Editing existing teachpoints

When you set a teachpoint for the first time, you might set, verify, and edit the teachpoint to make sure the teachpoint is correct. After the teachpoint is set up correctly, you will not need to adjust or redefine it unless you do the following:

•	Move the BenchBot Robot.

•	Move or replace one of the devices in the system, such as the robot.

•	Adjust settings on the devices.

•	Continue to use a robot that has unevenly worn gripper pads.

•	Replace the robot gripper pads.

You can edit a teachpoint in one of two ways:

•	Adjust the teachpoint coordinates, and then update the coordinates only. (The existing approach and gripper offset parameter values are not changed.)

•	Replace the teachpoint with new coordinate, approach, and gripper offset parameter values.

Adjusting the teachpoint coordinates

Agilent Technologies recommends that you use the teaching plate when adjusting teachpoints. If you used a labware to set the teachpoints, be sure to use the same labware when adjusting the teachpoints.

 

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.

Note: This section explains how to adjust an existing teachpoint coordinates using the jog commands. Alternatively, you can reset the teachpoint using the procedure in Setting new teachpoints, and then use the Update command to update the coordinates.

To adjust a teachpoint:

1	Make sure you have followed the procedure in Verifying teachpoints to determine the adjustments that you need to make to the teachpoint. For example, the robot is currently too far to the left of the teachpoint.

2	Manually place the teaching plate at the teachpoint. You do not need to select Teaching plate from the Labware list.

3	In BenchBot Robot Diagnostics, click the Jog/Move tab, and then select Tool space.

 

4	In the Move area, select the teachpoint you want to adjust, and then click Move to. The robot moves to the selected teachpoint. The robot remains at the teachpoint and the grippers are open.

5	Check the position of the robot grippers and the teaching plate. The two pins on both sides of the teaching plate should align with the dimples in the grippers.

6	If the distances between two adjacent pin-dimple pairs are not the same, make rotational adjustments. In Tool space, rotate the robot in small increments (yaw). You can also go into Joint space to make rotational adjustments.

 

7	If the dimples on the robot grippers are farther out or closer than the pins on the teaching plate (as shown in the following diagram), in Tool space, jog the robot in small increments along the x-axis.

 

8	If the pin-dimple pairs on one side of the teachpoint are closer or farther than the pairs on the other side (as shown in the following diagram), in Tool space, jog the robot in small increments along the y-axis.

 

9	If the dimples on the grippers are higher or lower than the pins on the teaching plate, decrease or increase the z-axis value.

Updating the teachpoint coordinates

After you make adjustments to the teachpoint coordinates, you can update the coordinates. Updating the coordinates does not affect the existing approach or gripper offset parameters.

If you have changed the approach or gripper offset parameters, see Replacing the existing teachpoint.

To update the teachpoint coordinates only:

1	In the BenchBot Diagnostics Teachpoints tab, click Enter teach mode.

2	Right-click the orientation icon of the teachpoint you are editing.

3	Select Update with robot’s current position. The teachpoint coordinates are updated.

 

4	Click Save teachpoints.

5	Return to Verifying teachpoints to verify the revised teachpoint.

Replacing the existing teachpoint

 

CAUTION The replacement procedure replaces the teachpoint coordinates and all parameter values (approach height, approach distance, and gripper offsets).

To replace an existing teachpoint:

1	Create a new teachpoint. See Creating a new teachpoint.

2	Set all the parameters for the teachpoint.

3	Drag the new teachpoint and drop it on the existing teachpoint. The Replace or Reteach Existing Approaches dialog opens.

 

4	Click Replace. The existing teachpoint coordinates and parameter values are replaced.

Related information

 

For information about...	See...
Verifying teachpoints	Verifying teachpoints
Managing teachpoints	Managing teachpoints
Cycling teachpoints	Cycling teachpoints