Is there a way to error handle the Track Gripper on the Vantage (Venus 4) other than the common retry, ignore, cancel, and abort options?
The issue I have is related to this post, where we have a VSpin integrated in the logistic cabinet. However, our VSpin does not have a loader, so the track gripper has to insert the plate inside the centrifuge, which is not a problem, as I was able to teach the position after some trial and error.
But my main concern is if the track gripper errors out when placing or picking up plates in the centrifuge, where the arm is in the door. Luckily, it hasn’t happened yet, but it’s something in the back of my mind in case the track gripper decides to have a mind of its own one day.
Based on what I seen so far, when an error occurs on the track gripper (such as crashing or failing to detect a plate), it brings up the recovery dialog, which just aborts the method regardless of what option I selected. And once the method aborts, so does the AgilentCentrifugeCOM library, and the door automatically closes. And there’s no way for me to access the control panel for the track gripper to move it out of the way, or unlock the cabinet door, before aborting the method, that I know of, unless I overlooked a minor detail that could help me.
Any ideas I could try, or should I hope for the best?
I don’t have any advice for the track gripper, but on the VSpin side of things if you remove its air supply then it can’t automatically close its door. In our case the issue was that the e-stop was wired to cut power to the whole workcell, and on power loss the VSpin would close its door like you’re describing. We had to rig it so that an e-stop press would also dump the VSpin’s air supply through a solenoid valve and remove its ability to chomp down on tasty robot fingers.
If you have the time/space in the logistics cabinet, adding a loader to the VSpin would also help, and probably save you lots of teaching headaches in the future.
I don’t have a trackgripper, but it’s basically an IPG that moves lower and a bit more expensive right?
Anyway, the option cancel is the one you might want to go. Because that will cancel your action without error handling. I would then create a so-called “Errorhandling by the user” block for this. Basically that on any error that happens with the loading when location is vSpin, your trackgripper moves to a safe location. (Move plate to a sequence that is considered safe). Then you would inform the user via a dialog that something like this happend and needs to inspect the site. That way you always move the track gripper out of harms way and you can customize your error handling.
Thank you for reminding me that, as I completely forgot about that mechanism! I was able to install a valve on the line (outside the robot) to relief the air pressure before aborting the method, and it works like a charm now
Ah, that is a good point and something I will have to try since I don’t know if the track gripper will throw another error if it tries to move to a safe location after the first error. I know for the iSwap, at least, the control panel to move it pops up when an error does occur. Not so much for the track gripper.
I have my transport step separated into a get plate, move plate and place plate. All of them into a “Error handling by the user”. In case an error happens, I decide what to do. Labware not found for example gives me a opportunity to place it manually (Unlock vantage, show lights, instruct with dialog) but “Hardware Error” give me a pause to inspect what’s happening. The option you need to select is cancel.
and something I will have to try since I don’t know if the track gripper will throw another error if it tries to move to a safe location after the first error. I know for the iSwap, at least, the control panel to move it pops up when an error does occur. Not so much for the track gripper.