Direct Drive Robot User Guide

Direct Drive Robot User Guide
Direct Drive Robot
User Guide
Original Instructions
Agilent Technologies
,Notices
© Agilent Technologies, Inc. 2010
Warranty
No part of this manual may be reproduced
in any form or by any means (including
electronic storage and retrieval or translation into a foreign language) without prior
agreement and written consent from Agilent Technologies, Inc. as governed by
United States and international copyright
laws.
The material contained in this document is provided “as is,” and is subject to being changed, without notice,
in future editions. Further, to the maximum extent permitted by applicable
law, Agilent disclaims all warranties,
either express or implied, with regard
to this manual and any information
contained herein, including but not
limited to the implied warranties of
merchantability and fitness for a particular purpose. Agilent shall not be
liable for errors or for incidental or
consequential damages in connection
with the furnishing, use, or performance of this document 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 separate agreement shall control.
User Guide Part Number
G5430-90003
Contact Information
Agilent Technologies Inc.
Automation Solutions
5301 Stevens Creek Blvd.
Santa Clara, CA 95051
USA
Technical Support: 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)1763850230
euroservice.automation@agilent.com
Technology Licenses
Documentation feedback:
documentation.automation@agilent.com
The hardware and/or software described in
this document are furnished under a
license and may be used or copied only in
accordance with the terms of such license.
Web:
www.agilent.com/lifesciences/
automation
Restricted Rights Legend
Acknowledgements
Microsoft and Windows are registered
trademarks of the Microsoft Corporation in
the United States and other countries.
Adobe and Acrobat are trademarks of
Adobe Systems Incorporated.
If software is for use in the performance of
a U.S. Government prime contract or subcontract, Software is delivered and
licensed as “Commercial computer software” as defined in DFAR 252.227-7014
(June 1995), or as a “commercial item” as
defined in FAR 2.101(a) or as “Restricted
computer software” as defined in FAR
52.227-19 (June 1987) or any equivalent
agency regulation or contract clause. Use,
duplication or disclosure of Software is
subject to Agilent Technologies’ standard
commercial license terms, and non-DOD
Departments and Agencies of the U.S. Government will receive no greater than
Restricted Rights as defined in FAR 52.22719(c)(1-2) (June 1987). U.S. Government
users will receive no greater than Limited
Rights as defined in FAR 52.227-14
(June1987) or DFAR 252.227-7015 (b)(2)
(November 1995), as applicable in any
technical data.
Safety Notices
A WARNING notice denotes a
hazard. It calls attention to an
operating procedure, practice, or the
like that, if not correctly performed or
adhered to, could result in personal
injury or death. Do not proceed
beyond a WARNING notice until the
indicated conditions are fully
understood and met.
A CAUTION notice denotes a hazard. It
calls attention to an operating procedure,
practice, or the like that, if not correctly
performed or adhered to, could result in
damage to the product or loss of important
data. Do not proceed beyond a CAUTION
notice until the indicated conditions are
fully understood and met.
EC DECLARATION OF CONFORMITY
in accordance with EN ISO 17050-1:2004
Manufacturer’s Name:
Agilent Technologies, Inc.,
(Automation Solutions Division)
5301 Stevens Creek Blvd.
Santa Clara, CA 95051
USA
Manufacturer’s Address:
hereby declares that:
equipment model:
Direct Drive Robot
complies with the essential requirements of the following European Directives and bears the CE
Marking accordingly:
EMC Directive 2004/108/EC
Low Voltage Directive 2006/95/EC
and conforms with the following product standards:
EMC:
Safety:
IEC 61326-1:2005 / EN 61326-1:2006
IEC 61010-1:2001 / EN 61010-1:2001
___________________
Bob Srinivas
Quality Manager
Santa Clara, CA
December 18th, 2009
Language in the EC Declaration of Incorporation
The EC Declaration of Incorporation (for partial machinery) accompanying the Direct Drive Robot includes the
following language:
Agilent Technologies hereby declares that the:
•
•
Equipment — Direct Drive Robot
Serial number — Shown on the equipment
is incomplete machinery, and must not be put into service until the machinery into which it is to be incorporated
has been declared in conformity with the provisions of Machinery Directive 2006/42/EC. The equipment
complies with all applicable Essential Health and Safety Requirements (EHSRs) except:
1.2.4.3 — Emergency stop
1.3.1 — Stability
1.3.7 — Moving parts
1.3.8 — Guards
We undertake to transmit, via email, relevant information on the partly completed machinery in response to a
reasoned request by national authorities.
Name and address of the person established in the Community authorized to compile the technical file or the
relevant technical documents:
Ian Cowans
Agilent Technologies UK Ltd
The Crossing
Haugh Head
Wooler NTHU NE71 6QS
UK
Cell: +44 (7825) 241062
Contents
Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix
About this guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . x
Accessing Automation Solutions user guides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
1. Introduction to the Direct Drive Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
About the Direct Drive Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Hardware components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Software overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2. Specifications and site requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Physical dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Reach and workspace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Axis and gripper specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Performance specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Mounting specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Electrical requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Environmental requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Computer requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3. Unpacking and installing the Direct Drive Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Installation and setup workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Packing workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Unpacking and packing the robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Removing and installing the shipping brace. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Installing and removing the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Turning on and turning off the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4. Setting up the Direct Drive Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Setup workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Creating a device file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Adding and deleting Direct Drive Robots in the device file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Creating Direct Drive Robot profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Setting up robot communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Setting miscellaneous parameters in the profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Selecting a teachpoint file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Saving the profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Initializing the profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Editing and managing profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Specifying the table dimensions and robot position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5. Setting teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Teachpoint setting workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Planning Direct Drive Robot teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Direct Drive Robot User Guide
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Contents
Setting teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Setting teachpoints using a labware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Verifying teachpoints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Editing existing teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Managing teachpoints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Cycling teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
6. Preparing for a protocol run. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Workflow for preparing a protocol run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Planning for the protocol run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Performing dry runs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Stopping the robot in an emergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
132
133
134
135
7. Using DDR Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
About DDR Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Homing the robot and grippers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Moving the robot into the safe zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Jogging the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Disabling and enabling the robot motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Stopping the robot motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Changing the robot speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Changing the robot speed definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Opening and closing the robot grippers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Changing the gripper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Checking the robot microplate sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Changing the robot display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Checking the temperature and bus voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Restoring robot settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Updating the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Backing up the robot firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Restoring existing firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Viewing the DDR Diagnostics log area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Saving the controller log to file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
8. Maintaining the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Routine maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cleaning the robot gripper pads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Replacing robot gripper pads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tightening the gripper pad screws . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Replacing robot grippers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Replacing fuses in power supply G5411-60010 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Replacing fuses in power supply G5411-60005 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
177
178
179
181
183
185
190
192
9. Troubleshooting robot problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Recovering from an emergency stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Resolving robot initialization errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Recovering from servo errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
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Troubleshooting hardware problems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Troubleshooting error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Reporting problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
A. Quick reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Robot status area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Log area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Jog/Move tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Teachpoints tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Cycler tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Setup tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Advanced tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Profiles tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
B. Spare parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Spare parts list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Direct Drive Robot User Guide
vii
Contents
viii
Direct Drive Robot User Guide
Direct Drive Robot
User Guide
Preface
This preface contains the following topics:
•
“About this guide” on page x
•
“Accessing Automation Solutions user guides” on page xii
ix
Agilent Technologies
Preface
About this guide
About this guide
Who should read this guide
This user guide is for people with the following job roles:
Job role
Responsibilities
Installer
Unpacks, installs, and tests the Direct Drive Robot before it
is used.
Integrator
Writes software and configures hardware controlled by the
VWorks software.
Lab manager,
administrator,
or technician
•
Manages the automation system that contains the Direct
Drive Robot
•
Develops the applications that are run on the system
•
Develops training materials and standard operating
procedures for operators
Operator
Performs the daily production work on the system that
contains the Direct Drive Robot.
Installers, integrations, lab managers, and administrators are users who must
have technical expertise. In addition, lab managers and administrators are
individuals or groups responsible for the use and maintenance of the Direct
Drive Robot and for ensuring that operators are adequately trained.
What this guide covers
This guide describes the Direct Drive Robot, the operation of the hardware
components, and the use of the diagnostics software.
This guide does not provide instructions for the following:
•
VWorks software or third- party software
•
Agilent Technologies devices, such as the Bravo Automated Liquid Handling
Platform, PlateLoc Thermal Microplate Sealer, Microplate Seal Piercer,
Microplate Labeler, Vertical Pipetting Station, Microplate Centrifuge, and
Labware Stacker.
•
Third- party devices
For more information about these topics, see the relevant user guides for these
products.
Software version
This guide documents the following:
x
•
DDR Diagnostics version 1.2.x or later
•
Robot firmware version 1.2.x or later
•
Gripper firmware version 2.3 or later
Direct Drive Robot User Guide
Preface
About this guide
Related guides
The Direct Drive Robot User Guide should be used in conjunction with the
following documents:
•
Direct Drive Robot Site Preparation and Safety Guide. Provides the Direct
Drive Robot specifications and site requirements. The guide also describes
the potential safety hazards and how to avoid them.
•
VWorks Automation Control Setup Guide. Explains how to install the
VWorks software, define labware, track labware, and manage users.
•
VWorks Automation Control User Guide. Explains how to add devices,
create protocols, set task parameters, and run protocols.
•
VWorks Software Quick Start. Provides an overview of how to use the
VWorks Automation Control software.
•
Automation Solutions device user guides. Explains how to set up and use
the Automation Solutions devices.
•
Third- party device user documents. Explains how to set up and use the
third- party devices.
Related information
For information about...
See...
Accessing related user guides
“Accessing Automation Solutions user
guides” on page xii
Reporting problems
“Reporting problems” on page 217
Direct Drive Robot User Guide
xi
Preface
Accessing Automation Solutions user guides
Accessing Automation Solutions user guides
About this topic
This topic describes the different formats of Automation Solutions user
information and explains how to access the user information.
Where to find user information
The Automation Solutions user information is available in the following
locations:
•
Knowledge base. The help system that contains information about all of the
Automation Solutions products is available from the Help menu within the
VWorks software.
•
PDF files. The PDF files of the user guides are installed with the VWorks
software and are on the software CD that is supplied with the product. A
PDF viewer is required to open a user guide in PDF format. You can
download a free PDF viewer from the internet. For information about using
PDF documents, see the user documentation for the PDF viewer.
•
Agilent Technologies website. You can search the online knowledge base or
download the latest version of any PDF file from the Agilent Technologies
website at www.agilent.com/lifesciences/automation.
Accessing safety information
Safety information for the Agilent Technologies devices appears in the
corresponding device user guide.
You can also search the knowledge base or the PDF files for safety information.
Using the knowledge base
Knowledge base topics are displayed using web browser software such as
Microsoft Internet Explorer and Mozilla Firefox.
Note: If you want to use Internet Explorer to display the topics, you might
have to allow local files to run active content (scripts and ActiveX controls). To
do this, in Internet Explorer, open the Internet Options dialog box. Click the
Advanced tab, locate the Security section, and select Allow active content to run in
files on my computer.
To open the knowledge base, do one of the following:
xii
•
From within VWorks software, select Help > Knowledge Base or press F1.
•
From the Windows desktop, select Start > All Programs > Agilent Technologies >
VWorks > User Guides > Knowledge Base.
Direct Drive Robot User Guide
Preface
Accessing Automation Solutions user guides
Opening the help topic for an area in the VWorks window
To access the context-sensitive help feature:
1
In the main window of the VWorks software, click the help button
.
The pointer changes to
. Notice that the different icons or areas are
highlighted as you move the pointer over them.
2
Direct Drive Robot User Guide
Click an icon or area of interest. The relevant topic or document opens.
xiii
Preface
Accessing Automation Solutions user guides
Features in the Knowledge Base window
Item
1
xiv
Feature
Navigation area. Consists of four tabs:
•
Contents. Lists all the books and the table of contents of the
books.
•
Index. Displays the index entries of all of the books.
•
Search. Allows you search the Knowledge Base (all products)
using keywords. You can narrow the search by product.
•
Favorites. Contains bookmarks you have created.
2
Navigation buttons. Enable you to navigate through the next or
previous topics listed in the Contents tab.
3
Content area. Displays the selected online help topic.
4
Toolbar buttons. Enable you to print the topic or send documentation
feedback by email.
Direct Drive Robot User Guide
Preface
Accessing Automation Solutions user guides
Related information
For information about...
See...
Who should read this guide
“About this guide” on page x
What this guide covers
“About this guide” on page x
Reporting problems
“Reporting problems” on page 217
Direct Drive Robot User Guide
xv
Preface
Accessing Automation Solutions user guides
xvi
Direct Drive Robot User Guide
Direct Drive Robot
User Guide
1
Introduction to the Direct Drive Robot
This chapter contains the following topics:
•
“About the Direct Drive Robot” on page 2
•
“Hardware components” on page 4
•
“Software overview” on page 11
1
Agilent Technologies
1 Introduction to the Direct Drive Robot
About the Direct Drive Robot
About the Direct Drive Robot
Description
The Direct Drive Robot is designed to move labware in a laboratory
environment. The robot has four axes of motion and is able to grip labware in
both the landscape and portrait orientations.
Figure
Direct Drive Robot axes of movements (top view and side view)
3
1
4
2
Item
Axis
Description of robot movement
1
Waist
Robot arm rotates infinitely about the waist.
2
Elbow
Robot forearm rotates infinitely about the elbow.
3
Wrist
Robot hand rotates infinitely about the wrist.
4
Mast
Robot arm moves up and down along the mast.
The Direct Drive Robot is controlled by the VWorks software and the DDR
Diagnostics plugin. For more information about the software, see “Software
overview” on page 11.
Before you operate the system
WARNING For safe operation, it is imperative that you follow the precautions in the
Direct Drive Robot Site Preparation and Safety Guide.
2
Direct Drive Robot User Guide
1 Introduction to the Direct Drive Robot
About the Direct Drive Robot
Related information
For information about...
See...
Direct Drive Robot features
“Hardware components” on page 4
Direct Drive Robot specifications
“Specifications and site requirements”
on page 13
Software that controls the Direct
Drive Robot
“Software overview” on page 11
Safety information
Direct Drive Robot Site Preparation
and Safety Guide
Direct Drive Robot User Guide
3
1 Introduction to the Direct Drive Robot
Hardware components
Hardware components
About this topic
This topic describes the following Direct Drive Robot hardware features:
•
Main components
•
Microplate sensor
•
Gripper lead screw locations
•
Power supply
•
Emergency stop pendant
•
Teaching jig
•
Regrip station
Main components
The following diagrams show the main components of the Direct Drive Robot.
1
3
2
4
4
Item
Name
Description
1
Mast
The vertical structure along which the robot arm
moves up and down.
2
Waist
The round structure about which the entire robot
moves.
3
Arm
The appendage that consists of the bicep, forearm,
hand, and grippers.
4
Base
The gray octagonal plate that attaches the robot to
the target surface.
Direct Drive Robot User Guide
1 Introduction to the Direct Drive Robot
Hardware components
5
6
7
8
Item
Name
Description
5
Bicep
The upper segment of the arm that moves up and
down along the mast.
6
Forearm
The lower segment of the arm that rotates about the
elbow.
7
Hand
The component of the robot that rotates about the
wrist.
8
Grippers
The two finger- like structures that open and close to
pick up or place labware.
9
10
Direct Drive Robot User Guide
5
1 Introduction to the Direct Drive Robot
Hardware components
Item
Name
Description
9
Elbow
The joint that connects bicep and forearm. The
forearm rotates about this joint.
10
Wrist
The joint that connects the forearm to the hand. The
hand rotates about this joint.
Microplate sensor
The microplate sensor under the robot hand is used to detect the presence of
labware in its grip. For more information, see “Checking the robot microplate
sensor” on page 159.
Gripper lead screw locations
Two gripper lead screws on both sides of the robot hand enable you to
manually open and close the robot grippers. You need to manually open and
close the grippers when setting teachpoints or during troubleshooting. For
information about setting teachpoints, see “Setting teachpoints” on page 88. To
change the target open and close positions, see “Changing the gripper settings”
on page 156.
1
6
Direct Drive Robot User Guide
1 Introduction to the Direct Drive Robot
Hardware components
Power supply
The robot power supply is the component that supplies electrical power to the
robot and is the communication connection between the robot and the
controlling computer.
The robot is supplied with power supply G5411- 60010 or G5411- 60005. The
front of the two models are identical. The two models have different
arrangement of connectors in the back.
Power switch and indicator lights
The following diagram shows the front of the robot power supply.
O
I
1
Item
Label
1
Power
2
3
Description
Power switch.
To turn on the robot, turn the switch to the on
(I) position. To turn off the power, turn the
switch to the off (O) position.
2
Motor power
Robot motor indicator light.
When the light is on, the robot motor is enabled.
When the light is off, the robot motor is
disabled.
To enable or disable the robot, use the Enable
robot motor or the Disable robot motor button
in the DDR Diagnostics software.
3
Logic power
Robot power indicator light.
When the light is on, the robot power is on. If
the light is off, the robot power is off.
Power and communication connections
The following diagrams show the back of power supply G5411- 60010 and
G5411- 60005. The model number is displayed on the serial number label (5).
Direct Drive Robot User Guide
7
1 Introduction to the Direct Drive Robot
Hardware components
Figure
Power supply G5411-60010
1
5
100 - 240 VAC
10A
50/60 Hz
N10149
Robot
Disable
Robot Cable
4
Figure
3
T4A
250V
T2A
250V
T10A
250V
T10A
250V
FUSE
FUSE
FUSE
FUSE
2
Power supply G5411-60005
1
120 - 240
50/60
N10149
2
Item
3
4
5
Label
Description
1
Power inlet
Connects the power supply unit to the power
source. Use the supplied power cord.
2
Robot Cable
Connects the robot to the power supply unit.
Use the supplied robot cable.
3
Ethernet
Connects the robot to the controlling computer.
The power supply unit houses a 10/100 BaseT
Ethernet adapter and an RJ- 45 receptacle
connection. The Ethernet cable is not supplied.
8
4
Robot disable
Connects the emergency stop pendant to the
power supply unit. Use the supplied emergency
stop pendant cable.
5
Serial number
label
Contains the power supply model number
(G5411- 60010 or G5411- 60005) and serial
number.
Direct Drive Robot User Guide
1 Introduction to the Direct Drive Robot
Hardware components
Emergency stop pendant
The Direct Drive Robot is equipped with an emergency stop pendant. Pressing
the red button on the pendant cuts power to the robot motors and stops the
robot during an emergency.
If the robot is integrated with other devices in a system, Agilent Technologies
recommends that you install a main emergency stop button to cut power to the
robot and all devices simultaneously.
For detailed safety information, see the Direct Drive Robot Site Preparation
and Safety Guide. For instructions on how to recover from an emergency stop,
see “Recovering from an emergency stop” on page 198.
Note: The silver button is not used.
Figure
Emergency stop pendant.
Teaching jig
Supplied with the Direct Drive Robot, the teaching jig allows you to set
teachpoints quickly and accurately. The teaching jig can be used for setting
teachpoints in the landscape (1) or portrait orientation (2).
For instructions on how to use the teaching jig to set teachpoints, see “Setting
teachpoints” on page 77.
Note: If size restrictions at teachpoints prevent the use of the teaching jig, you
can use the labware intended for the location. For more information, see
“Setting teachpoints using a labware” on page 107.
1
Direct Drive Robot User Guide
2
9
1 Introduction to the Direct Drive Robot
Hardware components
Regrip station
A regrip station is a platepad that the robot uses to:
•
Change the labware (landscape/portrait) or A1- well orientation between
teachpoints that require different orientations.
•
Adjust its grip at the specified labware gripping height. The location is
typically used after a robot picks up a labware higher than the specified
gripping height because of physical restrictions at a teachpoint.
For more information about designating the platepad as a regrip station, see
“Designating a teachpoint as a regrip station” on page 97.
Related information
10
For information about...
See...
Direct Drive Robot description
“About the Direct Drive Robot” on
page 2
Robot specifications
“Specifications and site requirements”
on page 13
Safety information
Direct Drive Robot Site Preparation
and Safety Guide
Direct Drive Robot User Guide
1 Introduction to the Direct Drive Robot
Software overview
Software overview
About this topic
You use the VWorks software and DDR Diagnostics software to set up, operate,
and troubleshoot the Direct Drive Robot. This topic describes the VWorks
software and DDR Diagnostics software.
VWorks software
The VWorks software allows you to:
•
Set up the Direct Drive Robot. During setup, you need to create a device
file for the Direct Drive Robot robot and integrated devices. For setup
information, see “Setting up the Direct Drive Robot” on page 49.
•
Set up user accounts and privileges. You can set up different user
accounts to enforce access policies. For instructions, see the VWorks
Automation Control Setup Guide.
•
Define labware. Labware definitions describe the labware you will use
during protocol runs. For instructions, see the VWorks Automation Control
Setup Guide.
•
Create protocols. Protocols determine the sequence of tasks you want to
automate in a run. For example, you can use a protocol to apply barcode
labels to 100 microplates. For protocol- writing instructions, see the VWorks
Automation Control User Guide.
•
Run, pause, monitor, and stop protocols. You can start, pause, monitor,
and stop a protocol run from the controlling computer.
For a full description and instructions on how to use the VWorks software, see
the VWorks Automation Control User Guide.
Direct Drive Robot User Guide
11
1 Introduction to the Direct Drive Robot
Software overview
Robot diagnostics software
Accessed through the VWorks software, the DDR Diagnostics software allows
you to:
•
Create and manage profiles. Robot profile allows you to set up
communication between the robot and the controlling computer. You create
the profile when you set up the robot. For setup information, see “Setting
up the Direct Drive Robot” on page 49.
•
Set and edit teachpoints. Teachpoints are locations that the Direct Drive
Robot robot will go to and from during a protocol run. You set teachpoints
when you set up the Direct Drive Robot. You can also edit the teachpoints
to correct or fine- tune the original teachpoints. For teachpoint setup and
editing information, see “Setting teachpoints” on page 77.
•
Diagnose problems. Moving and adjusting individual hardware components
allow you to diagnose and troubleshoot problems. For information on
diagnosing and troubleshooting problems, see “Using DDR Diagnostics” on
page 137.
Related information
12
For information about...
See...
VWorks software instructions
VWorks Automation Control User
Guide
Direct Drive Robot description
“About the Direct Drive Robot” on
page 2
Robot specifications
“Specifications and site requirements”
on page 13
Hardware components
“Hardware components” on page 4
Direct Drive Robot User Guide
Direct Drive Robot
User Guide
2
Specifications and site requirements
This chapter contains the following topics:
•
“Physical dimensions” on page 14
•
“Reach and workspace” on page 18
•
“Axis and gripper specifications” on page 21
•
“Performance specifications” on page 23
•
“Mounting specifications” on page 24
•
“Electrical requirements” on page 27
•
“Environmental requirements” on page 28
•
“Computer requirements” on page 29

13
2 Specifications and site requirements
Physical dimensions
Physical dimensions
Robot dimensions
38 cm
51 cm
85.1 cm
Dimension
Value
Height
85.1 cm (33.5 in)
Width (home position)
51 cm (20 in)
Depth (home position)
38 cm (15 in)
Weight
31.1 kg (68.5 lb)
Grippers: 6 mm thick titanium, with replaceable rubber gripping pads
Robot cable: 2.4 m (8.0 ft), 1.2 kg (2.6 lb)
14
Direct Drive Robot User Guide
2 Specifications and site requirements
Physical dimensions
Power supply dimensions
Power supply (G5411-60010)
WARNING
HAZARDOUS VOLTAGE.
Contact may cause
electric shock or burn.
Turn off and lock out
system before servicing.
39.5 cm
13.2 cm
O
I
43.8 cm
48.3 cm
Dimension
Value
Width:
Without mounting bracket
43.8 cm (17.3 in)
With mounting bracket
48.3 cm (19.0 in)
Depth
39.5 cm (15.5 in)
Height
13.2 cm (5.2 in)
Weight
9.7 kg (21.4 lb)
Power cord: 2 m (6 ft)
Power supply (G5411-60005)
WARNING
HAZARDOUS VOLTAGE.
Contact may cause
electric shock or burn.
Turn off and lock out
system before servicing.
49.6 cm
14.0 cm
O
I
43.8 cm
48.3 cm
Direct Drive Robot User Guide
15
2 Specifications and site requirements
Physical dimensions
Dimension
Value
Width
Without mounting bracket
43.8 cm (17.3 in)
With mounting bracket
48.3 cm (19.0 in)
Depth
49.6 cm (19.5 in)
Height
14.0 cm (5.5 in)
Weight
13.8 kg (30.4 lb)
Power cord: 2 m (6 ft)
Emergency-stop pendant dimensions
8 cm
8 cm
13 cm
Dimension
Value
Width
8 cm (3 in)
Depth
13 cm (5 in)
Height
8 cm (3 in)
Emergency stop pendant cable: 2 m (6 ft)
Related information
16
For information about...
See...
Robot reach and workspace
“Reach and workspace” on page 18
Axis and gripper specifications
“Axis and gripper specifications” on
page 21
Performance specifications
“Performance specifications” on page 23
Mounting specifications
“Mounting specifications” on page 24
Electrical requirements
“Electrical requirements” on page 27
Direct Drive Robot User Guide
2 Specifications and site requirements
Physical dimensions
For information about...
See...
Computer requirements
“Computer requirements” on page 29
Environmental requirements
“Environmental requirements” on
page 28
Direct Drive Robot User Guide
17
2 Specifications and site requirements
Reach and workspace
Reach and workspace
Robot reach
Figure
Direct Drive Robot radial reach at 0° wrist angle and vertical reach.
62.5 cm
63.5 cm
1
A
52.07 cm 48.77 cm
3.30 cm
Maximum reach
Value
Radial reach
(based on wrist angle)
Center of rotation to center of microplate
0–15°: 63.5 cm (25.0 in)
30°: 61.5 cm (24.2 in)
45°: 58.2 cm (22.9 in)
60°: 54.1 cm (21.3 in)
90°: 45.3 cm (17.8 in)
Vertical reach
(from attachment surface)
Minimum: 3.30 cm (1.30 in)
Maximum: 52.07 cm (20.50 in)
Highest teachpoint with 0 offset:
50.39 cm (19.84 in)
Safe zone
The safe zone is the cylindrical region within which the Direct Drive Robot is
allowed to move without colliding with external devices. In general, the robot
moves into the safe zone to change its arm orientation, rotate its wrist, or for
other purposes after it completes a Move to, Pick from, Place to, or Transfer
command.
18
Direct Drive Robot User Guide
2 Specifications and site requirements
Reach and workspace
CAUTION
Do not set teachpoints within the safe zone.
The following diagram shows the top view of the robot safe zone. It is the
cylindrical region within the dotted line. The radius of the cylinder, measured
from the center of the base, is 29.1 cm (11.4 in).
Figure
Direct Drive Robot safe zone
29.1 cm
Teachpoint zone
The teachpoint zone is the region within which you can set teachpoints. The
following diagram shows the top view of the teachpoint zone. The outermost
dotted line shows the robot’s maximum reach. The cylindrical region within the
inner circle is the the safe zone. The teachpoint zone is between the two
boundaries.
Figure
Direct Drive Robot teachpoint zone
63.5 cm
29.1 cm
Direct Drive Robot User Guide
19
2 Specifications and site requirements
Reach and workspace
Caution zone
The caution zone is the thin, doughnut- shaped region surrounding the robot
waist and base. When the robot moves to and from a teachpoint within this
zone, the back of its wrist might bump into the waist. To avoid such collisions,
you can change the position of the teachpoint such that the robot will
approach or retract from the location using an alternate angle.
The following diagram shows the caution zone. The height of the region is
measured from the attachment surface to 1.2 cm above the top surface of the
waist. The radius of the region is 40.6 cm (16 in). These measurements assume
the use of the standard grippers and teaching jig.
Figure
Direct Drive Robot caution zone
40.6 cm
7.8 cm
9.0 cm
Related information
20
For information about...
See...
Robot dimensions
“Physical dimensions” on page 14
Axis and gripper specifications
“Axis and gripper specifications” on
page 21
Performance specifications
“Performance specifications” on page 23
Mounting specifications
“Mounting specifications” on page 24
Electrical requirements
“Electrical requirements” on page 27
Computer requirements
“Computer requirements” on page 29
Environmental requirements
“Environmental requirements” on
page 28
Direct Drive Robot User Guide
2 Specifications and site requirements
Axis and gripper specifications
Axis and gripper specifications
Waist
Travel
Infinite rotation
Maximum rated torque
362.55 Nm (267.41 lb- ft)
Maximum continuous stall torque
at temperature rise 75.000 °C
25.74 Nm (18.99 lb- ft)
Maximum velocity
400°/s
Elbow
Travel
Infinite rotation
Maximum rated torque
36.68 Nm (5193.73 oz- in)
Maximum continuous stall torque
at temperature rise 75.000 °C
2.86 Nm (404.61 oz- in)
Maximum velocity
425°/s
Wrist
Travel
Infinite rotation
Maximum rated torque
14.23 Nm (2014.90 oz- in)
Maximum continuous stall torque
at temperature rise 75.000 °C
0.58 Nm (81.73 oz- in)
Maximum velocity
540°/s
Z-axis
Travel
3.30–52.07 cm (1.30–20.50 in)
from the attachment surface
Maximum rated force
420 N (94.4 lb)
Maximum continuous stall force at coil
temperature 100 °C
120.2 N (27.0 lb)
Maximum velocity
1000 mm/s
Gripper
Travel
Closed: 76.5 mm
Open: 136 mm
Force
Direct Drive Robot User Guide
0–2 kg
21
2 Specifications and site requirements
Axis and gripper specifications
Related information
22
For information about...
See...
Robot dimensions
“Physical dimensions” on page 14
Reach and workspace
“Reach and workspace” on page 18
Performance specifications
“Performance specifications” on page 23
Mounting specifications
“Mounting specifications” on page 24
Electrical requirements
“Electrical requirements” on page 27
Computer requirements
“Computer requirements” on page 29
Environmental requirements
“Environmental requirements” on
page 28
Direct Drive Robot User Guide
2 Specifications and site requirements
Performance specifications
Performance specifications
Performance
Labware width
Minimum: 80 mm (portrait)
Maximum: 133 mm (landscape)
Payload
SBS microplates
Full speed: 200 g
Maximum: 500 g
Repeatability
x, y, z: ±0.1 mm
Phi: ±0.02°
Transfer time
Pick- and- place: < 4 s average
Related information
For information about...
See...
Robot dimensions
“Physical dimensions” on page 14
Reach and workspace
“Reach and workspace” on page 18
Axis and griper specifications
“Axis and gripper specifications” on
page 21
Mounting specifications
“Mounting specifications” on page 24
Electrical requirements
“Electrical requirements” on page 27
Computer requirements
“Computer requirements” on page 29
Environmental requirements
“Environmental requirements” on
page 28
Direct Drive Robot User Guide
23
2 Specifications and site requirements
Mounting specifications
Mounting specifications
Attachment surface
The Direct Drive Robot must be installed vertically on a flat stiff surface that
is stable. A deformable and non- stable support will greatly reduce the robot’s
speed and accuracy, and possibly cause errors.
Mounting bolts
Eight bolts are required to hold the Direct Drive Robot to the attachment
surface. The following diagram shows the base of the robot and the spacing of
the holes for the bolts.
Figure
Direct Drive Robot mounting base
6.375 mm
45°
30.480 cm
Mounting requirement
Measurement
Bolt hole diameter
6.375 mm (0.251 in), through the base
Bolt type
M6
Number of bolts
8
Bolt- circle diameter
30.480 cm (12.000 in)
Mounting base – height
0.952 cm (0.375 in)
Power supply
The power supply has two mounting brackets as the following diagram shows.
The brackets are 3 rack units (or 3U) in overall height, and permit the power
supply to be mounted in a standard 19- inch rack.
