Setup Tutorial 4:  Teaching the Dispense Heads

While it is permissible to teach a Path and repeat the Path without knowing the dimensions or mounting position of the syringe heads, this is not the recommended procedure.  If GD is taught this information, if a syringe and needle size changes or if a syringe needle bends, GD can automatically adjust the robot motions so that the new syringe tip will follow the previously taught Path.  In addition, if two syringes are used, the Nodes taught with one syringe can be easily repeated by the other syringe.

»  To define the Dispense Heads, open Configurations > Dispense Heads.

To simplify training the dimensions and mounting of syringes, you must select a "Reference Point" in the work cell that does not move.  Then, to teach the dimensions and mounting of a different syringe tip, you only need to position that tip at the same Reference Point and click a button.  GD will compute the required information and will automatically put this data into effect each time the syringe is selected.

NOTE:   Once the Reference Point value is taught, it should not be changed.  If this value is re-taught with a syringe tip that is a different size or is mounted in a different position on the robot, it will alter the result of any syringe tips that are taught with respect to this new Reference Point and any formerly taught Path's will be incorrect.

» Manually move syringe tip #1 to the position you have selected as the "Reference Point".

» Press Record Ref and Yes to confirm.

» To compute the initial offset for head #1, without moving the robot, press Rec Offset 1 and Yes to confirm.

» If you have a second syringe head, manually position it at the Reference Point.

» To compute the initial offset for head #2, press Rec Offset 2 and Yes to confirm.

» Press Save to store the results on the flash disk.

You have now successfully taught the dimensions and mounting information for the dispensing heads.  Whenever you select to use a head, this information will automatically be put into effect by GD.

If at anytime you either change one of the syringes, adjust the mounting of a syringe clamp or bend a syringe tip, perform the following procedure to re-train the new dimensions and mounting information.

» Manually move the syringe tip to the position you have selected as the "Reference Point".

» To compute the new offset, press Rec Offset for the desired head and press Yes to confirm.

» Press Save to store the results on the flash disk.