10.5.6.5. UnloadAIn (Only available to LCD-handling non-traveling alignment robots)

10.5.6.5. UnloadAIn (Only available to LCD-handling non-traveling alignment robots)

 

 

A: Distance from TH axis to the Arm

B: Distance from the hand center to the fork bracket tip

C: Distance from the fork bracket tip to the glass end

D: 1/2 of the glass size

 

Explanation	It can only be used while the Unload With Alignment command is performed when calculating the correction amount of the TH axis, R(L) axis, and RA(LA) axis for LCD-handling non-traveling alignment robots.
Syntax	UnladAln <InTheta, InY, RorL, Offset_Arm_TH, Offset_ForkBracket, Offset_Hand , Offset_HalfGlass , Theta_TH , Theta_RL, Theta_RALA>
Parameter	InTheta	Glass displacement, which returns to Theta	Displacement (rad)
	InY	Glass displacement in the Y direction	Displacement (mm)
	RorL	Select the upper and lower hand.	(0:R, 1: L)
	Offset_Arm_TH	Distance from TH axis to the Arm	(mm)
	Offset_ForkBracket	Distance from the hand center to the fork bracket tip	(mm)
	Offset_Hand	Distance from the fork bracket tip to the glass end	(mm)
	Offset_HalfGlass	Glass size	(mm)
	Theta_TH	Correction amount to reflect on TH axis for alignment	(deg)
	Theta_RL	Correction amount to reflect on R(L) axis for alignment	(deg)
	Theta_RALA	Correction amount to reflect on RA(LA) axis for alignment	(deg)
Example	UnloadAln LV2!,V![326],V%[8],V![323],V![340],V![343],V![344],V![318],V![319],V![320]