Codonics Virtua Robotic Arm Utility Reference guide
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Codonics Virtua
Robotic Arm Utility
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This Technical Brief provides instructions for using the
Robotic Arm Alignment Utility and Robotic Arm Cycle Test.
In Virtua
®
Version .1.1 and later software, these tools are
available on the Utilities screen in the Robotic Arm tab.
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The Robotic Arm Utility is used to help assure that the
Virtua Medical Disc Publisher’s robotic arm is properly
calibrated for regular transport of discs from the optical disc
bin(s) to the optical drive(s) to the print tray and then the
output bin. It is strongly recommended that the Robotic Arm
Cycle Test (see page 7) be run upon initial Virtua system
installation or after major system repair/transport. If it does
not complete successfully, the calibration process should be
completed.
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The following items are required to complete these service
instructions:
◆
T10 Torx driver (torque driver recommended)
◆
Felt-tip pen
◆
Up to 50 optical discs
◆
.1.1 software or later is installed on Virtua.
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1. Wait for Virtua to finish processing jobs.
2. Open the top cover and place a folded piece of paper or
card stock in the optical sensor as shown in the following
image. This will allow access to the drives and print tray
while the cover is open.
. Go to the Utilities tab and then the Robotic Arm tab.
4. Press the
Start
button in the Robotic Arm Alignment
section to enter calibration mode. Jobs subsequently sent
to Virtua will accumulate in the background and will be
processed after calibration mode is exited.
NOTE:
This Utility should only be used by those
personnel familiar in its use, since mis-calibration could
cause poor performance or damage to the system. The
Utility will only be available to users with the Admin
role. Contact Codonics Technical Support for additional
assistance.
NOTE:
This utility cannot be used on Virtua ECO
systems that run software versions .1.1 through 4.0.1.
This utility will not run on Virtua-1 systems.
NOTE:
Check the trays of the optical disc drives for 4
clear Teflon stickers on the drive tray where the optical
disc would be placed. If they are not present, contact
Codonics Technical Support.
CAUTION:
The robotic arm will move with the top
cover sensor disabled. Keep hands, hair, and loose
clothing clear of robotic arm when in motion.
5. Wait for the
Ready to Calibrate
message to display on the
dashboard.
6. Load one optical disc in each input bin.
7. Select the component to calibrate by pressing the left or
right arrow buttons next to
Component
. See each section
below for specific instructions for the Optical Drive,
Input Bin and Printer Tray.
8. Use the movement buttons to move the robotic arm to
various components and test their calibration settings.
◆
Press the
Move
button to move the robotic arm to that
component. If there is an optical disc on the robotic
arm, the robotic arm will lower over the top of the
component where it would place an optical disc in
the component.
◆
Press the
Pick
button to pick an optical disc from that
component. If there is an optical disc on the robotic
arm, it will not try to pick another optical disc.
◆
Press the
Drop
button to place an optical disc on the
robotic arm into that component. If there is not an
optical disc on the robotic arm, it will not try to place
an optical disc.
9. Adjust the calibration value until the robotic arm picks
and places optical discs in the center of the component.
Adjustments other than for Special Components (see
below) can only change location right and left.
◆
Pressing the
right arrow
button will increase the value
and move the robotic arm to the right as it would
appear from the front of the Recorder.
◆
Pressing the
left arrow
button will decrease the value
and move the robotic arm to the left as it would
appear from the front of the Recorder.
10. The Robotic Arm Cycle Test (see below) can be used to
verify calibration settings.
11. If satisfied with the new calibration settings, press the
Save
button to accept the modified calibration values,
exit from calibration mode and resume the normal mode
of operation.
12. Otherwise, press the
Cancel
button to discard the
modified calibration values, exit from calibration mode
and resume the normal mode of operation.
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The following steps define how to calibrate the picking
position from the optical drive trays.
1. To place an optical disc onto the robotic arm, press the
right arrow
button or
left arrow
button until either
Right
Bin
or
Left Bin
appears as the
Component
and then press
Pick
.
2. Press the
right arrow
button or
left arrow
button until
Bottom Drive Tray
appears as the
Component.
NOTE:
Number values within the Robotic Arm Utility
described here are different than for the external
Recorder Calibration Utility (reference Codonics Part
No. 901-218-001).
NOTE:
Components (except for the Special
Components) have calibration values between - 2 and
2 that adjust the position of the robotic arm. Left bin
and right bin calibration values are limited to -20
through +20 for the 84-series and 101-series recorders
only.
NOTE:
When resuming normal operation, the software
re-initializes the Recorder and clears any remaining
optical discs from the drives and printer tray.
. Press the
Drop
button to have the robotic arm place the
optical disc in the bottom optical drive tray.
