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Agilent Technologies R Series, User Manual

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Appendix B: Quick reference

BenchCel User Guide

Use current positions

The command that reads the robot’s current 
coordinates and writes them in the Theta, X, 
and Z boxes.

Approach height

The height clearance (in millimeters) the 
robot maintains above the teachpoint as it 
moves towards or away from the teachpoint 
location. The valid range is from 0

 

mm to 

40

 

mm.

Use this setting to prevent the robot from 
colliding with raised tabs or walls at the 
teachpoint location.

Velocity11 recommends that you set the 
approach height at 20

 

mm (the default 

value). However, if there is an obstruction 
above the teachpoint, you might need to use 
a smaller approach height to prevent 
collision.

Note:

 This value applies when the robot is 

holding a microplate. When it is not holding a 
microplate, the robot will approach the 
teachpoint at the height of the teachpoint, 
unless you select the Respect clearance both 
ways option.

Parameter or command

Description

App

r

oach ht.

Summary of Contents for R Series

Page 1: ...Agilent Technologies BenchCel Microplate Handling Workstation R Series BenchCel Diagnostics version 17 0 3 2007 for BenchWorks Automation Control software User Guide and Addenda ...

Page 2: ... or of any information contained herein Should Agilent and the user have a separate written agreement with warranty terms covering the material in this document that conflict with these terms the warranty terms in the sep arate agreement shall control Technology Licenses The hardware and or software described in this document are furnished under a license and may be used or copied only in accordan...

Page 3: ...port 1 800 979 4811 or 1 408 345 8011 service automation agilent com Customer Service 1 866 428 9811 or 1 408 345 8356 orders automation agilent com European Service 44 0 1763853638 euroservice automation agilent com Web www agilent com lifesciences automation Velocity11 product name Changes to Access2 Automated Microplate Loader Automated Centrifuge Loader Element Automation System BioCel 900 Sys...

Page 4: ...Letter to our Customers 2 Agilent Technologies Inc Automation Solutions Division ...

Page 5: ...e labware racks are available in three models standard rack top load rack and front load rack Figure Three models of labware racks All the rack models have the following basic parts Carrying handle The standard rack has a polished top bar that can be used as a carrying handle The top load and front load racks have fold down carrying handles Tabs A pair of vertical tabs are located at the bottom si...

Page 6: ...MPORTANT See your BenchCel User Guide or VStack User Guide for the details on how to release a rack for removal or to prepare for loading a mounted rack To load labware into a standard or top load rack 1 If possible remove the rack from the device and place the rack on a flat level surface 2 Using both hands carefully slide a small stack of labware down through the top of the rack You can use one ...

Page 7: ... For example the clamps in the BenchCel stacker head must be closed extended See your device user guide for details 1 On each side of the rack slide the Door release black buttons forward while pushing outward on the thumb tabs The rack doors open Figure Opening the front load rack 2 Place the labware directly through the open rack doors so that the bottom labware rests on the rack stacker gripper...

Page 8: ...ne help available within the software PDF files on the software CD Printed books You can also search the online help or download the latest version of any PDF file from the Velocity11 website at http www velocity11 com support knowledge_base Contacting Velocity11 Technical Support 1 800 979 4811 or 1 650 846 6611 Customer Service 1 866 428 9811 or 1 650 846 6601 Email info velocity11 com Web http ...

Page 9: ...BenchCel Microplate Handling Workstation R Series User Guide Addendum November 2007 BenchCel Diagnostics version 17 0 3 19770 00 01 00_BenchCelR SeriesUG_May07 ...

Page 10: ......

Page 11: ...r thresholds About this topic To ensure optimum operation you should set the Plate presence and Orientation thresholds correctly for the type of microplate you are using You must do so before you start a run with the type of microplate This topic explains how to set the Plate presence and Orientation thresholds Workflow The workflow for setting the Plate presence and Orientation sensor thresholds ...

Page 12: ...Install a stacker rack at each stacker head and then physically load three microplates in each rack For instructions see the BenchCel Microplate Handling Workstation R Series User Guide The microplates should rest on top of the stacker grippers Do not click Load plates in BenchCel Diagnostics 2 In the BenchCel Diagnostics Controls tab click the Labware tab In the Sensors area Set the Plate presenc...

Page 13: ...0 increases the reading to 51 shown in the example below A light colored microplate has a Plate present reading of 200 Decreasing the Intensity to 20 reduces the reading to 175 5 In the Jog Teach tab find the highest plate present reading Punloaded among all the stacks To do this a Select the first stack b Record the Plate present reading c Repeat steps a and b for each of the remaining BenchCel W...

Page 14: ... will be used to calculate the Plate presence threshold In the following example the lowest reading is 131 stack 1 8 Calculate the Plate presence threshold as follows Plate presence threshold Punloaded Ploaded Punloaded 2 In the following example the calculated threshold is 142 If the calculated Plate presence threshold is less than 50 make sure you are using the stacker grippers to hold the stack...

Page 15: ...stics click Downstack at the first stack 2 In the Controls tab click the Labware tab 3 In the Orientation sensor offset box type the initial offset value you want to use To determine the initial value a Determine the halfway distance in millimeters between the top of the microplate and the top of the skirt b Determine the height of the microplate skirt in millimeters c Add the values from step a a...

Page 16: ...be at a maximum In the following example the Notch Sensor values indicate that the microplate has two notches 3 and 7 and two corners 76 and 63 6 To find the maximum difference between the notch readings and corner readings a Record the initial z axis position Zinitial in the upper left corner of the BenchCel Diagnostics screen b Jog the robot up or down and then check the Notch Sensor readings Yo...

Page 17: ...ientation sensor offset is 3 00 mm 9 Type the adjusted orientation sensor offset in the Labware tab 10 Select the next stack and then click Move to Sensor Check the Notch Sensor readings The notches should have much lower readings than the corners In addition the difference between the notch readings and corner readings should be at a maximum 11 Repeat step 10 for the remaining stacks Zinitial 50 ...

Page 18: ... remaining stacks 2 Find the highest notch reading Notch among all the stacks In the following example the highest reading is 35 stack 3 3 Find the lowest corner reading Corner among all the stacks In the following example the lowest reading is 235 stack 4 4 Calculate the Orientation threshold as follows Orientation threshold Notch Corner Notch 2 In the following example the calculated threshold i...

Page 19: ...station after trying the solutions contact Velocity11 Technical Support Hardware problems Problem Cause Solution More than one microplate was downstacked The Plate present reading is below the Plate presence threshold Use the procedure in Setting sensor thresholds on page 1 to adjust the threshold values The stack of microplates is dropped onto the shelf during the downstacking procedure In the sh...

Page 20: ...dings from all four corners are below the threshold Note The software always uses the Orientation threshold as a secondary check even if the Check Orientation option is not selected Reduce the Orientation threshold value The Robot gripper offset parameter value is incorrect Correct the Robot gripper offset value in the Labware Editor or in BenchCel Diagnostics Velocity11 recommends an 8 mm offset ...

Page 21: ...s less than or equal to 175 record the Plate present readings for each stack Highest reading among all the stacks Punloaded _________________ Plate present readings when the microplates are loaded After loading the microplates at each stack Load All in BenchCel Diagnostics record the Plate present readings for each stack Lowest reading among all the stacks Ploaded _________________ Plate presence ...

Page 22: ...tion threshold After you calculate the adjusted Orientation sensor offset in BenchCel Diagnostics click Move to Sensor at each stack In the Notch Sensor area the notches have lower readings than corners Highest Notch Sensor readings Record the highest notch reading for each stack Highest reading among all stacks Notch ____________ Lowest Corner readings Record the lowest corner reading for each st...

Page 23: ......

Page 24: ......

Page 25: ...BenchCel Microplate Handling Workstation R Series User Guide May 2007 BenchCel Diagnostics version 15 0 22 19770 00 00 00_BenchCelR SeriesUG_May07 ...

Page 26: ......

Page 27: ...king and installing the workstation 27 Installation workflow 28 Verifying laboratory requirements 29 Unpacking and inspecting the BenchCel device 32 Integrating the devices 35 Connecting the power source 39 Connecting the pendant 40 Connecting and disconnecting the air source 41 Connecting the computer 44 Installing the safety shield 47 Chapter 3 Setting up the BenchCel Workstation 49 Setup Workfl...

Page 28: ...tenance 92 Hardware problems 95 Software error messages 97 Recovering from an emergency stop 103 Diagnostic tools 105 Adjusting the plate orientation sensors 124 Adjusting the stacker gripper pressure 131 Reporting problems 135 Chapter A BenchCel ActiveX control 137 About ActiveX controls 138 Properties 139 Methods 141 Appendix B Quick reference 155 Rack release button indicator light 156 BenchCel...

