BenchCel User Guide

BenchCel User Guide

November 2006

BenchWorks version 33

16967.01.00.00_BenchCelUG_Nov06

Copyright 2006 Velocity11

The information provided in this guide is intended to be accurate and reliable. However, Velocity11 does not assume responsibility for its use or for any infringements upon the rights of third parties that may result from its use.

The transfer of this guide, in any manner or form, to a representative of another company is strictly forbidden.

BenchCel, PlateLoc, VCode, Velocity11, VPrep, and VStack are registered trademarks of Velocity11.

PlatePierce and VSpin are trademarks of Velocity11.

Microsoft and Windows are registered trademarks of the Microsoft Corporation in the United States and other countries.

All other trademarks are the sole property of their respective owners.

Velocity11

3565 Haven Avenue

Menlo Park, CA 94025

USA

Technical Support: 1.800.979.4811 or +1.650.846.6611

Customer Service: 1.866.428.9811 or +1.650.846.6601

Email: [email protected]

Web: http://www.velocity11.com

Table of Contents

BenchCel User Guide i

Contents

Chapter 1. Introduction

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Who should read this guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Accessing Velocity11 user guides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

What this guide covers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

What is new in this version of the user guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Reporting BenchCel problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

BenchCel hazard warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Chapter 2. BenchCel overview

. . . . . . . . . . . . . . . . . . . . . . . . . . . 11

BenchCel description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

BenchCel configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

BenchCel features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

BenchCel accessories and integration options. . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Laboratory setup requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Utility and environmental requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

The computer and networking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Connection panel description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Stacker-gripper control description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Connecting the controlling PC and BenchCel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Connecting the BenchCel to compressed air . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Chapter 3. Preparing for a run

. . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Workflow for preparing for a run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Turning on the BenchCel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Preparing devices and accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Setting up a VSpin counterweight plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Installing a rack. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Chapter 4. Performing a run

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

About performing a run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Performing pre-run checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Cleaning up after a run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Shutting down the BenchCel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

ii


BenchCel User Guide

Chapter 5. Using BenchCel Diagnostics

. . . . . . . . . . . . . . . . . 45

About diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Opening BenchCel Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

About the Controls page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Homing the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Moving the robot manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Jogging the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Changing the robot speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Using Move-To-Position commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

About stacker controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Loading and releasing stacks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Extending and retracting stacker clamps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

About teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Adding a teachpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Editing a teachpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Deleting a teachpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Managing teachpoint files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Moving between teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

About the Labware Parameters area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Opening the Labware Parameters area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Changing labware parameters in BenchCel Diagnostics . . . . . . . . . . . . . . . . . . . . . 75

About general settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Changing general settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Making global general settings changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

About profiles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Creating a BenchCel profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Managing profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Chapter 6. Maintenance and troubleshooting

. . . . . . . . . . . 89

Routine maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

About error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Resolving device initialization errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Resolving common problems and error messages. . . . . . . . . . . . . . . . . . . . . . . . . 93

Checking the arm alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Troubleshooting wrong plate type errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Verifying the plate type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Verifying the theta homing offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Verifying the sensor offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Troubleshooting plate is rotated errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Troubleshooting plate presence errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Adjusting the orientation sensors in the labware parameters area . . . . . . . . . . . . 107

Checking the stacker sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Verifying and adjusting teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Resolving non-VCode bar code reader errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Resolving VCode bar code reader errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117


BenchCel User Guide iii

Adjusting the stacker gripper pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Chapter 7. BenchCel ActiveX controls

. . . . . . . . . . . . . . . . . . 121

About ActiveX controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Index

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

iv



Chapter 1: Introduction


Introduction

1

This chapter introduces the BenchCel User Guide.

To operate the BenchCel, become familiar with the procedures in this guide as well as the guides for the devices installed on your BenchCel.

This chapter contains the following topics:

❑

“Who should read this guide” on page 2

❑

“Accessing Velocity11 user guides” on page 3

❑

“What this guide covers” on page 5

❑

“Reporting BenchCel problems” on page 7

❑

“Safety information” on page 7

❑

“BenchCel hazard warnings” on page 8

1

2



Who should read this guide

Job roles

This user guide is for people with the following job roles:

Job role

Integrator

Installer

Lab manager, administrator, or technician

Operator

Responsibilities

Someone who configures software and hardware to allow integration of the

BenchCel into a larger lab automation system.

Someone who unpacks, puts together, and tests the BenchCel before it is used.

Someone who is responsible for:

❑

Managing the BenchCel

❑

Developing the applications that are run on it

❑

Solving the more challenging problems that might arise

❑

Developing training materials and standard operating procedures for operators

Someone who performs the daily production work on the BenchCel and solves routine problems.

Your organization may choose to create its own procedures for operators including the procedures in this guide.

Related topics

For information about...

Using Velocity11 user guides

Finding firmware version

What this guide covers

Starting VWorks

See...


“About general settings” on page 79


VWorks User Guide



Accessing Velocity11 user guides

About this topic

This topic describes the different formats of Velocity11 user information and explains how to access the user information.

Formats available

Velocity11 user information is provided to you as:

❑

Online help

❑

A PDF file

❑

A printed book

The information in each format is the same but each format has different benefits.

Where to find user information

Online help

The online help is added to your computer with the Velocity11 lab automation system software installation.

PDF file

The PDF file of the user guide is on the software CD that is supplied with the product.

Velocity11 website

You can search the online help or download the latest version of any

PDF file from the Velocity11 website at www.velocity11.com.

Note: All Velocity11 user information can be searched from the website at www.velocity11.com.

Online help

The online help is the best format to use when you are working at the computer and when you want to perform fast or advanced searches for information.

To open the online help:

In the Velocity11 lab automation software, press F1. The online help window opens.

Main features

The online help window contains the following:

❑

Navigation pane. Consists of four tabs. The Contents, Index, and

Search tabs provide different ways to locate information. The Using tab contains information about using the help system.

❑

Content pane. Displays the online help topics.

❑

Navigation buttons. Enables you to navigate through the pages.The online help includes a navigation pane, content pane, and navigation buttons.

3

4



Navigation pane Content pane Navigation buttons

PDF user guides

Related topics

Computer requirements

To open a user guide in PDF format, you need a PDF viewer. You can download a free PDF viewer from the internet.

Printing and searching

The user guides in PDF format are mainly for printing additional copies.

You can perform simple searches in the PDF file, although these searches are much slower than online help searches.

More information

For more information about using PDF documents, see the user documentation for the PDF viewer.


Who this guide is for


Finding firmware version

Starting VWorks

See...



VWorks User Guide

VWorks User Guide




What is covered

This guide covers a description of the BenchCel, the operation of the hardware components, and the use of diagnostics.

What this guide does not cover

This guide does not cover the operation of the following:

❑

VWorks, BenchWorks, or third-party software

❑

Velocity11 devices, such as the PlateLoc, VCode, and VPrep when used in stand-alone mode

❑

Other companies’ devices, with the exception of the use of diagnostics software that is developed by Velocity11 for other companies’ devices

For more information about these topics, see the relevant user guides for these products.

BenchCel operating software

This user guide covers BenchCels that use VWorks, BenchWorks, or third-party software to operate.

BenchCel versions

Because the BenchCel is available in different configurations and can be customized, your BenchCel may not be exactly as described in this guide.

Related topics


Overview of the BenchCel

See...

“BenchCel overview” on page 11

5

6



What is new in this version of the user guide

About this topic

This topic briefly describes what is new in this version of the BenchCel

User Guide.

New information

New item

Troubleshooting labware problems

Troubleshooting teachpoints

The maintenance and troubleshooting chapter has been expanded and updated.

Description

Procedures for troubleshooting labware problems have been updated and expanded

The procedure for verifying and adjusting teachpoints has been updated

See...

❑

“Resolving common problems and error messages” on page 93

❑

“Troubleshooting wrong plate type errors” on page 100

❑

“Verifying the plate type” on page 101

❑

“Verifying the theta homing offset” on page 103

❑

“Verifying the sensor offset” on page 104

❑

“Troubleshooting plate is rotated errors” on page 105

❑

“Troubleshooting plate presence errors” on page 106

“Verifying and adjusting teachpoints” on page 111

Related topics


What topics are covered in this guide

Reporting problems

Accessing available documentation

See...






Reporting BenchCel problems

About this topic

If you have a technical or hardware problem that you cannot resolve after reading the chapter on maintenance and troubleshooting, read the information in this topic for how to report problems.

Related topics


Sending a bug report

Sending a registry file

See...

VWorks User Guide

VWorks User Guide

7

Safety information

About this topic This topic gives general information about BenchCel safety hazards.

Before using the

BenchCel

Before using a BenchCel, your organization should make sure that you are properly trained in:

❑

General laboratory safety

❑

The correct and safe operation of the BenchCel

❑

The correct and safe operation of other lab automation systems or components used in combination with the BenchCel

If you are the person in your organization responsible for training others on the BenchCel and you have a safety question, please contact

Velocity11 Service Center.

Safety labels

Pay attention to any safety labels printed on your BenchCel. A safety label, shown below, consists of a warning symbol. A description of the warning and information that will help you to avoid the safety hazard are located in the safety information topic of the user guide.

Chemical hazards

Some chemicals used when working with the BenchCel might be hazardous. Make sure you follow the recommendations in the MSDS

(Material Safety Data Sheet) for every chemical that you plan to use. The manufacturer of the chemical should provide you with the MSDS.

8



Waste disposal

Product use

Related topics

Remember to dispose of chemicals in compliance with all applicable regulations.

Velocity11’s products must only be used in the manner in which we intend, as described in our user guides. Any other use might damage the product or injure you. Velocity11 is not responsible for damages caused, in whole or part, by unauthorized modifications, or by procedures that are not explicitly described in our user guides. Any modifications or changes to products not expressly approved in Velocity11 user guides could void the warranty.

The BenchCel is not intended or approved for diagnosis of disease in humans or animals.


General hazard warnings

See...

“BenchCel hazard warnings” on page 8

Who should read this guide

Using the guide


Reporting a problem to Velocity11



BenchCel hazard warnings

About this topic

This topic gives more information for some hazard warnings found in this guide. Be aware of these hazards at all times when using the

BenchCel.

Intended use

!! INJURY HAZARD !!

The BenchCel must be used for its intended purpose as specified in this user guide. Failure to do so will compromise the BenchCel safety features.

Moving parts injury hazard

!! INJURY HAZARD !! Never attempt to touch any of the moving parts or attempt to remove plates while the BenchCel is in operation. Possible pinching, piercing, or bruising can occur.

!! INJURY HAZARD !! Do not launch software while touching the machine. Automatic motion begins if the machine is turned on and connected to the PC.

!! INJURY HAZARD !! Keep your fingers, hair, clothing, and jewelry away from the machine while it is in motion.



9

It is possible to be hit by the robot head when it is moving. If this happens, the robot head is designed to immediately stop, minimizing injury, and the likely outcome is minor bruising. However, the robot is particularly powerful in the vertical z-axis and could pierce a hand with one of its grippers.

Not all circumstances can be foreseen and more serious injury is possible. It is the responsibility of every operator to follow warnings and safety labels and keep out of the robot’s workspace whenever it is likely to move.

Removed safety guard injury hazard

!! INJURY HAZARD !! Operating the BenchCel without safety guards or enclosure covers increases risk of injury.

We recommend that you enclose the BenchCel in a light curtain or safety guard. This restricts access to the BenchCel while it is operating or shuts down the BenchCel if you breach the curtain or open the guard.

Safety interlock override hazard


Operating the BenchCel without the safety interlock circuit connected to an enclosure increases injury risk.

The BenchCel has a safety interlock circuit that must be closed for the system to operate. A jumper can be used to close the safety interlock circuit, but European directives regarding the safe operation of machinery require that you always connect the safety interlock to a safety guard or light curtain.

User account passwords damage hazard

!! DAMAGE HAZARD !!

Only fully trained BenchCel administrators should have access to, and use of, the user account passwords.

Improper use of the robot by untrained personnel can lead to damage to the machine. For example, the robot grippers could collide with a stacker if a teachpoint is not defined properly.

Improper cleaning hazard


Do not use harsh abrasives, corrosive cleaning agents, or metal brushes to clean any BenchCel components or accessories. Do not use any concentration of bleach

(sodium hypoclorite). Do not allow cleaning agents to contact any electrical or sensitive mechanical components.

10



Chapter 2: BenchCel overview


11

BenchCel overview

2

This chapter provides an overview of the BenchCel platform, its operating requirements, available accessories, and integration options.


❑

“BenchCel description” on page 12

❑

“BenchCel configurations” on page 13

❑

“BenchCel features” on page 14

❑

“BenchCel accessories and integration options” on page 15

❑

“Laboratory setup requirements” on page 18

❑

“Utility and environmental requirements” on page 19

❑

“The computer and networking” on page 20

❑

“Connection panel description” on page 22

❑

“Stacker-gripper control description” on page 24

❑

“Connecting the controlling PC and BenchCel” on page 25

❑

“Connecting the BenchCel to compressed air” on page 26

12



BenchCel description

About the BenchCel

BenchCel defined

The BenchCel is a plate-processing automation platform that is used to store plates and move them to and from separate devices.

Devices defined

Devices are individual pieces of equipment that sit on either side of the

BenchCel and process or help to process plates.

For example, a VCode device can apply a barcode to a plate, which can then be sealed by a PlateLoc device.

In this example, the BenchCel transports the plate from one of its stacker racks to the VCode, then to the PlateLoc, and then to another stacker rack.

Basic BenchCel components

Every BenchCel has the following:

❑

Two to six stacker racks

❑

A plate-handling robot

❑

A connection panel

❑

Operating software

❑

Computer

Standard BenchCel parts

Included with every standard BenchCel purchase are the following:

❑

Plate-handling robot

❑

Stacker racks

❑

Operating software

❑

Computer (if ordered)

❑

One power cord

❑

One 1/4- to 1/8-inch air hose reducer

❑

One 4 foot 1/8-inch air hose

❑

If you plan to use the serial connection:

Serial cables

❑

If you plan to use the Ethernet connection:

Ethernet cables

Ethernet hub or switch

Related topics



13


Available accessories

Connecting the BenchCel to the computer

Compatible devices

See...


“Connecting the controlling PC and

BenchCel” on page 25


BenchCel configurations

Available stacker configurations

The BenchCel may be factory assembled with 2, 4, or 6 plate stackers.

Package

BenchCel 2X

BenchCel 4X

BenchCel 6X

Contents

2 Std Stacker racks

VWorks (includes OCX)

Dell desktop PC

4 Std Stacker racks


Dell desktop PC

6 Std Stacker racks


Dell desktop PC

Related topics

For more information about...

Accessories and integration options

BenchCel features

Set up requirements

See...




14



BenchCel features

About this topic

This topic contains diagrams that display the main features of the

BenchCel. These diagrams show a BenchCel with two stacker racks, connected to a PlateLoc and a VCode.

Front view

Rear view

PlateLoc

Robot Head

Plate Gripper

00047 BenchCel BenchCel main features

PlateLoc integration plate

00047

BenchCel integration plate

00042

Connection panel

00042

BenchCel

BenchCel connections

Stacker head

00069

BenchCel

3 buttons

00069

Stacker rack

Stacker head

VCode

VCode integration plate

Air pressure regulator

Related topics



15



See...


Possible BenchCel configurations


Set up requirements


BenchCel accessories and integration options

About this topic

Accessories provide a function without performing tasks themselves. For example, a platepad provides a temporary holding place for a plate.

Individual devices that are mounted on integration plates on either side of the BenchCel can be used by the BenchCel robot to perform tasks with plates. This topic lists the accessories that are currently available for the BenchCel.

If a device is not listed here

If there is a product not listed here that you would like to add to your lab automation system, please contact your Velocity11 sales representative or email your regional sales contact for customization information.

Regional sales contact

Asia

Europe

MidAtlantic

Midwest

Northeast

Southeast

Southwest

West

Email address

[email protected]

[email protected]

[email protected]

[email protected]

[email protected]

[email protected]

[email protected]

[email protected]

16



Compatible accessories

Compatible integrations

Accessory

Stacker racks

Laptop computer

Platepad

Plate hotel

Description

Available in four sizes:

❑

Extra short (25.4 cm)

❑

Short (45.7 cm)

❑

Standard (66.0 cm)

❑

Tall (86.4 cm)

Computer with a smaller footprint than the standard computer provided with the BenchCel.

Provides a temporary storage place for a plate.

