When the Configuration tab is clicked and the Robot Motion button is clicked,, the panel pictured below is displayed in the bottom right of the Configuration page. This panel defines the "Safe Location," robot speeds used by various motions and the minimum Z height for all automatic motions.
Figure 43-16: Safe Location Sub-Panel
The Safe Location is a position where the robot can be moved to be clear of all obstacles in the work cell. When a Process begins execution, the robot is always moved to the Safe Location before going to the first Node. After the motion to the last Node, the robot is returned to the Safe Location before the Process terminates.
Motions to the Safe Location are always performed in two steps:
NOTE: The Z height of the Safe Location is particularly important since the robot moves to the Safe Location by first retracting to this Z height and then moving horizontally to the Safe Location. Also, other operations, like Purging, also use this Z height for moving safely through the workspace.
| Safe Location | Description |
|---|---|
|
Teach Safe Point |
Records the current location of the robot
as the value of the Safe Location. |
|
Move Safe Point |
Moves the robot to the safe point. This is convenient for placing the robot into a known location. |
The "General Motions Settings" contains speed and acceleration specifications that apply when the system is moved automatically during training (e.g. Purge and Move Safe operations) and when the robot is moving between Paths. While executing a Path, the transit and dispensing syringe tip speeds are explicitly specified as parameters to the Path.
| General Motion Settings | Description |
|---|---|
|
Run Speed (% max) |
Defines the speed (as a percentage of the robot's maximum nominal speed) of motions when executing a Process but not following a Path. |
|
Edit Speed (% max) |
Defines the speed (as a percentage of the robot's maximum nominal speed) for automatic motions performed during training and debugging, e.g. Purge motions and moving to the Safe Location. |
|
Accel/Decel (% max) |
Defines the acceleration and deceleration (as a percentage of the robot's maximum nominal values) for all motions except when following a Path. |
|
Accel Ramp (seconds) |
Defines the acceleration/deceleration ramp times (s-curve profiling) for all motions except when following a Path. |
Whenever the robot is moved automatically both during training and when executing a Process, the destination of each motion is tested to ensure that it is not too low relative to the Z height of the Global Frame. This is a precaution to prevent a syringe tip from being inadvertently driven into the deck.
| Path Verify Test | Description |
|---|---|
|
Z path node test |
Defines the minimum Z height relative to the Global Frame for the destination of all automatic motions. Any motion that attempts to go below this value will be terminated and flagged as an error. To disable this test, a large negative values should be entered. |
|
Save |
Updates the motion settings saved on the flash disk. |