Setting teachpoints

About this topic

Depending on the type of device, the teachpoint setting procedure can vary. This topic provides basic teachpoint setting concepts: how to use the supplied teaching jig or the desired labware to set, verify, and edit Direct Drive Robot teachpoints.

Teachpoint files

The teachpoints you set are saved in the XML format in a teachpoint file. The default teachpoint file name is Teachpoints_<profilename>.xml, where <profilename> is the name of the profile. The software saves the file in the C:\Program Files\Agilent Technologies\Settings\DDR folder. However, you can select another file name and location when saving the file.

 

CAUTION Always edit and manage teachpoints in the Robot Diagnostics software. Do not edit the teachpoint file (XML file) directly. Editing the file directly can cause the robot to move to incorrect locations and bump into devices or other obstacles.

You can have multiple teachpoint files for each Direct Drive Robot if a device needs to serve multiple purposes. For example, a platepad can be taught as a platepad or as a regripping station. You can also have multiple teachpoint files for the system if a device is only used in some protocols but not others. For example, if a device is installed on a docking table and can be removed when it is not in use.

 

CAUTION Before you begin changing teachpoints, make a backup copy of the teachpoint file. If the original file becomes lost or damaged, you can use the backup copy instead of reteaching all the positions.

The teachpoint file is referenced by a profile. For information about profiles, see Creating Direct Drive Robot profiles.

Workflow

The workflow for setting a Direct Drive Robot teachpoint is as follows:

 

Step	For this task	See...
1	Install the teaching jig in the robot grippers. If size restrictions at teachpoints prevent the use of the teaching jig, use the labware intended for the location.	One of the following: • Installing and removing the teaching jig in the robot grippers • Setting teachpoints using a labware
2	Create a new teachpoint.	Creating a new teachpoint
3	Name the teachpoint.	Naming the teachpoint
4	Specify the A1-well orientation.	Specifying the A1-well orientation
5	Optional. Designate a teachpoint as a regrip station.	Designating a teachpoint as a regrip station
6	Set teachpoint parameters: • Set the approach height. • Set the approach distance. • Set the gripper offset range. • Fine-tune the teachpoint coordinates. • Select custom actions.	• Setting the approach height • Setting the approach distance • Setting the gripper offset parameters • Setting the Position Z, Waist, Elbow, and Wrist parameters • Selecting custom actions
7	Save the teachpoints.	Saving the teachpoints
8	Optional. Selecting the All regrip stations are safe from above option.	Selecting the All regrip stations are safe from above option
9	Verify the teachpoints.	Verifying teachpoints
10	Edit the teachpoints.	Editing existing teachpoints
11	Cycle the teachpoints.	Cycling teachpoints

Before you start

Make sure:

•	You review the guidelines for setting teachpoints (Planning Direct Drive Robot teachpoints).

•	You have the provided Direct Drive Robot teaching jig. If size restrictions at teachpoints prevent the use of the teaching jig, use the labware intended for the location. See Setting teachpoints using a labware.

•	You have a 2-mm hex wrench for installing and removing the teaching jig.

•	The correct profile is initialized (Creating Direct Drive Robot profiles).

•	The safety interlock is turned off (see the system user documentation).

Installing and removing the teaching jig in the robot grippers

 

WARNING  Always wear protective eyewear when entering the system and working with the robot.

 

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

IMPORTANT If size restrictions at a teachpoint prevent the use of the teaching jig, use the labware intended for the location. For information, see Setting teachpoints using a labware.

To install the teaching jig:

1	In DDR Diagnostics, click the Jog/Move tab, and then click Move to safe zone. The robot moves into its safe zone.

 

2	In DDR Diagnostics, click the Teachpoints tab.

 

3	In the Labware list, select Teaching jig.

 

4	Click Teach Mode. The blue light on the robot hand turns on to indicate that it is in the teach mode. You should be able to move the robot arm without resistance.

