Verifying teachpoints

After you set a new teachpoint, you should verify that it is accurate by:

•	Moving the robot to the new teachpoint

•	Picking up labware at the teachpoint

•	Placing labware at the teachpoint

•	Transferring labware between two teachpoints

You use the commands in the Jog/Move tab for the verification procedure.

 

Moving the robot to the new teachpoint

You use the Move to command to check that:

•	The robot is able to move to the selected teachpoint.

•	The approach orientation at the teachpoint is correct.

 

WARNING  To prevent puncture or other injuries to the eyes, be sure to wear protective eyewear when entering the system and working with the robot.

 

WARNING  Stay out of the system while the robot is in motion. Entering the system while the robot or other devices are in motion can cause personal injury.

To move the robot to the teachpoint:

1	Make sure the robot has a clear path to the teachpoint. Remove any obstacles in the path. If the robot arm is extended, move the arm into the robot zone.

2	In BenchBot Robot Diagnostics, make sure the correct labware is selected in the Labware list.

 

3	In the Speed list, select Slow.

 

4	Click the Jog/Move tab, and, if necessary, click Enable to enable the robot motors.

 

5	In the Move area, select the teachpoint you want to verify from the list above the red labware.

In the following example, the Platepad01 teachpoint is selected.

 

6	If you selected a teachpoint with multiple orientations, such as a regrip station, select the specific set of orientations you want to verify. By default, all orientations defined for the teachpoint are selected.

If multiple labware orientations are available, make sure only one orientation is selected. Click a triangle to select or clear the orientation selection. A green triangle means the orientation is selected. A white triangle means the orientation is not selected.

In the following example, three labware orientations are available: Landscape with the A1 well away from the grippers, landscape with the A1 well toward the grippers, and portrait with the A1 well away from the grippers (1). For the verification procedure, only one orientation is selected: Landscape with the A1 well away from the grippers (2).

 

7	In the Move area, click Move to under the red labware.

 

The robot moves to the selected teachpoint. The robot remains at the teachpoint and the grippers are open.

8	Check that the robot used the correct approach distance and approach height. In addition, make sure the robot is in the correct orientation relative to the labware as shown in the Move area.

Based on the selection shown in the following example, the robot grippers should be at the teachpoint in the landscape orientation.

 

9	To make adjustments, proceed to Editing existing teachpoints.

10	Repeat the procedure for another teachpoint. If you are verifying a teachpoint with multiple orientations, be sure to verify each orientation before checking another teachpoint.

Picking up labware at the teachpoint

You use the Pick from command to check that:

•	The robot is using the correct approach distance and approach height as it moves to and from the teachpoint.

•	The robot is able to pick up labware at the selected teachpoint.

•	The robot picks up the labware within the specified gripper offset range.

 

WARNING  Be sure to wear protective eyewear when entering the system and working with the robot.

 

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

To pick up labware from the teachpoint:

1	Make sure the robot has a clear path to the teachpoint. Remove any obstacles in the path. If the robot arm is extended, move the arm into the robot zone.

2	Manually place the labware at the teachpoint.

3	In BenchBot Diagnostics, select the labware you want to use from the Labware list.

 

4	In the Speed list, select Slow.

 

5

Labware with lids only. In the Move area, select Plate is Lidded to indicate the robot will be moving a labware that has a lid. This selection is only available if you selected a labware that can have lids. (If you selected a labware that cannot have lids, the Plate is Lidded selection is not visible.) If the labware can have lids but you intend to move it without the lid, clear the check box.

 

IMPORTANT The sum of the grip height plus the finger height must be less than the lid-resting height (specified in the Labware Editor). Otherwise, the software will display an error message when you attempt to pick up the labware with lid.

Note: The Plate is Lidded selection is only used while you are in BenchBot Diagnostics.

6	In the Move area, select the teachpoint you want to verify from the list above the red labware.

 

7	If you selected a teachpoint with multiple orientations, such as a regrip station, select the specific set of orientations you want to verify. By default, all orientations defined for the teachpoint are selected.

If multiple labware orientations are available, make sure only one orientation is selected. Click a triangle to select or clear the orientation selection. A green triangle means the orientation is selected. A white triangle means the orientation is not selected.

In the following example, three labware orientations are available: Landscape with the A1 well away from the grippers, landscape with the A1 well toward the grippers, and portrait with the A1 well away from the grippers (1). For the verification procedure, only one orientation is selected: Landscape with the A1 well away from the grippers (2).

 

8	In the Move area, click Pick from under the red labware.

 

The robot moves to the teachpoint, picks up the labware, and moves it to the robot zone. The labware remains in the robot grippers.

9	Check that the robot used the correct approach distance and approach height when picking up the labware. Also check that the robot is holding the labware within the specified gripper offset range.

10	To make adjustments, proceed to Editing existing teachpoints.

11	If the robot has completed its task correctly, remove the labware from the robot grippers and repeat the procedure for another teachpoint. If you are verifying a teachpoint with multiple orientations, be sure to verify each orientation before checking another teachpoint.

Placing labware at the teachpoint

You use the Place to command to check that:

•	The robot is using the correct approach distance and approach height as it moves to and from the teachpoint.

•	The robot is able to place the selected labware at the selected teachpoint.

 

WARNING  Be sure to wear protective eyewear when entering the system and working with the robot.

 

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

IMPORTANT To use the Place to command, you must first use the Pick from command to pick up a labware so that the gripper offset is known.

