Hi there,
We are integrating a new piece of equipment and I’ve taught the HMotion position what I thought was successfully, but I am getting a Parameter error when attempting to move from or to this new position: “Parameter ‘i_arrstrPlacePathApproach’ Array size of 0 is out of range (1..5) !”
It is able to parse the pathpoint (0 0 30 0) successfully from the labware properties defined, but then doesn’t seem to complete the “AddPathPoint” within the HMotion library for some reason.
Trace screenshot attached in addition to the labware screenshot.
On the same topic, is there a “programmer’s manual” for the HMotion?
Thanks all!
Hi, there actually is an operator’s manual, your Hamilton rep should be able to get that for you. There is also something like a programer’s manual, no idea whether that is allowed out, though. However, the help of the HMotion library is quite extensive.
The help can also give you some hints about how the programing structure should look like. I have to admit I haven’t seen the path points as labware properties yet, for example.
As an aside, having a rail position at exactly 0 is probably going to cause some problems. The HMotion does not like going to the extreme ends of a rail.
Hi @PatrickM, thank you for the input!
I’ll continue to browse through the help in the HMotion Library - it is quite extensive like you said. That said, I am able to move labware around without issue to other taught positions, so I believe this to be an issue with how the specific location was set up or taught for this integration rather than the programming structure (simply changing the place destination in the HMotion MovePlate submethod call from an already established one to this new one results in the issue, without any other parameter changes). However, when I compare the labware properties for other taught positions, it is not clear what makes this one different (besides the specific roll, pitch, etc.).
Regarding the rail position - that is good to know for future, though our HMotion does not actually have a rail. It is fixed directly on a table. The written rail position of 0 does not cause an issue for other taught positions, though.
The Hmotion operator and programmer’s manual is uploaded here.
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Thank you for the references!
In case anyone finds this in the future with a similar issue, the HMotion labware Approach/Depart path points in the labware properties were missing a terminal space (e.g. "0 0 30 0 " whereas I had “0 0 30 0”). Adding the space immediately fixed the parsing issue.
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