Four platepads that are stacked vertically and configured as shelves in the operating software.

One or more bar code readers attached to a platepad.

Auxiliary bar code reader

Integration

Plate

ESTOP

Each device and platepad requires a different integration plate to attach to the BenchCel.

An emergency stop button connected to the safety interlock circuit.

:

Velocity11 devices

The following Velocity11 devices can be integrated with the BenchCel:

Device Description

PlateLoc Thermal plate sealer

PlatePierce Seal piercing station

VCode

VPrep

VSpin with Access2

Bravo

Bar code print and apply station

Liquid dispenser

Plate centrifuge station

Precision pipetting system

Third party devices

The following devices from other companies can be integrated with the

BenchCel. Before purchasing another company’s device, ask Velocity11 about integration requirements.

This list is updated frequently with new devices. Check with Velocity11 for the most recent information.

Related topics



17

:

Device

ABgene SEAL-IT 100

Bio-Tek ELx405 Washer

Genetix aliQuot

Genetix QFill2 Dispenser

Innovadyne Nanodrop

Labcyte Echo 550

Description

Adhesive plate sealer

Plate washer

Low volume liquid dispenser

Liquid dispenser

Liquid dispenser

Compound reformatter

Liconic STX (StoreX) and STR series Plate incubators

Matrix Wellmate Liquid dispenser

Molecular Devices instruments using

SoftMax Pro software

Plate readers

PerkinElmer FlexDrop

PerkinElmer ViewLux

Thermo Electron Multiskan Ascent

Thermo Electron Multidrop

Liquid dispenser

Plate imager

Plate reader

Plate dispenser


See...



BenchCel features


Set up requirements


18



Laboratory setup requirements

General bench requirements

Ensure that the bench for the BenchCel has the following:

❑

Proximity to utilities

❑

Enough space to accommodate the complete configuration of your

BenchCel, which includes the number and size of stacks, computer, and any devices

❑

Enough strength to support the BenchCel and devices without excessive shaking or movement

❑

A fixed position (no wheels)

❑

Proper height for any operator to comfortably operate the BenchCel and devices

BenchCel space requirements

The minimum space requirements for your BenchCel depends on its stack and configuration. The following table gives dimensions for a

BenchCel with 2X, 4X, or 6X stack configuration.

Dimension

Height w/short stack w/standard stack w/tall stack

Width

Depth

Weight

2X

43 cm

91.5 cm

107 cm

127 cm

43 cm

20 cm

21.8 kg

4X

43 cm

91.5 cm

107 cm

127 cm

86 cm

20 cm

28.1 kg

6X

43 cm

91.5 cm

107 cm

127 cm

130 cm

20 cm

32.7 kg

Addition of devices If you are integrating your BenchCel with a Velocity11 device or third party device, make sure to include adequate space to accommodate one or more devices. The following table provides space requirements for some of the more typical configurations.

Device

VCode

PlateLoc

Dimensions (cm)

L x W x H

28.4 x 28.4 x 61

39.9 x 58.4 x 21.6

VPrep

PlatePierce

25.9 x 78.7 x 38.1

20.3 x 35.6 x 34.4

VSpin with Access2 71.4 x 32.7 x 24.8

Bravo 64.8 x 43.8 x 68.6

Related topics



19



BenchCel features

Other requirements

See...




Utility and environmental requirements

Electrical requirements

The BenchCel requires access to the following source of power for the

BenchCel, operating computer, and any integrated devices:

Utility

Electrical

Requirement

100–240 VAC, 50/60 Hz

Compressed air requirements

The BenchCel requires access to the following source of compressed air.

Utility

Compressed air

Requirement

28 Lpm at 6 bar (1 cfm at 80 psi)

Environmental operating requirements

The BenchCel requires the following environmental conditions:

Parameter

Temperature

Requirement

5–40 °C

Relative humidity 10–90%

Elevation 1–2000 meters

Related topics



BenchCel features

Set up requirements

See...




20



The computer and networking

About this topic

This topic describes the computer and network connection requirements for running a BenchCel.

Computer functions

You need a computer to control the BenchCel and run the operating software.

The computer you connect to the BenchCel is used to:

❑

Control the BenchCel and its devices

❑

Input bar code labelling instructions

❑

Store and export log files

❑

Store and export data collected by plate readers

❑

Communicate with other computers on your company’s network for exchange of files, reporting of errors and accessing email

Connecting to the

BenchCel

The BenchCel can be controlled via Ethernet or serial cable.

If you connect the BenchCel to the host computer via Ethernet, and the host computer is already connected to a company LAN or other local network, you need a second, separate network card for the BenchCel.

This lets the BenchCel and any of its ethernet controlled devices operate on an isolated network.

Note: If you purchased your computer from Velocity11, it will have two network cards.

If you connect the BenchCel to the host computer with a serial cable, use the standard 9-pin RS-232 connector supplied with the BenchCel.

Assigning IP addresses

The computer’s IP address

The network card of the computer that is controlling the BenchCel on a lab automation network always has a static IP address. This is even the case when the devices are dynamically assigned addresses because of the way that DHCP servers work, DHCP servers are usually configured to start when Windows starts.

When the server starts, it reads an initialization file that points it to the network card through which the computer will serve addresses. A screenshot of the initialization file is shown below.



21

Minimum system requirements

Because the IP address and subnet mask in the file is static, the value of the network card’s IP address and subnet mask must always match the values in this file. By convention, the IP address is 192.168.0.1 and the subnet mask is 255.255.255.0.


It is possible to run a BenchCel on a general network in which both the BenchCel and the controlling computer have dynamic IP addresses but we caution against this for safety reasons. Remote computer operators may accidently initiate an operation that causes the device to move unexpectedly when lab personnel are nearby.

If the computer is also part of a general network, the second card should have a dynamic IP address because the computer does not control the network and the computer is easier to administer this way.

BenchCel’s IP address

The factory default is for the BenchCel to have a static IP address.

However, you can change the IP address to be set dynamically.

If you are using your own computer to run the BenchCel, make sure that it has the following minimum requirements:

❑

PC system

Pentium 4, 2 GHz or faster

256 MB RAM

Windows 2000 or XP Professional operating system

50 GB free hard disk space

❑

Communication interface

Dedicated 10BaseT Ethernet port (two network cards if connecting to your company LAN)

RS-232 serial port

22



Related topics


Connecting to the computer


BenchCel features

Set up requirements

See...





❑


❑


Connection panel description

About this topic This topic uses an illustration to point out the specific connections of the connection panel at the rear of the BenchCel.

Connection panel for utilities

The diagram and the following table identify the inputs and outputs on the connection panel.

Serial port

Ethernet port

Power indicator light

Communication indicator light

Safety interlock circuit

Ethernet indicator light

00042

BenchCel


AC power entry

Fuse holder

Air input

On/Off switch

00042

Item

Serial port

Description

A DB-9 RS-232 serial port that provides serial control of the BenchCel and firmware programming.

If you connect to the BenchCel using the serial port, you do not need to connect through the Ethernet port.

Related topics



23

Item

Ethernet port

Indicator lights

Safety interlock circuit

Fuse holder

AC power entry

On/Off switch

Air input

Description

An RJ-45 Ethernet port that provides ethernet control of the BenchCel.

Connect to the host computer with a shielded Cat-5

Ethernet cable.

If you connect to the BenchCel using the Ethernet interface, you do not need to connect through the serial port.

❑

Power indicator light is red when there is power to the BenchCel

❑

Communication indicator light flashes yellow when communicating to the software

❑

Ethernet indicator light is green when there is an

Ethernet connection

The BenchCel is equipped with a safety interlock circuit that must be closed for the system to operate. Normally, the BenchCel is shipped with a relay jumper which allows the BenchCel to function without an interlock.

An external circuit may be added to provide full ESTOP

(emergency stop) safety. Contact Velocity11 to obtain an

ESTOP and connector.

This circuit can also be fitted with a light curtain to shut off power to the BenchCel if the light boundary is breached. Light curtains are not currently available from

Velocity11.

Contains the main fuse.

Use two 250 VAC, 5 A, fast-acting fuses.

Used to connect a power cord.

Switches main power on (|) or off (O).

Used to connect a 1/8-inch air hose to supply the

BenchCel with 28 Lpm at 6 bar (1.0 cfm at 80 psi).

Note: Required air pressure depends on your platform configuration.


Networking requirements


BenchCel features

See...




24




Set up requirements

See...

❑


❑


Stacker-gripper control description

About this topic

This topic describes the control knobs for the stacker grippers.

Controls for stacker grippers

On the back side of every stacker head are control knobs that regulate the stacker grippers. Refer to the diagram and table below for a description.

Stacker head


00069

BenchCel

3 buttons

00069

Item


Gripper flow control

Close gripper flow

Open gripper flow

Description

Controls the air pressure to the stacker head.

Controls the air flow to the grippers to regulate the speed they grip and retract.

Related topics


See...




BenchCel features





25


Set up requirements

See...

❑


❑


❑


Connecting the controlling PC and BenchCel

About this topic

The following topic describes how to connect the BenchCel and controlling PC to a main power line and to each other with a serial or

Ethernet connection.

Connecting to power

To connect the BenchCel and PC to power:

1.

Plug one end of the power cord into the power entry on the back of the BenchCel and the other end into an appropriate electrical outlet.

2.

Plug one end of the power cord into the power entry on the back of the operating computer and the other end into an appropriate electrical outlet.

Connecting by serial cable

To connect the computer to the BenchCel with a serial cable:

1.

Plug in a standard 9–pin male serial cable to the RS-232 port on the

BenchCel.

2.

Plug the other end of the cable into one of the computer’s serial ports.

Connecting by

Ethernet cable

To connect the computer to the BenchCel with an Ethernet cable:

1.

Connect one end of an Ethernet cable to the Ethernet port on the

BenchCel.

2.

Connect the other end of the Ethernet cable to your computer, hub or switch.

!! IMPORTANT !! To connect the computer directly to the

BenchCel, use a crossover Ethernet cable. If you are connecting the computer to a hub or switch, use a straightthrough Ethernet cable.

3.

After you connect the BenchCel to power and to the computer and turn the BenchCel on, verify the connections by checking the status lights.

26



Light

PWR

ACT

LNK

Color

Red

Yellow

Green

Activity

Light turns on

Light is blinking

Light turns on

Meaning

The system has power

There is Ethernet activity

An Ethernet link has been established

Serial port

Ethernet port

Ethernet status lights

Related topics


Networking and the computer

See...


How to network the BenchCel and controlling computer

VWorks User Guide



BenchCel features

Set up requirements


❑


❑


Connecting the BenchCel to compressed air

About this topic

This topic describes the information needed to connect the BenchCel to compressed air.

Air pressure The following table lists the air pressure range required for the BenchCel and associated devices.

Unit

BenchCel

VPrep

Air Pressure (psi)

50–90

90–95

Air Pressure (MPa)

0.34–0.62

0.62–0.65

Procedure



27

Unit

PlateLoc

VCode

VSpin with Access2


85–90

70–75

80–90


0.56–0.62

0.56–0.62

0.55–0.59

To connect the BenchCel to the compressed air:

1.

Connect one end of the air supply tubing to the source of compressed air.

2.

Connect the other end to the air intake port on the BenchCel.

If you have another device connecting to the BenchCel that requires compressed air, split the air supply tubing coming from the source.

Air input

Related topics

00042

BenchCel


00042


Connection panel

Connection to the computer


Networking requirements

See...






28



Chapter 3: Preparing for a run


Preparing for a run

3

This chapter describes how to set up the BenchCel and its devices to run an existing protocol. All of the procedures in this chapter can be performed by someone with operator privileges.


❑

“Workflow for preparing for a run” on page 30

❑

“Turning on the BenchCel” on page 31

❑

“Preparing devices and accessories” on page 32

❑

“Setting up a VSpin counterweight plate” on page 34

❑

“Installing a rack” on page 36

29

30



Workflow for preparing for a run

About this topic

This topic gives the order of recommended tasks before performing a run and tells you where to look for information and procedures for each task.

Workflow

Step For this task...

1 Starting the BenchCel

2

3

See...

“Turning on the BenchCel” on page 31

Operating software user guide


4

5

6

7

8

Logging into Windows

Starting the operating software and logging in

Opening a protocol

Setting protocol options

Preparing devices and accessories

Setting up a VSpin counterweight

Installing a rack



“Preparing devices and accessories” on page 32



Related topics


Protocols

Operating software

See...



Turning on the BenchCel

About this topic

This topic describes how to turn on the BenchCel and integrated devices if they are not already on.

Procedure

To turn on the BenchCel and configured devices:

1.

Make sure that the main power line, air line, and Ethernet or serial cables are plugged into the connection panel.

!! INJURY HAZARD !! Keep your fingers, hair, clothing, and jewelry away from the BenchCel while it is in motion.

2.

Power on any connected devices. See their respective user guides for power switch locations.

3.

On the connection panel, press the power switch to the on (|) position.

The robot homes.

Note: If the BenchCel robot does not home or if the power indicator lights do not come on, turn off the BenchCel, check the connections and turn it on again.

Related topics




Indicator lights

Where this step fits into the process for preparing for a run

The next step

See...




31

32



Preparing devices and accessories

About this topic

This topic provides a quick reference for use when preparing devices and accessories for use on the BenchCel. Do not use this topic as a substitute for the manuals for the individual devices. This topic is intended for quick reference only.

The procedures in this topic assume that the devices are already turned on and that you are familiar with the operation of the individual devices connected to your BenchCel.

Prepare devices and accessories after you have become familiar with the protocol.

Set up order

You would typically prepare the BenchCel devices and accessories in the order presented in this topic. Using this order, you first set up devices and accessories that have no time-sensitive elements and can therefore be set up the night before the run. Leave the more complex preparations, which may use expensive and unstable reagents, until last.

Note: If the protocol includes User Message tasks to prompt you to perform some setup steps, such as placing counterweight plates, don’t include these steps in the setup.

PlateLoc set up process

VCode set up process

The general process of preparing a PlateLoc is described here. For more detailed procedures, see the PlateLoc User Guide.

1.

Make sure that there is enough seal stock on the roll for the run.

2.

Make sure that the right support insert is loaded for the plates you are using.

3.

Select the profile that you want to use from the PlateLoc Diagnostics software. (The seal parameters are set in the Task Parameters within the protocol.)

The general process for preparing a VCode for a run is described here.

For more detailed procedures, see the VCode User Guide.

1.

Make sure that there is enough label stock in the label source roll.

2.

Make sure that there is enough media stock in the media source roll.

3.

If the radius width of the label backing on the take-up roll is more than 1 inch (2.5 cm) wide, remove the label backing from the takeup roll, cut it, and reattach the end.

Too much label backing on the take-up roll can interfere with the operation of the VCode.

4.

Use VCode Diagnostics software to perform a plate labelling test label.

For more information, see the VCode User Guide.

VPrep set up process



33

The general process for preparing a VPrep for a run is described here.

For more detailed procedures, see the VPrep User Guide.

The BenchCel robot has access to VPrep shelves 2, 4, 6 and 8, meaning that only these shelves can hold sample plates. Shelves 1, 3, 5, and 7 are reserved for reservoirs and tipboxes.

1.

If you are changing the reagent type in a particular reservoir: a. Remove and wash any reservoirs.

b. Detach and wash reservoir tubing.

c.

Replace the tubing and reinstall the reservoir.

d. Remove and wash any MicroWash trays.

e.

Detach and wash MicroWash tray tubing.

f.

Replace the tubing and reinstall the tray.

2.

Make sure that the reservoir and tray tubing allows the shelves to move to their fully engaged position.

3.

Install tubing into the correct pumps.

4.

Fill the fluid reservoir bottle, replace the cap, and attach the fluid line to the cap connector.

Make sure you attach the fluid line that pumps towards the VPrep.

5.

Empty the waste container, replace the cap, and attach the fluid line to the cap connector.

Make sure that you attach the fluid line that pumps away from the

VPrep.

6.

Use the VPrep diagnostics software to prime the fluid lines between the pump and VPrep reservoirs by filling the lines with the appropriate fluid.

7.

Calibrate the Weigh Shelf if:

You are changing the liquid type used in the reservoir on the

Weigh Shelf.

The pump module connected to the Weigh Shelf has been turned off.

If you haven’t calibrated it for a while.

8.

If you are using disposable tips, you may need to attach them before starting the run. If so: a. Place a tipbox on the tipbox shelf.

b. Use the VPrep diagnostics software to install the tips.

c.

Remove the tipbox.