Page 29: ...nchCel Microplate Handling Workstation User Guide Preface This preface contains the following topics Who this guide is for on page iv What this guide covers on page v Accessing Velocity11 user information on page vi ...

Page 30: ... is used Lab manager administrator or technician Someone who is responsible for Managing the BenchCel System Developing the applications that are run on it Solving the more challenging problems that might arise Developing training materials and standard operating procedures for operators Operator Someone who performs the daily production work on the BenchCel System and solves routine problems Your...

Page 31: ...or these products Software version This guide documents BenchCel Diagnostics version 15 0 22 or later Related guides The BenchCel User Guide should be used in conjunction with the following user documents Velocity11 lab automation system software user guides such as the BenchWorks Automation Control User Guide These user guides explain how to define labware create protocols and set task parameters...

Page 32: ...earch the online help or download the latest version of any PDF file from the Velocity11 website at www velocity11 com Note All Velocity11 user information can be searched from the website at www velocity11 com Online help The online help is the best format to use when you are working at the computer and when you want to perform fast or advanced searches for information To open the online help In ...

Page 33: ...mainly for printing additional copies You can perform simple searches in the PDF file although these searches are much slower than online help searches More information For more information about using PDF documents see the user documentation for the PDF viewer Related topics Navigation pane Content pane Navigation buttons For more information about See Who should read this guide Who this guide is...

Page 34: ...Preface BenchCel Microplate Handling Workstation User Guide viii ...

Page 35: ...uide Introduction 1 This chapter contains the following topics BenchCel Workstation description on page 2 Hardware overview on page 4 Accessories on page 12 Integration options on page 14 Labware considerations on page 16 Software description on page 18 Safety information on page 22 ...

Page 36: ...boxes and tube racks that will be processed during a protocol run Moves labware to and from external devices such as the PlateLoc Thermal Microplate Sealer and the VCode Barcode Print and Apply Station for processing Components The BenchCel Workstation consists of the following components BenchCel device that can load two four or six stacks of labware Two four or six stacker racks Safety shield Be...

Page 37: ...verview on page 4 Accessories Accessories on page 12 Integration options Integration options on page 14 Automation ready labware Labware considerations on page 16 Software that controls the BenchCel Workstation Software description on page 18 Safety information Safety information on page 22 Installation requirements Verifying laboratory requirements on page 29 ...

Page 38: ...button Robot grippers Robot arm Robot head Stacker rack Stacker head Air pressure regulator behind the cover Safety shield Feature Description Stacker rack The accessory that stores labware to be processed in a run Stacker head The structure at which A stacker rack is loaded Two sensors inside of each stacker head detect the presence of the racks A microplate is checked for type and orientation us...

Page 39: ...dicate the state of the stacker head Solid green The stacker rack is installed correctly on the BenchCel device and the microplates are unloaded The stack of microplates are ready for processing or you can unlock and remove the stacker rack Flashing green The stacker rack is unlocked and can be removed Solid blue The stack of microplates is loaded You cannot unlock and remove the stacker rack Robo...

Page 40: ...re inside the device Compressed air is used to move components inside the stacker heads Each regulator controls the air pressure to the two adjacent stacker heads To access the regulator remove the circular cover Pendant The component that is part of the safety interlock circuit that must be closed for the BenchCel device to operate Pressing the raised button on the pendant breaks the safety circu...

Page 41: ...o the BenchCel device Ethernet port Connects the Ethernet cable from the controlling computer to the BenchCel device to allow communication between the computer and the device Use this port as an alternative to the serial connection Serial port Connects the serial cable from the controlling computer to the BenchCel device to allow communication between the computer and the device Use this port as ...

Page 42: ...ts inside the stacker head Feature Description Plate presence sensor Detects the presence of a microplate in the stack One plate presence sensor is on the back wall of each stacker head Rack presence sensors Detect the presence of stacker racks Two rack sensors are on the back wall of each stacker head Plate presence sensor Rack presence sensors ...

Page 43: ...justing the plate orientation sensors on page 124 Clamps Close and open the grippers at the bottom of the stacker rack to hold and release microplates during loading unloading downstacking and upstacking processes Two clamps are inside each stacker head Compressed air is used to open and close the clamps Feature Description A B C D E F G H I J K L M N O P 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 ...

Page 44: ... the clamps see Stacker head on page 7 The following conceptual diagram shows the side view of the stacker rack with the stacker grippers holding a microplate The front wall of the rack is not shown to reveal the stacker grippers that are hidden from view Shelves Provide leveling surfaces for the microplates thus ensuring accurate robot gripping during the downstacking process Two shelves four lev...

Page 45: ...orkstation description on page 2 Accessories Accessories on page 12 Integration options Integration options on page 14 Automation ready labware Labware considerations on page 16 Software that controls the BenchCel Workstation Software description on page 18 Safety information Safety information on page 22 Installation requirements Verifying laboratory requirements on page 29 ...

Page 46: ...or microtube plates and racks that offer alternative ways to load microplates See the Velocity11 website at www velocity11 com or contact your regional Velocity11 representative for details Laptop computer The computer that has a smaller footprint than the standard desktop computer for use with the BenchCel Workstation Platepad A parking place for a microplate Plate hotel Multiple platepads that a...

Page 47: ... Guide Related topics For more information about See Integration options Integration options on page 14 Automation ready labware Labware considerations on page 16 Safety information Safety information on page 22 Installation requirements Verifying laboratory requirements on page 29 ...

Page 48: ...ation Velocity11 devices You can integrate Velocity11 devices in the BenchCel Workstation The following diagram shows an example of a BenchCel Workstation that consists of the BenchCel device the PlateLoc Thermal Plate Sealer and the VCode Barcode Print and Apply Station The following Velocity11 devices can be integrated with the BenchCel device PlateLoc Sealer VCode Microplate Labeler Integration...

Page 49: ...list of compatible devices go to the Velocity11 website at www velocity11 com Note Before purchasing a third party device contact Velocity11 Technical Support about integration requirements Related topics VSpin Access2 Auto Loading Microplate Centrifuge Centrifuges microplates Bravo Automated Liquid Handling Platform Dispenses liquids Device Description For more information about See BenchCel Work...

Page 50: ... the top of the microplate and the top of the microplate skirt The following diagram shows the BenchCel stacker grippers holding a microplate in the stacker rack Notice the gripper microplate contact point Lidded microplates Microplates that do not have lids or have shallow lids lids that do not reach the microplate skirt provide enough clearance to allow secure and repeatable gripping Microplates...

Page 51: ...ht be hard to detect by the orientation sensors In addition some microplates have special features specifically designed for particular instruments but are not optimized for the BenchCel Workstation Thermal cycling effects Microplates that have been through thermal cycling might become warped Tall labware Especially tall tube racks and tip boxes that are taller than 65 mm might pose challenges in ...

Page 52: ...ser accounts and privileges You can set up different user accounts to enforce access policies For instructions see the BenchWorks Automation Control User Guide Define labware Labware definitions describe the labware you will use during protocol runs For instructions see the BenchWorks Automation Control User Guide Create protocols Protocols determine the sequence of tasks you want to automate in a...

Page 53: ...s is a component of the supplied BenchCel ActiveX software Accessed through the BenchWorks software the BenchCel Diagnostics software allows you to Create and manage profiles Profiles allow you to set up communication between the selected BenchCel Workstation and the controlling computer You create profiles when you set up the BenchCel Workstation For setup information see Setup Workflow on page 5...

Page 54: ...ion on diagnosing and troubleshooting problems see Diagnostic tools on page 105 While testing new or troubleshooting labware definitions you can change parameters to refine the labware definition For information on changing labware parameters see Diagnostic tools on page 105 Change general device settings After diagnosing problems you can change some of the device settings to repair problems or to...

Page 55: ...ics For more information about See BenchWorks software instructions BenchWorks Automation Control User Guide Software installation instructions BenchWorks Automation Control User Guide Workstation setup procedure Setup Workflow on page 50 BenchCel ActiveX control BenchCel ActiveX control on page 137 ...

Page 56: ... the person in your organization responsible for training others on the BenchCel Workstation and you have a safety question contact Velocity11 Technical Support Safety standards The BenchCel device is CE certified and complies with the following CE safety directives EN61326 1997 including Amendment 1 1998 EMC EN61010 1 1993 including Amendment 2 1995 Safety Safety labels Pay attention to safety la...

