Model 4000 Motion Controller
The Model 4000 Motion Controller from Kensington Laboratories drives all movement of the 300mm MultiLink™ robot, prealigner, tilt/scanner modules, and various Kensington stages. It is designed to move robots and position stages smoothly, accurately and with sub-micron repeatability over large travels. The Model 4000 Controller is backed by Kensington Laboratories’ unsurpassed engineering expertise in developing advanced automation systems and software for the semiconductor industry.

Full Automated Teaching Capabilities and E-diagnostics Support: The Model 4000 Controller supports both of Kensington Laboratories’ patented automated teaching capabilities -- the through beam mapper in the edge gripper and the positioning feedback capabilities of the prealigner. E-diagnostics support includes encoder fault detection, object obstruction detection, and motion profiles of all axes.

Speedy Troubleshooting: Axis or system status is continuously available to the host tool upon query to ensure that if an error is detected, its cause is immediately reported, identified, and corrected. In addition, the Model 4000 Controller has built-in self-diagnostics such as axis autocalibration, preventive maintenance, and service diagnostics to significantly minimize MTTR.

Repeatable, Accurate Motion: The Model 4000 Controller’s self contained DSP control system utilizes two digital signal processors per axis for unsurpassed positional accuracy and repeatability.

Ease of Use: The Model 4000 Controller communicates with the host tool control system using simple ASCII character strings according to RS232, IEEE-488, or DeviceNet™ standards. In addition, built-in test and setup functions simplify axis board adjustment to all motion devices and there is no user hardware adjustments required.

Configurable: The same basic axis and controller boards are used for all Kensington motion products. Through a flash upgrade, each axis card can be individually configured for its particular application. Thus, one controller can drive a wide selection of motion products.

Graceful Recovery Capabilities: Non-volatile storage of performance and application parameters, combined with F-47 compliant option, means the controller can gracefully recover from a reduction in input power. Additionally, the emergency “motor-off” feature removes motor power to axis boards without losing position information, thus enabling track systems to shut down gracefully.

Throughput Enhancement: The Model 4000 Controller’s basic linear axis command set allows control over axis motions such as programmable acceleration and loop gains, enabling total system performance optimization.

Minimized Host Tool Interaction: High-level commands from the Model 4000 Controller coordinate complex combinations of motion, timing, data gathering, error handling, and error recovery, allowing the host tool controller to manage other tasks.

Specifications

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