Setting new teachpoints

About this topic

Depending on the type of device, the teachpoint setting procedure can vary. This topic provides basic teachpoint setting concepts: how to use the supplied teaching plate or the desired labware to set, verify, and edit BenchBot Robot teachpoints.

Before you start

Make sure you have completed the following:

•	Define labware.

•	Set the BenchBot Robot properties in the VWorks Labware Editor.

For instructions, see the VWorks Automation Control Setup Guide.

Teachpoint files

The teachpoints you set are saved in the XML format in a teachpoint file. The default teachpoint file name is Teachpoints_<profilename>.xml, where <profilename> is the name of the profile. The software saves the file in the C:\VWorks Workspace\VWorks\BenchBot\Teachpoints folder. However, you can select another file name and location when saving the file.

 

CAUTION Always edit and manage teachpoints in the Robot Diagnostics software. Do not edit the teachpoint file (XML file) directly. Editing the file directly can cause the robot to move to incorrect locations and bump into devices or other obstacles.

You can have multiple teachpoint files for each BenchBot Robot if a device needs to serve multiple purposes. For example, a platepad can be taught as a platepad or as a regripping station. You can also have multiple teachpoint files for the system if a device is only used in some protocols but not others. For example, if a device is installed on a docking table and can be removed when it is not in use.

 

CAUTION Before you begin changing teachpoints, make a backup copy of the teachpoint file. If the original file becomes lost or damaged, you can use the backup copy instead of reteaching all the positions.

The teachpoint file is referenced by a profile. For information about profiles, see Creating BenchBot Robot profiles.

Before you start

Make sure:

•	You review the guidelines for setting teachpoints (Planning BenchBot Robot teachpoints).

•	You have the provided BenchBot Robot teaching plate. If size restrictions at teachpoints prevent the use of the teaching plate, use the labware intended for the location. See Setting teachpoints using a labware.

•	The correct profile is initialized (Creating BenchBot Robot profiles).

•	The safety interlock is in the override mode. (See the BenchBot Robot Safety and Installation Guide or the system user documentation for instructions.)

Installing and removing the teaching plate in the robot grippers

 

WARNING  Always wear protective eyewear when entering the system and working with the robot.

 

WARNING Stay out of the system when the robot is in motion.

IMPORTANT If size restrictions at a teachpoint prevent the use of the teaching plate, use the labware intended for the location. For information, see Setting teachpoints using a labware.

To install the teaching plate:

1	In the Jog/Move tab, click Retract. The robot moves into the robot zone.

 

2	In BenchBot Robot Diagnostics, click the Teachpoints tab.

 

3	In the Labware list, select Teaching plate.

 

4	Click Enter teach mode.

In the Robot Status area, the Teaching mode indicator light turns on.

 

The blue light on the robot hand turns on.

 

You should be able to move the robot arm without resistance.

5	Manually move the robot arm to a position that will be convenient for you to install the teaching plate.

6	Manually pull open the robot grippers so that the teaching plate can fit between them.

 

7	Position the teaching plate between the robot grippers. Align the pins on both sides of the teaching plate with the dimples in the grippers. The following diagram shows the alignment position in the landscape mode.

 

8	Manually push the grippers closed.

9	While holding the grippers closed, press and hold down the button on the robot hand until the blue light blinks twice, indicating the grippers are locked in position.

To remove the teaching plate:

1	While in the Teach Mode, manually move the robot arm to a position that will be convenient for you to remove the teaching plate.

2	Place a hand under the teaching plate to support its weight for the next step.

3	Press and hold down the button on the robot hand until the blue light flashes twice. The robot grippers release the teaching plate.

Creating a new teachpoint

 

WARNING  Always wear protective eyewear when entering the system and working with the robot.

IMPORTANT The software will not allow you to create teachpoints within the robot zone. An error message will display if you attempt to create a teachpoint within the robot zone.

To create a teachpoint:

1	With the teaching plate in the robot grippers, slowly move the robot arm to the desired location. When moving the robot arm:

a	Check for potential obstacles near the location.

b	Keep in mind the Guidelines for setting teachpoints.

2	Position the teaching plate at the desired location. Make sure the teaching plate sits flat at the location.

Note: In tight-fitting or hard-to-reach locations, you can use the jog commands in the Jog/Move tab to move the robot in small increments. For more information about the jog commands, see Jogging the robot. When you return to the Teachpoints tab, be sure to click Enter teach mode before proceeding to the next step.

3	Press and quickly release the blue button on the robot hand. The blue light flashes once. In the Teachpoints tab, a new entry appears.

 

If it is not possible to access the blue button on the robot hand, you can click the New teachpoint button in the Teachpoints tab.

 

4	To view the entire teachpoints table, click the (Maximize) button. The table expands so that all of the columns are displayed in the tab. To reduce the number of columns displayed, click the (Minimize) button.

 

Naming the teachpoint

To name the teachpoint:

Double-click the Name box and type a new name for the teachpoint. Use a name that describes the location, such as the device name (for example, Lid Hotel Slot 01).

Related information

 

For information about...	See...
Teachpoint files	Teachpoint files
Specifying the A1-well orientation	Specifying the A1-well orientation
Selecting the teachpoint type	Selecting the teachpoint type
Setting the approach height and approach distance	Setting the Approach Height and Approach Distance parameters
Setting the gripper offset parameters	Setting the Min and Max Gripper Offset parameters
Setting the X, Y, Z, and Yaw parameters	Setting the X, Y, Z, and Yaw parameters
Adding multiple orientations to a teachpoint or a regrip station	Adding multiple orientations to a teachpoint
Saving teachpoints	Saving the teachpoints