Agilent Technologies BioCel 1200, User Manual

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Chapter 5: Diagnostics
BioCel User Guide
84
7. Check the values for the approach heights.
The approach height is the height to raise the robot gripper above
the teachpoint before 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 it 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 when making these settings.
!! IMPORTANT !! If approach heights are set incorrectly, it
could result in a robot crash.
To fine-tune a robot teachpoint (part two):
1. Set the Robot Speed to Slow .
2. Click Pick & Place 2>1 .
3. Carefully watch how the robot places the plate and listen to the
sounds it makes.
If the plate catches the lip of the plate position, because the r - or t -
value is incorrect, it can make a double-click sound. If the z -value is
incorrect the plate will make a dropping sound or a crunching
sound, depending on whether the value is too high or low.
4. When you have established the direction and approximate
magnitude of the inaccuracy, set the jog increment.
5. Click Move to Point for
Position 2.
6. Click the appropriate jog button to move the gripper, and click Teach
point here for Position 2 .
This temporarily applies the new teachpoint setting. If you click
Cancel the new setting will not be saved.
7. Using the Pick & Place function, move the back plate to the reference
position, repeat the move to the place position, and look to see if the
accuracy has improved.
8. Continue with this iterative process until the plate is placed correctly.
9. Click OK to save the new teachpoint.
Related topics
For information about... See...
Robot Diagnostics “Using Robot Diagnostics” on page 72
Teachpoints “About fine-tuning robot teachpoints”
on page 79