Dispensing Paths and Processes

A Path consists of a series of Nodes and can only operate a single syringe tip.  A Path can contain as few as one Node or can have thousands of Nodes to represent an extremely complex dispensing pattern.

In addition to the list of Nodes, each Path includes specifications for the following functions and parameters that can be uniquely defined for each Path:

Within a Path, there are some restrictions on when the various Node Types can be specified.  The following are the rules that apply to all Paths:

To permit a complete dispensing operation to be specified, multiple Path's can be combined into a dispensing Process.  A Process can be as simple as a single Path or can contain many different Paths and even multiple references to the same PathPaths are executed in the order in which they are listed in a Process.

If your system includes two syringes and both syringes are utilized in the same operation, each syringe must be controlled by one or more different Paths and these Paths must be specified in a Process in the order in which they are to be executed.

To avoid driving the syringe into an obstacle as it moves to the Approach point for the first Path, a Process always begins execution by retracting the robot to the Z height of a pre-defined Safe Location and then moves horizontally to the Safe Location.   Likewise, at the end of each Process, GD retracts the robot to the Safe Location's Z height and then moves horizontally to the Safe Location and terminates execution with the robot at this position.