Page 57: ...oving parts or attempt to remove microplates while the BenchCel Workstation is in operation The robot head moves with considerable force and can cause pinching piercing or bruising injury if you are in the path of the robot head or grippers INJURY HAZARD Keep your fingers hair clothing and jewelry away from the device and the path of the robot head while it is in motion INJURY HAZARD Do not touch ...

Page 58: ...cal hazards Some chemicals used when working with the BenchCel Workstation can be hazardous Make sure you follow your local state and federal safety regulations when using and disposing of the chemicals Read the recommendations in the MSDS Material Safety Data Sheet for every chemical that you plan to use The manufacturer of the chemical should provide you with the MSDS Gas cylinders and pressure ...

Page 59: ...kstation hardware description Hardware overview on page 4 Connection panel location and description Hardware overview on page 4 Turning on and turning off the BenchCel Workstation Starting up and shutting down the BenchCel Workstation on page 52 Stopping the BenchCel device in an emergency Stopping the BenchCel device in an emergency on page 88 ...

Page 60: ...Chapter 1 Introduction BenchCel Microplate Handling Workstation R Series User Guide 26 ...

Page 61: ...r can be performed by someone with operator privileges This chapter contains the following topics Installation workflow on page 28 Verifying laboratory requirements on page 29 Unpacking and inspecting the BenchCel device on page 32 Integrating the devices on page 35 Connecting the power source on page 39 Connecting the pendant on page 40 Connecting and disconnecting the air source on page 41 Conne...

Page 62: ...vice on page 32 3 Integrate external devices Integrating the devices on page 35 4 Connect the power Connecting the power source on page 39 5 Connect the pendant Connecting the pendant on page 40 6 Connect the air supply Connecting and disconnecting the air source on page 41 7 Connect the computer Connecting the computer on page 44 8 Install the safety shield Installing the safety shield on page 47...

Page 63: ...r rack size The following table lists dimensions for a BenchCel device in a two four or six stack configuration Note The racks listed are the standard racks supplied with the system In addition the weight of the rack is of the rack alone and does not include liquid filled microplates The height and weight are slightly different with different rack types See the Velcity11 website at www velocity11 ...

Page 64: ...e BenchCel device and void your warranty To maintain the desired air supply in the device the BenchCel device requires a source of air as follows DAMAGE HAZARD Air pressure greater than 0 69 MPa 100 psi can damage the BenchCel Workstation Environment The lab must meet the following environmental requirements Velocity11 recommends that you do the following Place the BenchCel Workstation away from h...

Page 65: ...rt To facilitate the setup process a software installation CD is supplied You can use the CD to install the necessary software and setup configurations Networking considerations The supplied computer comes with a serial port and two Ethernet ports You can connect the computer to the BenchCel device using either the serial port or one of the Ethernet ports You can use the second Ethernet port to co...

Page 66: ...nd damage to the device Depending on the configuration the BenchCel device weighs 21 8 kg 48 1 lb to 32 7 kg 72 1 lb and requires two people to lift it Unpacking the BenchCel Workstation To unpack the BenchCel device 1 Open the BenchCel device shipping container 2 Lift the contents out of the container and set each item carefully on the lab bench or final location where you want to install the dev...

Page 67: ... missing or damaged contact Velocity11 Technical Support Note The stacker racks might vary depending on the type you ordered BenchCel Microplate Handling device with two four or six stacker racks microplates not included Safety shield BenchWorks Automation Control software Computer BenchCel recommended Power cord User guides RS 232 DB9 serial cable Air tubing Ethernet cable Ethernet switch PlatePi...

Page 68: ...bout See Installation requirements Verifying laboratory requirements on page 29 Installing the BenchCel Workstation Integrating the devices on page 35 Connecting the power source on page 39 Connecting the pendant on page 40 Connecting and disconnecting the air source on page 41 Connecting the computer on page 44 Installing the safety shield on page 47 ...

Page 69: ...ternal devices you want to integrate Two integration plates for the BenchCel device Integration plate for each external device 4 mm hex wrench 3 mm hex wrench Installing the BenchCel device integration plate The BenchCel device integration plates have locking mechanisms that keep the BenchCel device and any external device in position during a run The integration plates must be installed under the...

Page 70: ...screw An identical screw is located on the right side of the device 2 Mount the external device on its integration plate Tighten the bolts or screws to secure the device on the integration plate 3 Place the external device and integration plate next to the BenchCel device as shown in the following diagram Loosen screw Place the integration plate next to the BenchCel device ...

Page 71: ...ll be able to place a microplate on the plate stage accurately If the devices are not properly aligned slide the devices along the y axis until they appear to be correctly aligned Note You will verify and refine the alignment when you set up the teachpoints for the external devices see Setup Workflow on page 50 6 Repeat the procedure for each external device Related topics Tighten slightly so that...

Page 72: ...ide 38 Installing the BenchCel Workstation Installation workflow on page 28 Connecting the power source on page 39 Connecting the pendant on page 40 Connecting and disconnecting the air source on page 41 Connecting the computer on page 44 Installing the safety shield on page 47 For more information about See ...

Page 73: ...o connect the BenchCel device to a grounded power source 1 Plug one end of the power cord into the AC power entry located on the back of the BenchCel Workstation 2 Plug the other end of the cord into an AC outlet with grounded circuit Related topics R To AC outlet with grounded circuit For more information about See Electrical requirements Verifying laboratory requirements on page 29 How to set up...

Page 74: ...ircuit and disables the robot motors This topic explain how to connect the pendant to the BenchCel device Before you start Make sure you have the supplied pendant Connecting the pendant To connect the pendant to the BenchCel device Connect the pendant cable to the pendant port on the back of the BenchCel device Related topics For more information about See The pendant and its use Hardware overview...

Page 75: ... the supplied air tubing Connecting the air source To connect the BenchCel device to the air source 1 Turn off the air at the source house cylinder or pump 2 Connect one end of the air tubing to the air source house cylinder or pump and then connect the free end of the tubing to the quick disconnect fitting at the air input port To connect the tubing push the end of the tubing into the quick disco...

Page 76: ...or Velocity11 Technical Support Disconnecting the air source You might need to disconnect the air tubing before moving or shipping the BenchCel device and before performing maintenance or cleaning DAMAGE HAZARD Do not pull the tubing out of the orange quick disconnect fitting Doing so can damage the fitting To disconnect the air tubing from the BenchCel device 1 Turn off the air at the source hous...

Page 77: ...station R Series User Guide Related topics For more information about See Air source requirements Verifying laboratory requirements on page 29 How to set up the BenchCel Workstation Setup Workflow on page 50 How to operate the BenchCel Workstation Workflow for performing a run on page 82 ...

Page 78: ... You can use the supplied RS 232 DB9 serial cable to connect the computer to the BenchCel device Ethernet connection You can use the supplied Ethernet cable to connect the computer to the BenchCel device The computer from Velocity11 has two Ethernet ports You can use one to connect to the BenchCel device You can use the other to connect to your local area network LAN To connect the controlling com...

Page 79: ...P address and subnet mask are as follows IP address 192 168 0 1 Subnet mask 255 255 255 0 INJURY HAZARD Do not connect multiple BenchCel Workstations on a general network Remote computer operators might accidently initiate an operation that causes the robot to move unexpectedly possibly injuring nearby lab personnel If your computer will be connected to your LAN make sure the computer has a second...

Page 80: ...pics For more information about See The controlling computer requirements Verifying laboratory requirements on page 29 The Ethernet switch See the Ethernet switch user documentation How to set up the BenchCel Workstation Setup Workflow on page 50 How to operate the BenchCel Workstation Workflow for performing a run on page 82 ...

Page 81: ...nstall the safety shield 1 Place the safety shield on the front of the BenchCel device The ledge of the shield should sit on the top of the device 2 Insert the four M5 screws into the shield 3 Tighten the screws using the M3 hex wrench Related topics Top view back Insert screws For more information about See Safety shield description Hardware overview on page 4 Safety information Safety informatio...

Page 82: ...Chapter 2 Unpacking and installing the workstation BenchCel Microplate Handling Workstation R Series User Guide 48 ...

Page 83: ...chapter explains how to set up the BenchCel Workstation for operation This chapter contains the following topics Setup Workflow on page 50 Starting up and shutting down the BenchCel Workstation on page 52 Creating and deleting a BenchCel device in BenchWorks on page 54 Creating and managing profiles on page 60 Setting and managing teachpoints on page 66 ...

Page 84: ...re before setting up the BenchCel Workstation For instructions on how to define labware in the BenchWorks software see the BenchWorks Automation Control User Guide Step For this task See 1 Starting up and shutting down the BenchCel Workstation on page 52 2 Creating and deleting a BenchCel device in BenchWorks on page 54 3 Creating and managing profiles on page 60 4 User documentation for the Veloc...

