Difference: TwodxRobotCalibration (1 vs. 23)

Revision 2305 Mar 2010 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Torque settings

  • torque settings are set on a per axis basis (per motor) in robot_parameters.py file (~/robot_software/robot_control_programs/robot_parameters.py)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

The documentation files for the different robot positions can be found below:

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

The interaction between the robot and the microscope has to be carefully monitored at two positions:

  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.
Changed:
<
<

hand Controller Operation

  • Confirm the connection between the hand controller and the control box of the robot that you want to control.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
>
>

Manual robot control and hand controller operation

  • Start the iRobot software, and in the main iRobot window (Robot Control and Automatic Sample Changing) enable MANUAL MOTOR MOVES in the drop down menu at the top of the window. Insert password: nysbc1.
  • Go to the MANUAL ROBOT MOTION tab. This window displays the current coordinates of the two robots in all axes: x, y, z, and r (rotation), and the safe position coordinates for the respective robots. In addition, the window also contains radio buttons for choice of motions and distances (in mm). Whenever the axis of motion is changed, the distance will default to the smallest increment.
  • To obtain the coordinates for a particular position in the trajectories of the robots (the numbers of the positions can be found in the text files attached above) turn to the hand controller. In the hand controller push ESC until the display does not change, and thereafter Manual, and Point, and Jump. Insert the number of the point you want to move to and press enter (the button marked =>) and the display will show the coordinates of this point.
Deleted:
<
<
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point.
 
  • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.
    • select axis
    • select increment to move (will default to smallest increment whenever you change the axis of motion, distances are in mm)
    • move robot manually to desired coordinates with gripper relaxed
Changed:
<
<

edit robot coordinates

  • Follow the instructions from "Hand Controller Operation":
  • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
>
>

Edit robot coordinates

  • The hand controller needs to be connected to the control box of the robot whose coordinates are to be managed. Confirm this connection; if necessary to change connection, shut off the power of the robot, and switch the hand controller to the correct control box.
  • Follow the instructions from "Manual robot control and hand controller operation" to obtain coordinates of the point that needs to be managed.
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
Deleted:
<
<
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
 
  • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press ENTER on the hand controller to save the changes and then escape on the hand controller to return to the main menu.
Deleted:
<
<

edit coordinates for grid tray and grid pickup

  • Follow the instructions above for "Hand Controller Operation". Make sure that the hand controller is connected to the SCARA robot.
 

insert holder into the microscope manually

how to update register positions upon realignment

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 2204 Mar 2010 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Torque settings

  • torque settings are set on a per axis basis (per motor) in robot_parameters.py file (~/robot_software/robot_control_programs/robot_parameters.py)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

The documentation files for the different robot positions can be found below:

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

The interaction between the robot and the microscope has to be carefully monitored at two positions:

  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.

hand Controller Operation

  • Confirm the connection between the hand controller and the control box of the robot that you want to control.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point.
  • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.
    • select axis
    • select increment to move (will default to smallest increment whenever you change the axis of motion, distances are in mm)
    • move robot manually to desired coordinates with gripper relaxed

edit robot coordinates

Changed:
<
<
  • follow the instructions from "Hand Controller Operation":
>
>
  • Follow the instructions from "Hand Controller Operation":
 
  • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
  • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press ENTER on the hand controller to save the changes and then escape on the hand controller to return to the main menu.
Added:
>
>

edit coordinates for grid tray and grid pickup

  • Follow the instructions above for "Hand Controller Operation". Make sure that the hand controller is connected to the SCARA robot.
 

insert holder into the microscope manually

how to update register positions upon realignment

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 2104 Mar 2010 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Torque settings

  • torque settings are set on a per axis basis (per motor) in robot_parameters.py file (~/robot_software/robot_control_programs/robot_parameters.py)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

The documentation files for the different robot positions can be found below:

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

The interaction between the robot and the microscope has to be carefully monitored at two positions:

  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.

