How the FluentControl™ PathFinder™ finds the fastest and most efficient route
First aid
This ticket describes the functionality of the PathFinder™ in FluentControl™.
The PathFinder™ controls arm movements by using the most efficient route and avoiding collisions. PathFinder™ is active for automatic controlled arm movements that occur outside of the Bounding Boxes, which are the defined boundaries of each object on the worktable.
Typical solution
Every object such as the instrument frame, worktable, carrier, labware and tips has Bounding Boxes that define the boundaries of the object. PathFinder™ can control the arm movements from any point in free space outside of a Bounding Box until the next position, which is typically the safe position of an RGA vector (for RGA movements) or Z-travel of a labware (for FCA or MCA384 movements). However, any arm movement from outside of the Bounding Box into the Bounding Box, or within a Bounding Box, cannot be controlled by PathFinder™ and must instead be controlled by an RGA vector (for RGA movements) or by the Liquid Class of a pipetting command (for FCA or MCA384 pipetting movements).
Further recommendation
PathFinder™ error messages may occur and pause a run to prevent collisions. These can happen when an arm (or a gripped labware/mounted tool of that arm) is located:
- Inside a Bounding Box at the start position of the PathFinder™ controlled arm movement.
- Inside a Bounding Box at the end position of the PathFinder™ controlled arm movement as per the calculation of the PathFinder™ in advance of the execution of the move.
Next steps in case further input is needed:
- Note your serial number. Where do I find my serial number?
- Create a service request.
Link to Tecan Product Page:
Fluent® Automation Workstation
401815-013