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Grips and plate orientation
Grip settings
Section titled “Grip settings”A robot’s grip on a plate comes from the plate’s labware type:
| Setting | What it sets |
|---|---|
| Grip Force | The force the plate is picked up with. |
| Grip Height | The height on the plate at which it is gripped, applied as an offset from the taught position. |
| Grip Portrait | The grip width when the plate is held in portrait orientation. |
| Grip Landscape | The grip width when the plate is held in landscape orientation. |
Every transfer of that labware type uses these values.
Portrait or landscape
Section titled “Portrait or landscape”Each location has Plate Presentations: the orientations a robot can present a plate in at that location (Top, Right, Bottom, Left). Bottom and Top are landscape grips, Right and Left are portrait grips.
For each transfer, the robot starts with a presentation that both the source and the destination support, preferring Bottom, then Right, Left and Top. If the next location needs a different orientation, the route changes it using, in order:
- A re-grip that the location requires before placing (Reset Grip with a Re-Grip Location, set when teaching).
- The current grip, if the next location accepts it.
- A reorientation station that turns the plate.
- A re-grip nest between the two.
Robots that support several presentations, such as the PF400 NG, use the location’s Plate Presentations that they can reach. Other robots use the single orientation taught at the waypoint.