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SEMI E32-0997 © SEMI 1994 , 1997 33 HOCancelReady Havi ng pre viousl y se nt an HO Read y messa ge, a trans fer p artne r det ermi nes tha t it i s no long er r eady to begi n the transfer and s ends the HOCancelReady me…

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SEMI E32-0997 © SEMI 1994, 1997 32
HOReady
An equipment indicates to its transfer partner a readiness to begin a specific atomic transfer.
Parameter REQ/IND Description Form
EQName M Identifier (Name attribute) of the equipment sending this message. Text
TRLink M Used by the transfer partners to assure that their communications relate to the
same atomic transfer.
Unsigned integer
TRPort M Identifier of the port (on the equipment sending this message) to be used for the
transfer.
Unsigned integer
TRObjName C Identifier of the object to be transferred. Text
TRObjType C Type of transfer object, required if transfer might involve multiple types. Enumerated
TRRole M Is the sender of this message the primary or secondary transfer partner. Enumerated
TRPartner C Identifier (Name attribute) of the equipment expected to receive this message. Text
TRPartnerPort C Material I/O port on the equipment which receives this message to be used for
this atomic transfer.
Unsigned integer
TRDirection M Does the sender of this message expect to send or receive the transfer object. Enumerated
TRType M Is the transfer to be passive or interactive? Enumerated
TRLocation C Identifier of the material location (on the sender of this message) which will be
the source (or destination) of the transfer object.
Unsigned integer
HOCommand
The primary transfer partner directs the secondary transfer partner to perform an action related to a specific atomic
transfer.
Parameter REQ/IND RSP/CONF Description Form
TRLink M M(=) Identifier of the atomic transfer which related to this HOCommand. Unsigned
integer
HOCmdName* M - Specific command to be executed. Text
(List of)
CmdParameter
C - Parameter(s) related to the specified HOCommand. (May be a list of
0.) See Section 4.4.2 for definition of CmdParameter.
Structure
HOStatus - M Reports success or failure of the command and, if failure, supplies error
detail.
Structure
HOStatus Detail
Parameter RSP/CONF Description Form
HOAck M Did the activity succeed or fail, was the inquiry accepted or rejected. True is a positive
result, False is negative.
Boolean
(List of) Status C Reports any errors found. (May be list of 0) See Section 4.4.2 for details of this structure. Structure
HOVerify
The primary transfer partner indicates completion of the atomic transfer to the secondary partner and requests
confirmation of a successful transfer.
Parameter REQ/IND RSP/CONF Description Form
TRLink M M(=) Identifier of the atomic transfer. Unsigned integer
HOStatus M M Reports the completion status of the atomic transfer from the standpoint of the
sending transfer partner.
Structure
SEMI E32-0997 © SEMI 1994, 199733
HOCancelReady
Having previously sent an HOReady message, a transfer partner determines that it is no longer ready to begin the
transfer and sends the HOCancelReady message.
Parameter REQ/IND RSP/CONF Description Form
TRLink M M(=) Identifier of the atomic transfer. Unsigned integer
HOCancelAck* - M Acknowledge code for HOCancelReady. Enumerated
HOHalt
This message may be sent by either transfer partner when the equipment or transfer object is endangered. It requires
the receiver to cease all transfer-related movement immediately. Manual intervention is required before the halted
partner may again be available for transfer.
Parameter REQ/IND RSP/CONF Description Form
TRLink M M(=) Indentifier of the atomic transfer. Unsigned integer
HOHaltAccept - M True if the request is accepted. Request may be denied only if
referenced atomic transfer does not exist.
Boolean
5.4.3 Parameter Definitions — This section gives further detail on certain parameters defined above. Parameters
which are defined in Section 4.4 are not repeated here.
ErrorCode
HOCommand:
• Rejected/Unrecognized Command.
• Rejected/Parameter Error.
• Failed (Completed Unsuccessfully) — indicates that the activity was attemped, but failed; the mechanisms
continue to be operational.
• Failed (Unsafe) — indicates that the equipment was left in an unrecoverable state at the end of the activity due
to the failure of a mechanism or due to the risk of damage to the equipment or material. Manual intervention is
required.
HOVerify:
• Sensor-Detected Obstable.
• Material Not Sent.
• Material Not Received.
• Material Lost.
• Hardware Failure.
• Handoff Canceled Externally (by host or operator).
HOCmdName — The set of micro commands is provided below as an example. The commands used are not
limited to this set. However, adherence to a common set of commands will speed implementation of material
transfer.
This particular example applies to a situation where the secondary partner is active and the primary partner is
passive.
SEMI E32-0997 © SEMI 1994, 1997 34
Cmd Description
Pick Commands the secondary partner to take all
actions necesary to remove the transfer object
from the primary partner's port.
Place Commands the secondary partner to take all
actions necesary to place the transfer object in
the primary partner's port.
Extend Commands the secondary partner to reach into
the primary partner's port area in close proximity
to the material location.
Acquire Commands the secondary partner to acquire
control of the material.
Release Commands the secondary partner to release
control of the material.
Retract Commands the secondary partner to withdraw
from the primary partner's port area.
Store Commands the secondary partner to place the
transfer object in its final location.
Retrieve Commands the secondary partner to pick up the
transfer object from its initial location.
MoveTo Commands the secondary partner to move its
transfer mechanism (e.g., robot gripper) to a
specified position (given as a parameter).
The Pick command might actually be an equivalent of
the sequence:
Extend, Acquire, Retract, Store.
The Place command might be an equivalent to the
sequence:
Retrieve, Extend, Release, Retract.
HOCancelAck — Conveys the response to the
HOCancelReady request. Possible values are:
0 — Accept Cancel.
1 — Atomic Transfer Unknown.
2 — Reject Cancel—Transfer Begun.
HOHaltAck — Conveys the response to the HOHalt
request. Possible values are:
0 — Accept Halt.
1 — Atomic Transfer Unknown.