hand Controller Operation

  • Confirm the connection between the hand controller and the control box of the robot that you want to control.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point.
  • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.
    • select axis
Changed:
<
<
    • select increment to move (will default to smallest increment whenever you change the axis of motion, is this mm or inches?)
>
>
    • select increment to move (will default to smallest increment whenever you change the axis of motion, distances are in mm)
 
    • move robot manually to desired coordinates with gripper relaxed

edit robot coordinates

  • follow the instructions from "Hand Controller Operation":
  • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
  • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press ENTER on the hand controller to save the changes and then escape on the hand controller to return to the main menu.

insert holder into the microscope manually

how to update register positions upon realignment

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 2003 Dec 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Torque settings

  • torque settings are set on a per axis basis (per motor) in robot_parameters.py file (~/robot_software/robot_control_programs/robot_parameters.py)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

The documentation files for the different robot positions can be found below:

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

The interaction between the robot and the microscope has to be carefully monitored at two positions:

  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.

hand Controller Operation

  • Confirm the connection between the hand controller and the control box of the robot that you want to control.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point.
  • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.
    • select axis
    • select increment to move (will default to smallest increment whenever you change the axis of motion, is this mm or inches?)
    • move robot manually to desired coordinates with gripper relaxed

edit robot coordinates

  • follow the instructions from "Hand Controller Operation":
  • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
Changed:
<
<
  • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press on the hand controller to save the changes and then escape on the hand controller to return to the main menu.
>
>
  • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press ENTER on the hand controller to save the changes and then escape on the hand controller to return to the main menu.
 

insert holder into the microscope manually

how to update register positions upon realignment

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 1903 Dec 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Torque settings

  • torque settings are set on a per axis basis (per motor) in robot_parameters.py file (~/robot_software/robot_control_programs/robot_parameters.py)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

The documentation files for the different robot positions can be found below:

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

The interaction between the robot and the microscope has to be carefully monitored at two positions:

  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.

hand Controller Operation

  • Confirm the connection between the hand controller and the control box of the robot that you want to control.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point.
  • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.
    • select axis
    • select increment to move (will default to smallest increment whenever you change the axis of motion, is this mm or inches?)
    • move robot manually to desired coordinates with gripper relaxed

edit robot coordinates

  • follow the instructions from "Hand Controller Operation":
  • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
Changed:
<
<
  • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press on the hand controller to save the changes and then escape on the hand controller to return to the main menu.
>
>
  • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press on the hand controller to save the changes and then escape on the hand controller to return to the main menu.
 

insert holder into the microscope manually

how to update register positions upon realignment

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 1803 Dec 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Torque settings

  • torque settings are set on a per axis basis (per motor) in robot_parameters.py file (~/robot_software/robot_control_programs/robot_parameters.py)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

The documentation files for the different robot positions can be found below:

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

The interaction between the robot and the microscope has to be carefully monitored at two positions:

  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.

hand Controller Operation

  • Confirm the connection between the hand controller and the control box of the robot that you want to control.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point.
  • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.
    • select axis
    • select increment to move (will default to smallest increment whenever you change the axis of motion, is this mm or inches?)
    • move robot manually to desired coordinates with gripper relaxed

edit robot coordinates

  • follow the instructions from "Hand Controller Operation":
  • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
Changed:
<
<
  • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press escape on the hand controller to return to the main menu. The changes will be saved.
>
>
  • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press on the hand controller to save the changes and then escape on the hand controller to return to the main menu.
 

insert holder into the microscope manually

how to update register positions upon realignment

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 1705 Nov 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Torque settings

  • torque settings are set on a per axis basis (per motor) in robot_parameters.py file (~/robot_software/robot_control_programs/robot_parameters.py)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console
Changed:
<
<		 * The documentation files for the different robot positions can be found below:
>
>		 The documentation files for the different robot positions can be found below:
 
