Software Manual Freedom EVOware Standard 2.3 Freedom ...

9 - Specifying Your Instrument Setup
Moving the Arms and Other Devices
9.3.6 Moving the CGM
The CGM (Common Gripper Module) is a robot arm with gripper fingers that can
grip and move objects such as microplates. It is a hardware option for the
MCA384 (Multi Channel Arm 384). The gripper module can be rotated.
On the pipetting instrument, the origin of the CGM coordinate system (X=0, Y=0,
Z=0) is the rear left of the worktable with the gripper raised and pointing towards
the front of the instrument. The five axes of the CGM are defined as follows:
Tab. 9-11 Movement axes for the CGM
X
Y
Z
R
G
MCH_Y
From left to right
From rear to front
From top to bottom
Clockwise rotation of the gripper when
viewed from above
From narrow to wide gripper distance
Y position of the MCA384 pipetting head
When editing an object for which a position has to be specified, an additional
dialog box appears which helps you to specify certain movements:
Fig. 9-7
Move CGM dialog box
The CGM tab shows the current position of the CGM in instrument steps
(0.1 mm). The R parameter (gripper rotation) is measured in 0.1° steps. When you
teach a CGM vector, Freedom EVOware also needs to know the Y position of the
MCA384 pipetting head (MCH Y) to ensure that the CGM will not collide with the
MCA384 as it moves.
If your instrument is not fitted with a CGM, the CGM tab is not displayed unless
you are running in offline mode.
If necessary, e.g. when teaching a position, you can move the CGM manually
using the numeric keypad (make sure that the NUM Lock key is pressed):
Freedom EVOware Software Manual, 393172, en, V2.3 9 - 11