does anyone know if this is possible without triggering a firmware error upon iswap movement? with the obvious caveat that we make sure there is no collision with the grippers for this particular movement
I don’t know about CO-RE grippers specifically, but in the past (with heavy firmware work) I was able to keep tips mounted on all 8 channels while moving iSWAP, and also keep the iSWAP holding a lid while the tips were performing operations.
do you know precisely the firmware commands i need to send? i wonder if there is a configuration bit on the robot that needs changing as well
This was 2018, so my memory is fuzzy. But I think the issue was that the iSWAP had to be returned via firmware to precisely its “home” position before attempting any further commands. And its “home” wasn’t just the normal position the Venus command would send it to, it as more specific.
Aaron Danberry at Hamilton was involved in the project and he’s still there. If you reach out and say it was with Eli, he’ll remember (for better or worse )
several years ago, we also had this requirment, and we did some test with iSWAP and channel, but we failed. when iSWAP is moving, there can not be anything on the channels including tips/gripper. If you want to do it, you have to do some modification on firmware, which can be done only by Hamilton.
this is possible only if the iSWAP and channels are on two seperate arms.