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Always hit escape button or Stop all motions when you are unsure what is going on.

 

How nozzle exchange works (change to nozzle X):

  • starting from Neutral Position without mounted nozzle (NP):
    • go in front of cartridge (FC)
    • move cartridge to desired nozzle position
    • take nozzle out (TNO)
    • go to NP
    • got to interaction point (IP)
  • starting with nozzle in IP
    • move nozzle up (NU)
    • go to NP
    • go to FC
    • move cartridge to empty nozzle space
    • put nozzle in (PNI)
    • go to FC
    • move cartridge to new nozzle position
    • TNO
    • go to NP
    • go to IP
  • Go to neutral position (end with no nozzle on claws)
    • go to NP if nozzle is mounted
    • go to FC
    • move cartridge to empty nozzle space
    • put nozzle in (PNI)
    • go to NP