IMPORTANT Always move the robot arm slowly when in the Teach Mode.

 

5	Manually move the robot arm to a position that will be convenient for you to install the teaching jig.

6	Using the 2-mm hex wrench, turn the gripper lead screw to open the robot grippers so that the teaching jig can fit in the grippers. You can access the lead screw from both sides of the robot hand.

 

7	Position the teaching jig between the robot grippers. Align the two pins on both sides of the teaching jig with the white dimples in the grippers. The following diagram shows the alignment positions in the landscape mode.

 

8	Using the 2-mm hex wrench, turn the gripper lead screw to close the robot grippers. The grippers should hold the teaching jig securely.

To remove the teaching jig:

1	While in the Teach Mode, manually move the robot arm to a position that will be convenient for you to remove the teaching jig. Make sure you move the robot slowly

2	Place a hand under the teaching jig to support its weight for the next step.

3	Using the 2-mm hex wrench, turn the gripper lead screw to open the robot grippers so that the teaching jig is free from the grippers.

 

Creating a new teachpoint

 

WARNING  Always wear protective eyewear when entering the system and working with the robot.

 

CAUTION Do not set teachpoints within the safe zone. For information about the safe zone, see Safe zone.

To create a teachpoint:

1	With the teaching jig in the robot grippers, slowly move the robot arm to the desired location. When moving the robot arm:

a	Check for potential obstacles near the location.

b	Keep in mind the Guidelines for setting teachpoints.

2	Position the teaching jig at the desired location. Make sure the teaching jig sits flat at the location.

3	Press the blue button on the robot hand. The blue light flashes for a moment. In the Teachpoints tab, a new entry appears.

Note: The blue light does not flash if the robot is at a location that is outside of its travel limits. Move the teachpoint location and try again.

 

If it is not possible to access the blue button on the robot hand, you can click the New teachpoint button in the Teachpoints tab.

 

4	To view the entire teachpoints table, click the (Maximize/Minimize) button. The table expands so that all of the columns are displayed in the tab.

 

Naming the teachpoint

To name the teachpoint:

Double-click the Name box and type a new name for the teachpoint. Use a name that describes the location, such as the device name (for example, PlateLoc - 1).

Specifying the A1-well orientation

The icon under the teachpoint name indicates the following:

 

 

Item	Description
1	A1-well orientation. From the robot’s perspective, the A1 well (the gray corner on the icon) can be: • Away from the robot grippers. or • Toward the robot grippers. or The robot cannot detect the location of the A1 well. Therefore, you must provide this information in the software. To change the A1-well orientation: Double-click the icon. The robot gripper symbol (green triangle) moves to the opposite side of the labware. Note: The robot is unaware of the A1-well orientation assignment. Changing it in the software does not automatically or physically change the way the robot holds the labware.
2	Labware orientation. The location of the green robot gripper symbol determines the orientation: • Landscape. or • Portrait. or Note: You cannot change the labware orientation. The software uses the gripper width to determine whether it is in the landscape or portrait mode.
3	Robot-arm orientation: Left (L) or right (R) Note: You cannot change the robot arm orientation. The software uses the elbow joint angle to determine whether it is in the left- or right-arm mode. A right arm has an elbow joint angle < 180°. A left arm has an elbow joint angle of >= 180°.

Common orientations

Eight orientations are possible for each teachpoint, based on different A1-well, labware, and robot-arm orientations. The following table presents six common orientations.

 

Orientation icon	Labware orientation	Robot arm orientation

Atypical orientations

The following table presents two atypical orientations. These orientations are used only when:

•	Devices, such as the FLIPR Tetra device, require the A1 well to be toward the grippers.

•

Two robots in the same system will use a single location to pass labware. One robot will approach the teachpoint using a common orientation (for example, landscape and A1 away), the other robot will approach the same teachpoint from the opposite side, using an atypical orientation (for example, landscape and A1 toward).

