DelidRelid method

Description

VWorks software calls the DelidRelid method to tell the plugin to command the robot to delid or relid the specified labware at the specified location.

Syntax

 

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

Parameters

 

XML	[in] An IRobotDriver_DelidRelid_Input XML element that contains information required by the robot to perform a Delid or Relid task.
returnedXML	[out] An empty IRobotDriver_DelidRelid_Output XML element.
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” .

DelidRelid method input

VWorks software passes an IRobotDriver_DelidRelid_Input XML element into the XML parameter of the DelidRelid method. This element provides information required by the robot to perform a Delid or Relid task.

IRobotDriver_DelidRelid_Input element

The IRobotDriver_DelidRelid_Input element has the following attributes:

 

Name	Value
IntendedDropoffLocationOnNextMove	The name of the place location. The plugin should use this information to determine the required gripper offset for the place location. The DelidRelid method does not actually move the labware to the place location. First the robot should pick up the labware, delid or relid it, and move it to a safe location. Then VWorks software calls the Move method to tell the plugin to move the labware from the safe location to the place location. See “Move method” .
IsRelid	Indicates whether the task is Relid or Delid. Possible values: 0 = The task is Delid 1 = The task is Relid
Labware	The labware name.
LiddingLocation	The name of the teachpoint where the labware is to be relidded or delidded.
PickupDeviceName	The name of the pick-location device.
PickupLocation	The name of the teachpoint that is set at the pick location.
PickupLocationName	The name of the pick location.
PickupLocationOffset	The pick-location device gripper offset, in millimeters.
RiseHeight	If the labware has a lid, and the lid is retained, the value of this parameter is the lid departure height, in millimeters. For delidding on devices that retain the lid (that is, where the value of Type is LID_HOTEL), the robot should move the labware downward by the RiseHeight before retracting with the delidded labware. For relidding, the robot should lift the labware by the RiseHeight before retracting with the lidded labware. If the labware has a lid, but the lid is not retained, the value is the lidded thickness. For delidding on devices that do not retain the lid (that is, where Type is VACUUM_DELIDDER), the robot should lift the labware by the RiseHeight and then move the labware downward by the RiseHeight before retracting with the delidded labware. If the labware does not have a lid, the value of the RiseHeight parameter is always 0.0.
Type	Represents the type of lidding device. Possible values: 0 = The lidding device retains the lid (VACUUM_DELIDDER) 1= The lidding device does not retain the lid (LID_HOTEL) See ILiddingDriver “LidIsRetained method” .
PickupLeanLocation	The name of the teachpoint that is set at the second pick location. A second teachpoint is specified if the labware is to be picked up from a Plate Hotel or other device that holds labware vertically. This second teachpoint is used to determine if any correction is required in the x-axis or y-axis to account for lean in the stack. Otherwise, this attribute has no value.

Example of DelidRelid method input

The following sample code contains an IRobotDriver_DelidRelid_Input XML element that is received by the plugin from VWorks software as a string in the XML parameter of the DelidRelid method. VWorks software tells the plugin to command the robot to delid the labware named lid at the lidding location named Robot Teachpoint ‑ 2.

 

<?xml version='1.0' encoding='ASCII' ?> <Velocity11 file='MetaData' md5sum='7ea07f83fa28f2eb067dd18ae21dd186' version='1.0' > <IRobotDriver_DelidRelid_Input IntendedDropoffLocationOnNextMove= →'Robot Teachpoint - 3' IsRelid='0' Labware='lid' LiddingLocation= →'Robot Teachpoint - 2' PickupDeviceName='Lid Hotel Station - 1' →PickupLocation='Robot Teachpoint - 1' PickupLocationName='Upper plate pad' →PickupLocationOffset='0' RiseHeight='0' Type='1' PickupLeanLocation= →'Plate Hotel Top' /> </Velocity11>

DelidRelid method output

The plugin returns an empty IRobotDriver_DelidRelid_Output XML element in the returnedXML parameter of the DelidRelid method.

Example of DelidRelid method output

The following sample code is an empty IRobotDriver_DelidRelid_Output XML element that is returned by the plugin to VWorks software as a string in the returnedXML parameter of the DelidRelid method.

 

<?xml version='1.0' encoding='ASCII' ?> <Velocity11 file='MetaData' md5sum='cb72e8dc081b48394cc654a62cfe334a' version='1.0' > <IRobotDriver_DelidRelid_Output /> </Velocity11>

Related information

 

For information about...	See...
CheckPlatePresent method	“CheckPlatePresent 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”