Robot Software Terminology
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P/N 113564 Rev. 2
Twister II Robot User’s Manual
Caliper Life Sciences, Inc.
Robot Software Terminology
This section defines the Robot software terminology that the system
operators and integrators must know to operate the Twister II
software. System
Operators
should be familiar with the definitions
of positions and paths if they will be re-teaching the Twister II robot
positions. System
Integrators
must be familiar with all of the
definitions provided in this section.
If you are using software other than the Caliper Robot software in
the system, see the software’s user documentation for details about
the software.
Positions
A position is a saved point in space, consisting of one value for
each robot axis. When the robot moves to a position, all the axes
move to the specified locations. Positions are created using the
Teach Wizards or the Twister II Robot software controls. Positions
are saved in the Position file (
.pos
) in the Robot\ICP\ folder.
The Caliper automation control software uses robot positions to
successfully move materials into and out of each instrument in the
system. The Teach wizard automatically creates all of the
necessary positions when you follow the instructions in the wizard.
Each instrument in the system has one position with each of the
names shown in the table below. If an instrument contains more
than one material position, there is one of each position name for
each material position.
Name
Definition
Pick
Where the robot moves to retrieve a material
from an instrument. May or may not be the same
as the Place position.
Place
Where the robot moves to place a material into
an instrument. May or may not be the same as
the Pick position.
PickClearance
Directly above the Pick position. The robot
moves down a small vertical distance
directly
to
the Pick position. When the robot is holding a
material in the PickClearance position, the
bottom of the material must clear the
instrument’s plate locator guides, and must not
interfere with the instrument’s operation. May or
may not be the same position as
PlaceClearance.
