Cycling teachpoints

 

 

About teachpoint cycling

After you have set and verified each teachpoint, you can have the robot transfer labware to and from multiple teachpoints in a cycling pattern as a final check. You can select the teachpoints you want to verify and specify the sequence in which the transfers will occur. Doing so allows you to check the accuracy of the selected teachpoints without having to write or run a protocol.

Cycling sequences

Two types of teachpoint-cycling sequences are available: Sequential, and all permutations.

Sequential

In sequential cycling of teachpoints, the robot will transfer labware to the selected teachpoints in the order you specify. For example, if you select five teachpoints, you can specify the following order:

 

Note: You can select a teachpoint more than once to transfer labware to that location multiple times, as the following example demonstrates.

 

All permutations

In all-permutations cycling of teachpoints, the robot will transfer robot to the selected teachpoints as shown:

 

Before you start

Plate stages

IMPORTANT Make sure the device plate stages are extended so that the robot can place labware at these teachpoints during cycling.

The cycling function is a feature of DDR Diagnostics only. During cycling, the VWorks software does not send commands to the devices to open device doors or extend the plate stages. Therefore, you must use the commands in the device diagnostics to move the plate stages into positions before cycling the teachpoints. For instructions on how to move the plate stages into position, see the device user guide.

Labware lids

Be aware that there will be no sensor feedback during cycling. If an error occurs during a delid or relid custom action, the error will not be reported.

Procedure

 

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 between multiple teachpoints:

1	In DDR Diagnostics, click the Cycler tab.

 

2	Click Insert teachpoints. In the Select Teachpoints dialog box that opens:

a	Select the teachpoints you want to verify. CRTL+click multiple teachpoints to add them simultaneously.

Note: You can select the same teachpoint more than once to indicate that you want to transfer labware to that teachpoint multiple times.

b	To arrange the order of the teachpoints, select a teachpoint in the list, and then select either Insert before or Insert after in the Insertion types list.

 

3	Click OK to return to the Cycler tab. The selected teachpoints appear in the Teachpoints list. They should also be in the order you specified.

 

4	Review the list in the Teachpoints area. To remove a teachpoint from the list, select the teachpoint in the list, and then click Remove teachpoints.

5	Select Pause after if you want to pause the cycling after a specific number of cycles. Type the number of cycles after which you want to pause in the cycles box.

6	Select All permutations if you want to run that type of cycling sequence. See Cycling sequences.

7	Place the labware at the first teachpoint.

8	When you are ready, click Start to begin cycling. Notice that the Start button changes to the Pause button.

During teachpoint cycling, you can:

•	Monitor the cycling. To do this, check the number displayed in the Cycle count area. You can also view the robot movements in the system or in the Robot Status area.

•	Pause the cycling. To do this, click Pause. The robot will pause after the current pick-and-place action. To resume cycling, click Resume.

•	Stop the cycling. To do this, click Stop. The robot will stop after the current pick-and-place action.

 

 

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