4. Verify that the robotic arm places the optical disc as
shown. The optimal position is to have the edge of the
optical disc aligned with the back edge of the opening in
the optical drive tray. This biases the optical disc towards
the back of the optical drive tray allowing for some
additional margin for optical drive tray pull back.
5. If the optical disc position in the optical drive tray is too
far in or out, the optical drive position will need to be
adjusted. If no adjustment is required, proceed to step 15.
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6. Before proceeding with adjusting the bottom optical drive
location, it is recommended that the optical disc position
in the top optical drive tray be reviewed. Perform steps 1
through 4 on the top optical drive prior to powering off
the Recorder (select
Top Drive Tray
versus
Bottom Drive
Tray
). If the top optical drive requires a different
adjustment, note the difference so the appropriate
adjustments can be made when the optical drive bay is
removed. Mark the location of the drive-bay bracket as
shown in step 7 and reference the Virtua-2 optical drive
replacement procedure for instructions on how to adjust
the location of the top and bottom optical drives. Once the
optical drives have been repositioned, repeat steps 1
through 5.
7. If both optical drives need the same adjustment, mark the
location of the drive-bay bracket on the chassis using a
felt-tip pen at the front of the Recorder as shown.
8. Remove all optical discs and input bins. Shut down
power to the Virtua system. Disconnect the USB cable
and eSATA cables from the Recorder and switch off the
power supply switch on the rear of the Recorder.
9. Remove the two screws and washers securing the back of
the drive bay from the underside of the Recorder. Use the
Torx driver to remove the two screws and washers
securing the drive bay at the front of the Recorder.
10. Adjust the drive bay location using the pen line as a
reference. Use the Torx driver to torque the screws
securing the front of the drive bay to approximately
6 in-lbs (0.68 Nm).
11. Install the input bins and load one optical disc in each.
Reconnect the USB cable and eSATA cables to the
Recorder and switch on the power supply switch on the
rear of the Recorder. Power up the Virtua system.
12. Repeat steps 1 through 5.
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1 . Later model recorders have adjustment screws for each
drive. Use the top and bottom adjustment screws shown
in the following image to adjust the front-to-back
position of each drive.
14. Repeat steps 1 through 5 to verify proper position.
NOTE:
If the optical disc is too close to the front of the
optical drive tray, there is a risk that the optical disc will
catch on the plastic lip and be pulled off the robotic arm.
NOTE:
Keep the screws securing the back of the drive
bay loose to allow for further adjustment.
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15. If the optical disc position is too far left or right, adjust
the
Bottom Drive Tray
calibration value to move the
robotic arm left and right. Reselect the
Pick
or
Move
button to verify the new location.
16. Press the
right arrow
button or
left arrow
button until
Top
Drive Tray
appears as the
Component.
17. Press the
Drop
button to have the robotic arm place the
optical disc in the top optical drive tray.
18. Verify that the robotic arm is placing the optical disc as
shown in step 4. If calibration is needed, perform steps 6
through 14.
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The following steps define how to calibrate the picking
position from the input bins.
1. Press the
right arrow
button or
left arrow
button until
Left
Bin
appears as the
Component
.
2. Press the
Move
button to have the robotic arm hold the
optical disc at the top of the bin.
. If the optical disc position is too far left or right, adjust
the value to move the robotic arm right and left. Reselect
the
Move
button to verify the new location.
4. Press the
Drop
button to drop the optical disc into the left
bin.
5. Press the
Pick
button and carefully watch the optical disc
position relative to the bottom of the bin. If the optical
disc is not centered, average the optimal top and bottom
position for the final bin calibration setting.
6. Repeat steps 1 through 5 on the right bin.
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The following steps define how to calibrate the picking
position from the printer tray.
1. Press the
right arrow
button or
left arrow
button until
Printer Tray
appears as the
Component
.
2. Press the
Drop
button to have the robotic arm place the
optical disc in the printer tray.
. If the optical disc position is too far left or right, adjust
the calibration value to move the robotic arm right and
left. Reselect the
Pick
or
Move
button to verify the new
location.
4. If the optical disc position is too far forward in the printer
tray and coming close to the two disc stops (shown
below), this could indicate that the printer tray is being
pulled back by the disc tab retention spring. If the printer
tray is pulling back, the optical discs could become
dislodged when the printer tray is retracted. Please contact
Codonics Technical Support for further instruction.
NOTE:
If unable to achieve center, bias the optical disc
towards the right of center.
NOTE:
As a final check, it is recommended to move the
robotic arm to another location and return back to the
bottom optical drive. Complete a final check of optical
disc location by selecting the
Drop
button on the
Bottom
Drive Tray
component. Having the robotic arm move
from and back to the calibration location ensures the
robotic arm has accurately read the encoder position.
NOTE:
Press
Pick
button to remove the optical disc from
the bottom optical drive before proceeding to the next
step.
