RV Series Automated Dispensing Systems
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About Offsets
Offset is the distance between two components. The system must be “taught” the following offsets before any
programs are created:
• Camera-to-tip offset: the distance between the center of the camera view and the center of the dispensing tip
(this is an XY offset).
• Tip-to-workpiece offset: (1) the distance between the bottom of the tip and the workpiece for contact
applications or (2) the distance between the bottom of the nozzle and the workpiece for non-contact
applications (this is the Z clearance).
These offsets must be properly calibrated to make sure the dispensing tip follows the same path as the camera and
to compensate for slight variations in height that occur when a dispensing tip or nozzle is changed.
Offsets are taught to the robot during the setup and calibration process, which is guided by the Robot Initial Setup
wizard. This process must be performed for initial startup and also after any change to the system. Examples of
system changes include the following:
• Any time a component installed on the Z axis (such as the syringe barrel or camera) is moved.
• Any time a dispensing tip or nozzle is changed.
About Programs and Commands (continued)
Best Practices for Programming
• Insert dispense setup commands at the beginning of the program.
• Insert mark commands before any dispense commands.
• Insert dispense commands after inserting setup and mark commands.
• Insert the End Program command at the end of all programs.
Illustration of camera-to-tip offset (also referred to as XY offset) and tip-to-workpiece offset (also referred to as tip height or
Z clearance)
Camera-to-tip
XY offset
Tip-to-workpiece
offset
(Z clearance)
Camera-to-tip
XY offset
Tip (nozzle)-to-
workpiece offset
(Z clearance)