24
Direct Drive Robot User Guide
2 Specifications and site requirements
Mounting specifications
Figure
Direct Drive Robot power supply (front view)
3U
O
I
CAUTION Air vents are on the left and right sides of the power supply. Be
sure to provide at least 1.3 cm (0.5 in) of clearance on both sides.
IMPORTANT
Because of its weight, Agilent Technologies recommends that you
mount the power supply at the bottom of the rack. Mounting the power supply
at the bottom of the rack also facilitates service access.
IMPORTANT
If you must mount power supply G5411- 60005 higher in a rack,
be sure to use additional brackets at the back end to support the weight of the
power supply. To order the support brackets, contact Automation Solutions
Customer Service.
To mount the power supply vertically, turn the power supply onto its left side
only (power switch is on the bottom, indicator lights are on top). When
mounting the power supply vertically, you can remove the supplied mounting
brackets and install desired mounting components. To order vertical mounting
brackets, contact Automation Solutions Customer Service.
The following diagram shows the specifications for the left side of power
supply G5411- 60010. The holes are M4 x 0.7 screw thread.
Figure
Direct Drive Robot power supply (G5411-60010) left side specifications
12.3 cm
10.7 cm
1.0 cm
0 cm
0 cm
1.6 cm
30.2 cm 34.0 cm
5.4 cm
38.3 cm
35.6 cm
The following diagram shows the specifications for the left side of power
supply G5411- 60005. The holes are M4 x 0.7 screw thread.
Direct Drive Robot User Guide
25
2 Specifications and site requirements
Mounting specifications
Figure
Direct Drive Robot power supply (G5411-60005) left side specifications
13.2 cm
11.7 cm
1.5 cm
0 cm
0 cm
4.4 cm
41.3 cm
54.6 cm
57.4
CAUTION
Do not block the air vent. Be sure to provide at least 1.3 cm
(0.5 in) of clearance on the bottom when mounting the power supply
vertically.
Related information
26
For information about...
See...
Robot dimensions
“Physical dimensions” on page 14
Reach and workspace
“Reach and workspace” on page 18
Axis and griper specifications
“Axis and gripper specifications” on
page 21
Performance specifications
“Performance specifications” on page 23
Electrical requirements
“Electrical requirements” on page 27
Computer requirements
“Computer requirements” on page 29
Environmental requirements
“Environmental requirements” on
page 28
Direct Drive Robot User Guide
2 Specifications and site requirements
Electrical requirements
Electrical requirements
Requirement
Value
Voltage
100–240 VAC
Frequency
50/60 Hz
Current
10 A
Power consumption
200 W typical
Fuses
•
Mains. 2
•
Logic power/switch. 2 A, 250 V, time delay
•
Robot. 4 A, 250 V, time delay
•
Emergency stop pendant. 0.8 A, 250 V, time
delay (only in model G5411- 60005)
Chassis plug
× 10 A, 250 V, time delay
IEC 60320 C14
Related information
For information about...
See...
Robot dimensions
“Physical dimensions” on page 14
Reach and workspace
“Reach and workspace” on page 18
Axis and griper specifications
“Axis and gripper specifications” on
page 21
Performance specifications
“Performance specifications” on page 23
Mounting specifications
“Mounting specifications” on page 24
Computer requirements
“Computer requirements” on page 29
Environmental requirements
“Environmental requirements” on
page 28
Direct Drive Robot User Guide
27
2 Specifications and site requirements
Environmental requirements
Environmental requirements
IMPORTANT
The Direct Drive Robot must operate within the temperature and
humidity specifications stated in the following table.
Operating
Recommended range
Temperature
4–40 °C
Humidity
10–90% RH, non- condensing
Storage (non-operating)
Recommended range
Temperature
- 20–50 °C
Humidity
0–90% RH, non- condensing
Related information
28
For information about...
See...
Robot dimensions
“Physical dimensions” on page 14
Reach and workspace
“Reach and workspace” on page 18
Axis and griper specifications
“Axis and gripper specifications” on
page 21
Performance specifications
“Performance specifications” on page 23
Mounting specifications
“Mounting specifications” on page 24
Electrical requirements
“Electrical requirements” on page 27
Computer requirements
“Computer requirements” on page 29
Direct Drive Robot User Guide
2 Specifications and site requirements
Computer requirements
Computer requirements
Computer requirements
If your organization uses a computer other than one configured by Agilent
Technologies, make sure the computer meets the following minimum
requirements:
•
Computer system
–
•
Microsoft Windows XP with Service Pack 3,
Microsoft Windows Vista with Service Pack 2, or
Microsoft Windows 7
–
2 GHz or faster 32- bit (x86) processor, multicore preferred
–
2 GB system memory
–
40 GB hard drive capacity with 10 GB free space
–
1280 x 1024 pixel screen resolution
–
Microsoft Internet Explorer 6.0 or Mozilla Firefox 1.0 with JavaScript
enabled (required for using the context- sensitive help and knowledge
base)
–
A PDF viewer, such as Adobe Reader (required for opening the user
guide PDF files)
Dedicated 10BaseT or faster Ethernet card (two network cards if
connecting to your local area network)
Controlling software
VWorks installer 10.0.0.8.21.2009 or later is required.
To facilitate the setup process, a software installation CD is supplied. You can
use the CD to install the necessary software and setup configurations.
Related information
For information about...
See...
Software installation
VWorks Automation Control Setup
Guide
How to set up the VWorks
software for operation
VWorks Automation Control Setup
Guide
How to write protocols
VWorks Automation Control User
Guide
Direct Drive Robot User Guide
29
2 Specifications and site requirements
Computer requirements
30
Direct Drive Robot User Guide
Template updated on August 11, 2009
Direct Drive Robot
User Guide
3
Unpacking and installing the Direct
Drive Robot
This chapter contains the following topics:
•
“Installation and setup workflow” on page 32
•
“Packing workflow” on page 33
•
“Unpacking and packing the robot” on page 34
•
“Removing and installing the shipping brace” on page 39
•
“Installing and removing the robot” on page 42
•
“Turning on and turning off the robot” on page 46
31

3 Unpacking and installing the Direct Drive Robot
Installation and setup workflow
Installation and setup workflow
Workflow
The following table presents the steps for unpacking, installing, and setting up
the Direct Drive Robot for operation.
Step
For this task...
See...
1
Unpack the robot.
“Unpacking and packing the robot”
on page 34
2
Remove the shipping brace.
“Removing and installing the
shipping brace” on page 39
3
Install the robot.
“Installing and removing the robot”
on page 42
4
Turning on the robot.
“Installing and removing the robot”
on page 42
5
Install the VWorks software.
VWorks Automation Control Setup
Guide
Related information
32
For information about...
See...
Setting teachpoints
“Setting teachpoints” on page 77
Packing the robot
“Packing workflow” on page 33
Direct Drive Robot User Guide
3 Unpacking and installing the Direct Drive Robot
Packing workflow
Packing workflow
Workflow
The following table presents the steps for removing and packing the Direct
Drive Robot for storage or shipping.
Step
For this task...
See...
1
Remove the robot from the
attachment surface.
“Removing the Direct Drive Robot”
on page 44
2
Install the shipping brace.
“Installing the shipping brace” on
page 40
3
Pack the robot and power
supply in their shipping
containers.
“Packing the robot in the shipping
crate” on page 36
Related information
For information about...
See...
Unpacking and installing the robot
“Installation and setup workflow” on
page 32
Setting teachpoints
“Setting teachpoints” on page 77
Direct Drive Robot User Guide
33
3 Unpacking and installing the Direct Drive Robot
Unpacking and packing the robot
Unpacking and packing the robot
Shipping containers
The Direct Drive Robot ships in the following containers:
• Direct Drive Robot crate. Contains the Direct Drive Robot and utility kit.
• Power supply box. Contains the robot power supply.
Unpacking the crate
Before you start
Verify the following:
1
Site specifications. Make sure the installation site meets the requirements
specified in the Direct Drive Robot Site Preparation and Safety Guide or
“Specifications and site requirements” on page 13.
2
Personnel requirements. Make sure two people are available to lift and
move the robot from the crate.
Procedure
IMPORTANT
Save the packaging materials in case you need to move or ship
the Direct Drive Robot.
To unpack the Direct Drive Robot crate:
1 Open the latches and remove the top of the crate.
2
Remove the two foam blocks on top of the robot (1). Remove the cardboard
box (2).
1
00395
foam blocks complete B
2
3
34
With one person holding the handle on the shipping brace and another
person supporting the robot under the mast, carefully lift the robot out of
the crate (3).
CAUTION
Never lift the robot from its arm.
CAUTION
Do not press down on the plate on the front of the mast.
Direct Drive Robot User Guide
3 Unpacking and installing the Direct Drive Robot
Unpacking and packing the robot
3
00393
Robot with utilities kit
4
Remove the robot from the plastic wrap and place the robot on a flat,
stable surface where it will be possible for you to access all sides of the
robot.
Inspecting the contents
IMPORTANT
Inspect all items for completeness and potential shipping
damage. If an item is defective on arrival, contact the Automation Solutions
Business Center at 1.800.227.9770 as soon as possible.
After you unpack the robot crate, cardboard box, and power supply box, make
sure you have the following:
Part name
Part number
Direct Drive Robot (in shipping brace):
Cable connection on the side, or
23083- 211
Cable connection on the bottom
23083- 212
Power supply:
Fuses on the back side, or
G5411- 60010
Fuses inside
G5411- 60005
2- mm hex wrench
G5550- 04237
4- mm hex wrench
G5550- 04234
5- mm hex wrench
G5550- 01523
M6 mounting bolts (8)
G5550- 02705
Power supply mounting
Pan- head Phillips machine screws (4)
G5550- 09078
M05 split lock washer (4)
G5550- 02453
M05 flat washer (4)
G5550- 02439
Teaching jig
Direct Drive Robot User Guide
G5550- 23357
35
3 Unpacking and installing the Direct Drive Robot
Unpacking and packing the robot
Part name
Part number
Regrip station assembly:
Regrip station
G5550- 20020
M6 mounting screw
G5550- 02697
Gripper pad replacement parts:
Gripper pads (2)
G5550- 23287
Cap screws (6)
5023- 1658
Star- head wrench
5023- 1659
Threadlocking solution
5188- 8370
Power cable
Request by country
Robot cable
G5550- 23704
Emergency stop pendant and cable
16971- 001
Ethernet cable
G5550- 09363
VWorks software CD:
Benchtop license, or
08330- 402
System license
08330- 403
Direct Drive Robot Site Preparation and Safety
Guide
G5430- 90001
Packing the robot in the shipping crate
Procedure
To pack the robot in its shipping crate:
1 Insert the two bottom foam blocks in the crate as shown.
00392
packing foam blocks
2
36
While holding the handle on the shipping brace and supporting the robot
under the mast (1), carefully lift and place the robot in the crate as shown.
CAUTION
Never lift the robot from its arm.
CAUTION
Do not press down on the plate on the front of the mast.
Direct Drive Robot User Guide
3 Unpacking and installing the Direct Drive Robot
Unpacking and packing the robot
1
00393
Robot with utilities kit
3
4
Pack the following items in the small cardboard box:
•
Robot cable
•
Power cable
•
Emergency stop pendant and cable
•
Ethernet cable
•
M6 mounting bolts (8)
•
Teaching jig
•
Regrip station and M4 mounting screw
•
Gripper pad replacement kit (spare pair of gripper pads, 6 cap screws,
star- head wrench, and thread- locking solution)
•
Power supply mounting washers and screws
•
2- mm hex wrench
•
4- mm hex wrench
•
5- mm hex wrench
•
VWorks software CD
•
Direct Drive Robot Site Preparation and Safety Guide
Insert the cardboard box in the crate as shown (1).
00395
foam blocks complete B
1
5
Direct Drive Robot User Guide
Insert the two remaining foam blocks in the crate.
37
3 Unpacking and installing the Direct Drive Robot
Unpacking and packing the robot
00394
foam blocks complete A
6
7
Place the crate cover on the crate and close the latches.
Pack the power supply and power cable in the power supply box.
Related information
38
For information about...
See...
Removing the shipping brace
“Removing the shipping brace” on
page 39
Installing the robot
“Installing the robot” on page 42
Turning on the robot
“Turning on the Direct Drive Robot” on
page 46
Installing the VWorks software
VWorks Automation Control Setup
Guide
Adding the robot to a device file
“Adding and deleting Direct Drive
Robots in the device file” on page 53
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Setting teachpoints
“Setting teachpoints” on page 77
Turning off the robot
“Turning off the Direct Drive Robot” on
page 46
Installing the shipping brace
“Installing the shipping brace” on
page 40
Direct Drive Robot User Guide
3 Unpacking and installing the Direct Drive Robot
Removing and installing the shipping brace
Removing and installing the shipping brace
Required tools
Before you start, make sure you have the following tools:
•
2- mm hex wrench
•
5- mm hex wrench
Removing the shipping brace
IMPORTANT
Save the shipping brace and the screws in case you need to
move or ship the robot.
To remove the shipping brace:
1
3
2
00389
installed shipping brace
4
1
2
Loosen the four nylon screws on each side of the brace by hand.
3
4
Loosen the two nylon screws below the robot arm.
Direct Drive Robot User Guide
Using the 2- mm hex wrench, turn the gripper lead screw to open the
grippers as wide as possible.
Using the 5- mm hex wrench, unscrew and remove the four metal screws
that are holding the shipping brace to the robot base.
39
3 Unpacking and installing the Direct Drive Robot
Removing and installing the shipping brace
5
Tilt the robot at a slight angle as shown.
00391
brace removal
6 While holding the brace by the handle, carefully slide the brace away from
the robot.
Installing the shipping brace
In addition to the items listed in “Required tools” on page 39, make sure you
have the following:
•
Shipping brace
•
10 nylon screws
•
Four 5- mm metal screws with washers
CAUTION
Make sure you have followed the instructions in “Removing the Direct Drive
Robot” on page 44 before installing the shipping brace.
To install the shipping brace:
1 Have another person tilt and hold the robot at a slight angle toward the
mast. Make sure the connector at the base is not aligned with the mast.
00391
brace removal
40
Direct Drive Robot User Guide
3 Unpacking and installing the Direct Drive Robot
Removing and installing the shipping brace
2
While holding the brace by the handle and supporting the weight of the
brace at the opposite end, slowly and carefully slide the brace onto the
robot. The tucked robot arm fits in the brace’s upper sleeve, and the robot
base fits in the brace’s lower sleeve.
3
Insert the four metal screws with washers in the mounting holes at the
robot base, and use the 5- mm hex wrench to tighten the screws. The
screws should hold the shipping brace to the robot base.
00396
secure brace
4
Using the 2- mm hex wrench, turn the gripper lead screw to close the robot
grippers until they are secured against the brace.
6
5
5
6
4
00389
installed shipping brace
Tighten the two nylon screws under the robot arm.
Tighten the eight nylon screws on both sides of the brace.
Related information
For information about...
See...
Installing the robot
“Installing the robot” on page 42
Turning on the robot
“Turning on the Direct Drive Robot” on
page 46
Direct Drive Robot User Guide
41
3 Unpacking and installing the Direct Drive Robot
Installing and removing the robot
For information about...
See...
Installing the VWorks software
VWorks Automation Control Setup
Guide
Adding the robot to a device file
“Adding and deleting Direct Drive
Robots in the device file” on page 53
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Setting teachpoints
“Setting teachpoints” on page 77
Packing the robot and power
supply
“Packing the robot in the shipping
crate” on page 36
Installing and removing the robot
Materials and tools
Make sure you have the following materials and tools:
•
5- mm hex wrench (G5550- 01523)
•
M6 mounting bolts, 8 (G5550- 02705)
•
#2 Phillips screw driver (not supplied)
•
18- 8 SS pan- head Phillips machine screws, 4 (G5550- 09078)
•
M05 split lock washers, 4 (G5550- 02453)
•
M05 flat washers, 4 (G5550- 02439)
•
2.5- mm hex wrench (not supplied)
•
Power cord (part number varies by country)
•
Robot cable (G5550- 23704)
•
Ethernet cable (G5550- 09363)
•
Emergency stop pendant and cable (16971- 001)
Installing the robot
When you install the robot, you first attach the robot to a stable and flat
surface, mount the power supply (if desired), then connect the power,
communication, and emergency stop pendant cables.
Attaching the robot
To attach the robot:
1 Position the robot on the attachment surface so that the base aligns over
the mounting holes.
If the robot- cable connector is on the side of the base (robot 23083- 211),
make sure the connector is positioned such that the distance to the power
supply will be minimal and that the robot cable will be clear of other
devices on the attachment surface.
42
Direct Drive Robot User Guide
3 Unpacking and installing the Direct Drive Robot
Installing and removing the robot
If the robot cable connector is on the bottom of the base (robot 23083212), make sure the connector will be accessible from below the attachment
surface.
2
Insert the M6 bolts in the eight mounting holes and use the supplied 5- mm
wrench to tighten the bolts until snug.
Note: For custom tables, longer bolts and nuts and washers might be
required.
Mounting the power supply
The power supply has two mounting brackets so that you can mount it on a
standard 19- inch rack. The following diagram shows an example of how you
can mount the power supply in a system.
O
I
IMPORTANT
Because of its weight, Agilent Technologies recommends that you
mount the power supply at the bottom of the rack. Mounting the power supply
on the bottom of the rack also facilitates service access.
To mount the power supply on a standard mounting rack:
1 Insert each pan- head screw through a split- lock washer first, and then
through a flat washer.
2
3
Align two holes in each mounting bracket with two holes in the rack.
Insert the screw- washer assembly into each hole and tighten using the
screwdriver.
Alternatively, you can turn the power supply onto its left side and mount the
power supply vertically. To mount the power supply vertically, you can remove
the supplied mounting brackets and use your own mounting components. For
vertical mounting specifications, see “Mounting specifications” on page 24.
Connecting the cables
To connect the cables:
1 Use the supplied power cord to connect the robot power supply to the
power source.
2
Direct Drive Robot User Guide
Use the supplied robot cable to connect the robot to the power supply. The
connector on the robot is on the side of or below the robot base.
43
3 Unpacking and installing the Direct Drive Robot
Installing and removing the robot
3
Use the supplied Ethernet cable to connect the robot power supply to the
controlling computer. Connect the computer to the lab’s wide area network.
4
Connect the free end of the emergency stop pendant cable to the ROBOT
DISABLE connector on the robot power supply.
Figure
Power supply G5411-60010
1
100 - 240 VAC
10A
50/60 Hz
N10149
Robot
Disable
Robot Cable
4
Figure
3
T4A
250V
T2A
250V
T10A
250V
T10A
250V
FUSE
FUSE
FUSE
FUSE
2
Power supply G5411-60005
1
120 - 240
50/60
N10149
2
3
4
Removing the Direct Drive Robot
Before you start
Before you remove the robot from its attachment surface:
1
Move the robot arm to the shipping position. In DDR Diagnostics, click Move
to shipping position in the Advanced tab. The robot tucks its forearm and
grippers under its bicep. The tucked robot arm lowers along the mast to its
packaging height.
WARNING
44
Keep out of the system while the robot is moving.
Direct Drive Robot User Guide
3 Unpacking and installing the Direct Drive Robot
Installing and removing the robot
2
Turn off the system and the robot. For instructions, see the system user
documentation and “Turning off the Direct Drive Robot” on page 46.
Procedure
To disconnect the robot:
Disconnect and remove the following:
•
Power cable
•
Robot cable
•
Ethernet cable
•
Emergency stop pendant cable
To detach the robot:
1 Using the supplied 5- mm hex wrench, unscrew the eight M6 bolts that are
holding the robot to the attachment surface.
2
Place the robot on a flat, stable surface where it will be possible for you to
access all sides of the robot.
Removing the power supply
To remove the power supply from the mounting rack:
1 Using the Phillips screwdriver, unscrew the four screws that are holding
the power supply to the mounting rack.
2
Save the screws and washers for reinstallation.
Related information
For information about...
See...
Turning on the robot
“Turning on the Direct Drive Robot” on
page 46
Installing the VWorks software
VWorks Automation Control Setup
Guide
Adding the robot to a device file
“Adding and deleting Direct Drive
Robots in the device file” on page 53
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Setting teachpoints
“Setting teachpoints” on page 77
Direct Drive Robot User Guide
45
3 Unpacking and installing the Direct Drive Robot
Turning on and turning off the robot
For information about...
See...
Turning off the robot
“Turning off the Direct Drive Robot” on
page 46
Installing the shipping brace
“Installing the shipping brace” on
page 40
Packing the robot and power
supply
“Packing the robot in the shipping
crate” on page 36
Turning on and turning off the robot
Turning on the Direct Drive Robot
WARNING The robot will move its arm during the startup process. Keep out of the
system while the robot is starting up.
To turn on the robot:
At the front of the robot power supply, turn the power switch clockwise to the
on ( I ) position (1).
O
I
1
2
3
If the robot turns on successfully:
•
The Logic Power light (2) and the Motor Power light (3) both turn on. If
one or both lights do not turn on, see “Troubleshooting hardware
problems” on page 203.
•
The blue light on the robot hand turns on for a few seconds, and then
turns off.
•
The robot arm moves slightly, and then moves to its home position.
The entire startup process takes approximately 3 minutes.
Turning off the Direct Drive Robot
IMPORTANT
If you will be packing the robot for storage or shipment, you
must first move the robot arm to its packing position before turning off its
power. See “Removing the Direct Drive Robot” on page 44 for instructions.
46
Direct Drive Robot User Guide
3 Unpacking and installing the Direct Drive Robot
Turning on and turning off the robot
To turn off the robot:
At the front of the robot power supply, turn the power switch counterclockwise
to the off ( O ) position (1). The Logic Power (2) and Motor Power lights (3)
turn off.
O
I
1
2
3
Related information
For information about...
See...
Installing the VWorks software
VWorks Automation Control Setup
Guide
Adding the robot to a device file
“Adding and deleting Direct Drive
Robots in the device file” on page 53
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Setting teachpoints
“Setting teachpoints” on page 77
Removing the robot from the
attachment surface
“Removing the Direct Drive Robot” on
page 44
Installing the shipping brace
“Installing the shipping brace” on
page 40
Packing the robot and power
supply
“Packing the robot in the shipping
crate” on page 36
Direct Drive Robot User Guide
47
3 Unpacking and installing the Direct Drive Robot
Turning on and turning off the robot
48
Direct Drive Robot User Guide
Template updated on August 11, 2009
Direct Drive Robot
User Guide
4
Setting up the Direct Drive Robot
This chapter contains the following topics:
•
“Setup workflow” on page 50
•
“Creating a device file” on page 51
•
“Adding and deleting Direct Drive Robots in the device file” on
page 53
•
“Creating Direct Drive Robot profiles” on page 56
•
“Setting up robot communication” on page 58
•
“Setting miscellaneous parameters in the profile” on page 60
•
“Selecting a teachpoint file” on page 62
•
“Saving the profile” on page 64
•
“Initializing the profile” on page 65
•
“Editing and managing profiles” on page 67
•
“Specifying the table dimensions and robot position” on
page 69
49

4 Setting up the Direct Drive Robot
Setup workflow
Setup workflow
About this topic
This topic presents the workflow for setting up the Direct Drive Robot for
operation.
WARNING Only administrators and experienced personnel should perform the
procedures in this chapter.
Workflow
The following table presents the steps for setting up the Direct Drive Robot.
After setting up the Direct Drive Robot for the first time, you will not likely
change any of the settings in the procedure.
Step
For this task...
See...
1
Create a device file.
“Creating a device file” on page 51
2
Add the Direct Drive Robot in
the device file.
“Adding and deleting Direct Drive
Robots in the device file” on
page 53.
3
Create a profile for the Direct
Drive Robot.
“Creating Direct Drive Robot
profiles” on page 56
4
Set up robot communication.
“Setting up robot communication”
on page 58
5
Set miscellaneous parameters
in the profile.
“Setting miscellaneous parameters
in the profile” on page 60
6
Select a teachpoint file.
“Selecting a teachpoint file” on
page 62
7
Save the profile.
“Saving the profile” on page 64
8
Initialize the profile.
“Initializing the profile” on page 65
9
Specify table dimensions and
robot position
“Specifying the table dimensions
and robot position” on page 69
Related information
50
For information about...
See...
Teachpoint files
“Teachpoint files” on page 88
Setting teachpoints
“Setting teachpoints” on page 77
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Creating a device file
Creating a device file
About this topic
This topic explains how to create a device file, and add and delete the Direct
Drive Robot in the device file.
Devices and device file defined
What is a device?
A device is an item in your lab automation system that has an entry in the
VWorks software device file. A device can be a robot, an instrument, or a
location in the system that can hold a piece of labware. The following are some
examples of devices:
•
Direct Drive Robot
•
PlateLoc Thermal Microplate Sealer
•
Microplate Labeler
•
Vertical Pipetting Station shelf
•
Platepad
•
All third- party devices integrated in the lab automation system
What is a device file?
To communicate with and to control the robot and integrated devices, the
VWorks software uses a device file that contains the following information:
•
List of devices the software will communicate with and control
•
System- related configuration information of each device (for example,
approach height, barcode access, and so on)
•
Profile of each device (communication method, unique device configuration
information)
You provide the device information in the VWorks software. The device
information is stored in a device (.dev) file that is located in a folder you
specify when saving the file.
For detailed information about device files and associations with profiles,
teachpoint files, and other VWorks components, see the VWorks Automation
Control User Guide.
Procedure
If you are setting up the Direct Drive Robot for the first time, you need to
create a new device file, and then add the Direct Drive Robot robot and
integrated devices to this file.
Before you create a device file, start the VWorks software and log in. See the
VWorks Automation Control User Guide for instructions.
To create a new device file:
1 In the VWorks window, select File > New > Device. A Device File tab appears.
Direct Drive Robot User Guide
51
4 Setting up the Direct Drive Robot
Creating a device file
2
Select File > Save to save the device file. The file name appears in the
Device File tab.
Related information
52
For information about...
See...
VWorks software
•
VWorks Automation Control Setup
Guide
•
VWorks Automation Control User
Guide
Adding the Direct Drive Robot in
the device file
“Adding and deleting Direct Drive
Robots in the device file” on page 53
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Setting teachpoints
“Setting teachpoints” on page 77
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Adding and deleting Direct Drive Robots in the device file
Adding and deleting Direct Drive Robots in the device file
Adding Direct Drive Robots in the device file
To add a Direct Drive Robot in the device file:
1 In the Available Devices area, double- click the Direct Drive Robot device
icon. Alternatively, you can drag the icon from the Available Devices area
into the Device File area.
Notice that the first Direct Drive Robot device is labeled Direct Drive
Robot- 1. If you add another Direct Drive Robot device, it will appear as
Direct Drive Robot- 2.
If you do not see the Direct Drive Robot in the Available Devices list, check
that the DDR plugin file (DDR.dll) is stored in the following folder:
...\Agilent Technologies\VWorks\Plugins folder.
If you added the Direct Drive Robot plugin file in the Plugins folder and
you have already started the VWorks software, be sure to reload the plugin.
To do this, close any open device files and protocol files, and then select
Tools > Reload Plugins.
2
In the device properties area, type a Name for the device.
In the following example, the name for the Direct Drive Robot is BioCel DD
Robot.
Direct Drive Robot User Guide
53
4 Setting up the Direct Drive Robot
Adding and deleting Direct Drive Robots in the device file
3
Select the Profile.
If the profile you want does not appear in the list, or if no profile appears
in the list, you need to:
a
Create the profile. See “Creating Direct Drive Robot profiles” on
page 56.
b
Set up robot communication. See “Setting up robot communication” on
page 58.
c
Set miscellaneous parameters. See “Setting miscellaneous parameters in
the profile” on page 60.
d
e
f
g
Select a teachpoint file. See “Selecting a teachpoint file” on page 62.
Save the profile. See “Saving the profile” on page 64.
Initialize the profile. See “Initializing the profile” on page 65.
Return to this step to select the profile.
Without the profile, you will not be able to establish communication with
the device.
4
If you have multiple Direct Drive Robots in the system, repeat steps 1
through 3 to add another Direct Drive Robot.
5
6
Select File > Save to save the device file.
In the Device File area, select the Direct Drive Robot, and then click Initialize
selected devices to establish communication with the robot.
If an initialization error message appears, see “Resolving robot initialization
errors” on page 200 for instructions.
Deleting a Direct Drive Robot from the device file
To delete a Direct Drive Robot from the device file:
1 In the VWorks window, select the Direct Drive Robot you want to delete in
the Devices area.
2
54
Click Delete selected devices.
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Adding and deleting Direct Drive Robots in the device file
Related information
For information about...
See...
VWorks software
•
VWorks Automation Control Setup
Guide
•
VWorks Automation Control User
Guide
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Setting robot communication
“Setting up robot communication” on
page 58
Setting miscellaneous parameters
in the profile
“Setting miscellaneous parameters in
the profile” on page 60
Selecting a teachpoint file
“Selecting a teachpoint file” on page 62
Setting teachpoints
“Setting teachpoints” on page 77
Saving the profile
“Saving the profile” on page 64
Initializing the profile
“Initializing the profile” on page 65
Editing profiles
“Editing and managing profiles” on
page 67
Managing existing profiles
“Managing profiles” on page 67
Direct Drive Robot User Guide
55
4 Setting up the Direct Drive Robot
Creating Direct Drive Robot profiles
Creating Direct Drive Robot profiles
About this topic
This topic explains how to create a new profile for the Direct Drive Robot and
how to manage existing profiles. For instructions on how to create the profiles
for other Agilent Technologies devices, see the corresponding device user
documentation. For instructions on how to create profiles for third- party
devices, see the third- party device driver user guide.
About profiles
IMPORTANT
Each device in the device file requires a unique profile.
A profile is a collection of settings, stored in the Windows registry, that
manages how you connect to a device. A profile:
•
Specifies the port or IP address used to establish communication between
the device and the controlling computer.
•
References a teachpoint file. For a description of teachpoint files, see
“Setting teachpoints” on page 77.
You use the DDR Diagnostics software to create and manage Direct Drive
Robot profiles.
Note: The profile is referenced by a device file. For information about device
files, see “What is a device file?” on page 51. For a detailed description of the
relationships between the device file, profile, and teachpoint file, see the
VWorks Automation Control User Guide.
Creating a Direct Drive Robot profile
To create a Direct Drive Robot profile:
1 In the Devices area, select the Direct Drive Robot name, and then click
Device diagnostics.
56
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Creating Direct Drive Robot profiles
The DDR Diagnostics dialog box opens.
2
3
If it is not already displayed, click the Profiles tab.
4
Type a name, and click OK. The name appears in the Profile Management
area.
In the Profile Management area, click Create a new profile. The Create Profile
dialog box opens.
Related information
For information about...
See...
Setting robot communication
“Setting up robot communication” on
page 58
Setting miscellaneous parameters
in the profile
“Setting miscellaneous parameters in
the profile” on page 60
Selecting a teachpoint file
“Selecting a teachpoint file” on page 62
Setting teachpoints
“Setting teachpoints” on page 77
Saving the profile
“Saving the profile” on page 64
Initializing the profile
“Initializing the profile” on page 65
Editing profiles
“Editing and managing profiles” on
page 67
Managing existing profiles
“Managing profiles” on page 67
Direct Drive Robot User Guide
57
4 Setting up the Direct Drive Robot
Setting up robot communication
Setting up robot communication
About this topic
When you create a profile, you must also select the robot with which to
establish communication. This topic explains how to locate the robot in the
system network.
If you have more than one Direct Drive Robot in the system
Every device in the system must have a unique IP address for proper
operation. All Direct Drive Robots are assigned the same IP address at the
factory. Therefore, if you have more than one Direct Drive Robot installed in
the system, you must make sure each is assigned a unique IP address. You can
do this when creating a profile for the robot.
Procedure
To set up robot communication:
1 In the Robot Identifiers area, click Find Available Direct Drive Robots.
2
58
In the Discovered BioNet Devices dialog box that opens, locate the Direct
Drive Robot to which you want to connect:
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Setting up robot communication
Step
Instruction
1
Select the correct Ethernet card for the device connection. A list
of devices appear in the dialog box.