Attaching tips is an important step. Please refer to the VPrep User Guide for more information.

34



Related topics


The workflow this procedure belongs to

Next step (if you are using a

VSpin)

Next step (if you are not using

VSpin)

Using message tasks

See...




VWorks User Guide

Setting up a VSpin counterweight plate

About this topic The general process of preparing a Vspin with Access2 is described here. For more detailed procedures, see the Access2 User Guide.

About counterweight plates

If you are using a VSpin in a protocol, you need a counterweight plate to balance a sample plate when centrifuging in a VSpin. This means that only one sample plate can be centrifuged at one time in a protocol.

(Although if you are using the VSpin as a stand-alone device, then two sample plates can be centrifuged together.)

Using a counterweight plate and centrifuging one sample plate at a time does not typically increase the length of a protocol run, compared to spinning two sample plates at one time. This is because the centrifuge task is not typically the time-limiting step of a protocol.

Counterweight plate defined

A counterweight plate is the same as a sample plate except that it is empty, or contains water to provide a more accurate balance. If a counterweight is not used, a load imbalance error will result. The load imbalance tolerance is 5 grams at 3000 rpm.

About loading counterweight plates

A counterweight plate is required for each plate type that is used in a protocol. For example, if three different types of plates are centrifuged during a protocol, then you need three different counterweight plates.

You must load the counterweight by hand, using VSpin Diagnostics software to open and close the centrifuge door and move the robot.

Manually loading counterweight plates

To load a counterweight by hand:

1.

Open

VSpin Diagnostics.

The VSpin Control dialog box opens.

Related topics



35

2.

Follow the directions in the VSpin User Guide to open the VSpin door and load the counterweight.

!! DAMAGE HAZARD !! To avoid a robot crash, always place the counter weight into bucket 2 and leave the door open with bucket 1 at the front. The sample plate will always be moved to bucket 1 by the robot.



The next step

Using Access2

See...

“Cleaning up after a run” on page 42


Access2 User Guide

36



Installing a rack

About this topic

This topic explains how to install a rack.

Before you can perform a run, you load the BenchCel with racks containing plates specific to your application.

Procedure

To install a rack:

1.

Verify that the clamps are extended in the stacker that you want to install the rack onto. You can do this by visual inspection of the stacker.

If the rack does not easily fit onto the stacker head, then you may need to extend the clamps.

2.

Place a rack on the base unit, lowering it so that the rectangular tabs drop into the slots in the gripper unit.

The rack can be placed with the open corner at the front or back.

Rack

Stack of plates

Stacker Gripper (on inside of rack)

Clamp

Stacker Head

Riser



37

00037

Vstack locked stack top view

00037

Tab

Clamp

Plate orientation with stacker

00038

Vstack unlocked stack top view

00038

Always place plates so that the A1 well is in the far left corner, as viewed by someone standing in front of the BenchCel.

Note: With some VPrep integrations, this orientation may be shifted such that A1 will be located on the lower right corner.

00057

BenchCel

Plate orientation on stacker plate

A1 well

O

P

M

N

K

L

I

J

E

F

G

H

A

B

C

D

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24

00057

38



Related topics



Extending or retracting clamps

See...


“Extending and retracting stacker clamps” on page 62

Chapter 4: Performing a run


Performing a run

4

This chapter describes how to run an existing protocol on the BenchCel.

All of the procedures in this chapter can be performed by someone with operator privileges.


❑

“About performing a run” on page 40

❑

“Performing pre-run checks” on page 40

❑


❑

“Shutting down the BenchCel” on page 43

39

40



About performing a run

About this topic

This topic tells you where to find the information about starting a run and performing tasks associated with running a protocol.

Tasks associated with a run

Task

Perform pre-run checks

Start a run

Monitor a run

Pause a run

Clean up

See...

“Performing pre-run checks” on page 40

Software operators user guide




Performing pre-run checks

About this topic

This topic describes how to perform a preliminary check of the equipment.

Procedure

To check that the BenchCel is ready for a run:

1.

Make sure that there are no stray plates in robot-accessible places.

These include:

Platepads

VCode plate stages

VPrep plate stages

PlateLoc plate stages

2.

Make sure that the device air pressures lie within the ranges in the table below.

To check the BenchCel air pressure, you need to read the values from each stacker in the

Stacker Sensors

area of the

BenchCel

Diagnostics Controls

page.

Related topics



41

You only need to do this occasionally, depending on the application.

To check the air pressure for other modules, refer to the relevant manuals.

Unit

BenchCel

VPrep

PlateLoc

VCode

VSpin with Access2


50–90

90–95

87–90

70–75

80–90


0.34–0.62

0.62–0.65

0.56–0.62

0.48–0.52

0.55–0.59


Checking stacker sensors

Opening BenchCel Diagnostics

See...

“Checking the stacker sensors” on page 109

“Opening BenchCel Diagnostics” on page 48

42



Cleaning up after a run

About this topic

This topic describes the tasks you should perform when you have finished a protocol run.

Procedure

To clean up after a run:

1.

Click

Yes

in the dialog box that prompts you to release all stacker racks.

Related topics

2.

Remove used sample plates from the racks.

3.

Remove manually placed plates from platepads, VPrep module shelves, and VSpin.

4.

Wash items such as reservoirs, tubes, and manifolds that were contacted by liquid.

5.

If necessary, use the VPrep diagnostics software to remove pipette tips.

6.

Check run logs for errors.

7.

If you have administrator or technician privileges and you have modified the protocol, including selected options, you can save the protocol.

8.

Log out of the operating software.

9.

Optionally shut down the BenchCel.


Run logs

Protocols

Logging out

Using the Log toolbar

Shutting down

See...

VWorks User Guide

VWorks User Guide

VWorks User Guide

VWorks User Guide

“Shutting down the BenchCel” on page 43



Shutting down the BenchCel

About this topic

This topic describes when and how to shut down the BenchCel.

When to shut down

Shut down the BenchCel if you intend to:

❑

Move it

❑

Leave it unused overnight

Procedure

To shut down the BenchCel:

1.

Make sure that the post-run clean up procedure was followed after the last run.

2.

Select

File

>

Exit

to shut down the operating software.

3.

If you use devices that require a vacuum pump, turn off power at the pump if the pump module has an on/off switch.

4.

Turn off the air supply to the BenchCel and other devices.

5.

On the connection panel, turn the main power switch to the off position.

6.

Turn the power off on any device integrated with the BenchCel.

Related topics


Clean up after a run

Power connections

See...



43

44



Chapter 5: Using BenchCel Diagnostics


Using BenchCel

Diagnostics

5

This chapter explains how to use diagnostics software to control the robot and devices.

We recommend that only administrators and experienced personnel use the procedures in this chapter to diagnose errors with the BenchCel.

Velocity11 has also developed diagnostics software for other third-party devices that can be used with the BenchCel. Instructions for using diagnostics software for third-party devices can be found in either the

Device Driver User Guide or the VWorks User Guide.


❑

“About diagnostics” on page 47

❑


❑

“About the Controls page” on page 49

❑

“Homing the robot” on page 52

❑

“Moving the robot manually” on page 53

❑

“Jogging the robot” on page 54

❑

“Changing the robot speed” on page 56

❑

“Using Move-To-Position commands” on page 57

❑

“About stacker controls” on page 58

❑

“Loading and releasing stacks” on page 60

❑


❑

“About teachpoints” on page 64

❑

“Adding a teachpoint” on page 65

❑

“Editing a teachpoint” on page 67

❑

“Deleting a teachpoint” on page 69

❑

“Managing teachpoint files” on page 70

❑

“Moving between teachpoints” on page 71

❑

“About the Labware Parameters area” on page 73

❑

“Opening the Labware Parameters area” on page 74

❑

“Changing labware parameters in BenchCel Diagnostics” on page 75

❑


45

46



❑

“Changing general settings” on page 80

❑

“Making global general settings changes” on page 83

❑

“About profiles” on page 84

❑

“Creating a BenchCel profile” on page 85

❑

“Managing profiles” on page 87



About diagnostics

Background

The BenchCel can be controlled in real time directly through the

VWorks Diagnostics software using simple commands.

Diagnostics software is used for:

❑

Troubleshooting

❑

Setting teachpoints

❑

Performing manual operations outside a protocol

❑

Creating and editing profiles

For example, if an error occurs during a run that leaves a plate and the robot where they should not be, you can use BenchCel Diagnostics to move the plate and return the robot to its home position.

Types of diagnostics software

Devices and robots manufactured by Velocity11 include their own diagnostics software. You can find instructions for using this software in the relevant user guide.

Related topics


Opening diagnostics

Controls page

General Settings page

Profiles page

See...





47

48




About this topic

This topic describes two procedures for opening BenchCel Diagnostics.

In this case, the operating software for BenchCel is VWorks4. If you are using BenchWorks or a third-party software to operate the BenchCel, this procedure may be different.

Procedure 1

To open BenchCel Diagnostics:

1.

Click Diagnostics on the Control toolbar.

2.

In the device file’s window, select the BenchCel.

Procedure 2

3.

Click Device diagnostics located at the bottom of the window.

The BenchCel’s diagnostics dialog box opens.

To open BenchCel Diagnostics:

1.

Click the Device File tab.

2.

Select the BenchCel robot from the Devices toolbar.

Expand the general name of the device, if necessary.

3.

Click Device diagnostics located at the bottom of the Devices toolbar.

The BenchCel’s diagnostics dialog box opens.

Related topics



49


Diagnostics

Controls page


Profiles page

See...





About the Controls page

Contents of the

Controls page

The Controls page is the first page displayed when you open the

BenchCel Diagnostics dialog box. It provides:

❑

An interface for controlling the robot and defining teachpoints

❑

An interface for creating and loading teachpoint files

❑

Controls for homing the robot, sending it home, and adjusting its speed

❑

Controls for moving the robot incrementally in each of its axes

❑

Stacker sensor readouts

❑

An interface for changing labware settings

50



The BenchCel animated display

The BenchCel animated display provides a visual way to represent teachpoints, control the BenchCel and monitor the robot’s movement.

The graphical representation of the robot moves in real time, mirroring the movement of the actual robot.

Typically, the display is used for defining and managing teachpoints.

Robot control procedures

Robot axes

Related topics



51

The following are procedures you can perform from the Controls page:

Procedure

Home the robot

Control See...

“Homing the robot” on page 52

Send the robot home

Reset all robot servos

Disable all robot servos

Add a new teachpoint

Check the stacker sensors

Change labware parameters

Change the speed of the robot

Jog the robot

“Sending the robot home” on page 52

“About stacker controls” on page 58





“Changing the robot speed” on page 56


You can control the robot’s movement in three directions:

Axis

x t z

Description

The horizontal distance, in millimeters, along the rail from the home position.

The angle, in degrees, that the grippers rotate from their home position.

The vertical distance, in millimeters, from the home position to a height 20 millimeters above the base of the column.


Diagnostics

Opening diagnostics


Profiles page

See...





52



Homing the robot

About this topic

This topic describes when and how to home the BenchCel robot.

Homing

Home the robot to make sure that all of its axes are calibrated correctly.

For example, if you notice the robot is not accurately picking up or placing plates, home the robot.

Sending home

Send the robot to its home position when you want to quickly move it to a central location, or out of the way.

Homing the robot

When you command the robot to home, it executes a sequence that resets the home position in the x, y, gripper, and theta axes.


Keep away from the robot when it is moving, especially in the z-axis direction. The robot’s z-axis motor is particularly powerful. It might not stop immediately in a collision, and a gripper could pierce your hand.

To home the robot:

1.

Open

BenchCel Diagnostics

to access the

Controls

page.

2.

Click

Home

.

The robot homes.

The axis order of homing is gripper —> z —> x —> theta.

Sending the robot home

When you command the robot to go home, it moves to the zero position of the x, z, and theta axes.

To send the robot to the home position:

1.

Open


to access the

Controls

page.

2.

Click

Go Home

.

Note: If you have cleared one or more

On

check boxes or have clicked

Disable all

to disable the servos for robot axes, a dialog box will display, “Some of the Robot’s servos are inactive. Enable servos?”

You must click

Yes

to enable the servo motors so the robot can go home.

Related topics


Opening diagnostics

See...


Moving the robot manually

About this topic

This topic describes how to move the robot in manual mode. You can move the robot manually in the x, z, and theta axes, but first you must disable the robot’s servo motors.

Move the robot manually when you want to position the robot by eye exactly where you want. This is useful when you are creating a new teachpoint.

For example, you could move the robot manually to a platepad and position its grippers to where they would grip a plate. Then you could create a teachpoint there by pressing Use current position on the

Teachpoint Details dialog box.

Procedure

To move the robot manually:

1.

Open


to access the

Controls

page.


Moving the robot in any of its axes without first disabling the ser vos could damage the robot’s motors.

2.

Disable the robot servo motors for the x, z, and theta axes: a. Click

Disable all

on the

Controls

page of the


dialog box.

If the robot is above its lowest z-axis height, it will slowly sink until it reaches the lowest z-axis height.

b. Alternatively, you can clear the

On

check boxes for the x, z, and

theta axes in the

Controls

page of the


dialog box.

Note: The robot head will begin to fall to its lowest z-axis position when the

On

check box is cleared.

3.

Move the robot’s x, z, and theta axes manually.

Any subsequent command will trigger a dialog box that states,

“Some of the Robot’s servos are inactive. Enable servos?”

You must click

Yes

before the robot can move autonomously again.

Related topics




Teachpoints

Opening diagnostics

See...



53

54



Jogging the robot

About this topic

Jogging is the process of moving the robot in small increments.

You can jog the robot head in the z, x, or theta axes and jog the grippers open and closed.

Jog the robot when you need to move it in small increments.

Jogging is useful when creating teachpoints. For example, you could move the robot manually to a position you want to set as a teachpoint.

After you have re-enabled the robot’s servos, you can fine tune the robot’s position by jogging it.

Jogging the robot in the z

-axis


Before you jog the robot, make sure that there is nothing that the robot can crash into. Move the robot slowly and keep the jog increment small until you are certain that there is no obstruction.

To jog the robot in the z-axis:

1.

Open


to access the

Controls

page.

2.

Select the increment that you want the robot to move. To do this: a. Click the down arrow for either the

Up

or

Down

movement controls.

b. Select one of the increment options. (These are listed in millimeters.)

3.

Click a blue

Up

or

Down

arrow to move the robot head in the z-axis

(vertically).

4.

Monitor the current position of the robot by checking the number listed between the blue

Up

or

Down

arrows. This shows the number of millimeters the robot is from the home position.


Keep away from the robot when it is moving, especially in the z-axis direction. The robot’s z-axis motor is par ticularly powerful. It might not stop immediately in a collision, and a gripper could pierce your hand.

Jogging the robot in the x

-axis

To jog the robot in the x-axis:

1.

Select the increment that you want the robot to move. To do this: a. Click the down arrow for either the

Left

or

Right

movement controls.

b. Select one of the increment options. These are listed in millimeters.



55

2.

Click a blue

Left

or

Right

arrow to move the robot head in the x-axis

(horizontally).

3.


Left

or

Right


!! INJURY HAZARD !! Keep away from the robot when it is moving. The robot is designed to stop if it contacts an object, but movement along the x-axis can build up considerable momentum resulting in injur y.

Jogging the robot in the theta

-axis

To jog the robot in the theta-axis:

1.

Select the increment that you want the robot to move. To do this, click the down arrow for the clockwise (

CW

) or counterclockwise

(

CCW

) movement controls and select one of the increment options.

These are listed in millimeters.

Jogging the robot gripper position

2.

Click a blue

CW

or

CCW

arrow to rotate the robot head grippers around the theta-axis.

3.


CW

or

CCW

arrows. This shows the angle that the grippers are pointing by degrees.

To jog the robot gripper position:

1.

Select the increment that you want the robot to move. To do this, click the down arrow for the

In

or

Out

movement controls and select one of the increment options.

2.

Click a blue

In

or

Out

arrow to change the spacing between the gripper points.

3.


In

or

Out


56



Related topics


Teachpoints

Opening diagnostics

Controls page

See...




Changing the robot speed

About this topic It is useful to change the robot speed when creating new protocols or teachpoints.

For example, change the robot speed to Slow when you are experimenting with new teachpoints and protocols so that you can monitor the robot’s accuracy more closely.

After you have observed the robot move to a new teachpoint or complete a protocol without errors, change the robot speed to Medium.

Change the robot speed to High when the robot is able to perform a protocol without errors and you have eliminated inaccuracies in new teachpoints and protocols.

