Teaching the Robot
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P/N 113564 Rev. 2
Twister II Robot User’s Manual
Caliper Life Sciences, Inc.
Teaching the XP Robot
You can teach the XP robot using the Teach Wizards in the same
way that the Twister II robot is taught (see
), or you can teach the positions manually
(see below).
When teaching the XP robot, the Twister II storage racks are not
used to hold materials and the Stack Storage software is not used to
create the initial Storage Configuration. Use the software for the
storage instrument where the materials are located at the beginning
of the run to set up the initial storage configuration.
Teaching Positions Manually
Advanced users can manually create positions, rather than use the
Teach Wizards. By teaching manually, you only create the robot
positions in the Robot software, you do not add the VBA code
required by the automation control software for full integration
between the robot and an external instrument.
This section provides instruction for teaching positions manually.
This method may be useful for systems that have customized VBA
code.
Additional Position Types
An advanced user can teach two types of positions:
•
Absolute
positions are positions that always cause the arm to
return to one exact point in space.
•
Relative
positions are used in processes to calculate a new
position. A move to a Relative position causes the robot to move
one or more axes some amount
relative
to a referenced
Absolute position. The referenced Absolute position is the last
Absolute position you commanded the robot to go to. Relative
positioning is a valuable tool that can eliminate the need to
create many Absolute positions.
For example:
If
Relative position A = Reach axis of 1000 steps
and
the robot Reach axis is currently at step 500
then
moving to Relative position A moves the robot reach axis to step
1500.
