Instrument Installation Checklist
Revision:
A.00
, Issued:
January
17
, 20
21
Document part number:
D0007550
Page ____ of ____
© Agilent Technologies, Inc. 20
21
n
Lower the gripper jig as close as possible to the stacker jig using the hex wrench until you
hit a hard stop, and then reverse a half turn.
o
Align the lines on the jigs. While viewing the jigs through the camera, adjust the theta -axis
by rotating the robot hand left and right and adjust the x-axis by moving the base plate
slightly to the left or right (you might use a rubber mallet).
p
Slightly tighten the front screws on the base plate.
q
In the teaching dialog box, select
Rear Stack
and move the rear stack elevator up
250 mm.
r
Slide the drawer out and move the camera and stacker jig to the rear stack and reposition
the robot so the grippers are over the rear stack.
s
Repeat this procedure for the rear stack. When finished, go back and check the front stack
again. When both positions are aligned, tighten the four base screws.
Setting the y- and theta-axes teachpoints for the stacks
1
Ensure the elevators for all three stacks are at 250 mm.
2
Ensure the gripper jig is installed and stacker jig is handy.
3
Set the theta- and y-axes:
a
Place the camera on the elevator of the front stack and the stacker jig on the top of the
stack.
b
Slide the drawer back in and observe the jigs through the camera application.
c
Adjust the robot theta-axis by manually rotating the robot gripers left to right and aligning
the lines on the jigs.
d
Adjust the y-axis by moving the robot forward and back to align the vertical lines in the
jigs.
e
When the theta- and y-axes are aligned for the front stack, set the teachpoints in the
software.
Close the doors.
In the
Robot Teaching
dialog box, make sure
Front Stack
is selected from the
Robot
Teachpoint
list.
Select the
Enabled
check boxes to ensure the motors engage as this can slightly move
the grippers.
Verify the theta- and y-axes are aligned with the jig lines. If necessary, jog the robot in the y
(back and forward) and theta (clockwise and counterCW) axes by small increments to
perfect the alignment of the jig lines.
Click
Set Y teachpoint coord
and
Set Theta teachpoint coord
.