  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

Changed:
<
<
  • The interaction between the robot and the microscope has to be carefully monitored at two positions:
>
>		 The interaction between the robot and the microscope has to be carefully monitored at two positions:
 
  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.
Changed:
<
<

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.
>
>

hand Controller Operation

  • Confirm the connection between the hand controller and the control box of the robot that you want to control.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point.
  • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.
Added:
>
>
    • select axis
    • select increment to move (will default to smallest increment whenever you change the axis of motion, is this mm or inches?)
    • move robot manually to desired coordinates with gripper relaxed
 

edit robot coordinates

Changed:
<
<
    • follow the instructions from "Hand Controller Operation":
    • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
    • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press escape on the hand controller to return to the main menu. The changes will be saved.
>
>
  • follow the instructions from "Hand Controller Operation":
  • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
  • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
  • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
  • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
  • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
  • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press escape on the hand controller to return to the main menu. The changes will be saved.
 

insert holder into the microscope manually

Deleted:
<
<

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed
 

how to update register positions upon realignment

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 1605 Nov 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Torque settings

Changed:
<
<
  • torque settings are set on a per axis basis (per motor) in robot_parameters.py file (see above under "Vacuum set points")
>
>
  • torque settings are set on a per axis basis (per motor) in robot_parameters.py file (~/robot_software/robot_control_programs/robot_parameters.py)
 
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

* The documentation files for the different robot positions can be found below:

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

  • The interaction between the robot and the microscope has to be carefully monitored at two positions:

  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

edit robot coordinates

    • follow the instructions from "Hand Controller Operation":
    • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
    • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press escape on the hand controller to return to the main menu. The changes will be saved.

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

how to update register positions upon realignment

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 1505 Nov 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15
Changed:
<
<

torque settings

>
>

Torque settings

 
  • torque settings are set on a per axis basis (per motor) in robot_parameters.py file (see above under "Vacuum set points")
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

* The documentation files for the different robot positions can be found below:

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

  • The interaction between the robot and the microscope has to be carefully monitored at two positions:

  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

edit robot coordinates

    • follow the instructions from "Hand Controller Operation":
    • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
    • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press escape on the hand controller to return to the main menu. The changes will be saved.

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

how to update register positions upon realignment

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 1405 Nov 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15
Added:
>
>

torque settings

  • torque settings are set on a per axis basis (per motor) in robot_parameters.py file (see above under "Vacuum set points")
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

 

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

* The documentation files for the different robot positions can be found below:

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

  • The interaction between the robot and the microscope has to be carefully monitored at two positions:

  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

edit robot coordinates

    • follow the instructions from "Hand Controller Operation":
    • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
    • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press escape on the hand controller to return to the main menu. The changes will be saved.

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

how to update register positions upon realignment

Deleted:
<
<

torque settings

  • torque settings are set on a per axis basis in robot_parameters.py file (see above)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

 

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 1304 Nov 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

* The documentation files for the different robot positions can be found below:

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

  • The interaction between the robot and the microscope has to be carefully monitored at two positions:

  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

edit robot coordinates

    • follow the instructions from "Hand Controller Operation":
    • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
    • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press escape on the hand controller to return to the main menu. The changes will be saved.

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed
Deleted:
<
<

measure runnout of gripper around the holder

 

how to update register positions upon realignment

Deleted:
<
<
 

torque settings

  • torque settings are set on a per axis basis in robot_parameters.py file (see above)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 1204 Nov 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15
Changed:
<
<

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.
>
>

Coordinates for robots during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
Added:
>
>
    • retrieve coordinates for register 6018
    • values will be printed on the console
 
Added:
>
>		 * The documentation files for the different robot positions can be found below:
 
  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

Added:
>
>
  • The interaction between the robot and the microscope has to be carefully monitored at two positions:
 
