Jog/Move tab

 

General commands

 

Command	Description
New teachpoint here	Creates a new teachpoint at the current coordinates.
Disable Motors/Enable Motors	Disables or enables the robot joint motors. When disabling the motors, the robot will first finish the current command before stopping. For safety reasons, disabling the motors disables the joint motors only. You cannot disable the z-axis motor.
Home robot	Sends the robot to the factory-defined home position for each of the axes of motion.
Home gripper	Sends the grippers to the factory-defined home position. Note: Homing the grippers does not home the rest of the robot.
Retrace to safe zone	Enables the robot to search for the closest teachpoint, and then use the path from that teachpoint to return to the safe zone. If the robot is unable to find a teachpoint nearby, it will retreat into the safe zone by retracing the path it took to reach the current location. Use the Retrace to safe zone command when, for example, the robot grippers are within a device, and using the Move to safe zone command might cause the robot to run into the sides of the device or other obstacles.
Move to safe zone	Enables the robot to search for the closest teachpoint, and then use the path from that teachpoint to return to the safe zone. If the robot is unable to find a teachpoint nearby, it retracts radially into the safe zone. Use the Move to safe zone command if it is close to a teachpoint and the path from that teachpoint to the safe zone is clear or obstacles.
Stop Motors	Immediately cuts power to the robot motors, thus stopping the robot.
About	Displays the DDR Diagnostics version number and copyright information.

 

Jog area: Tool space commands

 

 

Command or parameter	Description
Tool space	Displays the jog buttons to move the robot waist, elbow, wrist, and arm so that the labware moves to its target location along the x-or y-axis. In addition, you can rotate the labware (Phi angle) and move the robot arm up and down along the mast or z-axis. In tool space, all movements are measured with respect to the center of the labware.
Tool space jog buttons: X: Y: Phi:	Jogs the robot in the specified direction by the specified distance in millimeters or by the specified angle.
X and Y jog increment	Specifies the distance, in millimeters, the robot moves when you click an x- or y-axis jog button.
Phi jog increment	Specifies the distance, in degrees, the labware rotates when you click a rotating jog button.

Jog area: Joint space commands

 

 

Command or parameter	Description
Joint space	Displays the jog buttons to rotate the robot’s entire body about its waist joint, rotate its forearm about its elbow joint, and rotate its hand about the wrist joint. In addition, you can move the robot arm up and down along the mast or z-axis.
Wrist/Elbow/Waist jog buttons:	Jogs the robot in the specified direction by the specified degrees.
Joint jog increment	Specifies the angle, in degrees, the robot rotates when you click a rotating jog button.

Jog area: Gripper commands

 

 

Command or parameter	Description
Landscape: Open/Close	Opens or closes the robot grippers to accommodate the landscape labware orientation.
Portrait: Open/Close	Opens or closes the robot grippers to accommodate the portrait labware orientation.
Gripper jog buttons:	Opens or closes the robot grippers by the specified distance.
Gripper jog increment	Specifies the distance, in millimeters, the robot grippers move when you click an open or close gripper jog button.

Jog area: Z-axis commands

 

 

Command or parameter	Description
Z Axis jog buttons:	Jogs the robot along the z-axis in the specified direction by the specified distance.
Z Axis jog increment	Specifies the distance, in millimeters, the robot moves when you click one of the Z Axis jog buttons.

Move area

 

 

Selection or command	Description
Teachpoint selection	Allows you to select from the list of available teachpoints.
Right/Left/Optimal	Specifies the robot-arm orientation at the selected teachpoint.
Transfer buttons:	Picks up labware from a selected teachpoint and places the labware at the other selected teachpoint.
Pick from	Picks up labware from the selected teachpoint.
Place to	Places labware at the selected teachpoint.
Move to	Moves the robot grippers to the selected teachpoint.