Configuration -- Main Web Page

The Configuration page is displayed when the "Configuration" tab in the Navigation bar is clicked.  This page provides a number of utilities for defining system configuration and setup parameters.  For example, this page has a step-by-step process for defining the Global Frame and a panel for configuring the digital IO signals that control the air dispenser and its teaching buttons.

When this page is first displayed, the right panel presents a brief summary of important setup processes that should be executed.  The three lists on the left select the configuration panel to be display and provide convenient access to buttons for enabling motor power and moving the robot.

When a button in the "Configuration" list is clicked, the corresponding panel is displayed to the right.  In the following sections, the operation of each of these panels will be described in detail.  The following table contains a brief summary of these panels.

Configuration

Description

Robot Motion

Defines the "Safe Location", robot speeds used during various motions and the minimum Z height for all automatic motions.

Dispense Heads Defines the mounting position and dimensions of  the two dispense heads (syringe tips) and the digital IO signals that control their operation.
Global Frame Defines the reference frame that all Node locations are defined with respect to by default.
Purge Setup

Defines the position to which the robot is moved to purge a syringe and the duration of the purging operation.

Z-Search Defines the parameters for searching for the Z height of a surface using the "Z-Contact Sensor".  The computed correction in the Z height will be applied to all Node locations in a Path.
Teach Buttons Defines the digital IO signals assigned for the teach buttons on the Single/Dual Control Air Dispenser.
Vision Defines the interface parameters necessary for using PreciseVision with GD.  This includes the vision PC's IP address and the location to which the robot is moved to take a picture during the camera calibration process.
Remote DIO Defines the digital IO signals used for remote operation of Guidance Dispense. This is typically used to hook up the system to a PLC.
Guidance Web Launches a new web window and displays the standard GUI for the Precise Guidance Controller.  Access to this interface is provided for completeness and should not be required during normal operation of the system.

The Robot Status list contains a variation of the motor power control and homing items available in the Operator Control Panel.  In addition, it provides buttons for assisting in manually positioning the robot.  This list and the following list are very useful for manually moving the robot to define key locations necessary for the configuration operations.

Robot Status

Description

<System State>

Please see the section on Enabling Motor Power and Homing the Robot for a description of these buttons and fields.

Homed
Enable
Disable
Home Robot
Comp Places the robot back into computer control mode (to permit automatic execution) if the robot is currently in manual control mode.
Free

Places the robot into manual control mode and "free's" all of the axes.  Free'd axes can be positioned by grabbing the robot and manually moving them into position.

Stop Immediate Immediately decelerates and stops the robot if it is in motion and turns off all dispenser output signals.  Then, the operator is prompted to determine if the robot should be retracted and moved to the Safe Location.

The Robot Move list provides a number of convenient means for repositioning the robot and purging the syringes.

Robot Move

Description

Retract Arm

If a Process is not executing, moves the robot in the world Z direction to the Z height of the Safe Location. This is convenient for clearing an error or debugging an operation.

Move Safe If a Process is not executing, moves the robot in the world Z direction to the Z height of the Safe Location followed by a horizontal motion to the Safe Location.
Run Purge Displays a pop-up window that can move the robot to the designated "Purge" position and turn on the specified dispense head(s).  This is used to verify that the heads are working or to clear the needles. Please see Purge Setup for additional information.