Agilent Technologies R Series, User Manual, Page: 109 / 220

75 Chapter 3: Setting up the BenchCel Workstation
BenchCel Microplate Handling Workstation R-Series User Guide
Open gripper
limit Type the maximum distance (in millimeters) the
robot grippers are allowed to open as they prepare
to grip the microplate at the teachpoint. The
maximum value you set is less than or equal to the
Robot Gripper Open Position value set in the
BenchCel Diagnostics Controls Labware tab.
Use this setting if the teachpoint area is narrower
than the robot grippers open position. (To see this
value, click
Save and exit, and then click the Labware
tab in the BenchCel Diagnostics Control tab.)
Note : This value is used only at the teachpoint and
not during other operations.
Respect approach
height when not
holding a plate Select this option to use the approach height even
when the robot is not holding a microplate. Clear
the check box to have the robot approach or move
away from the teachpoint at the height of the
teachpoint when not holding a microplate.
Something is
above this point Select the option to limit the robot’s movements
within the robot safe zone. With this selection, the
robot will only move along the
theta -axis as long as
all of its parts (head, arms, grippers, and labware)
are within the safe zone when approaching or
moving away from the teachpoint.
Clear the check box to allow the robot to use the full
workspace. The robot’s
theta -axis movements are
not limited when approaching and moving away
from the teachpoint.
Use this option to limit the robot’s movements to
prevent collision when approaching a teachpoint.
For example, when moving labware to and from a
multi-shelf device such as the VPrep Pipettor, this
option prevents the robot from colliding with the
shelf above the target teachpoint.
Setting Comment