Agilent Technologies BioCel 1200, User Manual

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75 Chapter 5: Diagnostics
BioCel User Guide
Homing and resting
the robot
Homing and resting the robot both move the robot to the home position,
but there are some important differences between these two actions.
Homing
Each axis of the robot has a sensor that is triggered when the robot is in
a specific position. This position defines the home position for that axis.
When the robot is homed, it moves the r -axis, followed by the t -axis and
then the z -axis until the sensors on each axis are in the triggered
position. This home position serves as a positional reference for all other
points, with
z , r , and t coordinates of 0, 0, 0.
You should home the robot after a high-speed crash. The robot homes
automatically when you start VWorks.
Resting
When the robot is moved to the rest position, it takes the shortest path to
the
z , r , t coordinates of 0, 0, 0. Provided the home coordinates have not
changed, this position is the same as the home position.
Resting the robot is faster than homing the robot because it moves at the
speed set in Robot Speed and the arm moves faster because it is not
using the sensors.
You may choose to move the robot to the rest position to quickly move it
out of the way when you are working on the table.
To home or rest the robot:
1. Click Home or Move to rest position .
Checking
communication time
The Position Control group box displays the time interval between the
receipt of positional coordinates from the robot. This refresh time
should be less than 45 milliseconds. If it is consistently greater than this,
contact the Velocity11 Service Center.
Reading a plate’s
bar code You can use diagnostics software to read a plate’s bar code for
troubleshooting purposes.
To read a plate’s bar code:
1. Place the plate with the bar code on a platepad.
2. Select the teachpoint from which to pick up the plate in the
Position 1
list.