Teachpoints tab

 

Commands

 

Command	Description
Teach mode	Enables you to move the robot arm and hand freely without resistance.
(Maximize/Minimize)	Displays all of the columns or displays the first few columns in the teachpoints table.
New teachpoint	Adds a new teachpoint in the table.
Delete selections	Deletes the selected teachpoints.
Save teachpoints	Saves the changes made to the teachpoints.

Teachpoints table

 

Column name	Description
Name	The name of the teachpoint. To change the name, double-click the box and type the new name.
Orientation	The orientation of the labware from the robot’s perspective. Double-click to change the A1 well orientation. Note: You cannot change the robot-arm orientation (R or L) or the labware orientation (portrait or landscape). The software automatically sets these orientations when you set the teachpoint.
Regrip Station	The regrip station designation. Select the check box to designate the teachpoint as a regrip station. Note: Regrip stations cannot be used for other purposes such as deadlock avoidance.
Approach Ht (with labware)	The height clearance, in millimeters, the robot must maintain above the teachpoint as it moves towards or away from the teachpoint with labware in its grippers.
Approach Ht (no labware)	The height clearance, in millimeters, the robot must maintain above the teachpoint as it moves towards or away from the teachpoint with no labware in its grippers.
Approach Distance	The distance, in millimeters, from the teachpoint within which the robot must: • Maintain the specified approach height. • Move in a straight line toward or away from the teachpoint.
Minimum Gripper Offset	The vertical distance, in millimeters, from the teachpoint to the lowest point where the grippers will hold the labware at the teachpoint. The default value is 0 mm. This value is used with the Maximum gripper offset value to define a range within which the grippers can hold the labware at the teachpoint location. IMPORTANT During the run, the VWorks software checks the gripper offset range defined in this tab and the range in the labware’s definition. IMPORTANT For regrip stations, make sure the range can accommodate all labware.
Maximum Gripper Offset	The vertical distance, in millimeters, from the teachpoint to the highest point where the grippers will hold the labware at the teachpoint. The default value is 10 mm. This value is used with the Minimum gripper offset value to define a range within which the grippers can hold the labware at the teachpoint location.
Position Z	The z-axis coordinate of the robot measured in millimeters.
Waist	The waist joint coordinate.
Elbow	The elbow joint coordinate.
Wrist	The wrist joint coordinate.
Pick Custom Action	The actions that the robot will perform at the teachpoint. Use the Pick Custom Action to: • Relid labware at a Lid Hotel Station. • Stir the labware at the teachpoint.
Place Custom Action	The actions that the robot will perform at the teachpoint. Use the Place Custom Action to: • Delid labware at the Lid Hotel Station or the Vacuum Delid Station. • Press down labware to secure placement.
Last modified	The timestamp that shows when a teachpoint was changed.