2
Select the Direct Drive Robot. You can use the MAC Address to
identify the robot in the list. To successfully communicate with
the robot, the device must show New or Matched in the Status
column.
To correctly identify a robot by its MAC address, you might need
to turn off all devices and all but one robot in the system.
After you have correctly identified the robot in the list, doubleclick the Device ID box and type a name for the robot.
3
4
Direct Drive Robot User Guide
If you have more than one Direct Drive Robot in the system,
make sure each robot has a unique IP address. To do this, turn
off all but one robot in the system, select the robot in this
dialog box, click Change IP, and then assign a new IP address.
The IP address should have the same network and subnet
address as the controlling computer, and have a unique host
address. Repeat for each robot in the system.
When you are finished, click OK to return to the DDR Diagnostics dialog
box. Notice that the Device ID, MAC address, and IP address of the robot
appear in the Robot Identifiers area.
59
4 Setting up the Direct Drive Robot
Setting miscellaneous parameters in the profile
Related information
For information about...
See...
Setting miscellaneous parameters
in the profile
“Setting miscellaneous parameters in
the profile” on page 60
Selecting a teachpoint file
“Selecting a teachpoint file” on page 62
Setting teachpoints
“Setting teachpoints” on page 77
Saving the profile
“Saving the profile” on page 64
Initializing the profile
“Initializing the profile” on page 65
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Editing profiles
“Editing and managing profiles” on
page 67
Managing existing profiles
“Managing profiles” on page 67
Setting miscellaneous parameters in the profile
Procedure
CAUTION
Select this option only if all regrip stations in the system are clear of obstacles,
such as shelves or other devices, above them.
To set miscellaneous parameters in the profile:
In the Miscellaneous area, make sure the All regrip stations are safe from above check
box is not selected. You can return to the profile to select this option after you
have set all teachpoints.
For a description of this option, see “Selecting the All regrip stations are safe
from above option” on page 106.
60
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Setting miscellaneous parameters in the profile
Related information
For information about...
See...
Selecting a teachpoint file
“Selecting a teachpoint file” on page 62
Setting teachpoints
“Setting teachpoints” on page 77
Saving the profile
“Saving the profile” on page 64
Initializing the profile
“Initializing the profile” on page 65
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Setting up robot communication
“Setting up robot communication” on
page 58
Editing profiles
“Editing and managing profiles” on
page 67
Managing existing profiles
“Managing profiles” on page 67
Direct Drive Robot User Guide
61
4 Setting up the Direct Drive Robot
Selecting a teachpoint file
Selecting a teachpoint file
Direct Drive Robot profiles and teachpoint files
A teachpoint file contains the list of locations at which the robot will pick or
place labware. For a detailed description of teachpoints and teachpoint files,
see “Direct Drive Robot teachpoints” on page 79 and “Teachpoint files” on
page 88.
Every Direct Drive Robot profile must be associated with a teachpoint file.
When you create a profile, the software automatically creates a new default
teachpoint file. Its location is shown in the Teachpoint File area. The file name
is teachpoint_<profilename>, and the file remains empty until you set
teachpoints.
Selecting the default teachpoint file
To use the default teachpoint file as is:
Proceed to “Saving the profile” on page 64. Later you will add teachpoints to
this teachpoint file.
If you want to change the teachpoint file name or storage location, in the
Teachpoint File area, click Save as. In the Save As dialog box, type a name for
the teachpoint file, select the storage location, and then click Save. The file
path appears in the Teachpoint File area. Later you will add teachpoints to
this file.
62
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Selecting a teachpoint file
Selecting an existing teachpoint file
If you want to use an existing teachpoint file:
In the Teachpoint File area, click Select. In the Select a Teachpoint File dialog
box, locate and select the teachpoint file that you want to use, and then click
Open. The file path appears in the Teachpoint File area.
CAUTION
If the teachpoint file was copied from another computer, you must verify the
teachpoints for the new profile before using it.
If you want to use an existing teachpoint file and rename it, you must select
the existing teachpoint file, initialize the profile to load information in the
existing teachpoint file (“Initializing the profile” on page 65), and then click
Save As in the Teachpoint File area to rename it.
Related information
For information about...
See...
Setting teachpoints
“Setting teachpoints” on page 77
Saving the profile
“Saving the profile” on page 64
Initializing the profile
“Initializing the profile” on page 65
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Setting up robot communication
“Setting up robot communication” on
page 58
Setting miscellaneous parameters
in the profile
•
“Setting miscellaneous parameters
in the profile” on page 60
•
“Selecting the All regrip stations are
safe from above option” on
page 106
Editing profiles
“Editing and managing profiles” on
page 67
Managing existing profiles
“Managing profiles” on page 67
Direct Drive Robot User Guide
63
4 Setting up the Direct Drive Robot
Saving the profile
Saving the profile
Procedure
After you have finished setting up robot communication and profile
parameters, you can save the profile.
To save the profile:
Click Update this profile to save the changes.
Related information
64
For information about...
See...
Initializing a profile
“Initializing the profile” on page 65
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Setting up robot communication
“Setting up robot communication” on
page 58
Setting miscellaneous parameters
in the profile
•
“Setting miscellaneous parameters
in the profile” on page 60
•
“Selecting the All regrip stations are
safe from above option” on
page 106
Selecting a teachpoint file
“Selecting a teachpoint file” on page 62
Setting teachpoints
“Setting teachpoints” on page 77
Editing profiles
“Editing and managing profiles” on
page 67
Managing profiles
“Managing profiles” on page 67
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Initializing the profile
Initializing the profile
About the initialization process
You initialize the profile to:
•
Establish communication with the robot.
•
Load the information in the selected teachpoint file.
•
Synchronize the teachpoints information in the firmware with that in the
teachpoints file.
Procedure
WARNING The robot might move its arm during the initialization process. Keep out of
the system during the initialization process.
To initialize the profile:
Click Initialize this profile. In the Robot Status area, a graphical representation of
the robot and teachpoints (if any) appear. In addition, the robot coordinates
are updated.
IMPORTANT
The system table displayed in the Robot Status area should be
representative of the actual system table. If no image appears, or if the
dimensions in the image appears to be incorrect (for example, a rectangular
table appears in the software but the actual system table is square), see
“Specifying the table dimensions and robot position” on page 69.
Direct Drive Robot User Guide
65
4 Setting up the Direct Drive Robot
Initializing the profile
If you are setting up the Direct Drive Robot for the first time or if you are
creating a new device file, return to “Adding and deleting Direct Drive Robots
in the device file” on page 53 and continue from step 3. Otherwise, you can
proceed to set teachpoints. See “Planning Direct Drive Robot teachpoints” on
page 79.
Related information
66
For information about...
See...
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Setting up robot communication
“Setting up robot communication” on
page 58
Setting miscellaneous parameters
in the profile
•
“Setting miscellaneous parameters
in the profile” on page 60
•
“Selecting the All regrip stations are
safe from above option” on
page 106
Selecting a teachpoint file
“Selecting a teachpoint file” on page 62
Saving the profile
“Saving the profile” on page 64
Setting teachpoints
“Setting teachpoints” on page 77
Editing profiles
“Editing and managing profiles” on
page 67
Managing profiles
“Managing profiles” on page 67
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Editing and managing profiles
Editing and managing profiles
Editing profiles
To edit a profile:
1 In the Direct Drive Robot Diagnostics Profiles tab, select the profile you
want to edit in the Profile Management area.
2
3
Modify the profile information.
When you are finished, click Update this profile to save the changes.
Managing profiles
In the DDR Diagnostics Profiles tab, you can select an existing profile, and then
rename, copy, or delete the profile.
CAUTION
A copy of an existing profile references the same teachpoint file.
Related information
For information about...
See...
Creating profiles for the robot
“Creating Direct Drive Robot profiles”
on page 56
Setting up robot communication
“Setting up robot communication” on
page 58
Setting miscellaneous parameters
in the profile
•
“Setting miscellaneous parameters
in the profile” on page 60
•
“Selecting the All regrip stations are
safe from above option” on
page 106
Selecting a teachpoint file
Direct Drive Robot User Guide
“Selecting a teachpoint file” on page 62
67
4 Setting up the Direct Drive Robot
Editing and managing profiles
68
For information about...
See...
Saving the profile
“Saving the profile” on page 64
Initializing the profile
“Initializing the profile” on page 65
Setting teachpoints
“Setting teachpoints” on page 77
Editing profiles
“Editing and managing profiles” on
page 67
Managing profiles
“Managing profiles” on page 67
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Specifying the table dimensions and robot position
Specifying the table dimensions and robot position
About the table dimensions and robot position
When you set up the robot, you must let the software know the following:
•
Dimensions of the attachment surface (or table)
•
Position of the robot on the table
•
Orientation of the robot on the table
This information helps the software to draw an accurate representation of the
table and display the relative positions of the robot and teachpoints in the
Robot Status area.
To specify the table dimensions and robot position, you will be:
•
“Backing up existing settings” on page 69
•
“Measuring the table dimensions” on page 70
•
“Determining the angle of the robot” on page 71
•
“Entering the information in DDR Diagnostics” on page 73
Backing up existing settings
Agilent Technologies recommends that you back up existing table dimensions
and robot position settings before changing them.
To back up existing settings:
1 In the DDR Diagnostics Setup tab, click Save ALL advanced settings to file.
Direct Drive Robot User Guide
69
4 Setting up the Direct Drive Robot
Specifying the table dimensions and robot position
2
In the Save As dialog box that opens, type a name for the backup file. You
can use the default backup file location, or select a different location. The
default location is
C:\Program Files\Agilent Technologies\Settings\DDR\FirmwareBackup.
3
Click Save. The robot settings are saved in an XML file.
Measuring the table dimensions
Take the measurements that are shown in the following diagram. The crosshair
symbol in the diagram marks the center of the robot. The W- axis is width of
the robot- attachment surface. W1 and W2 specify the lengths of the two
segments of the width. The line that intercepts the end of W1 and the
beginning of W2 runs through the center of the robot base. The D- axis is the
depth of the robot- attachment surface. D1 and D2 specify the lengths of the
two segments of the depth. The line that intercepts the end of D1 and the
beginning of D2 runs through the center of the robot base.
70
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Specifying the table dimensions and robot position
W1
W2
D2
D1
Note: The measurements can be approximate and the axis assignment is
arbitrary. The information is used to draw the graphic in DDR Diagnostics and
is not used for robot operation.
Determining the angle of the robot
During this procedure, you will determine the angle between the robot 0°
position relative to the D- axis. The robot is at its 0° position when the mast
sits directly above the robot cable connection.
The following diagram shows the robot rotated halfway between the 0° position
and the D- axis. Notice the location of the robot cable connection (the gray
rectangular block).
W1
W2
D2
D1
0°
WARNING
Be sure to wear protective eyewear when entering the system and working
with the robot.
To determine the angle of the robot:
1 In Direct Drive Robot Diagnostics, click the Jog/Move tab, and then click
Disable Motors. You should be able to rotate the robot waist and arm
manually without resistance.
Direct Drive Robot User Guide
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4 Setting up the Direct Drive Robot
Specifying the table dimensions and robot position
2
Turn the robot waist such that the bicep is parallel to the D- axis and the
mast is in the D2 half of the plane.
W1
W2
W1
W2
D2
D1
D2
D1
3
72
In Direct Drive Robot Diagnostics, note the Waist angle in the Robot Status
area. This is the robot angle value you will use.
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Specifying the table dimensions and robot position
Entering the information in DDR Diagnostics
To set or update the table dimensions and robot position
1 In DDR Diagnostics, click the Setup tab.
Direct Drive Robot User Guide
73
4 Setting up the Direct Drive Robot
Specifying the table dimensions and robot position
74
2
In the Table Dimensions and Robot Position area, type the desired values that
define the table: W1, W2, D1, and D2.
3
Type the Robot angle value. This is the Waist angle value displayed in the
Robot Status area.
4
When you are finished, click Apply. The changes are saved to the firmware.
In addition, the graphic in the Robot Status area updates.
Direct Drive Robot User Guide
4 Setting up the Direct Drive Robot
Specifying the table dimensions and robot position
5
Check the graphic and make sure it is correct. If necessary, repeat the
procedures in this topic to make any necessary adjustments. For example,
if the robot appears backwards in the software, you can rotate the D- and
W- axes in the Setup tab.
6
After you have verified that the table settings are correct, click Save ALL
advanced settings to file. The values in the Setup tab are saved to an XML file.
You can use the XML file to recover the settings if they are lost.
Related information
For information about...
See...
Homing the robot
“Homing the robot and grippers” on
page 140
Planning teachpoints
“Planning Direct Drive Robot
teachpoints” on page 79
Setting teachpoints
“Setting teachpoints” on page 77
Direct Drive Robot User Guide
75
4 Setting up the Direct Drive Robot
Specifying the table dimensions and robot position
76
Direct Drive Robot User Guide
Direct Drive Robot
User Guide
5
Setting teachpoints
This chapter explains how to set up the Direct Drive Robot for
operation. This chapter contains the following topics:
•
“Teachpoint setting workflow” on page 78
•
“Planning Direct Drive Robot teachpoints” on page 79
•
“Setting teachpoints” on page 88
•
“Setting teachpoints using a labware” on page 107
•
“Verifying teachpoints” on page 109
•
“Editing existing teachpoints” on page 121
•
“Managing teachpoints” on page 125
•
“Cycling teachpoints” on page 126
77
Agilent Technologies
5 Setting teachpoints
Teachpoint setting workflow
Teachpoint setting workflow
About this topic
This topic presents the workflow for setting Direct Drive Robot teachpoints.
WARNING Only administrators and experienced personnel should perform the
procedures in this chapter.
Workflow
The following table presents the steps for setting Direct Drive Robot
teachpoints. After setting the teachpoints, you will not likely change them
unless you add, replace, move, or remove a device in the system.
IMPORTANT Before proceeding to step 3 (verify the teachpoints), or if you
use a labware to set teachpoints, you should already have definitions for the
labware you want to use. Although you can define labware at any time, Agilent
Technologies recommends that you define labware before setting the
teachpoints. For instructions on how to define labware, see the VWorks
Automation Control Setup Guide.
Step
For this task...
See...
1
Plan the teachpoints.
“Planning Direct Drive Robot
teachpoints” on page 79
2
Set teachpoints at device
locations.
•
“Setting teachpoints” on
page 88
•
“Setting teachpoints using a
labware” on page 107
3
Verify the teachpoints.
“Verifying teachpoints” on page 109
4
Edit the teachpoints.
•
“Editing existing teachpoints”
on page 121
•
“Managing teachpoints” on
page 125
5
78
Cycle the teachpoints.
“Cycling teachpoints” on page 126
Direct Drive Robot User Guide
5 Setting teachpoints
Planning Direct Drive Robot teachpoints
Planning Direct Drive Robot teachpoints
About this topic
The Direct Drive Robot is able to hold labware in both the landscape and
portrait orientations. In addition, the A1 well can be away or toward the robot
grippers in either labware orientation.
The orientation flexibility permits multiple options at each teachpoint.
Carefully planned teachpoints can optimize results and throughput. This topic
presents the following:
•
“Direct Drive Robot teachpoints” on page 79
•
“Guidelines for setting teachpoints” on page 82
•
“Examples” on page 83
Direct Drive Robot teachpoints
A Direct Drive Robot teachpoint consists of the following:
•
Orientation coordinates
•
Orientation information
•
Parameters that define robot movements near and at the teachpoint
You set and edit teachpoints in the DDR Diagnostics Teachpoints tab.
Direct Drive Robot User Guide
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5 Setting teachpoints
Planning Direct Drive Robot teachpoints
Orientation coordinates
A teachpoint is defined by a set of coordinates that define where the robot
picks up or places labware. The teachpoint can be on an integrated device or
a platepad. Teachpoints are relative to the robot home position. You can view
the teachpoint or robot coordinates in the Teachpoints tab in DDR Diagnostics.
Orientation information
Each teachpoint contains the following orientation information:
80
Orientation
Description
Robot arm
Left (L), elbow joint angle
of >= 180°
Right (R), elbow joint
angle < 180°
Labware
Landscape
Portrait
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5 Setting teachpoints
Planning Direct Drive Robot teachpoints
Orientation
Description
A1 well
Away from the robot
grippers in either labware
orientation
Toward the robot grippers
in either labware
orientation
The orientation information is displayed in the Teachpoints tab in DDR
Diagnostics.
Parameters that define robot movements
A number of parameters define the robot movements near or at a teachpoint:
•
Approach height
•
Approach distance
•
Gripper offset at the location
•
Custom actions (delidding, lidding, stirring, or push- down action)
For more information, see “Creating a new teachpoint” on page 93.
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5 Setting teachpoints
Planning Direct Drive Robot teachpoints
Guidelines for setting teachpoints
Before setting teachpoints, determine the best orientations for each location. In
addition, be aware of how varying robot and labware orientations between
teachpoints can affect robot speed and efficiency.
Orientations to consider
Before you set a teachpoint, take into consideration all of the following:
•
Robot- arm orientation. Determine the best robot- arm orientation (left or
right) for the location. The accessibility of a location can determine the
robot- arm orientation. See “Examples” on page 83.
•
Labware orientation. Determine the best labware orientation (landscape or
portrait) for the location. The orientation might be determined by device
requirements. For example, the Labware Stacker requires labware to be in
the landscape orientation, but the portrait Plate Hub Carousel requires
labware to be in the portrait orientation.
•
A1- well orientation. Determine the A1- well orientation of the labware. In
general, for devices that require the landscape orientation, such as the
Labware Stacker and the landscape Plate Hub Carousel, the optimal A1well orientation is typically away from the grippers. For storage devices
that require the portrait orientation, the optimal A1- well orientation
depends on the requirements at other teachpoints in the system. See
“Examples” on page 83.
For a description of the orientations, see “Orientation information” on page 80.
Factors that affect robot speed and efficiency
To increase robot speed and efficiency, you should:
82
•
Maximize the robot’s ability to plan optimal paths. Wherever possible, set
a teachpoint with as many orientations as possible so that the robot can
determine the optimal path during the run. For example, set a teachpoint
with both the right- and left- arm orientations.
•
Minimize the number of regrips between teachpoints. A regrip is required
if, for example, the robot is transferring a labware from one location that
requires one labware orientation to another location that requires a
different labware orientation. To minimize the time required for regripping,
wherever possible, set a teachpoint with multiple orientations and allow
the robot to determine the optimal path during the run. Alternatively,
consistently set teachpoints using one orientation wherever possible. For
more information about regrip stations, see “Designating a teachpoint as a
regrip station” on page 97.
•
Maximize the gripper offset ranges. A regrip station is also used if the
robot needs to adjust gripping height as it transfers a labware from one
location that requires a gripper height that is different from the next
location. To provide the system with the greatest flexibility for identifying a
grip position that works for all locations, you should set the widest
possible range for each gripper offset parameter. For more information
about gripper offset ranges, see “Setting the gripper offset parameters” on
page 102.
•
Set Approach Distance at the smallest possible value. In general, rotating
robot movements are faster than straight movements. To ensure that the
robot rotates from the safe zone directly to the teachpoint approach height,
set the Approach Distance at 0. If obstacles near or at the teachpoint does
not permit the rotating movement, set the Approach Distance at the
smallest possible value for the location. For more information, see “Setting
the approach distance” on page 100.
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5 Setting teachpoints
Planning Direct Drive Robot teachpoints
Examples
Example 1: Robot-arm orientation
In the following example, the system window (1) and an adjacent device (2) are
two obstacles near the desired location (3). Therefore, the left- arm orientation
should be used when setting the teachpoint.
2
3
1
Example 2: Robot-arm and A1-well orientation
In the following example, there are no obstacles near the platepad in the
portrait orientation. You can set the platepad teachpoint with the left- (1) and
right- arm (2) orientations.
1
2
The position of the A1 well is device dependent. So the arm orientation the
robot uses at this platepad is determined by the A1- well orientation at the
next teachpoint.
In the following example, the labware is placed at the platepad with the A1
well positioned as shown (1). If the next device requires the A1 well to be
toward the grippers (2), the robot will use the left- arm orientation. However, if
the next device requires the A1 well to be away from the grippers (3), the
robot will use the right- arm orientation.
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5 Setting teachpoints
Planning Direct Drive Robot teachpoints
2
1
1
1
A
4
2
3
5
6
8
9
00240
Bravo
Plate Orientation
7
A
1
002
3
A
1
Example 3: Plate Hub Carousel - Bravo deck location 4 - Plate Hub Carousel
A protocol requires labware to be moved from a portrait Plate Hub Carousel
slot to the Bravo Platform for liquid- handling tasks. After processing, the
labware must be moved from the Bravo Platform and returned to the portrait
Plate Hub Carousel slot.
The labware orientation option or requirement at each device is as follows:
Device
Orientation option or requirement
Portrait Plate Hub Carousel
(top view):
•
Portrait
•
A1 either away or toward the
grippers
Bravo Platform (top view):
•
Portrait
•
A1 toward the grippers
Note: In the example setup, the robot can only approach the Bravo deck as
shown.
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5 Setting teachpoints
Planning Direct Drive Robot teachpoints
The optimal teachpoint setup at the Plate Hub Carousel would require the least
number of regrips as the labware is transferred between the two devices.
If the Plate Hub Carousel teachpoint is set with the A1- toward orientation, the
robot can transfer the labware from the Plate Hub Carousel to the Bravo
Platform without regripping. Therefore, the A1- toward orientation at the Plate
Hub Carousel is the optimal setup.
1
1
4
A
7
2
3
5
6
8
9
00240
Bravo
Plate Orientation
00240
If the Plate Hub Carousel teachpoint is set with the A1- away orientation, the
robot must regrip the labware during the transfer. Therefore, the A1- away
orientation at the Plate Hub Carousel is not the optimal setup.
1
1
A
4
7
2
3
5
6
8
9
00240
Bravo
Plate Orientation
00240
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5 Setting teachpoints
Planning Direct Drive Robot teachpoints
Example 4: Repeating tasks and regrip frequency
A protocol requires labware to be moved from a portrait Plate Hub Carousel
slot to the Bravo Platform for liquid- handling tasks. After processing, the
labware must be moved from the Bravo Platform to a dispenser. Subsequent
protocol tasks move the labware multiple times between the dispenser and the
Plate Hub Carousel for cycles of dispensing and incubation.
The labware orientation option or requirement at each device is as follows:
Device
Orientation option or requirement
Portrait Plate Hub Carousel
(top view):
•
Portrait
•
A1 either away or toward the
grippers
Bravo Platform (top view):
•
Portrait
•
A1 toward the grippers
Dispenser (top view):
•
Portrait
•
A1 away from the grippers
Note: In the example setup, the robot can only approach the Bravo deck and
the dispenser as shown.
The optimal teachpoint setup at the Plate Hub Carousel would require the least
number of regrips as the labware is transferred between the three devices.
If the Plate Hub Carousel teachpoint is set with the A1- away orientation, the
robot must regrip as it moves labware from the Plate Hub Carousel to the
Bravo deck (1, 2), and regrip again as it moves the labware from the Bravo
deck to the dispenser (3, 4). Thereafter, the robot can move the labware
between the dispenser and Plate Hub Carousel without regripping (5–9). So the
total number of regrips in this scenario is two.
Note: In general, to minimize the number of regrips, consider matching the
orientations of consecutive teachpoints in repeating protocol tasks.
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Planning Direct Drive Robot teachpoints
2
1
3
1
1
A
4
7
2
3
5
6
8
9
00240
Bravo
Plate Orientation
00240
4
A
1
5-9
If the Plate Hub Carousel teachpoint is set with the A1- toward orientation, the
robot can move labware from the Plate Hub Carousel to the Bravo deck
without regripping. However, the robot must regrip as it moves labware from
the Bravo deck to the dispenser, and then multiple times as it moves labware
between the dispenser and Plate Hub Carousel in cycles of dispensing and
incubation. The total number of regrips is greater than two. Therefore, the A1toward orientation at the Plate Hub Carousel is not the optimal setup.
Related information
For information about...
See...
Teachpoint files
“Teachpoint files” on page 88
Setting teachpoints
“Setting teachpoints” on page 88
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5 Setting teachpoints
Setting teachpoints
Setting teachpoints
About this topic
Depending on the type of device, the teachpoint setting procedure can vary.
This topic provides basic teachpoint setting concepts: how to use the supplied
teaching jig or the desired labware to set, verify, and edit Direct Drive Robot
teachpoints.
Teachpoint files
The teachpoints you set are saved in the XML format in a teachpoint file. The
default teachpoint file name is Teachpoints_<profilename>.xml, where
<profilename> is the name of the profile. The software saves the file in the
C:\Program Files\Agilent Technologies\Settings\DDR folder. However, you can
select another file name and location when saving the file.
CAUTION
Always edit and manage teachpoints in the Robot Diagnostics software. Do not
edit the teachpoint file (XML file) directly. Editing the file directly can cause the robot to move
to incorrect locations and bump into devices or other obstacles.
You can have multiple teachpoint files for each Direct Drive Robot if a device
needs to serve multiple purposes. For example, a platepad can be taught as a
platepad or as a regripping station. You can also have multiple teachpoint files
for the system if a device is only used in some protocols but not others. For
example, if a device is installed on a docking table and can be removed when
it is not in use.
CAUTION
Before you begin changing teachpoints, make a backup copy of the teachpoint
file. If the original file becomes lost or damaged, you can use the backup copy instead of
reteaching all the positions.
The teachpoint file is referenced by a profile. For information about profiles,
see “Creating Direct Drive Robot profiles” on page 56.
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5 Setting teachpoints
Setting teachpoints
Workflow
The workflow for setting a Direct Drive Robot teachpoint is as follows:
Step
1
For this task
See...
Install the teaching jig in
the robot grippers.
•
“Installing and removing the
teaching jig in the robot grippers”
on page 90
•
“Setting teachpoints using a
labware” on page 107
If size restrictions at
teachpoints prevent the
use of the teaching jig,
use the labware intended
for the location.
Direct Drive Robot User Guide
One of the following:
2
Create a new teachpoint.
“Creating a new teachpoint” on
page 93
3
Name the teachpoint.
“Naming the teachpoint” on page 94
4
Specify the A1- well
orientation.
“Specifying the A1- well orientation”
on page 94
5
Optional. Designate a
teachpoint as a regrip
station.
“Designating a teachpoint as a regrip
station” on page 97
6
Set teachpoint
parameters:
•
•
Set the approach
height.
“Setting the approach height” on
page 99
•
•
Set the approach
distance.
“Setting the approach distance”
on page 100
•
•
Set the gripper offset
range.
“Setting the gripper offset
parameters” on page 102
•
•
Fine- tune the
teachpoint
coordinates.
“Setting the Position Z, Waist,
Elbow, and Wrist parameters” on
page 103
•
•
Select custom actions.
“Selecting custom actions” on
page 103
7
Save the teachpoints.
“Saving the teachpoints” on page 104
8
Optional. Selecting the
All regrip stations are
safe from above option.
“Selecting the All regrip stations are
safe from above option” on page 106
9
Verify the teachpoints.
“Verifying teachpoints” on page 109
10
Edit the teachpoints.
“Editing existing teachpoints” on
page 121
11
Cycle the teachpoints.
“Cycling teachpoints” on page 126
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5 Setting teachpoints
Setting teachpoints
Before you start
Make sure:
•
You review the guidelines for setting teachpoints (“Planning Direct Drive
Robot teachpoints” on page 79).
•
You have the provided Direct Drive Robot teaching jig. If size restrictions at
teachpoints prevent the use of the teaching jig, use the labware intended
for the location. See “Setting teachpoints using a labware” on page 107.
•
You have a 2- mm hex wrench for installing and removing the teaching jig.
•
The correct profile is initialized (“Creating Direct Drive Robot profiles” on
page 56).
•
The safety interlock is turned off (see the system user documentation).
Installing and removing the teaching jig in the robot grippers
WARNING
Always wear protective eyewear when entering the system and working
with the robot.
WARNING
Stay out of the system when the robot is in motion.
IMPORTANT If size restrictions at a teachpoint prevent the use of the
teaching jig, use the labware intended for the location. For information, see
“Setting teachpoints using a labware” on page 107.
To install the teaching jig:
1 In DDR Diagnostics, click the Jog/Move tab, and then click Move to safe zone.
The robot moves into its safe zone.
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5 Setting teachpoints
Setting teachpoints
2
In DDR Diagnostics, click the Teachpoints tab.
3
In the Labware list, select Teaching jig.
4
Click Teach Mode. The blue light on the robot hand turns on to indicate that
it is in the teach mode. You should be able to move the robot arm without
resistance.
IMPORTANT
Always move the robot arm slowly when in the Teach
Mode.
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5 Setting teachpoints
Setting teachpoints
5
Manually move the robot arm to a position that will be convenient for you
to install the teaching jig.
6
Using the 2- mm hex wrench, turn the gripper lead screw to open the robot
grippers so that the teaching jig can fit in the grippers. You can access the
lead screw from both sides of the robot hand.
7
Position the teaching jig between the robot grippers. Align the two pins on
both sides of the teaching jig with the white dimples in the grippers. The
following diagram shows the alignment positions in the landscape mode.
8
Using the 2- mm hex wrench, turn the gripper lead screw to close the robot
grippers. The grippers should hold the teaching jig securely.
To remove the teaching jig:
1 While in the Teach Mode, manually move the robot arm to a position that
will be convenient for you to remove the teaching jig. Make sure you move
the robot slowly
2
3
92
Place a hand under the teaching jig to support its weight for the next step.
Using the 2- mm hex wrench, turn the gripper lead screw to open the robot
grippers so that the teaching jig is free from the grippers.
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5 Setting teachpoints
Setting teachpoints
Creating a new teachpoint
WARNING
Always wear protective eyewear when entering the system and working
with the robot.
CAUTION
Do not set teachpoints within the safe zone. For information about the safe
zone, see “Safe zone” on page 18.
To create a teachpoint:
1 With the teaching jig in the robot grippers, slowly move the robot arm to
the desired location. When moving the robot arm:
a
b
Check for potential obstacles near the location.
Keep in mind the “Guidelines for setting teachpoints” on page 82.
2
Position the teaching jig at the desired location. Make sure the teaching jig
sits flat at the location.
3
Press the blue button on the robot hand. The blue light flashes for a
moment. In the Teachpoints tab, a new entry appears.
Note: The blue light does not flash if the robot is at a location that is
outside of its travel limits. Move the teachpoint location and try again.
If it is not possible to access the blue button on the robot hand, you can
click the New teachpoint button in the Teachpoints tab.
4
To view the entire teachpoints table, click the
(Maximize/Minimize)
button. The table expands so that all of the columns are displayed in the
tab.
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5 Setting teachpoints
Setting teachpoints
Naming the teachpoint
To name the teachpoint:
Double- click the Name box and type a new name for the teachpoint. Use a
name that describes the location, such as the device name (for example,
PlateLoc - 1).
Specifying the A1-well orientation
The icon under the teachpoint name indicates the following:
Item Description
1
A1- well orientation. From the robot’s perspective, the A1 well (the
gray corner on the icon) can be:
•
Away from the robot grippers.
•
Toward the robot grippers.
or
or
The robot cannot detect the location of the A1 well. Therefore, you
must provide this information in the software.
To change the A1-well orientation:
Double- click the icon. The robot gripper symbol (green triangle) moves
to the opposite side of the labware.
Note: The robot is unaware of the A1- well orientation assignment.
Changing it in the software does not automatically or physically
change the way the robot holds the labware.
2
Labware orientation. The location of the green robot gripper symbol
determines the orientation:
•
Landscape.
•
Portrait.
or
or
Note: You cannot change the labware orientation. The software uses
the gripper width to determine whether it is in the landscape or
portrait mode.
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5 Setting teachpoints
Setting teachpoints
Item Description
3
Robot- arm orientation:
Left (L)
or right (R)
Note: You cannot change the robot arm orientation. The software uses
the elbow joint angle to determine whether it is in the left- or rightarm mode. A right arm has an elbow joint angle < 180°. A left arm
has an elbow joint angle of >= 180°.
Common orientations
Eight orientations are possible for each teachpoint, based on different A1- well,
labware, and robot- arm orientations. The following table presents six common
orientations.
