Transport Paths Editor

Hamilton (Venus)
1

Hi all - does anyone have any documentation for the new Transport Paths Editor that was released in Venus 6.2? We managed to get a custom path taught, it works well in the transport paths editor, but when we try to execute it in a run it gives a generic labware definition error.

2

Hi @cfawcett ,

I’m sorry to hear you are having an issue. Could you export the path that you are using and upload it along with a trace file and a method export that uses the labware that is throwing the error? This will help determine what might be going on with your path.

The programmer’s manual for VENUS 6.2 does have a section dedicated to the Transport Paths Editor:

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3

Hey Brandon, thanks so much for your response! Is there a link to the 6.2 programmers manual? I think we must only have the 6.0 version. We figured out the error, it was a grip segment issue, but we do have a few additional questions.

Basically, we want to pick up a capillary cartridge and drive it to the rear of our Vantage where the IPG will insert it into a row of a 384w plate and pause for a few seconds to allow the liquid to get into the capillaries. The 384w plate is tilted up 90 degrees using a plate tilter. We then want to drive the IPG to place the cartridge in its reader, which is also to the rear of the Vantage. The plate tilter and reader are both off deck, behind out Vantage.

So far, I’ve been able to manually teach a path to do this by adjusting 1 pose at a time in the paths editor. There are two issues we’re looking for insight on:

  1. Taught paths seem to only be usable in a GetPlate or PlacePlate command. Is there any way to use them in a move plate command? Currently, I am picking the plate up, then using the taught path on the PlacePlate command (final pose and teaching pose is where the plate gets placed). This overall achieves the movement, but the IPG executes a dance after which I assume is the exit path, I don’t see any way to disable or control the exit path on my end.
  2. Because we are inserting the cartridge into a plate, we need a slight pause while the capillaries are inserted to allow liquid to enter them. This is where using a taught path on a MovePlate command would be useful as well. The only other way I see to do this is using FW commands to pilot the IPG, which would allow us to put a timer in the method.