Specifying the table dimensions and robot position

 

 

About the table dimensions and robot position

When you set up the robot, you must let the software know the following:

•	Dimensions of the attachment surface (or table)

•	Position of the robot on the table

•	Orientation of the robot on the table

This information helps the software to draw an accurate representation of the table and display the relative positions of the robot and teachpoints in the Robot Status area.

 

To specify the table dimensions and robot position, you will be:

•	Backing up existing settings

•	Measuring the table dimensions

•	Determining the angle of the robot

•	Entering the information in DDR Diagnostics

Backing up existing settings

Agilent Technologies recommends that you back up existing table dimensions and robot position settings before changing them.

To back up existing settings:

1	In the DDR Diagnostics Setup tab, click Save ALL advanced settings to file.

 

2	In the Save As dialog box that opens, type a name for the backup file. You can use the default backup file location, or select a different location. The default location is C:\Program Files\Agilent Technologies\Settings\DDR\FirmwareBackup.

3	Click Save. The robot settings are saved in an XML file.

Measuring the table dimensions

Take the measurements that are shown in the following diagram. The crosshair symbol in the diagram marks the center of the robot. The W-axis is width of the robot-attachment surface. W1 and W2 specify the lengths of the two segments of the width. The line that intercepts the end of W1 and the beginning of W2 runs through the center of the robot base. The D-axis is the depth of the robot-attachment surface. D1 and D2 specify the lengths of the two segments of the depth. The line that intercepts the end of D1 and the beginning of D2 runs through the center of the robot base.

 

Note: The measurements can be approximate and the axis assignment is arbitrary. The information is used to draw the graphic in DDR Diagnostics and is not used for robot operation.

Determining the angle of the robot

During this procedure, you will determine the angle between the robot 0° position relative to the D-axis. The robot is at its 0° position when the mast sits directly above the robot cable connection.

The following diagram shows the robot rotated halfway between the 0° position and the D-axis. Notice the location of the robot cable connection (the gray rectangular block).

 

 

WARNING  Be sure to wear protective eyewear when entering the system and working with the robot.

To determine the angle of the robot:

1	In Direct Drive Robot Diagnostics, click the Jog/Move tab, and then click Disable Motors. You should be able to rotate the robot waist and arm manually without resistance.

 

2	Turn the robot waist such that the bicep is parallel to the D-axis and the mast is in the D2 half of the plane.

 

3	In Direct Drive Robot Diagnostics, note the Waist angle in the Robot Status area. This is the robot angle value you will use.

 

Entering the information in DDR Diagnostics

To set or update the table dimensions and robot position

1	In DDR Diagnostics, click the Setup tab.

 

2	In the Table Dimensions and Robot Position area, type the desired values that define the table: W1, W2, D1, and D2.

3	Type the Robot angle value. This is the Waist angle value displayed in the Robot Status area.

4	When you are finished, click Apply. The changes are saved to the firmware. In addition, the graphic in the Robot Status area updates.

 

5	Check the graphic and make sure it is correct. If necessary, repeat the procedures in this topic to make any necessary adjustments. For example, if the robot appears backwards in the software, you can rotate the D- and W-axes in the Setup tab.

6	After you have verified that the table settings are correct, click Save ALL advanced settings to file. The values in the Setup tab are saved to an XML file. You can use the XML file to recover the settings if they are lost.

 

 

Related information

 

For information about...	See...
Homing the robot	Homing the robot and grippers
Planning teachpoints	Planning Direct Drive Robot teachpoints
Setting teachpoints	Setting teachpoints