6-10
Figure 6-4
Use the following protocol to recalibrate this position:
1. From the Calibration Setup menu, scroll to the "Knockoff Clearance" menu
item and press ENTER.
2. The Robotic Arm will move and the following message will be displayed:
* Knockoff Clearance*
Press Enter to get vial 22 for Alignment
or any other key to skip
4. Press “1” The arm will go to the equilibrium block plate area and a version of
the Coordinate Settings menu as described in Section 6.4.8 will be displayed
on the screen.
5. Inspect the positioning of the gripper below the Knockoff Plate. If there is a
clearance of at least 1/16" (2 mm), skip to Step 8 as no adjustment is
necessary. The Knockoff clearance value set at the factory is 01100. If the
clearance needs to be readjusted, continue with the next step.
6. Press "3" as necessary to enter the “Step” mode. (This will toggle from step
to jog.)
7. Press a Directional Motion key (either "8
" or "2
") to adjust the clearance.
(If the gripper steps too far, adjust the step size by pressing "5").
8. Press ENTER to save the position values and complete the routine. The arm
will return to its home position.
6.4.7 Standard
Clearance
This coordinate setting establishes the correct clearance for the gripper arm to
pass under the glass standard vials when accessing the vial identification position
in the Equilibrium Block. Use the following procedure to recalibrate this position:
1. From the Calibration Setup menu, scroll to the "Standard Clearance" menu
item and press ENTER.
2. The Robotic Arm will move and the following message will be displayed:
* Standard Clearance*
Press Enter to get vial 22 for Alignment
or any other key to skip
4. Press “ENTER” The arm will retrieve the vial, go to the Standard vial area
and a version of the Coordinate Settings menu as described in Section 6.4.8
will be displayed on the screen.
5. Inspect the positioning of the gripper below the Standard Vial. If there is a
clearance of at least 1/16" (2 mm), skip to Step 7 as no adjustment is
Knockoff plate
clearance
