Agilent Technologies BioCel 1200, User Manual

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83 Chapter 5: Diagnostics
BioCel User Guide
Fine-tuning a robot teachpoint
About this topic
This topic describes how to fine-tune a robot teachpoint using the
teachplate calibration tool.
The process of fine-tuning robot teachpoints is empirical. You make
small, incremental adjustments until a plate can be accurately picked
up and placed at a position.
Note: The smallest increment of movement is 0.05 mm.
!! IMPORTANT !! Accurate placement of a plate is a property of
both the picking position’s teachpoint and the placing position’s
teachpoint. Therefore when you are fine-tuning a teachpoint, always
consider the teachpoint of the position that a plate is collected from.
!! IMPORTANT !! To help standardize the process, it is imperative
to select one platepad to use as a reference picking position for all
teachpoints. On most BioCels this is platepad 1.
Teachpoints are manipulated through the Robot Diagnostics software.
You should be familiar with the features of this software before working
with teachpoints.
Before you start
Before you start, make sure you have a teachplate calibration tool to use
for the fine-tuning.
Procedure To fine-tune a robot teachpoint (part one):
1. Examine the teachpoint coordinates for other devices that you know
should be aligned in one or more axes with the device whose
teachpoint you are working on.
For example, all stackers sitting directly on the table and mounted in
equivalent hole patterns should have very similar
z - and r -values.
This might give you a clue about whether the teachpoint is
inaccurate and in which direction.
2. If this is the first time that your BioCel has had its teachpoints fine-
tuned, select a platepad to use as your picking reference position.
If you have fine-tuned teachpoints before, make sure you use the
same platepad for the picking reference position.
3. Click Diagnostics .
4. Click Robot .
This opens the Robot Diagnostics window.
5. In the
Position 1
list, select the reference platepad.
6. In the Position 2 list, select the device whose teachpoint you want to
fine-tune.
Remember that you should check both the location places to and
picked from.