Setting the Min and Max Gripper Offset parameters

 

About the Min and Max Gripper Offset parameters

 

 

The labware gripping offset range (Min and Max) parameters tell the BenchBot Robot where to grip a given labware type when transferring it from one device to another. Each device within a system can pose different accessibility challenges when transferring the labware. For example, some devices can have a deep, recessed area, whereas others are more flat. Some devices might have tall flanges that make it impossible for the robot to grip a microplate at a very low point.

You can set two types of gripper offset ranges:

•	Gripper offset range for the labware. Specified on the BenchBot Robot tab in the Labware Editor for each labware definition.

•	Gripper offset range for the device. Specified in the BenchBot Robot Diagnostics software for a given device.

During a protocol run, the BenchBot Robot uses three gripper offset ranges to determine the most compatible grip position for the labware:

•	Gripper offset range for the labware

•	Gripper offset range for the device (A) where it will pick up the labware

•	Gripper offset range for the device (B) where it will place the labware

You should set the widest possible range for each gripper offset parameter. If the three gripper offset ranges overlap, the robot will use the smallest common gripper offset to perform a direct labware transfer from device A to device B without regripping the labware. If the three ranges do not overlap, the software attempts to plan a path through one or more regrip stations. If the robot cannot perform the transfer, an error message appears at the time of the requested labware transfer.

To provide the system with the greatest flexibility for identifying a grip position that works for all locations, you should set the widest possible range for each gripper offset parameter.

 

 

Note: To catch and correct potential labware transfer errors, Agilent Technologies recommends that you verify the teachpoints and perform a dry run.

Before you set the gripper offset parameters

Under some circumstances, you should consider the gripper offset ranges of more than two teachpoints to avoid a regrip. For example, a labware will be delidded as it moves from the pick location (device A) to the place location (device B). In this case, the gripper offset range for the delid teachpoint must also overlap with the gripper offset range for the labware, device A, and device B.

Procedure

To set the Min Gripper Offset and the Max Gripper Offset parameters for a device:

Double-click the Min Gripper Offset and Max Gripper Offset box and type the desired values:

•	Min Gripper Offset. The vertical distance (mm) from the bottom of the labware that is sitting at the teachpoint to the lowest point where the robot grippers can hold the microplate securely. The default value is 0 mm.

•	Max Gripper Offset. The vertical distance (mm) from the bottom of the labware that is sitting at the teachpoint to the highest point where the robot grippers can hold the microplate securely. The default value is 20 mm.

 

IMPORTANT For regrip stations, make sure the gripper offset range can accommodate all types of labware.

Related information

 

For information about...	See...
Setting teachpoints	Setting new teachpoints
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
Adding multiple orientations to a teachpoint	Adding multiple orientations to a teachpoint
Setting the X, Y, Z, and Yaw parameters	Setting the X, Y, Z, and Yaw parameters
Saving teachpoints	Saving the teachpoints
Verifying teachpoints	Verifying teachpoints
Editing existing teachpoints	Editing existing teachpoints