Setting Direct Drive Robot properties

When to set Direct Drive Robot properties

If you are using the Direct Drive Robot in your automation system, you must specify the robot properties for the labware that the robot will handle. Because the weight, material, and design varies, you specify the properties for each labware type.

You must have a technician or administrator user account to perform this procedure.

About the robot gripper ranges properties

 

 

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 DD Robot Diagnostics software for a given device (device A).

3	Gripper offset range for place-location device. Specified in the DD Robot 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.

 

 

Procedure

To set Direct Drive Robot properties:

1	Open the Labware Editor.

2	In the Labware Entries tab, click the Direct Drive Robot sub-tab.

Figure. Direct Drive Robot sub-tab

 

3	Enter the values for the following properties according to the labware type that you are defining.

 

Parameter	Description
Landscape Orientation Gripping Ranges (mm)	The distance from the bottom of the microplate to the lowest and highest points where the bottom of the robot grippers will be holding the microplate in landscape orientation. Default range: 0–10 mm The minimum and maximum values in the ranges depend on the given microplate features and the robot gripper fingers you are using. For example, suppose you are using standard grippers, which are 4.5 mm tall. If the microplate has a 6‑mm tall skirt, you could set the gripper offset range from 0 mm to 2.00 mm. At the minimum, the standard gripper will be flush with the bottom of the microplate. At the maximum, the bottom of the gripper will be at 2.00 mm, still permitting the robot to grip the microplate securely. Specifying multiple ranges provides the robot with additional grip options. In the following example, to avoid the ledge at the top of the skirt, you can specify two ranges: one above the skirt and another on the skirt. Use a comma to separate ranges.
Portrait Orientation Gripping Ranges (mm)	The distance from the bottom of the microplate to the lowest and highest points where the robot grippers can hold the microplate in portrait orientation. Default range: 0–10 mm The minimum and maximum values in the ranges depend on the given microplate features and the robot gripper fingers you are using. The long sides of some microplates have a raised section in the middle of each side. In this case, set the minimum gripper offset higher than the uneven surface to ensure that the robot can grip the microplate evenly and securely. The following example shows how the range can vary depending on the microplate features. Specifying multiple ranges provides the robot with additional grip options. In the following example, you can specify three ranges: one above the raised section, one at the raised section, and one on the skirt. Use a comma to separate ranges.
Grip torque percentage	The grip force with which the robot grips the microplate, where 100% is the maximum gripping force. A smaller value grips the microplate with less force than a greater value. The force with which the robot can grip a microplate depends on the microplate weight, material, and design. You should run some tests to optimize the setting.

Related information

 

For information about...	See...
Workflow for adding labware to the Labware Editor	Workflow for defining labware
Opening the Labware Editor	Opening the Labware Editor
Using the Labware Editor	Labware Editor overview
Direct Drive Robot	Direct Drive Robot User Guide