If the robot starts to have errors, set the robot speed lower until you can diagnose the problem.

Note: It is safe to move at high speed with default Velocity11 teachpoints and protocols, because they have been extensively tested for accuracy.

Procedure

To change the robot speed:

1.

Open


to access the

Controls

page.

2.

In the

Options

area, select a speed in the

Speed

list:

Slow

Medium

Fast

3.

Click

OK

at the bottom of the

Controls

page for the changes to take effect.

Related topics



57


Opening diagnostics

See...


Using Move-To-Position commands

About this topic

The BenchCel Move-to-Position commands let you quickly move the robot to a set of x, z, and theta coordinates that you can specify with sliders.

Each slider control represents a point on a spectrum that spans the full range of movement for a robot axis.

The Move-to-Position commands can be accessed from the Move to... button, displayed in the upper left corner of the BenchCel animated display.

After you have become familiar with jogging the robot and you have a sense for how the robot moves, use the Move-to-Position commands to move the robot much more quickly than you can with jogging commands.


Make sure the robot is clear of any obstacles that you have not defined. The operating software will display a dialog box warning you of a possible collision if the requested movement overlaps a known teachpoint. The Move-to-

Position commands present a higher damage risk to the robot, because you command it to move in large increments.

Procedure

To move the robot with the Move-to-Position command:

1.

Make sure that you have selected a

Plate Type

to use from the

Labware

list.

2.

In the BenchCel animated display, click

Move to...

The

BenchCel Move-to-Position

dialog box opens.

3.

Adjust the sliders controls for each axis you want to change.

!! INJURY HAZARD !! Make sure everyone is clear of the

BenchCel before you command the robot to move.

58



4.

Click

Move robot

.

The robot axes will move to their commanded positions.

5.

To close the dialog box, click

Exit

.

Related topics


Animated display

See...


About stacker controls

Stacker clamps

The stacker controls are located in the BenchCel animated display. Each stacker has two clamps that perform two functions:

❑

Anchor the stacker rack to the stacker head

❑

Grip and release plates

You can command the BenchCel stacker clamps to grip plates or release plates with the

Extend Clamps

and

Retract Clamps

controls.

You can command the BenchCel stack clamps to load and release stacker racks with the

Load Stack

and

Release Stack

controls.

Plate-present indicator

Related topics



59

The plate-present indicator above each stacker teachpoint marker will change color depending on the presence of a stack with plates.

Color

Green

Yellow

Blank

Meaning

A stack with plates is loaded correctly, and the BenchCel is ready for you to start a protocol.

A stack with plates is present, but the robot grippers are blocking the stacker sensor.

There are no plates present at the stacker sensor level, regardless of the presence of a stack.


Teachpoints

The animated display

See...



60



Loading and releasing stacks

About this topic

This topic describes when and how to load and release BenchCel stacks.

When to use

Stacker rack loading and unloading normally take place automatically in the course of performing a run. After you place the stacker racks onto the stacker heads and start a run, the stacker racks are automatically secured. After the run has completed, the software asks if you want to release the stacks.

When diagnosing problems, you may want to manually load and release stacker racks at your convenience. Do this from the BenchCel animated display.

Loading and releasing defined

The process of loading stacker racks is the securing of the stacker onto a stack head so that the BenchCel robot can access the stack of plates.

When you start a run, the BenchCel automatically secures the stack and prepares the plates. This process involves both the stacker clamps and the robot.

The BenchCel stacker will not operate until the stacker rack is loaded.

The process of releasing involves the BenchCel repositioning the stack of plates so that the stack is free to move and the plates are secured within the stack. The stack becomes free to move after the robot moves the bottom plate up so it rests on top of the clamp pads.

After a run has completed, the operating software will query whether you want to release the stacks or not.

Two ways to load and release

Loading a stack using the display

There are two ways to load and release stacks in the BenchCel animated display:

❑

Load or release stacks individually with the

Load stack

or

Release stack

buttons above each stacker representation.

❑

Load or release all stacks simultaneously with the

Load all stacks

or

Release all stacks

buttons.

To load a stack:

1.

Verify that the button displays

Load Stack

in the BenchCel animated display. Refer to the button at the top left of the following screenshot.



61

Releasing a stack using the display

2.

Click

Load Stack

once to command the robot to move to the stacker and grab the plate on the bottom of the stack.

The name of the button changes to

Release Stack

.

The stacker clamps retract and release the stack and the robot moves the stack down. Then the stacker clamps extend and grab the plate stack by the stacker grippers. The robot then releases the stack.

The rack is loaded.

To release a stack:

1.


Release Stack

in the BenchCel animated display. Refer to the button at the top right of this screenshot.

2.

Click

Release Stack

once to command the robot to move to the stacker and hold the plate on the bottom of the stack.


Load Stack

.

The stacker grippers retract and release the stack, while the robot moves the stack up. Then the stacker clamps extend and the robot releases the stack so that it is resting above the stacker grippers.

The rack is ready to remove from the stacker.


Always remove stacks from the stackers before attempting to move the BenchCel.

3.

Lift the stacker rack up and off the base.

Loading and releasing all stacks

To speed up your workflow, you may want to load or release all of your stacks simultaneously.

To load all stacks simultaneously:

1.

Load the stacks onto their stack base.

2.

Click

Load all stacks

in the upper right corner of the BenchCel animated display.

The stacker grippers will take hold of the plate clamps on the stack.

To release all stacks simultaneously:

1.

Click

Release all stacks

.

2.

Unload the stacks from the stacker heads.

62



Related topics


Loading or releasing all stacker racks simultaneously


See...



Extending and retracting stacker clamps

About this topic Above each stacker teachpoint marker in the BenchCel animated display, there is a button for extending or retracting the clamps.

Extend or retract clamps button

Stacker teachpoint

It is important to understand the difference between extending and retracting stacker clamps and loading and releasing a stack.

Unlike the load and release stack commands, the extend and retract stacker clamp commands do not use the robot. The clamp actuators are the only mechanisms commanded to move.

❑

Extending clamps moves them away from the walls of the stacker head

❑

Retracting clamps draws them in against the walls of the stacker head

When to use Extend or retract clamps when you need to diagnose a problem.

For example, if you want to load a stack, but the clamps are retracted, use the

Extend Clamps

command to extend the clamps.

If there is a single plate in the stacker grippers with which you are using to diagnose a problem, it may be faster to

Retract Clamps

and catch the plate with your hand than to wait for the robot to move the plate after you issue the

Release Racks

command.

Do not use the extend and retract clamps controls to load or release a stack. To load and release stacks, use the

Load Racks

and

Release Racks

commands.

!! DAMAGE HAZARD !! Retracting the clamps when the robot is not supporting a stack of plates will drop the plates.



63

Extending clamps

Retracting clamps

To extend clamps:

1.


Extend Clamps.

2.

Click

Extend Clamps

once to extend the stack clamps.


Retract Clamps

.

The clamps extend.

If a stack is present at the stacker you commanded, the stack is released by the clamps. If the robot is holding a plate within the stacker, the clamps grab the plate.

To retract clamps:

1.


Retract Clamps

.

2.

Click

Retract Clamps

once to retract the stack clamps.

A confirmation dialog box opens, “Doing this might cause plates to drop. Are you sure you want to open the clamps?” When the clamp actuators grab the stack, it will release any plates that might be present in the stack.

3.

If there are plates in the stack, make sure the robot is holding the plate on the bottom of the stack.

4.

Click

OK.

The clamps retract.

Related topics



Loading and releasing stacks

See...



64



About teachpoints

Teachpoints defined

A teachpoint is a point in space that the robot can move its grippers to and is defined by a set of axial coordinates. A teachpoint is where the robot moves plates to or from.

Teachpoints also represent physical objects. This is very important for collision avoidance.

After you create a teachpoint, the robot will automatically navigate around the teachpoint during a run. If you tell the robot to move, and the teachpoint is in the robot’s path, the software will ask you before moving the robot through it.

Teachpoints are shown graphically as square dots called teachpoint markers. They are displayed and manipulated in the BenchCel animated display on the Controls page of BenchCel Diagnostics.

Related topics


Teachpoints

See...

❑


❑


❑


❑


❑

“Selecting two teachpoints” on page 72



Adding a teachpoint

About this topic

This topic describes how to add a new teachpoint.

A teachpoint is a set of coordinates that the robot can move its grippers to, for the purpose of picking up or dropping off plates. Each teachpoint is represented by a teachpoint marker in the BenchCel animated display.

New teachpoints are automatically saved to your current teachpoint file.

Add a new teachpoint to define where the robot can pick up and drop off plates on a device or platepad.

You can also add teachpoints for objects so that the robot avoids colliding with objects.

Procedure

To add a new teachpoint:

1.

Click

New teachpoint

on the

Controls

page of the

BenchCel

Diagnostics

dialog box.

The

Teachpoint Details

dialog box is displayed.

65

2.

Complete the dialog box, using the following table as a guide:

Setting

Name

Theta

X

Z

Use current positions

Comment

A name for the teachpoint. This name will appear in the BenchCel animated display.

Sets the value of theta, or the angle that the grippers will rotate from their home position, in degrees.

Sets the value of x, or the horizontal distance from the home position, in millimeters.

Sets the value of z, or the vertical distance from the home position to a height 20 millimeters above the base of the column, in millimeters.

This will create a teachpoint from the robot’s current axes values.

66



Setting Comment

Approach height This is the height (in millimeters) the robot maintains above the teachpoint to avoid colliding with it.

We recommend that this setting be set at least 20.

Cavity depth

This setting only applies when the robot is carrying a plate. When the robot is not carrying a plate, it will approach the teachpoint along the x-axis at the height of the teachpoint, unless the Respect clearance both ways check box is selected.

This height is the same as the clearance above the teachpoint and is measured in millimeters.

Specifies the height (in millimeters) above the normal grip height that the robot must grip the plate. Some platepads prevent the robot from gripping a plate at the normal grip height.

The cavity depth is measured in millimeters.

Respect clearance both ways

Something is above point

When selected, the robot moves to and from the teachpoint at the approach height, even if it is not carrying a plate.

If not selected, the robot approaches and retreats from the teachpoint at the height of the teachpoint when it is not carrying a plate.

Prevents the robot from moving in the space above the teachpoint.

3.

Click

Save and exit

to save the teachpoint and close the

Teachpoint

Dialog

box.

Related topics

For information about

Teachpoints

Editing teachpoints

Verifying a teachpoint

Deleting teachpoints

Managing teachpoints

Moving between teachpoints

Selecting more than one teachpoint

See...








Editing a teachpoint

About this topic

After you have created a teachpoint, you can edit it.

Edits to your teachpoints are automatically saved to your current teachpoint file.

Procedure



To edit a teachpoint:

1.

Double-click the teachpoint marker that corresponds to the teachpoint you want to change. Teachpoint markers are little square dots in the BenchCel animated display.

67

Stacker 2 teachpoint marker

(not selected)

Test1 teachpoint marker (selected)

The


dialog box is displayed with values of the teachpoint in the text boxes.

2.

Do one of the following:

Modify the contents of the text boxes or check boxes using the

information from “About teachpoints” on page 64.

Follow the procedure in “Moving the robot manually” on page 53, then click

Use current positions

.

68



Related topics


Teachpoints

Adding teachpoints

Verifying a teachpoint

Deleting teachpoints



Selecting more than one teachpoint

See...








Deleting a teachpoint

About this topic

Occasionally, you may need to delete a teachpoint. For example, if you want to replace one of your devices with another, you would first delete the teachpoint for the old device, and then add a teachpoint for the new one.

Procedure

To delete a teachpoint:

1.

Double-click the teachpoint marker that represents the teachpoint you want to delete.

The


dialog box opens.

2.

Click

Delete

.

3.

Your current teachpoint file will automatically be updated when you delete a teachpoint.

Related topics




Teachpoints

Editing

Adding



Selecting teachpoints

See...







69

70



Managing teachpoint files

About this topic

Teachpoint files store teachpoint parameters for all of the defined teachpoints using the Teachpoint Details dialog box. This includes all of the teachpoints that are visible as teachpoint markers on the BenchCel animated display.

Teachpoint files are written in XML and have an .xml extension.

By default, your teachpoint files are saved in the directory

C:\Program Files\Velocity11.

Your default teachpoint file name is your BenchCel serial number followed by your company name.

In the Current Teachpoint File area on the Controls page of the

BenchCel Diagnostics dialog box, you can create a new teachpoint file or load an existing one.

Creating a new teachpoint file

Loading a teachpoint file

Related topics

In most cases you will not need to create a new teachpoint file, but will instead modify your existing one.

Create a new teachpoint file when you are adding or adjusting teachpoints and you do not want to corrupt your original teachpoint file.

To restore your original teachpoint file, use the load procedure.

To create a new teachpoint file:

1.

Click

New

.

The

Save As

dialog box opens.

2.

Select a name and location for your teachpoint file.

3.

Click

Save

.

To load a teachpoint file:

1.

Click

Load

.

The

Open

dialog box opens.

2.

Select the location and name of your teachpoint file.

3.

Click

Open

.


Teachpoint details dialog box

See...

❑


❑





About this topic

Each teachpoint is symbolized by a square dot called a teachpoint marker in the BenchCel animated display.

71

Stacker 2 teachpoint marker (not selected)

Test1 teachpoint marker (selected)

Procedure

In this illustration, there are three available teachpoints. There is a teachpoint for each of the two stackers and one teachpoint called Test1.

Both Stacker1 and test1 teachpoints are selected, as indicated by the enlarged border around each teachpoint marker.

Up to two teachpoint markers can be selected at one time.

To move the robot using teachpoint control:

1.

Make sure you have selected the desired

Plate Type

from the

Labware

list.

2.

Click once on a teachpoint marker.

Several boxed

command

buttons appear. See the

test1

teachpoint marker in the illustration above.

3.

Click a button, using the following table as a guide:

Command button

Move to t

eachpoint

Description

Move the robot to the teachpoint.

Pick from

teachpoint

Pick or place a plate at the teachpoint.

Delid from

teachpoint

Tells the robot to delid. This option is not available for stacker teachpoints.

Transfer to

teachpoint

Transfer from the currently selected teachpoint to another selected teachpoint.

This command only becomes available after you have selected two teachpoints.

!! DAMAGE HAZARD !! The robot will move to a teachpoint using the most direct path. If there is an object in the way, the robot will collide with it.

If you have defined a teachpoint for an object that is in the path of the robot, the robot will compensate for this and avoid a collision.

72



Selecting two teachpoints

Procedure

In the BenchCel animated display, you can select one or two teachpoints at a time. It is useful to select a pair of teachpoints so that you can conveniently move the robot between them. When you click a teachpoint marker, controls appear permitting you to perform additional functions.

To select two teachpoints:

1.

Click one teachpoint marker.

A red border appears around the teachpoint marker, indicating that the teachpoint is selected.

2.

Click a second teachpoint marker.

A red border appears around the second teachpoint marker, indicating that its teachpoint is selected.

These two markers will remain selected until you choose another teachpoint. At that moment, the first teachpoint marker you chose is deselected.

Note: Occasionally command buttons on the animated display obscures a teachpoint you want to select. Expose the obstructed teachpoint by deselecting the teachpoint whose command buttons are in the way.

Related topics


Creating a teachpoint


See...





About the Labware Parameters area

About this topic

This topic briefly describes the Labware Parameters area.

Labware parameters defined

You may want to make quick changes to the labware parameters without opening the labware editor. You can access the labware parameters directly from the Labware Parameters area on the Controls page in BenchCel Diagnostics.

The Labware Parameters area contains the plate and BenchCel labware parameters found in the labware editor. It does not contain the parameters relevant to the any of the devices that are integrated with the

BenchCel. For editing labware classes and labware associated with the

VPrep, we recommend that you use the labware editor.

When to use

Typically, the Labware Parameters area is used when you are testing a new plate type or troubleshooting plate sensor errors.

Related topics


BenchCel Diagnostics

Labware parameters

See...


❑


❑

“Changing labware parameters in

BenchCel Diagnostics” on page 75

73

74



Opening the Labware Parameters area

About this topic

This topic describes how to access the Labware Parameters area so you can make changes to some of the labware settings.

Procedure

To show the Labware Parameters area:

1.

Open


.

2.

In the

Controls

page of the


dialog box, select a labware type from the list.

3.

Select

Show parameters

.

The

Labware Parameters

area is displayed on the right side of the

Controls

page.

The values displayed in the


area are for the plate selected.

Related topics



75


The BenchCel Controls page


Changing labware parameters

See...



