4\u901a\u6620\u5c04<\/h4>\n<pre><code>MAP DIG_1 PASSTHROUGH DIGITAL_IN 0X40 TO DIGITAL_OUT 0X40         # \u540c\u6781\u6027\u76f4\u901a\nMAP DIG_1 PASSTHROUGH NOT DIGITAL_IN 0X40 TO DIGITAL_OUT 0X40     # \u53cd\u6781\u6027\u76f4\u901a<\/code><\/pre>\n<h3>6.5 I\/O \u72b6\u6001\u547d\u4ee4<\/h3>\n<h4>SET IO STATE \u2014 \u8bbe\u7f6e I\/O \u72b6\u6001<\/h4>\n<pre><code>SET IO STATE io_name io_state<\/code><\/pre>\n<h4>RQ IO STATE \u2014 \u67e5\u8be2 I\/O \u72b6\u6001<\/h4>\n<pre><code>RQ IO STATE io_name<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>IO STATE io_name io_state<\/code><\/pre>\n<blockquote>\n<p>\u6b64\u547d\u4ee4\u53ef\u7528\u4e8e\u6545\u969c\u6392\u9664\u6216\u6d4b\u8bd5\u76ee\u7684\u3002<\/p>\n<\/blockquote>\n<h3>6.6 I\/O \u4e8b\u4ef6\u7cfb\u7edf<\/h3>\n<h4>SET EVENT IO \u2014 \u8bbe\u7f6e I\/O \u4e8b\u4ef6<\/h4>\n<pre><code>SET EVENT IO name event_code (ENB|DIS)<\/code><\/pre>\n<ul>\n<li><strong>ENB<\/strong> \u2014 \u542f\u7528\u4e8b\u4ef6\uff08\u4e8b\u4ef6\u53d1\u751f\u65f6\u751f\u6210 <code>_EVENT<\/code> \u6d88\u606f\uff09<\/li>\n<li><strong>DIS<\/strong> \u2014 \u7981\u7528\u4e8b\u4ef6<\/li>\n<\/ul>\n<h4>RQ EVENT IO \u2014 \u67e5\u8be2\u4e8b\u4ef6\u72b6\u6001<\/h4>\n<pre><code>RQ EVENT IO TEST20 2000<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>IO TEST20 EVENT 2000 ENB<\/code><\/pre>\n<h4>STORE EVENT IO \u2014 \u5b58\u50a8\u4e8b\u4ef6\u8bbe\u7f6e<\/h4>\n<pre><code>STORE EVENT IO name [eventNo|(ALL)]<\/code><\/pre>\n<hr \/>\n<h2>\u7b2c\u4e03\u7ae0 \u5f52\u96f6\u4e0e\u57fa\u672c\u8fd0\u52a8<\/h2>\n<h3>7.1 \u5750\u6807\u7cfb\u5b9a\u4e49<\/h3>\n<p>MAGNATRAN LEAP \u4f7f\u7528<strong>\u6781\u5750\u6807\u7cfb<\/strong>\uff0c\u4ee5\u673a\u5668\u4eba\u9a71\u52a8\u4e2d\u5fc3\u4e3a\u539f\u70b9\uff1a<\/p>\n<pre><code>            T (Theta, \u65cb\u8f6c\u8f74)\n            \u2191\n            |    \u00b7 P(R,T)\n            |   \/\n            |  \/ R (\u5f84\u5411\u8ddd\u79bb)\n            | \/\n            |\/\n  \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500O\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2192 0\u00b0 \u53c2\u8003\u65b9\u5411\n            |\n            |\n            Z (\u5782\u76f4\u8f74\uff0c\u7eb8\u9762\u65b9\u5411)<\/code><\/pre>\n<ul>\n<li><strong>R \u8f74<\/strong> \u2014 \u5f84\u5411\u4f4d\u7f6e\uff0c\u5355\u4f4d\uff1a\u5fae\u7c73 (microns)\uff0c7\u4f4d\u6570\u5b57<\/li>\n<li><strong>T \u8f74<\/strong> \u2014 \u65cb\u8f6c\u4f4d\u7f6e\uff0c\u5355\u4f4d\uff1a\u6beb\u5ea6 (millidegrees)\uff0c6\u4f4d\u6570\u5b57<\/li>\n<li><strong>Z \u8f74<\/strong> \u2014 \u5782\u76f4\u4f4d\u7f6e\uff0c\u5355\u4f4d\uff1a\u5fae\u7c73 (microns)<\/li>\n<\/ul>\n<h3>7.2 \u53c2\u8003\u70b9\u5efa\u7acb (Reference)<\/h3>\n<p>Reference \u529f\u80fd\u5728\u5f53\u524d\u4f4d\u7f6e\u5efa\u7acb\u53c2\u8003\u70b9\u5e76\u4fdd\u6301\u81c2\u5728\u8be5\u4f4d\u7f6e\uff1a<\/p>\n<pre><code>REFERENCE R          # \u5efa\u7acb R \u8f74\u53c2\u8003\u70b9\nREFERENCE T          # \u5efa\u7acb T \u8f74\u53c2\u8003\u70b9\nREFERENCE Z          # \u5efa\u7acb Z \u8f74\u53c2\u8003\u70b9\nREFERENCE ALL        # \u5efa\u7acb\u6240\u6709\u8f74\u53c2\u8003\u70b9<\/code><\/pre>\n<p><strong>\u67e5\u8be2\u53c2\u8003\u72b6\u6001\uff1a<\/strong><\/p>\n<pre><code>RQ REFERENCE<\/code><\/pre>\n<h3>7.3 \u4f3a\u670d\u63a7\u5236<\/h3>\n<h4>SET SERVOS \u2014 \u8bbe\u7f6e\u4f3a\u670d\u72b6\u6001<\/h4>\n<pre><code>SET SERVOS OFF       # \u5173\u95ed\u4f3a\u670d\uff08\u5141\u8bb8\u624b\u52a8\u5b9a\u4f4d\u81c2\u4ee5\u8fdb\u884c\u793a\u6559\uff09<\/code><\/pre>\n<blockquote>\n<p><strong>\u6ce8\u610f\uff1a<\/strong> \u5173\u95ed\u4f3a\u670d\u540e\uff0c\u9700\u8981\u6267\u884c <code>HOME R<\/code> \u6216 <code>HOME ALL<\/code> \u91cd\u65b0\u542f\u7528\u4f3a\u670d\u3002\u6b64\u547d\u4ee4\u4e0d\u7528\u4e8e\u673a\u5668\u4eba\u7684\u6b63\u5e38\u64cd\u4f5c\u4e2d\u3002<\/p>\n<\/blockquote>\n<h4>RQ SERVOS \u2014 \u67e5\u8be2\u4f3a\u670d\u72b6\u6001<\/h4>\n<pre><code>RQ SERVOS<\/code><\/pre>\n<h3>7.4 \u5f52\u96f6\u547d\u4ee4 (HOME)<\/h3>\n<p>HOME \u547d\u4ee4\u5c06\u673a\u5668\u4eba\u79fb\u52a8\u5230\u5df2\u77e5\u7684\u5b89\u5168\u4f4d\u7f6e\u3002<\/p>\n<pre><code>HOME ALL             # \u6240\u6709\u8f74\u5f52\u96f6\nHOME R               # R \u8f74\u5f52\u96f6\nHOME T               # T \u8f74\u5f52\u96f6\nHOME Z               # Z \u8f74\u5f52\u96f6<\/code><\/pre>\n<p><strong>\u591a\u8f74\u5f52\u96f6\u6267\u884c\u987a\u5e8f\uff1a<\/strong><\/p>\n<ol>\n<li><strong>R \u8f74<\/strong> \u2014 \u5f52\u96f6\u81f3\u7f29\u56de\u4f4d\u7f6e<\/li>\n<li><strong>Z \u8f74<\/strong> \u2014 \u5f52\u96f6<\/li>\n<li><strong>T \u8f74<\/strong> \u2014 \u5f52\u96f6<\/li>\n<\/ol>\n<blockquote>\n<p>\u26a0\ufe0f <strong>\u6ce8\u610f\u4e8b\u9879\uff1a<\/strong><\/p>\n<ul>\n<li>\u4e0a\u7535\u540e\u6216\u7d27\u6025\u505c\u6b62\u540e\u5fc5\u987b\u6267\u884c HOME \u547d\u4ee4<\/li>\n<li>\u5355\u8f74 HOME\uff08\u5982 <code>HOME Z<\/code> \u6216 <code>HOME T<\/code>\uff09\u4e0d\u68c0\u67e5\u8de8\u8f74\u8054\u9501<\/li>\n<li>\u7528\u6237\u5e94\u5728\u6267\u884c\u5355\u8f74 HOME \u524d\u786e\u8ba4\u81c2\u5df2\u7f29\u56de<\/li>\n<li>\u5f52\u96f6\u662f\u5927\u591a\u6570\u64cd\u4f5c\u7684\u5148\u51b3\u6761\u4ef6<\/li>\n<\/ul>\n<\/blockquote>\n<h3>7.5 \u91ca\u653e\u4e0e\u505c\u6b62\u547d\u4ee4<\/h3>\n<h4>RELEASE \u2014 \u91ca\u653e\u4f3a\u670d<\/h4>\n<p>\u6267\u884c\u53d7\u63a7\u505c\u6b62\uff0c\u5173\u95ed\u4f3a\u670d\uff0c\u4f46\u4fdd\u6301\u53c2\u8003\uff1a<\/p>\n<pre><code>RELEASE<\/code><\/pre>\n<h4>HALT \u2014 \u505c\u6b62\u8fd0\u52a8<\/h4>\n<pre><code>HALT<\/code><\/pre>\n<p><strong>MAG6 \u6a21\u5f0f<\/strong>\uff1a\u53d7\u63a7\u505c\u6b62\uff0c\u81c2\u4fdd\u6301\u4f3a\u670d\u63a7\u5236<br \/>\n<strong>VT5 \u6a21\u5f0f<\/strong>\uff1a\u53d7\u63a7\u505c\u6b62\uff0c\u81c2\u4f3a\u670d\u8131\u79bb<\/p>\n<p><strong>\u591a\u8bbe\u5907\u6a21\u5f0f\u4f7f\u7528\uff1a<\/strong><\/p>\n<pre><code>02 HALT\n_ACK 02\n_DONE 02\n_ERR 01 603 (command halted)<\/code><\/pre>\n<blockquote>\n<p>\u4e5f\u53ef\u4f7f\u7528 <code>Ctrl+C<\/code> \u53d1\u9001\u505c\u6b62\u547d\u4ee4\uff08\u975e\u6253\u5370\u5b57\u7b26\uff0c\u9700\u5728\u952e\u76d8\u4e0a\u6309\u4e0b\uff09\u3002<\/p>\n<\/blockquote>\n<h3>7.6 \u4f4d\u7f6e\u67e5\u8be2<\/h3>\n<h4>RQ POS ABS \u2014 \u67e5\u8be2\u7edd\u5bf9\u4f4d\u7f6e<\/h4>\n<pre><code>RQ POS ABS ALL           # \u67e5\u8be2\u6240\u6709\u8f74\u4f4d\u7f6e\nRQ POS ABS R             # \u67e5\u8be2 R \u8f74\u4f4d\u7f6e\nRQ POS ABS T             # \u67e5\u8be2 T \u8f74\u4f4d\u7f6e\nRQ POS ABS Z             # \u67e5\u8be2 Z \u8f74\u4f4d\u7f6e<\/code><\/pre>\n<h4>RQ POS DEST \u2014 \u67e5\u8be2\u76ee\u6807\u4f4d\u7f6e<\/h4>\n<pre><code>RQ POS DEST ALL<\/code><\/pre>\n<h4>RQ POS TARGET \u2014 \u67e5\u8be2\u76ee\u6807\u4f4d\u7f6e<\/h4>\n<pre><code>RQ POS TARGET ALL<\/code><\/pre>\n<h4>RQ POS MIN\/MAX \u2014 \u67e5\u8be2\u8f74\u6700\u5c0f\/\u6700\u5927\u503c<\/h4>\n<pre><code>RQ POS MIN ALL\nRQ POS MAX ALL<\/code><\/pre>\n<h3>7.7 \u8f7d\u8377\u6a21\u5f0f<\/h3>\n<p>\u8f7d\u8377\u6a21\u5f0f\u5f71\u54cd\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u901f\u5ea6 \u2014 \u5f53\u8f7d\u8377\u4e3a ON\uff08\u6709\u6676\u5706\uff09\u65f6\uff0c\u4f7f\u7528\u6676\u5706\u901f\u5ea6\uff08\u8f83\u6162\uff09\uff1b\u4e3a OFF \u65f6\u4f7f\u7528\u7a7a\u8f7d\u901f\u5ea6\u3002<\/p>\n<h4>SET LOAD \u2014 \u8bbe\u7f6e\u8f7d\u8377\u72b6\u6001<\/h4>\n<pre><code>SET LOAD ON              # \u8bbe\u7f6e\u6709\u8f7d\uff08\u6676\u5706\u5728\u672b\u7aef\u6267\u884c\u5668\u4e0a\uff09\nSET LOAD OFF             # \u8bbe\u7f6e\u7a7a\u8f7d<\/code><\/pre>\n<h4>RQ LOAD \u2014 \u67e5\u8be2\u8f7d\u8377\u72b6\u6001<\/h4>\n<pre><code>RQ LOAD<\/code><\/pre>\n<h4>SET\/RQ\/STORE LOAD MODE \u2014 \u8f7d\u8377\u6a21\u5f0f<\/h4>\n<pre><code>SET LOAD MODE (AUTO|MANUAL)\nRQ LOAD MODE\nSTORE LOAD MODE<\/code><\/pre>\n<h3>7.8 \u8fd0\u52a8\u547d\u4ee4 (MOVE)<\/h3>\n<p>MOVE \u547d\u4ee4\u5c06\u673a\u5668\u4eba\u79fb\u52a8\u5230\u6307\u5b9a\u7684\u7edd\u5bf9\u5750\u6807\u4f4d\u7f6e\uff1a<\/p>\n<pre><code>MOVE &lt;&lt;(ARM)&gt;[(A|B)]&gt; [R rVal] [T tVal] [Z zVal]<\/code><\/pre>\n<p><strong>\u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>MOVE ARM A R 350000 T 090000 Z 025000\nMOVE R 250000\nMOVE T 180000<\/code><\/pre>\n<h3>7.9 \u901f\u5ea6\u8bbe\u7f6e<\/h3>\n<h4>SET SPEEDS \u2014 \u8bbe\u7f6e\u901f\u5ea6<\/h4>\n<pre><code>SET SPEEDS speed_value<\/code><\/pre>\n<h4>SET\/RQ\/STORE CDM SPEEDS \u2014 CDM \u901f\u5ea6<\/h4>\n<p>CDM (Coordinated Motion) \u901f\u5ea6\u7528\u4e8e\u534f\u8c03\u591a\u8f74\u8fd0\u52a8\uff1a<\/p>\n<pre><code>SET CDM SPEEDS value\nRQ CDM SPEEDS\nSTORE CDM SPEEDS<\/code><\/pre>\n<h4>SET\/RQ\/STORE RETRACT \u2014 \u7f29\u56de\u503c<\/h4>\n<pre><code>SET RETRACT value            # \u8bbe\u7f6e\u7f29\u56de\u4f4d\u7f6e (R1)\nRQ RETRACT\nSTORE RETRACT\n\nSET RETRACT2 value           # \u8bbe\u7f6e\u7b2c\u4e8c\u7f29\u56de\u4f4d\u7f6e (R2)\nRQ RETRACT2\nSTORE RETRACT2<\/code><\/pre>\n<h3>7.10 \u8054\u9501\u8bbe\u7f6e<\/h3>\n<pre><code>SET INTLCK parameter (ON|OFF|Y|N)\nRQ INTLCK [ALL]\nSTORE INTLCK<\/code><\/pre>\n<h3>7.11 \u5b89\u88c5\u547d\u4ee4 (MOUNT)<\/h3>\n<p>MOUNT \u547d\u4ee4\u5c06\u673a\u5668\u4eba\u79fb\u52a8\u5230&quot;\u5b89\u88c5\u65b0\u81c2&quot;\u4f4d\u7f6e\uff08R \u8f74\u89d2\u5ea6 90\u00b0\uff09\uff1a<\/p>\n<pre><code>FIND MOUNT               # \u6267\u884c\u5b89\u88c5\u5b9a\u4f4d\u5e8f\u5217<\/code><\/pre>\n<p>\u6267\u884c\u987a\u5e8f\uff1aHome R \u2192 Home Z \u2192 Home T<\/p>\n<p><strong>\u8bbe\u7f6e\u5b89\u88c5\u4f4d\u7f6e\uff1a<\/strong><\/p>\n<pre><code>SET MOUNT R value        # \u8bbe\u7f6e R \u8f74\u5b89\u88c5\u4f4d\u7f6e\nSET MOUNT B R value      # \u8bbe\u7f6e B \u81c2 R \u8f74\u5b89\u88c5\u4f4d\u7f6e<\/code><\/pre>\n<p><strong>\u67e5\u8be2\u5b89\u88c5\u4f4d\u7f6e\uff1a<\/strong><\/p>\n<pre><code>RQ MOUNT<\/code><\/pre>\n<p><strong>\u8fd0\u52a8\u4e8b\u4ef6\u63a7\u5236\uff1a<\/strong><\/p>\n<pre><code>SET EVENT MOTION 2600 ENB    # \u542f\u7528\u8fd0\u52a8\u6682\u505c\u4e8b\u4ef6\nSET EVENT MOTION 2601 ENB    # \u542f\u7528\u8fd0\u52a8\u6062\u590d\u4e8b\u4ef6<\/code><\/pre>\n<p><strong>\u67e5\u8be2\u7d2f\u8ba1\u884c\u7a0b\uff1a<\/strong><\/p>\n<pre><code>RQ TOTAL TRAVEL ALL          # \u67e5\u8be2\u6240\u6709\u8f74\u7d2f\u8ba1\u884c\u7a0b\nRQ TOTAL TRAVEL R            # \u67e5\u8be2 R \u8f74\u7d2f\u8ba1\u884c\u7a0b\nRQ TOTAL TRAVEL T            # \u67e5\u8be2 T \u8f74\u7d2f\u8ba1\u884c\u7a0b\nRQ TOTAL TRAVEL Z            # \u67e5\u8be2 Z \u8f74\u7d2f\u8ba1\u884c\u7a0b<\/code><\/pre>\n<hr \/>\n<h2>\u7b2c\u516b\u7ae0 \u5de5\u4f4d\u8bbe\u7f6e (Station Setup)<\/h2>\n<h3>8.1 \u5de5\u4f4d\u6982\u8ff0<\/h3>\n<p><strong>\u5de5\u4f4d (Station)<\/strong> \u662f\u4ee5\u7f16\u53f7\u6807\u8bc6\u7684\u4f4d\u7f6e\u5750\u6807\uff0c\u4ee3\u8868\u7cfb\u7edf\u5185\u5404\u6a21\u5757\u7684\u4f4d\u7f6e\u3002\u4f7f\u7528\u5de5\u4f4d\u7f16\u53f7\u540e\uff0c\u65e0\u9700\u6bcf\u6b21\u6307\u5b9a R\/T\/Z \u5750\u6807\u503c\uff0c\u53ea\u9700\u544a\u8bc9\u673a\u5668\u4eba&quot;\u53bb Station 1&quot;\u5373\u53ef\u3002<\/p>\n<pre><code>            \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n   Stn 6 \u2500\u2500\u2524      \u251c\u2500\u2500 Stn 1 (VCE A)\n            \u2502      \u2502\n   Stn 5 \u2500\u2500\u2524 \u4f20\u9001 \u251c\u2500\u2500 Stn 2 (VCE B)\n            \u2502 \u6a21\u5757 \u2502\n   Stn 4 \u2500\u2500\u2524      \u251c\u2500\u2500 Stn 3 (Wafer Flipper)\n            \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2518<\/code><\/pre>\n<ul>\n<li>\u5de5\u4f4d\u7f16\u53f7\u8303\u56f4\uff1a<strong>1 ~ 99<\/strong><\/li>\n<li>\u901a\u5e38\u6309\u987a\u65f6\u9488\u65b9\u5411\u56f4\u7ed5\u673a\u5668\u4eba\u7f16\u53f7<\/li>\n<li>\u6bcf\u4e2a\u5de5\u4f4d\u5305\u542b\uff1aR\uff08\u5f84\u5411\uff09\u3001T\uff08\u65cb\u8f6c\uff09\u3001Z\uff08BTO\/\u4e0a\/\u4e0b\u4f4d\uff09\u5750\u6807<\/li>\n<\/ul>\n<h3>8.2 \u5de5\u4f4d\u5750\u6807\u8bbe\u7f6e<\/h3>\n<h4>SET STN \u2014 \u8bbe\u7f6e\u5de5\u4f4d<\/h4>\n<pre><code>SET STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; R rVal T tVal Z zVal\n     [BTO btoVal] [LOWER lowerVal] [SLOT_SPC slot_spc]\n     [SLOT_CNT slot_cnt]<\/code><\/pre>\n<p><strong>\u53c2\u6570\u8bf4\u660e\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u53c2\u6570<\/th>\n<th>\u7c7b\u578b<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>station<\/code><\/td>\n<td>1-99<\/td>\n<td>\u5de5\u4f4d\u7f16\u53f7<\/td>\n<\/tr>\n<tr>\n<td><code>ARM<\/code><\/td>\n<td>A|B<\/td>\n<td>\u81c2\u63cf\u8ff0\u7b26\uff08\u9ed8\u8ba4 A\uff09<\/td>\n<\/tr>\n<tr>\n<td><code>R rVal<\/code><\/td>\n<td>7\u4f4d\u6570\u5b57<\/td>\n<td>\u5f84\u5411\u4f38\u51fa\u4f4d\u7f6e\uff08\u5fae\u7c73\uff09<\/td>\n<\/tr>\n<tr>\n<td><code>T tVal<\/code><\/td>\n<td>6\u4f4d\u6570\u5b57<\/td>\n<td>\u65cb\u8f6c\u8f74\u4f4d\u7f6e\uff08\u6beb\u5ea6\uff09<\/td>\n<\/tr>\n<tr>\n<td><code>Z zVal<\/code><\/td>\n<td>-<\/td>\n<td>Z \u8f74 BTO \u4f4d\u7f6e\uff08\u5fae\u7c73\uff09<\/td>\n<\/tr>\n<tr>\n<td><code>BTO btoVal<\/code><\/td>\n<td>-<\/td>\n<td>\u57fa\u51c6\u4f20\u9001\u504f\u79fb<\/td>\n<\/tr>\n<tr>\n<td><code>LOWER lowerVal<\/code><\/td>\n<td>-<\/td>\n<td>\u4e0b\u65b9\u6e05\u9664\u8ddd\u79bb<\/td>\n<\/tr>\n<tr>\n<td><code>SLOT_SPC<\/code><\/td>\n<td>-<\/td>\n<td>\u69fd\u4f4d\u95f4\u8ddd<\/td>\n<\/tr>\n<tr>\n<td><code>SLOT_CNT<\/code><\/td>\n<td>-<\/td>\n<td>\u69fd\u4f4d\u6570\u91cf<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u8bbe\u7f6e\u5de5\u4f4d\u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>SET STN 1 ARM A R 350000 T 090000 Z 025000\nSET STN 1 ARM A BTO 10000\nSET STN 1 ARM A LOWER 5000\nSET STN 1 ARM A SLOT_SPC 10000 SLOT_CNT 25<\/code><\/pre>\n<h4>RQ STN \u2014 \u67e5\u8be2\u5de5\u4f4d<\/h4>\n<pre><code>RQ STN 1 ARM A ALL           # \u67e5\u8be2\u5de5\u4f4d 1 Arm A \u7684\u6240\u6709\u53c2\u6570\nRQ STN 1 ALL                 # \u67e5\u8be2\u5de5\u4f4d 1 \u7684\u6240\u6709\u53c2\u6570\nRQ STN 1 ARM B R             # \u67e5\u8be2\u5de5\u4f4d 1 Arm B \u7684 R \u503c<\/code><\/pre>\n<h4>STORE STN \u2014 \u5b58\u50a8\u5de5\u4f4d<\/h4>\n<pre><code>STORE STN 1 ARM A ALL        # \u5b58\u50a8\u5de5\u4f4d 1 Arm A \u7684\u6240\u6709\u53c2\u6570\nSTORE STN 1 ALL              # \u5b58\u50a8\u5de5\u4f4d 1 \u7684\u6240\u6709\u53c2\u6570<\/code><\/pre>\n<h4>REMOVE STN \u2014 \u79fb\u9664\u5de5\u4f4d<\/h4>\n<pre><code>REMOVE STN 3                 # \u79fb\u9664\u5de5\u4f4d 3 \u7684\u5b9a\u4e49<\/code><\/pre>\n<h4>COPY STN \u2014 \u590d\u5236\u5de5\u4f4d<\/h4>\n<p>\u5c06\u5df2\u5b9a\u4e49\u7684\u5de5\u4f4d\u53c2\u6570\u590d\u5236\u5230\u53e6\u4e00\u4e2a\u5de5\u4f4d\uff1a<\/p>\n<pre><code>COPY STN source_stn TO dest_stn [ARM (A|B)]<\/code><\/pre>\n<p><strong>\u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>COPY STN 1 TO 2 ARM B<\/code><\/pre>\n<blockquote>\n<p>\u5e38\u7528\u4e8e\u4ece A \u81c2\u5de5\u4f4d\u521d\u59cb\u5316 B \u81c2\u5de5\u4f4d\u53c2\u6570\uff0c\u7136\u540e\u5fae\u8c03 B \u81c2\u53c2\u6570\u3002<\/p>\n<\/blockquote>\n<h3>8.3 \u5de5\u4f4d\u9009\u9879 \u2014 \u66f2\u7ebf\u8fd0\u52a8 (Curve Move)<\/h3>\n<pre><code>SET STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION CURVE (Y|N)\nRQ STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION CURVE\nSTORE STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION CURVE<\/code><\/pre>\n<h3>8.4 \u5de5\u4f4d\u9009\u9879 \u2014 VIA \u8def\u5f84\u70b9<\/h3>\n<p>VIA \u8def\u5f84\u70b9\u5141\u8bb8\u673a\u5668\u4eba\u5728\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u7ecf\u8fc7\u6307\u5b9a\u7684\u4e2d\u95f4\u70b9\uff1a<\/p>\n<pre><code>SET STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION VIA \n     [(DIST|POSR|POST|POSW|PATH_OVER_CENTER)] value<\/code><\/pre>\n<p><strong>\u53c2\u6570\u8bf4\u660e\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u53c2\u6570<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>DIST<\/code><\/td>\n<td>VIA \u70b9\u5230\u76ee\u6807\u7684\u8ddd\u79bb<\/td>\n<\/tr>\n<tr>\n<td><code>POSR<\/code><\/td>\n<td>VIA \u70b9\u7684 R \u8f74\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td><code>POST<\/code><\/td>\n<td>VIA \u70b9\u7684 T \u8f74\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td><code>POSW<\/code><\/td>\n<td>VIA \u70b9\u7684 W \u8f74\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td><code>PATH_OVER_CENTER<\/code><\/td>\n<td>\u5141\u8bb8\u8def\u5f84\u7ecf\u8fc7\u4e2d\u5fc3<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u67e5\u8be2\/\u5b58\u50a8 VIA \u8bbe\u7f6e\uff1a<\/strong><\/p>\n<pre><code>RQ STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION VIA [ALL]\nSTORE STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION VIA [(DIST|POSR|POST|POSW|PATH_OVER_CENTER)]<\/code><\/pre>\n<h3>8.5 \u5de5\u4f4d\u9009\u9879 \u2014 Z \u8f74<\/h3>\n<pre><code>SET STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION Z_DOWN_SLOW (Y|N)\nSET STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION Z_UP_SLOW (Y|N)\nSET STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION 3_ZPOS_STN<\/code><\/pre>\n<table>\n<thead>\n<tr>\n<th>\u53c2\u6570<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>Z_DOWN_SLOW Y<\/code><\/td>\n<td>PLACE \u65f6 Z \u4e0b\u79fb\u4f7f\u7528\u6162\u901f<\/td>\n<\/tr>\n<tr>\n<td><code>Z_DOWN_SLOW N<\/code><\/td>\n<td>PLACE \u65f6 Z \u4e0b\u79fb\u4f7f\u7528\u6b63\u5e38\u901f\u5ea6<\/td>\n<\/tr>\n<tr>\n<td><code>Z_UP_SLOW Y<\/code><\/td>\n<td>PICK \u65f6 Z \u4e0a\u79fb\u4f7f\u7528\u6162\u901f<\/td>\n<\/tr>\n<tr>\n<td><code>Z_UP_SLOW N<\/code><\/td>\n<td>PICK \u65f6 Z \u4e0a\u79fb\u4f7f\u7528\u6b63\u5e38\u901f\u5ea6<\/td>\n<\/tr>\n<tr>\n<td><code>3_ZPOS_STN<\/code><\/td>\n<td>\u4e09\u6bb5 Z \u8f74\u4f4d\u7f6e\u5de5\u4f4d<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u5b58\u50a8 Z \u8f74\u9009\u9879\uff1a<\/strong><\/p>\n<pre><code>STORE STN 1 ARM A OPTION Z_DOWN_SLOW\nSTORE STN 1 ARM A OPTION 3_ZPOS_STN<\/code><\/pre>\n<h3>8.6 \u5de5\u4f4d\u9009\u9879 \u2014 I\/O<\/h3>\n<p>\u4e3a\u5de5\u4f4d\u5173\u8054 I\/O \u4fe1\u53f7\uff08\u95f8\u9600\u4f20\u611f\u5668\u3001\u7f29\u56de\u4f20\u611f\u5668\u3001\u4f38\u51fa\u4f7f\u80fd\u7b49\uff09\uff1a<\/p>\n<pre><code>SET STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION \n     [SVLV_SEN name]          # \u95f8\u9600\u4f20\u611f\u5668\n     [RETRACT_SEN name]       # \u7f29\u56de\u4f20\u611f\u5668\n     [EX_ENABLE name]         # \u4f38\u51fa\u4f7f\u80fd<\/code><\/pre>\n<p><strong>\u67e5\u8be2\u5de5\u4f4d I\/O \u9009\u9879\uff1a<\/strong><\/p>\n<pre><code>RQ STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION [SVLV_SEN|RETRACT_SEN|EX_ENABLE]<\/code><\/pre>\n<p><strong>\u5b58\u50a8\u5de5\u4f4d I\/O \u9009\u9879\uff1a<\/strong><\/p>\n<pre><code>STORE STN station &lt;&lt;(ARM)&gt;[(A|B)]&gt; OPTION [SVLV_SEN|RETRACT_SEN|EX_ENABLE]<\/code><\/pre>\n<h3>8.7 \u5de5\u4f4d\u9762 (Facet) \u8bbe\u7f6e<\/h3>\n<p>Facet \u662f\u4f20\u9001\u6a21\u5757\u4e0a\u8fde\u63a5\u5de5\u827a\u6a21\u5757\u7684\u533a\u57df\u3002\u4e00\u4e2a\u4f20\u9001\u6216\u5de5\u827a\u6a21\u5757\u901a\u5e38\u6709 2 \u5230 8 \u4e2a Facet\u3002<\/p>\n<h4>SET\/RQ\/STORE STN FACET<\/h4>\n<pre><code>SET STN station [&lt;ARM&gt; (A|B)] FACET facet_number\nRQ STN station [&lt;ARM&gt; (A|B)] FACET\nSTORE STN station [&lt;ARM&gt; (A|B)] FACET<\/code><\/pre>\n<p><strong>\u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>SET STN 1 ARM A FACET 3\nSTORE STN 1 ARM A FACET<\/code><\/pre>\n<h4>Facet \u5ef6\u8fdf\u8bbe\u7f6e<\/h4>\n<pre><code>SET FACET DELAY value\nRQ FACET DELAY\nSTORE FACET DELAY<\/code><\/pre>\n<h3>8.8 \u5de5\u4f4d\u590d\u5236<\/h3>\n<pre><code>COPY STN source TO destination [ARM (A|B)]<\/code><\/pre>\n<hr \/>\n<h2>\u7b2c\u4e5d\u7ae0 GOTO \u4e0e\u6676\u5706\u4f20\u9001\u547d\u4ee4<\/h2>\n<h3>9.1 GOTO \u547d\u4ee4<\/h3>\n<p>GOTO \u547d\u4ee4\u79fb\u52a8\u5230\u6307\u5b9a\u5de5\u4f4d\u53c2\u8003\u4f4d\u7f6e\u3002\u6b64\u547d\u4ee4\u6267\u884c\u6240\u6709\u5fc5\u8981\u7684\u8054\u9501\u68c0\u67e5\u4ee5\u786e\u4fdd\u5b89\u5168\u7684\u6676\u5706\u5904\u7406\u3002<\/p>\n<p><strong>\u547d\u4ee4\u8bed\u6cd5\uff1a<\/strong><\/p>\n<pre><code>GOTO[N station] &lt;&lt;(ARM)&gt;[(A|B)]&gt; &lt;CW|CCW&gt; [R (EX|R1|R2)] [Z (UP|DN)] \n     [SLOT slot] [MAP N]<\/code><\/pre>\n<p><strong>\u53c2\u6570\u8bf4\u660e\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u53c2\u6570<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>N station<\/code><\/td>\n<td>\u76ee\u6807\u5de5\u4f4d\u7f16\u53f7<\/td>\n<\/tr>\n<tr>\n<td><code>ARM (A\\|B)<\/code><\/td>\n<td>\u81c2\u63cf\u8ff0\u7b26<\/td>\n<\/tr>\n<tr>\n<td><code>CW\\|CCW<\/code><\/td>\n<td>\u987a\u65f6\u9488\/\u9006\u65f6\u9488\u65cb\u8f6c\u65b9\u5411<\/td>\n<\/tr>\n<tr>\n<td><code>R EX<\/code><\/td>\n<td>\u79fb\u52a8\u81f3\u4f38\u51fa\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td><code>R R1<\/code><\/td>\n<td>\u79fb\u52a8\u81f3\u7f29\u56de\u4f4d\u7f6e 1<\/td>\n<\/tr>\n<tr>\n<td><code>R R2<\/code><\/td>\n<td>\u79fb\u52a8\u81f3\u7f29\u56de\u4f4d\u7f6e 2<\/td>\n<\/tr>\n<tr>\n<td><code>Z UP<\/code><\/td>\n<td>\u79fb\u52a8\u81f3 Z \u4e0a\u4f4d<\/td>\n<\/tr>\n<tr>\n<td><code>Z DN<\/code><\/td>\n<td>\u79fb\u52a8\u81f3 Z \u4e0b\u4f4d<\/td>\n<\/tr>\n<tr>\n<td><code>SLOT slot<\/code><\/td>\n<td>\u6307\u5b9a\u69fd\u4f4d\uff08\u7528\u4e8e Z \u8f74\u9a71\u52a8\uff09<\/td>\n<\/tr>\n<tr>\n<td><code>MAP N<\/code><\/td>\n<td>\u4f7f\u7528\u6676\u5706\u68c0\u6d4b\u4f20\u611f\u5668<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>GOTO \u6267\u884c\u5e8f\u5217\u793a\u4f8b\uff08\u5e26 Z \u8f74\u548c\u65cb\u8f6c\u8155\uff09\uff1a<\/strong><\/p>\n<p>\u8d77\u59cb\u4f4d\u7f6e\uff1aStation 1, \u7f29\u56de, Z\u4e0b, W\u672a\u7ffb\u8f6c<br \/>\n\u76ee\u6807\uff1aStation 2\uff08\u7ffb\u8f6c\u5de5\u4f4d\uff09\uff0c\u547d\u4ee4 <code>GOTO N 2<\/code><\/p>\n<pre><code>\u6267\u884c\u6b65\u9aa4\uff1a\n1. \u5982\u679c Load \u72b6\u6001\u4e3a ON\uff0c\u5148\u79fb\u52a8\u5230 R2 \u4f4d\u7f6e\n2. T \u8f74\u548c Z \u8f74\u540c\u6b65\u79fb\u52a8\u5230 Station 2 \u7684 Z UP \u4f4d\u7f6e\uff08\u4ecd\u5728\u7f29\u56de\u4f4d\u7f6e\uff09\n3. \u6267\u884c W \u8f74\u7ffb\u8f6c\u52a8\u4f5c\n4. \u79fb\u52a8\u5230 R EX\uff08\u4f38\u51fa\uff09\u4f4d\u7f6e<\/code><\/pre>\n<p><strong>GOTO \u884c\u4e3a\u6c47\u603b\u8868\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4<\/th>\n<th>R \u4f4d\u7f6e<\/th>\n<th>Z \u4f4d\u7f6e<\/th>\n<th>\u884c\u4e3a<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>GOTO N 1 R EX Z UP<\/code><\/td>\n<td>\u4f38\u51fa<\/td>\n<td>\u4e0a\u4f4d<\/td>\n<td>\u65cb\u8f6c\u5230\u5de5\u4f4d\uff0c\u4f38\u51fa\uff0cZ\u4e0a<\/td>\n<\/tr>\n<tr>\n<td><code>GOTO N 1 R EX Z DN<\/code><\/td>\n<td>\u4f38\u51fa<\/td>\n<td>\u4e0b\u4f4d<\/td>\n<td>\u65cb\u8f6c\u5230\u5de5\u4f4d\uff0c\u4f38\u51fa\uff0cZ\u4e0b<\/td>\n<\/tr>\n<tr>\n<td><code>GOTO N 1 R R1<\/code><\/td>\n<td>\u7f29\u56de R1<\/td>\n<td>\u2014<\/td>\n<td>\u65cb\u8f6c\u5230\u5de5\u4f4d\uff0c\u4fdd\u6301\u7f29\u56de<\/td>\n<\/tr>\n<tr>\n<td><code>GOTO N 1<\/code><\/td>\n<td>\u9ed8\u8ba4<\/td>\n<td>\u9ed8\u8ba4<\/td>\n<td>\u65cb\u8f6c\u5230\u5de5\u4f4d\uff0c\u4f7f\u7528\u9ed8\u8ba4\u4f4d\u7f6e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>9.2 GOTO \u504f\u79fb\u91cf<\/h3>\n<p>Offset \u503c\u8868\u793a\u76f8\u5bf9\u4e8e\u76ee\u6807\u5de5\u4f4d\u4f4d\u7f6e\u7684\u7edd\u5bf9\u5750\u6807\u504f\u79fb\uff0c\u53ef\u4e3a\u6b63\u6216\u8d1f\uff1a<\/p>\n<p><strong>\u547d\u4ee4\u8bed\u6cd5\uff1a<\/strong><\/p>\n<pre><code># \u673a\u5668\u4eba\u4e0d\u5728\u5de5\u4f4d\u65f6\uff1a\nGOTO[N station] &lt;&lt;(ARM)&gt;[(A|B)]&gt; R EX [Z(UP|DN)]\n     [[RO roffset][TO toffset][ZO zoffset]\n     [WO woffset][WAO waoffset][WBO wboffset]]\n     [(XO xoffset)(YO yoffset)]\n\n# \u673a\u5668\u4eba\u5df2\u5728\u5de5\u4f4d\u65f6\uff1a\nGOTO R EX [Z(UP|DN)]\n     [[RO roffset][TO toffset][ZO zoffset]\n     [WO woffset]]\n     [(XO xoffset)(YO yoffset)]<\/code><\/pre>\n<p><strong>\u504f\u79fb\u91cf\u53c2\u6570\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u53c2\u6570<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>RO roffset<\/code><\/td>\n<td>R \u8f74\u504f\u79fb\uff08\u4ece\u4f38\u51fa\/\u7f29\u56de\u4f4d\u7f6e\uff09<\/td>\n<\/tr>\n<tr>\n<td><code>TO toffset<\/code><\/td>\n<td>T \u8f74\u504f\u79fb<\/td>\n<\/tr>\n<tr>\n<td><code>ZO zoffset<\/code><\/td>\n<td>Z \u8f74\u504f\u79fb\uff08\u6b63\u503c\u76f8\u52a0\uff0c\u8d1f\u503c\u76f8\u51cf\uff09<\/td>\n<\/tr>\n<tr>\n<td><code>WO woffset<\/code><\/td>\n<td>W \u8f74\u504f\u79fb<\/td>\n<\/tr>\n<tr>\n<td><code>XO xoffset<\/code><\/td>\n<td>X \u65b9\u5411\u504f\u79fb\uff08\u7b1b\u5361\u5c14\uff09<\/td>\n<\/tr>\n<tr>\n<td><code>YO yoffset<\/code><\/td>\n<td>Y \u65b9\u5411\u504f\u79fb\uff08\u7b1b\u5361\u5c14\uff09<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u504f\u79fb\u91cf\u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code># \u4ece\u5176\u4ed6\u4f4d\u7f6e\u79fb\u52a8\u5230\u5de5\u4f4d 3\uff0c\u5e26\u504f\u79fb\nGOTO N 3 R EX RO 500 TO -200 ZO 1000\n\n# \u5df2\u5728\u5de5\u4f4d\u65f6\u5fae\u8c03\u4f4d\u7f6e\nGOTO R EX RO 500 TO -200 ZO 1000<\/code><\/pre>\n<blockquote>\n<p><strong>\u6ce8\u610f\uff1a<\/strong> \u5982\u679c Z \u8f74\u504f\u79fb\u4e3a\u8d1f\u503c\uff0c\u5c06\u4ece\u603b\u503c\u4e2d\u51cf\u53bb\uff1b\u5982\u679c\u4e3a\u6b63\u503c\uff0c\u5c06\u6dfb\u52a0\u5230\u603b\u503c\u4e2d\u3002<\/p>\n<\/blockquote>\n<h3>9.3 PICK \u53d6\u7247\u547d\u4ee4<\/h3>\n<p>PICK \u547d\u4ee4\u4ece\u6307\u5b9a\u5de5\u4f4d\u548c\u69fd\u4f4d\u53d6\u51fa\u6676\u5706\u3002\u8fd0\u52a8\u901f\u5ea6\u53d6\u51b3\u4e8e\u8f7d\u8377\u72b6\u6001 \u2014 \u6709\u6676\u5706\u65f6\u4f7f\u7528\u6676\u5706\u901f\u5ea6\uff08\u6162\u901f\uff09\u3002<\/p>\n<p><strong>\u547d\u4ee4\u8bed\u6cd5\uff1a<\/strong><\/p>\n<pre><code>PICK station [SLOT slot] &lt;&lt;(ARM)&gt;[(A|B|AB)]&gt; &lt;PAN L|R&gt; &lt;CW|CCW&gt;\n     [[RO r_offset] [TO t_offset] [ZO z_offset]]\n     [ALTWAFSPD (Y|N)]\n     [EX NO_VIA|RE NO_VIA]\n     [STRT (NR|R1|R2|VIA)]\n     [ENRT [(NR|R1|R2|VIA)]<\/code><\/pre>\n<p><strong>\u53c2\u6570\u8bf4\u660e\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u53c2\u6570<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>station<\/code><\/td>\n<td>\u5de5\u4f4d\u7f16\u53f7<\/td>\n<\/tr>\n<tr>\n<td><code>SLOT slot<\/code><\/td>\n<td>\u69fd\u4f4d\u7f16\u53f7<\/td>\n<\/tr>\n<tr>\n<td><code>ARM (A\\|B\\|AB)<\/code><\/td>\n<td>\u81c2\u63cf\u8ff0\u7b26<\/td>\n<\/tr>\n<tr>\n<td><code>PAN (L\\|R)<\/code><\/td>\n<td>\u4ec5 QuadraFly \u4f7f\u7528\uff0c\u5de6\/\u53f3\u672b\u7aef\u6267\u884c\u5668<\/td>\n<\/tr>\n<tr>\n<td><code>CW\\|CCW<\/code><\/td>\n<td>\u65cb\u8f6c\u65b9\u5411<\/td>\n<\/tr>\n<tr>\n<td><code>RO\/TO\/ZO offset<\/code><\/td>\n<td>\u4f4d\u7f6e\u504f\u79fb<\/td>\n<\/tr>\n<tr>\n<td><code>ALTWAFSPD (Y\\|N)<\/code><\/td>\n<td>\u66ff\u4ee3\u6676\u5706\u901f\u5ea6<\/td>\n<\/tr>\n<tr>\n<td><code>STRT (NR\\|R1\\|R2\\|VIA)<\/code><\/td>\n<td>\u8d77\u59cb\u8def\u5f84\u9009\u62e9<\/td>\n<\/tr>\n<tr>\n<td><code>ENRT (NR\\|R1\\|R2\\|VIA)<\/code><\/td>\n<td>\u7ed3\u675f\u8def\u5f84\u9009\u62e9<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>PICK \u6267\u884c\u5e8f\u5217\uff1a<\/strong><\/p>\n<pre><code>1. \u65cb\u8f6c\u5230\u5de5\u4f4d T \u4f4d\u7f6e\n2. \u79fb\u52a8\u5230 Z DOWN\uff08\u4e0b\u4f4d\uff09\n3. \u4f38\u51fa\u672b\u7aef\u6267\u884c\u5668\u5230 R EX\n4. \u4e0a\u5347\u5230 Z UP\uff08\u63d0\u8d77\u6676\u5706\uff09\n5. \u7f29\u56de\u672b\u7aef\u6267\u884c\u5668<\/code><\/pre>\n<p><strong>PICK \u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>PICK 3                       # \u4ece\u5de5\u4f4d 3 \u53d6\u7247\nPICK 3 SLOT 5               # \u4ece\u5de5\u4f4d 3 \u7b2c 5 \u69fd\u53d6\u7247\nPICK 3 ARM B                # \u7528 B \u81c2\u4ece\u5de5\u4f4d 