| 摘要 |
A shuttle transfer assembly (10) is able to accurately position a workarm (12) in two axes (X, Y) to a selected coordinate position. The assembly (10) include two position controllers (74, 76) each operating along a single axis for positioning the workarm (12) to the coordinate position. A central controller (86) functions to control the sequencing of the separate position controllers (74, 76). Coarse and fine sensors (62-68) are provided to allow feedback of position to the position controllers (74, 76). The coarse sensor (62, 64) operates for general positioning as an encoder on the servo drive motor. The fine sensors (66, 68) extend from the workarm (12) to produce the final, high resolution positioning.
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