Page 85: ... Workstation R Series User Guide Related topics For more information about See Installation procedure Installation workflow on page 28 Operating the BenchCel Workstation Workflow for performing a run on page 82 Troubleshooting problems Maintenance and troubleshooting on page 91 ...

Page 86: ... robot is sent to the factory defined home position for each axis of motion If the BenchCel robot does not home make sure power to the robot has been restored see Recovering from an emergency stop on page 103 to reset the Robot Disable button If the button has been reset and the robot still does not home turn off the device check the connections and turn it on again 2 Turn on all other devices int...

Page 87: ...e Exit to quit the software 3 If you use devices that require a vacuum pump turn off power at the pump if the pump module has an on off switch 4 Turn off the compressed air to the BenchCel device and other devices 5 Turn off the BenchCel device To do this on the back of the device press the power switch to the off O position 6 Turn off other devices in the BenchCel Workstation Related topics Press...

Page 88: ...vice Manager A device can be a robot an instrument or a location on the lab automation system that can hold a piece of labware The following are some examples of devices BenchCel device BenchCel stacker rack PlateLoc Thermal Microplate Sealer VCode Barcode Print and Apply Station VPrep Pipetting System shelf Platepad A third party device integrated in the BenchCel Workstation Device file defined T...

Page 89: ... the BenchCel device and other devices to this file To create a new device file 1 Start the BenchWorks software and log in See the BenchWorks Automation Control User Guide for instructions 2 Click the Device Manager tab 3 In the BenchWorks window select File Device File New In the Log area at the bottom of the BenchWorks window the last message indicates that you have created the new device file C...

Page 90: ...e name consists of the following in the order shown BenchCel device serial number BenchCel Workstation configuration left to right top to bottom For example if the BenchCel device has a serial number of 12 3456 7890 and the BenchCel Workstation consists of a PlateLoc Sealer on the left side of the BenchCel device and a VCode Microplate Labeler on the right side of the BenchCel device the recommend...

Page 91: ... Series User Guide 3 Click OK to return to the BenchWorks window The device configuration information appears in the Device Properties area 4 In the Device Properties area click Device type and then select BenchCel Robot The Device Properties area displays the device configuration information ...

Page 92: ...alize all devices to establish communication with the selected devices 7 In the Device Properties area click Automatically find and add BenchCel Workstation stacks and then click Wait a few seconds while the software finds the stacks Note The BenchCel device must be connected to the controlling computer for the BenchWorks software to automatically find the stacks The list of stacks appears under t...

Page 93: ...the BenchWorks window click the Device Manager tab 2 In the Device List area select the device you want to delete 3 Click Delete device Related topics Click to delete a selected device file For information about See BenchWorks software BenchWorks Automation Control User Guide Protocol files Creating and managing profiles on page 60 Teachpoints Setting and managing teachpoints on page 66 ...

Page 94: ...1 devices see the device s user documentation For instructions on how to create profiles for third party devices see the Device Driver User Guide Profiles IMPORTANT Each BenchCel device you install requires a unique profile A profile is a collection of settings stored in the Windows registry that manages how you connect to devices A BenchCel profile Specifies the port used to establish communicati...

Page 95: ...n R Series User Guide Creating BenchCel Workstation profiles To create a BenchCel profile 1 In the Device Manager Device List area select a BenchCel device 2 Click Device diagnostics The BenchCel Diagnostics dialog box opens and displays the Controls tab Click to open BenchCel Diagnostics ...

Page 96: ...ate a new Profile The Create Profile dialog box opens 5 Type a name and click OK 6 In the Connection list select one of the following Ethernet If the BenchCel device is connected to the computer using an Ethernet port COM If the BenchCel device is connected to the computer using a serial port Click to create new profile Select the connection type ...

Page 97: ...es appear b In the list of devices that appear select the BenchCel device If you have multiple BenchCel Workstations on the network use the MAC Address to identify the BenchCel device you want To successfully communicate with the BenchCel device the device must show New or Matched in the Status column Note To determine the MAC address you can turn off all other BenchCel devices so that only one is...

Page 98: ... a new teachpoint file You will later add teachpoints to this file When you click New the Save As dialog box opens Type a name for the teachpoint file and then click Save By default the teachpoint file name is Teachpoints_ profilename xml where profilename is the name of the profile and the file will be saved in the following folder C Program Files Velocity11 Settings b Select Allows you to select...

Page 99: ...ith the BenchCel Workstation 12 Click OK to return to the BenchWorks window If you are setting up the BenchCel Workstation for the first time return to Adding a BenchCel device on page 56 and continue from step 5 Related topics Click to create or select a teachpoint file The new or selected teachpoint file path appears For information about See Adding a device in BenchWorks Creating and deleting a...

Page 100: ...These teachpoints are preset at the factory and cannot be changed Teachpoint files The teachpoints you set are saved in the XML format in a teachpoint file The default teachpoint file is created by Velocity11 and the name contains the device serial number followed by your company name By default the file is stored in C Program Files Velocity11 Setup However you can select another location when sav...

Page 101: ...e you want to use is defined BenchWorks Automation Control User Guide Setting new teachpoints INJURY HAZARD During this procedure make sure no one else can issue commands at the controlling computer while you are manually determining the teachpoint coordinates When you set a teachpoint you need to 1 Determine the coordinates of the pickup and placement location 2 Record the coordinates in the teac...

Page 102: ...cs dialog box opens 4 In the Profile tab check the Teachpoint File area to make sure the correct teachpoint file is loaded You will be adding new teachpoints to this file IMPORTANT If you have not already done so make a backup copy of this file 5 In the Controls tab select the desired labware definition from the Labware list that is below the graphical display area Check the teachpoint file path S...

Page 103: ...k down and holds it in the stacker grippers 7 In the graphical display area click the plus sign at the stacker head that contains the spare microplates In the command menu that appears click Downstack from Stacker n where n is the stack that contains the spare microplates The robot head moves under Stacker n and holds the first spare microplate in its grippers Click the command at the desired rack...

Page 104: ...sition at the center of the BenchCel Workstation 10 In the Motor Enabled area clear the check boxes for X and Theta to disable the X and Theta motors The Z motor is still enabled the Z box is selected 11 With the robot grippers holding the spare microplate gently push or pull the robot head and arms close to the teachpoint location Position the robot head and arms so that the microplate rests in t...

Page 105: ...ing the devices on page 35 To move the robot head up or down in small precise increments in the BenchCel Diagnostics dialog box click Jog Up or Jog Down To change the jog increment click the down arrow and then select the desired increment With the x axis and theta axis motors turned off gently push or pull the robot and its arms so that the microplate is able to sit in the plate stage When you ar...

Page 106: ... record the coordinates in BenchCel Workstation Diagnostics 1 In the BenchCel Diagnostics Controls Jog Teach tab click New Teachpoint The Teachpoint Details dialog box opens 2 Click Use current positions The robot s current coordinates fills the Theta X and Z boxes Click to obtain the robot s current coordinates ...

Page 107: ...value moves the robot head to the right of the home position A negative value moves the robot head to the left of the home position The range of movement depends on the number of stacker heads For two stacker heads the range is from 145 mm to 145 mm Z The vertical distance from the home or lowest z axis position A positive value moves the robot head up from the home position A negative value moves...

Page 108: ...ing a microplate When it is not holding a microplate the robot will approach the teachpoint at the height of the teachpoint unless you select the Respect clearance both ways option Cavity depth Note This setting is not commonly used and should be set at 0 mm for most applications Type the depth in millimeters below the Z teachpoint coordinate The valid range is 35 mm to 0 mm Use this setting to ac...

Page 109: ...oach height even when the robot is not holding a microplate Clear the check box to have the robot approach or move away from the teachpoint at the height of the teachpoint when not holding a microplate Something is above this point Select the option to limit the robot s movements within the robot safe zone With this selection the robot will only move along the theta axis as long as all of its part...

Page 110: ...o enable all the motors After the motors are enabled the robot head moves to the center of the BenchCel device and the robot arms are perpendicular to the x axis The robot grippers are still holding the spare microplate you used to set the teachpoint 7 In the graphical display area click the plus sign at the stacker head that is holding the spare microplates In the command menu that appears click ...

Page 111: ... page 85 2 In the BenchCel Diagnostics Controls tab select the desired labware definition from the Labware list 3 In the graphical display area of the BenchCel Diagnostics dialog box click the plus sign at both of the following locations The stack that contains the spare microplates The teachpoint you want to verify The selected teachpoints should be highlighted in red circles 4 In the BenchCel Di...