“Changing labware parameters in

BenchCel Diagnostics” on page 75

Changing labware parameters in BenchCel

Diagnostics

About this topic

When adding new labware or troubleshooting existing labware you may need to make adjustments to the labware parameters. This topic describes how to edit labware parameters using the Labware Parameters area.

Procedure

To change labware parameters:

1.

Make sure that you select the desired plate type from the list.

2.

Enter new values or edit existing values for the

Plate Dimensions

, using the following table as a guide.

Parameter Comment

Stacking thickness The thickness, in millimeters, of two stacked plates minus the thickness of one plate.

Measure using calipers.

Example:

Thickness of two stacked plates (x) = 23.14 mm

Thickness of one plate = 14.14 mm

Stacking thickness: 23.14 mm - 14.14 mm =

9.00 mm

Plate thickness

Vstack plate and stacking thickness

00022

Plate Thickness

Stacking Thickness

00022

The distance, in millimeters, from the bottom surface of the plate to the top surface of the plate.


x

76



3.


Sensors

, using the following table as a guide.

Parameter

Sensor threshold

Sensor intensity

Check plate notches

Comment

Sets the sensor threshold value that determines the presence of a notch. If the sensor value is below this threshold, the device reports a notch in the corner corresponding to the orientation sensor. If the sensor value is above this threshold, no notch is reported.

Increase this value if the orientation notch sensor readings are too high with a notch present.

The default value is 100.

To check the sensors, see “Checking the stacker sensors” on page 109.

This setting changes the intensity of the light emission that the sensors use to determine the presence of a notch or plate.

Some plates are more reflective than others.

Increase the sensor intensity if plate sensor readings are too low (not significantly higher than the corresponding threshold value) when either a plate is present, or a notch is absent.

The default value is 50.

Changing this setting affects the numeric value of the four notches sensors in the Stacker Sensors

area. See “Checking the stacker sensors” on page 109.

Turns on plate orientation checking. Select the appropriate notches for the type of plate you are using. These are called A1 (for the top left notch),

Top right, Bottom left, and Bottom right.

4.


Plate Offsets

, using the following table as a guide

Each offset is measured from the bottom of the plate in millimeters.

Parameter

Robot gripper

Stacker gripper

Sensor

Error correction

Comment

Determines where the robot grips the plate

Determines where the stacker grips the plate

Determines where the plate sensors read the plates for orientation checking

Leave this value at 0 (zero).



77

5.


Gripper position parameters

, using the following table as a guide:

!! DAMAGE HAZARD !! Set the Holding plate and Holding stack parameters so the grippers securely grasp plates without damaging them.

For each of these offsets:

Increasing the value narrows the distance between the robot grippers.

Decreasing the value widens the distance between the robot grippers.

The value should never be less than zero.

This value adjusts the position of a single gripper and is not a point to point adjustment between grippers.

Parameter

Open

Holding plate

Holding stack

Comment

Adjusts the distance between the robot grippers when open.

Set this parameter so that the grippers release the plate when opened.

Adjusts the distance between the robot grippers when holding a plate.

Adjusts the distance between the robot grippers when holding a stack of plates.

This value is usually larger than the holding plate value because the grippers need to grip a stack of plates harder than a single plate to support the weight of the stack.

6.

If your plates can be lidded, select

Can be lidded

.

You can now configure the lid parameters, using the following table as a guide:

Parameter

Can be lidded

Comment

Select if the plate can be lidded.

The following settings are only available if this setting is selected.

Stacking thickness Stacking thickness of the plate with a lid in place.

Thickness The distance, in millimeters, from the bottom surface of the of a lidded plate to the top surface of the lid.


78



Parameter

Resting height

Comment

Height, in millimeters, above the bottom of the plate at which the bottom of a plate lid rests.

Gripper offsets Height, in millimeters, above the lid resting height at which to grip the lid.

b

Gripper position

Departure height

Adjusts the distance between the robot grippers when holding a lid.

Height above the bottom of the plate to which the lid is lifted.

Related topics

7.

Click

Apply parameters

for the changes to take effect.


Resolving plate errors

Opening Labware Parameters

See...



c

BenchCel information



About general settings

About this topic

The General Settings page of the BenchCel Diagnostics dialog box contains offsets and corrections that are set at Velocity11. You should rarely, if ever, need to change them.

When adding new labware, you may have to make some adjustments after initially defining the labware.

!! IMPORTANT !! Be very careful making changes to the general settings. Incorrect settings can cause robot crashes resulting in gripper misalignment. If you are unsure, consult with a Velocity11 engineer before changing these settings to ensure that you input them correctly. Velocity11 keeps records of the settings that were factory set for your machine.

When you make a service call to Velocity11, you may be asked to provide some information about your BenchCel. This information is contained in the General Settings page.

The BenchCel area at the top of the General Settings page contains the firmware version and the MAC address of the BenchCel. You may be asked for this information when you make a service call.

79

Related topics


Adjusting labware settings

See...

“Maintenance and troubleshooting” on page 89

80



Changing general settings

About this topic

This topic describes how to edit the general settings.

!! IMPORTANT !!

Be very careful making changes to the general settings. Incorrect settings can cause robot crashes resulting in gripper misalignment. If you are unsure, consult with a Velocity11 engineer before changing these settings to ensure that you input them correctly. Velocity11 keeps records of the settings that were factory set for your machine.

Procedure

To change general settings:

1.

Click the

General Settings

tab in the BenchCel Diagnostics.

2.

Configure the

Stack Settings

.

Type the new value into the text box for the parameter you want to change using the following table as a guide.

Setting

Gripper delay time

Plate presence threshold

Rack sensor threshold

Additional release height (mm)

Low pressure threshold (psi)

Comment

The length of time the robot pauses to wait for the stacker gripper to open or close.

Any value at or higher than this means a plate is present. Below this value means there is no plate.

Similar to the Plate presence threshold, but higher because the sensor is closer to the metal rack, which reflects more light than the plates do.

This setting lets you compensate for the stacker grippers if they grip the plates too low.

The setting is adjusted in millimeters.

Sets the threshold for the low pressure warning.

This value is usually 50 psi.

Setting

Enable tilt margin, value

3.

Configure the

X Margin Settings

.



81

Comment

When checked, the sensors will check for plate tilt using the value entered (0–5 mm) as the amount of allowable tilt.

If tilt is detected, the BenchCel will automatically restack the plates.

Type the new value into the text box for the parameter you want to change using the following table as a guide.

If...

Empty

Full

Stay within unit

Then...

The distance the robot needs to travel from its farthest horizontal points to safely move its arms when not holding a plate.

The distance the robot needs to travel from its farthest horizontal points to safely move its arms when holding a plate.

This button restores the default values to the previous settings.

4.

Check the

Homing Offsets

.

!! IMPORTANT !!

These offsets are set at Velocity11 and should not need to be changed. They are used to calibrate all axes relative to their true home position.

Type the new value into the text box for the parameter you want to change, or select the appropriate check box, using the following table as a guide.

Setting

Theta

Comment

This offset changes the angle (in degrees) that the grippers home to. It is measured from a line perpendicular to the x-axis.

82



Setting

X

Z

Gripper

Home unit after releasing stacks

Comment

Changes the distance from the center of the robot’s horizontal travel.

Find this distance by measuring the distance the robot travels from an arbitrary point to the far left and far right positions and averaging them.

Changes the distance between the bottom of the robot head and the column. Ideally, this should be 20 mm.

Changes the distance between the opposing gripper points. This distance should be 87.5 mm.

Selecting this box tells the robot to home itself every time it releases a stack.

5.

Check the

Robot Limits

.

These values define the range of the theta, x and z axes for the robot.

Related topics

!! IMPORTANT !! These offsets are set at Velocity11, and should not need to be changed.

6.

Click

OK

for the settings to take effect.

!! IMPORTANT !! If you change the general settings and click OK, the values are changed in the operating software, which will affect protocols that you run after wards.



Global settings

See...


“Making global general settings changes” on page 83



Making global general settings changes

About this topic

In the bottom right of the

General Settings

page are three buttons that affect changes to the whole page. This topic provides a description of these buttons.

You should rarely need to use these buttons.

83

Button descriptions For information about each button, consult the following table.

Button

Refresh

Use default settings

Record settings to file

Description

Pressing the refresh button does not change any settings, but verifies that your computer is displaying the correct values.

This is useful when you have lost connection to the machine, or you want to make sure your settings are reflecting the settings that the

BenchCel is currently using.

This will restore the factory default values.

This is useful if you have made changes that do not work correctly, and you want to get back to normal functionality.

This creates an XML file with the current general settings values.

This is used for sending information to a

Velocity11 service engineer to help diagnose problems on your machine.

Related topics



General settings

See...



84



About profiles

Profiles defined

A profile contains the initialization settings associated with a particular

BenchCel. The data in a profile is used by VWorks to identify each

BenchCel on the network.

A profile can also contain other basic settings that you are unlikely to change once set up.

Because profiles identify BenchCel devices on the network, each

BenchCel must have its own profile.

You can create, modify, and delete profiles as needed.

Stored settings

Profiles are stored in the Windows registry.

The settings stored in a BenchCel profile include:

❑

Whether the BenchCel is connected using serial or Ethernet

❑

If the BenchCel is connected using Ethernet, the Device ID of the

BenchCel on the network

❑

If the BenchCel is connected using serial, the COM port that the controlling computer uses for communication

❑

Configuration of accessories

Related topics


Creating a profile

Managing profiles

See...


“Managing profiles” on page 87

Creating a BenchCel profile

About this topic

Your BenchCel was delivered to you with the correct profiles already created. However, at times you may need to create a new profile if, for example, to set up unique communications settings or use a different teachpoint file than you have with other profiles.

This topic describes how to create a new BenchCel profile.

Procedure



To create a BenchCel profile:

1.

Make sure you have a teachpoint file that you want to associate with your new profile.

2.

Open BenchCel Diagnostics.

3.

Click the

Profiles

tab.

4.

Click

Create a new Profile

.

5.

Enter a name, and click

OK

.

6.

In the

Profiles

area, select the

Connection

type from the list.

Select

Ethernet

if your BenchCel is connected to your computer with an Ethernet connection.

If you have a serial connection, select the

COM

port the connection is using. If your BenchCel supports flow control, select

Use flow control

.

7.

If you selected an Ethernet connection, select the device to associate with the profile. Click

Find available device

.

8.

In the

Discovered BioNet Devices

dialog box, select the appropriate

BenchCel from the list and then click

OK

.

9.

Select a teachpoint file: a. Click the ellipsis (...) button.

b. In the

Select a Teachpoint File

dialog box, navigate to the location of the file, select it and click

Open

. The file path appears in the

Profiles

area.

10. Click

Initialize this profile

to initiate communication to the

BenchCel using the new profile.

11. Click

OK

to save the changes and close the dialog box.

12. In the

Device Properties

window, select the new profile from the list next to the

Profile name

property.

85

86



Related topics


Profiles

Teachpoint files


See...

❑

VWorks User Guide

❑






Managing profiles

About this topic

After creating a profile, you can edit, delete, or rename it. This topic describes how to do these tasks.

Procedure

To edit a profile:

1.


2.

Click the

Profiles

tab.

3.

Select one of the options, using the following table as a guide:

Option

Create a copy of this profile

Rename this profile

Delete this profile

Update this profile

Initialize this profile

Description

Click to create a copy of the profile currently displayed in the

Profile name

field.

Click to rename a profile.

Type in the desired name in the

Rename Profile

dialog box.

Click to delete a profile.

A dialog message appears asking if you are sure you want to delete this profile.

Click to save changes made to a profile, for example if you have changed the Teachpoint file for that profile.

Click to instruct the software to connect to the

BenchCel using the current profile.

87

Related topics


Profiles

Creating a profile


See...

VWorks User Guide



88



Chapter 6: Maintenance and troubleshooting


Maintenance and troubleshooting

6

This chapter tells you how to keep your BenchCel in good working order and what to do when you encounter a problem.


❑

“Routine maintenance” on page 90

❑

“About error handling” on page 91

❑

“Resolving device initialization errors” on page 92

❑


❑

“Checking the arm alignment” on page 99

❑


❑


❑


❑


❑


❑


❑

“Adjusting the orientation sensors in the labware parameters area” on page 107

❑


❑


❑

“Resolving non-VCode bar code reader errors” on page 115

❑

“Resolving VCode bar code reader errors” on page 117

❑

“Adjusting the stacker gripper pressure” on page 118

89

90



Routine maintenance

About this topic

This topic provides recommendations for maintenance including when and what to perform.

Monthly maintenance

In general, practice good housekeeping by cleaning up spills and routinely cleaning after using.

Every month, check the following:

❑

Robot head gripper arm points to ensure they are not too dull to grip the plates.

❑

Stacker grippers to ensure they have not deteriorated.

❑

Visible moving parts to ensure they are not rubbing against each other.

Look for rub marks or noises that might indicate rubbing. These are most evident on the white metal cover behind the robot head, and anywhere the robot arms travel.

❑

Supply air pressure to the BenchCel to ensure it’s between 70 and

90 psi.

After every run Check the x-axis track to ensure it is free of debris, such as pieces of chipped plates and microtubes.

BenchCel device maintenance

Related topics

For information about routine maintenance of the individual devices integrated with your BenchCel, see the relevant device’s documentation.


Cleaning

Gripper pressure

See...


“Adjusting the stacker gripper pressure” on page 118

Handling errors during normal operation



About error handling

About this topic

The BenchCel is a complex device that requires the interaction of hundreds of parameters, configurations, and operator setup tasks for a protocol to run successfully.

Causes of errors

Errors have many causes, including poor protocol writing, incorrect operator setup, variation in plates, hardware failure, and software failure.

Error handling is a normal part of operating the BenchCel, and when errors occur it does not necessarily mean that the BenchCel has malfunctioned.

Related topics


Initialization errors

Compiling errors

Error messages

Labware problems

Sensors

Teachpoint problems

Bar code reader errors

See...


User guide for the operating software


❑


❑


❑


❑


❑



❑

“Resolving non-VCode bar code reader errors” on page 115

❑


91

92



Resolving device initialization errors

About this topic

This topic describes the device initialization process and suggests some things to try if you encounter problems with device initialization.

Device initialization process

When you start VWorks, the software loads the driver files for all the devices on your system. A record of this process is displayed in the log toolbar.

When you open a protocol file, the device file associated with that protocol opens. The device file tells the software which devices are connected to the system. Then, for some kinds of devices, an initialization step tests the communication between VWorks and the device.

Resolving initialization errors

During this process a message window opens, displaying the name of the devices that the software expects to find. Devices are removed from the list as the system computer determines that the devices are ready. In the following example, there are four devices that the software is trying to initialize:

If there is a problem with initializing a device, you receive an error message dialog box for that device. The problem encountered is stated in the text field of the dialog box.

In this example, VWorks could not initialize the VPrep device.

To troubleshoot the problem:

1.

Make sure the device is turned on and that the communications cable is connected properly.



93

2.

Click Diagnostics and make sure the device profile is configured properly.

3.

Click

Retry. If the problem persists, select Ignore and continue and make sure the device file is configured properly.

4.

Click Initialize all devices, or save the changes and re-load the protocol file.

5.

If that does not solve the problem, contact Velocity11 Technical

Support.

Resolving common problems and error messages

About this topic The most common problems that can occur with the BenchCel relate to the following areas:

❑

Labware definitions

❑

Stacker

❑

Robot

❑

Arm alignment

This topic describes the possible causes and recommended actions for these types of problems.

Labware and stacker

Problem/Error

Message

“Wrong plate type”

Possible Cause Recommended Actions

The plate you are using is not the same as the plate type selected in the software.


Incorrect value in the labware definitions for the plate type.

Gripper arms are out of alignment

Theta homing offset is incorrect

External teachpoint needs adjusting

Orientation sensors need adjusting.

94



Problem/Error

Message

“Plate is rotated”


Conflicting messages regarding plate presence and orientation

“No plate in stack”

Plate was placed in the stacker rack in the wrong orientation.

Notch location is wrong in the labware definition for the plate.

Check the plate orientation in the stacker rack. The notch should be in the back, left corner as you face the BenchCel.

Open the Labware Editor dialog box and click the Stacker tab. Verify the correct notch is selected in the Notch Locations area.

Stacker orientation sensor offset is incorrect.

Open BenchCel Diagnostics and select

Show plate parameters.

Verify the Orientation sensor offset value.

This value is the distance in millimeters, from the bottom of the plate to the middle of the Stacker rack sensor window.

Orientation sensors need adjusting.

See “Adjusting the orientation sensors in the labware parameters area” on page 107 for a procedure.

The plate presence threshold is not set to accommodate the range of plate types you are using.

Open the BenchCel Diagnostics and click the General Settings tab.

Adjust the value in the Plate presence threshold field. Typically, this value is about100. If you are getting a no plate present message when there is a plate, decrease this value.

If you are getting a plate present message when there is none, increase this value.

Plate orientation sensors need adjusting.

Open the Labware Editor dialog box and click the Stacker tab.

Adjust the Orientation sensor threshold

(max) and/or Sensor intensity values.

See “Adjusting the orientation sensors in the labware parameters area” on page 107 for a procedure.

Plates are not in the correct stack.

Verify plates are located in the correct stack.



95

Problem/Error

Message

“Stack not loaded”

“Rack not present”


Stacker rack is absent.

Stacker clamps in the incorrect position to execute the command.

Plate present threshold is set too low.

Stacker rack is out of position.

Install rack. See “Installing a rack” on page 36 for a procedure.

Open BenchCel Diagnostics. If there are no plates in the stack, click Retract

Clamps.

Open the BenchCel Diagnostics and click the General Settings tab.

Adjust the value in the Plate presence threshold field. Typically, this value is about100. If you are getting a no plate present message when there is a plate, decrease this value.

If you are getting a plate present message when there is none, increase this value.

Shift the stacker’s position a little without removing it and then click Retry.

Robot and stacker grippers

Problem/Error

Message

Robot grippers are not grabbing plates correctly


Gripper offset is incorrect.

Stacking thickness for the plate type is incorrect.

Plate thickness for the plate type is incorrect.

Gripper limits are incorrect.

Open the Labware Editor dialog box and click the BenchCel tab.

Check the value for the Robot gripper offset. This value is the distance from the bottom of the plate to the point where the grippers grab the plate. This should be the middle of the plate.

Open the Labware Editor dialog box and click the Plate Properties tab.

Check the Stacking Thickness value. See

VWorks User Guide for a procedure.


Check the Thickness value. See VWorks

User Guide for a procedure.

Open the Labware Editor dialog box and click the BenchCel tab.

Adjust the values for the Gripper closed position.

96



Problem/Error

Message

Plates are tilted or dropping from the stacker

Plates are not held level by the robot at all times during a plate transfer


Stacker gripper offset is incorrect for the plate type.

Stacking thickness for the plate type is incorrect.

Plate thickness for the plate type is incorrect.

Gripper points are out of alignment.

Open the Labware Editor dialog box and click the Stacker tab.

Check the Stacker gripper offset value.

This value is the distance from the bottom of the plate to the center of the stacker gripper.


Check the Stacking Thickness value. See

VWorks User Guide for a procedure.


Check the Thickness value. See VWorks

User Guide for a procedure.

Check the gripper alignment. See

“Checking the arm alignment” on page 99 for a procedure. If grippers are

out of alignment, contact Velocity11

Technical Support.



97

Robot and scheduler error messages

Error Message Possible Cause

“No plate in grippers” The robot did not detect a plate when it expected one.

Recommended Actions

If there is a plate in the grippers and it is incorrectly positioned, use the animated display in BenchCel Diagnostics to move to a teachpoint and open the grippers, releasing the plate.

After that, use the animated display in

BenchCel Diagnostics to pick up the plate and retry.

“Plate in grippers”

“X position out of bounds”

“Z position out of bounds”

“Theta position out of bounds”

The robot senses a plate in its grippers and is being asked to perform an action that requires it to not have a plate.

If there is a plate in the grippers, and it is incorrectly positioned, use the animated display in BenchCel Diagnostics to move to a teachpoint and open the grippers which will release the plate.

After that, use the animated display in

BenchCel Diagnostics to pick up the plate and retry.

The robot has been commanded to move out of its range in the x direction.

The robot has been commanded to move out of its range in the z direction.

The robot has been commanded to move out of its range.

For z errors, check your labware definitions. For all axes errors, check the teachpoints.

If you encounter this error repeatedly, contact Velocity11 Technical Support to upgrade your firmware, or obtain workaround information for this problem.

“The gripper positions are too close”

The values of the open and holding plate gripper positions of the labware are too close to each other.

Increase the difference between the two gripper positions.

“Position error on the

Theta axis”

“Position error on x axis”

The robot failed to move to the commanded position.

For example, something is blocking the robot.

Retry. If that fails, home the robot and retry. If homing fails, contact Velocity11

Technical Support.

Position error on z axis”

“Position error on grippers”

“Flash operation not successful”

The robot encountered difficulty writing to its flash memory.

Click Retry.

If that doesn’t work, turn the BenchCel off and then on. If you continue to experience this problem, contact

Velocity11 Technical Support.

98



Error Message

“Operation timed out”

“Communication timed out”

“Deadlock detected”

Possible Cause

The robot encountered difficulty executing a command.

Recommended Actions

Click retry.

If retrying does not work, turn the

BenchCel off and then on, then reinitialize

If problem continues, contact Velocity11

Technical Support.

Communication to the robot or to a peripheral device was lost.

Close and restart the software controlling the robot.

Turn the BenchCel off and then on.

Every plate position is filled and there is nowhere to move any of the plates.

Check the communication cables.

Verify that the Ethernet hub has power.

If the problem continues, contact

Velocity11 Technical Support.

Re-examine the protocol with the aid of the Log toolbar and run simulator to determine why the deadlock is occurring.

Check to be sure that the number of simultaneous plates is not too high.

Wait for the head to cool and retry.

“Thermal cutoff active for theta-axis”

The theta motor is overheated.


Be careful. The robot head might be too hot to touch.

“Timeout on thetaaxis”

The motor’s controller did not respond as expected.

“Timeout on x-axis”

“Timeout on z-axis”

“Timeoout on grippers”

Home the robot and then move the robot in the same axis. If the robot moves, continue on.

If the robot does not move, shut down the operating software and turn the

BenchCel off and then on.

Contact Velocity11 Technical Support if problem continues.



Checking the arm alignment

About this topic

The gripper arms of the BenchCel robot must be in alignment, that is, level with each other in all planes. If the arms become misaligned, the robot will have difficulty placing and picking labware.

Under normal working conditions, the arms should not become unaligned. Usually misalignment is the result of a physical collision of the robot with a peripheral device or other object.

This topic describes when and how to check the arm alignment.

When to check the arm alignment

❑

When teachpoints appear to be off and nothing was changed on the

BenchCel system

❑

When a plate being held by the grippers appears tilted in any direction

❑

Any time the robot is inconsistently picking up or placing labware properly

Who should adjust the alignment

Adjusting the gripper-arm alignment is a tedious process and should be performed by Velocity11 Technical Support personnel.

If you suspect the arms are out of alignment, you should follow the procedure in this topic to check their alignment. If they are found to be out of alignment, contact Velocity11 Technical Support to set up a service visit.

Procedure

To check the arm alignment:

1.

Open the

Control

page in the BenchCel Diagnostics.

2.

Place a plate in one of the stackers.

3.

Command the robot to pick the plate and then to go home.

4.

Using the bar in front of the BenchCel, visually check if the plate is parallel to the bar.

5.

If the plate is not parallel, the arms are out of alignment.

99

Example of gripper arms out of alignment

Reference bar

00056

BenchCel

Robot arm

Example of gripper arms in alignment

Reference bar

00056

BenchCel

Robot arm

100



Troubleshooting wrong plate type errors

About this topic

This error is generated when the notch sensors, located in the stacker head, detect a plate notch pattern inconsistent with the definition of that plate type in the labware database. This topic identifies some of the possible causes of this error message and references the topics that provide the recommended actions.

Wrong plate type errors

There are a number of possible causes that result in a wrong plate type error. We recommend you follow this list to eliminate some of the more common causes of this error message before the others.

Order Possible cause

1 Wrong plate is being used

2

3

4

5

6

Gripper arms are out of alignment

Theta homing offset is incorrect

x- or z-value for an external teachpoint is incorrect

Orientation sensor offset is incorrect

Orientation sensors need adjusting

Recommended action

Check the plate type you are using to the plate type selected in the

software. See “Verifying the plate type” on page 101

Verify the arm alignment. See

“Checking the arm alignment” on page 99.

Verify theta homing offset. See

“Verifying the theta homing offset” on page 103.

Verify the external teachpoint. See

“Verifying and adjusting teachpoints” on page 111.

Verify the orientation off.set. See


Adjust sensor intensities. See


Related topics


Plate is rotated error

Checking the stacker sensors

Conflicting errors

See...






Verifying the plate type

About this topic

A wrong plate type error message might be the result of the wrong plate or settings being used. This topic describes what to check to make sure the plate type being used is identified correctly by the software.

Procedure

To verify the plate type:

1.

Check to be sure you are using the correct plate type.

a.

If the error occurred while running a protocol, check the settings for the plate process in the protocol.

b.

Open the

Controls

page of


.

c.

In the Labware area, verify that the name in the Labware list is the correct labware.

101

2.

If you are using the correct plate type, check the notch setting in the labware parameters: a. In the

Labware

area, select

Show parameters

.

b. In the


dialog box, verify that the correct notch position is selected.

102



3.

Check the

Number of wells

value in the labware entries page of the

Labware Editor

dialog box

: a. Open the

Labware Editor

dialog box by clicking

Editor and check the value in the

Number of wells

entry field.

b. Make sure that the displayed value matches the number of wells in the plate you are using.

Related topics



The next step in the workflow

Troubleshooting plate rotated errors

See...






Verifying the theta homing offset

About this topic

A wrong plate type error message might be the result of an inaccurate theta homing offset. This topic describes how to check to make sure the the homing offset of the robot is within tolerance.

Procedure

To verify the theta homing offset:

1.

Open the

Controls

page of


.

2.

Click Home to home the robot.

3.

Insert two 4-mm hex wrenches in the holes next to the BenchCel arms.

103

4-mm hex wrenches

Related topics

4.

Center the arms around the two hex wrenches by grasping the tips of the arms with one hand.

5.

Check the theta position readout. It should be zero.

If the theta homing offset is off by more than 0.15 degrees, it needs to be adjusted. Call Velocity11 Technical Support for instructions on how to adjust the offset.




Troubleshooting plate rotated errors

See...




104



Verifying the sensor offset

About this topic

The sensor offset is used to position the plate notch in line with the orientation sensor. This topic describes how to verify the sensor offset.

Typically, this is done when you are troubleshooting a wrong plate type

error. See “Troubleshooting wrong plate type errors” on page 100 for the

complete troubleshooting workflow.

Before you start

Procedure

Before you start, verify the following:

❑

Labware settings in the labware editor

❑

Gripper arm alignment

❑

Theta homing offset

To verify the sensor offset:

1.

Open the

Controls

page of


.

2.

Using the commands in the animated display, place a plate at the external teachpoint in question.

3.

Again using the commands in the animated display, pick the plate from the same teachpoint.

4.

Place the plate at the sensor: a. Make sure 1 is selected from the

Stacker list.

b. Click

Move to sensor position.

5.

Verify that the center line of the sensor is aligned to the center of the notch. If it is not aligned, adjust the sensor plate offset in the labware editor:

If notch values are low, the plate is too low, and you need to decrease the offset. If notch values are unstable, fluctuating over a large range, then the plate is too high (sensor is detecting plate skirt) and you need to increase the offset.

a. Jog the plate up by 1-mm increments until the notch sensor values start to fluctuate wildly (detecting plate skirt).

b. Jog down by 1-mm increments until the notch sensor values are very low.

6.

If the sensor plate offset is correct, proceed to “Adjusting the orientation sensors in the labware parameters area” on page 107.

Related topics



105




Opening the labware editor

See...




Troubleshooting plate is rotated errors

About this topic

This error is generated when the notch sensors, located in the stacker head, detect a plate notch pattern consistent with the correct plate type placed in the wrong orientation.

This topic describes how to troubleshoot this error message.

Procedure

To resolve a plate is rotated type error:

1.

Check to ensure that the correct plates are in the stacker rack.

2.

Check to ensure that the plate is in the correct orientation in the stacker rack.

3.

If the plate is in the correct orientation, check the notch setting in the labware parameters: a. Open the Controls page of BenchCel Diagnostics.

b. In the

Labware

area, select

Show parameters

.

c.

In the


dialog box, verify that the correct notch position is selected.

4.

Check the orientation sensor offset: a. Open the

Labware Editor

dialog box and click the

Stacker

tab.

b. Verify the value in the

Orientation sensor offset

. This is the distance from the bottom of the plate to the middle of the sensor window.

5.

Check the orientation (plate notch) sensor readings. See “Checking the stacker sensors” on page 109 for a procedure.

6.

If readings do not detect the correct orientation, see “Adjusting the orientation sensors in the labware parameters area” on page 107 for

a procedure on how to adjust the sensors.

106



Related topics


Labware parameters area

Common problems and error messageS

Troubleshooting other labware problems

See...



❑


❑


Troubleshooting plate presence errors

About this topic This topic describes two types of plate presence errors and how to resolve them:

❑

A conflict message displays when the plate presence sensor does not detect a plate and orientation sensors do detect a plate. This error occurs when a rack is loaded.

❑

A no plate present message displays when the stacker is commanded to downstack a plate but the plate presence sensor does not detect a plate. This error occurs when a rack has been loaded and the protocol is running.

These problems are usually resolved by adjusting the sensor’s intensity or stacker gripper offset. In some cases the plate presence threshold may need adjusting.

Procedure

To resolve the conflict plate present or no plate present error:

1.

Open BenchCel Diagnostics and click the

Controls

tab.

2.

Make sure the Labware Parameters area is open by selecting Show

parameters.

3.

Increase the Sensor intensity value.

4.

If increasing the intensity does not resolve the problem, adjust the stacker gripper offset. If the gripper is grabbing the plate very high, decrease the offset. If the gripper is grabbing the plate very low, increase the offset.

5.

If neither the increase in intensity or the gripper offset adjustment solve the problem, adjust the

Plate presence threshold

. a. Click the General Settings tab in BenchCel Diagnostics.

b. Decrease the Plate presence threshold value.

Related topics



107

Note that changing the plate presence threshold is a general setting and affects all plates.


Labware parameters area

Resolving common errors

Troubleshooting other labware problems

See...



❑


❑


Adjusting the orientation sensors in the labware parameters area

About this topic

This topic describes how to adjust the labware setting that controls the orientation sensors for a plate.

When to use

Use this procedure when you are using a new plate type and you are getting wrong plate type or plate is rotated messages in error. The typical situation for this procedure is when the new plate type has different optical properties than other plates with similar physical size.

Before starting

Procedure

Verify the following are correct:

❑

Labware editor settings

❑

Gripper arm alignment

❑

Theta homing offset

❑

Orientation sensor offset

To set the orientation sensors for a new plate:

1.

Place a plate in one of the stacker racks on the BenchCel.

2.

Open the

Controls

page of BenchCel Diagnostics.

3.

Make sure Show parameters is selected so that the Labware

Parameters area displays.

4.

Select the correct

Stacker

from the list.

5.

Load the stacker with a few plates.

108



Typical settings

6.

Pick the plate from the stacker.

7.

Click

Move to sensor position

.

8.

Check the orientation sensor offset to make sure the sensor is

located in the middle of the notch surface. See “Verifying the sensor offset” on page 104 for a procedure.

9.

Adjust the orientation sensor intensity: a. Start with an intensity setting where the notch-orientation readout values are near saturation (about 200). b. Gradually reduce the intensity until the readouts start to drop. c.

Note the values of the orientation sensor that is detecting the notched side or sides of the plate and the other sensors that are detecting the non-notched sides of the plate.

10. Set the orientation sensor threshold: a. Set the threshold to a number approximately halfway between the notch and no-notch readouts noted from the previous step.

For example, if the orientation sensors for the no-notch sides of a plate read 180, 175, 185 and the notched side read 100, set the threshold to 140.

The following table lists some typical sensor values for plates.

Use it as a guide for the initial settings of the threshold and intensity values.

Plate Type

Clear, all types

Matte white

Shiny white

Matte black

Shiny black

Orientation Sensor

Threshold

100

100

100

60

60

Orientation Sensor

Intensity

50

20

10

80

50

Related topics


Checking gripper alignment

Labware parameters

Theta homing offset

See...





Orientation sensor offset



109

See...


Checking the stacker sensors

About this topic

Each stacker has the following sensors:

❑

Four plate notch sensors—one for each plate corner

❑

A rack presence sensor

❑

A plate presence sensor

❑

An air pressure sensor for the stacker grippers

When you have a problem, check the stacker sensors to make sure they are correctly sensing plate notches, racks and plates, and that the air pressure is within limits for your BenchCel application.

