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Global Positioning Robot's

Maintenance Course Application Course Schedule

Operation and Building Applications with the GPR Robot Family

This document is an outline of a standard course layout, applicable for all types of GPR Robots, including Swap Master models. The training course is structured in a way to cover different aspects of the product design, operation, applications, diagnostics and troubleshooting. The training curricula are configurable to best comply with specific robot use in a customized environment.

Section 1 – General System Description

Introduces the students to the structure and basic characteristics of the material handling system, including robot, controller and optional modules such as pre-aligner, wafer scanner, etc.

  1. System elements
  2. Robot design, structure and kinematics
  3. Motion axes
  4. Robot coordinate frames
  5. Controller architecture and description of its functionality
  6. Optional modules
  7. Safety precautions

Section 2 – Getting Started

This part of the course outlines the necessary steps to ensure proper handling of the system, starting from the system receipt to connecting and operating the robot.

  1. System unpacking and installation
  2. Communicating with the controller
  3. System Initialization. Verification of the hardware and firmware consistency
  4. Description of basic motion

Section 3 – "Gencobot Tool Box” utility

Describes the operation of the “Gencobot Tool Box” utility and its features.

  1. Introduction to “Gencobot Tool Box”
  2. Menus and windows
  3. System firmware update and backup
  4. Using the Help and Diagnostic features
  5. Script and User Macro programming

Section 4 – Motion Control Software and Communications

This part of the course covers the motion control software embedded in the robot controller. Provides information about the architecture of the robot firmware and basic functionality guaranteed at different hierarchical levels. Host-controller communication is also discussed.

  1. Firmware data management
  2. Motion Control Language (MCL)
  3. System Macro programming
  4. User Macro programming
  5. Developing user programs
  6. Host-controller synchronization
  7. Troubleshooting user programs

Section 5 – Robot Homing and Calibration Basics

Outlines homing principles and algorithms, based on robot specification. The following topics are covered:

  1. Homing principles
  2. Mechanical calibration
  3. Software calibration
  4. Pre-aligner calibration (optional)
  5. Vacuum / pressure sensor calibration (optional)
  6. Scanner sensor calibration (optional)

Section 6 – Station Teaching

This part of the course introduces the students to process of creating and adjusting specific points (stations) in the robot-working envelope. The following topics are covered:

  1. Station basics – physical and logical parameters of a station
  2. Teaching stations and setting station parameters
  3. Commands related to station processing
  4. Trajectory motion between stations (optional)
  5. Using multiple, flipping (rotating) or gripping end-effector (optional)

Section 7 – Pre-aligning (optional)

The pre-aligning section discusses application and teaching of wafer-aligning module (pre-aligner). This part of the course is optional for customers that do not utilize the pre-aligner.

  1. Pre-aligner design and application
  2. Pre-aligning principles
  3. Teaching and configuring the pre-aligner parameters
  4. Troubleshooting the pre-aligner

Section 8 – Wafer scanning (optional)

Describes the idea behind scanning (mapping) process. Outlines setting and calibrating scanner modules. This part of the course is optional for customers that do not utilize the scanner.

  1. Basic scanning theory
  2. Teaching the start scanning position
  3. Setting scanning parameters
  4. Reading and interpreting of scanning data
  5. Mechanical and automatic calibration of the scanner

Section 9 – Deflection compensation technique

Teaches basic skills for implementing a GPR inherent feature to compensate for deflection of the arm due to weight of the manipulated object.

  1. What is deflection compensation?
  2. Defining the deflection compensation for a station.
  3. Commands related to deflection compensation.

Section 10 – Teach Pendent Terminal based on Pocket PC (optional)

  1. Introduces the concept and technical means for providing new and more effective interface with the robot. This part of the course is optional for customers that do not utilize the Teach Pendent.
  2. Introductory to pocket PC based teach pendent terminal
  3. Terminal mode of operation
  4. Jogging in cylindrical and Cartesian spaces
  5. Script language and programming
  6. Wizards: for teaching load ports, pre-aligners, process chambers
  7. Using diagnostic scripts
  8. Firmware managing, uploading, downloading, firmware consistency check

Section 11 – Smooth Trajectories (optional)

This part of the course outlines predefined trajectory patterns, which allow GPR robots increase material handling performance

  1. General description of the trajectory concept
  2. Design elements of predefined trajectory patterns
  3. Trajectory types
  4. Programming trajectory motion
  5. Using the Gencobot Tool Box trajectory utility feature

Section 12 – Troubleshooting

This section is designed to provide the user with specific information for fast and effective troubleshooting of the problems associated with system hardware and operations.

  1. Using the “Gencobot Tool Box” diagnostic function
  2. Reading and decoding robot status words
  3. Analyzing the history file
  4. Contacting the Customer Support. Escalation procedure

Section 13 – Building Typical Application With GPR

Provides necessary principles and shares hands on experience for building typical applications with GPR robots. Special emphasis is given to resolution of geometrical constraints and throughput enhancement by optional placement of the robot, planning the motion strategies, implementing advanced techniques such as smooth trajectories, deflection compensation, etc.

  1. Analysis of typical material handling layouts and scenarios
  2. Selection of appropriate robot configuration and optional placement of the robot with respect to the other equipment
  3. Organization of the motion for achieving optimum performance, high accuracy, system robustness. Motion strategies.
  4. Programming of the typical motion sequences
  5. Benchmarking. Means for enhancing the material handling performance.