Page 112: ...picks up the first microplate in the stack and moves it to the selected teachpoint 6 If the robot did not move the microplate to the correct location proceed to Editing existing teachpoints on page 79 to refine the teachpoint 7 If the robot correctly placed the microplate at the teachpoint move the microplate back to the stack To do this in the graphical display area of the BenchCel Diagnostics di...

Page 113: ... To edit an existing teachpoint 1 In the BenchCel Diagnostics Profile tab verify that the correct teachpoint file is loaded 2 In the graphical display area double click the teachpoint you want to edit The Teachpoint Details dialog box opens and displays the current coordinates and settings for the selected teachpoint 3 Do one of the following Follow the instructions in Setting new teachpoints on p...

Page 114: ...te a teachpoint 1 In BenchCel Diagnostics Profile tab verify that the correct teachpoint file is loaded 2 In the graphical display area double click the teachpoint marker that represents the teachpoint you want to delete The Teachpoint Details dialog box opens 3 Click Delete The current teachpoint file will automatically be updated when you delete a teachpoint 4 Save the device file Related topics...

Page 115: ... of the procedures in this chapter can be performed by someone with operator privileges This chapter contains the following topics Workflow for performing a run on page 82 Performing pre run checks on page 83 Loading and unloading labware on page 84 Installing and removing stacker racks on page 85 Stopping the BenchCel device in an emergency on page 88 Cleaning up after a protocol run on page 89 ...

Page 116: ...n Control User Guide 3 Prepare devices and accessories Device user documentation 4 Load labware into a stacker rack Loading and unloading labware on page 84 5 Install a stacker rack Installing and removing stacker racks on page 85 6 Start a protocol run BenchWorks Automation Control User Guide 7 Monitor the run BenchWorks Automation Control User Guide 8 Pause the run BenchWorks Automation Control ...

Page 117: ...devices that require compressed air make sure the air pressures meet the operating requirements For the BenchCel Workstation air supply requirements see Verifying laboratory requirements on page 29 For other Velocity11 devices check the user documentation for the device For third party devices check the product s user documentation To check the BenchCel Workstation internal air pressure see Adjust...

Page 118: ...the microplates such that the A1 well is in the lower right corner For example if the VPrep Pipettor is installed to the left of the BenchCel Workstation the A1 well should be in the lower right corner The first or bottom most microplate in the stack will be process first The last or top most microplate in the stack will be processed last Unloading microplates from a stacker rack To unload micropl...

Page 119: ...tacker rack tabs will be inserted into the slots in the clamps If the clamps are open the slots will be hidden and you will not be able to load the rack 2 To close the clamps in the BenchCel Diagnostics graphical display area click the desired rack In the command menu that appears click Close Stacker Grippers You should hear a click sound as the clamps close 3 With the rack s open side facing the ...

Page 120: ...ker head The green status light flashes for 5 seconds to indicate that the rack is ready for unloading You should hear a click sound as the locks retract If the green light stops flashing press the button again In the BenchCel Diagnostics Controls tab click Stacker n at the top of the rack that you want to unload In the command menu that appears click Unlock rack You should hear a click sound as t...

Page 121: ...er Guide Related topics For information about See Turning on the power and air Starting up and shutting down the BenchCel Workstation on page 52 Automation ready labware Labware considerations on page 16 Loading labware into the stacker racks Loading and unloading labware on page 84 ...

Page 122: ...an emergency Press the large robot disable button on the pendant The safety interlock circuit is interrupted disabling the robot motors The BenchCel Workstation operation stops IMPORTANT After the motors are disabled the robot head and arms might have momentum and continue to move until they come to the end of the x z or theta axes or until they bump into an obstacle To recover from the emergency ...

Page 123: ...ng and removing stacker racks on page 85 IMPORTANT Make sure the power and compressed air are on when removing the racks 4 Remove manually placed microplates from platepads and external devices 5 See the device user documentation for cleanup instructions 6 Check run logs for errors 7 If you have administrator or technician privileges and you have modified the protocol including selected options yo...

Page 124: ...Chapter 4 Performing a run BenchCel Microplate Handling Workstation R Series User Guide 90 ...

Page 125: ...device and provides troubleshooting information This chapter contains the following topics Routine maintenance on page 92 Hardware problems on page 95 Software error messages on page 97 Recovering from an emergency stop on page 103 Diagnostic tools on page 105 Adjusting the plate orientation sensors on page 124 Adjusting the stacker gripper pressure on page 131 Reporting problems on page 135 ...

Page 126: ...ids Check the x axis tracks to make sure it is free of debris Monthly inspection and maintenance In general practice good housekeeping by cleaning up spills and routinely cleaning after using the BenchCel Workstation Every month check the following Robot gripper pins to make sure they are not too dull to grip the microplates If the pins have become dull contact Velocity11 Technical Support to repl...

Page 127: ...y11 Technical Support Air supply tubing to make sure the tubing is in good shape and there are no leaks Replace the broken tubing if necessary Stacker gripper pressure is set correctly The pressure is displayed in the BenchCel Diagnostics Controls tab Integrated device For routine maintenance of the external devices see the external device user documentation Check for visible rub marks on the fron...

Page 128: ...94 Related topics For information about See Cleanup procedure after every protocol run Cleaning up after a protocol run on page 89 Air source requirements Compressed air on page 30 Checking and adjusting the stacker gripper pressure internal air pressure Adjusting the stacker gripper pressure on page 131 ...

Page 129: ... source house cylinder or pump If the connections look fine the leak is might be inside the device Contact Velocity11 Technical Support Oil is present in the stacker head The compressed air is not from an oil free compressor and oil has leaked into the BenchCel device Contact Velocity11 Technical Support The microplate drops from the robot grippers The labware definition for the microplate type mi...

Page 130: ...ting teachpoints on page 79 If you suspect that one of the other factors is responsible for improper microplate placement contact Velocity11 Technical Support A high pitched sound can be heard when the robot moves up or down The Z axis lacks lubrication Contact Velocity11 Technical Support The rack release button does not turn green and the stacker rack cannot be removed The stack of microplates a...

Page 131: ...ial cables Verify that the Ethernet switch has power If the problem continues contact Velocity11 Technical Support Deadlock detected The protocol run is unable to continue Some or all of the target locations are unavailable so the microplates cannot be moved to those locations Review the protocol and the run log Run the simulator to determine the reason for the deadlock In addition check that the ...

Page 132: ...itor or in BenchCel Diagnostics Velocity11 recommends an 8 mm offset for most labware No microplate is available at the pickup location Make sure you load or place labware at the target location No plate in stack The plate presence sensor does not detect a microplate in the stack because of one or more of the following No microplate is in the stack The plate presence sensor is not working properly...

Page 133: ...ialog box click Retry If clicking Retry does not resolve the problem home the robot and retry the intended command If the problem persists contact Velocity11 Technical Support Position error on the Theta axis The robot failed to move to the commanded position For example something is blocking the robot In the error message dialog box click Retry If clicking Retry does not resolve the problem home ...

Page 134: ...grippers when they should not be Unload the microplates from the stack If a microplate is held by the stacker grippers in BenchCel Diagnostics use commands to open the stacker grippers to release the microplate In BenchCel Diagnostics use commands to retract the shelves or open the stacker grippers Reload the microplates and retry the intended commands Stacker shelf not extended The BenchCel devic...

Page 135: ...ler did not respond as expected Home the robot and then move the robot in the same axis If the robot moves continue on If the robot does not move quit the operating software and restart the BenchCel device If the problem persists contact Velocity11 Technical Support Timeout on x axis The motor s controller did not respond as expected Home the robot and then move the robot in the same axis If the r...

Page 136: ...y and threshold settings need adjustments See Adjusting the plate orientation sensors on page 124 X position out of bounds The robot is commanded to move out of its range in the x axis Check the teachpoint x axis value to make sure it is not beyond the factory set limits If the problem persists contact Velocity11 Technical Support Z position out of bounds The robot is commanded to move out of its ...

Page 137: ...e check the robot gripper alignment a Move the robot arms so that they are perpendicular to the x axis b Make sure the bottom of the robot grippers are perpendicular to the robot arms If they are not contact Velocity11 Technical Support 3 At the pendant turn the robot disable button clockwise to restore power to the motors 4 If you stopped a protocol run in an emergency in the BenchWorks software ...

Page 138: ...that the robot is currently holding Replace the lid on the microplate Home the robot Verify teachpoints Always start BenchCel Diagnostics if a physical crash occurred You will need to home the robot and verify teachpoints See Diagnostic tools on page 105 for instructions or see Quick reference on page 153 for the complete list of available commands you can use Related topics For information about ...

