Software Manual Freedom EVOware Standard 2.3 Freedom ...

15 - Script Commands
RoMa Vector Command
Move relative to current position
This moves the RoMa relative to its current position. You must then specify
the relative distances (range: -400 to 400 mm) and whether the RoMa should
move at a particular speed (range: 0.1 to 400 mm/s) or at maximum speed.
The movements in A and B are not aligned with the instrument axes, but with
the current rotator position (angle).
The movement in A is perpendicular to the gripper. Example #1: If the gripper
points to the front (angle = 0°) and the A value is positive, then the RoMA will
move to the left. Example #2: If the gripper points to the left (angle = 90°) and
the A value is positive, then the RoMA will move to the back.
The movement in B is in line with the gripper. Example #1: If the gripper points
to the front (angle = 0°) and the B value is positive, then the RoMA will move
to the front. Example #2: If the gripper points to the left (angle = 90°) and the B
value is positive, then the RoMA will move to the left.
See also 9.4.8.2 “RoMa Coordinate System”, 9-39.
15.58 RoMa Vector Command
This command executes a RoMa vector, which is a predefined sequence of RoMa
movements. You can also specify gripper actions at the Safe and End positions.
See 9.6.1 “Using RoMa Vectors”, 9-58 for more information.
The RoMa Vector command is intended for special RoMa movements and not for
moving labware from one position to another - you should use the Transfer
Labware command instead for this purpose. See also 15.58.1 “Moving labware
with the RoMa Vector command”, 15-142.
Fig. 15-99 RoMa Vector command
Freedom EVOware Software Manual, 393172, en, V2.3 15 - 141