Changed:
<
<

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
>
>
  • The holder is inserted in the microscope with the goniometer set to the coordinates of the preset loading position. The gripper of the Cartesian robot is in an open position and moved so that it wraps closely around the handle of the grid-holder. Through the holes in the gripper, use a caliper to measure the distance from the surface of the gripper to the handle:
    • drop calipers through hole in one of the grippers (30.16)
    • then rotate gripper +90deg and measure again (30.63) - be careful about wires at end of gripper
    • rotate gripper -180deg (29.81)
    • rotate gripper -90 (30.16)
    • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally
Deleted:
<
<
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console
 
Changed:
<
<

edit robot coordinates

>
>
  • With the gripper grabbing the handle of the grid-holder, move the holder towards the insertion hole of the goniometer. Once the tip has just entered the hole, rotate the gripper +120deg, then back to 0deg, and finally to -120deg. Note the distance between the tip and the walls of the hole in the goniometer. If it is equidistant, the the robot arm and the goniometer are coaxial.
Added:
>
>

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

edit robot coordinates

 
    • follow the instructions from "Hand Controller Operation":
    • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
Changed:
<
<
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates in case something goes wrong.
>
>
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates for reference.
 
    • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press escape on the hand controller to return to the main menu. The changes will be saved.

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

measure runnout of gripper around the holder

Changed:
<
<
  • drop calipers through hole in one of the grippers (30.16)
>
>
Deleted:
<
<
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally
 

how to update register positions upon realignment

torque settings

  • torque settings are set on a per axis basis in robot_parameters.py file (see above)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 1103 Nov 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

edit robot coordinates

    • follow the instructions from "Hand Controller Operation":
    • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
Changed:
<
<
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit or Teach. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates in case something goes wrong.
>
>
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates in case something goes wrong.
 
    • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press escape on the hand controller to return to the main menu. The changes will be saved.

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

measure runnout of gripper around the holder

  • drop calipers through hole in one of the grippers (30.16)
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

how to update register positions upon realignment

torque settings

  • torque settings are set on a per axis basis in robot_parameters.py file (see above)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 1003 Nov 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

edit robot coordinates

    • follow the instructions from "Hand Controller Operation":
    • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
Changed:
<
<
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit or Teach. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates.
    • Use the arrow-bars on the hand controller to move to the value (X, Y, Z, or R) that will be edited. Overwrite the old value with
>
>
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit or Teach. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates in case something goes wrong.
    • Use the arrow-bars on the hand controller to move to the value that will be edited (X, Y, Z, or R). Overwrite the old value with the new. Once finished editing, press escape on the hand controller to return to the main menu. The changes will be saved.
 

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

measure runnout of gripper around the holder

  • drop calipers through hole in one of the grippers (30.16)
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

how to update register positions upon realignment

torque settings

  • torque settings are set on a per axis basis in robot_parameters.py file (see above)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 903 Nov 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

edit robot coordinates

    • follow the instructions from "Hand Controller Operation":
    • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
Changed:
<
<
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit or Teach. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point.
      Write down these original coordinates
      .
>
>
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit or Teach. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point. Write down these original coordinates.
 
    • Use the arrow-bars on the hand controller to move to the value (X, Y, Z, or R) that will be edited. Overwrite the old value with

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

measure runnout of gripper around the holder

  • drop calipers through hole in one of the grippers (30.16)
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

how to update register positions upon realignment

torque settings

  • torque settings are set on a per axis basis in robot_parameters.py file (see above)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""

Revision 803 Nov 2009 - Main.MartinVink

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console
Added:
>
>

edit robot coordinates

    • follow the instructions from "Hand Controller Operation":
    • Confirm the connection between the hand controller and the control box of the robot that you want to control/edit.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, Jump, and Edit or Teach. Insert the number of the point you want to edit to (see documentation files for the different robot positions above) press enter (the button marked =>) and the display will show the coordinates of this point.
      Write down these original coordinates
      .
    • Use the arrow-bars on the hand controller to move to the value (X, Y, Z, or R) that will be edited. Overwrite the old value with
 

