TeachPendant

Interface for creating and managing robot teachpoints, motion profiles, gripping settings and sequences for the PF400 robotic arm with basic state and motor control.

Table of Contents

  1. Capabilities
  2. Creating Teach Points
  3. Motion Profile Configuration
  4. Building Sequences
  5. Labware Integration
  6. Best Practices

Capabilities

Teach Points - Locations the arm travels to when instructed (nest locations, intermediate safe positions)
Motion Profiles - Speed, acceleration, precision parameters for sequences and commands
Sequences - Multi-step arm actions (pick up plate, drop off plate, pick up lid)
Labware Integration - Labware definitions available for commands/sequences with flexible handling

Creating Teach Points

  1. Access TeachPendant mode from PF400 control interface
  2. Create a new teachpoint
  3. Set arm to free mode and manually position at desired location. Refine using ‘Jog Control’ tool
  4. Capture current position: Enter name, add orientation info (portrait/landscape)
  5. Save and validate the teach point position

Note: When adding ‘nest’ teachpoints, use a special ‘teaching jig’ for guidance on labware/vessel type.

Motion Profile Configuration

  1. Navigate to Motion Profiles section
  2. Configure parameters:
    • Speed: Peak motion speed as % of nominal speed
    • Speed2: Secondary speed for Cartesian moves as % of nominal speed
    • Acceleration/Deceleration: Peak motion accel/decel as %
    • Accel/Decel Ramp: Duration to ramp up/down in seconds
    • Straight: Boolean for straight-line path
    • In Range: Constraint for stopping at motion end (0=blend with next, larger=tighter error envelope)
  3. Set precision: In-range tolerance (position accuracy threshold), Straight flag (linear interpolation)
  4. Test and save with descriptive name

Building Sequences

Sequences are collections of robot commands executed sequentially, allowing reuse across and within protocols (e.g., Get Plate from Bioshake, Place Plate on Bioshake).

Safety Warning: Always ensure the robot workspace is clear before running a sequence. Use slow speeds when testing new sequences and maintain visual contact with the robot at all times.

Labware Integration

Existing labware is directly available to the PF400 tool server. Any commands/features accepting labware input present a dropdown of available labware, with definitions used by PF400 tool commands.

Best Practices

  • Use consistent naming conventions for waypoints and sequences
  • Create approach waypoints above target positions for safety
  • Test all positions with actual labware before saving
  • Document special requirements/limitations in descriptions
  • Regularly backup waypoint and sequence configurations
  • Always test sequences via teachpendant before running real protocols