 

Orientation icon	Labware orientation	Robot arm orientation

Designating a teachpoint as a regrip station

A regrip station is a location that enables the robot to:

•	Change the labware orientation between teachpoints that require different orientations (landscape or portrait).

•	Change A1-well orientation between teachpoints that require different A1-well orientations.

•	Adjust its grip at the specified labware gripping height. The location is typically used after a robot picks up a labware higher than the specified gripping height because of physical restrictions at a teachpoint.

Note: Regrip stations cannot be used for other purposes such as deadlock avoidance.

To accommodate different labware orientations, add multiple orientations to the regrip teachpoint. In the following example, the Regrip teachpoint accommodates both the right- and left-arm orientations, with the landscape labware orientation and the A1 well away from the grippers.

 

To designate a teachpoint as a regrip station:

Select the Regrip Station check box.

 

CAUTION Changes to a regrip station (from a regular teachpoint to a regrip station or from a regrip station to a regular teachpoint) are not applied until you save the teachpoint file.

To add additional orientations to the regrip teachpoint:

1	Create another teachpoint at the same location but with a different orientation. A new entry appears in the teachpoints table.

2	If necessary, set the A1-well orientation.

By default, a new teachpoint will always have the A1-away orientation. When adding multiple teachpoints at a regrip station, if two of the teachpoints have the same labware and robot-arm orientation, and it is difficult to tell which one should have the A1-well away or toward assignment unless you see the actual robot position:

a	Right-click the teachpoint in the teachpoints table, and then click Show robot position.

 

b	In the dialog that appears, check the robot position, and the robot-arm and A1-well orientations.

In the following example, two teachpoints have the same labware and robot-arm orientations: landscape and right-arm. However, depending on the robot approach, the A1-well orientation will be different.

 

c	Click OK to exit the dialog box and, if necessary, set or correct the A1-well orientation setting.

3	Drag the new teachpoint under an existing regrip teachpoint.

 

CAUTION The new teachpoint must have a different orientation than the existing regrip teachpoint. Otherwise, the software will prompt you to replace or reteach the existing teachpoint during the drag-and-drop operation.

4	Set the remaining teachpoint parameters.

Setting the approach height

Approach height is the height clearance, in millimeters, the robot must maintain above the teachpoint as it moves towards or away from the teachpoint.

•	Approach Ht (with labware) is the height clearance when the robot is holding a labware.

•	Approach Ht (no labware) is the height clearance when the robot is not holding labware.

 

You can reduce the approach height to prevent collision with shelves or other obstacles above the teachpoint. However, make sure there is sufficient clearance below the labware to prevent collision with raised tabs or other obstacles at the teachpoint.

 

CAUTION Incorrect approach heights can cause the robot to crash into obstacles.

IMPORTANT The approach height value works in conjunction with the approach distance to clear obstacles near or at the teachpoint. Therefore, before setting the approach height value, you should determine the approach distance value to use. See Setting the approach distance.

If Approach Distance is set at the default value:

•	The Approach Ht (with labware) value should allow the robot and labware to arrive at the teachpoint without bumping into any obstacles, such as raised tabs, at the front of the teachpoint.

•	The Approach Ht (no labware) value should allow the robot and its opened grippers to arrive at the teachpoint without bumping into any obstacles, such as raised tabs, at the sides of the teachpoint.

Note: If the teachpoint does not have any obstacles on the front or sides, you can set Approach Ht (no labware) at 0. The robot will approach the teachpoint at the higher of the teachpoint or labware minimum gripper offset value.

If Approach Distance is less than the default value:

•	The Approach Ht (with labware) value should allow the robot and labware to arrive at the teachpoint without bumping into obstacles, such as raised tabs, at the front and sides of the teachpoint.

•	The Approach Ht (no labware) value should allow the robot and its opened grippers to arrive at the teachpoint without bumping into the tallest labware at the teachpoint.