Page 139: ...he robot on page 107 Changing the robot speed on page 108 Moving plates between teachpoints on page 110 Locking and unlocking stacks on page 111 Opening and closing clamps on page 113 Extending and retracting shelves on page 114 Changing labware parameters on page 115 Changing the general settings on page 121 See Quick reference on page 155 for the complete list of available commands you can use S...

Page 140: ...k Home Motors Disabling and enabling the robot motors Disabling the robot motors allows you to move the device by hand making it easier to set and edit teachpoints To disable the robot motors 1 In the Controls tab click Jog Teach 2 In the Motor Enabled area select or click the following Click to home the robot Option or command Description X Select the option to enable the x axis motor Clear the c...

Page 141: ...t does not bump into obstacles in its path such as the stacker heads and plate stages Command Description Jogs the robot arm counterclockwise from the current position by the specified theta axis increment Jogs the robot arm clockwise from the current position by the specified theta axis increment Jogs the robot head left from the current position by the specified x axis increment Jogs the robot h...

Page 142: ... for each of the robot axes To select the robot speed In the Controls tab select the Speed Fast Medium or Slow The speed you select in BenchCel Diagnostics applies only to the robot commands in BenchCel Diagnostics Jog Move Transfer and so on If the robot is holding a microplate the slower of the following will be applied the speed you selected in the Labware Editor or the speed you selected in Be...

Page 143: ...t maximum speed 1 In the General Settings tab click Speed Settings The Speed Settings dialog box opens 2 In the desired box type the percentage of the factory set maximum speed Note The speed settings apply to the speeds you select in BenchCel Diagnostics Labware Editor and the BenchWorks Options dialog box 3 When you are finished click OK to save the changes Click to set speeds ...

Page 144: ...ng The teachpoint you want to move to Two teachpoints between which you want to move a plate The selected teachpoints should be highlighted in red circles 4 Rest the pointer on a selected teachpoint In the command menu that appears select one of the following Select Slow Command Description Move to teachpoint Moves the robot from its current position to the selected teachpoint The robot places the...

Page 145: ...cs if it is more convenient Transfer to teachpoint Moves a microplate from the currently selected teachpoint to the other selected teachpoint To transfer a microplate from a stack you must first click Load Stacker n During the transfer the robot downloads the plate places it at the other selected teachpoint and then backs into the safe zone If the robot is transferring a plate from one teachpoint ...

Page 146: ...he BenchCel Diagnostics Controls tab click Stacker n at the top of the rack that you want to unload The command menu appears 2 If you have not already done so click Unload Plates 3 Click Unlock You should hear a click sound as the locks retract Click Unload Plates at the desired rack to unload microplates Click the command at the desired rack to unlock the stack ...

Page 147: ...se the commands in BenchCel Diagnostics to open or close the clamps stacker grippers For example you might want to open the clamps stacker grippers to remove a microplate DAMAGE HAZARD Opening the clamps stacker grippers might cause the microplate or stack of microplates to drop To open or close the clamps stacker grippers In the BenchCel Diagnostics Controls tab click Stacker n at the top of the ...

Page 148: ... shelves extend and retract automatically during the downstacking and upstacking processes When diagnosing problems or after an aborted run you can use the commands in BenchCel Diagnostics to extend or retract the shelves DAMAGE HAZARD Retracting the shelves might cause the microplate or stack of microplates to drop To extend or retract the shelves In the BenchCel Diagnostics Controls tab click St...

Page 149: ...ut opening Labware Editor For example you can change the stacking thickness gripper offsets notch specification and lid specifications Note Changes you make to the labware parameters in BenchCel Diagnostics are also updated in the Labware Editor To make quick changes to labware parameters 1 In the BenchCel Diagnostics Controls tab select the labware definition you want to test or troubleshoot from...

Page 150: ... of the box to the top of the tips To increase the number of contact points measure the distance at the corner of the microplate or tip box using calipers This method is especially useful if the microplate has a lip at the top and the caliper can angle inward producing inaccurate measurements Stacking thickness The thickness in millimeters of two stacked plates minus the thickness of one plate For...

Page 151: ...ation sensors on page 124 Intensity all sensors The value that sets the intensity of the emitting sensor light The value is a percent of the maximum intensity The default value is 50 Note This setting applies to the plate presence sensor orientation sensor and the rack presence sensor Some microplates are more reflective than others Increase the intensity if microplate sensor readings are too low ...

Page 152: ...n the top of the microplate and the top of the microplate skirt and then add the height of the skirt Parameter Description Gripper open position The distance in millimeters that each gripper moves from its home position as the robot releases a microplate A larger value moves the grippers closer together A smaller value opens the grippers wider The parameter value is applied to both robot grippers ...

Page 153: ...625 mm toward each other from its home position Note Because the weight of the entire stack will be on the robot grippers you should use a value greater than the Gripper holding plate parameter Parameter Description Parameter Description Can have lid The option to include a microplate lid If you select this option and plan to process lidded microplates make sure you select the Plates have lids che...

Page 154: ...lding lid position The distance in millimeters that each gripper moves inward from its home position when holding a microplate lid An increasing value moves the grippers closer together and holds the microplate tighter A decreasing value opens the grippers wider The parameter value is applied to each robot gripper For example a value of 5 25 mm moves each robot gripper 2 625 mm toward each other f...

Page 155: ... changing the general settings Changes in this tab will affect existing protocols DAMAGE HAZARD The changes are stored in the BenchCel flash memory The changes you make to the general settings will take affect any time you are using this BenchCel device regardless of profile protocol file or device file To change general settings 1 In BenchCel Diagnostics click the General Settings tab Click to sa...

Page 156: ... you are finished making the changes click OK to apply and save the new setting values Setting Comment Plate presence threshold The value above which a plate is considered present at the plate presence sensor This value is applied to all the sensors in all the stacks Rack sensor threshold The value above which a rack is considered present at the rack presence sensor Low pressure threshold psi The ...

Page 157: ...mation about See Hardware problems Hardware problems on page 95 Software error messages Software error messages on page 97 Defining labware in BenchWorks BenchWorks Automation Control User Guide Teachpoints Setting and managing teachpoints on page 66 Installing and removing stacker racks Installing and removing stacker racks on page 85 ...

Page 158: ... orientation sensors work Four plate orientation sensors on the inside wall of the stacker head detect the presence of microplate notches when the microplate is downstacked Each sensor contains a light emitter that transmits light and a receiver that reads the amount of light reflected by the surface of the microplate If the light beam bounces off of a wall that is perpendicular to its path most o...

Page 159: ...er plate color might require higher light intensity Microplate material Shiny or reflective plates might require lower light intensity Microplate condition Cracks chips scratches or defects in the area where the sensor light contacts the plate can affect sensor reading Ambient light Brighter rooms might require lower light intensity Aligning the plate with the sensors Make sure the microplate is a...

Page 160: ...that appears click Load Plates The BenchCel device moves the first microplate from the top of the stacker grippers and places it on the shelves 5 In the graphical display area at the stack where you have loaded the microplates click Downstack The robot grippers hold the first microplate and moves it down past the sensors Click the command at the desired rack to load the microplates Click to move t...

Page 161: ... area select the stacker number and then check the notch sensor readings The corners with the notches should have much lower readings than the other corners In the following example the plate notch is in the upper right corner so the reading at that corner is significantly lower than the other corners 8 If the corners with notches do not have lower readings than the other corners in the BenchCel D...

Page 162: ...eadings are still not correct proceed to adjust the sensor intensity and threshold Adjusting the sensor light intensity Ideally the sensor intensity should be set such that the orientation sensor reading is at the maximum near 255 when no notch is present However different plate color plate material and ambient light might require that you adjust the intensity to create the maximum possible differ...

Page 163: ... darker Decrease the intensity if the plate color is lighter if the plate material is shiny or if the ambient light is brighter 4 Check the orientation sensor readings The corners with the notches should have much lower readings than the other corners The maximum value is 255 5 If the readings appear to be correct click Apply and save to save the settings Adjusting the orientation sensor threshold...

Page 164: ...r signal is 236 you can set the threshold at 200 Related topics Change the sensor threshold For more information about See Hardware problems Hardware problems on page 95 Software error messages Software error messages on page 97 Defining labware in BenchWorks BenchWorks Automation Control User Guide Using commands in BenchCel Diagnostics Diagnostic tools on page 105 ...

