Download ABSTRACT :

Assembling & Programming a robot for pharmaceutical purposes
Instructions for this station :
get.from.rack.1 : a container is taken by the hand from the rack at the position defined in the variable
rack.1.index .
put.into.rack.1 : the robot puts the container into the rack at the position defined in the variable
rack.1.index .
Variables for this station :
rack.1.index = from 1 to 50 . This is where the current test tube must be taken from or to be placed in .
initial.volume.rack.1 = 0
to 12 ( ml ) ( 0 as the default value ).This is the initial starting volume in ml
for each tube in the rack . If the rack is going to be empty of containers, this variable
must be set to –1 .
container.capped.rack.1
= YES or NO ( NO as the default value ). If set to NO, it shows that the
rack is full with uncapped containers .
Internal variable :
r1:vol =
= 0 : there is a container ( but empty )
= positive number : there is a container ( full )
= -1 : there is no container
This variable might be modified in those programs when an error appears and there is no quick
solution for it. For instance, if the system says that there is no container at a position but ther is
actually one, this variable might be modified in order to make the system know that .
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