Z-Search Sub-Panel

When the "Configuration" tab is clicked and the "Z-Search" button is pressed, the panel is displayed in the bottom right of the Configuration page.  This panel defines the parameters for searching for the Z height of a surface using the "Z-Contact Sensor".

The Z-Search is an option that can be selected for any Path.  When enabled, at the start of the Path, GD samples the Z-Contact Sensor to locate the height of the work surface at the first Node position.  The correction between the actual height and the Z height of the first Node is dynamically applied to all Nodes in the Path.

If a Path has Z-Search enable, at the start of the Path, the syringe tip will be controlled as follows:

Normally, the Z offset specified in the Path Editing Page is utilized to move the entire Path up to the proper height above the work surface to correctly dispense the fluid.

Z-Search Settings

Description

Probe digital signal

Defines the Digital I/O signal number for the contact probe.  This signal becomes TRUE when the surface is detected.  This defaults to 10039, which is the DIN signal normally connected to the Z-Contact Sensor.

Search speed (% max)

Defines the speed (as a percentage of the robot's maximum nominal speed) for the search motion.

Search accel (% max)

Defines the acceleration (as a percentage of the robot's maximum nominal acceleration) to be used during the search motion.

Search distance (mm)

Defines the maximum distance in mm that the robot is permitted to move during the search. If this distance is exceeded, the search will fail and will generate an error.

Backout gap

Defines the distance in mm between where the slide is fully extended and where the slide is retracted sufficiently to trigger the contact sensor.

Save

Saves the settings to the flash disk.