Procedure

To check the stacker sensors:

1.


2.

From the

Stacker

list, select the stacker you want to monitor.

3.

Instruct the robot to pick a plate.

4.

If the

Notches

read zero, click

Move to sensor position

.

This commands the robot to move the plate to where the sensors detect it.

5.

Check the

Stacker Sensors

area using the following table.

Setting

Rack present

Plate present

Comment

This indicator light is green when a rack is present, and red when a rack is not present.

To set the Rack sensor threshold, see “Related topics” on page 110.

Any number above the Plate in stack sensor threshold indicates a plate is present. Numbers under the threshold are displayed red, while numbers over the threshold are displayed white.

To set the Plate in stack sensor threshold, see “Related topics” on page 110.

110



Setting

Air (PSI)

Notches

Comment

Displays the air pressure of the selected stacker’s regulator, in pounds per square inch.

The far-left plate sensor is called A1 because that corner is intended for the A1 well of the plate.

Values that are less than the Sensor threshold indicate the presence of a notch.

Values that are greater than the Sensor threshold indicate the absence of a notch.

To set the Sensor threshold or Sensor intensity, see

“Related topics” on page 110.

Related topics



Setting the rack sensor threshold

Plate in stacker sensor threshold

Sensor threshold or sensor intensity

See...







Verifying and adjusting teachpoints

About this topic

Once set properly, you should never need to adjust or redefine a teachpoint unless you do one of the following:

❑

Move the BenchCel

❑

Change settings on external devices, such as the z-height on a

VCode

❑

Move one of the external devices or BenchCel accidently

You might also want to use this procedure to verify an external teachpoint when you are troubleshooting teachpoint or labware problems.

Symptoms of a teachpoint error

The typical symptom of a teachpoint error is when the robot is not placing the plate properly at a teachpoint.

Note that, if the plate appears out of place during an upstack operation, then the problem most likely lies with the external teachpoint from which the plate was picked and not with the stacker teachpoint.

Before changing a teachpoint

Before you verify or adjust a teachpoint, always verify that the grippers are aligned. Gripper misalignment can appear as an incorrect teachpoint.

When to redefine or adjust a teachpoint

If you are sure the teachpoint is off, then either redefine the teachpoint or make an adjustment in the software as described below.

If...

Then...

Placement of a plate is incorrect, the gripper arms are in alignment, and the teachpoint is verified to be incorrect

Adjust the teachpoint

You have moved the BenchCel Adjust the teachpoint

You have changed the stage height on the VCode

Adjust the teachpoint

You have moved an external device slightly

Adjust the device and check the teachpoint. If it is very close, make a slight adjustment.

111

Verifying and adjusting the teachpoint

To verify the teachpoint, you will measure the difference between the marks left on a plate by the grippers after picking the plate from a stacker (internal teachpoint) and a peripheral device (external teachpoint).

To verify and adjust a teachpoint:

1.

Open the

Controls

page of BenchCel Diagnostics.

112



2.

Select Slow for robot speed.

3.

Place two new plates in a stacker rack and click Load Stack X.

4.

Activate the internal (stacker) teachpoint by clicking the teachpoint in the animated display.

Activated stacker teachpoint

Activated external teachpoint

5.

Activate the external teachpoint (in this case, it is called

TeachpointRight) by clicking its teachpoint in the animated display.



113

6.

Click

Transfer to teachpoint

in the animated display to command the robot to transfer the first plate from the stacker to the external teachpoint.

7.

Remove the plate from the teachpoint and set aside because it can have marks from the initial loading of the rack which could interfere with the procedure.

8.

Click Pick from Stacker X to have the robot grab the second plate.

9.

Verify the plate is grabbed correctly that is, more or less in the middle, not at the extreme edges (top/bottom or side/side) of the plate. If it is not centered, call Velocity11 Technical Support as your stacker teachpoint may be incorrect.

10. Click Place at teachpoint to command the robot to place the plate at the external teachpoint in question.

Note the marks on the plate left by the grippers. If the plate was grabbed correctly (see step 8), these indentations indicate the correct teachpoint.These points are the reference points that are used to check the second teachpoint.

Gripper indentations from the stacker teachpoint

If the indentations left by the gripper arms are not points but arcs or vertical scratches, the arms are out of alignment. Call Velocity11

Technical Support to arrange a service visit to align the arms.

11. Click

Pick from

teachpoint to command the robot to pick up the plate.

12. Click

Open in the grippers area to instruct the grippers to release the plate.

Catch the plate when it is released.

Note the marks on the plate left by the grippers when picking from the external teachpoint. If the external teachpoint is off, the marks on the plate left by the grippers this time will be in a different place.

External teachpoint

Stacker teachpoint

114



Measure the distance the between the gripper marks in the x and z direction. In addition, note the direction (positive or negative) for each direction.

x z

13. Incorporate the differences in the teachpoint definition.

As an example, suppose the external teachpoint was 1 mm to the left (negative, X direction) of the reference point and 1 mm above

(positive Z, direction) of the reference point.

a. Open the Teachpoint Details dialog box by double-clicking the external teachpoint in the animated display.

b. Enter the corrected X(min) value. In this example, the X(min) teachpoint value needs to move to the right (positive) by 1 mm, so the corrected value is 102.482.

c.

Enter the corrected

Z(min) value. In this example, the Z(min) teachpoint value needs to move down (negative) by 1 mm, so the corrected value is –11.0.

14. Click Save and exit to save the changes.

15. Re-check the adjusted teachpoint: a. Repeat this procedure to verify the teachpoint is correct.

b. When you are satisfied that it is correct, change the robot speed to the speed you intend to run the protocol and move the robot through the expected protocol sequence several times to ensure it is consistently picking and placing plates correctly.

Related topics



115


Checking the gripper arm alignment

Verifying plate parameters

Verifying theta homing offset

Verifying sensor offset

See...





Resolving non-VCode bar code reader errors

About this topic The information in this topic refers to errors generated by bar code readers that are not attached to a VCode. These include:

❑

Optional VPrep shelf bar code readers

❑

Optional platepad bar code readers

Types of bar code misread errors

There are two types of bar code misread errors.

Error type

Bar code no-read

Description

When commanded, a bar code reader is unable to read a bar code.

Bar code mismatch The bar code of the plate at the bar code reader does not match the bar code that the software expects for that plate.

Note: The software does not attempt to read a bar code unless you have specified (in the plate icon parameters) that incoming plates have bar codes on that side.

Bar code error option

The result of a bar code misread error depends on whether “Halt on bar code misreads” error option (in Tools>Options>Error Handling) is selected.

If the option is selected:

❑

The protocol pauses.

❑

An error is generated in the log.txt file and VPrep log file.

❑

A dialog box opens, allowing you to enter the correct bar code.

If the option is not selected:

116



❑

An error is generated in the log.txt file and VPrep log file.

❑

The protocol continues without pausing so there are no recovery steps.

Bar code no-read errors

When a bar code cannot be read and the “Halt on bar code misreads” error option is selected, an error message is generated stating “Could not read side bar code on plate at device.” l

Bar code mismatch errors

When the plate that is picked up does not match the bar code that

VWorks expects in that position, an error message is generated stating

“Scanned side bar code: scanned bar code does not agree with expected: expected bar code for plate at location.”

Recovering from bar code errors

To recover from a bar code error:

1.

Enter the correct bar code in the text box of the

Bar code

confirmation dialog box.

2.

Click OK.

The run continues.

Related topics


Resolving VCode errors

Setting the error options

See...


❑


❑

VWorks User Guide



Resolving VCode bar code reader errors

About VCode errors

VCode errors, which include bar code errors, are generated by VCode devices and displayed in VWorks. An example VCode error is shown below.

117

Related topics

For more information about resolving VCode errors, see the VCode User

Guide.


Resolving common errors

Resolving initialization errors

See...



118



Adjusting the stacker gripper pressure

About this topic

The stacker gripper pressure determines how forcefully a stacker grips a plate. It is set physically for each stacker and not in software. This topic describes how to adjust the BenchCel gripper pressure.

When to adjust the grip pressure

If the plates you are using are flimsy, lower the grip pressure from the default pressure of 50 psi to avoid distorting them.

If your plate stack is heavily loaded with plates, the plates are made of a heavy material, or are full of liquid, the bottom plate might slip in the stacker gripper. In this case, increase the stacker gripper pressure.

!! DAMAGE HAZARD !! Make sure the stacker gripper pressure

does not exceed the maximum pressure specified in “Performing pre-run checks” on page 40.

Procedure

To adjust the grip pressure:

1.

Locate the air pressure regulator.

00069

BenchCel

3 buttons

Locking ring


Open gripper flow

Close gripper flow

00069

There are three knobs in the back of each stacker on the BenchCel.

The central knob controls the air pressure to both stacker grippers.

2.

Using your fingers or a pair of pliers, unscrew the locking ring of the central knob by turning it counterclockwise.

3.

Turn the regulator clockwise to increase the pressure or counterclockwise to decrease the pressure.

You can see the sensor reading for the stacker gripper pressure in the

Stacker Sensors

area of the BenchCel Diagnostics Controls page.

!! DAMAGE HAZARD !! Do not set the grip pressure lower than 15 psi.

4.

Open and close the stacker grippers two to three times to allow the pressure to adjust.

5.

Lock the locking ring by turning it clockwise until it is finger-tight.

Related topics



119


Stacker sensors area

Stacker clamps

See...



120



Chapter 7: BenchCel ActiveX controls


BenchCel ActiveX controls

7

This chapter gives integrators the ActiveX control they need to integrate another company’s lab automation device into the BenchCel.

The ActiveX has been verified to work with both Visual Studio 6 and

Visual Studio.NET (v 7.1).


❑

“About ActiveX controls” on page 122

❑

“Properties” on page 123

❑

“Methods” on page 124

121

122



About ActiveX controls

What is the

BenchCel ActiveX control

The BenchCel ActiveX control is the software component that allows the

BenchCel to interact with any Velocity11 or a third-party lab automation system.

How the BenchCel

ActiveX control is used

In a Velocity11 lab automation system, lab automation system software such as VWorks or BenchWorks is already configured to interface with the BenchCel. The operator can control the device using the software.

In a third-party lab automation system, you need to use ActiveX to configure the third-party software to interface with the BenchCel. Each

ActiveX control consists of a collection of the following:

❑

Methods. Functions that can be called to invoke individual operations

❑

Properties. Variables that are used in methods (for example, speed = fast)

❑

Events. Notifications that methods have completed or resulted in errors

When integrating the BenchCel in a lab automation system, you need to know the available methods and properties for the ActiveX control.

The following diagram illustrates the use of the BenchCel ActiveX control in a lab automation system environment. Actions you perform are conducted through ActiveX methods. System responses are relayed back through ActiveX events.

Computer

Velocity11 device

Serial commands

Serial

Port

Velocity11 device

TCP/IP commands

Ethernet switch

TCP/IP commands

Ethernet port

Velocity11 device

TCP/IP commands

ActiveX, including diagnostics

Methods

Events

Velocity11 lab automation software

Methods

Events

Third-party lab automation software

Properties

IPictureDisp*

ControlPicture

Description

Read-only property that the client can use to get an icon to represent the

ActiveX control.

This example paints a BenchCel bitmap over a button.

Visual C++ example

/*The CPicture class is imported into your project when the ActiveX is installed*/

CButton button;

//Create a button

CPicture BenchCelPic;

BenchCelPic = m_BenchCel.GetControlPicture();

//Retrieve the picture button.SetBitmap((HBITMAP)BenchCelPic.GetHandle());

/*Paint the bitmap onto the button*/

Visual Basic example

'Assume that there is a button

'named Command1 on the

'current form. You must set

'the style property of

'Command1 to Graphical

Command1.Picture = BenchCel1.ControlPicture

SHORT Speed



BOOL Blocking

Description

Property to specify how fast the BenchCel should move. 0 = slow, 1 = medium, 2 = fast. This property should not be changed during an operation. Setting this property to an invalid value will have no effect

(call will be ignored).


//Set the speed to fast m_BenchCel.speed = 2;


'Set the speed to fast

BenchCel1.Speed = 2

Description

Specifies whether the ActiveX should block during an execution of a command. If true, commands like PickAndPlace will not return until the action completes or an error occurs. The result value return from the call will indicate success (S_OK or 0) or failure. If false, the command will return immediately and fire an event to indicate successful

123

124



completion of the command. Errors will be indicated through one of two means; 1) the return value might not be S_OK (0), in this case, no event will be fired; 2) an error event is fired. When an error occurs, the

ActiveX expects a call to Abort, Retry or Ignore. ShowDiagsDialog can be called to allow the user to exercise specific diagnostic/corrective functions, but when the main execution resumes, a call to Abort, Retry or Ignore is necessary to continue the operation.


//Set the BenchCel to block until the command completes m_BenchCel.Blocking =1;


Set the BenchCel to block until the command completes m_BenchCel.Blocking = TRUE

Methods

void AboutBox()

Description

Shows a small window that indicates some version information.

Parameters

None

Returns

None


BenchCel1.AboutBox()


m_BenchCel.AboutBox();

BSTR GetVersion ()

Description

Method to programmatically retrieve the version of the ActiveX.

Parameters

None

Returns

None


CString strVersion = m_BenchCel.GetVersion();


Version = BenchCel1.GetVersion()



125

LONG Initialize(BSTR

Profile)

Description

Method to connect to the BenchCel device. A BenchCel profile specifies how to connect to the device (serial or Ethernet; if Ethernet, which device on the network and if serial, which port to use) and which teachpoint file to use. If this is called in non-blocking mode, the client application should wait for InitializeComplete before calling other methods. This method should be called before most other methods.

Parameters

Argument

Type

Argument

Name

Range Description

BSTR Profile Valid profile name

The name of the profile to be used for initialization

Returns

S_OK (0) on success; other value otherwise.


LONG1Result = m_BenchCel.Initialize("ethernet");


LONG1Result =

BenchCel1.Initialize("ethernet")

LONG

ShowDiagsDialog(BO

OL bModal, SHORT iSecurityLevel)

Description

Method to show the graphical diagnostics menu that allows the user to troubleshoot and correct problems. This method can be called before

Initialize to create a profile.

Parameters

Argumen t Type

Argument

Name


BOOL bModal TRUE,FALSE Whether the diagnostics should be shown modally

SHORT iSecurityLevel 0-3 The security level that the user has to operate the diagnostics

0 = Administrator

1 = Technician

2 = Operator

3 = Guest

–1 - No access

Returns

LONG —no meaning.

126




m_BenchCel.ShowDiagsDialog(TRUE,0);


BenchCel1.ShowDiagsDialog 1, 0 void Close()

BSTR GetLastError()

Description

Method to retrieve a text message explaining the last error. This method can be called in blocking mode, after a command returns with a failure code, or in non-blocking mode, after the Error event has been fired.

Parameters

None

Returns

None


strError = m_BenchCel.GetLastError();


strError = BenchCel1.GetLastError()

LONG Retry()

Description

Method to disconnect from the BenchCel device.

Parameters

None

Returns

None


m_BenchCel.Close();


BenchCel1.Close

Description

Method to retry an action after an error occurred. For example, if there is insufficient air pressure during a LoadStack operation, the application can call Retry after the air pressure has been increased.

Parameters

None

Returns

None


m_BenchCel.Retry();


BenchCel1.Retry



127

LONG Abort()

LONG Ignore()

Description

Method to clear an error and state information.

Parameters

None

Returns

None


m_BenchCel.Abort();


BenchCel1.Abort

Description

Method to ignore the previously issued error. This is not a recommended course of action, as the errors are issued for a reason. However, ignoring some errors, such as “Plate is rotated”, can be appropriate if the operator understands the implications.

Parameters

None

Returns

None


m_BenchCel.Ignore();


BenchCel1.Ignore

LONG

PickAndPlace(BSTR

PickFrom, BSTR

Place To,

VARIANT_BOOL bLidded, LONG nRetractionCode)

Description

Method to transfer a plate. Stacker locations are called “Stacker 1”,

“Stacker 2”, etc. Downstacking can be specified by using a stacker location for PickFrom and upstacking can be specified by using a stacker location for PlaceTo. bLidded indicates whether the robot should treat the plate as if it has a lid. nRetractionCode should be 3

(reserved for future options).

