Move method

Description

VWorks software calls the Move method to tell the plugin to command the robot to move a labware from a pick location to a place location.

Syntax

 

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

Parameters

 

XML	[in] An IRobotDriver_Move_Input XML element that provides information about the pick/place action.
returnedXML	[out] An empty IRobotDriver_Move_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” .

Move method input

VWorks software passes a IRobotDriver_Move_Input XML element into the XML parameter of the Move method. This XML element provides information about the pick/place action.

IRobotDriver_Move_Input element

The IRobotDriver_Move_Input element has the following attributes:

 

Name	Value
DropoffLocation	The name of the teachpoint that is set at the place location.
DropoffLocationOffset	The place-location device gripper offset, in millimeters.
Labware	The labware name.
PayloadThickness	The thickness, in millimeters, of all the labware on top of the labware that is to be moved. If the mounted labware has lids, the thickness of the lids is also included. If no labware is mounted on the labware to be moved, the value of PayloadThickness is 0.
PickupDeviceName	The pick-location device name.
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.
PlateHasLid	Indicates whether the labware has a lid. Possible values: 0 = The labware does not have a lid 1 = The labware has a lid
PlateSealed	Indicates whether the labware is sealed. Possible values: 0 = The labware is not sealed 1 = The labware is sealed
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 Move method input

The following sample code contains an IRobotDriver_Move_Input XML element that is received by the plugin from VWorks software as a string in the XML parameter of the Move method. VWorks software tells the plugin to command the robot to move the labware named 384-well plate from the pick location named Stage to the place location named Dropoff Teachpoint.

 

<?xml version='1.0' encoding='ASCII' ?> <Velocity11 file='MetaData' md5sum='931011d35de982a068bfe3313c3754f6' version='1.0' > <IRobotDriver_Move_Input DropoffLocation='Dropoff Teachpoint' DropoffLocationOffset='0' Labware='384-well plate' PayloadThickness='0' →PickupDeviceName='PlatePad - 1' PickupLocation='PlatePad - 1 Teachpoint' →PickupLocationName='Stage' PickupLocationOffset='0' PlateHasLid='0' →PlateSealed='0' /> </Velocity11>

Move method output

The plugin returns an empty IRobotDriver_Move_Output XML element into the returnedXML parameter of the Move method.

Example of Move method output

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

 

<?xml version='1.0' encoding='ASCII' ?> <Velocity11 file='MetaData' md5sum='0090cbcd92e9e12d7dc90765978a7a0d' version='1.0' > <IRobotDriver_Move_Output /> </Velocity11>

Related information

 

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