Hudson Robotics PlateCrane EX - Manual (Page 27)

PlateCrane EX User Manual Hudson Robotics, Inc.
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9. Teach all nests. Place the white teach block in stack 1 or the common teach nest.
Close gripper on the white teach block. Jog the crane in the +Z direction to travel
height. Press and hold the Limp button on the teach pendant, then move the crane
manually (grab the crane with your hands) with the teach block gripped into the
nest.
10. The teach block must be manually placed in the nest such that the edges of the
nest do not touch the teach block at all, or in a very minimal fashion – AND the
bottom surface of the teach plate must barely be touching the surface of the nest.
Press any button on the teach pendant to restore power to the crane. Any contact
to the edges of the nest will affect plate movement. Once the crane is positioned,
jog the crane up 25mm then down 25mm to ensure smooth plate movement. If it
hits edges and can be retouched, do so now. Save the point once completed.
Repeat for all nests.
11. Once all stacks and nests are taught, create a SoftLinx protocol or method that
exercises plate movement to all points. Ensure movement to all points is smooth
at least 5x. If any points are not smooth, as in there are snags on nests, or lids are
not placed on plates properly, etc., repeat the process above and adjust the points
to ensure proper plate movement.