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4 Setting up the BenchCel device
Setting and managing teachpoints
BenchCel Microplate Handler User Guide
Recording the teachpoint coordinates
To record the teachpoint coordinates in BenchCel Diagnostics:
1
Ensure the robot is holding the microplate at the teachpoint location.
2
On the
Controls
page
Jog/Teach
tab, click
New teachpoint
.
3
In the
Teachpoint Details
dialog box, click
Use current positions.
The robot’s current
coordinates fill the Theta, X, and Z boxes.
Setting
Comment
Theta
The angle that the robot arms are from their home position,
in degrees. A positive value moves the arms
counterclockwise from the home position. A negative value
moves the arms are clockwise from the home position. The
range of movement is from -115° to 115°.
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 (mm) 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.
