Agilent Technologies BioCel 1200, Руководство пользователя

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Chapter 5: Diagnostics
BioCel User Guide
80
The goal of fine-
tuning robot
teachpoints !! IMPORTANT !!
Accurate placement of a plate is a property of
both the picking position’s teachpoint and the placing position’s
teachpoint. Therefore when you are fine-tuning a teachpoint, always
consider the teachpoint of the position that a plate is collected from.
The ability to tolerate a deviation from the optimal teachpoint depends
on the tolerance in the geometry of the device that receives the plate.
It is less important for the absolute value of the teachpoint for a plate
position to be optimal than it is for the teachpoints of the position at
which a plate is picked up and the position to which the plate is
delivered to work together. To explain further, if the teachpoint at the
pick position is 1 mm less than the optimum r-value and the teachpoint
at the place position is 1 mm less than the optimum, the end result is
that the plate is placed accurately at the position. Also, if the teachpoint
of the picking position has an
r -value that is low by 1 mm and the
teachpoint of the placing position has an r -value that is high by 1 mm,
the combined effect is that the plate is placed 2 mm forward of where
should be.
Correct and
incorrect teachpoint
examples
Using the teachpoint plate calibration tool, the following diagrams
demonstrate both a correct and incorrect example of a teachpoint.
Correct teachpoint example
The first diagram shows where the gripper picks up the teachplate
calibration tool on a platepad when the
r -teachpoint is set accurately.
Notice that the optimal teachpoint is where the inside surface of the
gripper back is aligned flush with the back of the teachplate tool.
Axis Teachpoint position is set when the...
r Bumper of the plate calibration tool touches the back of the
gripper.
t Plate is centered in the gripper.
z Top of the plate calibration tool bumper is flush with the top
surface of the gripper fingers.