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

measure runnout of gripper around the holder

  • drop calipers through hole in one of the grippers (30.16)
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

how to update register positions upon realignment

torque settings

  • torque settings are set on a per axis basis in robot_parameters.py file (see above)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

Changed:
<
<
META FILEATTACHMENT attachment="scara.txt" attr="" comment="registers used for scara coordinates" date="1257266634" name="scara.txt" path="scara.txt" size="701" stream="scara.txt" user="Main.DavidStokes" version="0"
META FILEATTACHMENT attachment="cartesian.txt" attr="" comment="registers used for cartesian coordinates" date="1257266657" name="cartesian.txt" path="cartesian.txt" size="269" stream="cartesian.txt" user="Main.DavidStokes" version="0"
>
>
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for scara coordinates" date="1257266635" name="scara.txt" path="scara.txt" size="701" user="Main.DavidStokes" version=""
Added:
>
>
META FILEATTACHMENT attr="" autoattached="1" comment="registers used for cartesian coordinates" date="1257266658" name="cartesian.txt" path="cartesian.txt" size="269" user="Main.DavidStokes" version=""
 

Revision 703 Nov 2009 - Main.DavidStokes

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

measure runnout of gripper around the holder

  • drop calipers through hole in one of the grippers (30.16)
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

how to update register positions upon realignment

torque settings

  • torque settings are set on a per axis basis in robot_parameters.py file (see above)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

META FILEATTACHMENT attachment="scara.txt" attr="" comment="registers used for scara coordinates" date="1257266634" name="scara.txt" path="scara.txt" size="701" stream="scara.txt" user="Main.DavidStokes" version="0"
Added:
>
>
META FILEATTACHMENT attachment="cartesian.txt" attr="" comment="registers used for cartesian coordinates" date="1257266657" name="cartesian.txt" path="cartesian.txt" size="269" stream="cartesian.txt" user="Main.DavidStokes" version="0"
 

Revision 603 Nov 2009 - Main.DavidStokes

 
META TOPICPARENT name="TwodxRobot"
Calibration and Parameter setting of 2DX Robot

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

measure runnout of gripper around the holder

  • drop calipers through hole in one of the grippers (30.16)
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

how to update register positions upon realignment

torque settings

  • torque settings are set on a per axis basis in robot_parameters.py file (see above)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

Added:
>
>
META FILEATTACHMENT attachment="scara.txt" attr="" comment="registers used for scara coordinates" date="1257266634" name="scara.txt" path="scara.txt" size="701" stream="scara.txt" user="Main.DavidStokes" version="0"
 

Revision 503 Nov 2009 - Main.DavidStokes

 
META TOPICPARENT name="TwodxRobot"
Changed:
<
<		 Alignment of Robot relative to the EM goiniometer
>
>		 Calibration and Parameter setting of 2DX Robot
 
Added:
>
>

Vacuum set points

  • vacuum set points for insertion and extraction are contained in the file ~/robot_software/robot_control_programs/robot_parameters.py
    • they can be changed due to drift in the potentiometer on the microscope.
    • values in file are (readings on EM)/100
    • current values are
      • insertion: 0.5
      • extraction: 2.15

Hand Controller Operation

    • Confirm the connection between the hand controller and the control box of the robot that you want to control.
    • If necessary to change connection, shut off the power, and switch the hand controller to the correct control box.
    • Start the iRobot software and in the window "Robot Control and Automatic Sample Changing" choose the MANUAL ROBOT MOTION tab.
    • Choose the tab MANUAL MOTOR MOVES and enable. Insert password: nysbc1
    • In the hand controller push ESC until the display does not change, thereafter Manual, Point, and Jump (and Edit or Teach depending on what you want to do). Insert the number of the point you want to move to (see documentation files for the different robot positions below) press enter (the button marked =>) and the display will show the coordinates of this point.
    • Use the iRobot "Manual Robot Motion" window to move the robot to the desired position.