NOTE:
As a final check, it is recommended to move the
robotic arm to the right bin and then back to the left bin.
Complete a final check of optical disc location by
selecting the
Move
button corresponding to
Left Bin
.
NOTE:
Pressing the
Move
button will lower the robotic
arm and hold the optical disc in the printer tray.
NOTE:
If unable to achieve center, bias the optical disc
towards the right of center.
NOTE:
As a final check, it is recommended to move the
robotic arm to the right bin and then back to the printer
tray. Complete a final check of optical disc location by
selecting the
Drop
button corresponding to
Printer Tray
.
NOTE:
Another way to check for printer tray pull back
is to manually pull the printer tray all the way out and
let go. No pull back should be observed.
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Setting the Pick Depth changes the depth that the robotic
arm presses into the current component when picking an
optical disc. It uses calibration values between -50 (deep
pick, high pick force) and 50 (shallow pick, low pick force).
To calibrate the Pick Depth component:
1. Ensure that at least 10 discs are loaded in each input bin.
2. Select the
Right Bin
component and
Move
the robotic arm
to that position.
. Select the
Pick Depth
component.
Press the
Pick
button. Watch the robotic arm body and
note how much it is lifting up on the top guide rail. The
optimal setting is to apply enough force to lift the weight
of the robotic arm assembly, but not enough to push
against the top guide rail. Hearing the stepper motor get
overloaded can also indicate too much force. Too much
force can also increase the chance of two discs being
picked.
4. Adjust the value.
◆
Press the
down arrow
button to make the value more
negative, moving the sensor trigger position up and
increasing the pick depth/pick force.
◆
Press the
up arrow
button to make the value more
positive, moving the sensor trigger position down
and decreasing the pick depth/pick force.
5. Use the
Drop
and
Pick
button to view how forcefully the
robotic arm presses into that component; adjust the force
using Step 4 until satisfied.
6. Repeat step 1 through 5 on the left input bin and the final
calibration setting should be the highest value between
the left and right input bin.
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The Stack Height component calibrates the robotic arm's
internal setting of the height of a single optical disc in each
input bin. It uses this setting to estimate the height of up to
50 optical discs in that bin. To calibrate the Stack Height
component:
1. Place one optical disc in each input bin.
NOTE:
The Pick Depth calibration applies to all models
except the 8 -series recorder.
CAUTION:
Setting the
Pick Depth
value too low could
damage the optical disc, robotic arm, or optical drive by
applying too much robotic arm force. Setting the
calibration value to less than -20 is not recommended.
Contact Codonics Technical Support if a lower value is
required.
NOTE:
This setting rarely needs to be adjusted. If the
disc is being picked correctly, it is recommended to leave
the current setting, typically between 0 and -10.
NOTE:
Number values within the Robotic Arm Utility
described here are different than for the external
Recorder Calibration Utility (reference Codonics Part
No. 901-218-001).
2. Select the
Stack Height
component.
. Press the
Move
button and the robotic arm will perform
the calibration process.
Once this calibration has been set, the Stack Height
calibration setting cannot be stopped or reverted by pressing
the c
ancel
button.
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1. Open the top cover and place a folded piece of paper or
card stock in the optical sensor as shown on the first page
of this document. This will allow access to the drives and
print tray while the cover is open.
2. Verify the User Interface shows a status of “Ready”,
indicating that the sensor is disabled.
. Use the Component Arrows to navigate to “Top Drive
Height”.
4. Manually open the top drive and place a single disc in
the tray.
5. Press the MOVE button on the user interface. The arm
will move down and measure the height of a single disc
in the drive.
6. Remove the disc and close the top drive.
7. Repeat steps 2 through 5 substituting “Top Drive
Height” for “Bottom Drive Height” and “Print Tray
Height”.
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1. Select “Printer H. Offset” and press “Print”. A disc with
crosshairs and the current horizontal and vertical offset
values will be printed.
2. Orient the disc right side up so you can read it.
. Make adjustments to the horizontal offset as required.
4. Press “Print” again to test settings.
5. Repeat steps and 4 to adjust vertical offset.
6. Once you are satified with the adjustments, press “Save”.
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The steps below provide a means to manually calibrate the
pick height for the print tray and DVD drives. This process
may be required if the pick height calibration on the GUI
was attempted without a disc in the print tray or DVD drive
tray.
1. Connect a USB mouse and keyboard.
2. Minimize the UI (Windows +D).
. Open Windows Explorer (Windows + E).
4. Using Windows Explorer, navigate to
C:\opt
5. Copy
codburn.yes
and paste in the same folder. This
will create a file called
Copy of codburn.yes
or
something similar.
6. Rename the resulting copy to
codburn.pause.yes
(this
keeps CodBurn from interfering with us running the
BravoComm.exe command)
7. Open a command prompt by pressing Windows + R,
then typing
cmd
in the Windows Run dialog box.
