The robot was ready to pick up the wafer. The software, however, was waiting for a specific "Ready to Load" signal from the Carrier Manager. The Carrier Manager was waiting for a "Transport Ready" signal from the robot. It was a digital standoff—a deadlock. They were being too polite, waiting for the other to speak first, creating that three-second delay.
Use the state machine tables in Annex A of the PDF as the blueprint for your software's event handling. Create a function for each primitive listed (e.g., receiveSelectRequest() , sendDataResponse() ). semi e49.6 pdf