Orientation icon
Direct Drive Robot User Guide
Labware orientation
Robot arm orientation
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5 Setting teachpoints
Setting teachpoints
Orientation icon
Labware orientation
Robot arm orientation
Atypical orientations
The following table presents two atypical orientations. These orientations are
used only when:
•
Devices, such as the FLIPR Tetra device, require the A1 well to be toward
the grippers.
•
Two robots in the same system will use a single location to pass labware.
One robot will approach the teachpoint using a common orientation (for
example, landscape and A1 away), the other robot will approach the same
teachpoint from the opposite side, using an atypical orientation (for
example, landscape and A1 toward).
Orientation icon
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Labware orientation
Robot arm orientation
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5 Setting teachpoints
Setting teachpoints
Designating a teachpoint as a regrip station
A regrip station is a location that enables the robot to:
•
Change the labware orientation between teachpoints that require different
orientations (landscape or portrait).
•
Change A1- well orientation between teachpoints that require different A1well orientations.
•
Adjust its grip at the specified labware gripping height. The location is
typically used after a robot picks up a labware higher than the specified
gripping height because of physical restrictions at a teachpoint.
Note: Regrip stations cannot be used for other purposes such as deadlock
avoidance.
To accommodate different labware orientations, add multiple orientations to
the regrip teachpoint. In the following example, the Regrip teachpoint
accommodates both the right- and left- arm orientations, with the landscape
labware orientation and the A1 well away from the grippers.
To designate a teachpoint as a regrip station:
Select the Regrip Station
check box.
CAUTION
Changes to a regrip station (from a regular teachpoint to a regrip station or from
a regrip station to a regular teachpoint) are not applied until you save the teachpoint file.
To add additional orientations to the regrip teachpoint:
1 Create another teachpoint at the same location but with a different
orientation. A new entry appears in the teachpoints table.
2
Direct Drive Robot User Guide
If necessary, set the A1- well orientation.
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5 Setting teachpoints
Setting teachpoints
By default, a new teachpoint will always have the A1- away orientation.
When adding multiple teachpoints at a regrip station, if two of the
teachpoints have the same labware and robot- arm orientation, and it is
difficult to tell which one should have the A1- well away or toward
assignment unless you see the actual robot position:
a
Right- click the teachpoint in the teachpoints table, and then click Show
robot position.
b
In the dialog that appears, check the robot position, and the robot- arm
and A1- well orientations.
In the following example, two teachpoints have the same labware and
robot- arm orientations: landscape and right- arm. However, depending
on the robot approach, the A1- well orientation will be different.
c
98
Click OK to exit the dialog box and, if necessary, set or correct the A1well orientation setting.
Direct Drive Robot User Guide
5 Setting teachpoints
Setting teachpoints
3
Drag the new teachpoint under an existing regrip teachpoint.
CAUTION The new teachpoint must have a different orientation than the existing
regrip teachpoint. Otherwise, the software will prompt you to replace or reteach the
existing teachpoint during the drag-and-drop operation.
4
Set the remaining teachpoint parameters.
Setting the approach height
Approach height is the height clearance, in millimeters, the robot must
maintain above the teachpoint as it moves towards or away from the
teachpoint.
•
Approach Ht (with labware) is the height clearance when the robot is
holding a labware.
•
Approach Ht (no labware) is the height clearance when the robot is not
holding labware.
Approach ht.
You can reduce the approach height to prevent collision with shelves or other
obstacles above the teachpoint. However, make sure there is sufficient
clearance below the labware to prevent collision with raised tabs or other
obstacles at the teachpoint.
CAUTION
Incorrect approach heights can cause the robot to crash into obstacles.
IMPORTANT The approach height value works in conjunction with the
approach distance to clear obstacles near or at the teachpoint. Therefore,
before setting the approach height value, you should determine the approach
distance value to use. See “Setting the approach distance” on page 100.
If Approach Distance is set at the default value:
•
The Approach Ht (with labware) value should allow the robot and labware
to arrive at the teachpoint without bumping into any obstacles, such as
raised tabs, at the front of the teachpoint.
•
The Approach Ht (no labware) value should allow the robot and its opened
grippers to arrive at the teachpoint without bumping into any obstacles,
such as raised tabs, at the sides of the teachpoint.
Note: If the teachpoint does not have any obstacles on the front or
sides, you can set Approach Ht (no labware) at 0. The robot will
approach the teachpoint at the higher of the teachpoint or labware
minimum gripper offset value.
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5 Setting teachpoints
Setting teachpoints
If Approach Distance is less than the default value:
•
The Approach Ht (with labware) value should allow the robot and labware
to arrive at the teachpoint without bumping into obstacles, such as raised
tabs, at the front and sides of the teachpoint.
•
The Approach Ht (no labware) value should allow the robot and its opened
grippers to arrive at the teachpoint without bumping into the tallest
labware at the teachpoint.
In general, if a teachpoint has raised tabs only at the front of the teachpoint,
the Approach Ht (with labware) value should be greater than the Approach Ht
(no labware) value.
Agilent Technologies recommends the following Approach Ht (with labware)
values:
Device
Approach Ht
(with labware)
Most devices
9 mm
Vertical Pipettor shelf with tipbox
6 mm
Centrifuge
5.5 mm
Plate Hub Carousel Carousel or Plate Hotel with
standard labware
5–6 mm
Lid Hotel Station
0 mm*
Vacuum Delid Station
0 mm*
* Required approach height for the device
To set the Approach Ht (with labware) and Approach Ht (no labware) parameters:
Double- click in the Approach Ht box and type the desired value. The default
value for both parameters is 15 mm.
Setting the approach distance
Approach distance is the distance, in millimeters, from the teachpoint. Within
this distance, the robot must:
100
•
Maintain the specified approach height.
•
Move in a straight line toward or away from the teachpoint.
Direct Drive Robot User Guide
5 Setting teachpoints
Setting teachpoints
You use the approach distance to provide clearance:
•
Between the teachpoint and the robot grippers.
•
If the teachpoint has obstacles on either side of the teachpoint.
For example, you can use the approach distance parameter so that the robot
grippers can enter and exit a device such as the Microplate Centrifuge without
bumping into the sides of the narrow entryway.
When determining the value to specify, manually move the robot away from the
teachpoint until the grippers and the teaching jig are clear of the edge of the
teachpoint and obstacles near the teachpoint.
In addition, consider the following:
•
In general, if Approach Distance is set at the default value, you can use
the default Approach Ht values.
•
Rotating robot movements are faster than straight movements. If Approach
Distance is set at 0, the robot will move (or mostly rotate) from the safe
zone directly to the teachpoint at the Approach Ht.
Before setting Approach Distance at 0, you should consider the obstacles
surrounding and at the teachpoint. If obstacles near or at the teachpoint
do not permit the rotating movement, set Approach Distance at the
smallest possible value for the location.
•
If Approach Distance is 0, Approach Ht (no labware) must be a higher
value to ensure clearance for the tallest labware that will be placed at the
teachpoint.
•
If Approach Distance is greater than 0, Approach Ht can be low enough to
clear raised tabs at the teachpoint.
CAUTION
When setting Approach Distance, be aware that a large value can cause the
robot arm to back into the raised robot base or the mast.
To set the Approach Distance parameter:
Double- click in the Approach Distance box and type the desired value. The
default value is 75 mm for the landscape orientation and 125 mm for the
portrait orientation.
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5 Setting teachpoints
Setting teachpoints
Setting the gripper offset parameters
About gripper offset parameters
The robot gripper offset range parameters tell the Direct Drive Robot where to
grip a given labware type when transferring it from one device to another.
Each device within a system can pose different accessibility challenges when
transferring the labware. For example, some devices can have a deep, recessed
area, whereas others are more flat. Some devices might have tall flanges that
make it impossible for the robot to grip a microplate at a very low point.
The Direct Drive Robot uses three types of gripper offset ranges to determine
the most compatible grip position for the labware type:
1
Gripper offset range for the labware. Specified on the Direct Drive Robot
tab in the Labware Editor for each labware definition.
2
Gripper offset range for pick- location device. Specified in the DDR
Diagnostics software for a given device (device A).
3
Gripper offset range for place- location device. Specified in the DDR
Diagnostics software for a given device (device B).
If the three gripper offset ranges overlap, the robot will use the smallest
common gripper offset to perform a direct labware transfer from device A
to device B without regripping the labware. If the three ranges do not
overlap, the software attempts to plan a path through one or more regrip
stations. If the robot cannot perform the transfer, an error message appears
at the time of the requested labware transfer.
To provide the system with the greatest flexibility for identifying a grip
position that works for all locations, you should set the widest possible range
for each gripper offset parameter.
Note: To catch and correct potential labware transfer errors, Agilent
Technologies recommends that you verify the teachpoints and perform a dry
run.
Before you set the gripper offset parameters
Under some circumstances, you should consider the gripper offset ranges of
more than two teachpoints to avoid a regrip. For example, a labware will be
delidded as it moves from the pick location (device A) to the place location
(device B). In this case, the gripper offset range for the delid teachpoint must
also overlap with the gripper offset range for the labware, device A, and
device B.
Procedure
To set the Min gripper offset and the Max gripper offset parameters for a device:
Double- click the Min gripper offset and Max gripper offset box and type the desired
values:
•
Minimum gripper offset. The vertical distance (mm) from the teachpoint to
the lowest point where the robot grippers can hold the microplate securely.
The default value is 0 mm.
•
Maximum gripper offset. The vertical distance (mm) from the teachpoint
to the highest point where the robot grippers can hold the microplate
securely. The default value is 10 mm.
Maximum
Minimum
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5 Setting teachpoints
Setting teachpoints
IMPORTANT For regrip stations, make sure the gripper offset range can
accommodate all types of labware.
Setting the Position Z, Waist, Elbow, and Wrist parameters
CAUTION
In general, you do not need to change any of the coordinates after setting
a teachpoint.
If necessary, you can fine- tune the teachpoint coordinates using the following
parameters:
•
Position Z. The z- axis coordinate of the robot, measured in millimeters.
•
Waist. The waist joint coordinate.
•
Elbow. The elbow joint coordinate.
•
Wrist. The wrist joint coordinate.
To set a coordinate parameter:
Double- click in the Position Z, Waist, Elbow, and Wrist box and type the desired
value.
Note: You can also use the jog method when fine- tuning. For instructions, see
“Editing existing teachpoints” on page 121.
Selecting custom actions
Custom actions are special pick- and- place actions that the robot will perform
after it arrives at the teachpoint. The set of custom actions include:
•
Delidding at a Lid Hotel Station or a Vacuum Delid Station
•
Relidding at a Lid Hotel Station
•
Stirring the labware
•
Pressing down a labware (for example, PCR plate) to ensure placement
You can select a custom action for any teachpoint.
To select a custom action for a teachpoint:
1 Select the appropriate action from the Pick Custom Action list.
Use the Pick Custom Action to:
•
Relid labware at the Lid Hotel Station. From the Pick Custom Action list,
select Lid Hotel relid.
Note: You can select a custom action for each storage bay in the Lid
Hotel Station. Do not assign a custom action for the platepad at the
top of the station.
•
Direct Drive Robot User Guide
Stir the labware at the teachpoint. From the Pick Custom Action list,
select Stir.
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5 Setting teachpoints
Setting teachpoints
2
Select the appropriate action from the Place Custom Action list.
Use the Place Custom Action to:
•
Delid labware at the Lid Hotel Station or the Vacuum Delid Station.
From the Place Custom Action list, select either Lid Hotel delid or Vacuum
delid.
Note: You can select a custom action for each storage bay in the Lid
Hotel Station. Do not assign a custom action for the platepad at the
top of the station.
•
Press down labware, such as a PCR plate, when the robot is placing
the labware. During the place action, the robot will press down by
2 mm, open the grippers to release the labware, and then move up
by 2 mm.
From the Place Custom Action list, select either Pushdown (landscape) or
Pushdown (portrait).
Saving the teachpoints
The teachpoint information is stored in:
•
The teachpoints file on the controlling computer
•
The robot firmware
When you create or modify teachpoints without saving them, the changes are
kept in computer memory only. Saving the teachpoints in DDR Diagnostics
updates the teachpoints file and the information in the firmware.
Note: Saving teachpoints adds new teachpoints or updates only those
teachpoints that have been modified in DDR Diagnostics. Saving teachpoints
does not overwrite all of the existing teachpoints. For example, a teachpoint
file contains teachpoints A and B. You modify teachpoint B and add
teachpoint C. When you save the teachpoints, teachpoint C is added, and
teachpoint B is updated. Teachpoint A is not touched.
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5 Setting teachpoints
Setting teachpoints
To save the teachpoints:
1 Click Save teachpoints.
If there are any errors or warnings, such as an out- of- bounds parameter
value, the software will list them in the Teachpoint Errors and Warnings
dialog box.
2
Click OK to close the dialog box and return to the teachpoints table. Notice
that error and warning symbols appear in the teachpoints table.
3
To display the error or warning message, rest the pointer on the error or
warning symbol.
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5 Setting teachpoints
Setting teachpoints
4
Fix the errors, and then click Save teachpoints.
Be sure to remove the teaching jig from the robot grippers when you are
finished. See “Installing and removing the teaching jig in the robot grippers” on
page 90.
Selecting the All regrip stations are safe from above option
The All regrip stations are safe from above option enables the robot to rotate its
wrist above the regrip station while it prepares to change labware orientation.
If the option is selected, the robot will place the labware at the regrip station,
lift its arm to the specified Approach Ht (no labware) distance above the
regrip station, rotate its wrist, and then pick up the labware using the new
orientation. The robot does not retreat into the safe zone during this process.
If the option is not selected, the robot will place the labware at the regrip
station, retreat into the safe zone, and then pick up the labware at the regrip
station using the new labware orientation. The specified Approach Ht and
Approach Distance values are used during the retreat and pickup movements.
After you have finished setting all the teachpoints, review the list in the
teachpoints table. You can select the All regrip stations are safe from above option in
the Profiles tab if:
•
There is at least one regrip station that is used to change labware
orientations.
•
There is sufficient clearance above all regrip stations to permit the robot
to rotate its wrist during a labware orientation regrip process.
To see where you select this option in the Profiles tab, see “Creating Direct
Drive Robot profiles” on page 56.
Related information
106
For information about...
See...
Robot Diagnostics
“Software overview” on page 11
Direct Drive Robot axes
“About the Direct Drive Robot” on
page 2
Quick reference of DDR
Diagnostics commands and
parameters
“Quick reference” on page 219
Direct Drive Robot User Guide
5 Setting teachpoints
Setting teachpoints using a labware
Setting teachpoints using a labware
When to use labware instead of the teaching jig
In cases where size restriction at a teachpoint prevents the use of the teaching
jig, you can use the labware intended for the location.
Procedure
WARNING
Always wear protective eyewear when entering the system and working
with the robot.
To use a labware in the teaching procedure:
1 Teach a reference location, such as Platepad 1, using the teaching jig.
IMPORTANT When teaching the reference location, make sure the Min
gripper offset parameter value is less than or equal to the minimum
gripper offset value specified for the labware in the Labware Editor.
CAUTION
When using a labware to set teachpoints, the software assumes that the
robot is holding the labware at the minimum gripper offset.
2
3
4
Verify the Platepad 1 teachpoint.
5
In DDR Diagnostics, click Teach Mode. The blue light on the robot hand
turns on to indicate that it is in the teach mode. You should be able to
move the robot arm without resistance. Make sure you move the robot
slowly.
Direct Drive Robot User Guide
Place the desired labware at Platepad 1.
Follow the instructions in “Picking up labware at the teachpoint” on
page 112 to pick up the labware from Platepad 1.
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5 Setting teachpoints
Setting teachpoints using a labware
6
Follow the instructions in “Creating a new teachpoint” on page 93 to create
a new teachpoint.
7
8
9
Set the teachpoint parameters.
Save the teachpoint.
Verify and edit the teachpoint.
Related information
108
For information about...
See...
Workflow for setting teachpoints
“Workflow” on page 89
Using other commands and
parameters in the DDR Diagnostics
“Using DDR Diagnostics” on page 137
Quick reference of DDR
Diagnostics commands and
parameters
“Quick reference” on page 219
Direct Drive Robot User Guide
5 Setting teachpoints
Verifying teachpoints
Verifying teachpoints
After you set a new teachpoint, you should verify that it is accurate by:
•
Moving the robot to the new teachpoint
•
Picking up labware at the teachpoint
•
Placing labware at the teachpoint
•
Transferring labware between two teachpoints
You use the commands in the Jog/Move tab for the verification procedure.
Moving the robot to the new teachpoint
You use the Move to command to check that:
•
The robot is able to move to the selected teachpoint.
•
The approach orientation at the teachpoint is correct.
WARNING
Be sure to wear protective eyewear when entering the system and working
with the robot.
WARNING
Stay out of the system while the robot is in motion.
To move the robot to the teachpoint:
1 Make sure the robot has a clear path to the teachpoint. For example, you
might want to move the robot into the safe zone.
2
Direct Drive Robot User Guide
Remove obstacles in the path of the robot.
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5 Setting teachpoints
Verifying teachpoints
3
In DDR Diagnostics, make sure the correct labware is selected in the Labware
list.
4
In the Speed list, select Slow.
5
Click the Jog/Move tab, and, if necessary, click Enable Motors to enable the
robot motors.
6
In the Move area, select the teachpoint you want to verify from the list
above the red labware. In the Robot Status area, the selected teachpoint
turns red.
In the following example, the HotelTop teachpoint is selected. In the Robot
Status area, the teachpoint at the top of the Plate Hotel becomes red.
7
If you selected a teachpoint with multiple orientations, such as a regrip
station, select the specific set of orientations you want to verify.
Note: By default, all orientations defined for the teachpoint are selected.
•
If multiple labware orientations are available, make sure only one
orientation is selected. Click a triangle to select or clear the orientation
selection. A green triangle means the orientation is selected. A white
triangle means the orientation is not selected.
In the following example, three labware orientations are available:
Landscape with the A1 well away from the grippers, landscape with
the A1 well toward the grippers, and portrait with the A1 well away
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5 Setting teachpoints
Verifying teachpoints
from the grippers (1). For the verification procedure, only one
orientation is selected: Landscape with the A1 well away from the
grippers (2).
•
If the Optimal orientation is selected to indicate that both the rightarm and left- arm orientations are available, select Right or Left.
In the following example, the Regrip station allows for both the rightand left- arm orientations (1). To verify the right- arm orientation, Right
is selected (2).
Agilent Technologies recommends that you verify one set of orientations at
a time. If multiple sets of orientations are selected, the robot will use the
optimal path.
8
Direct Drive Robot User Guide
In the Move area, click Move to under the red labware.
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5 Setting teachpoints
Verifying teachpoints
Alternatively, you can right- click the red teachpoint in the Robot Status area,
and then click Move to.
The robot moves to the selected teachpoint. The robot remains at the
teachpoint and the grippers are open.
9
Check that the robot used the correct approach distance and approach
height. In addition, make sure the robot is in the correct orientation as
shown in the Move area.
In the following example, the robot should be in the right- arm mode and
the grippers should be opened as if it was transferring a labware in the
landscape orientation.
10 To make adjustments, proceed to “Editing existing teachpoints” on
page 121.
11 Repeat the procedure for another teachpoint. If you are verifying a
teachpoint with multiple orientations, be sure to verify each orientation
before checking another teachpoint.
Picking up labware at the teachpoint
You use the Pick from command to check that:
112
•
The robot is using the correct approach distance and approach height as it
moves to and from the teachpoint.
•
The robot is able to pick up labware at the selected teachpoint.
•
The robot picks up the labware within the specified gripper offset range.
Direct Drive Robot User Guide
5 Setting teachpoints
Verifying teachpoints
WARNING
Be sure to wear protective eyewear when entering the system and working
with the robot.
WARNING
Stay out of the system while the robot is in motion.
To pick up labware from the teachpoint:
1 Make sure the robot has a clear path to the teachpoint. For example, you
might want to move the robot into the safe zone.
2
3
4
Remove obstacles in the path of the robot.
5
6
In the Speed list, select Slow.
7
If you selected a teachpoint with multiple orientations, such as a regrip
station, select the specific set of orientations you want to verify.
Manually place the labware at the teachpoint.
In DDR Diagnostics, select the labware you want to use from the Labware list.
In the Move area, select the teachpoint you want to verify from the list
above the red labware. In the Robot Status area, the selected teachpoint
turns red.
Note: By default, all orientations defined for the teachpoint are selected.
•
If multiple labware orientations are available, make sure only one
orientation is selected. Click a triangle to select or clear the orientation
selection. A green triangle means the orientation is selected. A white
triangle means the orientation is not selected.
In the following example, three labware orientations are available:
Landscape with the A1 well away from the grippers, landscape with
the A1 well toward the grippers, and portrait with the A1 well away
from the grippers (1). For the verification procedure, only one
orientation is selected: Landscape with the A1 well away from the
grippers (2).
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5 Setting teachpoints
Verifying teachpoints
•
If the Optimal orientation is selected to indicate that both the rightarm and left- arm orientations are available, select Right or Left.
In the following example, the Regrip station allows for both the rightand left- arm orientations (1). To verify the right- arm orientation, Right
is selected (2).
Agilent Technologies recommends that you verify one set of orientations at
a time. If multiple sets of orientations are selected, the robot will use the
optimal path.
8
In the Move area, click Pick from under the red labware.
Alternatively, you can right- click the red teachpoint in the Robot Status area,
and then click Pick from.
The robot moves to the teachpoint, picks up the labware, and moves it to
the safe zone. The labware remains in the robot grippers.
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5 Setting teachpoints
Verifying teachpoints
9
Check that the robot used the correct approach distance and approach
height when picking up the labware. Also check that the robot is holding
the labware within the specified gripper offset range.
10 To make adjustments, proceed to “Editing existing teachpoints” on
page 121.
11 If the robot has completed its task correctly, repeat the procedure for
another teachpoint. If you are verifying a teachpoint with multiple
orientations, be sure to verify each orientation before checking another
teachpoint.
Placing labware at the teachpoint
You use the Place to command to check that:
•
The robot is using the correct approach distance and approach height as it
moves to and from the teachpoint.
•
The robot is able to place the selected labware at the selected teachpoint.
WARNING
Be sure to wear protective eyewear when entering the system and working
with the robot.
WARNING
Stay out of the system while the robot is in motion.
IMPORTANT To use the Place to command, you must first use the Pick from
command to pick up a labware so that the gripper offset is known.
To place labware at the teachpoint:
1 Make sure the robot has a clear path to the teachpoint. For example, you
might want to move the robot into the safe zone.
2
3
Remove obstacles in the path of the robot.
4
In DDR Diagnostics, make sure the correct labware is selected in the Labware
list.
5
6
In the Speed list, select Slow.
Make sure the robot is still holding the labware from the previous
procedure (“Picking up labware at the teachpoint” on page 112).
In the Move area, select the teachpoint you want to verify from the list
above the red labware. In the Robot Status area, the selected teachpoint
turns red.
Note: Alternatively, you can select the teachpoint under the blue
labware. In the Robot Status area, the selected teachpoint turns blue.
7
Direct Drive Robot User Guide
If you selected a teachpoint with multiple orientations, such as a regrip
station, select the specific set of orientations you want to verify.
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5 Setting teachpoints
Verifying teachpoints
Note: By default, all orientations defined for the teachpoint are selected.
•
If multiple labware orientations are available, make sure only one
orientation is selected. Click a triangle to select or clear the orientation
selection. A green triangle means the orientation is selected. A white
triangle means the orientation is not selected.
In the following example, three labware orientations are available:
Landscape with the A1 well away from the grippers, landscape with
the A1 well toward the grippers, and portrait with the A1 well away
from the grippers (1). For the verification procedure, only one
orientation is selected: Landscape with the A1 well away from the
grippers (2).
•
If the Optimal orientation is selected to indicate that both the rightarm and left- arm orientations are available, select Right or Left.
In the following example, the Regrip station allows for both the rightand left- arm orientations (1). To verify the right- arm orientation, Right
is selected (2).
Agilent Technologies recommends that you verify one set of orientations at
a time. If multiple sets of orientations are selected, the robot will use the
optimal path.
8
116
In the Move area, click Place to under the red labware.
Direct Drive Robot User Guide
5 Setting teachpoints
Verifying teachpoints
Alternatively, you can right- click the red teachpoint in the Robot Status area,
and then click Place at.
With the labware in its grippers, the robot moves to the teachpoint, places
the labware, and retreats to the safe zone.
9
Check that the robot used the correct approach distance and approach
height when placing the labware. Also, check that the robot seated the
labware correctly at the teachpoint. The robot should not drop the labware,
and the labware should be centered at the teachpoint.
10 To make adjustments, proceed to “Editing existing teachpoints” on
page 121.
11 Repeat the procedure for another teachpoint. If you are verifying a
teachpoint with multiple orientations, be sure to verify each orientation
before checking another teachpoint.
Transferring labware between two teachpoints
To ensure that a new teachpoint is accurate, check that the robot is able to
transfer labware between the new teachpoint and an existing verified
teachpoint. Incorrectly placed labware indicates that the teachpoint coordinates
are incorrect.
WARNING
Be sure to wear protective eyewear when entering the system and working
with the robot.
WARNING
Stay out of the system while the robot is in motion.
To transfer labware from an existing verified teachpoint:
1 Make sure the robot has a clear path to the teachpoint. For example, you
might want to move the robot into the safe zone.
2
3
Direct Drive Robot User Guide
Remove obstacles in the path of the robot.
Manually place the desired labware at the existing verified teachpoint (for
example, platepad 1).
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5 Setting teachpoints
Verifying teachpoints
4
In DDR Diagnostics, select the labware you want to use from the
Labware list.
5
6
In the Speed list, select Slow.
7
In the Move area:
a
Select the teachpoint you want to verify from the list above the red
labware. In the Robot Status area, the selected teachpoint turns red.
b
Select the existing verified teachpoint (for example, platepad 1) from
the list above the blue labware. In the Robot Status area, the selected
teachpoint turns blue.
If you selected a teachpoint with multiple orientations, such as a regrip
station, select the specific set of orientations you want to verify.
Note: By default, all orientations defined for the teachpoint are selected.
•
If multiple labware orientations are available, make sure only one
orientation is selected. Click a triangle to select or clear the orientation
selection. A green triangle means the orientation is selected. A white
triangle means the orientation is not selected.
In the following example, three labware orientations are available:
Landscape with the A1 well away from the grippers, landscape with
the A1 well toward the grippers, and portrait with the A1 well away
from the grippers (1). For the verification procedure, only one
orientation is selected: Landscape with the A1 well away from the
grippers (2).
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5 Setting teachpoints
Verifying teachpoints
•
If the Optimal orientation is selected to indicate that both the rightarm and left- arm orientations are available, select Right or Left.
In the following example, the Regrip station allows for both the rightand left- arm orientations (1). To verify the right- arm orientation, Right
is selected (2).
Agilent Technologies recommends that you first verify one set of
orientations at a time first. After checking each set of orientations, select
Optimal to check the optimal path the robot selects.
8
In the Move area, click the left- arrow Transfer button.
Alternatively, you can right- click the red teachpoint in the Robot Status area,
and then click Transfer from <teachpoint_name>.
The robot picks up the labware at the reference teachpoint, places it at the
teachpoint you want to verify, and retreats into the safe zone.
Direct Drive Robot User Guide
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5 Setting teachpoints
Verifying teachpoints
9
Check that the robot seated the labware correctly at the new teachpoint.
The robot should not drop the labware, and the labware should be
centered at the teachpoint.
Note: If the labware, pick- location, and place- location gripper offset
ranges do not overlap, the software will display an error message when
you attempt to transfer labware from teachpoint to teachpoint. Correct
the error, and then try to transfer the labware again.
10 To make adjustments, proceed to “Editing existing teachpoints” on
page 121.
11 Repeat the procedure for another teachpoint. If you are verifying a
teachpoint with multiple orientations, be sure to verify each orientation
before checking another teachpoint.
12 Repeat the transfer procedure at the Fast robot speed (at step 5, select
Fast).
Related information
120
For information about...
See...
Planning Direct Drive Robot
teachpoints
“Planning Direct Drive Robot
teachpoints” on page 79
Using other commands and
parameters in the Direct Drive
Robot Diagnostics
“Using DDR Diagnostics” on page 137
Quick reference of DDR
Diagnostics commands and
parameters
“Quick reference” on page 219
Direct Drive Robot User Guide
5 Setting teachpoints
Editing existing teachpoints
Editing existing teachpoints
When you set a teachpoint for the first time, you might set, verify, and edit
the teachpoint to make sure the teachpoint is correct. After the teachpoint
is set up correctly, you will not need to adjust or redefine it unless you do
the following:
•
Move the Direct Drive Robot.
•
Move or replace one of the devices in the system, such as the robot.
•
Adjust settings on the devices.
•
Continue to use a robot that has unevenly worn gripper pads.
•
Replace the robot gripper pads.
You can edit a teachpoint in one of two ways:
•
Adjust the existing teachpoint location by jogging the robot in small
increments.
•
Replace the existing teachpoint with a new teachpoint.
Adjusting the existing teachpoint
Agilent Technologies recommends that you use the teaching jig when adjusting
teachpoints. If you used a labware to set the teachpoints, be sure to use the
same labware when adjusting the teachpoints.
WARNING
Be sure to wear protective eyewear when entering the system and working
with the robot.
WARNING
Stay out of the system while the robot is in motion.
To adjust a teachpoint:
1 Make sure you have followed the procedure in “Verifying teachpoints” on
page 109 to determine the adjustments that you need to make to the
teachpoint. For example, the robot is currently too far to the left of the
teachpoint.
2
3
Direct Drive Robot User Guide
Manually place the teaching jig at the teachpoint.
In DDR Diagnostics, click the Jog/Move tab, and then select Tool space.
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5 Setting teachpoints
Editing existing teachpoints
122
4
In the Move area, select the teachpoint you want to adjust, and then click
Move to. The robot moves to the selected teachpoint. The robot remains at
the teachpoint and the grippers are open.
5
Check the position of the robot grippers and the teaching jig. The two pins
on both sides of the teaching jig should align with the white dimples in the
grippers.
6
If the distances between two adjacent pin- dimple pairs are not the same,
make rotational adjustments. In Tool space, rotate the robot in small
increments along the Phi- axis. You can also go into Joint space to make
rotational adjustments.
7
If the dimples on the robot grippers are farther out or closer than the pins
on the teaching jig (as shown in the following diagram), in Tool space, jog
the robot in small increments along the y- axis.
Direct Drive Robot User Guide
5 Setting teachpoints
Editing existing teachpoints
8
If the pin- dimple pairs on one side of the teachpoint are closer or farther
than the pairs on the other side (as shown in the following diagram), in
Tool space, jog the robot in small increments along the x- axis.
9
If the dimples on the grippers are higher or lower than the pins on the
teaching jig, decrease or increase the z- axis value.
10 In the DDR Diagnostics Teachpoints tab, right- click the orientation icon of the
teachpoint you are editing, and select Update with robot’s current position. The
teachpoint coordinates are updated.
11 Click Save teachpoints.
12 Return to “Verifying teachpoints” on page 109 to verify the revised
teachpoint.
Direct Drive Robot User Guide
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5 Setting teachpoints
Editing existing teachpoints
Replacing the existing teachpoint
CAUTION
The replacement procedure also replaces all the teachpoint parameter values
such as the approach height and approach distance.
To replace an existing teachpoint:
1 Create a new teachpoint. See “Creating a new teachpoint” on page 93.
2
3
Set all the parameters for the teachpoint.
4
Click Replace. The existing teachpoint and its parameter values are
replaced.
Drag the new teachpoint and drop it on the existing teachpoint. The
Replace or Reteach Existing Approaches dialog opens.
Related information
124
For information about...
See...
DDR Diagnostics
“Software overview” on page 11
Tool space
“Opening and closing the robot
grippers” on page 154
Using other commands and
parameters in the DDR Diagnostics
“Using DDR Diagnostics” on page 137
Quick reference of DDR
Diagnostics commands and
parameters
“Quick reference” on page 219
Direct Drive Robot User Guide
5 Setting teachpoints
Managing teachpoints
Managing teachpoints
You can rename, copy, or delete existing teachpoints.
