Chapter 3: Setting up the BenchCel Workstation
BenchCel Microplate Handling Workstation R-Series User Guide
74
Approach height
Type the height clearance (in millimeters) the robot
must maintain above the teachpoint as it moves
towards or away from the teachpoint location. The
valid range is from 0
mm to 40
mm.
Use this setting to prevent the robot from colliding
with raised tabs or walls at the teachpoint location.
Velocity11 recommends that you set the approach
height at 20
mm (the default value). However, if
there is an obstruction above the teachpoint, you
might need to use a smaller approach height to
prevent collision.
Note:
This value applies when the robot is holding a
microplate. When it is not holding a microplate, the
robot will approach the teachpoint at the height of
the teachpoint, unless you select the Respect
clearance both ways option.
Cavity depth
Note:
This setting is not commonly used and should
be set at 0
mm for most applications.
Type the depth (in millimeters) below the Z
teachpoint coordinate. The valid range is –35
mm to
0
mm.
Use this setting to account for teachpoints that have
a depth (or negative height). For example, suppose
the Robot Gripper Offset is 5
mm and the platepad
you want to use has depth of 9
mm. When the
microplate sits in the platepad, the robot grippers
cannot reach the offset height, as the following
diagram shows. To account for this depth, you can
set the Cavity depth at –9
mm. The robot grippers
will grip the microplate 9
mm above the 5
mm offset
(at 14
mm).
Setting
Comment
App
r
oach ht.
Cavity depth
Summary of Contents for R Series
Page 4: ...Letter to our Customers 2 Agilent Technologies Inc Automation Solutions Division ...
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Page 34: ...Preface BenchCel Microplate Handling Workstation User Guide viii ...
Page 60: ...Chapter 1 Introduction BenchCel Microplate Handling Workstation R Series User Guide 26 ...
Page 124: ...Chapter 4 Performing a run BenchCel Microplate Handling Workstation R Series User Guide 90 ...
Page 210: ...Appendix B Quick reference BenchCel User Guide 176 ...
Page 218: ...Index BenchCel Microplate Handling Workstation R Series User Guide 184 ...
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Page 220: ...Agilent Technologies User Guide G5400 90001 ...
