Teachpoints tab

 

Commands

 

Command	Description
Enter teach mode	Enables you to move the robot arm and hand freely without resistance.
/ (Maximize/Minimize)	Displays all of the columns or displays the first few columns in the teachpoints table.
New teachpoint	Adds a new teachpoint in the table.
Delete selections	Deletes the selected teachpoints.
Save teachpoints	Saves the changes made to the teachpoints.

Teachpoints table

 

Column name	Description
Name	The name of the teachpoint. To change the name, double-click the box and type the new name.
Orientation	The orientation of the labware from the robot’s perspective. Double-click to change the A1-well orientation. By default, the A1-well orientation is away from the grippers. Note: You cannot change the robot-arm orientation (R or L) or the labware orientation (portrait or landscape). The software automatically sets these orientations when you set the teachpoint.
Type	The type of teachpoint: • None. The location is a standard platepad or plate stage. • Lid Hotel Station. The location is a Lid Hotel Station. • Vacuum Delid Station. The location is a Vacuum Delid Station. • Vacuum Filtration Station. The location is a Vacuum Filtration Station. You can also use this selection to press down PCR plates. The selection sets the teachpoint lower than the physical location to simulate the press-down action. • Regrip Station. The location will be used for regripping labware. Regrip actions always occur above the teachpoint with no retraction into the robot zone. Regrip stations cannot be used for other purposes such as deadlock avoidance.
Approach Height	The height clearance, in millimeters, the robot must maintain above the teachpoint as it moves towards or away from the teachpoint.
Approach Distance	The distance, in millimeters, from the teachpoint within which the robot must: • Maintain the specified approach height. • Move in a straight line toward or away from the teachpoint.
Min Gripper Offset	The vertical distance, in millimeters, from the teachpoint to the lowest point where the grippers will hold the labware at the teachpoint. The default value is 0 mm. This value is used with the Maximum gripper offset value to define a range within which the grippers can hold the labware at the teachpoint location. IMPORTANT During the run, the VWorks software checks the gripper offset range defined in this tab and the range in the labware’s definition. IMPORTANT For regrip stations, make sure the range can accommodate all labware.
Max Gripper Offset	The vertical distance, in millimeters, from the teachpoint to the highest point where the grippers will hold the labware at the teachpoint. The default value is 10 mm. This value is used with the Minimum gripper offset value to define a range within which the grippers can hold the labware at the teachpoint location.
X	The current x-axis coordinate value, in millimeters.
Y	The current y-axis coordinate value, in millimeters.
Z	The current z-axis coordinate value, in millimeters.
Yaw	The angle between the grippers and the x-axis.
Bend	The robot-arm orientation. Possible orientations are L (left) or R (right). The orientation is determined when you set the teachpoint and cannot be changed in this tab.
Last Modified	The timestamp that shows when a teachpoint was changed.