In general, if a teachpoint has raised tabs only at the front of the teachpoint, the Approach Ht (with labware) value should be greater than the Approach Ht (no labware) value.

Agilent Technologies recommends the following Approach Ht (with labware) values:

 

Device	Approach Ht (with labware)
Most devices	9 mm
Vertical Pipettor shelf with tipbox	6 mm
Centrifuge	5.5 mm
Plate Hub Carousel Carousel or Plate Hotel with standard labware	5–6 mm
Lid Hotel Station	0 mm*
Vacuum Delid Station	0 mm*

* Required approach height for the device

To set the Approach Ht (with labware) and Approach Ht (no labware) parameters:

Double-click in the Approach Ht box and type the desired value. The default value for both parameters is 15 mm.

Setting the approach distance

Approach distance is the distance, in millimeters, from the teachpoint. Within this distance, the robot must:

•	Maintain the specified approach height.

•	Move in a straight line toward or away from the teachpoint.

 

You use the approach distance to provide clearance:

•	Between the teachpoint and the robot grippers.

•	If the teachpoint has obstacles on either side of the teachpoint.

For example, you can use the approach distance parameter so that the robot grippers can enter and exit a device such as the Microplate Centrifuge without bumping into the sides of the narrow entryway.

When determining the value to specify, manually move the robot away from the teachpoint until the grippers and the teaching jig are clear of the edge of the teachpoint and obstacles near the teachpoint.

In addition, consider the following:

•	In general, if Approach Distance is set at the default value, you can use the default Approach Ht values.

•	Rotating robot movements are faster than straight movements. If Approach Distance is set at 0, the robot will move (or mostly rotate) from the safe zone directly to the teachpoint at the Approach Ht.

Before setting Approach Distance at 0, you should consider the obstacles surrounding and at the teachpoint. If obstacles near or at the teachpoint do not permit the rotating movement, set Approach Distance at the smallest possible value for the location.

•	If Approach Distance is 0, Approach Ht (no labware) must be a higher value to ensure clearance for the tallest labware that will be placed at the teachpoint.

•	If Approach Distance is greater than 0, Approach Ht can be low enough to clear raised tabs at the teachpoint.

 

CAUTION When setting Approach Distance, be aware that a large value can cause the robot arm to back into the raised robot base or the mast.

 

To set the Approach Distance parameter:

Double-click in the Approach Distance box and type the desired value. The default value is 75 mm for the landscape orientation and 125 mm for the portrait orientation.

Setting the gripper offset parameters

About gripper offset parameters

 

 

 

The robot gripper offset range parameters tell the Direct Drive 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.

The Direct Drive Robot uses three types of gripper offset ranges to determine the most compatible grip position for the labware type:

1	Gripper offset range for the labware. Specified on the Direct Drive Robot tab in the Labware Editor for each labware definition.

2	Gripper offset range for pick-location device. Specified in the DDR Diagnostics software for a given device (device A).

3	Gripper offset range for place-location device. Specified in the DDR Diagnostics software for a given device (device B).

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:

•	Minimum gripper offset. The vertical distance (mm) from the teachpoint to the lowest point where the robot grippers can hold the microplate securely. The default value is 0 mm.

•	Maximum gripper offset. The vertical distance (mm) from the teachpoint to the highest point where the robot grippers can hold the microplate securely. The default value is 10 mm.

 

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

Setting the Position Z, Waist, Elbow, and Wrist parameters

 

CAUTION In general, you do not need to change any of the coordinates after setting a teachpoint.

If necessary, you can fine-tune the teachpoint coordinates using the following parameters:

•	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.

To set a coordinate parameter:

Double-click in the Position Z, Waist, Elbow, and Wrist box and type the desired value.

Note: You can also use the jog method when fine-tuning. For instructions, see Editing existing teachpoints.

