System Setup
03-914642-00:6
6-9
7. Press ENTER to save the position values and complete the routine. The arm
will return to its home position.
6.4.5 Equilibrium
Block
This coordinate setting positions the 40 ml water sample vial into the center vial
position of the Equilibrium Block. From this point, the other vial positions in the
block are determined (seeFigure 6-3).
Figure 6-3
Use the following protocol to recalibrate this position:
1. Place a capped full vial in sample tray position 22.
2. From the Calibration Setup menu, scroll to the "Equilibrium Block" menu item
and press ENTER.
3. The Robotic Arm will move and the following message will be displayed:
* Equilibrium Block *
Press Enter to get vial 22 for Alignment
or any other key to skip
4. Press ENTER. The arm will retrieve the vial, go to the equilibrium block area
and a version of the Coordinate Settings menu as described in Section 6.4.8
will be displayed on the screen.
5. Press "7" to train the gripper's vertical height for grasping vials.
6. Press “7” again to confirm that the trained position is constant.
7. Press ENTER to save the position values and complete the routine. The arm
will return to its home position.
6.4.6 Knockoff
Clearance
This coordinate setting will allow the gripper with a vial to pass under the Knockoff
plate and into and out of the soil and water sampling positions (see Figure 6-4).
Equilibrium Block
Set Point