Renaming teachpoints
To rename a teachpoint:
1 In the Teachpoints tab, select the teachpoint you want to rename.
2
3
Double- click the teachpoint name, and then type a new name.
Click Save teachpoints to save the changes in the teachpoint file.
Copying teachpoints
You can use a copy of a teachpoint to create a new teachpoint.
To create a copy of a teachpoint:
1 In the Teachpoints tab, click New Teachpoint. A new teachpoint entry appears
at the bottom of the in the table.
2
3
Select the teachpoint you want to copy.
4
5
Modify the copy to create a new teachpoint.
With the teachpoint selected, Ctrl+drag the teachpoint to the new
teachpoint entry.
Click Save teachpoints to save the changes in the teachpoint file.
Deleting teachpoints
To delete a teachpoint:
1 In the Teachpoints tab, select one or more teachpoints you want to delete in
the teachpoints table.
2
3
Click Delete selections.
Click Save teachpoints to save the changes in the teachpoint file.
Related information
For information about...
See...
Robot Diagnostics
“Software overview” on page 11
Using other commands and
parameters in the DDR Diagnostics
“Using DDR Diagnostics” on page 137
Quick reference of DDR
Diagnostics commands and
parameters
“Quick reference” on page 219
Direct Drive Robot User Guide
125
5 Setting teachpoints
Cycling teachpoints
Cycling teachpoints
About teachpoint cycling
After you have set and verified each teachpoint, you can have the robot
transfer labware to and from multiple teachpoints in a cycling pattern as a
final check. You can select the teachpoints you want to verify and specify the
sequence in which the transfers will occur. Doing so allows you to check the
accuracy of the selected teachpoints without having to write or run a protocol.
Cycling sequences
Two types of teachpoint- cycling sequences are available: Sequential, and all
permutations.
Sequential
In sequential cycling of teachpoints, the robot will transfer labware to the
selected teachpoints in the order you specify. For example, if you select five
teachpoints, you can specify the following order:
Teachpoint 1
Teachpoint 2
Teachpoint 3
Teachpoint 4
Teachpoint 5
Note: You can select a teachpoint more than once to transfer labware to that
location multiple times, as the following example demonstrates.
Teachpoint 1
Teachpoint 2
Teachpoint 1
Teachpoint 3
Teachpoint 2
Teachpoint 4
Teachpoint 5
All permutations
In all- permutations cycling of teachpoints, the robot will transfer robot to the
selected teachpoints as shown:
Teachpoint 1
Teachpoint 2
Teachpoint 3
Teachpoint 4
Teachpoint 5
126
Teachpoint 1
Teachpoint 2
Teachpoint 3
Teachpoint 4
Teachpoint 5
Teachpoint 1
Teachpoint 2
Teachpoint 3
Teachpoint 4
Teachpoint 5
Teachpoint 1
Teachpoint 2
Teachpoint 3
Teachpoint 4
Teachpoint 5
Teachpoint 1
Teachpoint 2
Teachpoint 3
Teachpoint 4
Teachpoint 5
Direct Drive Robot User Guide
5 Setting teachpoints
Cycling teachpoints
Before you start
Plate stages
IMPORTANT Make sure the device plate stages are extended so that the robot
can place labware at these teachpoints during cycling.
The cycling function is a feature of DDR Diagnostics only. During cycling, the
VWorks software does not send commands to the devices to open device doors
or extend the plate stages. Therefore, you must use the commands in the
device diagnostics to move the plate stages into positions before cycling the
teachpoints. For instructions on how to move the plate stages into position, see
the device user guide.
Labware lids
Be aware that there will be no sensor feedback during cycling. If an error
occurs during a delid or relid custom action, the error will not be reported.
Procedure
WARNING
Be sure to wear protective eyewear when entering the system and working
with the robot.
WARNING
Stay out of the system while the robot is in motion.
To transfer labware between multiple teachpoints:
1 In DDR Diagnostics, click the Cycler tab.
2
Click Insert teachpoints. In the Select Teachpoints dialog box that opens:
a
Select the teachpoints you want to verify. CRTL+click multiple
teachpoints to add them simultaneously.
Note: You can select the same teachpoint more than once to indicate
that you want to transfer labware to that teachpoint multiple times.
Direct Drive Robot User Guide
127
5 Setting teachpoints
Cycling teachpoints
b
To arrange the order of the teachpoints, select a teachpoint in the list,
and then select either Insert before or Insert after in the Insertion types list.
3
Click OK to return to the Cycler tab. The selected teachpoints appear in the
Teachpoints list. They should also be in the order you specified.
4
Review the list in the Teachpoints area. To remove a teachpoint from the
list, select the teachpoint in the list, and then click Remove teachpoints.
5
Select Pause after if you want to pause the cycling after a specific number
of cycles. Type the number of cycles after which you want to pause in the
cycles box.
6
Select All permutations if you want to run that type of cycling sequence. See
“Cycling sequences” on page 126.
7
8
Place the labware at the first teachpoint.
When you are ready, click Start to begin cycling. Notice that the Start
button changes to the Pause button.
During teachpoint cycling, you can:
128
•
Monitor the cycling. To do this, check the number displayed in the Cycle
count area. You can also view the robot movements in the system or in the
Robot Status area.
•
Pause the cycling. To do this, click Pause. The robot will pause after the
current pick- and- place action. To resume cycling, click Resume.
Direct Drive Robot User Guide
5 Setting teachpoints
Cycling teachpoints
•
Stop the cycling. To do this, click Stop. The robot will stop after the
current pick- and- place action.
Related information
For information about...
See...
Planning Direct Drive Robot
teachpoints
“Planning Direct Drive Robot
teachpoints” on page 79
Using other commands and
parameters in the Direct Drive
Robot Diagnostics
“Using DDR Diagnostics” on page 137
Quick reference of DDR
Diagnostics commands and
parameters
“Quick reference” on page 219
Direct Drive Robot User Guide
129
5 Setting teachpoints
Cycling teachpoints
130
Direct Drive Robot User Guide
Direct Drive Robot
User Guide
6
Preparing for a protocol run
Before you start a protocol run, you should check the Direct Drive
Robot teachpoints and the protocol to ensure optimum operation.
This chapter contains the following topics:
•
“Workflow for preparing a protocol run” on page 132
•
“Performing dry runs” on page 134
•
“Planning for the protocol run” on page 133
•
“Stopping the robot in an emergency” on page 135
131
Agilent Technologies
6 Preparing for a protocol run
Workflow for preparing a protocol run
Workflow for preparing a protocol run
Workflow
The workflow for preparing a protocol run is as follows:
Step
For this task...
See...
1
Plan for the protocol run.
“Planning for the protocol run” on
page 133
2
Perform a dry run.
“Performing dry runs” on page 134
3
Review how to stop the robot
and system in an emergency.
•
Direct Drive Robot Site
Preparation and Safety Guide
•
“Stopping the robot in an
emergency” on page 135
Related information
132
For information about...
See...
Setting up the robot
“Setting up the Direct Drive Robot” on
page 49
Setting teachpoints
“Setting teachpoints” on page 77
Troubleshooting the robot
“Troubleshooting robot problems” on
page 197
BioCel System User Guide
6 Preparing for a protocol run
Planning for the protocol run
Planning for the protocol run
Reviewing the protocol
Before you start a run, make sure you review the protocol and determine:
•
The devices used in the protocol and how to prepare them for operation.
For example, you might need to load a roll of seal on the PlateLoc Sealer
or install a pipette head on a Vertical Pipettor. See the device user guides
for setup instructions.
•
The optimal device setup sequence. In general, you first set up devices that
do not hold time- sensitive reagents. Leave complex preparations, which
might use expensive and unstable reagents, until last.
•
The labware used in the protocol and where they should be positioned
before the run starts. For example, you might have to load labware into
one or more storage devices such as the Labware Stacker and the Plate
Hub Carousel.
•
Remove any obstacle in the robot’s pathways.
•
The waste bins that should be emptied.
•
The reservoirs that must be filled.
Be sure to check the protocol User Message tasks for setup information. If the
User Message tasks prompt you to place counterweight labware, you do not
have to include these steps in the setup.
Reviewing the teachpoint file
Before loading labware in storage devices, always review the teachpoint file for
labware orientation information. The labware must be loaded in the same
orientation as specified in the teachpoint file.
Related information
BioCel System User Guide
For information about...
See...
Creating or revising protocols
VWorks Automation Control User Guide
Performing dry runs
“Performing dry runs” on page 134
Stopping the robot in an
emergency
“Stopping the robot in an emergency” on
page 135
133
6 Preparing for a protocol run
Performing dry runs
Performing dry runs
What is a dry run?
A dry run is when you run a protocol using empty labware. A dry run allows
you to troubleshoot a protocol or a component of the system without wasting
valuable reagents and samples. You should always perform a dry run to check
a new protocol.
Correcting teachpoint errors
After setting the teachpoints, be sure to perform a dry run as a final check for
any teachpoint errors. The dry run also allows you to fine- tune orientation
settings in systems that have the Direct Drive Robot.
Preparing for a dry run
You prepare for a dry run the same way you would prepare for a real protocol
run. To review the protocol before a dry run, see “Planning for the protocol
run” on page 133.
Related information
134
For information about...
See...
Writing protocols
VWorks Automation Control User
Guide
Preparing for a run
“Workflow for preparing a protocol run”
on page 132
Setting teachpoints
“Setting teachpoints” on page 77
Troubleshooting the robot
“Troubleshooting robot problems” on
page 197
BioCel System User Guide
6 Preparing for a protocol run
Stopping the robot in an emergency
Stopping the robot in an emergency
About this topic
This topic explains how to stop the robot in an emergency using the supplied
emergency stop pendant. See also the Direct Drive Robot Site Preparation
and Safety Guide for other safety information.
WARNING If the robot is integrated with other devices in a system, Agilent
Technologies recommends that you install a main emergency stop button to cut power to
the robot and all devices simultaneously. In addition, all operators must be instructed the
emergency stop procedure.
Note: To pause and continue a run, use the Pause command in the VWorks
software. You can also stop a run using the Stop command in the software.
For instructions, see the VWorks Automation Control User Guide.
Using the emergency stop pendant
To stop the robot in an emergency:
Press the red button on the emergency stop pendant. Power is cut from the
robot and it stops.
Figure
Emergency stop pendant.
To restore the robot for normal operation, see “Recovering from an emergency
stop” on page 198.
Related information
BioCel System User Guide
For information about...
See...
Recovering from an emergency
stop
“Recovering from an emergency stop”
on page 198
Shutdown procedure
“Turning on and turning off the robot”
on page 46
General safety information
Direct Drive Robot Site Preparation
and Safety Guide
135
6 Preparing for a protocol run
Stopping the robot in an emergency
136
BioCel System User Guide
Direct Drive Robot
User Guide
7
Using DDR Diagnostics
This chapter explains how to use the provided software tools to
diagnose and troubleshoot the Direct Drive Robot.
This chapter contains the following topics:
•
“About DDR Diagnostics” on page 138
•
“Homing the robot and grippers” on page 140
•
“Moving the robot into the safe zone” on page 142
•
“Jogging the robot” on page 145
•
“Disabling and enabling the robot motors” on page 148
•
“Stopping the robot motors” on page 149
•
“Changing the robot speed” on page 150
•
“Changing the robot speed definitions” on page 151
•
“Opening and closing the robot grippers” on page 154
•
“Changing the gripper settings” on page 156
•
“Checking the robot microplate sensor” on page 159
•
“Changing the robot display” on page 161
•
“Checking the temperature and bus voltage” on page 163
•
“Restoring robot settings” on page 166
•
“Updating the firmware” on page 168
•
“Backing up the robot firmware” on page 170
•
“Restoring existing firmware” on page 172
•
“Viewing the DDR Diagnostics log area” on page 174
•
“Saving the controller log to file” on page 175
137
Agilent Technologies
7 Using DDR Diagnostics
About DDR Diagnostics
About DDR Diagnostics
WARNING
Only administrators and trained personnel should perform the procedures
in this chapter.
The DDR Diagnostics software allows you to control the motions of the Direct
Drive Robot. The software has six tabs: Jog/Move, Teachpoints, Cycler, Setup,
Advanced, and Profiles. You use the commands and parameters available in the
these tabs to troubleshoot problems.
Related information
138
For information about...
See...
Complete list of available
commands you can use in DDR
Diagnostics
“Quick reference” on page 219
Direct Drive Robot User Guide
7 Using DDR Diagnostics
About DDR Diagnostics
For information about...
See...
Jog/Move tab
•
“Disabling and enabling the robot
motors” on page 148
•
“Jogging the robot” on page 145
•
“Opening and closing the robot
grippers” on page 154
•
“Homing the robot and grippers” on
page 140
•
“Verifying teachpoints” on page 109
•
“Moving the robot into the safe
zone” on page 142
•
“Moving the robot into the safe
zone” on page 142
•
“Setting teachpoints” on page 88
•
“Editing existing teachpoints” on
page 121
Teachpoints tab
Cycler tab
“Cycling teachpoints” on page 126
Setup tab
•
“Changing the robot speed
definitions” on page 151
•
“Changing the gripper settings” on
page 156
•
“Specifying the table dimensions
and robot position” on page 69
•
“Restoring robot settings” on
page 166
•
“Updating the firmware” on
page 168
•
“Saving the controller log to file” on
page 175
•
“Checking the temperature and bus
voltage” on page 163
Advanced tab
Profiles tab
Direct Drive Robot User Guide
“Creating Direct Drive Robot profiles”
on page 56
139
7 Using DDR Diagnostics
Homing the robot and grippers
Homing the robot and grippers
Homing the robot
Homing the robot sends the robot to the factory- defined home position for
each of the axes of motion. To home the grippers, see “Homing the robot
grippers” on page 141.
Home the robot if you notice that the robot is not accurately picking up or
placing labware. You might also want to home the robot after recovering from
an emergency stop.
Note: The robot homes automatically only when you initialize the robot. If the
robot is already homed, the robot will skip the homing process during
initialization.
WARNING
Be sure to wear protective eyewear when entering the system and working
with the robot.
WARNING
Stay out of the system while the robot is in motion.
To home the robot:
In the Jog/Move tab, click Home robot. The robot moves its joints until it finds
the home position.
The homing process can take up to 2 minutes. During this time, the robot:
1
Checks for the presence of labware in its grippers. If labware is present,
the software presents an error message. You must first remove the labware
before homing.
2
3
Homes the grippers.
4
Looks for the home position along the z- axis and moves to the home
position.
Looks for the home position for each joint (waist, elbow, and wrist) and
moves to the home positions.
Note: If the robot hand is at the same height as the robot base, the robot will
first raise the arm to clear the base before starting the homing sequence.
After the robot is homed, the Robot homed indicator light turns on.
140
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7 Using DDR Diagnostics
Homing the robot and grippers
Homing the robot grippers
Homing the grippers does not home the rest of the robot.
WARNING
Be sure to wear protective eyewear when entering the system and working
with the robot.
WARNING
Stay out of the system while the robot is in motion.
To home the robot grippers:
In the Jog/Move tab, click Home grippers. The robot opens and closes its gripers
until it finds the home position.
After the grippers are homed, the Gripper indicator light turns on.
Related information
For information about...
See...
Moving the robot into the safe
zone
“Moving the robot into the safe zone”
on page 142
Direct Drive Robot User Guide
141
7 Using DDR Diagnostics
Moving the robot into the safe zone
For information about...
See...
Disabling and enabling the robot
motor
“Disabling and enabling the robot
motors” on page 148
Stopping the robot motors
“Stopping the robot motors” on
page 149
Changing the robot speed
“Changing the robot speed” on page 150
Jogging the robot
“Jogging the robot” on page 145
Opening and closing the robot
grippers
“Opening and closing the robot
grippers” on page 154
Checking the robot microplate
sensor
“Checking the robot microplate sensor”
on page 159
Changing the robot display
“Changing the robot display” on
page 161
Viewing the log area
“Viewing the DDR Diagnostics log area”
on page 174
Moving the robot into the safe zone
The safe zone is the region within which the robot is allowed to move without
colliding with external devices. For the Direct Drive Robot, it is the cylindrical
region within the red- dotted line as shown in the following diagram. The
radius of the cylinder, measured from the center of the base, is 29.1 cm
(11.4 in).
29.1 cm
In general, the Direct Drive Robot moves into the safe zone after it completes
a Move to, Pick from, Place to, or Transfer command. However, you can move
the robot into the safe zone at other times to move it out of the way.
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7 Using DDR Diagnostics
Moving the robot into the safe zone
CAUTION
Make sure you save new teachpoints in the teachpoint file before moving the
robot. The robot can crash into devices at unknown (unsaved) teachpoints.
WARNING
Stay out of the system while the robot is in motion.
To move the robot into the safe zone:
Click one of the following:
Command
Description
Move to safe zone
The robot searches for the closest teachpoint,
and then uses the safest path from that
teachpoint to the safe zone.
If the robot is unable to find a teachpoint
nearby, it retracts radially into the safe zone.
Use the Move to safe zone command if it is
close to a teachpoint and the path from that
teachpoint to the safe zone is clear of
obstacles.
Retrace to safe zone
The robot searches for the closest teachpoint,
and then uses the path from that teachpoint
to the safe zone.
If the robot is unable to find a teachpoint
nearby, it will retreat into the safe zone by
retracing the path it took to reach the current
location.
Use the Retrace to safe zone command when,
for example, the robot grippers are within a
device, and using the Move to safe zone
command might cause the robot to run into
the sides of the device or other obstacles.
Direct Drive Robot User Guide
143
7 Using DDR Diagnostics
Moving the robot into the safe zone
Related information
144
For information about...
See...
Homing the robot
“Homing the robot and grippers” on
page 140
Disabling and enabling the robot
motor
“Disabling and enabling the robot
motors” on page 148
Stopping the robot motors
“Stopping the robot motors” on
page 149
Changing the robot speed
“Changing the robot speed” on page 150
Jogging the robot
“Jogging the robot” on page 145
Opening and closing the robot
grippers
“Opening and closing the robot
grippers” on page 154
Checking the robot microplate
sensor
“Checking the robot microplate sensor”
on page 159
Changing the robot display
“Changing the robot display” on
page 161
Viewing the log area
“Viewing the DDR Diagnostics log area”
on page 174
Direct Drive Robot User Guide
7 Using DDR Diagnostics
Jogging the robot
Jogging the robot
Jogging the robot moves the robot in small, precise increments. You can jog the
robot to fine- tune its position when creating and editing teachpoints or during
troubleshooting.
The Direct Drive Robot movements can be controlled or monitored from two
different perspectives:
•
Joint space. You can use a joint- space command to rotate the robot about
its waist (1), rotate its forearm about the elbow (2), or rotate the hand
about the wrist (3). In addition, you can move the robot arm up and down
along the mast or z- axis (4).
3
1
4
2
•
Tool space. You can use a tool- space command to move a combination of
robot joints so that the labware moves to its target location along the x- or
y- axis. In addition, you can rotate the labware (Phi angle) and move the
robot arm up and down along the mast or z- axis. In tool space, all
movements are measured with respect to the center of the labware.
A
1
Direct Drive Robot User Guide
145
7 Using DDR Diagnostics
Jogging the robot
To select a perspective:
In the Jog/Move tab, select Tool space (1) or Joint space (2).
To jog the robot:
1 Select or type the jog increment for the axis or joint you want to move.
The jog increments are in millimeters or degrees.
CAUTION
Always select small jog increments so that the robot does not bump into
obstacles in its path.
2
Click one of the jog direction buttons.
WARNING
Stay out of the system while the robot is in motion.
In the Robot Status area, the current joint and z- axis coordinates are
updated.
146
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7 Using DDR Diagnostics
Jogging the robot
Related information
For information about...
See...
Setting teachpoints
“Setting teachpoints” on page 77
Disabling and enabling the robot
motors
“Disabling and enabling the robot
motors” on page 148
Moving labware between
teachpoints
•
“Moving the robot to the new
teachpoint” on page 109
•
“Picking up labware at the
teachpoint” on page 112
•
“Placing labware at the teachpoint”
on page 115
•
“Transferring labware between two
teachpoints” on page 117
Homing the robot
“Homing the robot and grippers” on
page 140
Moving the robot into the safe
zone
“Moving the robot into the safe zone”
on page 142
Changing the robot speed
“Changing the robot speed” on page 150
Stopping the robot motors
“Stopping the robot motors” on
page 149
Changing the robot display
“Changing the robot display” on
page 161
Viewing the log area
“Viewing the DDR Diagnostics log area”
on page 174
Direct Drive Robot User Guide
147
7 Using DDR Diagnostics
Disabling and enabling the robot motors
Disabling and enabling the robot motors
Disabling the robot motors allows you to move the robot by hand. When you
disable the robot motors, the robot will first finish the current command
before stopping.
IMPORTANT You can disable the robot joint motors, but you cannot disable
the z- axis motor. Therefore, you can move the robot by hand in the plane of
the robot arm, but you cannot change its height.
Note: If the system is not running a protocol, and the robot remains inactive
for 10 minutes, the motors are automatically disabled.
WARNING The robot arm might move when the motors are being enabled. Stay out of
the system when you enable the robot.
To disable or enable the robot motors:
In the DDR Diagnostics Jog/Move tab, click Disable Motors or Enable Motors.
Related information
148
For information about...
See...
Homing the robot
“Homing the robot and grippers” on
page 140
Moving the robot into the safe
zone
“Moving the robot into the safe zone”
on page 142
Stopping the robot motors
“Stopping the robot motors” on
page 149
Changing the robot speed
“Changing the robot speed” on page 150
Jogging the robot
“Jogging the robot” on page 145
Opening and closing the robot
grippers
“Opening and closing the robot
grippers” on page 154
Checking the robot microplate
sensor
“Checking the robot microplate sensor”
on page 159
Changing the robot display
“Changing the robot display” on
page 161
Viewing the log area
“Viewing the DDR Diagnostics log area”
on page 174
Direct Drive Robot User Guide
7 Using DDR Diagnostics
Stopping the robot motors
Stopping the robot motors
In an emergency, you can use the Stop Motors command to cut power to the
robot motors, thus stopping the robot immediately.
To stop the robot motors:
In DDR Diagnostics, click Stop Motors at the bottom of the dialog box. The robot
stops immediately.
Alternatively, if the pointer or cursor is not currently in any text box in the
dialog box, you can press the space bar on the keyboard to stop the robot
motors.
Related information
For information about...
See...
Stopping the robot in an
emergency using the emergency
stop pendant
“Stopping the robot in an emergency”
on page 135
Homing the robot
“Homing the robot and grippers” on
page 140
Moving the robot into the safe
zone
“Moving the robot into the safe zone”
on page 142
Disabling and enabling the robot
motors
“Disabling and enabling the robot
motors” on page 148
Changing the robot speed
“Changing the robot speed” on page 150
Jogging the robot
“Jogging the robot” on page 145
Opening and closing the robot
grippers
“Opening and closing the robot
grippers” on page 154
Checking the robot microplate
sensor
“Checking the robot microplate sensor”
on page 159
Changing the robot display
“Changing the robot display” on
page 161
Viewing the log area
“Viewing the DDR Diagnostics log area”
on page 174
Direct Drive Robot User Guide
149
7 Using DDR Diagnostics
Changing the robot speed
Changing the robot speed
You can select the robot speed to accommodate the task you are performing.
For example, you can select the Slow speed when you are creating new
teachpoints or diagnosing problems with the system. When you are confident
that problems are resolved and want to run a final check, you can select the
Fast speed.
The speed you select in DDR Diagnostics applies only to the robot commands
in DDR Diagnostics (jog direction, Move to, Pick from, Place to, and Transfer).
To select the robot speed:
In DDR Diagnostics, select one of the following from the Speed list: Fast, Medium,
or Slow.
Note: During a protocol run, the robot will use the speed selection in the
VWorks software Tools > Options dialog box. If the robot is holding a
microplate, the slower of the following will be applied: the speed in the
Labware Editor or the speed in the Tools > Options dialog box. For more
information, see the VWorks Automation Control Setup Guide and VWorks
Automation Control User Guide.
Related information
150
For information about...
See...
Homing the robot
“Homing the robot and grippers” on
page 140
Moving the robot into the safe
zone
“Moving the robot into the safe zone”
on page 142
Disabling and enabling the robot
motors
“Disabling and enabling the robot
motors” on page 148
Stopping the robot motors
“Stopping the robot motors” on
page 149
Jogging the robot
“Jogging the robot” on page 145
Opening and closing the robot
grippers
“Opening and closing the robot
grippers” on page 154
Checking the robot microplate
sensor
“Checking the robot microplate sensor”
on page 159
Direct Drive Robot User Guide
7 Using DDR Diagnostics
Changing the robot speed definitions
For information about...
See...
Changing the robot display
“Changing the robot display” on
page 161
Viewing the log area
“Viewing the DDR Diagnostics log area”
on page 174
Changing the robot speed definitions
About robot speeds
Three robot speeds (Fast, Medium, Slow) are available for selection in DDR
Diagnostics, VWorks Options (under the Tools menu), and Labware Editor. You
select a robot speed to accommodate the task you are performing. For
example, you can select the Slow speed when you are creating new
teachpoints, creating and testing protocols, or diagnosing problems with the
system.
Each speed is defined as a percentage of the factory- set maximum speed. By
default, the percentages are defined as follows:
Speed
Default
Slow
20%
Medium
50%
Fast
80%
You can change these speed definitions to accommodate your laboratory’s
needs.
IMPORTANT The speed definitions are universal and apply to the speeds you
select in DDR Diagnostics, Labware Editor, and the VWorks Options dialog box.
Note: The speed you select in DDR Diagnostics applies only to the robot
commands in DDR Diagnostics (Jog, Move, Transfer, and so on). If the robot is
holding a labware, the slower of the following will be applied: the speed you
selected in the Labware Editor, or the speed you selected in DDR Diagnostics.
Similarly the speed selection in VWorks Options (under the Tools menu)
applies to protocol runs. If the robot is holding a labware, the slower of the
following will be applied: the speed you selected in the Labware Editor, or the
speed you selected in VWorks Options.
Backing up existing settings
Agilent Technologies recommends that you back up the existing speed
definitions before changing them.
Direct Drive Robot User Guide
151
7 Using DDR Diagnostics
Changing the robot speed definitions
To back up existing settings:
1 In the DDR Diagnostics Setup tab, click Save ALL advanced settings to file.
2
In the Save As dialog box that opens, type a name for the backup file. You
can use the default backup file location, or select a different location. The
default location is
C:\Program Files\Agilent Technologies\Settings\DDR\FirmwareBackup.
3
Click Save. The robot settings are saved in an XML file.
Specifying new speed definitions
To change the speed definitions:
1 In DDR Diagnostics, click the Setup tab.
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7 Using DDR Diagnostics
Changing the robot speed definitions
2
In the Speed Definitions area, type the new percentage for one or more of
the speeds you want to re- define.
3
When you are finished, click Apply. The changes are saved to the firmware.
Related information
For information about...
See...
Selecting a robot speed in DDR
Diagnostics
“Changing the robot speed” on page 150
Selecting a robot speed in the
Labware Editor
VWorks Automation Control Setup
Guide
Selecting a robot speed in Protocol
Options
VWorks Automation Control User
Guide
Changing the gripper settings
“Changing the gripper settings” on
page 156
Specifying table dimensions and
robot position
“Specifying the table dimensions and
robot position” on page 69
Restoring robot settings
“Restoring robot settings” on page 166
Direct Drive Robot User Guide
153
7 Using DDR Diagnostics
Opening and closing the robot grippers
Opening and closing the robot grippers
You can open the robot grippers to release labware. You can close the robot
grippers to hold labware.
WARNING
Be sure to wear protective eyewear when entering the system and working
with the robot.
WARNING
Stay out of the system while the robot is in motion.
To open or close the robot grippers:
In the Jog/Teach tab, click Open or Close for the desired orientation.
Alternatively, you can right- click the robot arm or mast in the Robot Status
area, and then click the open or close gripper command for the desired
orientation.
To open or close the grippers incrementally:
1 In the Jog/Teach tab, select or type the jog increment for the grippers.
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Direct Drive Robot User Guide
7 Using DDR Diagnostics
Opening and closing the robot grippers
CAUTION
Always select smaller jog increments so that the robot does not bump into
labware when it opens its grip, or bend the labware when it closes its grip.
IMPORTANT
2
The jog increment applies to both grip directions.
Click either the open or close gripper buttons.
Related information
For information about...
See...
Homing the robot
“Homing the robot and grippers” on
page 140
Moving the robot into the safe
zone
“Moving the robot into the safe zone”
on page 142
Disabling and enabling the robot
motors
“Disabling and enabling the robot
motors” on page 148
Changing the robot speed
“Changing the robot speed” on page 150
Stopping the robot motors
“Stopping the robot motors” on
page 149
Jogging the robot
“Jogging the robot” on page 145
Checking the robot microplate
sensor
“Checking the robot microplate sensor”
on page 159
Changing the robot display
“Changing the robot display” on
page 161
Viewing the log area
“Viewing the DDR Diagnostics log area”
on page 174
Direct Drive Robot User Guide
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7 Using DDR Diagnostics
Changing the gripper settings
Changing the gripper settings
About the gripper settings
The following gripper settings are set at the factory:
Gripper setting
Description
Open pos
The distance, in millimeters, between the grippers
when they are open. The default values are:
Close target
•
132 mm (landscape)
•
95 mm (portrait)
The approximate distance, in millimeters, between
the grippers when they are closed. The default
values are:
•
123.5 mm (landscape)
•
81.5 mm (portrait)
The Close target value is always used with the
Close tolerance value. When picking up labware,
the grippers close until the Grip torque (set in
the Labware Editor) is reached. Then, the robot
checks to see if the distance between the grippers
is within the Close target value +/- the Close
tolerance value. If it is outside the summed value,
the software will display an error message.
Close tolerance
The distance, in millimeters, the Close target is
allowed to vary without causing an error. The
default value is +/- 3 mm.
The default gripper settings should work for labware that meet the American
National Standards Institute (ANSI) standards. However, you can fine- tune the
settings to accommodate different labware materials, such as soft PCR
microplates.
Backing up existing settings
Agilent Technologies recommends that you back up the existing gripper
settings before changing them.
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7 Using DDR Diagnostics
Changing the gripper settings
To back up existing settings:
1 In the DDR Diagnostics Setup tab, click Save ALL advanced settings to file.
2
In the Save As dialog box that appears, type a name for the backup file.
You can use the default backup file location, or select a different location.
The default location is
C:\Program Files\Agilent Technologies\Settings\DDR\FirmwareBackup.
3
Click Save. The robot settings are saved in an XML file.
Specifying new settings
To change the gripper settings:
1 In DDR Diagnostics, click the Setup tab.
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7 Using DDR Diagnostics
Changing the gripper settings
2
In the Gripper Settings area, type the new values you want to use for Open
pos, Close target, and Close tolerance.
3
When you are finished, click Apply. The changes are saved to the firmware.
Related information
158
For information about...
See...
Opening and closing the grippers
using software controls
“Opening and closing the robot
grippers” on page 154
Manually opening and closing the
grippers
“Gripper lead screw locations” on
page 6
Direct Drive Robot User Guide
7 Using DDR Diagnostics
Checking the robot microplate sensor
Checking the robot microplate sensor
The microplate sensor under the robot hand is used to detect the presence of
labware in its grip. If you suspect that the microplate sensor is not working
correctly, you can check to see if it requires recalibration.
To check the microplate sensor:
1 Move the robot to a teachpoint that has a labware.
2
Move the robot up so that it is at the correct robot gripper offset for the
labware.
3
4
Close the gripper.
5
In the Robot Status area, check the Plate sensor indicator.
Move the robot away from the teachpoint. The microplate sensor is highly
sensitive and might detect the plate stage or platepad as labware. Moving
the robot away from any teachpoint would provide the most accurate
detection result.
If the indicator light is on, the microplate sensor is detecting a labware in
its grippers.
If the indicator light is off, the microplate sensor is not detecting labware.