Selecting custom actions

Custom actions are special pick-and-place actions that the robot will perform after it arrives at the teachpoint. The set of custom actions include:

•	Delidding at a Lid Hotel Station or a Vacuum Delid Station

•	Relidding at a Lid Hotel Station

•	Stirring the labware

•	Pressing down a labware (for example, PCR plate) to ensure placement

You can select a custom action for any teachpoint.

To select a custom action for a teachpoint:

1	Select the appropriate action from the Pick Custom Action list.

Use the Pick Custom Action to:

•	Relid labware at the Lid Hotel Station. From the Pick Custom Action list, select Lid Hotel relid.

Note: You can select a custom action for each storage bay in the Lid Hotel Station. Do not assign a custom action for the platepad at the top of the station.

•	Stir the labware at the teachpoint. From the Pick Custom Action list, select Stir.

2	Select the appropriate action from the Place Custom Action list.

Use the Place Custom Action to:

•	Delid labware at the Lid Hotel Station or the Vacuum Delid Station. From the Place Custom Action list, select either Lid Hotel delid or Vacuum delid.

Note: You can select a custom action for each storage bay in the Lid Hotel Station. Do not assign a custom action for the platepad at the top of the station.

•	Press down labware, such as a PCR plate, when the robot is placing the labware. During the place action, the robot will press down by 2 mm, open the grippers to release the labware, and then move up by 2 mm.

From the Place Custom Action list, select either Pushdown (landscape) or Pushdown (portrait).

 

Saving the teachpoints

The teachpoint information is stored in:

•	The teachpoints file on the controlling computer

•	The robot firmware

When you create or modify teachpoints without saving them, the changes are kept in computer memory only. Saving the teachpoints in DDR Diagnostics updates the teachpoints file and the information in the firmware.

Note: Saving teachpoints adds new teachpoints or updates only those teachpoints that have been modified in DDR Diagnostics. Saving teachpoints does not overwrite all of the existing teachpoints. For example, a teachpoint file contains teachpoints A and B. You modify teachpoint B and add teachpoint C. When you save the teachpoints, teachpoint C is added, and teachpoint B is updated. Teachpoint A is not touched.

To save the teachpoints:

1	Click Save teachpoints.

 

If there are any errors or warnings, such as an out-of-bounds parameter value, the software will list them in the Teachpoint Errors and Warnings dialog box.

 

2	Click OK to close the dialog box and return to the teachpoints table. Notice that error and warning symbols appear in the teachpoints table.

3	To display the error or warning message, rest the pointer on the error or warning symbol.

 

4	Fix the errors, and then click Save teachpoints.

Be sure to remove the teaching jig from the robot grippers when you are finished. See Installing and removing the teaching jig in the robot grippers.

Selecting the All regrip stations are safe from above option

The All regrip stations are safe from above option enables the robot to rotate its wrist above the regrip station while it prepares to change labware orientation.

If the option is selected, the robot will place the labware at the regrip station, lift its arm to the specified Approach Ht (no labware) distance above the regrip station, rotate its wrist, and then pick up the labware using the new orientation. The robot does not retreat into the safe zone during this process.

If the option is not selected, the robot will place the labware at the regrip station, retreat into the safe zone, and then pick up the labware at the regrip station using the new labware orientation. The specified Approach Ht and Approach Distance values are used during the retreat and pickup movements.

After you have finished setting all the teachpoints, review the list in the teachpoints table. You can select the All regrip stations are safe from above option in the Profiles tab if:

•	There is at least one regrip station that is used to change labware orientations.

•	There is sufficient clearance above all regrip stations to permit the robot to rotate its wrist during a labware orientation regrip process.

To see where you select this option in the Profiles tab, see Creating Direct Drive Robot profiles.

Related information

 

For information about...	See...
Robot Diagnostics	Software overview
Direct Drive Robot axes	About the Direct Drive Robot
Quick reference of DDR Diagnostics commands and parameters	Quick reference