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  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 move the robot to the teachpoint:

1	Make sure the robot has a clear path to the teachpoint. For example, you might want to move the robot into the safe zone.

2	Remove obstacles in the path of the robot.

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

 

4	In the Speed list, select Slow.

 

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

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

In the following example, the HotelTop teachpoint is selected. In the Robot Status area, the teachpoint at the top of the Plate Hotel becomes red.

 

7	If you selected a teachpoint with multiple orientations, such as a regrip station, select the specific set of orientations you want to verify.

Note: 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).

 

•	If the Optimal orientation is selected to indicate that both the right-arm and left-arm orientations are available, select Right or Left.

In the following example, the Regrip station allows for both the right- and left-arm orientations (1). To verify the right-arm orientation, Right is selected (2).

 

Agilent Technologies recommends that you verify one set of orientations at a time. If multiple sets of orientations are selected, the robot will use the optimal path.

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

 

Alternatively, you can right-click the red teachpoint in the Robot Status area, and then click Move to.

 

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

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

In the following example, the robot should be in the right-arm mode and the grippers should be opened as if it was transferring a labware in the landscape orientation.

 

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.

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. For example, you might want to move the robot into the safe zone.

2	Remove obstacles in the path of the robot.

3	Manually place the labware at the teachpoint.

4	In DDR Diagnostics, select the labware you want to use from the Labware list.

 

5	In the Speed list, select Slow.

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

7	If you selected a teachpoint with multiple orientations, such as a regrip station, select the specific set of orientations you want to verify.

Note: 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).

 

•	If the Optimal orientation is selected to indicate that both the right-arm and left-arm orientations are available, select Right or Left.

In the following example, the Regrip station allows for both the right- and left-arm orientations (1). To verify the right-arm orientation, Right is selected (2).

 

Agilent Technologies recommends that you verify one set of orientations at a time. If multiple sets of orientations are selected, the robot will use the optimal path.

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

 

Alternatively, you can right-click the red teachpoint in the Robot Status area, and then click Pick from.

 

The robot moves to the teachpoint, picks up the labware, and moves it to the safe 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, 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. For example, you might want to move the robot into the safe zone.

2	Remove obstacles in the path of the robot.

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

4	In DDR Diagnostics, make sure the correct labware is selected in the Labware list.

 

5	In the Speed list, select Slow.

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

Note: Alternatively, you can select the teachpoint under the blue labware. In the Robot Status area, the selected teachpoint turns blue.

7	If you selected a teachpoint with multiple orientations, such as a regrip station, select the specific set of orientations you want to verify.

Note: 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).

 

•	If the Optimal orientation is selected to indicate that both the right-arm and left-arm orientations are available, select Right or Left.

In the following example, the Regrip station allows for both the right- and left-arm orientations (1). To verify the right-arm orientation, Right is selected (2).

 

Agilent Technologies recommends that you verify one set of orientations at a time. If multiple sets of orientations are selected, the robot will use the optimal path.

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

 

Alternatively, you can right-click the red teachpoint in the Robot Status area, and then click Place at.

 

With the labware in its grippers, the robot moves to the teachpoint, places the labware, and retreats to the safe 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. 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. For example, you might want to move the robot into the safe zone.

2	Remove obstacles in the path of the robot.

3	Manually place the desired labware at the existing verified teachpoint (for example, platepad 1).

4	In DDR Diagnostics, select the labware you want to use from the Labware list.

5	In the Speed list, select Slow.

6	In the Move area:

a	Select the teachpoint you want to verify from the list above the red labware. In the Robot Status area, the selected teachpoint turns red.

b	Select the existing verified teachpoint (for example, platepad 1) from the list above the blue labware. In the Robot Status area, the selected teachpoint turns blue.

 

7	If you selected a teachpoint with multiple orientations, such as a regrip station, select the specific set of orientations you want to verify.

Note: 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).

 

•	If the Optimal orientation is selected to indicate that both the right-arm and left-arm orientations are available, select Right or Left.

In the following example, the Regrip station allows for both the right- and left-arm orientations (1). To verify the right-arm orientation, Right is selected (2).

 

Agilent Technologies recommends that you first verify one set of orientations at a time first. After checking each set of orientations, select Optimal to check the optimal path the robot selects.

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

 

Alternatively, you can right-click the red teachpoint in the Robot Status area, and then click Transfer from <teachpoint_name>.

 

The robot picks up the labware at the reference teachpoint, places it at the teachpoint you want to verify, and retreats into the safe 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 5, select Fast).

Related information

 

For information about...	See...
Planning Direct Drive Robot teachpoints	Planning Direct Drive Robot teachpoints
Using other commands and parameters in the Direct Drive Robot Diagnostics	Using DDR Diagnostics
Quick reference of DDR Diagnostics commands and parameters	Quick reference