3 \u53d6\u7247\nPICK 3 SLOT 5 ARM A CW      # \u7528 A \u81c2\u987a\u65f6\u9488\u4ece\u5de5\u4f4d 3 \u7b2c 5 \u69fd\u53d6\u7247<\/code><\/pre>\n<p><strong>PICK \u884c\u4e3a\u8868\uff08Load = ON \u65f6\uff09\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u6761\u4ef6<\/th>\n<th>\u547d\u4ee4 <code>PICK 2<\/code> \u884c\u4e3a<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>Load ON, \u6676\u5706\u5728\u672b\u7aef\u6267\u884c\u5668<\/td>\n<td>\u6267\u884c PICK\uff0c\u6210\u529f\u540e Load \u4fdd\u6301 ON<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>9.4 PLACE \u653e\u7247\u547d\u4ee4<\/h3>\n<p>PLACE \u547d\u4ee4\u5c06\u6676\u5706\u653e\u7f6e\u5230\u6307\u5b9a\u5de5\u4f4d\u548c\u69fd\u4f4d\u3002<\/p>\n<p><strong>\u547d\u4ee4\u8bed\u6cd5\uff1a<\/strong><\/p>\n<pre><code>PLACE station [SLOT slot] &lt;&lt;(ARM)&gt;[(A|B|AB)]&gt; &lt;PAN L|R&gt; &lt;CW|CCW&gt;\n      [[RO r_offset] [TO t_offset] [ZO z_offset]]\n      [ALTWAFSPD (Y|N)]\n      [EX NO_VIA|RE NO_VIA]\n      [STRT (NR|R1|R2|VIA)]\n      [ENRT [(NR|R1|R2|VIA)]<\/code><\/pre>\n<p><strong>PLACE \u6267\u884c\u5e8f\u5217\uff1a<\/strong><\/p>\n<pre><code>1. \u65cb\u8f6c\u5230\u5de5\u4f4d T \u4f4d\u7f6e\n2. \u79fb\u52a8\u5230 Z UP\uff08\u4e0a\u4f4d\uff0c\u6676\u5706\u5728\u672b\u7aef\u6267\u884c\u5668\u4e0a\uff09\n3. \u4f38\u51fa\u672b\u7aef\u6267\u884c\u5668\u5230 R EX\n4. \u4e0b\u964d\u5230 Z DOWN\uff08\u653e\u7f6e\u6676\u5706\uff09\n5. \u7f29\u56de\u672b\u7aef\u6267\u884c\u5668<\/code><\/pre>\n<p><strong>PLACE \u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>PLACE 5                      # \u653e\u7247\u5230\u5de5\u4f4d 5\nPLACE 5 SLOT 3              # \u653e\u7247\u5230\u5de5\u4f4d 5 \u7b2c 3 \u69fd\nPLACE 5 ARM B               # \u7528 B \u81c2\u653e\u7247\u5230\u5de5\u4f4d 5<\/code><\/pre>\n<p><strong>PLACE \u884c\u4e3a\u8868\uff08Load = OFF \u65f6\uff09\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u6761\u4ef6<\/th>\n<th>\u547d\u4ee4 <code>PLACE 2<\/code> \u884c\u4e3a<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>Load OFF, \u65e0\u6676\u5706<\/td>\n<td>\u6267\u884c PLACE\uff0c\u6210\u529f\u540e Load \u4fdd\u6301 OFF<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>9.5 XFER \u4f20\u9001\u547d\u4ee4<\/h3>\n<p>XFER \u547d\u4ee4\u6267\u884c\u5b8c\u6574\u7684\u53d6\u7247-\u653e\u7247\u4f20\u9001\u5e8f\u5217\uff1a<\/p>\n<pre><code>XFER source_stn TO dest_stn [ARM (A|B)] [SLOT source_slot TO dest_slot]<\/code><\/pre>\n<p><strong>\u7ed3\u5408\u5bf9\u51c6\u5668\u7684\u4f20\u9001\uff1a<\/strong><\/p>\n<pre><code>XFER 1 TO 3 ARM A ALGN       # \u53d6\u7247 \u2192 \u5bf9\u51c6 \u2192 \u653e\u7247<\/code><\/pre>\n<hr \/>\n<h2>\u7b2c\u5341\u7ae0 Active Wafer Centering (AWC) \u4e3b\u52a8\u6676\u5706\u5bf9\u4e2d<\/h2>\n<h3>10.1 AWC \u6982\u8ff0<\/h3>\n<p>AWC (Active Wafer Centering) \u662f MAGNATRAN LEAP \u7684\u4e3b\u52a8\u6676\u5706\u5bf9\u4e2d\u529f\u80fd\u3002\u901a\u8fc7\u4f20\u611f\u5668\u5728\u4f20\u9001\u8fc7\u7a0b\u4e2d\u5b9e\u65f6\u68c0\u6d4b\u6676\u5706\u4f4d\u7f6e\u504f\u5dee\uff0c\u5e76\u81ea\u52a8\u6821\u6b63\u3002<\/p>\n<h3>10.2 \u5168\u5c40\u8bbe\u7f6e<\/h3>\n<h4>SET\/RQ\/STORE WAF_CEN MODE \u2014 \u8bbe\u7f6e AWC \u6a21\u5f0f<\/h4>\n<pre><code>SET WAF_CEN MODE (ON|OFF)\nRQ WAF_CEN MODE\nSTORE WAF_CEN MODE<\/code><\/pre>\n<h3>10.3 \u5de5\u4f4d\u4f20\u611f\u5668\u8bbe\u7f6e<\/h3>\n<h4>RQ\/STORE STN WAF_CEN SENS ALL \u2014 \u67e5\u8be2\/\u5b58\u50a8\u6240\u6709\u4f20\u611f\u5668\u53c2\u6570<\/h4>\n<pre><code>RQ STN 1 ARM B WAF_CEN SENS ALL<\/code><\/pre>\n<p>\u54cd\u5e94\u793a\u4f8b\uff1a<\/p>\n<pre><code>STN 1 B WAF_CEN LEFT_SENS 02 497120 001823 000356 000784 000517\n001011 RIGHT_SENS 05 505634 002118 000409 000809 000498 000961<\/code><\/pre>\n<h4>SET\/CLEAR STN WAF_CEN SENSOR \u2014 \u8bbe\u7f6e\/\u6e05\u9664\u5de5\u4f4d\u4f20\u611f\u5668<\/h4>\n<pre><code>SET STN station [ARM (A|B)] WAF_CEN \n     [LEFT_SENS|RIGHT_SENS] io_name pos_r pos_t<\/code><\/pre>\n<h3>10.4 AWC \u5de5\u4f4d\u53c2\u6570<\/h3>\n<h4>SET\/RQ\/STORE ENABLE \u2014 \u542f\u7528\/\u7981\u7528 AWC<\/h4>\n<pre><code>SET STN station [ARM (A|B)] WAF_CEN ENABLE (Y|N)\nRQ STN station [ARM (A|B)] WAF_CEN ENABLE\nSTORE STN station [ARM (A|B)] WAF_CEN ENABLE<\/code><\/pre>\n<h4>SET\/RQ\/STORE WAFER SIZE \u2014 \u6676\u5706\u5c3a\u5bf8<\/h4>\n<pre><code>SET STN station [ARM (A|B)] WAF_CEN WAFER_SIZE size\nRQ STN station [ARM (A|B)] WAF_CEN WAFER_SIZE\nSTORE STN station [ARM (A|B)] WAF_CEN WAFER_SIZE<\/code><\/pre>\n<h4>SET\/RQ\/STORE MAX DEVIATION \u2014 \u6700\u5927\u504f\u5dee<\/h4>\n<pre><code>SET STN station [ARM (A|B)] WAF_CEN MAX_DEV value\nRQ STN station [ARM (A|B)] WAF_CEN MAX_DEV\nSTORE STN station [ARM (A|B)] WAF_CEN MAX_DEV<\/code><\/pre>\n<h4>SET\/RQ\/STORE CHECK ON PICK \u2014 \u53d6\u7247\u65f6\u68c0\u67e5<\/h4>\n<pre><code>SET STN station [ARM (A|B)] WAF_CEN CHK_ON_PICK (Y|N)\nRQ STN station [ARM (A|B)] WAF_CEN CHK_ON_PICK\nSTORE STN station [ARM (A|B)] WAF_CEN CHK_ON_PICK<\/code><\/pre>\n<h4>SET\/RQ\/STORE CHECK ON PICK MAX DEVIATION \u2014 \u53d6\u7247\u6700\u5927\u504f\u5dee<\/h4>\n<pre><code>SET STN station [ARM (A|B)] WAF_CEN CHK_ON_PICK MAX_DEV value<\/code><\/pre>\n<h4>SET\/RQ\/STORE BREAKAGE THRESHOLD \u2014 \u7834\u788e\u9608\u503c<\/h4>\n<pre><code>SET STN station [ARM (A|B)] WAF_CEN BREAKAGE_THRESHOLD value<\/code><\/pre>\n<h4>FIND\/SET\/RQ\/STORE NOTCH THRESHOLD \u2014 \u7f3a\u53e3\u9608\u503c<\/h4>\n<pre><code>FIND STN station [ARM (A|B)] WAF_CEN NOTCH_THRESHOLD\nSET STN station [ARM (A|B)] WAF_CEN NOTCH_THRESHOLD value<\/code><\/pre>\n<h4>SET\/RQ\/STORE OPEN EXTENSION \u2014 \u5f00\u653e\u5ef6\u4f38\u53c2\u6570<\/h4>\n<pre><code>SET STN station [ARM (A|B)] WAF_CEN OPEN_EXT value<\/code><\/pre>\n<h4>SET\/RQ\/STORE CAL_WITH_PICK \u2014 \u53d6\u7247\u6821\u51c6<\/h4>\n<pre><code>SET STN station [ARM (A|B)] WAF_CEN CAL_WITH_PICK (Y|N)\nRQ STN station [ARM (A|B)] WAF_CEN CAL_WITH_PICK\nSTORE STN station [ARM (A|B)] WAF_CEN CAL_WITH_PICK<\/code><\/pre>\n<h4>SET\/RQ\/STORE OFFSET CORRECTION \u2014 \u504f\u79fb\u6821\u6b63<\/h4>\n<pre><code>SET STN station [ARM (A|B)] WAF_CEN OFFSET_CORR (Y|N)\nSET STN station [ARM (A|B)] WAF_CEN OFFSET_CORR_THRESHOLD value<\/code><\/pre>\n<h4>SET\/RQ\/STORE SS_OFFSET \u2014 \u4f20\u611f\u5668\u504f\u79fb<\/h4>\n<pre><code>SET STN station [ARM (A|B)] WAF_CEN SS_OFFSET xVal yVal\nSTORE STN station [ARM (A|B)] WAF_CEN SS_OFFSET xVal yVal<\/code><\/pre>\n<h3>10.5 AWC \u4f20\u611f\u5668\u6821\u51c6<\/h3>\n<h4>FIND STN WAF_CEN ALL \u2014 \u81ea\u52a8\u6821\u51c6<\/h4>\n<p>\u81ea\u52a8\u6821\u51c6\u4f20\u611f\u5668\u4f4d\u7f6e\u548c\u7f3a\u53e3\u9608\u503c\uff1a<\/p>\n<pre><code>FIND STN station [ARM (A|B)] WAF_CEN ALL<\/code><\/pre>\n<blockquote>\n<p>\u6b64\u547d\u4ee4\u6267\u884c\u81ea\u52a8\u6821\u51c6\u7a0b\u5e8f\uff0c\u786e\u5b9a\u4f20\u611f\u5668\u4f4d\u7f6e\u5e76\u4f30\u7b97\u7cfb\u7edf\u5ef6\u8fdf\u3002<\/p>\n<\/blockquote>\n<h3>10.6 AWC \u64cd\u4f5c\u4e0e\u6570\u636e\u67e5\u8be2<\/h3>\n<h4>RQ STN WAF_CEN DATA \u2014 \u67e5\u8be2 AWC \u6570\u636e<\/h4>\n<p>\u67e5\u8be2\u4e0a\u6b21 WAF_CEN \u64cd\u4f5c\u7684\u504f\u79fb\u8ba1\u7b97\u7ed3\u679c\uff1a<\/p>\n<pre><code>RQ STN station [ARM (A|B)] WAF_CEN DATA<\/code><\/pre>\n<blockquote>\n<p>\u5982\u679c\u6ca1\u6709\u6709\u6548\u6570\u636e\uff0c\u5c06\u62a5\u544a\u9519\u8bef\u3002<\/p>\n<\/blockquote>\n<hr \/>\n<h2>\u7b2c\u5341\u4e00\u7ae0 \u5de5\u4f5c\u7a7a\u95f4 (Workspace)<\/h2>\n<h3>11.1 \u5de5\u4f5c\u7a7a\u95f4\u6982\u8ff0<\/h3>\n<p>\u5de5\u4f5c\u7a7a\u95f4 (Workspace) \u5b9a\u4e49\u4e86\u673a\u5668\u4eba\u5141\u8bb8\u8fd0\u52a8\u7684\u4e09\u7ef4\u533a\u57df\u3002\u5982\u679c\u7528\u6237\u5c1d\u8bd5\u5c06\u672b\u7aef\u6267\u884c\u5668\u79fb\u52a8\u5230\u4efb\u4f55\u6d3b\u52a8\u5de5\u4f5c\u7a7a\u95f4\u4e4b\u5916\uff0c\u5c06\u62a5\u544a\u8fd0\u52a8\u9519\u8bef\u3002<\/p>\n<p><strong>\u5de5\u4f5c\u7a7a\u95f4\u53c2\u6570\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u53c2\u6570<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><strong>Name<\/strong><\/td>\n<td>\u5de5\u4f5c\u7a7a\u95f4\u540d\u79f0\uff08\u6700\u591a 20 \u5b57\u7b26\uff09<\/td>\n<\/tr>\n<tr>\n<td><strong>State<\/strong><\/td>\n<td>\u6d3b\u52a8(ACTIVE)\u6216\u975e\u6d3b\u52a8(INACTIVE)<\/td>\n<\/tr>\n<tr>\n<td><strong>Arm<\/strong><\/td>\n<td>\u5173\u8054\u7684\u81c2\uff08A, B \u6216 BOTH\uff09<\/td>\n<\/tr>\n<tr>\n<td><strong>Slot Valve Interlock<\/strong><\/td>\n<td>\u95f8\u9600\u8054\u9501\u540d\u79f0<\/td>\n<\/tr>\n<tr>\n<td><strong>RMIN \/ RMAX<\/strong><\/td>\n<td>R \u8f74\u6700\u5c0f\/\u6700\u5927\u8303\u56f4<\/td>\n<\/tr>\n<tr>\n<td><strong>TMIN \/ TMAX<\/strong><\/td>\n<td>T \u8f74\u6700\u5c0f\/\u6700\u5927\u8303\u56f4<\/td>\n<\/tr>\n<tr>\n<td><strong>ZMIN \/ ZMAX<\/strong><\/td>\n<td>Z \u8f74\u6700\u5c0f\/\u6700\u5927\u8303\u56f4<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>HOME \u5de5\u4f5c\u7a7a\u95f4\uff1a<\/strong> \u9884\u5b9a\u4e49\u7684 HOME \u533a\u57df\u5de5\u4f5c\u7a7a\u95f4\uff0c\u9650\u5236\u5ef6\u4f38\u957f\u5ea6\u7b49\u4e8e\u7f29\u56de\u503c\u3002<\/p>\n<h3>11.2 \u521b\u5efa\u4e0e\u5220\u9664\u5de5\u4f5c\u7a7a\u95f4<\/h3>\n<h4>CREATE WSPACE \u2014 \u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4<\/h4>\n<pre><code>CREATE