  • Scara:
    • Documented on 09/28/2009 by Minghui, showing the table scara.txt: This is the calibration file for Scara robot

  • Cartesian:
    • Documented on 09/04/2009 by Minghui, showing the table catesian.txt: This is the calibration file for Cartesian robot

Alignment of Robot relative to the EM goiniometer

 

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

measure runnout of gripper around the holder

  • drop calipers through hole in one of the grippers (30.16)
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

how to update register positions upon realignment

Changed:
<
<

torque settings

>
>

torque settings

 
  • torque settings are set on a per axis basis in robot_parameters.py file (see above)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

Revision 403 Nov 2009 - Main.DavidStokes

 
META TOPICPARENT name="TwodxRobot"
Alignment of Robot relative to the EM goiniometer

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

measure runnout of gripper around the holder

  • drop calipers through hole in one of the grippers (30.16)
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally
Added:
>
>

how to update register positions upon realignment

torque settings

  • torque settings are set on a per axis basis in robot_parameters.py file (see above)
  • look for the following lines
#added parameters for torque control on 6/23/09
#only implement torque control on cartesian robot
#torque control in both directions for each axis; x, y, z, and r
#first value for each axis is the value when going in negative direction

torque_value = [[90,90],[40,40],[90,90],[40,40]]

 

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

Revision 317 Sep 2009 - Main.DavidStokes

 
META TOPICPARENT name="TwodxRobot"
Changed:
<
<		 Alignment of Robot relative to the EM goiniometer
>
>		 Alignment of Robot relative to the EM goiniometer
 

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

insert holder into the microscope manually

initiate manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed

measure runnout of gripper around the holder

  • drop calipers through hole in one of the grippers (30.16)
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

Revision 217 Sep 2009 - Main.DavidStokes

 
META TOPICPARENT name="TwodxRobot"
Alignment of Robot relative to the EM goiniometer
Deleted:
<
<

manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
 

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

insert holder into the microscope manually

Changed:
<
<

move robot manually to these coordinates with gripper relaxed

>
>

initiate manual control of robot position

Added:
>
>
  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion
  • move robot manually to desired coordinates with gripper relaxed
 

measure runnout of gripper around the holder

  • drop calipers through hole in one of the grippers (30.16)
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

Revision 117 Sep 2009 - Main.DavidStokes

 
META TOPICPARENT name="TwodxRobot"
Alignment of Robot relative to the EM goiniometer

manual control of robot position

  • start iRobot and select tab Manual Robot Motion
  • Choose enable under the dropdown menu and use password nysbc1
  • select axis
  • select increment to move (is this mm or inches?)
    • will default to smallest increment whenever you change the axis of motion

get relevant coordinates for robot during normal insertion procedure

  • coordinates are stored in the controller in particular registers - to find the relevant register
    • open ~/robot_software/robot_control_programs/robot_parameters.py
    • scroll down and coordinates for insertion have values of 6011-6018
    • register 6018 corresponds to fully inserted holder
  • find xyz coordinates for register 6018
    • select tab SCARA moving tools
    • retrieve coordinates for register 6018
    • values will be printed on the console

insert holder into the microscope manually

move robot manually to these coordinates with gripper relaxed

measure runnout of gripper around the holder

  • drop calipers through hole in one of the grippers (30.16)
  • then rotate gripper +90deg and measure again (30.63)
    • be careful about wires at end of gripper
  • rotate gripper -180deg (29.81)
  • rotate gripper -90 (30.16)
  • above values indicate that there is a 0.35 runnout, corresponding to a 0.17mm displacement of the holder horizontally

  • Set ALLOWTOPICVIEW =

-- DavidStokes - 17 Sep 2009

View topic  |  History: r23 < r22 < r21 < r20  |  More topic actions...
 
Copyright © by the contributing authors. All material on this collaboration platform is the property of the contributing authors.
Ideas, requests, problems regarding this intranet, Send feedback