Robot Software Terminology
19
P/N 113564 Rev. 2
Twister II Robot User’s Manual
Caliper Life Sciences, Inc.
Paths
A path is a sequence of positions used to move the robot into or out
of an instrument in the system. The Teach wizard automatically
creates the required paths when you follow the instructions in the
wizard. These paths are created if you choose No when the wizard
asks if the robot is clear to move straight up out of the instrument.
The
Approach Path
is executed when the robot is moving from the
Safe position into the instrument.
The
Clear Path
is executed when the robot is moving from the
PickClearance or PlaceClearance position out of the instrument to
the Safe position.
The Approach and Clear paths both contain the same positions, but
the Clear path executes the positions in numerical order (1, 2, 3...)
while the Approach path executes the positions in reverse
numerical order (... 3, 2, 1).
Position Types
An
Absolute
position is a single robot position, relative to the
robot’s Home position. Saving an Absolute position saves the
current position of all five axes. The positions created by the Teach
wizard are all Absolute positions. Most users only need to use the
Teach Wizards in the Twister II robot software to create the required
positions and paths.
A
Relative
position is used to move the robot a set number of
steps, on each axis, relative to the last Absolute position reached.
Relative positioning should be used only by advanced users. Most
users only need to use the Teach Wizards in the Twister II robot
software to create the required positions and paths.
All positions are saved in the Position (.
pos
) file with the same
name as the INI file.