WSPACE name<\/code><\/pre>\n<h4>REMOVE WSPACE \u2014 \u5220\u9664\u5de5\u4f5c\u7a7a\u95f4<\/h4>\n<pre><code>REMOVE WSPACE name<\/code><\/pre>\n<h3>11.3 \u5de5\u4f5c\u7a7a\u95f4\u53c2\u6570\u8bbe\u7f6e<\/h3>\n<h4>SET WSPACE \u2014 \u8bbe\u7f6e\u5de5\u4f5c\u7a7a\u95f4\u53c2\u6570<\/h4>\n<pre><code>SET WSPACE name\n     [MIN (R rMinVal|T tMinVal|Z zMinVal)]\n     [MAX (R rMaxVal|T tMaxVal|Z zMaxVal)]\n     [ARM (A|B|BOTH)]\n     [STN station]\n     [STATE (ACTIVE|INACTIVE)]\n     [INTLCK svlv_name]<\/code><\/pre>\n<p><strong>\u8bbe\u7f6e\u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>CREATE WSPACE PM_AREA\nSET WSPACE PM_AREA MIN R 100000 MIN T 045000 MIN Z 0\nSET WSPACE PM_AREA MAX R 500000 MAX T 135000 MAX Z 100000\nSET WSPACE PM_AREA ARM BOTH\nSET WSPACE PM_AREA STATE ACTIVE\nSTORE WSPACE PM_AREA ALL<\/code><\/pre>\n<h4>RQ WSPACE \u2014 \u67e5\u8be2\u5de5\u4f5c\u7a7a\u95f4<\/h4>\n<pre><code>RQ WSPACE name ALL<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>WSPACE\nNAME --------------- name\nSTATE -------------- (ACTIVE|INACTIVE)\nINTLCK ------------- svlv_name\nARM(s) ------------- (A|B|BOTH)\nRMIN --------------- rMinVal\nRMAX --------------- rMaxVal\nTMIN --------------- tMinVal\nTMAX --------------- tMaxVal\nZMIN --------------- zMinVal\nZMAX --------------- zMaxVal<\/code><\/pre>\n<h4>STORE WSPACE \u2014 \u5b58\u50a8\u5de5\u4f5c\u7a7a\u95f4<\/h4>\n<pre><code>STORE WSPACE name ALL<\/code><\/pre>\n<h3>11.4 \u5de5\u4f5c\u7a7a\u95f4\u6a21\u5f0f<\/h3>\n<h4>SET\/RQ\/STORE WSPACE MODE \u2014 \u5de5\u4f5c\u7a7a\u95f4\u6a21\u5f0f<\/h4>\n<pre><code>SET WSPACE MODE (ON|OFF)           # \u5f00\u542f\/\u5173\u95ed\u5de5\u4f5c\u7a7a\u95f4\u68c0\u67e5\nSET WSPACE MODE JOG (ON|OFF)       # JOG \u6a21\u5f0f\u4e0b\u662f\u5426\u68c0\u67e5\u5de5\u4f5c\u7a7a\u95f4\nSET WSPACE MODE LOAD_DEPENDENT (Y|N)  # \u8f7d\u8377\u76f8\u5173\u6a21\u5f0f<\/code><\/pre>\n<pre><code>RQ WSPACE MODE [JOG] [LOAD_DEPENDENT]<\/code><\/pre>\n<p>\u54cd\u5e94\uff1a<\/p>\n<pre><code>WSPACE MODE ON|OFF<\/code><\/pre>\n<pre><code>STORE WSPACE MODE [JOG] [LOAD_DEPENDENT]<\/code><\/pre>\n<p><strong>TMIN\/TMAX \u5b9a\u4e49\u89c4\u5219\uff1a<\/strong><\/p>\n<blockquote>\n<p>TMIN \u53ef\u8bbe\u7f6e\u4e3a\u5c0f\u4e8e\u3001\u7b49\u4e8e\u6216\u5927\u4e8e TMAX\u3002\u673a\u5668\u4eba\u5c06\u4ece TMIN \u987a\u65f6\u9488\u65cb\u8f6c\u5230 TMAX \u7684\u533a\u57df\u89c6\u4e3a\u6709\u6548\u7684 Theta \u5de5\u4f5c\u7a7a\u95f4\u3002<\/p>\n<\/blockquote>\n<hr \/>\n<h2>\u7b2c\u5341\u4e8c\u7ae0 \u5bf9\u51c6\u5668 (Aligner) \u96c6\u6210<\/h2>\n<h3>12.1 \u5bf9\u51c6\u5668\u6982\u8ff0<\/h3>\n<p>MAGNATRAN LEAP \u652f\u6301\u96c6\u6210 Brooks Automation \u7684\u5bf9\u51c6\u5668\uff08\u5982 InLigner\u2122 \u771f\u7a7a\u73af\u5883\u5bf9\u51c6\u5668\uff09\uff0c\u7528\u4e8e\u6676\u5706\u7684\u5bf9\u4e2d\u548c\u7f3a\u53e3\/\u5e73\u8fb9\u67e5\u627e\u3002<\/p>\n<p><strong>\u652f\u6301\u914d\u7f6e\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u8fde\u63a5\u65b9\u5f0f<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><strong>\u672c\u5730\u8fde\u63a5<\/strong><\/td>\n<td>\u5bf9\u51c6\u5668\u76f4\u63a5\u901a\u8fc7\u8f85\u52a9\u4e32\u53e3\uff08COM 2\uff09\u8fde\u63a5\u5230\u673a\u5668\u4eba<\/td>\n<\/tr>\n<tr>\n<td><strong>\u8fdc\u7a0b\u8fde\u63a5<\/strong><\/td>\n<td>\u5bf9\u51c6\u5668\u901a\u8fc7\u94fe\u63a5\u8bbe\u5907\u8fde\u63a5<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>12.2 \u901a\u4fe1\u94fe\u63a5\u914d\u7f6e<\/h3>\n<h4>CONFIG LINK \u2014 \u914d\u7f6e\u94fe\u63a5<\/h4>\n<pre><code>CONFIG LINK link_number TYPE (RAW_TEXT|USER_CMD|USER_DEV|HOST_DEV|FIXLOAD) \n       PORT SERIAL BAUD baud PARITY parity DATA dataBits STOP stopBits<\/code><\/pre>\n<p>\u6216\u4ee5\u592a\u7f51\u94fe\u63a5\uff1a<\/p>\n<pre><code>CONFIG LINK link_number TYPE ... PORT ENET ADDRESS ip_address PORT port_number<\/code><\/pre>\n<p><strong>\u53c2\u6570\u8bf4\u660e\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u53c2\u6570<\/th>\n<th>\u8303\u56f4<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>link_number<\/code><\/td>\n<td>1-19<\/td>\n<td>\u94fe\u63a5\u7f16\u53f7\uff081-5 \u4fdd\u7559\u7ed9\u5185\u90e8\u4f7f\u7528\uff09<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<blockquote>\n<p>\u26a0\ufe0f \u94fe\u63a5 1-5 \u4fdd\u7559\u4f9b Series 8 Controller \u4e32\u53e3\u5185\u90e8\u4f7f\u7528\u3002\u914d\u7f6e\u94fe\u63a5 1-5 \u53ef\u80fd\u5bfc\u81f4\u673a\u5668\u4eba\u505c\u6b62\u54cd\u5e94\u3002<\/p>\n<\/blockquote>\n<h4>SET\/RQ\/STORE DEVICE \u2014 \u8bbe\u5907\u8868<\/h4>\n<pre><code>SET DEV device_id LINK link_number\nRQ DEV device_id\nSTORE DEV device_id<\/code><\/pre>\n<h3>12.3 \u5bf9\u51c6\u5668\u8bbe\u7f6e<\/h3>\n<p><strong>1 \u4e2a\u5bf9\u51c6\u5668 + 1 \u4e2a\u673a\u5668\u4eba\u7684\u8bbe\u7f6e\u6d41\u7a0b\uff1a<\/strong><\/p>\n<pre><code># Step 1: \u914d\u7f6e\u901a\u4fe1\u94fe\u63a5\uff08COM 2 \u4e32\u53e3\uff09\nCONFIG LINK 6 TYPE USER_DEV PORT SERIAL BAUD 9600 PARITY NONE DATA 8 STOP 1\n\n# Step 2: \u8bbe\u7f6e\u8bbe\u5907 ID\nSET DEV 04 LINK 6\n\n# Step 3: \u8bbe\u7f6e\u5bf9\u51c6\u5668\u5de5\u4f4d\u548c\u8bbe\u5907\nSET ALIGNER 1 STN 3 DEV 04\nSTORE ALIGNER 1 STN\n\n# Step 4: \u8bbe\u7f6e\u5bf9\u51c6\u5668\u7c7b\u578b\nSET ALIGNER 1 STN TYPE DEV\nSTORE ALIGNER 1 STN TYPE DEV\n\n# Step 5: \u9a8c\u8bc1\u8bbe\u7f6e\nRQ ALIGNER 1 STN\n\n# Step 6: \u8bbe\u7f6e\u6676\u5706\u53c2\u6570\nSET ALIGNER 1 WAFERID RO-300-NT-O-01\nSTORE ALIGNER 1 WAFERID\n\n# Step 7: \u8bbe\u7f6e CCD \u4f4d\u7f6e\nSET ALIGNER 1 CCDPOS 98000\nSTORE ALIGNER 1 CCDPOS\n\n# Step 8: \u8bbe\u7f6e\u540e\u5904\u7406\u4f4d\u7f6e\nSET ALIGNER 1 POSTPOS 1 POS 82000\nSTORE ALIGNER 1 POSTPOS\n\n# Step 9: \u9a8c\u8bc1\u6240\u6709\u8bbe\u7f6e\nRQ ALIGNER 1 ALL<\/code><\/pre>\n<p><strong>\u6676\u5706\u6807\u8bc6\u7b26\u683c\u5f0f (WAFERID)\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u5b57\u6bb5<\/th>\n<th>\u503c<\/th>\n<th>\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>\u5f62\u72b6<\/td>\n<td>RO \/ RT<\/td>\n<td>RO=\u5706\u5f62, RT=\u77e9\u5f62<\/td>\n<\/tr>\n<tr>\n<td>\u5c3a\u5bf8<\/td>\n<td>300\/200\/150<\/td>\n<td>\u6676\u5706\u76f4\u5f84(mm)<\/td>\n<\/tr>\n<tr>\n<td>\u57fa\u51c6\u6807\u8bb0<\/td>\n<td>NT\/SF\/FS\/FL\/UN<\/td>\n<td>NT=\u7f3a\u53e3, SF=\u5355\u5e73\u8fb9, FS=\u65e0\u7279\u5f81, FL=\u5e73\u8fb9, UN=\u672a\u77e5<\/td>\n<\/tr>\n<tr>\n<td>\u7c7b\u578b<\/td>\n<td>O\/T<\/td>\n<td>O=\u4e0d\u900f\u660e, T=\u900f\u660e<\/td>\n<\/tr>\n<tr>\n<td>\u5176\u4ed6<\/td>\n<td>01\/02...<\/td>\n<td>\u54c1\u79cd\u7f16\u53f7<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u793a\u4f8b\uff1a<\/strong><\/p>\n<pre><code>RO-300-NT-O-01     # \u5706\u5f62, 300mm, \u7f3a\u53e3, \u4e0d\u900f\u660e, \u54c1\u79cd 1\nRO-200-FL-O-01     # \u5706\u5f62, 200mm, \u5e73\u8fb9, \u4e0d\u900f\u660e, \u54c1\u79cd 1<\/code><\/pre>\n<h3>12.4 \u5bf9\u51c6\u5668\u64cd\u4f5c\u547d\u4ee4<\/h3>\n<h4>SET\/RQ\/STORE ALIGNER \u2014 \u5bf9\u51c6\u5668\u53c2\u6570<\/h4>\n<pre><code>SET ALIGNER identifier STN station\n     [TYPE (DEFAULT|EDGE_ALGN)]\n     [DEV deviceId]\n     [XFER (EX|RE)]\n     [CCDNUM ccdNum] [CCDPOS ccdAngle]\n     [WAFERID waferId]\n     [POSTPOS (1|2|3|4) POS ppAngle] [POSTPOS INDEX (1|2|3|4)]\n     [MAXANGLE maxAngle]\n     [HANDOFF INDEX handOffIndex] [HANDOFF POS (1|2|3|4)]\n     [CCD_CORR (ON|OFF)]<\/code><\/pre>\n<h4>ALIGNER \u64cd\u4f5c\u547d\u4ee4<\/h4>\n<pre><code>ALIGNER HOME          # \u5bf9\u51c6\u5668\u5f52\u96f6\nALIGNER SCAN          # \u5bf9\u51c6\u5668\u626b\u63cf\nALIGNER ALGN          # \u6267\u884c\u5bf9\u51c6\n\nRQ ALIGNER RQID       # \u67e5\u8be2\u5bf9\u51c6\u5668 ID<\/code><\/pre>\n<h4>SET\/RQ\/STORE ALIGNER MODE \u2014 \u5bf9\u51c6\u5668\u6a21\u5f0f<\/h4>\n<pre><code>SET ALIGNER identifier MODE (SINGLE_ROBOT|MULTI_ROBOT)\nRQ ALIGNER identifier MODE\nSTORE ALIGNER identifier MODE<\/code><\/pre>\n<ul>\n<li><strong>SINGLE_ROBOT<\/strong> \u2014 \u7cfb\u7edf\u4e2d\u53ea\u6709\u4e00\u4e2a\u5bf9\u51c6\u5668\uff08WAVE \u6a21\u5f0f\uff09<\/li>\n<li><strong>MULTI_ROBOT<\/strong> \u2014 \u7cfb\u7edf\u4e2d\u6709\u591a\u4e2a\u5bf9\u51c6\u5668\uff08WAVE II \u6a21\u5f0f\uff09<\/li>\n<\/ul>\n<h4>RQ ALIGN OFFSETS \u2014 \u67e5\u8be2\u5bf9\u51c6\u504f\u79fb<\/h4>\n<pre><code>RQ ALIGN OFFSETS<\/code><\/pre>\n<h4>HALT ALIGNER \u2014 \u505c\u6b62\u5bf9\u51c6\u5668<\/h4>\n<pre><code>HALT ALIGNER<\/code><\/pre>\n<h3>12.5 \u96c6\u6210\u547d\u4ee4\uff08PICK\/PLACE\/XFER + ALGN\uff09<\/h3>\n<p>\u5bf9\u51c6\u5668\u53ef\u4e0e PICK\u3001PLACE\u3001XFER \u547d\u4ee4\u96c6\u6210\u4f7f\u7528\uff1a<\/p>\n<pre><code># PICK \u540e\u6267\u884c\u5bf9\u51c6\nPICK 1 ARM A ALGN\n\n# PLACE \u524d\u6267\u884c\u5bf9\u51c6\nPLACE 3 ARM A ALGN\n\n# \u5b8c\u6574\u4f20\u9001 + \u5bf9\u51c6\nXFER 1 TO 3 ARM A ALGN<\/code><\/pre>\n<p><strong>\u96c6\u6210\u547d\u4ee4\u884c\u4e3a\uff1a<\/strong><\/p>\n<ul>\n<li><strong>XFER + ALGN<\/strong>\uff1aPICK \u540e\uff0c\u653e\u81f3\u5bf9\u51c6\u5668\u5bf9\u51c6\uff0c\u518d PLACE \u5230\u76ee\u6807\u5de5\u4f4d<\/li>\n<li>\u5bf9\u51c6\u5668\u9519\u8bef\u4ee5 <code>ALGN_ERR<\/code> \u524d\u7f00\u62a5\u544a<\/li>\n<\/ul>\n<p><strong>\u5bf9\u51c6\u5668\u9519\u8bef\u62a5\u544a\u683c\u5f0f\uff1a<\/strong><\/p>\n<pre><code>ALGN_ERR 0041     # \u5bf9\u51c6\u5668\u62a5\u544a\u9519\u8bef\u4ee3\u7801 41<\/code><\/pre>\n<hr \/>\n<h2>\u7b2c\u5341\u4e09\u7ae0 \u793a\u6559\u5668\u64cd\u4f5c (Teach Pendant)<\/h2>\n<h3>13.1 Liveman \u793a\u6559\u5668\u5b89\u5168\u987b\u77e5<\/h3>\n<pre><code>\u2554\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2557\n\u2551  \u26a0\ufe0f  \u793a\u6559\u5668\u5b89\u5168\u8b66\u544a                                              \u2551\n\u2551                                                                  \u2551\n\u2551  \u2022 \u5728\u673a\u5668\u4eba\u5de5\u4f5c\u7a7a\u95f4\u5185\u64cd\u4f5c\u65f6\uff0c\u59cb\u7ec8\u4f7f\u7528 Liveman \u793a\u6559\u5668               \u2551\n\u2551  \u2022 Liveman \u5f00\u5173\u5fc5\u987b\u6301\u7eed\u63e1\u7d27\u624d\u80fd\u5141\u8bb8\u673a\u5668\u4eba\u8fd0\u52a8                     \u2551\n\u2551  \u2022 \u91ca\u653e Liveman \u5f00\u5173\u5c06\u7acb\u5373\u505c\u6b62\u673a\u5668\u4eba\u8fd0\u52a8                          \u2551\n\u2551  \u2022 \u793a\u6559\u6a21\u5f0f\u4e0b\u6ca1\u6709\u51cf\u901f\u5b89\u5168\u8054\u9501                                     \u2551\n\u2551  \u2022 \u786e\u8ba4\u793a\u6559\u5668\u4e0a\u7684 E-Stop \u6309\u94ae\u5df2\u91ca\u653e\u518d\u5f00\u59cb\u64cd\u4f5c                     \u2551\n\u255a\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u2550\u255d<\/code><\/pre>\n<h3>13.2 \u793a\u6559\u5668\u57fa\u672c\u64cd\u4f5c<\/h3>\n<p><strong>\u5f00\u673a\u4e0e\u8fde\u63a5\uff1a<\/strong><\/p>\n<ol>\n<li>\u5c06\u793a\u6559\u5668\u7535\u7f06\u8fde\u63a5\u5230\u673a\u5668\u4eba<\/li>\n<li>\u786e\u8ba4 E-Stop \u6309\u94ae\u5df2\u91ca\u653e<\/li>\n<li>\u6253\u5f00\u793a\u6559\u5668 \u2192 \u663e\u793a\u529f\u80fd\u5c4f\u5e55 (Function Screen)<\/li>\n<\/ol>\n<p><strong>\u83b7\u53d6\u63a7\u5236\u6743\uff1a<\/strong><\/p>\n<pre><code>\u6b65\u9aa4 1: \u5b8c\u5168\u91ca\u653e Liveman \u5f00\u5173\n\u6b65\u9aa4 2: \u6309 Home \u6309\u94ae \u2192 \u663e\u793a Home Axis \u5c4f\u5e55\n\u6b65\u9aa4 3: \u6309 All \u6309\u94ae \u2192 \u663e\u793a Get Control \u5c4f\u5e55\n\u6b65\u9aa4 4: \u6309 CR YES \u2192 \u793a\u6559\u5668\u83b7\u53d6\u673a\u5668\u4eba\u63a7\u5236\u6743\n\u6b65\u9aa4 5: \u6309 Quit \u8fd4\u56de\u529f\u80fd\u5c4f\u5e55<\/code><\/pre>\n<p><strong>\u5f52\u96f6\u64cd\u4f5c\uff1a<\/strong><\/p>\n<pre><code>\u6b65\u9aa4 1: \u6309 Home \u6309\u94ae \u2192 \u663e\u793a Home Axis \u5c4f\u5e55\n\u6b65\u9aa4 2: \u63e1\u7d27 Liveman \u5f00\u5173\uff08\u72b6\u6001\u53d8\u4e3a &quot;Engaged&quot;\uff09\n\u6b65\u9aa4 3: \u6309 All \u6309\u94ae \u2192 \u673a\u5668\u4eba\u5f00\u59cb\u5f52\u96f6\n\u6b65\u9aa4 4: \u5f52\u96f6\u5b8c\u6210\u540e\u793a\u6559\u5668\u53d1\u51fa\u8702\u9e23\u58f0\n\u6b65\u9aa4 5: \u91ca\u653e Liveman \u5f00\u5173<\/code><\/pre>\n<blockquote>\n<p>\u26a0\ufe0f \u5f52\u96f6\u8fc7\u7a0b\u4e2d\u5fc5\u987b\u59cb\u7ec8\u63e1\u7d27 Liveman \u5f00\u5173\uff0c\u5426\u5219\u673a\u5668\u4eba\u5c06\u505c\u6b62\u8fd0\u52a8\u3002<\/p>\n<\/blockquote>\n<h3>13.3 \u5de5\u4f4d\u793a\u6559\u6d41\u7a0b<\/h3>\n<p>\u4ee5\u4e0b\u662f\u901a\u8fc7 Liveman \u793a\u6559\u5668\u4f7f\u7528 Jog \u65b9\u5f0f\u793a\u6559\u5de5\u4f4d\u7684\u5b8c\u6574\u6d41\u7a0b\uff1a<\/p>\n<h4>\u6b65\u9aa4\u4e00\uff1a\u8fdb\u5165\u5de5\u4f4d\u8bbe\u7f6e<\/h4>\n<pre><code>1. \u6309 F3 (Setup Robot) \u2192 \u663e\u793a Setup \u5c4f\u5e55\n2. \u6309 2 (Stations) \u2192 \u663e\u793a Arm Selection \u5c4f\u5e55\n3. \u9009\u62e9\u8981\u793a\u6559\u7684\u81c2\uff08\u5982 Arm A\uff09\u2192 \u663e\u793a Station \u5c4f\u5e55\n4. \u8f93\u5165\u5de5\u4f4d\u7f16\u53f7\uff08\u5982 Station 1\uff09\n5. \u6309 CR YES \u786e\u8ba4<\/code><\/pre>\n<h4>\u6b65\u9aa4\u4e8c\uff1a\u793a\u6559 R\/T \u4f4d\u7f6e\uff08Learn R, T, BTO\uff09<\/h4>\n<pre><code>1. \u4ece Teach Selection \u5c4f\u5e55\u9009\u62e9 (2) Learn R,T,BTO\n2. \u4ece Teach Options \u5c4f\u5e55\u9009\u62e9 (2) Jog\n3. \u63e1\u7d27 Liveman \u5f00\u5173\n4. \u4f7f\u7528\u952e\u76d8 Jog \u6309\u94ae\u79fb\u52a8\u672b\u7aef\u6267\u884c\u5668\u5230\u5de5\u4f4d\u4f4d\u7f6e\uff1a\n   - \u8c03\u6574 R \u8f74\uff08\u5f84\u5411\u4f38\u51fa\/\u7f29\u56de\uff09\n   - \u8c03\u6574 T \u8f74\uff08\u65cb\u8f6c\u89d2\u5ea6\uff09\n   - \u786e\u8ba4\u672b\u7aef\u6267\u884c\u5668\u4e2d\u5fc3\u5bf9\u51c6\u5de5\u4f4d\u4e2d\u5fc3\n5. \u672b\u7aef\u6267\u884c\u5668\u5230\u4f4d\u540e\u91ca\u653e Liveman \u5f00\u5173\n6. \u6309 Escape \u8fd4\u56de<\/code><\/pre>\n<h4>\u6b65\u9aa4\u4e09\uff1a\u5b58\u50a8\u4f4d\u7f6e<\/h4>\n<pre><code>1. \u9009\u62e9 (1) Store \u2192 \u663e\u793a Store \u5c4f\u5e55\n2. \u9009\u62e9\u8981\u5b58\u50a8\u7684\u8f74\uff08\u6216\u6309 CR YES \u5b58\u50a8\u6240\u6709\u8f74\uff09\n3. \u5b58\u50a8\u540e\u663e\u793a &quot;STORED&quot;<\/code><\/pre>\n<h4>\u6b65\u9aa4\u56db\uff1a\u793a\u6559 Z \u8f74\u4e0b\u4f4d\uff08Learn Lower\uff09<\/h4>\n<pre><code>1. \u4ece Teach Selection \u5c4f\u5e55\u9009\u62e9 (3) Learn Lower\n2. \u9009\u62e9 (2) Jog \u2192 \u663e\u793a Jog Z Status \u5c4f\u5e55\n3. \u63e1\u7d27 Liveman \u5f00\u5173\n4. \u5c06\u672b\u7aef\u6267\u884c\u5668\u4e0b\u79fb\u5230\u4e0b\u4f4d\uff08\u672b\u7aef\u6267\u884c\u5668\u7f29\u56de\u65f6\u80fd\u5b8c\u5168\u907f\u5f00\u6676\u5706\u7684\u4f4d\u7f6e\uff09\n5. \u91ca\u653e Liveman \u5f00\u5173\n6. \u5b58\u50a8 Z \u8f74\u4e0b\u4f4d<\/code><\/pre>\n<h4>\u6b65\u9aa4\u4e94\uff1a\u9a8c\u8bc1\u5de5\u4f4d<\/h4>\n<pre><code>1. \u6309 F2 (Move Arm \/ Transfer Wafer)\n2. \u9009\u62e9 (3) Transfer Wafer with Arm A\n3. \u9009\u62e9 (2) Place \u2192 \u8bbe\u7f6e\u4ece\u54ea\u4e2a\u5de5\u4f4d\u53d6\u7247\n4. \u9009\u62e9\u76ee\u6807\u5de5\u4f4d \u2192 \u673a\u5668\u4eba\u6267\u884c\u4f20\u9001\n5. \u786e\u8ba4\u6676\u5706\u653e\u7f6e\u4f4d\u7f6e\u6b63\u786e<\/code><\/pre>\n<h4>\u6b65\u9aa4\u516d\uff1a\u5f52\u8fd8\u63a7\u5236\u6743<\/h4>\n<pre><code>\u5b8c\u6210\u793a\u6559\u540e\uff0c\u6309 QUIT \u8fd4\u56de\u529f\u80fd\u5c4f\u5e55\uff0c\n\u5c06\u63a7\u5236\u6743\u5f52\u8fd8\u7ed9\u4e3b\u673a\u63a7\u5236\u5668\u3002<\/code><\/pre>\n<blockquote>\n<p><strong>\u5750\u6807\u952e\u76d8\u793a\u6559\u5668<\/strong>\u7684\u6d41\u7a0b\u7c7b\u4f3c\uff0c\u4f46\u4f7f\u7528\u5750\u6807\u5f0f Jog \u6309\u94ae\uff08R+\/R-\/T+\/T-\/Z+\/Z-\uff09\u3002<\/p>\n<\/blockquote>\n<hr \/>\n<h2>\u7b2c\u5341\u56db\u7ae0 \u9519\u8bef\u4ee3\u7801\u53c2\u8003<\/h2>\n<h3>14.1 \u9519\u8bef\u4ee3\u7801\u5bf9\u7167\u8868<\/h3>\n<h4>MT5\/VT5 \u4e0e MagnaTran 7 \u9519\u8bef\u4ee3\u7801\u5bf9\u6bd4<\/h4>\n<table>\n<thead>\n<tr>\n<th>MT5\/VT5 \u9519\u8bef\u53f7<\/th>\n<th>MT5\/VT5 \u9519\u8bef\u63cf\u8ff0<\/th>\n<th>MAG7 \u9519\u8bef\u53f7<\/th>\n<th>MAG7 \u9519\u8bef\u63cf\u8ff0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>411<\/td>\n<td>Interlock Calc Overflow<\/td>\n<td>408<\/td>\n<td>Bad R Position<\/td>\n<\/tr>\n<tr>\n<td>412<\/td>\n<td>Invalid Arm Locate<\/td>\n<td>\u2014<\/td>\n<td>\u65e0\u5bf9\u5e94<\/td>\n<\/tr>\n<tr>\n<td>413<\/td>\n<td>Invalid Wafer Size<\/td>\n<td>\u2014<\/td>\n<td>\u65e0\u5bf9\u5e94<\/td>\n<\/tr>\n<tr>\n<td>501<\/td>\n<td>Internal Error<\/td>\n<td>\u2014<\/td>\n<td>\u65e0\u5bf9\u5e94<\/td>\n<\/tr>\n<tr>\n<td>502<\/td>\n<td>ESC CDM Error<\/td>\n<td>\u2014<\/td>\n<td>\u65e0\u5bf9\u5e94<\/td>\n<\/tr>\n<tr>\n<td>503<\/td>\n<td>Void Error<\/td>\n<td>\u2014<\/td>\n<td>\u65e0\u5bf9\u5e94<\/td>\n<\/tr>\n<tr>\n<td>708<\/td>\n<td>Pick Failed<\/td>\n<td>721<\/td>\n<td>Pick Failed<\/td>\n<\/tr>\n<tr>\n<td>709<\/td>\n<td>Place Failed<\/td>\n<td>722<\/td>\n<td>Place Failed<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u5e38\u89c1\u9519\u8bef\u4ee3\u7801<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u9519\u8bef\u53f7<\/th>\n<th>\u63cf\u8ff0<\/th>\n<th>\u53ef\u80fd\u539f\u56e0<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>603<\/td>\n<td>Command Halted<\/td>\n<td>HALT \u547d\u4ee4\u88ab\u6267\u884c<\/td>\n<\/tr>\n<tr>\n<td>408<\/td>\n<td>Bad R Position<\/td>\n<td>R \u8f74\u4f4d\u7f6e\u65e0\u6548<\/td>\n<\/tr>\n<tr>\n<td>721<\/td>\n<td>Pick Failed<\/td>\n<td>\u53d6\u7247\u5931\u8d25\uff08\u4f20\u611f\u5668\u672a\u68c0\u6d4b\u5230\u6676\u5706\uff09<\/td>\n<\/tr>\n<tr>\n<td>722<\/td>\n<td>Place Failed<\/td>\n<td>\u653e\u7247\u5931\u8d25\uff08\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u6676\u5706\u4ecd\u5728\uff09<\/td>\n<\/tr>\n<tr>\n<td>-3014<\/td>\n<td>Homing Parameters Error<\/td>\n<td>\u5f52\u96f6\u53c2\u6570\u672a\u6b63\u786e\u8bbe\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>-3015<\/td>\n<td>Encoder Calibration Data Missing<\/td>\n<td>\u7f16\u7801\u5668\u6821\u51c6\u6570\u636e\u7f3a\u5931<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>14.2 \u5e38\u89c1\u9519\u8bef\u4e0e\u6392\u67e5<\/h3>\n<h4>\u4f3a\u670d\u76f8\u5173\u9519\u8bef\uff08-3000 ~ -3015\uff09<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u75c7\u72b6<\/th>\n<th>\u53ef\u80fd\u539f\u56e0<\/th>\n<th>\u6392\u67e5\u65b9\u6cd5<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>\u5f52\u96f6\u5931\u8d25<\/td>\n<td>\u7535\u673a\u521d\u59cb\u5316\u95ee\u9898<\/td>\n<td>\u68c0\u67e5\u7535\u6e90\u8fde\u63a5\uff0c<code>RQ SERVOS<\/code> \u67e5\u770b\u72b6\u6001<\/td>\n<\/tr>\n<tr>\n<td>\u6821\u51c6\u6570\u636e\u9519\u8bef<\/td>\n<td>\u7f16\u7801\u5668\u6570\u636e\u635f\u574f<\/td>\n<td>\u8054\u7cfb Brooks \u6280\u672f\u652f\u6301<\/td>\n<\/tr>\n<tr>\n<td>\u5b89\u5168\u901f\u5ea6\u8fdd\u89c4<\/td>\n<td>\u8d85\u51fa\u5b89\u5168\u901f\u5ea6\u9650\u5236<\/td>\n<td>\u68c0\u67e5\u5916\u7f69\u8054\u9501\u72b6\u6001<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u901a\u4fe1\u76f8\u5173\u9519\u8bef<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u75c7\u72b6<\/th>\n<th>\u53ef\u80fd\u539f\u56e0<\/th>\n<th>\u6392\u67e5\u65b9\u6cd5<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>\u65e0\u54cd\u5e94<\/td>\n<td>\u901a\u4fe1\u8bbe\u7f6e\u4e0d\u5339\u914d<\/td>\n<td>\u68c0\u67e5\u6ce2\u7279\u7387\u3001\u6570\u636e\u4f4d\u7b49\u8bbe\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>\u8d85\u65f6<\/td>\n<td>\u8fde\u63a5\u95ee\u9898<\/td>\n<td>\u68c0\u67e5\u7535\u7f06\u8fde\u63a5\uff0c<code>RQ COMM ALL<\/code><\/td>\n<\/tr>\n<tr>\n<td>\u6821\u9a8c\u548c\u9519\u8bef<\/td>\n<td>\u6570\u636e\u4f20\u8f93\u9519\u8bef<\/td>\n<td><code>SET COMM CHECKSUM offa6<\/code> \u5173\u95ed\u6821\u9a8c\u548c<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u8fd0\u52a8\u76f8\u5173\u9519\u8bef<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u75c7\u72b6<\/th>\n<th>\u53ef\u80fd\u539f\u56e0<\/th>\n<th>\u6392\u67e5\u65b9\u6cd5<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>\u5de5\u4f4d\u4f4d\u7f6e\u4e0d\u51c6<\/td>\n<td>\u5de5\u4f4d\u672a\u6b63\u786e\u793a\u6559<\/td>\n<td>\u91cd\u65b0\u793a\u6559\u5de5\u4f4d\uff0c<code>RQ STN n ALL<\/code><\/td>\n<\/tr>\n<tr>\n<td>\u53d6\u7247\/\u653e\u7247\u5931\u8d25<\/td>\n<td>\u4f20\u611f\u5668\u6545\u969c<\/td>\n<td><code>RQ IO STATE<\/code> \u68c0\u67e5\u4f20\u611f\u5668\u72b6\u6001<\/td>\n<\/tr>\n<tr>\n<td>\u5de5\u4f5c\u7a7a\u95f4\u8fdd\u89c4<\/td>\n<td>\u76ee\u6807\u4f4d\u7f6e\u8d85\u51fa\u5de5\u4f5c\u7a7a\u95f4<\/td>\n<td><code>RQ WSPACE name ALL<\/code> \u68c0\u67e5\u8303\u56f4<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h2>\u7b2c\u5341\u4e94\u7ae0 \u64cd\u4f5c\u6d41\u7a0b\u901f\u67e5<\/h2>\n<h3>15.1 \u5b8c\u6574\u521d\u59cb\u5316\u8bbe\u7f6e\u6d41\u7a0b<\/h3>\n<pre><code>\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n\u2502              MAGNATRAN LEAP \u5b8c\u6574\u521d\u59cb\u5316\u6d41\u7a0b               \u2502\n\u251c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2524\n\u2502                                                        \u2502\n\u2502  1. \u786e\u8ba4\u7269\u7406\u8fde\u63a5                                        \u2502\n\u2502     \u251c\u2500\u2500 Ethernet\/\u4e32\u53e3 \u2192 HOST \u7aef\u53e3                       \u2502\n\u2502     \u251c\u2500\u2500 HD-Sub 26Pin \u2192 Safety I\/O                      \u2502\n\u2502     \u251c\u2500\u2500 D-Sub 50Pin \u2192 MISC I\/O                         \u2502\n\u2502     \u2514\u2500\u2500 \u7535\u6e90\u8fde\u63a5                                        \u2502\n\u2502                                                        \u2502\n\u2502  2. \u4e0a\u7535                                                \u2502\n\u2502     \u2514\u2500\u2500 \u786e\u8ba4\u7535\u6e90\u6307\u793a\u706f\u6b63\u5e38                               \u2502\n\u2502                                                        \u2502\n\u2502  3. \u5efa\u7acb\u901a\u4fe1                                            \u2502\n\u2502     \u251c\u2500\u2500 RQ WHO                    (\u9a8c\u8bc1\u8fde\u63a5)            \u2502\n\u2502     \u2514\u2500\u2500 RQ COMM ALL               (\u67e5\u770b\u901a\u4fe1\u8bbe\u7f6e)        \u2502\n\u2502                                                        \u2502\n\u2502  4. \u52a0\u8f7d\u5e94\u7528\u7a0b\u5e8f                                        \u2502\n\u2502     \u251c\u2500\u2500 RQ CONFIG                  (\u67e5\u8be2\u5f53\u524d\u5e94\u7528)       \u2502\n\u2502     \u2514\u2500\u2500 CONFIG ROBOT APLIC id      (\u52a0\u8f7d\u6b63\u786e\u5e94\u7528)       \u2502\n\u2502                                                        \u2502\n\u2502  5. \u5efa\u7acb\u96f6\u70b9\uff08\u5982\u9700\u8981\uff09                                   \u2502\n\u2502     \u251c\u2500\u2500 RQ SYNC ZERO ALL           (\u67e5\u8be2\u96f6\u70b9)           \u2502\n\u2502     \u251c\u2500\u2500 SET SERVOS OFF             (\u5173\u95ed\u4f3a\u670d)           \u2502\n\u2502     \u251c\u2500\u2500 \u5b89\u88c5\u6821\u96f6\u5939\u5177                                     \u2502\n\u2502     \u2514\u2500\u2500 FIND ZERO ALL              (\u5efa\u7acb\u96f6\u70b9)           \u2502\n\u2502                                                        \u2502\n\u2502  6. \u5f52\u96f6                                                \u2502\n\u2502     \u2514\u2500\u2500 HOME ALL                                        \u2502\n\u2502                                                        \u2502\n\u2502  7. \u793a\u6559\u5de5\u4f4d                                            \u2502\n\u2502     \u251c\u2500\u2500 SET STN n ARM A R x T y Z z                     \u2502\n\u2502     \u251c\u2500\u2500 STORE STN n ARM A ALL                           \u2502\n\u2502     \u2514\u2500\u2500 \u91cd\u590d\u6bcf\u4e2a\u5de5\u4f4d                                     \u2502\n\u2502                                                        \u2502\n\u2502  8. \u914d\u7f6e I\/O                                            \u2502\n\u2502     \u251c\u2500\u2500 MAP \u547d\u4ee4\u5b9a\u4e49 I\/O \u6620\u5c04                            \u2502\n\u2502     \u2514\u2500\u2500 STORE ALL                                       \u2502\n\u2502                                                        \u2502\n\u2502  9. \u6d4b\u8bd5\u4f20\u9001                                            \u2502\n\u2502     \u251c\u2500\u2500 PICK n                     (\u53d6\u7247\u6d4b\u8bd5)            \u2502\n\u2502     \u2514\u2500\u2500 PLACE m                    (\u653e\u7247\u6d4b\u8bd5)            \u2502\n\u2502                                                        \u2502\n\u2502  10. \u5b58\u50a8\u6240\u6709\u914d\u7f6e                                        \u2502\n\u2502      \u2514\u2500\u2500 STORE ALL                                      \u2502\n\u2502                                                        \u2502\n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<\/code><\/pre>\n<h3>15.2 \u65e5\u5e38\u542f\u52a8\u6d41\u7a0b<\/h3>\n<pre><code>\u6b65\u9aa4 1: \u4e0a\u7535\n\u6b65\u9aa4 2: RQ WHO                  \u2192 \u786e\u8ba4\u901a\u4fe1\u6b63\u5e38\n\u6b65\u9aa4 3: HOME ALL                \u2192 \u673a\u5668\u4eba\u5f52\u96f6\n\u6b65\u9aa4 4: RQ STN n ALL            \u2192 \u786e\u8ba4\u5de5\u4f4d\u53c2\u6570\n\u6b65\u9aa4 5: \u5f00\u59cb\u6b63\u5e38\u8fd0\u884c<\/code><\/pre>\n<h3>15.3 \u5e38\u7528\u547d\u4ee4\u901f\u67e5\u8868<\/h3>\n<h4>\u7cfb\u7edf\u4fe1\u606f\u7c7b<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4<\/th>\n<th>\u529f\u80fd<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>RQ WHO<\/code><\/td>\n<td>\u67e5\u8be2\u673a\u5668\u4eba\u8eab\u4efd\u548c\u7248\u672c<\/td>\n<\/tr>\n<tr>\n<td><code>RQ VERSION<\/code><\/td>\n<td>\u67e5\u8be2\u56fa\u4ef6\u7248\u672c\u548c\u65e5\u671f<\/td>\n<\/tr>\n<tr>\n<td><code>RQ RVSN<\/code><\/td>\n<td>\u67e5\u8be2\u96f6\u4ef6\u53f7\u548c\u4fee\u8ba2\u53f7<\/td>\n<\/tr>\n<tr>\n<td><code>RQ CONFIG<\/code><\/td>\n<td>\u67e5\u8be2\u5e94\u7528\u7a0b\u5e8f\u7f16\u53f7<\/td>\n<\/tr>\n<tr>\n<td><code>RQ DATE<\/code><\/td>\n<td>\u67e5\u8be2\u65e5\u671f<\/td>\n<\/tr>\n<tr>\n<td><code>RQ TIME<\/code><\/td>\n<td>\u67e5\u8be2\u65f6\u95f4<\/td>\n<\/tr>\n<tr>\n<td><code>RQ COMM ALL<\/code><\/td>\n<td>\u67e5\u8be2\u6240\u6709\u901a\u4fe1\u8bbe\u7f6e<\/td>\n<\/tr>\n<tr>\n<td><code>RQ ETHERNET<\/code><\/td>\n<td>\u67e5\u8be2\u4ee5\u592a\u7f51\u914d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td><code>RQ COMPATIBILITY ALL<\/code><\/td>\n<td>\u67e5\u8be2\u517c\u5bb9\u6027\u8bbe\u7f6e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u8fd0\u52a8\u63a7\u5236\u7c7b<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4<\/th>\n<th>\u529f\u80fd<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>HOME ALL<\/code><\/td>\n<td>\u6240\u6709\u8f74\u5f52\u96f6<\/td>\n<\/tr>\n<tr>\n<td><code>HOME R\\|T\\|Z<\/code><\/td>\n<td>\u5355\u8f74\u5f52\u96f6<\/td>\n<\/tr>\n<tr>\n<td><code>HALT<\/code><\/td>\n<td>\u505c\u6b62\u6240\u6709\u8fd0\u52a8<\/td>\n<\/tr>\n<tr>\n<td><code>RELEASE<\/code><\/td>\n<td>\u91ca\u653e\u4f3a\u670d\uff08\u53d7\u63a7\u505c\u6b62\uff09<\/td>\n<\/tr>\n<tr>\n<td><code>MOVE ARM A R x T y Z z<\/code><\/td>\n<td>\u79fb\u52a8\u5230\u7edd\u5bf9\u5750\u6807<\/td>\n<\/tr>\n<tr>\n<td><code>SET SERVOS OFF<\/code><\/td>\n<td>\u5173\u95ed\u4f3a\u670d<\/td>\n<\/tr>\n<tr>\n<td><code>RQ SERVOS<\/code><\/td>\n<td>\u67e5\u8be2\u4f3a\u670d\u72b6\u6001<\/td>\n<\/tr>\n<tr>\n<td><code>RQ POS ABS ALL<\/code><\/td>\n<td>\u67e5\u8be2\u5f53\u524d\u7edd\u5bf9\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td><code>RQ TOTAL TRAVEL ALL<\/code><\/td>\n<td>\u67e5\u8be2\u7d2f\u8ba1\u884c\u7a0b<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u5de5\u4f4d\u64cd\u4f5c\u7c7b<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4<\/th>\n<th>\u529f\u80fd<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>SET STN n ARM A R x T y Z