IPG set teaching path / use taught path

[dominik.b]

Hi there,
is there a description / manual somewhere how to teach IPG / iSwap paths? I see there are the option “to_carrier”, “complex movement”, “taught path”. I have some nasty position’s on my deck and sometime’s differing plate heights, and would like to have more control over the IPG to ensure it does not crash into anything. I cannot find anything about it in the manual or on the forum.

I’m planing to integrate a sealer / desealer, centrifuge and capper/decapper outside of the machine. Most of the positions are not a problem, but the sealer give me some trouble:

I’m planing to integrate it below the MPE², a position the iSwap can certainly reach. But the MPE² is higher than the traverse heigth, so I would need a path that approaches the sealer in a straight line from the right. Is this possible to teach somehow?

best,
Dominik

[NickHealy_Hamilton]

Hi @dominik.b

You shouldn’t need to teach a custom IPG path to safely reach this location.

Once the IPG has gripped a plate and returned to labware traverse height, there are two main considerations:

• Location of the arm when the IPG rotates into the needed grip direction for the ‘PlacePlate’ step (avoid rotating into the MPE while preparing final grip direction)
• Y drive location of the IPG as it approaches the sealer (ensure MPE is North of IPG during final X approach)

Here is what I would do:

Use a standard GetPlate step, using default grip direction using the skinny side (this will preserve the required labware orientation when placing to the sealer)

Use MoveMPH step to move the arm to a safe X position fully clear to the right of the MPE. For the grip direction required by the PlacePlate step, the IPG will need to rotate to full extension - this arm movement will ensure clearance without parking the IPG.

Use complex (hotel) movement in the PlacePlate step. When using a retract distance of 139mm or more, full IPG extension will be forced. This will also stage the IPG in the required Y position atleast 139mm right of the target (in X).

For retrieving the plate from the sealer, call the MoveMPH step before the GetPlate step, using the same complex movement parameters in the GetPlate step that were used in the previous PlacePlate step.

Hope this helps.

-Nick

[dominik.b]

Thanks @NickHealy_Hamilton , makes total sense This will solve my specific problem here. Still one question remains: Is it possible to teach a custom path anyways?

€: Or to formulate differently, just to make sure I get the logic correctly.

1. The ISWAP will first perform all rotations needed to be able to get / place a specific labware. This will happen at the position the pipetting arm is at that particular moment.
2. The arm will move in X direction and grab the plate, ISWAP will then move to traveling height.
3. The arm will perform the rotations needed for the place command without moving in X.
4. It will move in X to place the plate.

[NickHealy_Hamilton]

Hi @dominik.b

No problem.

Your understanding of the IPG rotation semantics is correct.

Regarding teaching of custom IPG paths, this is a brand-new feature implemented as of VENUS 6.2, which allows full control of drive positions and grip directions during execution of custom IPG movements to get or place a plate in very challenging locations and situations.

That said, we are currently working with the software team to add some features I think are important to include in order to make the process more intuitive and seamless during teaching and runtime execution.

For the time being, as your transport scenario can be overcome without custom paths, I would recommend holding off until some features are added. When this is available I will be sure to update with more information and instruction.

Thanks.

-Nick

[dominik.b]

Thank you, Nick. We’re looking forward to the update. It’s great to see that you’re still investing so much in further development—other vendors could certainly take a leaf out of your book.