Brooks MagnaTran LEAP Manuals

Manuals and User Guides for Brooks MagnaTran LEAP. We have 1 Brooks MagnaTran LEAP manual available for free PDF download: User Manual

Brooks MagnaTran LEAP User Manual (238 pages)

Brand: Brooks | Category: Laboratory Equipment | Size: 30 MB

Table of Contents
6
Safety
10
Authorized Personnel Only
10
Explanation of Hazard Alerts
10
Safety Text
10
Safety Icons
11
Signal Words and Colors
11
Alert Example
12
General Safety Considerations
13
Illustration of Hazard Locations
18
Safety Alert and Informational Labels
20
Labels on the Magnatran LEAP
21
Approximate Location of Labels on the Magnatran LEAP
25
Location of Labels on the Magnatran LEAP External Controller
26
Safety Interlocks and Disconnect Devices
27
Disconnect Devices
27
Interlocks
28
Emergency Stop Circuit (E-Stop)
31
Safety System
31
Mechanical Hazards
32
Electrical Hazard
33
Ergonomic Hazard
34
Robot
34
Lift Points
35
Teach pendant
37
Environmental Hazards
37
Noise Emission
37
Vibration
37
Recycling and Hazardous Materials
38
Decommissioning and Disposal
38
Safety Data Sheets - SDS
39
Other Hazards
39
Emergency Information
40
Fire Fighting Equipment
40
Robot Movement Without Drive Power
40
Emergency Z-Axis Brake Release Procedure
41
Overview
43
Magnatran LEAP Components
44
Robot Drive Overview
45
Flange and Drive Shaft Configurations
47
Armset Overview
50
Magnatran LEAP Software Controls Overview
52
End Effectors
53
Field Replaceable Units (Frus)
53
Brooks Product Training
54
Regulatory Compliance
55
Declaration of Incorporation
55
Specifications and Site Requirements
56
Environment
56
Other
56
Access
57
Robot Specifications
57
Robot Dimensions
59
Robot Weights
59
Robot Part Numbers
59
Robot Workspace
59
Robot I/O
61
Host
65
Ethernet
65
Host IOIOI
67
Power Connection
69
Power Supply
69
Power Supply Wiring for Magnatran LEAP Robot
69
Safety I/O
71
Status Indicators
72
Liveman Teach pendant
73
Legacy Teach Pendants
73
Z-Axis Brake Release
74
Misc I/O
76
MISCELLANEOUS I/O Operation Interface
76
Selection between High-Side or Low-Side Hardware
77
High-Side Inputs
77
High-Side Outputs
78
Low-Side Inputs
81
Low-Side Outputs
82
Miscellaneous I/O Power, Differences between Magnatran 7/8 and Magnatran LEAP
84
Summary
86
Miscellaneous I/O Connector Pin out
86
Power Status
88
Diagnostics
88
Auxiliary
88
Center of Gravity
88
Robot Mounting
89
Armsets
91
5. Set-Up and Operation
93
Basic Set-Up Procedure
93
Theory of Operation
97
Start-Up
99
Single Point of Control (Host Interface or Teach Pendant)
100
Understanding Command Syntax
100
Specific Entries
100
Optional Entries
101
Sending Commands
102
Host Communication
102
Basic Communication Settings
103
Robot Application Number
104
Load an Application
105
Arms On/Off
105
Homing the Robot
106
Robot Zero and Home Positions
106
Operational Modes
108
Station Setup
108
Defining Stations
109
Assigning Station Coordinates (Per Arm)
110
Assigning a Station with Known Coordinates
110
Teaching a Station with the Liveman Teach pendant - Function Keypad
111
Teaching a Station with the Liveman Teach pendant - Coordinate Keypad
128
Example of Teaching a Station with the Teach pendant
144
Station Parameters
144
Cycling and Transferring Wafers
145
Basic Transfer Commands and Their Movements
145
Example Wafer Transfer Cycle
145
Shut-Down
146
6. Embedded Safety Controller
147
Overview
147
LEAP Safety Controller Supported Regulatory Features
148
Safety Overview
148
Hardware Connections for Operation
149
Magnatran LEAP Safety I/O Connector
151
Safety Connector Pinout
152
Emergency Stop Safety Switches
153
Please Observe the Following
154
Protective Emergency Switches
155
Please Observe the Following
156
Redundant Input Fault Detection
157
Miscellaneous I/O Interlocks
157
Miscellaneous I/O Connector
159
Operational MODE Inputs
160
Manual Mode
162
Safety System Teach pendant
164
Basic Completed Wiring
165
Advanced Safety Connector Implementation
165
Monitor Bits
165
Muting the Safety I/O Connector
169
Magnatran 7 Retrofit
171
Sample Retrofit Procedure
171
7. Teach pendant
173
Teach pendant Safety
173
Teach pendant Emergency Stop and Liveman Test
177
Teach pendant Operation
177
Liveman Teach pendant 3 Position Design
179
Teach pendant Emergency Stop
180
Releasing the Emergency Stop Button
181
Function/Softkey Teach pendant Key Descriptions
181
Coordinate Teach pendant Key Descriptions
183
8. Preventive Maintenance
187
Preventive Maintenance Schedule
187
Robot Cleaning
189
Cleaning Procedure
190
End Effector Cleaning and Inspection
191
Cleaning Elastomeric Pads Procedure
192
Cleaning Stainless Steel or Quartz Pads Procedure
192
End Effector Pad Inspection
193
Pad Inspection Procedure
193
Pad Replacement
194
Pad Replacement Procedure
194
Troubleshooting
195
Troubleshooting Overview
195
Appendix A: Error Codes
197
Communication
197
Power
198
Motion Errors
199
Home Errors
200
Vibration
201
Radial Motion
202
Theta Motion
203
Z-Axis Motion
204
Find Phase
206
10. Recommended Spare Parts
207
Magnatran LEAP Controller and Software
208
Appendices
209
Contact Brooks Automation Technical Support
210
Appendix B: Functional Safety
211
Appendix C: Safety Function Tests
214
Appendix D: Safety Data Sheets
216
Nyetorr_5200_Sds
217
Braycote_803_Sds
234

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Brooks MagnaTran LEAP User Manual (238 pages)

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