Contact Automation Solutions Technical Support to see if the sensor needs
to be recalibrated.
6
Open the gripper to release the labware.
Related information
For information about...
See...
Homing the robot
“Homing the robot and grippers” on
page 140
Moving the robot into the safe
zone
“Moving the robot into the safe zone”
on page 142
Direct Drive Robot User Guide
159
7 Using DDR Diagnostics
Checking the robot microplate sensor
160
For information about...
See...
Disabling and enabling the robot
motors
“Disabling and enabling the robot
motors” on page 148
Changing the robot speed
“Changing the robot speed” on page 150
Stopping the robot motors
“Stopping the robot motors” on
page 149
Jogging the robot
“Jogging the robot” on page 145
Opening and closing the robot
grippers
“Opening and closing the robot
grippers” on page 154
Changing the robot display
“Changing the robot display” on
page 161
Viewing the log area
“Viewing the DDR Diagnostics log area”
on page 174
Direct Drive Robot User Guide
7 Using DDR Diagnostics
Changing the robot display
Changing the robot display
In the Robot Status area, a graphical representation of the Direct Drive Robot
shows the robot posture, teachpoints, and the system table. You can change the
view using the buttons above the image.
Button
Description
Pans, or moves the image. Click the button, and then drag
the image in the desired direction.
Rotates the image. Click the button, and then drag the image
to rotate it in the desired direction. Alternatively, click the
middle mouse button or wheel, and then drag the image to
rotate it.
Increases or reduces the image magnification. Click the
button, and then drag the image upward or downward to
increase or decrease the magnification respectively.
Alternatively, scroll the mouse wheel to change the
magnification.
Resets the image to the default view.
Saves the current view as the default view.
Related information
For information about...
See...
Homing the robot
“Homing the robot and grippers” on
page 140
Moving the robot into the safe
zone
“Moving the robot into the safe zone”
on page 142
Disabling and enabling the robot
motors
“Disabling and enabling the robot
motors” on page 148
Changing the robot speed
“Changing the robot speed” on page 150
Stopping the robot motors
“Stopping the robot motors” on
page 149
Jogging the robot
“Jogging the robot” on page 145
Opening and closing the robot
grippers
“Opening and closing the robot
grippers” on page 154
Checking the robot microplate
sensor
“Checking the robot microplate sensor”
on page 159
Direct Drive Robot User Guide
161
7 Using DDR Diagnostics
Changing the robot display
162
For information about...
See...
Viewing the log area
“Viewing the DDR Diagnostics log area”
on page 174
Direct Drive Robot User Guide
7 Using DDR Diagnostics
Checking the temperature and bus voltage
Checking the temperature and bus voltage
About this topic
The robot temperature and bus voltage can be useful for troubleshooting
problems. This topic explains where you can find the temperature and bus
voltage information.
Checking the temperature
Sensors inside the robot monitor the temperature of different components. The
temperatures are displayed in the Advanced tab, and the values are updated
every 2 seconds.
If the any of the temperatures rise above the factory- set threshold value, the
robot will shut down and display an error. If this happens, contact Automation
Solutions Technical Support.
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7 Using DDR Diagnostics
Checking the temperature and bus voltage
Checking the bus voltage
Voltages delivered to robot motors are displayed in the Advanced tab. The
values are updated every 2 seconds.
The voltage values can be used to troubleshoot problems. For example, the bus
voltage values are reduced signficantly when the motors are disabled. If this
happens and you did not disable the motors, contact Automation Solutions
Technical Support.
Related information
164
For information about...
See...
Homing the robot
“Homing the robot and grippers” on
page 140
Moving the robot into the safe
zone
“Moving the robot into the safe zone”
on page 142
Disabling and enabling the robot
motors
“Disabling and enabling the robot
motors” on page 148
Changing the robot speed
“Changing the robot speed” on page 150
Direct Drive Robot User Guide
7 Using DDR Diagnostics
Checking the temperature and bus voltage
For information about...
See...
Stopping the robot motors
“Stopping the robot motors” on
page 149
Jogging the robot
“Jogging the robot” on page 145
Opening and closing the robot
grippers
“Opening and closing the robot
grippers” on page 154
Checking the robot microplate
sensor
“Checking the robot microplate sensor”
on page 159
Viewing the log area
“Viewing the DDR Diagnostics log area”
on page 174
Direct Drive Robot User Guide
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7 Using DDR Diagnostics
Restoring robot settings
Restoring robot settings
About the robot settings
In the Setup tab, when you click the Save ALL advanced settings to file, the
software saves all of the values that are in the Setup tab to an XML file, also
called a configuration file. If any of the settings were lost, you can recover
them using the XML file.
Procedure
To restore the robot settings:
1 In the Setup tab, click Restore All advanced settings from file.
2
3
166
In the Open dialog box, locate and select the desired configuration file.
Click Open. The settings are restored.
Direct Drive Robot User Guide
7 Using DDR Diagnostics
Restoring robot settings
Related information
For information about...
See...
Complete list of available
commands you can use in DDR
Diagnostics
“Quick reference” on page 219
Teachpoints tab
“Setting teachpoints” on page 77
Profiles tab
“Creating Direct Drive Robot profiles”
on page 56
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7 Using DDR Diagnostics
Updating the firmware
Updating the firmware
About this topic
The Direct Drive Robot is controlled by the following:
•
Robot firmware. Controls the robot arm.
•
Gripper firmware. Controls the robot grippers only.
This section explains how to check the firmware versions you are using and
update both firmware.
Agilent Technologies recommends that only administrators and trained
personnel use the procedures in this topic to update the Direct Drive Robot
firmware.
CAUTION
The procedures in this topic is for DDR robot firmware version 1.2.0 or later. For
robot firmware version 1.1.x or earlier, contact Automation Solutions Technical Support
before updating the firmware.
Firmware compatibility
Agilent Technologies will release compatible robot and gripper firmware
together, so you should always update both the robot firmware and the gripper
firmware at the same time. Failure to do so will cause an error message
during initialization.
Before you start
Before you start to update the existing firmware:
•
Save the existing robot settings. In the Settings tab, click Save ALL advanced
settings to file.
•
Make sure you have the correct files for the update process:
–
DDRFirmwareUpdate_x_x_x- .zip. Updates the existing robot firmware
and retains the existing robot settings, such as robot table dimensions.
–
DDRGripperx.x.sw. Installs the new gripper firmware.
Note: At the beginning of the update process, the software will automatically
back up the current robot firmware. You do not need to manually back up the
firmware.
Checking the firmware versions you are running
To check the firmware versions you are currently running:
In DDR Diagnostics, click the About button at the bottom of the dialog box. The
About DDR Plugin dialog box appears and displays the robot and gripper
firmware version numbers. Note the firmware version numbers.
CAUTION
If you have DDR robot firmware version 1.1.x or earlier, contact Automation
Solutions Technical Support before updating the firmware.
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7 Using DDR Diagnostics
Updating the firmware
Updating the robot and gripper firmware
To upgrade the robot and gripper firmware:
1 In the Advanced tab, click one of the following:
2
•
Update robot firmware
•
Update gripper firmware
In the Open dialog box that appears, locate and select the desired firmware
file:
•
DDRFirmwareUpdate_x_x_x- .zip (if you are updating the robot
firmware)
•
DDR_Gripperx.x.sw (if you are updating the gripper firmware)
IMPORTANT Robot firmware update only. If you select a file that does
not have the DDRFirmware character string in the name, the update
procedure will fail.
3
Click Open. Follow the instructions on the screen to install the firmware.
Related information
For information about...
See...
Installing new or restoring existing
firmware
“Restoring existing firmware” on
page 172
Initializing the profile
“Initializing the profile” on page 65
Setting up robot communication
“Setting up robot communication” on
page 58
Editing profiles
“Editing and managing profiles” on
page 67
Managing profiles
“Editing and managing profiles” on
page 67
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7 Using DDR Diagnostics
Backing up the robot firmware
Backing up the robot firmware
About this topic
You should back up the robot firmware in case it becomes damaged. The
backup process backs up the robot firmware only. It does not back up the
gripper firmware.
This topic explains how to back up the existing robot firmware.
Agilent Technologies recommends that only administrators and trained
personnel use the procedures in this topic to back up the Direct Drive Robot
firmware.
Procedure
To back up the existing firmware
1 In the DDR Diagnostics Profiles tab, make sure the correct profile is selected,
and then click Initialize this profile.
IMPORTANT Communication must be established with the robot for the
backup procedure to be successful.
2
In the DDR Diagnostics Advanced tab, click Backup firmware.
3
In the Save As dialog box that opens:
a
Type a name for the backup file.
IMPORTANT The file name must contain the character string
DDRFirmware. The software uses the string to identify the file
during firmware updates. For example, a valid name is
DDRFirmwareBackup_20100310_112905.zip.
b
4
170
Use the default backup file location, or select a different location. The
default location is
C:\Program Files\Agilent Technologies\Settings\DDR\Firmware Backup.
Click Save. The robot firmware is saved in a ZIP file.
Direct Drive Robot User Guide
7 Using DDR Diagnostics
Backing up the robot firmware
Related information
For information about...
See...
Updating the firmware
“Updating the firmware” on page 168
Initializing the profile
“Initializing the profile” on page 65
Setting up robot communication
“Setting up robot communication” on
page 58
Editing profiles
“Editing and managing profiles” on
page 67
Managing profiles
“Editing and managing profiles” on
page 67
Direct Drive Robot User Guide
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7 Using DDR Diagnostics
Restoring existing firmware
Restoring existing firmware
About this topic
In case the firmware files become damaged and the robot no longer operates,
you can use a backup copy of the firmware to restore robot operation.
This topic explains how to use firmware backup files to restore robot
operation.
Agilent Technologies recommends that only administrators and trained
personnel use the procedures in this topic to restore the Direct Drive Robot
firmware.
CAUTION
Use the instructions in this topic only if you have determined the firmware files
are damaged. If you are not sure, contact Automation Solutions Technical Support for
assistance.
CAUTION
Do not use this procedure to update firmware. The restoration procedure will
install the backup firmware and erase existing robot settings.
CAUTION
The procedure in this topic is for DDR robot firmware version 1.2.0 or later. For
robot firmware version 1.1.x or earlier, contact Automation Solutions Technical Support.
Before you start
Make sure you have the correct files for the procedure:
•
DDRFirmwareBackup_<date>.zip. The backup copy of the existing robot
firmware.
•
DDRGripperx.x.sw. The gripper firmware file that accompanies the robot
firmware update file from Agilent Technologies.
•
<filename>.xml. The XML file that contains the robot settings, such as robot
table dimensions, gripper settings, and so on. This file is created when you
click Save ALL advanced settings to file in the Setup tab.
Installing the robot and gripper firmware
To restore or install the robot and gripper firmware:
1 In the Advanced tab, click one of the following:
172
•
Update robot firmware
•
Update gripper firmware
Direct Drive Robot User Guide
7 Using DDR Diagnostics
Restoring existing firmware
2
In the Open dialog box that appears, locate and select the desired firmware
file:
•
DDRFirmwareBackup_<date>.zip (if you are restoring the robot
firmware using a backup copy)
•
DDR_Gripperx.x.sw (if you are installing the gripper firmware)
IMPORTANT Robot firmware update only. If you select a file that does
not have the DDRFirmware character string in the name, the procedure
will fail.
3
4
Click Open. Follow the instructions on the screen to install the firmware.
To restore the robot settings, in the Settings tab, click Restore ALL advanced
settings from file.
Related information
For information about...
See...
Initializing the profile
“Initializing the profile” on page 65
Setting up robot communication
“Setting up robot communication” on
page 58
Editing profiles
“Editing and managing profiles” on
page 67
Managing profiles
“Editing and managing profiles” on
page 67
Direct Drive Robot User Guide
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7 Using DDR Diagnostics
Viewing the DDR Diagnostics log area
Viewing the DDR Diagnostics log area
The log area at the bottom of the dialog box shows the status of the commands
or actions issued while you are working in the dialog box.
Related information
174
For information about...
See...
Homing the robot
“Homing the robot and grippers” on
page 140
Moving the robot into the safe
zone
“Moving the robot into the safe zone”
on page 142
Disabling and enabling the robot
motors
“Disabling and enabling the robot
motors” on page 148
Changing the robot speed
“Changing the robot speed” on page 150
Stopping the robot motors
“Stopping the robot motors” on
page 149
Jogging the robot
“Jogging the robot” on page 145
Opening and closing the robot
grippers
“Opening and closing the robot
grippers” on page 154
Checking the robot microplate
sensor
“Checking the robot microplate sensor”
on page 159
Changing the robot display
“Changing the robot display” on
page 161
Direct Drive Robot User Guide
7 Using DDR Diagnostics
Saving the controller log to file
Saving the controller log to file
About the robot controller
The robot controller log is primarily used for troubleshooting. When contacting
Automation Solutions Technical Support for assistance, you might be asked to
send the log file.
Procedure
To save the controller log to a file:
1 In the DDR Diagnostics Advanced tab, click Dump controller’s log to file.
2
In the Save As dialog box, select a location where you want to save the file
and provide a name for the file.
3
Click Save. The log is saved as a TXT file.
Related information
For information about...
See...
Homing the robot
“Homing the robot and grippers” on
page 140
Moving the robot into the safe
zone
“Moving the robot into the safe zone”
on page 142
Disabling and enabling the robot
motors
“Disabling and enabling the robot
motors” on page 148
Changing the robot speed
“Changing the robot speed” on page 150
Stopping the robot motors
“Stopping the robot motors” on
page 149
Jogging the robot
“Jogging the robot” on page 145
Opening and closing the robot
grippers
“Opening and closing the robot
grippers” on page 154
Direct Drive Robot User Guide
175
7 Using DDR Diagnostics
Saving the controller log to file
176
For information about...
See...
Checking the robot microplate
sensor
“Checking the robot microplate sensor”
on page 159
Changing the robot display
“Changing the robot display” on
page 161
Direct Drive Robot User Guide
Direct Drive Robot
User Guide
8
Maintaining the robot
This chapter explains how to maintain the Direct Drive Robot to
optimize performance.
This chapter contains the following topics:
•
“Routine maintenance” on page 178
•
“Cleaning the robot gripper pads” on page 179
•
“Replacing robot gripper pads” on page 181
•
“Tightening the gripper pad screws” on page 183
•
“Replacing robot grippers” on page 185
•
“Replacing fuses in power supply G5411- 60010” on page 190
•
“Replacing fuses in power supply G5411- 60005” on page 192
177
Agilent Technologies
8 Maintaining the robot
Routine maintenance
Routine maintenance
Maintenance tasks
WARNING Only administrators and trained personnel should perform the maintenance
procedures in this chapter.
WARNING Always turn off the robot and shut down the system before performing any
maintenance procedure. See “Turning on and turning off the robot” on page 46 and the
system user documentation.
Task
Frequency
Procedure
Clean up spills on any part of
the robot after a protocol run.
Immediately
Use a clean soft cloth to
remove the spill.
Inspect gripper pads for dirt,
wear, tear, and cracks. Clean the
gripper pads. Replace the gripper
pads if necessary.
Monthly
Tighten the gripper pad screws.
Monthly
See one of the following:
•
“Cleaning the robot
gripper pads” on
page 179
•
“Replacing robot
gripper pads” on
page 181
See “Tightening the
gripper pad screws” on
page 183.
For preventive maintenance service, contact Automation Solutions Technical
Support.
Related information
For information about...
See...
Shutdown procedure
“Turning on and turning off the robot”
on page 46
Safety
Direct Drive Robot Site Preparation
and Safety Guide
Replacing robot grippers
“Replacing robot grippers” on page 185
Replacing fuses
•
“Replacing fuses in power supply
G5411- 60010” on page 190
•
“Replacing fuses in power supply
G5411- 60005” on page 192
Assistance with maintenance
procedures
178
“Reporting problems” on page 217
Direct Drive Robot User Guide
8 Maintaining the robot
Cleaning the robot gripper pads
Cleaning the robot gripper pads
About this topic
Dirt on robot gripper pads can cause the robot to drop labware. You should
inspect the gripper pads for dirt monthly to ensure optimal performance.
This topic explains how to clean the robot gripper pads.
WARNING
Only administrators and trained personnel should perform the procedures
in this topic.
Materials and tools
Make sure you have a soft cloth and access to clean water.
Before you start
Make sure you:
1 Use DDR Diagnostics to move the robot to a position where you can easily
access the robot grippers.
2
3
Turn off the robot and the system.
Disconnect the power cord from the robot power supply.
Procedure
WARNING Always turn off the robot and shut down the system before performing any
maintenance procedure.
WARNING Always disconnect the power cord from the robot power supply before
performing any maintenance procedure.
To clean the robot gripper pads:
1 Dampen a soft cloth with water.
CAUTION
Do not use alcohol or alcohol-based cleaning solutions. Alcohol and
alcohol-based solutions can damage the gripper pads.
2
3
Gently rub the gripper pads to remove dirt.
Make sure the gripper pads are dry before using the system.
Related information
For information about...
See...
Robot shutdown procedure
“Turning on and turning off the robot”
on page 46
Direct Drive Robot User Guide
179
8 Maintaining the robot
Cleaning the robot gripper pads
180
For information about...
See...
System shutdown procedure
System user documentation
Safety
Direct Drive Robot Site Preparation
and Safety Guide
DDR Diagnostics
“Using DDR Diagnostics” on page 137
Direct Drive Robot User Guide
8 Maintaining the robot
Replacing robot gripper pads
Replacing robot gripper pads
About this topic
Gripper pads can become worn with use. Agilent Technologies recommends
that you check the gripper pads monthly and replace them if necessary.
This topic explains how to replace the robot gripper pads.
WARNING
Only administrators and trained personnel should perform the procedures
in this topic.
Materials and tools
Make sure you use the following materials and tools supplied with the robot:
•
Spare pair of robot gripper pads
•
Star- head cap screws (6)
•
Star- head wrench
•
Thread- locking solution
Before you start
Make sure you:
1 Use DDR Diagnostics to move the robot to a position where you can easily
access the robot grippers.
2
3
Turn off the robot and the system.
Disconnect the power cord from the robot power supply.
Procedure
WARNING Always turn off the robot and shut down the system before performing any
maintenance procedure.
WARNING Always disconnect the power cord from the robot power supply before
performing any maintenance procedure.
To replace a robot gripper pad:
1 Using the star- head wrench, remove the three cap screws that are holding
the pad to the gripper finger (1).
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8 Maintaining the robot
Replacing robot gripper pads
1
2
3
Pull the pad from the gripper finger.
4
Add a tiny drop of thread- locking solution across the thread of each screw.
The solution functions like glue to prevent the screws from becoming loose.
5
Insert the three cap screws in the gripper finger, and then use the star
wrench to tighten the screws.
Related information
182
Align the new pad on the inside of the grippers as shown, and then press
it against the gripper finger so that the pad is held in place.
For information about...
See...
Direct Drive Robot component
names
“Hardware components” on page 4
Robot shutdown procedure
“Turning on and turning off the robot”
on page 46
System shutdown procedure
System user documentation
Safety
Direct Drive Robot Site Preparation
and Safety Guide
DDR Diagnostics
“Using DDR Diagnostics” on page 137
Direct Drive Robot User Guide
8 Maintaining the robot
Tightening the gripper pad screws
Tightening the gripper pad screws
About the gripper pad screws
The gripper pad screws might becomes loose with use. Agilent Technologies
recommends that you check the gripper pad screws monthly and tighten them
as necessary.
WARNING
Only administrators and trained personnel should perform the procedures
in this topic.
Materials and tools
Make sure you use the following materials and tools supplied with the robot:
•
Star- head wrench
•
Thread- locking solution
Before you start
Make sure you:
1 Use DDR Diagnostics to move the robot to a position where you can easily
access the robot grippers.
2
Turn off the robot and the system. See “Turning on and turning off the
robot” on page 46 and the system user documentation.
3
Disconnect the power cord from the robot power supply.
Procedure
WARNING Always turn off the robot and shut down the system before performing any
maintenance procedure.
WARNING Always disconnect the power cord from the robot power supply before
performing any maintenance procedure.
To tighten the gripper pad screws:
1 Using the star- head wrench, remove the screws.
2
Add a small drop of thread- locking solution across the thread of each
screw. The solution functions like glue to prevent the screws from
becoming loose.
3
Using the star- head wrench, turn the screws to tighten them (1).
Direct Drive Robot User Guide
183
8 Maintaining the robot
Tightening the gripper pad screws
1
4
Related information
184
Allow the thread- locking solution to dry before operating the robot.
For information about...
See...
Robot shutdown procedure
“Turning on and turning off the robot”
on page 46
System shutdown procedure
System user documentation
Safety
Direct Drive Robot Site Preparation
and Safety Guide
DDR Diagnostics
“Using DDR Diagnostics” on page 137
Direct Drive Robot User Guide
8 Maintaining the robot
Replacing robot grippers
Replacing robot grippers
About this topic
You can replace the robot grippers under the following circumstances:
•
One or both grippers are damaged.
•
You want to use a different set of grippers to accommodate a specific
teachpoint requirement. For example, a teachpoint at a particular device
might be recessed more than in other devices. So the gripper fingers must
be vertically longer to reach the labware at that teachpoint. (For the list of
different gripper types available, contact Automation Solutions Customer
Service.)
This topic explains how to replace the robot grippers.
WARNING Only administrators and experienced personnel should perform the
procedures in this topic.
About the shim washers
Two ultra- thin washers are installed between each gripper and the robot hand,
behind the screw at the back end of the gripper (1).
1
The washers are used to ensure the tips of the grippers point slightly inward
to ensure optimal grip performance. The following diagram exaggerates the
inward positioning.
Note: The number of washers used depends on the robot setup. Typically, only
two washers are used behind each gripper. However, in some cases, many
washers might be used to optimize grip performance.
CAUTION Because the washers are especially thin and light, it might be
easy to lose them during the replacement procedure.
Direct Drive Robot User Guide
185
8 Maintaining the robot
Replacing robot grippers
Materials and tools
Make sure you have the following:
•
Grippers you want to install
•
2.5- mm hex wrench
•
Standard caliper
Before you start
Make sure you:
1 Use DDR Diagnostics to move the robot to a position where you can easily
access the robot grippers.
2
3
Turn off the robot and the system.
Disconnect the power cord from the robot power supply.
Procedure
The replacement procedure involves the following:
1
2
3
“Replacing the grippers” on page 186
“Recording the gripper height” on page 187
“Recording the base clearance z- axis coordinate” on page 187
Replacing the grippers
WARNING Always turn off the robot and shut down the system before performing any
maintenance procedure.
WARNING Always disconnect the power cord from the robot power supply before
performing any maintenance procedure.
To replace the robot grippers:
1 Using the 2.5- mm hex wrench, remove the two screws that are holding the
gripper to the robot hand (1).
IMPORTANT As you loosen the screw at the back end of the gripper,
hold a hand under the screw to catch the falling washers.
1
2
3
186
Remove the gripper.
Place the washers behind the new gripper, aligning them with the screw
hole at the back end, and then insert a screw into the hole to hold the
washers in place.
Direct Drive Robot User Guide
8 Maintaining the robot
Replacing robot grippers
4
Position the new gripper finger at the hand as shown, and push upward so
that the top of the gripper is pressed securely against the bottom of the
gripper mount.
5
While pushing upward on the gripper:
a
b
6
Tighten the screw at the back end of the gripper.
Insert and tighten the remaining screw in the gripper.
Repeat steps 1 through 5 to replace the second gripper.
Recording the gripper height
To record the gripper height:
1 Using the caliper, measure the height of one of the grippers. Take the
measurement at the middle of the gripper pad, as the following diagram
shows.
2
3
In DDR Diagnostics, click the Setup tab.
In the Gripper Settings area, type the gripper height value you determined in
step 1 in the Finger height box.
Recording the base clearance z-axis coordinate
The base clearance value is the z- axis coordinate at which the bottom of the
grippers touch the top of the base. Knowing that z- coordinate prevents the
robot from colliding with the base.
To record the z-axis coordinate:
1 Reconnect the power cord to the power supply and turn on the robot.
WARNING
2
Direct Drive Robot User Guide
Keep out of the system while the robot is starting up.
In DDR Diagnostics, initialize the robot profile you want to use, and then
click the Jog/Move tab.
187
8 Maintaining the robot
Replacing robot grippers
3
Using the jog commands, position the robot hand so that it is directly
above the base.
WARNING
4
Jog the robot down along the z- axis until the bottom of the grippers touch
the top of the base.
WARNING
5
Keep out of the system while the robot is moving.
Keep out of the system while the robot is moving.
In the Robot Status area, note the z- axis coordinate value.
Note: The z- axis 0 value is approximately 15 cm above the base. The zaxis value where the grippers touch the base is typically below the 0
value, so it is negative.
6
188
Click the Setup tab, and type the z- axis coordinate value in the Base
clearance box.
Direct Drive Robot User Guide
8 Maintaining the robot
Replacing robot grippers
Related information
For information about...
See...
Direct Drive Robot component
names
“Hardware components” on page 4
Robot shutdown procedure
“Turning on and turning off the robot”
on page 46
System shutdown procedure
System user documentation
Safety
Direct Drive Robot Site Preparation
and Safety Guide
Contacting Automation Solutions
Technical Support
“Reporting problems” on page 217
Direct Drive Robot User Guide
189
8 Maintaining the robot
Replacing fuses in power supply G5411-60010
Replacing fuses in power supply G5411-60010
About this topic
This topic explains how to replace the fuses in the robot power supply (G541160010).
WARNING Only administrators and experienced personnel should perform the
procedure in this topic. Alternatively, contact Automation Solutions Technical Support for
assistance.
Fuse location
The Direct Drive Robot power supply (G5411- 60010) houses four fuses:
100 - 240 VAC
10A
50/60 Hz
N10149
Robot
Disable
Robot Cable
T4A
250V
T2A
250V
T10A
250V
T10A
250V
FUSE
FUSE
FUSE
FUSE
Fuse housing label
Function
Fuse rating (time-delayed)
T4A 250V
24- V robot fuse
4 A, 250 V
T2A 250V
Logic power/switch fuse
2 A, 250 V
T10A 250V
AC mains fuse, line (left)
10 A, 250 V
T10A 250V
AC mains fuse, neutral
(right)
10 A, 250 V
Materials and tools
Make sure you have the following:
•
Flat- head screwdriver (any size)
•
Replacement fuse(s)
Before you start
Make sure you:
1 Turn off the robot and the system.
2
190
Disconnect the power cord from the robot power supply.
Direct Drive Robot User Guide
8 Maintaining the robot
Replacing fuses in power supply G5411-60010
Procedure
WARNING Always turn off the robot and shut down the system before performing any
maintenance procedure.
WARNING Always disconnect the power cord from the robot power supply before
performing any maintenance procedure.
To replace one of the fuses:
1 Using the flat- head screwdriver, turn the fuse holder counterclockwise oneeighth turn (1). The fuse holder moves outward (2).
1
2
3
2
Remove the fuse holder from the housing.
Pull out the spent fuse (1) and insert the new fuse (2).
1
4
5
2
Insert the fuse and holder back into the housing.
While pressing the fuse holder into the housing, turn the fuse holder
clockwise one- eight turn using the flat- head screwdriver.
Related information
For information about...
See...
Direct Drive Robot component
names
“Hardware components” on page 4
Robot shutdown procedure
“Turning on and turning off the robot”
on page 46
System shutdown procedure
System user documentation
Safety
Direct Drive Robot Site Preparation
and Safety Guide
Contacting Automation Solutions
Technical Support
“Reporting problems” on page 217
Direct Drive Robot User Guide
191
8 Maintaining the robot
Replacing fuses in power supply G5411-60005
Replacing fuses in power supply G5411-60005
About this topic
This topic explains how to replace the fuses in the robot power supply (G541160005).
WARNING Only administrators and experienced personnel should perform the
procedure in this topic. Alternatively, contact Automation Solutions Technical Support for
assistance.
Fuse location
210FU
210AFU
214FU
338CR
345FU
333FU
The Direct Drive Robot power supply (G5411- 60005) houses five fuses:
341CON
00408 power supply interior
Fuse housing label
Function
Fuse rating (all are time-delayed)
345FU
24 V emergency stop
pendant/cable fuse
0.8 A, 250 V
333FU
24 V robot fuse
5 A, 250 V
210FU
AC mains fuse
10 A, 250 V
210AFU
AC mains fuse
10 A, 250 V
214FU
Logic power/switch fuse
2 A, 250 V
Materials and tools
Make sure you have the following:
•
192
Anti- static wrist band
•
2- mm hex wrench (supplied with the robot)
•
Replacement fuse(s)
Direct Drive Robot User Guide
8 Maintaining the robot
Replacing fuses in power supply G5411-60005
Before you start
Make sure you:
1 Turn off the robot and the system.
2
Disconnect the power cord from the robot power supply.
Procedure
WARNING Always turn off the robot and shut down the system before performing any
maintenance procedure.
WARNING Always disconnect the power cord from the robot power supply before
performing any maintenance procedure.
CAUTION Be sure to wear the anti-static wrist band and connect the band to ground
before removing the power supply cover.
To replace one of the fuses:
1 Without removing them, loosen the four screws at the top of the power
supply, slide the lid as shown, and then lift the lid to remove it.
HAZARDOUS VOLTAGE.
Contact may cause
electric shock or burn.
Turn off and lock out
system before servicing.
WARNING
2
Direct Drive Robot User Guide
Lift up the cover of the fuse you want to replace.
193
8 Maintaining the robot
Replacing fuses in power supply G5411-60005
00409
fuse replacement
194
3
4
Remove the spent fuse. To do this, push the fuse from behind.
5
6
7
Press closed the fuse cover.
Install the new fuse in the housing. Make sure the glass portion of the fuse
is vertically centered in the holder as shown.
Place the lid on the power supply.
Slide the lid as shown, and then insert and tighten the four screws to
secure the lid.
Direct Drive Robot User Guide
8 Maintaining the robot
Replacing fuses in power supply G5411-60005
HAZARDOUS VOLTAGE.
Contact may cause
electric shock or burn.
Turn off and lock out
system before servicing.
WARNING
8
9
Connect the power cord from the back of the power supply.
Turn on the robot and system.
Related information
For information about...
See...
Direct Drive Robot component
names
“Hardware components” on page 4
Robot shutdown and startup
procedure
“Turning on and turning off the robot”
on page 46
System shutdown and startup
procedure
System user documentation
Safety
Direct Drive Robot Site Preparation
and Safety Guide
Contacting Automation Solutions
Technical Support
“Reporting problems” on page 217
Direct Drive Robot User Guide
195
8 Maintaining the robot
Replacing fuses in power supply G5411-60005
196
Direct Drive Robot User Guide
Direct Drive Robot
User Guide
9
Troubleshooting robot problems
This chapter explains how to troubleshoot the Direct Drive Robot.
This chapter contains the following topics:
•
“Recovering from an emergency stop” on page 198
•
“Resolving robot initialization errors” on page 200
•
“Recovering from servo errors” on page 201
•
“Troubleshooting hardware problems” on page 203
•
“Troubleshooting error messages” on page 208
•
“Reporting problems” on page 217
197
Agilent Technologies
9 Troubleshooting robot problems
Recovering from an emergency stop
Recovering from an emergency stop
About this topic
This topic explains how to recover from an emergency stop after you pressed
the red button on the emergency stop pendant.
After you pressed the emergency stop button
After pressing the emergency stop button, you must restore the system for
normal operation.
IMPORTANT You cannot resume or recover a protocol run after pressing the
emergency stop button. You will need to rerun the protocol after restoring the
system for normal operation.
Before you restore the system, make sure you remove labware that might have
been dropped during the emergency stop. Also remove labware at teachpoints
or other locations.
To restore the Direct Drive Robot after an emergency stop:
1 Restore power to the robot. To do this, turn the red button on the
emergency stop pendant clockwise. The spring- loaded button pops up.
2
If you stopped a protocol run in an emergency, select one of the following
in each of the device dialog boxes to restore the device for normal
operation:
Selection
Diagnostics
Description
Opens the device diagnostics dialog box.
