Robot Software Terminology
18
P/N 113564 Rev. 2
Twister II Robot User’s Manual
Caliper Life Sciences, Inc.
When the automation control software sends a command to the
robot software to retrieve a material from an instrument, the robot
moves through the positions in the following order:
•
Moves to the instrument’s Safe position
•
Executes the Approach Path, if an approach path was defined
(see
for more information)
•
PickClearance<PositionNumber>
•
Pick<PositionNumber>
•
(Close grips)
•
PickClearance<PositionNumber>
•
Executes the Clear Path, if a clear path was defined
•
Moves to the instrument’s Safe position
When placing a material into an instrument, the sequence above is
used, except the Place<PositionNumber> and the
PlaceClearance<PositionNumber> positions are used instead of the
Pick positions.
PlaceClearance Directly above the Place position. The robot
moves down a small vertical distance
directly
to
a Place position. When the robot is holding a
material in the PlaceClearance position, the
bottom of the material must clear the
instrument’s plate locator guides, and must not
interfere with the instrument’s operation. May or
may not be the same position as PickClearance.
Safe
Position to which the robot moves after picking
or placing a material. At the highest vertical
position so the robot can rotate without
contacting any instrument.
Name
Definition
