AN2350 datasheet(20/41 Pages) STMICROELECTRONICS

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Hardware and mechanical equipments

AN2350

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3.2

Cables and connectors

On the chassis skin of the wafer handler are present six 15 pin D-SUB male connectors.

Four of them (named A, W, Y, H) are used for the links of the two arms, while the other two,

named X and Z, are used respectively for the torso beam and the Z elevation. The four

harness connectors of the links are located under the torso beam.

The wafer handler is furnished of cables, each of one presents on one side a 15 pin D-SUB

female connector, and on the other side a 25 pin D-SUB female connector. The former is

connected to the wafer handler, while the latter is connected to the driver board. The table

below shows the pins assignment and the related description.

Table 3.

The sectors of the absolute encoder

3.3

The encoders and the conditioning circuit

Each joint of the arm of the manipulator has an encoder ring as shown in Figure 14. In this

ring it is possible to identify four sector named A, B, C and D, and the encoder read head.

Pin DB15 Connector

Pin DB25 Connector

Wire

Description

Green

Incremental encoder

(sin)

Orange

Incremental encoder

(cos)

Violet

Absolute encoder

(bit b1)

Not used

White

Absolute encoder

(bit b2)

610

Grey

Absolute encoder

(bit b0)

Not used

Red

2.5V supply for encoder

read head

Yellow

VREF-

Blue

VREF+

Not used

Black

Ground for encoder

read head

Not used

Black (motor)

Motor +

White (motor)

Motor -

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