Page 165: ... device You typically do not need to adjust the internal air pressure You might want to adjust the pressure when troubleshooting Load Plate problems or when you want to load different labware on the same BenchCel Workstation In general you can set the internal air pressure within the range of 30 50 psi For plates that are flexible and tend to bend you should decrease the air pressure For less flex...

Page 166: ...s tab and then click the Jog Teach tab 4 In the Stacker Sensors area check the air pressure value Adjusting the internal air pressure To adjust the internal air pressure 1 At the front of the BenchCel device lift the circular cover 2 Turn the lock screw counterclockwise to unlock the air pressure regulator knob Check the stacker gripper pressure internal air pressure Lift cover to access the air p...

Page 167: ...the knob counterclockwise decreases the internal air pressure 4 Check the air pressure value in the BenchCel Diagnostics window A valid air pressure value displays only when the stacker grippers are closed 5 Turn the lock screw clockwise to lock the air pressure regulator knob This prevents accidental adjustments Turn to adjust pressure Check the stacker gripper pressure internal air pressure Turn...

Page 168: ...s User Guide 134 6 When you are finished place the cover on the front of the BenchCel device Related topics For information about See Air pressure requirements Compressed air on page 30 Hardware problems Hardware problems on page 95 Software error messages Software error messages on page 97 ...

Page 169: ...ervice velocity11 com Calling Velocity11 Technical Support at 1 800 979 4811 or 1 650 846 6611 outside the US Sending a bug report from within BenchWorks software Reporting hardware problems When contacting Velocity11 make sure you have the serial number of the device ready You can locate the serial number on the front and the back of the BenchCel device l Reporting software problems When reportin...

Page 170: ... the Windows registry Error message text or screen capture of the error message window Screen capture of the About window For instructions on how to locate the device protocol protocol log and registry files see the BenchWorks Automation Control User Guide Reporting user guide problems If you find a problem with this user guide or have suggestions for improvement please send your comments using th...

Page 171: ...integrators the ActiveX control information they need to integrate another company s lab automation device into the BenchCel Workstation The ActiveX has been verified to work with both Visual Studio 6 and Visual Studio NET v 7 1 This chapter contains the following topics About ActiveX controls on page 138 Properties on page 139 Methods on page 141 ...

Page 172: ...ntrol consists of a collection of the following Methods Functions that can be called to invoke individual operations Properties Variables that are used in methods for example speed fast Events Notifications that methods have completed or resulted in errors When integrating the BenchCel device in a lab automation system you need to know the available methods and properties for the ActiveX control T...

Page 173: ...Command1 on the current form You must set the style property of Command1 to Graphical Command1 Picture BenchCel ControlPicture SHORT Speed Description Property to specify how fast the BenchCel should move 0 slow 1 medium 2 fast This property should not be changed during an operation Setting this property to an invalid value will have no effect call will be ignored Visual C example Set the speed to...

Page 174: ...ror occurs the ActiveX expects a call to Abort Retry or Ignore ShowDiagsDialog can be called to allow the user to exercise specific diagnostic corrective functions but when the main execution resumes a call to Abort Retry or Ignore is necessary to continue the operation Visual C example Set the BenchCel to block until the command completes m_BenchCel Blocking 1 Visual Basic example Set the BenchCe...

Page 175: ...ion Visual Basic example Version BenchCel GetVersion LONGInitialize BSTR Profile Description Method to connect to the BenchCel device A BenchCel profile specifies how to connect to the device serial or Ethernet if Ethernet which device on the network and if serial which port to use and which teachpoint file to use If this is called in non blocking mode the client application should wait for Initia...

Page 176: ...called before Initialize to create a profile Parameters Returns LONG no meaning Visual C example m_BenchCel ShowDiagsDialog TRUE 0 Visual Basic example BenchCel ShowDiagsDialog 1 0 void Close Description Method to disconnect from the BenchCel device Parameters None Returns None Visual C example m_BenchCel Close Visual Basic example BenchCel Close Argumen t Type Argument Name Range Description BOOL...

Page 177: ...astError Visual Basic example strError BenchCel GetLastError LONG Retry Description Method to retry an action after an error occurred For example if there is insufficient air pressure during a LoadStack operation the application can call Retry after the air pressure has been increased Parameters None Returns S_OK if success other value otherwise Visual C example m_BenchCel Retry Visual Basic examp...

Page 178: ... microplate Stacker locations are called Stacker 1 Stacker 2 etc Downstacking can be specified by using a stacker location for PickFrom and upstacking can be specified by using a stacker location for PlaceTo bLidded indicates whether the robot should treat the microplate as if it has a lid nRetractionCode should be 3 reserved for future options Parameters Returns S_OK if success other value otherw...

Page 179: ...rns A safe array of teachpoint names Visual C example VARIANT vTeachpoints m_BenchCel GetTeachpointNames SAFEARRAY psa vTeachpoints parray BSTR bstrArray if FAILED SafeArrayAccessData psa reinterpret_cast void bstrArray VariantClear vTeachpoints return for ULONG i 0 i psa rgsabound 0 cElements i MessageBox CString bstrAdday i SafeArrayUnaccessData psa VariantClear vTeachpoints Visual Basic example...

Page 180: ...G SetLabware BSTR bstrLabware Description Method to set the labware to use The selection will be in effect for all operations until a different labware is set If diagnostics are shown and the user selects a different labware the original labware will be restored when the diagnostics window is closed This method should not be called when any movement is in progress Parameters Returns S_OK if succes...

Page 181: ...k has been loaded The stack number is 0 based This method should be called after a successful connection Parameters Returns S_OK if successful other value otherwise Visual C example 1Result m_Benchcel IsStackLoaded 1 bStackLoaded Visual Basic example 1Result BenchCel IsStackLoaded 1 bStackLoaded Argument Type Argument Name Range Description LONG pCount Valid pointer to receive the stack count If s...

Page 182: ...ReleaseStack SHOR T sStack Description Method to release a stack A released stack can be freely taken from the device for the loading or unloading of microplates However the BenchCel cannot downstack from or upstack to a released stack The stack number is 0 based Note This method can also be used to perform the close clamp function Parameters Argument Type Argument Name Range Description SHORT sSt...

Page 183: ...nd cannot be freely taken from the device The stack number is 0 based Parameters Returns S_OK if successful other value otherwise Visual C example 1Result m_BenchCel LoadStack 0 Visual Basic example 1Result BenchCel LoadStack 0 LONG MoveToHomePosi tion Description Method to move the device to the origin This method is not commonly used Parameters None Returns S_OK if successful other value otherwi...

Page 184: ...ers Returns S_OK if successful other value otherwise Visual C example m_BenchCel ShowLabwareEditor 1 MyPlateType Visual Basic example BenchCel ShowLabwareEditor 1 MyPlateType LONG Pause Description Method used to pause the BenchCel movement Parameters None Returns S_OK if successful other value if there was an error LONG Unpause Description Method used to unpause the BenchCel movement The BenchCel...

Page 185: ... lid from a microplate You will need to specify where the microplate is located and where to place the lid once it is removed from the microplate The DelidTo parameter is optional The BenchCel robot will hold onto the lid if the DelidTo parameter is empty The third argument RetractionCode specifies how to position the arms after delidding the microplate 1 retract normally 2 retract only in Z to cl...

Page 186: ...wareNames Description Method to retrieve a list of defined labware The strings in this array are the options that should be used for SetLabware Parameters None Returns An array of labware names Visual C example VARIANT vLabware m_BenchCel GetLabwareNames SAFEARRAY psa vLabware parray if FAILED SafeArrayAccessData psa reinterpret_cast void bstrArray VariantClear vLabware return for ULONG i 0 i psa ...

Page 187: ...tions that should be used for Initialize Parameters None Returns An array of profile names Visual C example VARIANT vPRofiles m_BenchCel EnumerateProfiles SAFEARRAY psa vProfiles parray BSTR bstrArray if FAILED SafeArrayAccessData psa reinterpret_cast void bstrArray VariantClear vProfiles return for ULONG i 0 i psa rgsabound 0 cElements i MessageBox CString bstrArray i SafeArrayUnaccessData psa Va...

Page 188: ...Appendix A BenchCel ActiveX control BenchCel Microplate Handling Workstation R Series User Guide 154 ...

Page 189: ...erence B This appendix provides a quick reference of the following Rack release button indicator light on page 156 BenchCel Diagnostics Controls tab on page 157 BenchCel Diagnostics General Settings tab on page 168 BenchCel Diagnostics Profiles tab on page 170 Teachpoint Details dialog box on page 172 ...