Parameters

Argument

Type

Argument

Name


BSTR PickFrom Valid teachpoint name

Destination to pick from

BSTR PlaceTo Valid teachpoint name

Destination to place to

128



Argument

Type

Argument

Name

VARIANT_

BOOL

LONG bLidded

Range

VARIANT_TRUE,

VARIANT_FALSE nRetractioCode 0–2

Description

Whether the plate is lidded

0 = Do nothing

1 = Retract arms normally

2 = Retract arms only in

Z + 0 clearance that is specified in teachpoint detail

3 = Retract arms so they are vertical

Returns

None


1Result = m_BenchCel.PickAndPlace("Stacker 1", "PlateLoc",

FALSE, 2)


1Result = BenchCel1.PickAndPlace("Stacker 1", "PlateLoc",

FALSE, 2)

VARIANT

GetTeachpointName s()

Description

Method to retrieve the teachpoints known to the device. This method must be called after initialization is complete and it returns an array of available teachpoints, including the stackers.

Parameters

None

Returns

A safe array of teachpoint names


VARIANT vTeachpoints = m

_

BenchCel.GetTeachpointNames();

SAFEARRAY *psa = vTeachpoints.parray;

BSTR* bstrArray; if

(FAILED(SafeArrayAccessData(psa,reinterpret

&bstrArray))))

{

VariantClear(&vTeachpoints); return;

_ cast<void**>(

} for (ULONG i = 0; i < psa->rgsabound[0].cElements; i++)

{

MessageBox(CString(bstrAdday[i])));

}

SafeArrayUnaccessData(psa);VariantClear(&vTeachpoints);



129

LONG

ProtocolStart()

LONG

ProtocolFinish()

LONG

SetLabware(BSTR bstrLabware)


TeachpointNames = BenchCel.GetTeachpointNames

For i= LBound(teachpointNames) To UBound(teachpointNames)

MsgBox teachpointNames(i)

Next

Description

Method to be called at the beginning of a run. The device is not expected to move.

Parameters

None

Returns

S_OK on success; other value on failure.


1Result = m_BenchCel.ProtocolStart();


1Result = BenchCel1.ProtocolStart()

Description

Method to be called at the end of a run. The device might home during this call.

Parameters

None

Returns

None


1Result = m_BenchCel.ProtocolFinish();


1Result = BenchCel1.ProtocolFinish()

Description

Method to set the labware to use. The selection will be in effect for all operations until a different labware is set. If diagnostics are shown and the user selects a different labware, the original labware will be restored when the diagnostics window is closed. This method should not be called when any movement is in progress.

130



Parameters

Argument

Type

Argument

Name

BSTR

Range

bstrLabware Valid labware name

Description

Labware to be used for subsequent operations

Returns

S_OK if successful; other value if there was an error.


1Result = m_BenchCel.SetLabware("MyPlateType");


1Result = BenchCel1.SetLabware("MyPlateType")

LONG

GetStackCount(LON

G *pCount)

Description

Method to retrieve the number of stacks on the BenchCel device. This method must be called after a successful connection in order for it to indicate the current number.

Parameters

Argument

Type

Argument

Name


LONG* pCount Valid pointer to receive the stack count

If successful, the value pointed to by pCount should indicate the number of stacks the device has

Returns

S_OK if successful; other value otherwise.


1Result = m_BenchCel.GetStackCount(&numStacks);


1Result = BenchCel1.GetStackCount(numStacks)

LONG

IsStackLoaded(SHO

RT sStack, [in, out]

VARIANT_BOOL* pLoaded

Description

Method to test whether a stack has been loaded. The stack number is 0based. This method should be called after a successful connection.

Parameters

Argument

Type

Argument

Name


SHORT sStack 0 to n-1, where n is the number of stacks

Which stack to check



131

Argument

Type

Argument

Name

VARIANT_

BOOL* pLoaded

Range

Valid pointer to receive whether or not the stack is loaded

Description

On a successful call, the value pointed to by pLoaded should indicate whether the stack is loaded or not

Returns



1Result = m_Benchcel.IsStackLoaded(1,&bStackLoaded);


1Result = BenchCel1.IsStackLoaded(1,bStackLoaded)

LONG

IsPlatePresent(SHO

RT sStack, [in, out]

VARIANT_BOOL* pPresent

Description

Method to test whether a stack has a plate and is loaded. If the stack is not loaded, the result returned through pPresent will not be meaningful.

The stack number is 0-based. This method should be called after a successful connection.

Parameters

Argument

Type

Argument

Name



Which stack to check

VARIANT_

BOOL* pLoaded Valid pointer to receive whether a plate is present

On a successful call, the value pointed to by pPresent should indicate whether the stack is loaded and has a plate available for downstacking

Returns

S_OK if successful, other value otherwise.


1Result = m_Benchcel.IsPlatePresent(1,&bPlatePresent);


1Result = BenchCel1.IsPlatePresent(1,bPlatePresent)

LONG

ReleaseStack(SHOR

T sStack)

Description

Method to release a stack. A released stack can be freely taken from the device for the loading or unloading of plates. However, the BenchCel

132



cannot downstack from or upstack to a released stack. The stack number is 0-based.

Note: This method can also be used to perform the close clamp function.

Parameters

Argument

Type

Argument

Name



The stack to be released

Returns

S_OK if successful, other value otherwise.


1Result = m_BenchCel.ReleaseStack(0);


1Result = BenchCel1.ReleaseStack(0)

LONG

LoadStack(SHORT sStack)

Description

Method to release a stack. To downstack from or upstack to a stack, the stack must be loaded. A loaded stack is locked into the stacker head and cannot be freely taken from the device. The stack number is 0-based.

Parameters

Argument

Type

Argument

Name



The stack to be loaded

Returns



1Result = m_BenchCel.LoadStack(0);


1Result = BenchCel1.LoadStack(0)

LONG

MoveToHomePositio n()

Description

Method to move the device to the origin. This method is not commonly used.

Parameters

None



133

Returns



1Result = BenchCel.MoveToHomePosition();


1Result = BenchCel1.MoveToHomePosition()

LONG

ShowLabwareEditor(

BOOL bModal, BSTR bstrLabware)

Description

Method to display the labware editor graphical user interface. Through this interface dialog, the user can specify labware parameters that will be used by the device to handle the plates. Parameters such as plate height and notch information will be associated with a labware name, which can be used by SetLabware to indicate to the device how to handle the next plate.

Parameters

Argument

Type

Argument

Name


BOOL bModal TRUE,

FALSE

Whether to show the editor modally or not

BSTR bstrLabware Valid labware name

The labware to be selected when the editor is displayed

Returns



m_BenchCel.ShowLabwareEditor(1,"MyPlateType");


BenchCel.ShowLabwareEditor 1,"MyPlateType"

LONG Pause()

Description

Method used to pause the BenchCel movement.

Parameters

None

Returns


LONG Unpause()

Description

Method used to unpause the BenchCel movement. The BenchCel will continue any remaining movements before the call to pause the device.

Parameters

None

134



LONG OpenClamp()

Description

Method used to open the stacker grippers of a given stack.

Parameters

Argument

Type

Argument

Name


SHORT Stack 0 – (number of

Stacks – 1)

Specify which stack’s gripper to open

Returns


IsConnected()

Return


LONG Delid()

Description

Method used to check whether a connection to the BenchCel is established. The BenchCel is ready to process commands from the

BenchCel Active X driver when a connection has been established

(using the Initialize() method).

Parameters

None

Returns

1 if there is a connection and 0 if disconnected.

Description

Method used to remove a lid from a plate. You will need to specify where the plate is located and where to place the lid once it is removed from the plate. The DelidTo parameter is optional. The BenchCel robot will hold onto the lid if the DelidTo parameter is empty. The third argument, RetractionCode, specifies how to position the arms after delidding the plate:

1– retract normally

2– retract only in Z to clearance that is specified in the teachpoint details

3– retract so that arms are vertical

Parameters

Argument

Type

Argument

Name


BSTR DelidFrom Available teachpoints

Name of teachpoint where the plate with the lid is located



135

Returns


LONG Relid()

Description

Method used to put a lid on a plate. You will need to specify where the lid is located and where the plate is located. If the first RelidFrom argument is blank, then it is expected that the robot is holding the lid.

The third argument, RetractionCode, specifies how to position the arms after relidding the plate:

1– retract normally

2– retract only in Z to clearance that is specified in the teachpoint details

3– retract so that arms are vertical

Parameters

Argument

Type

Argument

Name


BSTR DelidFrom Available teachpoints or blank string

Name of teachpoint where the plate with the lid is located

BSTR

Int

DelidTo nRetraction

Code

Available teachpoints

1–3

Name of teachpoint to place the lid after it has been removed from the plate

Specify the retraction position of the BenchCel robot arms

Returns


VARIANT

GetLabwareNames()

Description

Method to retrieve a list of defined labware. The strings in this array are the options that should be used for SetLabware.

Parameters

None

Returns

An array of labware names


VARIANT vLabware = m

_

BenchCel.GetLabwareNames();

SAFEARRAY *psa = vLabware.parray; if

(FAILED(SafeArrayAccessData(psa, reinterpret

&bstrArray))))

{

VariantClear(&vLabware);

_ cast<void**>( return;


136



{

MessageBox(CString(bstrArray[i])));

}

SafeArrayUnaccessData(psa); VariantCLear(&vLabware);


LabwareNames = BenchCel.GetLabwareNames

For i = LBound(labwareNames) To UBound(labwareNames)

MsgBox labwareNames(i)

Next

VARIANT

EnumerateProfiles()

Description

Method to retrieve a list of defined profiles. The strings in this array are the options that should be used for Initialize.

Parameters

None

Returns

An array of profile names.


VARIANT vPRofiles = m

_

BenchCel.EnumerateProfiles();

SAFEARRAY *psa = vProfiles.parray;

BSTR* bstrArray; if

(FAILED(SafeArrayAccessData(psa,reinterpret

&bstrArray))))

{

VariantClear(&vProfiles);

_ cast<void**>( return;


{

MessageBox(CString(bstrArray[i])));

}

SafeArrayUnaccessData(psa); VaraintClear(&vProfiles);

Visual Basic example profileNames = BenchCel.EnumerateProfiles()

For i = LBound(profileNames) To UBound(profileNames)

MsgBox profileNames(i)

Next

Index


Index

Note: You can also search our technical documentation on our website at www.velocity11.com.

137

A

ABgene SEAL-IT 100, supported device,

17

ActiveX

about,

122

methods,

124

properties,

123

adding, new teachpoint,

51

air connecting,

27

input on connection panel,

23

pressure control stacker head,

24

required pressure,

19, 26

stacker gripper flow control,

24

AliQuot, supported device,

17

axes, BenchCel robot,

51

B bar code

auxiliary reader,

16

error, no read,

116

errors,

116

errors, mismatch,

116

misread errors,

115

BenchCel

about connecting,

20

about error handling,

91

accessories,

12, 16

animated display, description,

50, 51

available configurations,

13

changing the robot speed,

56

compatible Velocity11 modules,

16

compatible with other companies’ devices,

16

compressed air requirement,

19, 26

connecting by Ethernet,

25

connecting by serial,

25

connecting compressed air,

27

connection panel,

14

definition,

12

description,

12

editing teachpoints,

67

emergency stop accessory,

16

front features,

14

hazard warnings,

8

integration plate,

16

jogging the robot,

51

jogging the robot gripper position,

55

jogging the robot theta-axis,

55

jogging the robot X-axis,

54

jogging the robot Z-axis,

54

minimum system requirements,

21

moving between teachpoints,

71

moving the robot manually,

53

network cards,

20

performing a run overview,

30, 40

performing pre-run checks,

40

preparing devices for a run,

32

robot axes,

51

routine maintenance,

90

shutting down,

43

space setup requirements,

18

stacker controls,

58

stacker-gripper controls,

24

temperature range,

19

using the robot slider controls,

57

utility and environment requirements,

19

Bio-Tek ELx405 Washer. see Bio-Tek

Bio-Tek, supported device,

17

C can have lid? property,

77

compressed air requirement,

19, 26

computer

connecting by Ethernet,

25

connecting by serial,

25

networking. see connecting by ethernet

connection panel,

22

indicator lights,

23

serial interface,

22

controls page, overview,

49

D deadlock,

98

devices defined,

12

initialization errors,

92

preparing for a run,

32

diagnostics

about,

47

opening,

48

disable all robot servos,

51

disposing of waste,

8

138

Index


E

Echo 550, supported device,

17

emergency stop, description,

16, 23

environment requirements,

19

errors

about,

91

bar code reader,

115

causes, about,

91

handling,

91

troubleshooting initialization,

92

VCode,

117

Ethernet connecting to,

25

interface on connection panel,

23

parts included,

12

port,

22

events, PlatePierce ActiveX,

122

F finding the file,

3

FlexDrop, supported device,

17

fuse, type,

23

G general settings

about,

79

changing,

80

global changes,

83

Genetix aliQuot. see AliQuot

Genetix QFill2 Dispenser. see QFill2

gripper, stacker control,

24

H

hardware overview,

14

hazard warnings,

8

Home the robot,

51

Homing Offsets,

81

homing the robot,

52

I

Innovadyne Nanodrop. see Nanodrop

integration plate,

16

J

job roles for readers of this guide,

2

L

lab automation requirements,

122

Labcyte Echo 550. see Echo 550

labware customizing parameters,

75

opening parameters group box,

74

using parameters group box,

73

Liconic STR. see StoreX

Liconic STX (StoreX). see StoreX

lid departure height property,

78

gripper offset property,

78

resting height property,

78

lights, connection panel,

23

loading a rack,

60

M

maintenance, routine,

90

Materials Safety data Sheet. see MSDS

Matrix WellMate. see WellMate

methods, ActiveX,

124

methods, PlatePierce ActiveX,

122

Molecular Devices instruments with SoftMax Pro.

see Softmax Pro

move-to-position commands,

57

MSDS,

7

Multidrop, supported device,

17

Multiskan Ascent, supported device,

17

N

Nanodrop, supported device,

17

O online help,

3

operating temperature range,

19

P

PDF guide,

3, 4

PerkinElmer FlexDrop. see FlexDrop

PerkinElmer ViewLux. see ViewLux

PlateLoc, setting up,

32

PlatePierce ActiveX described,

122

events,

122

methods,

122

properties,

122

plate-present indicator,

59

power supply, main,

22

preparing devices for a run,

32

pre-run checks, performing,

40

profile creating,

85

defined,

84

editing,

87

properties, ActiveX,

123

properties, PlatePierce ActiveX,

122

property can have lid?,

77

lid departure height,

78

lid gripper offset,

78

Index


lid resting height,

78

stacking thickness,

75

thickness,

75

Q

QFill2, supported device,

17

R rack loading and releasing,

60

loading and releasing all racks,

61

releasing a rack,

60

requirements system,

21

utility and environment,

19

requirements, space,

18

reset all robot servos,

51

robot

changing the speed,

56

homing,

52

jogging,

54

jogging the gripper position,

55

jogging the theta-axis,

55

jogging the X-axis,

54

jogging the Z-axis,

54

limits,

82

moving manually,

53

sending home,

52

slider controls,

57

routine maintenance,

90

run performing overview,

30, 40

performing pre-run checks,

40

running a protocol, workflow,

30, 40

S safety

interlock circuit,

23

labels,

7

training,

7

SEAL-IT Adhesive Sealer. see ABgene SEAL-IT 100

send the robot home,

51, 52

serial connecting,

25

interface on connection panel,

22

shutting down,

43

SoftMax Pro, supported device,

17

software lab automation system,

122

software versions,

5

space requirements,

18

speed,

51

stacker adjusting clamp pressure,

118

adjusting gripper pressure of,

118

configurations,

13

controls,

58

extending and retracting clamps,

62

head pressure control,

24

plate-present indicator,

58

settings,

80

stacker gripper, control,

24

stacker sensors,

51

checking,

109

list of,

109

stacking thickness property,

75

StoreX, supported device,

17

system requirements,

21

T teachpoint

about,

64

adding,

65

deleting,

69

editing,

67

moving between,

71

selecting two,

72

temperature, operating range,

19

Thermo Electron Multidrop. see Multidrop

Thermo Electron Multiskan Ascent. see Multiskan

Ascent thickness property,

75

troubleshooting

all topics,

89

bar code errors,

115

initialization errors,

92

U utility requirements,

19

V

VCode errors,

117

setting up,

32

ViewLux, supported device,

17

VPrep, setting up,

33

W

warnings, hazard,

8

warranty,

8

waste, disposal,

8

WellMate, supported device,

17

X

X margin settings,

81

139

140

Index


No results