A Path consists of a series of Nodes and can only operate a single syringe tip. A Path can contain as few as one Node or can have thousands of Nodes to represent an extremely complex dispensing pattern.
In addition to the list of Nodes, each Path includes specifications for the following functions and parameters that can be uniquely defined for each Path:
- Z Height Search. At the first Node, GD can utilize the "Z-Contact" sensor or any similar device to detect the actual height of the work surface. The difference between the expected and actual height will then be automatically applied to correct the Z values of all Nodes in the Path.
- X, Y, Z Offsets. The positions of all Nodes in the Path can be shifted by a fixed offset in all three directions. This is useful for raising up the entire Path during debugging and for adjusting the Path height following a Z-Search.
- 1D, 2D, 3D Pallets. A Path can be automatically repeated and indexed in 1, 2 or 3 dimensions. This is convenient for repeating a pattern or for executing the pattern at each position in a 2D or 3D grid or pallet.
- Approach and Depart Points. At the start of a Path, the syringe tip can be moved to a position above the first Node before moving to the Node (the "Approach" point). Likewise, after moving to the final Node in a Path, the syringe tip can be moved to a position above the final Node (the "Depart" point). This is a convenient means for avoiding obstacles between dispensing patterns.
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- Vision Process Reference Frame. At the start of the Path, a PreciseVision process can be executed and the resulting position and orientation used in place of all but the Z height of the Global Frame to dynamically compensate all of the Path's Node positions.
- Dual Syringe Speeds. Different syringe tip speeds can be specified for when fluid is and is not being dispensed to optimize the system cycle time.
Within a Path, there are some restrictions on when the various Node Types can be specified. The following are the rules that apply to all Paths:
- First Node. The first Node must be a Line, Point or Pause Type.
- Arc Nodes. Arc Nodes must always be specified in pairs and an arc path must start with a Line or Pause Type.
- Final Node. The final Node cannot be a Break Path Type.
To permit a complete dispensing operation to be specified, multiple Path's can be combined into a dispensing Process. A Process can be as simple as a single Path or can contain many different Paths and even multiple references to the same Path. Paths are executed in the order in which they are listed in a Process.
If your system includes two syringes and both syringes are utilized in the same operation, each syringe must be controlled by one or more different Paths and these Paths must be specified in a Process in the order in which they are to be executed.
To avoid driving the syringe into an obstacle as it moves to the Approach point for the first Path, a Process always begins execution by retracting the robot to the Z height of a pre-defined Safe Location and then moves horizontally to the Safe Location. Likewise, at the end of each Process, GD retracts the robot to the Safe Location's Z height and then moves horizontally to the Safe Location and terminates execution with the robot at this position.