Page 190: ...ts the possible colors and the corresponding status description Indicator lights Light color Meaning Green solid The stacker rack is installed correctly on the BenchCel device and the stack of microplates are unloaded The stack of microplates are ready for processing You can unlock and remove the stacker rack Green flashing The stacker rack is unlocked and can be removed Blue solid A microplate is...

Page 191: ... the stacks of labware on the shelves in preparation for a protocol run After a stack of labware is loaded you cannot remove the stacker rack Unload All The command that places all the stacks of labware on the stacker grippers so that you can remove the stacker rack Stacker n Load plates Loads a microplate at the specified stacker rack in preparation for a downstack process or protocol run Stacker...

Page 192: ...stays at the teachpoint Pick from teachpoint Picks up the plate from the selected teachpoint and moves the plate to the ready for upstack position under the stacker head Place at teachpoint Moves the robot from its current position and places the plate at the selected teachpoint After placing the plate the robot backs away from the teachpoint into the safe zone Transfer to teachpoint Moves a plate...

Page 193: ...te The plate presence sensor reading Air psi The internal air pressure measurement in psi A1 The plate orientation sensor reading for the A1 corner of the microplate Top right The plate orientation sensor reading for the top right corner of the microplate Bottom left The plate orientation sensor reading for the bottom left corner of the microplate Bottom right The plate orientation sensor reading ...

Page 194: ...ker microplates might require higher intensity Brighter rooms might require that you reduce the intensity This setting applies to the plate presence sensor orientation sensor and the rack presence sensor Note The setting is also available in the Labware tab Apply and Save The command that saves the updated settings in the tab Command Description Jogs the robot arm counterclockwise from the current...

Page 195: ...hat moves the robot head to the center of the BenchCel Workstation device and the robot arms are perpendicular to the x axis Select The list of available teachpoint files Command Description Home Motors Sends the robot to the factory defined home position for each axis of motion X Enables or disables the x axis motor Select the check box to enable the motor Clear the check box to disable the motor...

Page 196: ...Appendix B Quick reference BenchCel User Guide 162 Labware tab Commands Command Description Save and Apply Labware Parameters Saves the updated settings in the tab ...

Page 197: ...oints measure the distance at the corner of the plate or tip box using calipers This method is especially useful if the plate has a lip at the top and the caliper can angle inward producing inaccurate measurements Stacking thickness The thickness in millimeters of two stacked plates minus the thickness of one plate For example Thickness of two stacked plates x 23 14 mm Thickness of one plate 14 14...

Page 198: ...e notch locations The adjustments you make depend on the microplate color material ambient light and other factors For example darker microplates might require higher intensity Brighter rooms might require that you reduce the intensity This setting applies to the plate presence sensor orientation sensor and the rack presence sensor Note The setting is also available in the Jog Teach tab Parameters...

Page 199: ...ens the grippers wider The parameter value is applied to both robot gripper For example a value of 5 25 mm moves each robot gripper 2 625 mm toward each other from its home position Note How tightly the robot grippers should hold a microplate depends on the microplate material and design You might want to run some tests to optimize the parameter Gripper holding stack position The distance in milli...

Page 200: ... left corner notch indicator Select the option to indicate that the lower left corner has a notch Clear the check box to indicate that the lower left corner does not have a notch Lower right corner The lower right corner notch indicator Select the option to indicate that the lower right corner has a notch Clear the check box to indicate that the lower right corner does not have a notch Parameters ...

Page 201: ... position The distance in millimeters that each gripper moves inward from its home position when holding a microplate lid An increasing value moves the grippers closer together and holds the microplate tighter A decreasing value opens the grippers wider The parameter value is applied to each robot gripper For example a value of 5 25 mm moves each robot gripper 2 625 mm toward each other from its h...

Page 202: ...no rack Low pressure threshold psi The value at or below which the system will display a low pressure warning Note If you set this value too low the device could drop microplates without generating a low air pressure warning Velocity11 recommends that you set the threshold at 20 psi Home robot after protocol run finishes The option to return the robot to its home position after the protocol run is...

Page 203: ... Guide Show current settings Displays the parameter values that were last saved Write settings to file Allows you to save the Advanced Settings information to a file Apply Applies the changes so that the new values are used Parameters Description ...

Page 204: ...s Create a new profile Creates a new profile Create a copy of this profile Creates a duplicate copy of the selected profile Rename this profile Renames the selected profile Delete this profile Deletes the selected profile Update this profile Saves changes to the selected profile Initialize this profile Initiates communication with the BenchCel device using the selected profile ...

Page 205: ...he dialog box to establish communication between the controlling computer and the device This command is only available if you select the Ethernet connection Use flow control Serial connection only Allows the BenchCel device to stop the flow of data from the computer before it overruns the device communication buffer Velocity11 recommends that you select this option to optimize communication over ...

Page 206: ...ition A negative value moves the arms are clockwise from the home position The range of movement is from 115 to 115 X The horizontal distance from the home position in millimeters A positive value moves the robot head to the right of the home position A negative value moves the robot head to the left of the home position The range of movement depends on the number of stacker heads For two stacker ...

Page 207: ...ting to prevent the robot from colliding with raised tabs or walls at the teachpoint location Velocity11 recommends that you set the approach height at 20 mm the default value However if there is an obstruction above the teachpoint you might need to use a smaller approach height to prevent collision Note This value applies when the robot is holding a microplate When it is not holding a microplate ...

Page 208: ...the maximum distance in millimeters the robot grippers are allowed to open as they prepare to grip the microplate at the teachpoint The maximum value you set is less than or equal to the Robot Gripper Open Position value set in the BenchCel Diagnostics Controls Labware tab Use this setting if the teachpoint area is narrower than the robot grippers open position To see this value click Save and exi...

Page 209: ...g or moving away from the teachpoint Clear the check box to allow the robot to use the workspace The robot s θ axis movements are not limited when approaching and moving away from the teachpoint Use this option to limit the robot s movements to prevent collision when approaching a teachpoint For example when moving labware to and from a multi shelf device such as the VPrep System this option preve...

Page 210: ...Appendix B Quick reference BenchCel User Guide 176 ...

Page 211: ...ed past the orientation sensors and to the ready position home position The position where all robot axes are at the 0 position the robot head is approximately at the center of the x axis and at 0 of the z axis and the robot arms are perpendicular to the x axis homing The process in which the robot is sent to the factory defined home position for each axis of motion plate stage The platform on whi...

Page 212: ...lates when a microplate is loaded downstacked or upstacked task parameters The parameters associated with each task in a protocol For example in a labeling task the parameters include the label value teachpoint A teachpoint is a set of coordinates that define where the robot can pick up or place labware and the location of a known object teachpoint file The XML file that contains the settings for ...

Page 213: ...perating requirements 30 performing pre run checks 83 recovering after emergency 52 running a protocol 82 shutting down 53 stacker head configurations 2 starting up 52 turning off 52 53 turning on 52 unpacking 32 weight 29 32 BenchCel Diagnostics described 19 105 profiles 61 version number v 135 BenchCel Workstation described 2 14 installation requirements 29 run workflow 82 running a protocol 82 ...

Page 214: ...15 troubleshooting 96 Velocity11 devices 14 integration plate accessory 12 described 35 Intensity all sensors parameter 117 interlock circuit 6 7 23 40 IP address 45 J job roles for readers of this guide iv jogging the robot 107 L lab automation requirements 138 labels safety 22 serial number 135 laboratory space requirements 29 labware characteristics that affect automation 17 definition 18 95 li...

Page 215: ...ckness 116 163 PDF guide vi vii pendant connecting to the device 40 described 40 port 7 port location 6 Pick from command 110 Place at command 110 Plate presence threshold parameter 122 plate orientation sensors 4 9 124 plate presence sensor 8 power cord 33 power switch location 6 7 turning off 52 53 turning on 52 pre run checks performing 83 profiles creating 61 described 19 initializing 65 updat...

Page 216: ...er pressure 93 95 stacker gripper pressure adjusting 131 stacker grippers described 10 opening and closing 113 stacker heads configurations 2 described 4 stacker racks 12 29 described 4 10 removing 111 unlocking 111 Stacking thickness parameter 116 163 startup procedure 52 status lights 5 subnet mask 45 T Teachpoint Details dialog box 72 teachpoints coordinates of 67 creating file for 64 defined 6...

Page 217: ...183 Index BenchCel Microplate Handling Workstation R Series User Guide workflows installation 28 running a protocol 82 setup 50 workspace described 75 X x axis movement 5 Z z axis movement 5 ...

Page 218: ...Index BenchCel Microplate Handling Workstation R Series User Guide 184 ...

Page 219: ......

Page 220: ...Agilent Technologies User Guide G5400 90001 ...

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