z<\/code><\/td>\n<td>\u8bbe\u7f6e\u5de5\u4f4d\u5750\u6807<\/td>\n<\/tr>\n<tr>\n<td><code>RQ STN n ALL<\/code><\/td>\n<td>\u67e5\u8be2\u5de5\u4f4d\u6240\u6709\u53c2\u6570<\/td>\n<\/tr>\n<tr>\n<td><code>RQ STN n ARM A ALL<\/code><\/td>\n<td>\u67e5\u8be2\u6307\u5b9a\u81c2\u7684\u5de5\u4f4d\u53c2\u6570<\/td>\n<\/tr>\n<tr>\n<td><code>STORE STN n ALL<\/code><\/td>\n<td>\u5b58\u50a8\u5de5\u4f4d\u53c2\u6570<\/td>\n<\/tr>\n<tr>\n<td><code>REMOVE STN n<\/code><\/td>\n<td>\u5220\u9664\u5de5\u4f4d<\/td>\n<\/tr>\n<tr>\n<td><code>COPY STN n TO m<\/code><\/td>\n<td>\u590d\u5236\u5de5\u4f4d<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u6676\u5706\u4f20\u9001\u7c7b<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4<\/th>\n<th>\u529f\u80fd<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>GOTO N n R EX Z UP<\/code><\/td>\n<td>\u79fb\u52a8\u5230\u5de5\u4f4d n\uff0c\u4f38\u51fa\uff0cZ\u4e0a<\/td>\n<\/tr>\n<tr>\n<td><code>GOTO N n R R1<\/code><\/td>\n<td>\u79fb\u52a8\u5230\u5de5\u4f4d n\uff0c\u7f29\u56de<\/td>\n<\/tr>\n<tr>\n<td><code>PICK n<\/code><\/td>\n<td>\u4ece\u5de5\u4f4d n \u53d6\u7247<\/td>\n<\/tr>\n<tr>\n<td><code>PICK n SLOT s ARM A<\/code><\/td>\n<td>\u4ece\u5de5\u4f4d n \u7b2c s \u69fd\u7528 A \u81c2\u53d6\u7247<\/td>\n<\/tr>\n<tr>\n<td><code>PLACE n<\/code><\/td>\n<td>\u653e\u7247\u5230\u5de5\u4f4d n<\/td>\n<\/tr>\n<tr>\n<td><code>PLACE n SLOT s ARM B<\/code><\/td>\n<td>\u7528 B \u81c2\u653e\u7247\u5230\u5de5\u4f4d n \u7b2c s \u69fd<\/td>\n<\/tr>\n<tr>\n<td><code>XFER n TO m ARM A<\/code><\/td>\n<td>\u4ece\u5de5\u4f4d n \u4f20\u9001\u5230\u5de5\u4f4d m<\/td>\n<\/tr>\n<tr>\n<td><code>SET LOAD ON\\|OFF<\/code><\/td>\n<td>\u8bbe\u7f6e\u8f7d\u8377\u72b6\u6001<\/td>\n<\/tr>\n<tr>\n<td><code>RQ LOAD<\/code><\/td>\n<td>\u67e5\u8be2\u8f7d\u8377\u72b6\u6001<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>I\/O \u64cd\u4f5c\u7c7b<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4<\/th>\n<th>\u529f\u80fd<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>MAP name type polarity dir mask<\/code><\/td>\n<td>\u6620\u5c04 I\/O<\/td>\n<\/tr>\n<tr>\n<td><code>RQ IO MAP ALL<\/code><\/td>\n<td>\u67e5\u8be2\u6240\u6709 I\/O \u6620\u5c04<\/td>\n<\/tr>\n<tr>\n<td><code>REMOVE IO name<\/code><\/td>\n<td>\u79fb\u9664 I\/O \u6620\u5c04<\/td>\n<\/tr>\n<tr>\n<td><code>SET IO STATE name state<\/code><\/td>\n<td>\u8bbe\u7f6e I\/O \u72b6\u6001<\/td>\n<\/tr>\n<tr>\n<td><code>RQ IO STATE name<\/code><\/td>\n<td>\u67e5\u8be2 I\/O \u72b6\u6001<\/td>\n<\/tr>\n<tr>\n<td><code>SET EVENT IO name code ENB<\/code><\/td>\n<td>\u542f\u7528 I\/O \u4e8b\u4ef6<\/td>\n<\/tr>\n<tr>\n<td><code>CONFIG IO DRIVE option<\/code><\/td>\n<td>\u914d\u7f6e I\/O \u6a21\u5f0f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u5bf9\u51c6\u5668\u7c7b<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4<\/th>\n<th>\u529f\u80fd<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>ALIGNER HOME<\/code><\/td>\n<td>\u5bf9\u51c6\u5668\u5f52\u96f6<\/td>\n<\/tr>\n<tr>\n<td><code>ALIGNER SCAN<\/code><\/td>\n<td>\u5bf9\u51c6\u5668\u626b\u63cf<\/td>\n<\/tr>\n<tr>\n<td><code>ALIGNER ALGN<\/code><\/td>\n<td>\u6267\u884c\u5bf9\u51c6<\/td>\n<\/tr>\n<tr>\n<td><code>SET ALIGNER n STN s DEV d<\/code><\/td>\n<td>\u8bbe\u7f6e\u5bf9\u51c6\u5668<\/td>\n<\/tr>\n<tr>\n<td><code>RQ ALIGNER n ALL<\/code><\/td>\n<td>\u67e5\u8be2\u5bf9\u51c6\u5668\u53c2\u6570<\/td>\n<\/tr>\n<tr>\n<td><code>SET ALIGNER n WAFERID id<\/code><\/td>\n<td>\u8bbe\u7f6e\u6676\u5706\u6807\u8bc6<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>AWC \u7c7b<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4<\/th>\n<th>\u529f\u80fd<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>SET WAF_CEN MODE ON\\|OFF<\/code><\/td>\n<td>\u8bbe\u7f6e AWC \u6a21\u5f0f<\/td>\n<\/tr>\n<tr>\n<td><code>SET STN n WAF_CEN ENABLE Y<\/code><\/td>\n<td>\u542f\u7528\u5de5\u4f4d AWC<\/td>\n<\/tr>\n<tr>\n<td><code>SET STN n WAF_CEN CAL_WITH_PICK Y<\/code><\/td>\n<td>\u542f\u7528\u53d6\u7247\u6821\u51c6<\/td>\n<\/tr>\n<tr>\n<td><code>FIND STN n WAF_CEN ALL<\/code><\/td>\n<td>\u81ea\u52a8\u6821\u51c6 AWC<\/td>\n<\/tr>\n<tr>\n<td><code>RQ STN n WAF_CEN DATA<\/code><\/td>\n<td>\u67e5\u8be2 AWC \u6570\u636e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u5de5\u4f5c\u7a7a\u95f4\u7c7b<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4<\/th>\n<th>\u529f\u80fd<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>CREATE WSPACE name<\/code><\/td>\n<td>\u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4<\/td>\n<\/tr>\n<tr>\n<td><code>SET WSPACE name STATE ACTIVE<\/code><\/td>\n<td>\u6fc0\u6d3b\u5de5\u4f5c\u7a7a\u95f4<\/td>\n<\/tr>\n<tr>\n<td><code>SET WSPACE MODE ON<\/code><\/td>\n<td>\u5f00\u542f\u5de5\u4f5c\u7a7a\u95f4\u6a21\u5f0f<\/td>\n<\/tr>\n<tr>\n<td><code>RQ WSPACE name ALL<\/code><\/td>\n<td>\u67e5\u8be2\u5de5\u4f5c\u7a7a\u95f4\u53c2\u6570<\/td>\n<\/tr>\n<tr>\n<td><code>REMOVE WSPACE name<\/code><\/td>\n<td>\u5220\u9664\u5de5\u4f5c\u7a7a\u95f4<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u5b58\u50a8\u7c7b<\/h4>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4<\/th>\n<th>\u529f\u80fd<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>STORE ALL<\/code><\/td>\n<td>\u5b58\u50a8\u6240\u6709\u53c2\u6570<\/td>\n<\/tr>\n<tr>\n<td><code>STORE STN n ALL<\/code><\/td>\n<td>\u5b58\u50a8\u6307\u5b9a\u5de5\u4f4d<\/td>\n<\/tr>\n<tr>\n<td><code>STORE COMM ALL<\/code><\/td>\n<td>\u5b58\u50a8\u901a\u4fe1\u8bbe\u7f6e<\/td>\n<\/tr>\n<tr>\n<td><code>STORE WSPACE name ALL<\/code><\/td>\n<td>\u5b58\u50a8\u5de5\u4f5c\u7a7a\u95f4<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h2>\u9644\u5f55<\/h2>\n<h3>\u9644\u5f55 A: WAVE \u5230 LEAP \u8fc1\u79fb\u8bf4\u660e<\/h3>\n<p>\u4ece WAVE\/MAG7 \u8f6f\u4ef6\u8fc1\u79fb\u5230 LEAP \u65f6\u7684\u4e3b\u8981\u6ce8\u610f\u4e8b\u9879\uff1a<\/p>\n<p><strong>\u4e0d\u518d\u652f\u6301\u7684\u547d\u4ee4\uff1a<\/strong><\/p>\n<table>\n<thead>\n<tr>\n<th>\u547d\u4ee4<\/th>\n<th>\u8bf4\u660e<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><code>INIT ALIGNER<\/code><\/td>\n<td>\u4f7f\u7528 <code>CONFIG LINK<\/code> + <code>SET DEV<\/code> \u66ff\u4ee3<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><strong>\u4e3b\u8981\u6539\u8fdb\uff1a<\/strong><\/p>\n<ul>\n<li>WAVE II \u6a21\u5f0f\u652f\u6301\u591a\u5bf9\u51c6\u5668\u7cfb\u7edf<\/li>\n<li>\u589e\u5f3a\u7684\u9519\u8bef\u62a5\u544a\uff08<code>ALGN_ERR<\/code> \u683c\u5f0f\uff09<\/li>\n<li>\u652f\u6301\u901a\u8fc7\u96c6\u6210\u547d\u4ee4\u64cd\u4f5c\u5bf9\u51c6\u5668\uff08PICK\/PLACE\/XFER + ALGN\uff09<\/li>\n<li>\u6539\u8fdb\u7684\u6676\u5706\u68c0\u6d4b\u529f\u80fd<\/li>\n<\/ul>\n<h3>\u9644\u5f55 B: \u53cc\u72ec\u7acb\u673a\u5668\u4eba\u6ce8\u610f\u4e8b\u9879<\/h3>\n<p>\u4f7f\u7528\u53cc\u72ec\u7acb\u673a\u5668\u4eba\u914d\u7f6e\u65f6\uff1a<\/p>\n<ol>\n<li>\u6bcf\u4e2a\u81c2\u9700\u8981\u72ec\u7acb\u7684\u5de5\u4f4d\u5750\u6807\uff08ARM A \/ ARM B\uff09<\/li>\n<li>\u793a\u6559\u65f6\u9700\u5206\u522b\u4e3a\u4e24\u4e2a\u81c2\u793a\u6559\u6bcf\u4e2a\u5de5\u4f4d<\/li>\n<li>\u53ef\u4f7f\u7528 <code>COPY STN<\/code> \u547d\u4ee4\u4ece A \u81c2\u590d\u5236\u5230 B \u81c2\uff0c\u7136\u540e\u5fae\u8c03<\/li>\n<li>\u8f7d\u8377\u72b6\u6001\u9700\u5206\u522b\u7ba1\u7406<\/li>\n<li>\u6ce8\u610f\u53cc\u81c2\u8fd0\u52a8\u7684\u5e72\u6d89\u907f\u514d<\/li>\n<\/ol>\n<hr \/>\n<blockquote>\n<p><strong>\u6280\u672f\u652f\u6301\u8054\u7cfb\u65b9\u5f0f<\/strong><\/p>\n<p>Brooks Automation Technical Support<\/p>\n<ul>\n<li>PreciseFlex \u7cfb\u7edf: support_preciseflex@brooksautomation.com<\/li>\n<li>\u6280\u672f\u8d44\u6e90\u4e2d\u5fc3: <a href=\"https:\/\/www.brooks.com\" target=\"_blank\"  rel=\"nofollow\" >https:\/\/www.brooks.com<\/a><\/li>\n<li>\u8054\u7cfb\u5f53\u5730 Brooks \u4ee3\u8868\u83b7\u53d6\u9488\u5bf9\u60a8\u8bbe\u5907\u5e8f\u5217\u53f7\u7684\u5177\u4f53\u6587\u6863<\/li>\n<\/ul>\n<p><strong>\u6587\u6863\u6765\u6e90<\/strong><\/p>\n<ul>\n<li>238485 Leap Manual REV G (\u00a92019 Brooks Automation)<\/li>\n<li>278805 MAGNATRAN\u00ae LEAP\u2122 Software Manual REV E (\u00a92020 Brooks Automation)<\/li>\n<\/ul>\n<\/blockquote>\n","protected":false},"excerpt":{"rendered":"\u6982\u8ff0 LEAP \u771f\u7a7a\u6676\u5706\u673a\u5668\u4eba\u7f16\u7a0b\u3001\u901a\u4fe1\u3001\u8fd0\u52a8\u4e0e\u5b89\u5168\u914d\u7f6e\u3002","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"emotion":"","emotion_color":"","title_style":"","license":"","footnotes":""},"categories":[1],"tags":[],"class_list":["post-110","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"_links":{"self":[{"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/posts\/110","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/comments?post=110"}],"version-history":[{"count":1,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/posts\/110\/revisions"}],"predecessor-version":[{"id":111,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/posts\/110\/revisions\/111"}],"wp:attachment":[{"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/media?parent=110"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/categories?post=110"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/tags?post=110"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}