Metrohm 789 Robotic Sample Processor XL - Manual (Page 83)

3.4 Commands
Metrohm Sample Processor, Operation 75
MOVE
8
MOVE >sample sequence
2 MOVE 1 : sample
1,2
sample,
ext.1…ext.4
spec.1…16
prev., next
+swing, -swing
+rotate, -rotate
1…999
+/-1…999
Position beaker / Swing robotic
arm
1 st parameter: tower
2 nd parameter: position
With the MOVE command rack positions are moved to, i.e. the turnta-
ble rotates until the sample rack is positioned so that the selected rack
position is placed in front of Tower 1 or 2 (if present). If no 786 Swing
Head is mounted then only the rack positions of a 1-row rack can be
accessed.
With 786 Swing Head
If a 786 Swing Head is mounted then any rack positions can be moved
to. The angle of rotation of the rack is then compared with the swing
angle of the robotic arm and corrected accordingly.
In addition to a rack position, the robotic arm of a 786 Swing Head can
also be swung to any external position. The selectable external posi-
tions ext.1 to ext.4 can be defined in the whole swing range from 0° up
to the maximum swing angle of the robotic arm. For example, this
means that it is possible to move to a titration cell located beside the
sample rack.
Examples:
MOVE 1 sample
MOVE 1 ext.1
MOVE 2 spec.1
MOVE 2 5
MOVE 1 next
MOVE 1 +2
Moves sample beaker (defined by SAMPLE variable) in front of Tower 1
Moves robotic arm at Tower 1 to external position 1
Moves special beaker 1 in front of Tower 2
Moves rack position 5 in front of Tower 2 (absolute positioning)
Moves next highest rack position in front of Tower 1
Depending on the current sample position (SAMPLE variable), moves the next position
but one in front of Tower 1 (relative positioning)
Parameters
sample – rack position corresponding to the current value of the SAM-
PLE variable, see also p. 74.
ext.1 to 4 – predefined angle positions of the robotic arm. These are
defined in the configuration of a tower, see also p. 58.
spec.1 bis 16 – reserved special beaker positions on the sample rack.
These are defined in the rack configuration, see also p. 61.
+swing, -swing – moves the robotic arm by a certain increment angle.
The sign shows the swing direction. The value of the angle is prede-
fined under Parameter >changer settings .
+rotate, -rotate – moves the rack by a certain increment angle. The
sign shows the rotation direction. The value of the angle is predefined
under Parameter >changer settings .