8. Type
cd c:\opt\BravoPro_Commands
to navigate to
the proper directory.
9. If not already done, open the top cover and disable the
top cover open sensor as described in the previous
section.
NOTE:
This setting only applies to the 82-series, 8 -
series, and 84-series Virtua Recorders.
CAUTION:
Performing the steps below without a disc
in the component being calibrated will incorrectly
calibrate the component and put it into a state where it
cannot be calibrated from the GUI.
CAUTION:
The robotic arm will move with the top
cover sensor disabled. Keep hands, hair, and loose
clothing clear of robotic arm when in motion.
NOTE:
If the unit has been incorrectly calibrated without
a disc in the tray, it can no longer be calibrated from the
User Interface. Use the steps outlined in the “Calibration
using the BravoComm Utility” section below to restore
functionality.
NOTE:
A Windows™ compatible keyboard and mouse
with USB cables are required for this procedure.
Get it all with just one call
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All registered and unregistered trademarks are the property of their respective
owners. Specifications subject to change without notice. Patent 7,37 ,737 and
others pending.
Copyright © 2017 by Codonics, Inc. Printed in the U.S.A. Part No. 901-222-003.02
17991 Englewood Drive
Middleburg Heights, OH
44130 USA
+1.440.243.1198
+1.440.243.1334 Fax
Email info@codonics.com
www.codonics.com
Codonics Limited KK
AQUACITY 9F,
4-16-23, Shibaura
Minato-ku, Tokyo,
108-0023 JAPAN
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81-3- 730-229 Fax
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317 Xianxia Rd. Building B
Unit 1412
Changning Dist., Shanghai
P.R. China, 2000 1
86-21-62787701
86-21-62787719 Fax
10. Run the following commands to calibrate the Pick
Heights:
◆
Calibrate the Printer Height:
Place a disc in the print
tray and type
BravoComm.exe -n 171
at the
command prompt.
◆
Calibrate the Top Drive Height:
Open the top drive,
place a disc in the drive tray and type
BravoComm.exe -n 172
at the command prompt.
◆
Calibrate the Bottom Drive Height:
Open the bottom
drive, place a disc in the drive tray and type
BravoComm.exe -n 173
at the command prompt.
11. Delete
C:\opt\codburn.pause.yes
12. Bring back the Virtua GUI with Windows + Shift + M
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The Robotic Arm Cycle Test moves optical discs between all
of the Virtua components so that the correctness of
calibration can be viewed. Place no more than 50 optical
discs into one bin (the maximum for one bin) in the Virtua
system so that the progress of the testing can be easily
monitored. To prevent potential confusion after the test, use
a single variety of optical discs. The use of new optical discs
is not necessary.
Ideally, allow the Recorder to move 50 optical discs from the
right bin to the left bin and then back to the right bin without
mishandling errors to verify that calibration is correct. This
self test will take approximately 50 minutes to complete.
1. To begin the test, press the
Start
button in the
Robotic
Arm Cycle Test
section. A
Robot Test Running
message
and flashing green light will display on the dashboard. A
yellow light will be indicated if one input bin is empty.
The test will continue until the user presses the
Cancel
button to stop the test.
2. If additional calibration is required, follow the above
calibration process until satisfied. Re-run the Robotic
Arm Cycle Test (step 1).
. If the optical drives have been moved (reference the
Optical Drive section, Steps 6 through 12), proceed to
Step 4. Otherwise, Virtua will be functional at this point.
4. Remove the optical discs and input bins.
5. Power down the Virtua system.
6. Disconnect the USB cable and eSATA cables from the
Recorder and switch off the power supply switch on the
rear of the Recorder.
7. Use the Torx driver to torque the screws securing the back
of the drive bay to approximately 6 in-lbs (0.68 Nm).
8. Install the Recorder on the Controller by reconnecting the
USB cable and eSATA cables to the Recorder and switch
on the power supply switch on the rear of the Recorder.
9. Power up the Virtua system.
10. Complete a final verification by burning a couple of
study discs.
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If problems occur during calibration, contact Codonics
Technical Support between the hours of 8: 0AM and
5: 0PM EST (weekends and U.S. holidays excluded).
Phone: +1.440.24 .1198
Email: support@codonics.com
Website: www.codonics.com
NOTE:
The Recorder cover should be closed for this test.
Problems during the test may require opening the cover
to correct the situation and any optical discs within the
drives will be cleared before resuming the test.
NOTE:
When resuming normal operation, the software
re-initializes the Recorder and clears any remaining
optical discs from the drives and printer tray.
NOTE:
Since waiting jobs may have accumulated within
Virtua during the calibration process, assure that the
correct variety of optical discs is placed into the
appropriate input bin afterwards to prevent subsequent
delays due to incorrect media selection.