To place labware at the teachpoint:

1	Make sure the robot has a clear path to the teachpoint. Remove any obstacles in the path. If the robot arm is extended, move the arm into the robot zone.

2	Make sure the robot is still holding the labware from the previous procedure (Picking up labware at the teachpoint).

3	In BenchBot Diagnostics, make sure the correct labware is selected in the Labware list.

 

4	In the Speed list, select Slow.

 

5

Labware with lids only. In the Move area, select Plate is Lidded to indicate the robot will be moving a labware that has a lid. This selection is only available if you selected a labware that can have lids. (If you selected a labware that cannot have lids, the Plate is Lidded selection is not visible.) If the labware can have lids but you intend to move it without the lid, clear the check box.

 

IMPORTANT The sum of the grip height plus the finger height must be less than the lid resting height (specified in the Labware Editor). Otherwise, the software will display an error message when you attempt to place the labware with lid.

Note: The Plate is Lidded selection is only used while you are in BenchBot Diagnostics.

6	In the Move area, select the teachpoint you want to verify from the list above the red labware. In the following example, the Platepad01 teachpoint is selected.

 

Note: Alternatively, you can select a teachpoint above the blue labware.

7	If you selected a teachpoint with multiple orientations, such as a regrip station, select the specific set of orientations you want to verify. By default, all orientations defined for the teachpoint are selected.

If multiple labware orientations are available, make sure only one orientation is selected. Click a triangle to select or clear the orientation selection. A green triangle means the orientation is selected. A white triangle means the orientation is not selected.

In the following example, three labware orientations are available: Landscape with the A1 well away from the grippers, landscape with the A1 well toward the grippers, and portrait with the A1 well away from the grippers (1). For the verification procedure, only one orientation is selected: Landscape with the A1 well away from the grippers (2).

 

8	In the Move area, click Place to below the red labware.

 

If you selected a teachpoint above the blue labware, click Place to below the blue labware instead.

With the labware in its grippers, the robot moves to the teachpoint, places the labware, and retracts to the robot zone.

9	Check that the robot used the correct approach distance and approach height when placing the labware. Also, check that the robot seated the labware correctly at the teachpoint. The robot should not drop the labware, and the labware should be centered at the teachpoint.

10	To make adjustments, proceed to Editing existing teachpoints.

11	Repeat the procedure for another teachpoint. If you are verifying a teachpoint with multiple orientations, be sure to verify each orientation before checking another teachpoint.

Transferring labware between two teachpoints

To ensure that a new teachpoint is accurate, check that the robot is able to transfer labware between the new teachpoint and an existing verified teachpoint, or a reference teachpoint. Incorrectly placed labware indicates that the teachpoint coordinates are incorrect.

 

WARNING  Be sure to wear protective eyewear when entering the system and working with the robot.

 

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

To transfer labware from an existing verified teachpoint:

1	Make sure the robot has a clear path to the teachpoint. Remove any obstacles in the path. If the robot arm is extended, move the arm into the robot zone.

2	Manually place the desired labware at an existing verified teachpoint (for example, Platepad 1).

3	In BenchBot Robot Diagnostics, select the labware you want to use from the Labware list.

 

4	In the Speed list, select Slow.

 

5

Labware with lids only. In the Move area, select Plate is Lidded to indicate the robot will be moving a labware that has a lid. This selection is only available if you selected a labware that can have lids. (If you selected a labware that cannot have lids, the Plate is Lidded selection is not visible.) If the labware can have lids but you intend to move it without the lid, clear the check box.

 

IMPORTANT The sum of the grip height plus the finger height must be less than the lid resting height (specified in the Labware Editor). Otherwise, the software will display an error message when you attempt to pick up or place the labware with lid.

Note: The Plate is Lidded selection is only used while you are in BenchBot Diagnostics.

6	In the Move area:

a	Select the existing verified teachpoint (a reference teachpoint) from the list above the red labware.

b	Select the teachpoint you want to verify from the list above the blue labware.

 

7	If you selected a teachpoint with multiple orientations, such as a regrip station, select the specific set of orientations you want to verify. By default, all orientations defined for the teachpoint are selected.

If multiple labware orientations are available, make sure only one orientation is selected. Click a triangle to select or clear the orientation selection. A green triangle means the orientation is selected. A white triangle means the orientation is not selected.

In the following example, three labware orientations are available: Landscape with the A1 well away from the grippers, landscape with the A1 well toward the grippers, and portrait with the A1 well away from the grippers (1). For the verification procedure, only one orientation is selected: Landscape with the A1 well away from the grippers (2).

 

8	In the Move area, click the right-arrow Transfer button.

 

The robot picks up the labware at the reference teachpoint, places it at the teachpoint you want to verify, and retracts into the robot zone.

9	Check that the robot seated the labware correctly at the new teachpoint. The robot should not drop the labware, and the labware should be centered at the teachpoint.

Note: If the labware, pick-location, and place-location gripper offset ranges do not overlap, the software will display an error message when you attempt to transfer labware from teachpoint to teachpoint. Correct the error, and then try to transfer the labware again.

10	To make adjustments, proceed to Editing existing teachpoints.

11	Repeat the procedure for another teachpoint. If you are verifying a teachpoint with multiple orientations, be sure to verify each orientation before checking another teachpoint.

12	Repeat the transfer procedure at the Fast robot speed (at step 4, select Fast).

Related information

 

For information about...	See...
Editing teachpoints	Editing existing teachpoints
Managing teachpoints	Managing teachpoints
Cycling teachpoints	Cycling teachpoints