This disclosure describes a reduced pin bus that can be used on integrated circuits or embedded cores within integrated circuits. The bottom dead center of a set slide motion of slide is corrected by the bottom dead center measurement value of bottom dead center detection sensor and by the temperature drift of bottom dead center detection sensor resulting from the temperature rise of die due to molding and detected by temperature sensor. A circuit in communication with a detector redirects the robot when the surface does not occupy the region to avoid obstacles.