Agilent Technologies BioCel 1200, User Manual

Page: 82 / 106

Chapter 5: Diagnostics
BioCel User Guide
76
3. In the Position 2 list, select Nowhere .
4. For Position 1, enter a value for the approach height.
The approach height is the height to raise the robot gripper above
the teachpoint when the robot moves the plate horizontally towards
or away from the place plate position.
Make this value large enough to avoid catching the plate on a lip, or
other protuberance, as it is moved from a position, but not so high
that the robot hits a shelf or other object above the position.
This value is device-dependent. For most devices a value of 8–
10 mm will work. Start with a value of 6 mm for picking a tipbox
from a VPrep
shelf or removing a plate from the VSpin when making
these settings.
!! IMPORTANT !!
If approach heights are set incorrectly, it
could result in a robot crash.
5. Click
Pick & Place 1->2
.
The robot moves to Position 1 and picks up the plate.
The bar code is read and displayed in the Bar Code Testing group
box.
:
Ignoring robot errors
You have the option of ignoring robot errors when using Robot
Diagnostics. You may do this, for example, when you want to simulate
the movement of plates without using plates, which would otherwise
give a plate sensor error.
This setting only affects the use of Robot Diagnostics. It does not affect
VWorks error settings.
To ignore errors when using Robot Diagnostics:
1. Select Ignore errors .
Checking the plate
sensor
The plate sensor in the robot gripper might need to be recalibrated if it is
not sensing a plate when there is a plate in the gripper.
You can also use the plate sensor indicator to check the function of the
plate sensor.
To check the plate sensor:
1. Move the robot to a position that has a plate.
2. Move up by the robot gripper offset for the plate in question.
3. Close the gripper.
4. Look at the Plate present indicator.