CheckPlatePresent method

Description

VWorks software calls the CheckPlatePresent method to ask the plugin if the robot labware sensor can detect a labware using the specified robot gripper offset at the specified location.

Syntax

 

HRESULT CheckPlatePresent( [in] BSTR XML, [out] BSTR *returnedXML, [out,retval] enum ReturnCode *retVal );

Parameters

 

XML	[in] An IRobotDriver_CheckPlatePresent_Input XML element that contains the robot gripper offset and the location to check.
returnedXML	[out] An IRobot_CheckPlatePresent_Output XML element that indicates whether a labware is present.
retVal	[out, retval] Returns an error code. Possible values: 0 = The request was completed (RETURN_SUCCESS) 1 = Something was wrong with the input, so the request was not completed (RETURN_BAD_ARGS) 2 = The request was not completed (RETURN_FAIL) For more information, see “ReturnCode enumerated type” .

CheckPlatePresent method input

VWorks software passes an IRobotDriver_CheckPlatePresent_Input XML element into the XML parameter of the CheckPlatePresent method. This XML element provides the robot gripper offset and the location to check.

IRobotDriver_CheckPlatePresent_Input element

The IRobotDriver_CheckPlatePresent_Input element has the following attributes:

 

Name	Value
OffsetHeight	The robot gripper offset, in millimeters.
Location	The name of the location to check.

Example of CheckPlatePresent method input

The following sample code is an IRobotDriver_CheckPlatePresent_Input XML element that is received by the plugin from VWorks software as a string in the XML parameter of the CheckPlatePresent method. VWorks software tells the plugin to determine if the robot labware sensor can detect a labware using the gripper offset height of 0 mm at the location named Location1.

 

<?xml version='1.0' encoding='ASCII' ?> <Velocity11 file='MetaData' md5sum='0e237893b059fefa2b1edfdfad089f74' version='1.0' > <IRobotDriver_CheckPlatePresent_Input Location='Location1' OffsetHeight='0' /> </Velocity11>

CheckPlatePresent method output

The plugin returns an IRobotDriver_CheckPlatePresent_Output XML element in the returnedXML parameter of the CheckPlatePresent method. This XML element indicates whether a labware is present at the specified location using the specified gripper offset. A labware is present if the robot’s labware sensor can detect it.

IRobot_CheckPlatePresent_Output element

The IRobotDriver_CheckPlatePresent_Output element has the following attribute:

 

Name	Value
Present	The value of this attribute indicates whether the labware is present at the specified gripper offset. Possible values: 0 = The labware is not present 1 = The labware is present Required: No Default value: 0

Example of CheckPlatePresent method output

The following sample code is an IRobotDriver_CheckPlatePresent_Output XML element that is returned by the plugin to VWorks software as a string in the returnedXML parameter of the CheckPlatePresent method. The plugin tells VWorks software that a labware is not present at the specified location, that is, the robot cannot detect a labware.

 

<?xml version='1.0' encoding='ASCII' ?> <Velocity11 file='MetaData' md5sum='c31697b858117fcc668453c48526698b' version='1.0' > <IRobotDriver_CheckPlatePresent_Output Present='0' /> </Velocity11>

Related information

 

For information about...	See...
DelidRelid method	“DelidRelid method”
GetPlatePresentResult method	“GetPlatePresentResult method”
GetSimulationTimes method	“GetSimulationTimes method”
GetTeachPoints method	“GetTeachPoints method”
Move method	“Move method”
ReturnCode enumerated type	“ReturnCode enumerated type”
SetSpeed method	“SetSpeed method”