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 Direct Drive 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 existing teachpoint location by jogging the robot in small increments.

•	Replace the existing teachpoint with a new teachpoint.

Adjusting the existing teachpoint

Agilent Technologies recommends that you use the teaching jig 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.

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 jig at the teachpoint.

3	In DDR 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 jig. The two pins on both sides of the teaching jig should align with the white 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 along the Phi-axis. 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 jig (as shown in the following diagram), in Tool space, jog the robot in small increments along the y-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 x-axis.

 

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

10	In the DDR Diagnostics Teachpoints tab, right-click the orientation icon of the teachpoint you are editing, and select Update with robot’s current position. The teachpoint coordinates are updated.

 

11	Click Save teachpoints.

12	Return to Verifying teachpoints to verify the revised teachpoint.

Replacing the existing teachpoint

 

CAUTION The replacement procedure also replaces all the teachpoint parameter values such as the approach height and approach distance.

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 and its parameter values are replaced.

Related information

 

For information about...	See...
DDR Diagnostics	Software overview
Tool space	Opening and closing the robot grippers
Using other commands and parameters in the DDR Diagnostics	Using DDR Diagnostics
Quick reference of DDR Diagnostics commands and parameters	Quick reference