Dispense Heads Sub-Panel

When the "Configuration" tab is clicked and the "Dispense Heads" button is pressed, the panel is displayed in the bottom right of the Configuration page.  This panel defines the mounting position and dimensions of  the two dispense heads (syringe tips) and the digital IO signals that control their operation.

It is permissible to teach a Path and repeat the Path without knowing the dimensions or mounting position of the syringe heads.  But, if GD does know this information, if a syringe and needle size changes or if a syringe needle bends, GD can automatically adjust the robot motions so that the new syringe tip will follow the previously taught Path.  In addition, if two syringes are used, the Nodes taught with one syringe can be easily repeated by the other syringe.

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

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

Reference

Description

Rec Reference

Records the value of the Reference Point.   Dispense head #1 must be used to teach this location.

X, Y, Z, Yaw, Pitch, Roll

Displays the coordinate values of Reference Point.   These should not be altered once they are taught.

Move To

Displays a pop-up window that can move a syringe tip to the Reference Point or to a position above this location.

Once the Reference Point is established, the dimensions and mounting of either dispense head can be taught or re-taught simply by moving the desired syringe tip to the Reference Point and pressing the Rec Offset button.  The following data pertains to each of the dispense heads.

Head 1 or 2

Description

Rec Offset

Computes the dimension and mounting data for a dispense head when the syringe tip is positioned at the Reference Point.

X, Y, Z, Yaw, Pitch, Roll

Displays the computed coordinate values for the dispense head.  Initially, the values for head #1 will all be close to 0.

Move To

Displays a pop-up window that can move a syringe tip to the Reference Point or to a position above this location.

Extend Signal

Defines the number of the Digital I/O signal that controls the extension and retraction of the sliding syringe clamp.   When this signal is asserted, the slide is extended.

Dispense Signal

Defines the number of the Digital I/O signal that applies air pressure to the syringe.  When this signal is asserted, fluid is dispensed.

Extend/Retract

Turns the Digital I/O signal that controls the syringe slide off or on. This allows for debugging the dispense head locally on this page.

On/Off

Actuates the dispense signal.  This operation allows for debugging the dispense fluid.

Save

Saves all dispense head information to the flash disk.

Mini Jog

Opens up a miniature version of the Virtual Manual Control Panel on top of the current panel.