Changing the gripper settings

 

 

About the gripper settings

The following gripper settings are set at the factory:

 

Gripper setting	Description
Teaching Offset	The distance, in millimeters, between the bottom of the teaching plate and the bottom of the grippers. The default is 10 mm.
Finger Offset	The distance, in millimeters, between the bottom of the grippers and the bottom of its mounting base. The default is 16 mm. The parameter is used to determine the height of labware that can be held by the grippers. For example, custom grippers that are vertically longer can accommodate taller labware. The parameter can also be used to determine whether the robot can rotate its hand under the forearm, while holding labware, without colliding with the forearm.
Finger Height	The height, in millimeters, of the grippers. This information is used when the robot is handling lidded labware. The default is 4.2 mm for standard grippers.

The default gripper settings should work for labware that meet the American National Standards Institute (ANSI) standards. However, you can fine-tune the settings to accommodate different labware requirements and optimize performance.

Before you start

Agilent Technologies recommends that you back up the firmware before changing the gripper settings.

Specifying new settings

To change the gripper settings:

1	In BenchBot Robot Diagnostics, click the Setup tab.

 

2	In the Gripper Settings area, type the new values you want to use for Teaching Offset, Finger Offset, and Finger Height.

3	When you are finished, click Apply Setup Changes. The changes are saved to the firmware.

 

 

Related information

 

For information about...	See...
Backing up firmware	Backing up the robot firmware
Opening and closing the grippers using software controls	Opening and closing the robot grippers
Manually opening and closing the grippers	Setting new teachpoints