183
A Quick reference
Teachpoint Details dialog box
BenchCel Microplate Handler User Guide
X
The horizontal distance (mm) from the home
position. A positive value moves the robot head to the
right of the home position. A negative value moves
the robot head to the left of the home position. The
range of movement depends on the number of
stacker heads. For two stacker heads, the range is
from -145 mm to 145 mm.
Z
The vertical distance from the home or lowest
z
-axis
position. A positive value moves the robot head up
from the home position. A negative value moves the
head down from the home position. The range of
movement is from -1.5 mm to 104
mm.
IMPORTANT
Ensure the Z value is greater than
-1.5 mm. If it is not, jog the
z
-axis up to obtain a value
that is larger. Otherwise, the software will issue a
z-position out-of-bounds error if a plate with a smaller
robot gripper offset is used.
Use current positions
The command that reads the robot’s current
coordinates and writes them in the Theta, X, and Z
boxes.
Approach height
The height clearance (mm) the robot maintains above
the teachpoint as it moves towards or away from the
teachpoint location. The valid range is from 0
mm to
40
mm.
Use this setting to prevent the robot from colliding
with raised tabs or walls at the teachpoint location.
You can start with the approach height set to 20
mm
(default). However, if there is an obstruction above
the teachpoint, a smaller approach height might be
required to prevent a collision.
Note:
This value applies when the robot is holding a
microplate. When it is not holding a microplate, the
robot will approach the teachpoint at the height of the
teachpoint, unless you select the Respect approach
height when not holding a plate option.
Parameter or command
Description
