Coregripper limit traverse height

Hamilton (Venus) Venus Questions
1

Hello there

I have special “wide” on x axis but shallow labware that needs to be transported by the coregrippers without offset(its unstable). The issue is that it would bonk into the parked iswap when traversing the y axis (by just a few millimeters).

I do not normally have issues with using firmware commands for traverse heigh, acc speed etc for channels/iswap/etc when needed but i cannot get the th/te to stick in my transport safety tests; the coregripper goes to the same traverse height no matter my input.

I’m in Venus 4.5 on this system and i do use the normal firmware/command/parameter function setting to only set the parameters i want but otherwise using single steps to execute the actual transport.

So questions:

  • anybody have suggestions for actual composition of command/parameter?
  • do i need to do the whole command in firmware(I’d rather not)
  • does any labware properties affect the max traverse height(I think not?) as you should technically have a range that should be above the safe height to transport in for shallow labware.

thank you for your assistance and please let me know if i need to clarify my strain of thoughts

2

Hi @AlexanderR,

The position of the channels after a CORE grip command is where the bottom of the labware sits at 145mm above the deck, or rather at traverse height.

In the following example, I am gripping a 20mm tall plate and then a 60mm tall plate both with a grip height of 10mm:
After get 20mm plate
11:02:33.202 8AF#8000#00: P7 er00 ZGza27684zv11996
11:02:33.203 8AF#8000#00: P8 er00 ZGza27684zv11996
After get 60mm plate
11:02:39.463 8AF#8000#00: P7 er00 ZGza29548zv11996
11:02:39.466 8AF#8000#00: P8 er00 ZGza29548zv11996

29548 increments * 0.01072765 mm/increments = ~297mm
297mm - 50mm (the distance of the plate hanging below the grip height of the 60mm tall plate at 10mm) = 247
Account for the origin being 100mm below deck and you are at 147mm, roughly traverse height… and account for the offset of the gripper pins to the bottom of the gripper too

So it’s not the labware properties that define where channels go when gripping plates, but rather the actual labware definition and its geometry. Is there a way you can possibly falsify your labware’s geometry so that the position of the channels at the end of the grip position are outside of where a collision with the iSwap would not happen?

Matt

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