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Teaching the Instrument Positions (Continued)
32 If the robot is clear to move up to its highest vertical position,
33 Teach the clearance path:
WARNING
You must support the robot arm before performing the next
step! When the robot motors are released, the arm will drop if not
supported.
P/N 113564 Rev. 2
you do not need to teach a clearance path. Click the Next button
and skip to step
34
on page 76.
If the robot is not clear to move up to its highest vertical
position, continue with the next step.
Use the Clearance window to teach the path out of the
instrument if the robot cannot move directly up to its vertical limit
when leaving the material location. The clear path is made up of
multiple positions. The robot will move in a direct line from one
position to the next. For obstructions directly above the arm, you
will usually teach a position to the left or right, and then any
additional positions as necessary to clear the vertical
obstruction.
a
Hold the Twister II arm so it does not drop.
b Click the Disable button to release the robot servo motors
so you can move the robot to the desired position. Make
sure the robot can reach the next position by moving in a
direct line from any material position in the instrument.
c
Move the robot to the next position in the clearance path and
click the Teach button. The robot servo motors engage when
you click the Teach button.
d Repeat steps a through c until the robot arm has a clear path
up to the vertical limit.
Twister II Robot User's Manual
Teaching the Robot
Caliper Life Sciences, Inc.
75
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