Note: This selection is available only when you are in
the middle of a protocol run and not while you are
already in the device diagnostics software.
198
Retry
Attempts to restart the current command or task in
the run.
Ignore and
continue
Ignores the current command or task and continues
to the next command or task in the protocol
sequence.
Abort
Aborts the current command or task in the run.
Select Abort if you have determined that the protocol
run is not recoverable.
Direct Drive Robot User Guide
9 Troubleshooting robot problems
Recovering from an emergency stop
3
4
5
If there is labware in the Direct Drive Robot robot gripper, release it and
move it back to the pickup location. To do this:
a
b
c
Determine the location from which the labware was picked up.
d
Click Open in the DDR Diagnostics Jog/Teach tab to release the labware to
your hand.
e
Place the labware at the pickup location.
In the Robot Error dialog box, click Diagnostics.
Hold the labware in your hand so that the labware does not drop when
you release it from the robot grippers.
Click Abort Process in the Stop dialog box.
Exit and restart the VWorks software. Communication with the robot is reestablished.
Related information
For information about...
See...
Pausing and resuming protocol
runs
VWorks Automation Control User
Guide
Shutting down the system
System user documentation
Turning off the robot
“Turning on and turning off the robot”
on page 46
Using commands in Robot
Diagnostics
“Using DDR Diagnostics” on page 137
Safety
BioCel System Safety Guide
Reporting problems
“Reporting problems” on page 217
Direct Drive Robot User Guide
199
9 Troubleshooting robot problems
Resolving robot initialization errors
Resolving robot initialization errors
About the robot initialization process
Robot initialization occurs:
•
When you click Initialize all devices, or when you select the Direct Drive
Robot and click Initialize selected devices in the device file.
•
When you click Initialize this profile in DDR Diagnostics.
During the robot initialization process, the software establishes communication
with the robot.
Resolving initialization errors
WARNING Only administrators and experienced personnel should perform the
procedures in this section.
If a problem occurs during initialization, an error message appears and
explains the problem.
To resolve the problem:
1 Make sure the robot is turned on.
2
3
4
Make sure the robot cable is connected correctly.
5
If applicable, follow the instructions in the error message to fix the
communication problem.
6
7
Click Retry to re- initialize the device.
Make sure the Ethernet cable is connected correctly.
Check the device profile to make sure it is set up correctly for
communication.
If the problem persists, contact Automation Solutions Technical Support.
Related information
200
For information about...
See...
Turning on the robot
“Turning on and turning off the robot”
on page 46
Editing the profile
“Editing and managing profiles” on
page 67
Troubleshooting error messages
“Troubleshooting error messages” on
page 208
Reporting problems
“Reporting problems” on page 217
Direct Drive Robot User Guide
9 Troubleshooting robot problems
Recovering from servo errors
Recovering from servo errors
About this topic
This topic explains how to recover from servo errors.
Causes of servo errors
A servo system controls the robot’s motions. The servo cuts power to the robot
if it encounters resistance to movement that is slightly higher than that
expected from the inertia of the robotic arm holding a labware. When the
power is cut, a servo error is generated.
Most servo errors occur when the labware being carried crashes into another
labware that is on a device.
Procedure
WARNING Only administrators and experienced personnel should perform the
procedures in this section.
To recover from a servo error:
1 Check the system to determine the cause of the collision and remove the
obstruction. For example, it might be a labware from a previous run.
2
Check the labware that is held by the robot to make sure it is not damaged
and that its contents are not spilled.
3
Make sure the labware did not move in the robot gripper during the
collision.
4
If the labware has not moved in the robot gripper and was not damaged
during the collision, in the error message dialog box, click one of the
following:
Selection
Description
Diagnostics
Opens the device diagnostics dialog box.
Note: This selection is available only when you are in
the middle of a protocol run and not while you are
already in the device diagnostics software.
Direct Drive Robot User Guide
Retry
Attempts to restart the current command or task in
the run.
Ignore and
continue
Ignores the current command or task and continues
to the next command or task in the protocol
sequence.
Abort
Aborts the current command or task in the run.
Select Abort if you have determined that the protocol
run is not recoverable.
201
9 Troubleshooting robot problems
Recovering from servo errors
5
6
If the labware has moved during the collision or was damaged, in the error
message dialog box, click Diagnostics and move the labware manually:
a
b
Move the robot to a position that is easy for you to access.
c
d
e
Place the labware at the destination location manually.
While holding the labware with your hand, click Open in the DDR
Diagnostics Jog/Teach tab to release the labware to your hand. The robot
releases the labware.
Close DDR Diagnostics.
Click in the next error message dialog box, and then click Ignore and
continue.
If the crash was severe, home the robot.
Related information
202
For information about...
See...
Opening the robot grippers
“Opening and closing the robot
grippers” on page 154
Homing the robot
“Homing the robot and grippers” on
page 140
Verifying teachpoints
“Verifying teachpoints” on page 109
Reporting problems
“Reporting problems” on page 217
Direct Drive Robot User Guide
9 Troubleshooting robot problems
Troubleshooting hardware problems
Troubleshooting hardware problems
About this topic
This topic lists the following commonly encountered hardware problems, the
causes of the problems, and ways to resolve the problems:
•
“Communication or power problems” on page 203
•
“Gripper, labware, or teachpoint problems” on page 205
•
“Homing problems” on page 207
If you are still experiencing problems with the Direct Drive Robot after trying
the solutions, contact Automation Solutions Technical Support.
WARNING Only administrators and experienced personnel should perform the
procedures in this section.
Communication or power problems
Problem
Cause
Solution
The robot does not
turn on.
The system electrical requirements
are not met.
Make sure the system electrical
requirements are met. See “Electrical
requirements” on page 27.
The Direct Drive Robot is not
connected to the power source.
Connect the Direct Drive Robot to
the power source. See “Power
supply” on page 7.
One or more of the robot fuses are
blown.
Check the Logic and Motor Power
lights on the front of the power
supply to see which fuse(s) are
blown, then replace the blown
fuse(s). See “Replacing fuses in
power supply G5411- 60010” on
page 190 or “Replacing fuses in
power supply G5411- 60005” on
page 192.
If the fuses are blown immediately
after replacement, stop using the
robot and contact Automation
Solutions Technical Support.
Direct Drive Robot User Guide
203
9 Troubleshooting robot problems
Troubleshooting hardware problems
Problem
Cause
Solution
The Logic light on the
front of the power
supply does not turn
on.
The robot power is not turned on.
Turn on the robot. See “Turning on
and turning off the robot” on
page 46.
The robot power cable is not
connected to the power supply or
the power source.
Connect the power cable to the
power supply and the power source.
See “Installing the robot” on page 42.
One or more of the following fuses
might be blown: AC main fuse,
switch fuse, or cable fuse.
Replace the fuse(s). See “Replacing
fuses in power supply G5411- 60010”
on page 190 or “Replacing fuses in
power supply G5411- 60010” on
page 190.
If the fuses are blown immediately
after replacement, stop using the
robot and contact Automation
Solutions Technical Support.
The Motor Power light
on the front of the
power supply does not
turn on.
If you turn on the robot, the Logic
light does not turn on but you can
still hear the fan in the power
supply, then the indicator light
bulb is blown.
Replace the light bulb. Contact
Automation Solutions Technical
Support for assistance.
The robot profile is not initialized.
Initialize the profile.
The Logic light is also off.
Troubleshoot the Logic light
problems.
The emergency stop button is
pressed down.
Recover from the emergency stop.
See “Recovering from an emergency
stop” on page 198.
The robot communications cable is
not connected to the power supply
or the robot.
Connect the communications cable to
the power supply and the robot. See
“Installing the robot” on page 42.
The Robot fuse is blown.
Replace the Robot fuse. See
“Replacing fuses in power supply
G5411- 60010” on page 190 or
“Replacing fuses in power supply
G5411- 60010” on page 190.
If the fuse is blown immediately
after replacement, stop using the
robot and contact Automation
Solutions Technical Support.
If you turn on the robot, the Logic
light turns on, the Motor Power
light remains off, but you can still
jog the robot, then the indicator
light bulb is blown.
204
Replace the light bulb. Contact
Automation Solutions Technical
Support for assistance.
Direct Drive Robot User Guide
9 Troubleshooting robot problems
Troubleshooting hardware problems
Problem
Cause
Solution
The blue light on the
robot hand continues
to blink after the
robot has finished its
startup routine.
The robot configuration file might
be corrupt.
Reload the backup copy of the robot
and gripper firmware and try again.
See “Restoring existing firmware” on
page 172 for instructions.
The blue light on the
robot hand remains on
after the robot has
finished its startup
routine.
The gripper firmware (ASB code)
might be corrupt.
Reload the backup copy of the robot
and gripper firmware and try again.
See “Restoring existing firmware” on
page 172 for instructions.
Gripper, labware, or teachpoint problems
Problem
Cause
Solution
Labware drops or is
held loosely by the
robot.
The labware definition for the
microplate type might contain
incorrect information.
Check the labware definition for
errors.
The Grip torque parameter value is
incorrect for the labware.
In Labware Editor, change the Grip
torque value for the labware.
The Gripper offset range is
incorrect.
In the Labware Editor and the
Direct Drive Robot Diagnostics,
change the Gripper Offset Range
values.
The robot gripper pads are dirty or
worn.
Clean or replace the robot gripper
pads. See “Cleaning the robot gripper
pads” on page 179 or “Replacing
robot gripper pads” on page 181.
The gripper pads are loose.
Tighten the screws that are holding
the pads to the grippers.
Shim washers are missing or
installed incorrectly beneath the
screws at the back end of the
grippers.
Check and make sure the shim
washers are in place. See “About the
shim washers” on page 185.
The grippers are damaged.
See “Replacing robot gripper pads”
on page 181
Labware bends when
held by the robot.
The Grip torque parameter value is
incorrect for the labware.
In Labware Editor, change the Grip
torque value for the labware.
The robot is not
moving to and from
the teachpoints
accurately.
The robot axes need to be
recalibrated.
Home the robot. See “Homing the
robot and grippers” on page 140.
The teachpoint coordinates or
orientations are inaccurate. The
approach height value might be
incorrect.
Verify and edit the teachpoint. See
“Verifying teachpoints” on page 109.
Direct Drive Robot User Guide
205
9 Troubleshooting robot problems
Troubleshooting hardware problems
Problem
Cause
Solution
The robot is unable to
place labware at the
target location
accurately.
The target location teachpoint is
incorrect.
Verify and edit the teachpoints. See
“Verifying teachpoints” on page 109.
The teachpoint of the previously
scheduled device is incorrect.
Verify and edit the teachpoints. See
“Verifying teachpoints” on page 109.
The target device was moved or
reconfigured and the teachpoint
was not updated.
Verify and edit the teachpoints. See
“Verifying teachpoints” on page 109.
Approach height setting is
incorrect.
Check the approach height setting.
The labware might be damaged or
deformed.
Replace the damaged or deformed
labware.
The robot gripper pads are dirty or
worn.
Clean or replace the robot gripper
pads. See “Cleaning the robot gripper
pads” on page 179 or “Replacing
robot gripper pads” on page 181.
The robot grippers are damaged.
Contact Automation Solutions
Technical Support to replace the
robot grippers.
Incorrect gripper offset range is
specified.
Check and correct the gripper offset
ranges for the labware, the pick
location, and the place location. See
“Setting the gripper offset
parameters” on page 102.
The robot placed the
labware such that the
A1 well is in the
wrong orientation.
The incorrect A1- well orientation
is specified for the teachpoint.
In the teachpoint file, verify the A1well orientation specification. Change
the specification if necessary. See
“Specifying the A1- well orientation”
on page 94.
The robot collides
with devices or
obstacles when moving
from teachpoint to
teachpoint.
The incorrect robot- arm
orientation, approach height, or
approach distance values are used.
In the teachpoint file, check and
correct the robot- arm orientation,
approach height value, and approach
distance value. See “Setting
teachpoints” on page 88.
206
Direct Drive Robot User Guide
9 Troubleshooting robot problems
Troubleshooting hardware problems
Homing problems
Problem
Cause
Solution
The robot does not
home.
The robot is in a position where it
cannot home.
Disable the motors, manually move
the robot into the safe zone, enable
the motors, and home the robot.
The homing offsets are incorrect.
Contact Automation Solutions
Technical Support.
The circular encoders are dirty or
damaged.
Contact Automation Solutions
Technical Support.
The robot moved beyond its Z- axis
index.
Jog the robot upward, a few
centimeters above the base, and try
again.
The Base clearance value is
incorrect.
Adjust the Base clearance value in the
Setup tab. See “Replacing robot
grippers” on page 185 for
instructions.
The homing sensor needs
adjustment.
Contact Automation Solutions
Technical Support.
The robot crashes into
the base during the
homing process.
Related information
For information about...
See...
Direct Drive Robot component
names
“Hardware components” on page 4
Software error messages
“Troubleshooting error messages” on
page 208
Diagnosing problems
“Using DDR Diagnostics” on page 137
Reporting problems
“Reporting problems” on page 217
Direct Drive Robot User Guide
207
9 Troubleshooting robot problems
Troubleshooting error messages
Troubleshooting error messages
The following table lists commonly encountered error messages, the causes of
the errors, and ways to resolve the errors. The error messages are listed by
error message ID.
If you are still experiencing problems with the robot after trying the solutions,
or if an error not on the list is displayed, contact Automation Solutions
Technical Support.
For protocol- related errors, see the VWorks Automation Control User Guide.
WARNING Only administrators and experienced personnel should perform the
procedures in this section.
ID
Error message
Cause
Solution
124
The current speed setting
<speed> exceeds the
maximum speed specified
by the newly selected
labware <speed>. Would
you like to reduce the
speed setting to match the
maximum speed <speed>?
After selecting a speed in
Direct Drive Robot
Diagnostics, you select a
labware. The speed setting of
the labware (in Labware
Editor) is slower than the
speed selection in Direct
Drive Robot Diagnostics.
Select Yes to change the
speed selection in Direct
Drive Robot Diagnostics to
match the labware speed
setting. Select No to use
the current speed selection
in Direct Drive Robot
Diagnostics. Note that the
Labware speed setting will
not be changed.
125
Failed to open a
connection to
<profileName:
errorString>.
Connection cannot be
established with the robot
specified by the profile. The
desired robot or the
controlling computer is not
connected to the system.
Make sure the robot and
controller computer are
both connected to the
system network.
145
Failed to disable the arm
power.
Connection cannot be
established with the robot
specified by the profile. The
desired robot or the
controlling computer is not
connected to the system.
Make sure the robot and
controller computer are
both connected to the
system network.
146
Failed to enable the arm
power.
Connection cannot be
established with the robot
specified by the profile. The
desired robot or the
controlling computer is not
connected to the system.
Make sure the robot and
controller computer are
both connected to the
system network.
208
Direct Drive Robot User Guide
9 Troubleshooting robot problems
Troubleshooting error messages
ID
Error message
Cause
Solution
167
Would you like to change
the selected labware to
Teaching Jig?
You clicked Teach Mode in
Direct Drive Robot
Diagnostics, but you have not
yet selected the teaching jig.
Click Yes to select the
teaching jig in Direct Drive
Robot Diagnostics. Click No
to exit the error dialog
box. The existing labware
is still selected.
If not, make sure the
selected labware is gripped
at its minimum gripper
offset.
When using a labware to
set teachpoints, the
software assumes that the
labware is held at the
minimum gripper offset.
179
There are unsaved
teachpoint modifications.
Would you like to save?
While closing the profile, the
software found unsaved
teachpoint modifications.
Click Yes to save the
changes and close the
profile. Click No to close
the profile without saving
the changes.
212
This action will create
<orientation>. This
orientation already exists
in this teachpoint. Would
you like to exchange the
parameters of these two
orientations?
Changing the A1- well
orientation of the selected
orientation will result in
duplicate orientations for a
teachpoint.
Click Yes to keep the two
A1- well orientations and
exchange the parameters of
these two orientations.
Click No to exit the error
dialog box without making
any changes.
250
The teachpoint <teachpoint
name> does not exist.
Before starting the cycler,
you must remove this
teachpoint.
You are attempting to start
the teachpoint cycler, but a
teachpoint no longer exists.
The teachpoints list in the
Cycler tab is not
synchronized with the
teachpoints list in the
Teachpoints tab. Teachpoints
that were removed in the
Teachpoints tab still appear
in the Cycler tab.
Remove the obsolete
teachpoint from the Cycler
tab before starting the
teachpoint cycler.
252
The center of the approach
orientation <plate, A1, and
arm orientation> is not
within 25 mm of the
center of the orientations
found in the target
teachpoint: <teachpoint
name>.
All orientations of a single
teachpoint should have the
same center coordinates with
a 25- mm tolerance along the
x- , y- , or z- axis. The
orientation you are adding is
likely for a different
teachpoint, because its center
is greater than 25 mm from
that of the target teachpoint.
Click Continue to add the
orientation to the
teachpoint despite the
warning. When you save
the teachpoint file, the
same warning message will
appear.
Continue?
Direct Drive Robot User Guide
Click Cancel to exit the
dialog box without making
the change.
209
9 Troubleshooting robot problems
Troubleshooting error messages
ID
Error message
Cause
Solution
344
You are attempting to
update the orientation
<original plate
orientation, original A1
orientation, original arm
orientation> with the
robot's current approach
orientation: new plate
orientation, new A1
orientation, new arm
orientation. Because of this
mismatch, the update is
not allowed.
You moved the robot to a
new position and the
orientation (landscape/
portrait, right/left) does not
match the teachpoint you
selected for the update
action. For example, the
robot is currently in the
landscape orientation but the
teachpoint you selected has
the portrait orientation.
Make sure you have
selected the correct
teachpoint for updating.
Make sure you have moved
the robot to the correct
position and the
orientation is correct.
363
Because the specified zip
file name does not start
with DDRFirmware, you
cannot use this file to
update the Direct Drive
Robot firmware.
The .zip file you are using
for firmware update must
contain the DDRFirmware
string in its name.
Make sure you selected the
correct file for upgrading
the firmware. The filename
must start with the
DDRFirmware string.
9041
Gripper motor could not
initialize. If a plate is
currently being gripped,
removing it should allow
the gripper motor to
initialize.
The gripper was holding a
labware when you initialized
the robot.
Remove the labware, and
then reinitialize.
9051
z- axis motor over
temperature (digital).
The digital input that is
connected to the z- axis
temperature sensor indicates
that this axis temperature is
equal to or above
approximately 110 °C.
Home the robot.
9052
z- axis motor over
temperature (analog).
The analog input that is
connected to the z- axis
temperature sensor indicates
that this axis temperature is
equal to or above the
factory- specified threshold.
Home the robot.
The robot grippers cannot
move to the home position.
An obstacle might be in the
way, or the grippers are
opened too far.
If the grippers are holding
labware, remove the
labware and retry homing.
9081
Error while homing robot.
If an obstable is in the
way, remove the obstacle
and retry homing.
Close the robot grippers
and try again.
9082
210
Error while homing robot
(fine homing error).
The robot is unable to move
to the home position.
Move the robot to a
different position, and then
try to home the robot
again.
Direct Drive Robot User Guide
9 Troubleshooting robot problems
Troubleshooting error messages
ID
Error message
Cause
Solution
9115
Communication error
(destination not set).
An internal software error
occurred.
Contact Automation
Solutions Technical
Support.
9131
Teachpoint name not
found.
An internal software error
occurred.
Contact Automation
Solutions Technical
Support.
9132
Approach orientation index
out of range.
An internal software error
occurred.
Contact Automation
Solutions Technical
Support.
9138
Could not find the
specified approach
orientation.
The firmware has
encountered a situation in
which the desired approach
orientation(s) does not exist
in the specified teachpoint.
For example, the operator
has issued a ‘Move to’
command to teachpoint ‘A’,
and specified that the
Portrait, A1 away from the
gripper, Lefty orientation be
used. When the robot
executes this command it is
determined that the specified
approach orientation does
not exist for teachpoint ‘A.’
Reset the teachpoint with
the correct orientations.
9140
Final gripper position is
less than target position.
The gripper settings need to
be adjusted.
In the Direct Drive Robot
Diagnostics Setup tab, adjust
the close target and the
close tolerance settings.
When gripping a plate in
landscape or portrait
position, the gripper is
closed until the labwarespecified torque is reached.
After reaching this torque,
the grippers are stopped.
The gripper position is
checked against the Gripper
settings found in the Setup
tab. If the gripper position
does not fall within the
tolerance specified by these
settings, this error is
displayed.
Direct Drive Robot User Guide
211
9 Troubleshooting robot problems
Troubleshooting error messages
ID
Error message
Cause
Solution
9141
Final gripper position is
greater than target
position.
The gripper settings need to
be adjusted.
In the Direct Drive Robot
Diagnostics Setup tab, adjust
the close target and the
close tolerance settings.
9146
While picking: Error
occurred during transfer
from <SRC> to <DST>.
The robot was unable to
move to the pick location
because an obstacle was in
the way.
Remove any obstacle in the
robot's path and try again.
9147
While picking: Optical
sensor failed to sense
plate.
The software and firmware
are out of date.
Update the Direct Drive
Robot Diagnostics software
to version 1.1 or later, and
update the robot and
gripper firmware to
version 1.1 or later.
9149
Homing error: Home index
pulse off.
Hardware error occurred in
the motor, encoder, sensor,
or all.
Contact Automation
Solutions Technical
Support.
9150
Homing error: Home index
pulse on.
Hardware error occurred in
the motor, encoder, sensor or
all.
Contact Automation
Solutions Technical
Support.
9151
Homing error: Error on
encoder falling edge.
Hardware error occurred in
the motor, encoder, sensor or
all.
Contact Automation
Solutions Technical
Support.
9152
Homing error: Error on
encoder rising edge.
Hardware error occurred in
the motor, encoder, sensor or
all.
Contact Automation
Solutions Technical
Support.
9153
Homing error: Pulse width
error found during homing.
Hardware error occurred in
the motor, encoder, sensor or
all.
Contact Automation
Solutions Technical
Support.
9154
Homing error: Error
moving away from the
latched position during
homing.
An error occurred during the
homing process.
Contact Automation
Solutions Technical
Support.
212
When gripping a plate in
landscape or portrait
position, the gripper is
closed until the labwarespecified torque is reached.
After reaching this torque,
the grippers are stopped.
The gripper position is
checked against the Gripper
settings found in the Setup
tab. If the gripper position
does not fall within the
tolerance specified by these
settings, this error is
displayed.
Direct Drive Robot User Guide
9 Troubleshooting robot problems
Troubleshooting error messages
ID
Error message
Cause
Solution
9155
Homing error: Error
moving off of index.
Hardware error occurred in
the motor, encoder, sensor or
all.
Contact Automation
Solutions Technical
Support.
9156
Homing error: Error
finding next index.
Hardware error occurred in
the motor, encoder, sensor or
all.
Contact Automation
Solutions Technical
Support.
9157
Homing error: Via the look
up table, the absolute
position of the axis could
not be determined. Move
the robot to a new position
and then retry homing.
Hardware error occurred in
the motor, encoder, sensor or
all.
Move the robot to a new
position and try again.
9158
Homing error: Invalid state
index specified.
Hardware error occurred in
the motor, encoder, sensor or
all.
Contact Automation
Solutions Technical
Support.
9161
Labware not present in
grippers.
The software and firmware
are out of date.
Update the Direct Drive
Robot Diagnostics software
to version 1.1 or later, and
update the robot and
gripper firmware to
version 1.1 or later.
9163
Gripper was not empty
when it should have been.
You issued a command that
requires the robot to pick up
a labware, but the robot is
currently holding another
labware.
Remove the labware from
the robot’s grippers and
try again.
9164
Gripper should have been
holding labware.
The software and firmware
are out of date.
Update the Direct Drive
Robot Diagnostics software
to version 1.1 or later, and
update the robot and
gripper firmware to
version 1.1 or later.
9165
Gripper servo error.
The robot bumped into an
obstacle.
Remove all obstacles and
try again. See the topic on
recovering from servo
errors.
9167
While picking: Error
picking plate from <SRC>.
The software and firmware
are out of date.
Update the Direct Drive
Robot Diagnostics software
to version 1.1 or later, and
update the robot and
gripper firmware to
version 1.1 or later.
9180
Error while homing robot.
Index transition was not
found.
Hardware error occurred in
the motor, encoder, sensor or
all.
Move the robot to a new
position and try again.
9183
The robot is in an
indeterminate position.
Hardware error occurred in
the motor, encoder, sensor or
all.
Move the robot to a new
position and try again.
Direct Drive Robot User Guide
213
9 Troubleshooting robot problems
Troubleshooting error messages
ID
Error message
Cause
Solution
9203
Invalid secondary
teachpoint specified for
position interpolation.
While setting teachpoints for
storage devices such as the
Lid Hotel Station, an
incorrect coordinate was
used to determine the
location of storage slots
below the reference location
(top- most platepad in the
Lid Hotel Station).
Check the reference
teachpoint, and then reset
the teachpoints of the
remaining storage slots.
9204
The position is outside the
valid Z- axis range.
The robot is unable to move
to the specified teachpoint.
The specified gripper offset
range results in a z- axis
coordinate that is outside of
the robot’s physical limit.
Edit the teachpoint. Make
sure the gripper offset
range works with the
desired z- axis coordinate.
9205
Invalid gripper offset
setting.
The minimum offset value is
larger than the maximum
offset value.
Reset the gripper offset
values.
9217
The gripper firmware is
incompatible - please
update your gripper
firmware to the correct
version.
You have updated the robot
firmware, but have not yet
updated the gripper
firmware.
Update the gripper
firmware. You must always
update both firmware at
the same time.
9224
Error while homing robot.
Insufficient data found for
commutation.
During homing of the waist,
elbow, or wrist the homing
process could not be
completed.
Move the robot to a new
position and try again.
9225
Z- axis commutation timed
out.
The homing process is too
long and timed out.
Move the robot to a new
position and try again.
9242
While retracting after
place: Error occurred
during transfer from <SRC>
to <DST>.
The robot was unable to
retract to the safe zone
because an obstacle was in
the way.
Remove any obstacle in the
robot's path and try again.
9244
While picking: The
specified pick location
would cause the robot to
move beyond its limits.
The pick action requires that
the robot move to a location
that is out of the robot's
reach.
Check and edit the
teachpoint. Make sure the
robot is able to reach the
location.
9245
While placing: The
specified place location
would cause the robot to
move beyond its limits.
The place action requires
that the robot move to a
location that is out of the
robot's reach.
Check and edit the
teachpoint. Make sure the
robot is able to reach the
location.
11028
Hard E- stop.
The Emergency Stop button
was pressed.
See the topic that explains
how to recover from an
emergency stop. You
cannot resume a run after
an emergency stop.
214
Direct Drive Robot User Guide
9 Troubleshooting robot problems
Troubleshooting error messages
ID
Error message
Cause
Solution
11610
Controller overheating.
The CPU exceeded its
operating temperature for
too long and the controller
automatically turned off. If
this occurs during a run, the
run will automatically stop.
The run cannot resume.
Wait approximatly
10 minutes for the robot to
cool, power cycle the robot,
and then try again.
11612
Power supply relay stuck.
The robot will not turn on.
Restart the robot. The
power switch is on the
front of the robot power
supply.
If restarting the robot does
not help, the power supply
unit might need to be
replaced.
11613
Power supply shorted.
Power has been disabled
because the motor power
supply has detected that it is
shorted.
The robot power supply
unit might need to be
replaced.
11614
Power supply overloaded.
Power has been disabled
because the motor power
supply has detected an
overload condition.
The robot power supply
unit might need to be
replaced.
11615
Power supply reset stuck.
The robot motor power will
not turn on.
Restart the robot. The
power switch is on the
front of the robot power
supply.
If restarting the robot does
not help, the power supply
unit might need to be
replaced.
11616
Shutdown due to
overheating.
The CPU exceeded its
operating temperature for
too long and the controller
automatically turned off.
Wait approximatly
10 minutes for the robot to
cool, power cycle the robot,
and then try again.
13100
Position tracking error
exceeded threshold.
The robot was unable to
follow its intended trajectory,
possibly because it bumped
into an obstacle.
Remove all obstacles and
try again.
13104
Motor duty cycle exceeded.
An obstacle is preventing the
robot from moving.
Remove all obstacles and
try again.
13105
Motor stalled.
The robot bumped into an
obstacle.
Remove all obstacles and
try again.
13106
Axis over- speed.
This error is generated when
power is enabled or during
normal running if the system
detects that an axis has
violated a speed limit.
Remove all obstacles and
try again.
Direct Drive Robot User Guide
215
9 Troubleshooting robot problems
Troubleshooting error messages
ID
Error message
Cause
Solution
13107
Amplifier over- current.
An obstacle is preventing the
robot from moving.
Remove all obstacles, home
the robot, and try again.
13109
Amplifier under- voltage.
The DC motor bus has
dropped too low.
Check all cable
connections. If the cables
are correctly connected,
the power supply might be
be failing.
In the Direct Drive Robot
Diagnostics Advanced tab,
note the Bus Voltage values
and report the values to
Automation Solutions
Technical Support.
13113
Motor commutation setup
failed.
The configuration files are
corrupted.
Click Retry in the error
dialog box.
13117
Amplifier RMS current
exceeded.
An obstacle is preventing the
robot from moving.
Remove all obstacles and
try again.
13122
Position tracking error
exceeded threshold.
The robot was unable to
follow its intended trajectory,
possibly because it bumped
into an obstacle.
Remove all obstacles and
try again.
Related information
216
For information about...
See...
Direct Drive Robot component
names
“Hardware components” on page 4
Hardware problems
“Troubleshooting hardware problems”
on page 203
Recovering from emergency stops
“Recovering from an emergency stop”
on page 198
Recovering from servo errors
“Recovering from servo errors” on
page 201
Safety
Direct Drive Robot Site Preparation
and Safety Guide
Reporting problems to Agilent
Technologies
“Reporting problems” on page 217
Direct Drive Robot User Guide
9 Troubleshooting robot problems
Reporting problems
Reporting problems
Contacting Automation Solutions Technical Support
If you find a problem with the Direct Drive Robot, contact Automation
Solutions Technical Support at one of the following:
Europe
Phone: +44 (0)1763850230
email: euroservice.automation@agilent.com
US and rest of world
Phone: 1.800.979.4811 (US only) or +1.408.345.8011
email: service.automation@agilent.com
Note: You can also send a software bug report from within the VWorks
software.
Reporting hardware problems
When contacting Agilent Technologies, make sure you have the serial number
of the device ready.
Reporting software problems
When you contact Automation Solutions Technical Support, make sure you
provide the following:
•
Short description of the problem
•
Software version number
•
Error message text (or screen capture of the error message dialog box)
•
Screen capture of the About VWorks software dialog box.
•
Relevant software files
To find the VWorks software version number:
In the VWorks software, select Help > About VWorks.
To find the Diagnostics software version number:
1 Open Diagnostics.
2
Read the version number on the title bar of the diagnostics window.
To send compressed protocol and associated files in VZP format:
In the VWorks software, select File > Export to export and compress the
following files:
•
Protocol file
•
Device file (includes the device profile and teachpoint file)
•
Labware definitions
•
Liquid classes
•
Pipette techniques
•
Hit- picking files
Direct Drive Robot User Guide
217
9 Troubleshooting robot problems
Reporting problems
•
Plate map files
•
Barcode files
•
Error library
•
Log files
•
Form file (*.VWForm)
Reporting user guide problems
If you find a problem with this user guide or have suggestions for
improvement, send your comments using one of the following methods:
•
Click the feedback button (
•
Send an email to documentation.automation@agilent.com.
Related information
218
) in the online help.
For information about...
See...
Hardware problems
“Troubleshooting hardware problems”
on page 203
Software error messages
“Troubleshooting error messages” on
page 208
Recovering from emergency stops
“Recovering from an emergency stop”
on page 198
Recovering from initialization
errors
“Resolving robot initialization errors” on
page 200
Recovering from servo errors
“Recovering from servo errors” on
page 201
Safety
Direct Drive Robot Site Preparation
and Safety Guide
Direct Drive Robot User Guide
BioCel System
User Guide
A
Quick reference
This appendix provides a quick reference of menu commands,
selections, options, and status information in the DDR Diagnostics
dialog box. The topics are:
•
“Robot status area” on page 220
•
“Log area” on page 222
•
“Jog/Move tab” on page 223
•
“Teachpoints tab” on page 229
•
“Cycler tab” on page 232
•
“Setup tab” on page 233
•
“Advanced tab” on page 235
•
“Profiles tab” on page 237
219
Agilent Technologies
A Quick reference
Robot status area
Robot status area
Selection or command
Description
Labware
Allows you to select a labware.
Editor
Opens the Labware Editor.
Speed
Sets the robot speed: Slow, Medium, or Fast.
Plate sensor
Indicates the presence of labware in the robot
grippers.
If the indicator light is on, a labware is in the
robot grippers. If the indicator light is off, the
sensor does not detect a labware in the robot
grippers.
220
Robot homed
Indicates that the robot is in the factory- defined
home position.
Gripper homed
Indicates that the robot grippers are in the
factory- defined home position.
Z (mm)
Displays the current z- axis coordinate relative to
the home position.
Waist (°)
Displays the current waist coordinate relative to
the home position.
Elbow (°)
Displays the current elbow coordinate relative to
the home position.
Direct Drive Robot User Guide
A Quick reference
Robot status area
Selection or command
Description
Wrist (°)
Displays the current wrist coordinate relative to
the home position.
Gripper (mm)
Displays the current distance between the two
grippers.
Pans, or moves the image. Click the button, and
then drag the image in the desired direction.
Rotates the image. Click the button, and then drag
the image to rotate it in the desired direction.
Alternatively, click the middle mouse button or
wheel, and then drag the image to rotate it.
Increases or reduces the image magnification.
Click the button, and then drag the image upward
or downward to increase or decrease the
magnification respectively. Alternatively, scroll the
mouse wheel to change the magnification.
Resets the image to the default view.
Saves the current view as the default view.
Direct Drive Robot User Guide
221
A Quick reference
Log area
Log area
Shows the status of the commands, actions, and progress as you work in the
dialog box.
222
Direct Drive Robot User Guide
A Quick reference
Jog/Move tab
Jog/Move tab
General commands
Command
Description
New teachpoint here
Creates a new teachpoint at the current
coordinates.
Disable Motors/Enable Motors
Disables or enables the robot joint
motors. When disabling the motors, the
robot will first finish the current
command before stopping.
For safety reasons, disabling the motors
disables the joint motors only. You cannot
disable the z- axis motor.
Home robot
Sends the robot to the factory- defined
home position for each of the axes of
motion.
Home gripper
Sends the grippers to the factory- defined
home position.
Note: Homing the grippers does not home
the rest of the robot.
Direct Drive Robot User Guide
223
A Quick reference
Jog/Move tab
Command
Description
Retrace to safe zone
Enables the robot to search for the
closest teachpoint, and then use the path
from that teachpoint to return to the safe
zone.
If the robot is unable to find a teachpoint
nearby, it will retreat into the safe zone
by retracing the path it took to reach the
current location.
Use the Retrace to safe zone command
when, for example, the robot grippers are
within a device, and using the Move to
safe zone command might cause the robot
to run into the sides of the device or
other obstacles.
Move to safe zone
Enables the robot to search for the
closest teachpoint, and then use the path
from that teachpoint to return to the safe
zone.
If the robot is unable to find a teachpoint
nearby, it retracts radially into the safe
zone.
Use the Move to safe zone command if it
is close to a teachpoint and the path
from that teachpoint to the safe zone is
clear or obstacles.
224
Stop Motors
Immediately cuts power to the robot
motors, thus stopping the robot.
About
Displays the DDR Diagnostics version
number and copyright information.
Direct Drive Robot User Guide
A Quick reference
Jog/Move tab
Jog area: Tool space commands
Command or parameter
Description
Tool space
Displays the jog buttons to move the
robot waist, elbow, wrist, and arm so that
the labware moves to its target location
along the x- or y- axis. In addition, you
can rotate the labware (Phi angle) and
move the robot arm up and down along
the mast or z- axis. In tool space, all
movements are measured with respect to
the center of the labware.
Tool space jog buttons:
Jogs the robot in the specified direction
by the specified distance in millimeters
or by the specified angle.
X:
Y:
Phi:
X and Y jog increment
Specifies the distance, in millimeters, the
robot moves when you click an x- or yaxis jog button.
Phi jog increment
Specifies the distance, in degrees, the
labware rotates when you click a rotating
jog button.
Direct Drive Robot User Guide
225
A Quick reference
Jog/Move tab
Jog area: Joint space commands
Command or parameter
Description
Joint space
Displays the jog buttons to rotate the
robot’s entire body about its waist joint,
rotate its forearm about its elbow joint,
and rotate its hand about the wrist joint.
In addition, you can move the robot arm
up and down along the mast or z- axis.
Wrist/Elbow/Waist jog buttons:
Jogs the robot in the specified direction
by the specified degrees.
Joint jog increment
Specifies the angle, in degrees, the robot
rotates when you click a rotating jog
button.
Jog area: Gripper commands
226
Command or parameter
Description
Landscape: Open/Close
Opens or closes the robot grippers to
accommodate the landscape labware
orientation.
Direct Drive Robot User Guide
A Quick reference
Jog/Move tab
Command or parameter
Description
Portrait: Open/Close
Opens or closes the robot grippers to
accommodate the portrait labware
orientation.
Gripper jog buttons:
Opens or closes the robot grippers by the
specified distance.
Gripper jog increment
Specifies the distance, in millimeters, the
robot grippers move when you click an
open or close gripper jog button.
Jog area: Z-axis commands
Command or parameter
Description
Z Axis jog buttons:
Jogs the robot along the z- axis in the
specified direction by the specified
distance.
Z Axis jog increment
Specifies the distance, in millimeters, the
robot moves when you click one of the
Z Axis jog buttons.
Direct Drive Robot User Guide
227
A Quick reference
Jog/Move tab
Move area
228
Selection or command
Description
Teachpoint selection
Allows you to select from the list of available
teachpoints.
Right/Left/Optimal
Specifies the robot- arm orientation at the
selected teachpoint.
Transfer buttons:
Picks up labware from a selected teachpoint
and places the labware at the other selected
teachpoint.
Pick from
Picks up labware from the selected
teachpoint.
Place to
Places labware at the selected teachpoint.
Move to
Moves the robot grippers to the selected
teachpoint.
Direct Drive Robot User Guide
A Quick reference
Teachpoints tab
Teachpoints tab
Commands
Command
Description
Teach mode
Enables you to move the robot arm and
hand freely without resistance.
(Maximize/Minimize)
Displays all of the columns or displays
the first few columns in the teachpoints
table.
New teachpoint
Adds a new teachpoint in the table.
Delete selections
Deletes the selected teachpoints.
Save teachpoints
Saves the changes made to the
teachpoints.
Column name
Description
Name
The name of the teachpoint. To change
the name, double- click the box and type
the new name.
Teachpoints table
Direct Drive Robot User Guide
229
A Quick reference
Teachpoints tab
Column name
Orientation
Description
The orientation of the labware from the
robot’s perspective. Double- click to
change the A1 well orientation.
Note: You cannot change the robot- arm
orientation (R or L) or the labware
orientation (portrait or landscape). The
software automatically sets these
orientations when you set the teachpoint.
Regrip Station
The regrip station designation. Select the
check box to designate the teachpoint as
a regrip station.
Note: Regrip stations cannot be used for
other purposes such as deadlock
avoidance.
Approach Ht (with labware)
The height clearance, in millimeters, the
robot must maintain above the teachpoint
as it moves towards or away from the
teachpoint with labware in its grippers.
Approach Ht (no labware)
The height clearance, in millimeters, the
robot must maintain above the teachpoint
as it moves towards or away from the
teachpoint with no labware in its
grippers.
Approach Distance
The distance, in millimeters, from the
teachpoint within which the robot must:
Minimum Gripper Offset
•
Maintain the specified approach
height.
•
Move in a straight line toward or
away from the teachpoint.
The vertical distance, in millimeters, from
the teachpoint to the lowest point where
the grippers will hold the labware at the
teachpoint. The default value is 0 mm.
This value is used with the Maximum
gripper offset value to define a range
within which the grippers can hold the
labware at the teachpoint location.
IMPORTANT
During the run, the
VWorks software checks the gripper
offset range defined in this tab and the
range in the labware’s definition.
IMPORTANT
For regrip stations, make
sure the range can accommodate all
labware.
230
Direct Drive Robot User Guide
A Quick reference
Teachpoints tab
Column name
Description
Maximum Gripper Offset
The vertical distance, in millimeters, from
the teachpoint to the highest point where
the grippers will hold the labware at the
teachpoint. The default value is 10 mm.
This value is used with the Minimum
gripper offset value to define a range
within which the grippers can hold the
labware at the teachpoint location.
Position Z
The z- axis coordinate of the robot
measured in millimeters.
Waist
The waist joint coordinate.
Elbow
The elbow joint coordinate.
Wrist
The wrist joint coordinate.
Pick Custom Action
The actions that the robot will perform at
the teachpoint.
Use the Pick Custom Action to:
Place Custom Action
•
Relid labware at a Lid Hotel Station.
•
Stir the labware at the teachpoint.
The actions that the robot will perform at
the teachpoint.
Use the Place Custom Action to:
Last modified
Direct Drive Robot User Guide
•
Delid labware at the Lid Hotel
Station or the Vacuum Delid Station.
•
Press down labware to secure
placement.
The timestamp that shows when a
teachpoint was changed.
231
A Quick reference
Cycler tab
Cycler tab
232
Command or option
Description
Insert teachpoints
Allows you to select the desired
teachpoints from the existing teachpoints
list.
Remove teachpoints
Removes the selected teachpoints from
the Teachpoints list.
Pause after ___ cycles
Pauses the cycling after the specified
number of cycle times.
All permutations
Runs the all- permutations cycling
sequence.
Start/Pause
Starts the cycling.
Stop
Stops the cycling. The robot will stop
after the current pick- and- place action.
Direct Drive Robot User Guide
A Quick reference
Setup tab
Setup tab
Speed definitions
The following robot speeds are definable as a percentage of the factory- set
maximum speed. The default percentage settings are as follows:
Speed
Default
Slow
20%
Medium
50%
Fast
80%
Gripper Settings (mm)
Command or option
Description
Open pos
The distance, in millimeters, between the
grippers when they are open. The default
values are 132 mm (landscape) and
95 mm (portrait).
Direct Drive Robot User Guide
233
A Quick reference
Setup tab
Command or option
Description
Close target
The approximate distance, in millimeters,
between the grippers when they are
closed. The default values are 123.5 mm
(landscape) and 81.5 mm (portrait).
The Close target value is always used in
conjunction with the Close tolerance
value.
Close tolerance
The distance, in millimeters, the Close
target is allowed to vary without causing
an error. The default value is +/- 3 mm.
Base clearance
The z- axis coordinate at which the
bottom of the grippers touches the top of
the base.
Finger height
The height of the grippers, measured
from the midpoint of the gripper pads.
Table dimensions and Robot Position
Command or option
Description
W1/2
The width of the robot- attachment
surface. W1 and W2 specify the lengths
of the two segments of the width. The
line that intercepts the end of W1 and
the beginning of W2 runs through the
center of the robot base.
D1/2
The depth of the robot- attachment
surface. D1 and D2 specify the lengths of
the two segments of the depth. The line
that intercepts the end of D1 and the
beginning of D2 runs through the center
of the robot base.
Robot angle
The angle between the robot 0° position
relative to the D- axis.
Command or option
Description
Save ALL advanced settings to
file
Saves the current robot settings to a file.
Restore ALL advanced settings to
file
Restores the robot settings from the
selected file.
Commands
234
Direct Drive Robot User Guide
A Quick reference
Advanced tab
Advanced tab
Commands
Command or option
Description
Dump controller’s log to file
Saves the robot controller log to a file.
Move to shipping position
Tucks the robot forearm and hand under
the bicep to permit the installation of the
shipping brace.
Update robot firmware
Backs up the existing robot firmware,
and then updates, restores, or installs the
selected firmware.
Caution: If you have robot firmware
version 1.1 or earlier, contact Automation
Solutions Technical Support before
starting the update procedure.
Update gripper firmware
Updates the selected gripper firmware.
Back up robot firmware
Backs up the robot firmware.
Direct Drive Robot User Guide
235
A Quick reference
Advanced tab
Temperatures (°C)
Component
Description
Z motor
The temperature of the z- axis motor.
Bicep cavity
The temperature of the bicep interior.
Controller CPU
The temperature of the contoller CPU.
Z amplifier
The temperature of the z- axis amplifier.
Waist
The temperature of the waist interior.
Elbow
The temperature within the elbow.
Wrist
The temperature inside the wrist.
Component
Description
Z motor
The voltage delivered to the z- axis motor.
Waist
The voltage delivered to the waist motor.
Elbow
The voltage delivered to the elbow motor.
Wrist
The voltage delivered to the wrist motor.
Bus Voltages (V)
236
Direct Drive Robot User Guide
A Quick reference
Profiles tab
Profiles tab
Profile Management area
Selection or command
Description
Profile name
Displays the selected profile. Also allows you
to select from the list of available profiles.
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 robot using
the selected profile.
Direct Drive Robot User Guide
237
A Quick reference
Profiles tab
Robot Identifiers area
Display value or command
Description
Device ID
Displays the name of the robot. This name is
displayed in the Discovered BioNet Devices
dialog box.
MAC address
Displays the MAC address that identifies the
robot. The address is displayed in the
Discovered BioNet Devices dialog box.
IP address
Displays the IP address that uniquely
identifies the robot. The address is displayed
in the Discovered BioNet Devices dialog box.
Find available Direct Drive
Robot
Opens the Discovered BioNet Devices dialog
box so that you can locate and select the
robot.
Teachpoint File area
Display value or command
Description
File path
Displays the location of the selected
teachpoint file.
New
Allows you to create a new teachpoint file.
Select
Allows you to select an existing teachpoint
file.
Save as
Allows you to change the teachpoint file
name or storage location from the default.
The default teachpoint file name is
Teachpoints_<profilename>.xml, where
<profilename> is the name of the profile. The
software saves the file in the C:\VWorks
Workspace folder.
Miscellaneous area
Option
Description
All regrip stations are safe
from above
Indicates sufficient clearance at all regrip
stations to permit the robot to rotate its
wrist at the approach height.
Use this option if one or more regrip stations
will be used for changing labware orientation.
238
Direct Drive Robot User Guide
Direct Drive Robot
User Guide
B
Spare parts
This appendix lists the Direct Drive Robot spare parts you can
order from Automation Solutions. The topics are:
•
“Ordering information” on page 240
•
“Spare parts list” on page 241

239
B Spare parts
Ordering information
Ordering information
Contacting Customer Service
To order spare parts, contact Automation Solutions Customer Service using
one of the following methods:
Contact method
Telephone
Information
1.866.428.9811
+1.408.345.8356
Email
orders.automation@agilent.com
Be sure to provide the part numbers of the parts you need.
Related information
240
For information about...
See...
Reporting problems
“Reporting problems” on page 217
Spare parts list
“Spare parts list” on page 241
Direct Drive Robot User Guide
B Spare parts
Spare parts list
Spare parts list
Part name
Part number
Direct Drive Robot (in shipping brace):
Cable connection on the side, or
23083- 211
Cable connection on the bottom
23083- 212
Power supply:
Fuses on the back side, or
G5411- 60010
Fuses inside
G5411- 60005
2- mm hex wrench
G5550- 04237
4- mm hex wrench
G5550- 04234
5- mm hex wrench
G5550- 01523
M6 mounting bolts (8)
G5550- 02705
Power supply mounting
Pan- head Phillips machine screws (4)
G5550- 09078
M05 split lock washer (4)
G5550- 02453
M05 flat washer (4)
G5550- 02439
Teaching jig
G5550- 23357
Regrip station assembly:
Regrip station
G5550- 20020
M6 mounting screw
G5550- 02697
Gripper pad replacement parts:
Gripper pads (2)
G5550- 23287
Cap screws (6)
5023- 1658
Star- head wrench
5023- 1659
Threadlocking solution
5188- 8370
Power cable
Request by country
Robot cable
G5550- 23704
Emergency stop pendant and cable
16971- 001
Ethernet cable
G5550- 09363
VWorks software CD:
Benchtop license, or
08330- 402
System license
08330- 403
Direct Drive Robot Site Preparation and Safety
Guide
Direct Drive Robot User Guide
G5430- 90001
241
B Spare parts
Spare parts list
Related information
242
For information about...
See...
Ordering information
“Ordering information” on page 240
Reporting problems
“Reporting problems” on page 217
Installing the robot
“Installation and setup workflow” on
page 32
Replacing the gripper pads
“Replacing robot gripper pads” on
page 181
Replacing the grippers
“Replacing robot grippers” on page 185
Safety
Direct Drive Robot Site Preparation
and Safety Guide
Direct Drive Robot User Guide
Glossary
clamps (BenchCel) The components inside of the
stacker head that close and open the stacker
grippers during the loading, unloading,
downstacking, and upstacking processes.
controlling computer The lab automation system
computer that controls the devices in the system.
cycle See seal cycle.
deadlock An error that occurs when the number of
locations available in the system is less than the
number of microplates in the system. Because the
microplates cannot move to the expected
locations, the protocol pauses.
device An item on your lab automation system that
can have an entry in the device file. A device can
be a robot, an instrument, or a location on the lab
automation system that can hold a piece of
labware.
plate instance A single labware in a labware group
that is represented by the process plate icon.
plate stage The removable metal platform on which
you load a plate.
plate-stage support The structure on which you load a
plate stage. The plate- stage support extends when
the door opens.
profile The Microsoft Windows registry entry that
contains the communication settings required for
communication between a device and the VWorks
software.
process A sequence of tasks that are performed on a
particular labware or a group of labware.
protocol A schedule of tasks to be performed by a
standalone device, or devices in the lab
automation system.
downstack The process in which a microplate is
moved out of the stack.
regrip station A location that enables the robot to
change its grip orientation (landscape or portrait),
or adjust its grip at the specified gripping height.
Grip height adjustment might be necessary after a
robot picks up a labware higher than the specified
gripping height because of physical restrictions at
a teachpoint.
error handler The set of conditions that define a
specific recovery response to an error.
robot grippers The components that the robot uses to
hold labware.
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 xaxis).
run A process in which one or more microplates are
processed. In a standalone device, the run
consists of one cycle. In a lab automation system,
a run can consist of multiple cycles that are
automated.
homing The process in which the robot is sent to the
factory- defined home position for each axis of
motion.
safe zone The boundary within which the robot is
allowed to move without colliding with external
devices.
hot plate (PlateLoc) A heated metal plate inside the
sealing chamber that descends and presses the
seal onto the plate.
seal cycle The process in which a single plate is
sealed on the PlateLoc Sealer.
device file A file that contains the configuration
information for a device. The device file has the
.dev file name extension and is stored in the
folder that you specify when saving the file.
insert A pad placed under the plate to support the
bottom of the wells for uniform sealing.
location group A list of labware that can be moved
into or out of particular slots in a storage device.
plate group A list of specific labware that can be
moved into or out of a storage device without
regard for the slot locations.
Direct Drive Robot User Guide
seal entry slot The narrow entry on the back of the
PlateLoc Sealer where the seal is inserted into the
device.
seal-loading card A rectangular card that is used to
facilitate the seal loading process on the PlateLoc
Sealer.
seal-roll support The triangular structures at the top
of the PlateLoc Sealer where a roll of seal is
mounted.
243
Glossary
sealing chamber The area inside of the PlateLoc
Sealer where the seal is applied to a plate.
shelves (BenchCel) The components inside of the
stacker head that provide leveling surfaces for the
microplates, thus ensuring accurate robot
gripping, during the downstacking process.
stacker grippers The padding at the bottom of the
stacker racks that hold microplates when a
microplate is loaded, downstacked, or upstacked.
subprocess A sequence of tasks performed as a
subroutine within a protocol. Typically the
subprocess is performed by a single device type,
such as the Bravo device.
task An operation performed on one or more
labware.
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 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 one or more device teachpoints.
touch screen The interface on the front of the
PlateLoc Sealer where sealing parameters are set,
the seal cycle can be started or stopped, and the
seal cycle can be monitored.
upstack The process in which a microplate is moved
back into the stack.
waypoint A set of coordinates that define a location
the robot passes through on its way to a
teachpoint.
workspace The boundary within which the robot can
move without limitations.
244
Direct Drive Robot User Guide
Index
Index
A
A1-well orientation, 81, 82, 94
All regrip stations are safe from above option, 60, 106
Approach Distance parameter, 100
Approach Ht (no labware) parameter, 99
Approach Ht (with labware) parameter, 99
Approach Ht parameter (Direct Drive Robot), 99
attachment surface, 69
automation control software, 11
axis and gripper specifications (Direct Drive Robot), 21
B
bus voltage, Direct Drive Robot, 164
bus voltage, monitoring, 163
C
caution zone, described, 20
Close command (Direct Drive Robot grippers), 155
communication setup, 58
computer
requirements, 29
computer requirements
Direct Drive Robot, 29
configuration file (Direct Drive Robot), 166
context-sensitive help, xiii
controller log, 175
custom actions (Direct Drive Robot), 103
D
DDR Diagnostics, 12, 138
Advanced tab, 163, 164, 169, 170, 172, 175
Cycler tab, 127
described, 138
Jog/Move tab, 109, 145
log area, 174
Profiles tab, 57
Setup tab, 69, 73, 151, 157, 166
Teachpoints tab, 81
DDRFirmwareBackup_.zip, 172
DDRFirmwareUpdate_x_x_x-.zip, 168
DDRGripperx.x.sw, 168, 172
description
Direct Drive Robot, 2, 4
device files
adding devices, 53
creating, 11, 51
defined, 51
saving, 52
devices, 133
adding to device file, 53
communicating with, 54, 56
Direct Drive Robot User Guide
defined, 51
deleting in software, 54
initializing, 54
profiles in, 56
diagnostics software
described, 12
Direct Drive Robot, 138
version number, x
dimensions
Direct Drive Robot, 14
Direct Drive Robot, 10, 34
adding in device file, 50, 53
axes, 2, 4
axis and gripper specifications, 21
bus voltage, 164
cable, 14
caution zone, 20
closing grippers, 154
computer requirements, 29
custom actions, 103
described, 2, 4
dimensions, 14
disabling and enabling motors, 148, 149
elbow, 2, 4
electrical requirements, 27
emergency stop, 135
emergency stop pendant, 9, 16
environmental requirements, 28
error messages, 208
firmware installation, 172
firmware update, 168
firmware version, 168
firmware, described, 168
gripper firmware update, 168
gripper firmware version, 168
gripper firmware, described, 168
gripper lead screws, 6
grippers, 14
home indicator light, 140
homing grippers, 141
homing robot, 140
installing teaching jig, 91
IP address, 59
jog increments, 146, 154
jogging, 145, 146
joints, 2, 4
Logic Power light, 7
MAC address, 59
maintenance, 178
mast, 2, 4
Motor Power light, 7
245
Index
mounting specifications, 24
movements, 2, 4
moving to safe zone, 143
moving to teachpoint, 109
multiple robots in a system, 58
opening grippers, 154
orientation coordinates, 80
orientation information, 80
orientations, atypical, 96
orientations, common, 95
performance, 23
picking up labware from a teachpoint, 112
placing labware at a teachpoint, 115
power inlet, 8
power supply, 7, 15
power switch, 7
preparing for a run, 132
profile, 56, 67
reach, 18
recovering from emergency stop, 198
regrip stations, 97
removing teaching jig, 92
restoring existing firmware, 172
safe zone, 18
serial number location, 8
specifying A1-well orientation, 94
specifying labware orientation, 94
specifying robot-arm orientation, 95
speed, selecting, 150
stopping in an emergency, 135
Teach Mode, 91
teaching jig, 9, 90, 91
teachpoint file, 63, 88
teachpoint zone, 19
teachpoints, creating, 93
teachpoints, defined, 79
teachpoints, editing, 121
teachpoints, examples of, 83
teachpoints, replacing, 124
teachpoints, saving, 104
teachpoints, setting using labware, 107
teachpoints, setting using teaching jig, 89
teachpoints, verifying, 109
temperature, 163
transferring labware between teachpoints, 117
turning off, 46
turning on, 46
view, changing, 161
waist, 2, 4
wrist, 2, 4
disabling robot motors (Direct Drive Robot), 148, 149
disabling the robot motors, 148
Discovered BioNet Devices (Direct Drive Robot), 58
dry runs, 134
246
dry runs, described, 134
E
editing, 67
Elbow coordinate, 103
electrical requirements, 203
Direct Drive Robot, 27
EMERGENCY STOP
buttons, 198
procedure, 135
recovering from, 198
emergency stop pendant (Direct Drive Robot), 9, 16
enabling robot motors (Direct Drive Robot), 148, 149
enabling the robot motors, 148
environmental requirements (Direct Drive Robot), 28
errors
hardware, 203
messages (Direct Drive Robot), 208
reporting, 217, 218
servo, 201
software, 198
teachpoint, 105, 134
Ethernet connection (Direct Drive Robot), 8
F
firmware, 172
backing up, 170
checking version (Direct Drive Robot), 168
described (Direct Drive Robot), 168
installing (Direct Drive Robot), 172
restoring, 172
updating, 168
updating (Direct Drive Robot), 168
fuse, 203
fuses
replacing, 190, 192
G
gripper firmware
checking version (Direct Drive Robot), 168
described (Direct Drive Robot), 168
update (Direct Drive Robot), 168
Gripper indicator light (Direct Drive Robot), 141
gripper lead screws, 6
Gripper offset parameter, 102
gripper pads
cleaning, 179
replacing, 181
screws, 183
grippers
changing settings, 156
Direct Drive Robot, 14
homing, 140
opening and closing, 154
Direct Drive Robot User Guide
Index
opening and closing (Direct Drive Robot), 154
opening and closing manually, 92
replacing, 185
guidelines for setting teachpoints, 82, 90
H
hardware
errors, 203, 217
overview, 4
Home grippers command (Direct Drive Robot), 141
Home robot command (Direct Drive Robot), 140
homing the grippers, 140
homing the robot, 140
I
installation
Direct Drive Robot, 42
Direct Drive Robot shipping brace, 39
IP address, Direct Drive Robot, 59
J
job roles for readers of this guide, x
jogging the robot, 145
jogging the robot (Direct Drive Robot), 146
Joint space selection, 145
K
knowledge base, xii
L
labware
definition, 11, 205
landscape orientation, 80
orientation (Direct Drive Robot), 80, 82, 94
picking up from teachpoint (Direct Drive Robot), 112
portrait orientation, 80
transferring between teachpoints (Direct Drive Robot),
117
landscape labware orientation, 80
left-arm orientation, 80, 95
liquid-handling tubing, 178
M
MAC address, Direct Drive Robot, 59
maintenance, 178
maintenance, routine, 178
Max gripper offset parameter, 102
Min gripper offset parameter, 102
mounting specifications (Direct Drive Robot), 24
Move to safe zone command (Direct Drive Robot), 143
N
network cards, 29
Direct Drive Robot User Guide
O
online help, xii
Open command (Direct Drive Robot grippers), 155
orientation coordinates, 80
orientation information, 80
A1 well, 81
labware, 80
robot arm, 80
P
packing, 34
PDF guide, xii
performance specifications (Direct Drive Robot), 23
Pick Deco parameter, 103
Place Deco parameter, 104
plate sensor errors, 6, 159
Plate sensor indicator, 6, 159
plugins
loading, 53
storage location, 53
portrait labware orientation, 80
Position Z coordinate, 103
power
connection, 203
turning off the robot, 46
turning on the robot, 46
power inlet, 8
power supply (Direct Drive Robot), 15
power switch
Direct Drive Robot, 7
profile parameters, 60
profiles, 67
creating, 56
defined, 56
described, 12, 56
initializing, 65
managing, 67
saving, 64
selecting, 54
protocol runs
performing dry runs, 134
planning for, 133
setup guidelines, 133
starting, 11
stopping in an emergency, 135
R
recovering the system, 198
regrip station, 10
regrip stations
described, 10, 97
designating teachpoints as, 97
Reload Plugins command, 53
removing the Direct Drive Robot, 42
247
Index
removing the Direct Drive Robot shipping brace, 39
restoring existing (Direct Drive Robot), 172
Retrace to safe zone (Direct Drive Robot), 143
right-arm orientation, 80, 95
robot
adding in device file, 53
axes (Direct Drive Robot), 2, 4, 145
homing, 140
homing (Direct Drive Robot), 140
jog increments (Direct Drive Robot), 146, 154
jogging (Direct Drive Robot), 146
opening and closing grippers (Direct Drive Robot), 154
recovering from servo errors, 201
speed, selecting (Direct Drive Robot), 150
view, changing (Direct Drive Robot), 161
robot cable (Direct Drive Robot), 8
robot communication, 58
robot disable cable (Direct Drive Robot), 8
robot display, changing, 161
robot gripper pads, maintaining, 178
robot grippers
closing (Direct Drive Robot), 154
homing (Direct Drive Robot), 141
indicator light (Direct Drive Robot), 141
offset (Direct Drive Robot), 102
opening (Direct Drive Robot), 154
Robot homed indicator light, 140
robot motors
disabling and enabling (Direct Drive Robot), 148, 149
stopping, 149
robot motors, disabling and enabling, 148
robot reach, 18
robot settings, restoring, 166
robot speed
changing, 150
changing the definitions of, 151
robot-arm orientation, 80, 82, 95
run
preparing for, 132
S
safe zone
moving to, 142
safe zone, described, 18, 142
safety
EMERGENCY STOP, 135
general information, 2
serial number location
Direct Drive Robot, 8
servo errors, recovering from, 201
setting up the robot, 50
setup workflow
Direct Drive Robot, 32, 33, 50, 78
Show robot position command, 98
248
software
automation control, 11
described, 11
errors, 198, 208, 217
reporting errors, 217
version number, x, 217
speed, selecting
Direct Drive Robot, 150
stopping the robot, 135, 149
T
table dimensions, 69
Teach Mode command, 91
teaching jig
Direct Drive Robot, 90, 91, 92
teaching jig (Direct Drive Robot), 9
teachpoint files, 62
teachpoint zone, described, 19
teachpoints
A1-well orientation (Direct Drive Robot), 94
coordinates, changing, 103
creating (Direct Drive Robot), 93
creating a copy (Direct Drive Robot), 125
defined (Direct Drive Robot), 12, 79
deleting (Direct Drive Robot), 125
editing (Direct Drive Robot), 121
file (Direct Drive Robot), 63, 88
labware orientation (Direct Drive Robot), 94
moving to (Direct Drive Robot), 109
naming (Direct Drive Robot), 94
orientation coordinates, 80
orientation information, 80
picking up labware from (Direct Drive Robot), 112
placing labware at (Direct Drive Robot), 115
planning, 79
profile references (general), 56
renaming (Direct Drive Robot), 125
replacing (Direct Drive Robot), 124
robot-arm orientation (Direct Drive Robot), 95
saving, 104
setting (Direct Drive Robot), 82, 89
setting, using labware (Direct Drive Robot), 107
storage location, 88
verifying (Direct Drive Robot), 109
temperature, Direct Drive Robot, 163
temperature, monitoring, 163
Tool space selection, 145
troubleshooting, 12, 137, 177
hardware errors, 203
U
unpacking
Direct Drive Robot, 34
user accounts, 11
Direct Drive Robot User Guide
Index
user guide
described, x
related guides, xi
V
version numbers, software, x
W
Waist coordinate, 103
Windows registry files, 56
workflows
Direct Drive Robot setup, 32, 33, 50, 78
installing the robot, 32
packing the robot, 33
preparing for a run, 132
preparing for protocol runs, 132
setting up the robot, 50
teachpoints setup (Direct Drive Robot), 89
unpacking the robot, 32
Wrist coordinate, 103
Direct Drive Robot User Guide
249
Index
250
Direct Drive Robot User Guide

User Guide
G5430-90003
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