platecrane ex - Hudson Robotics Service Downloads Area
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1. 17 Cleaning the PlateCrame icsciccccscciscssssecsscegcscennesecnvessoncosscssecnaecsoesesvessoessedecasessbescsvencsoacecsencesses 17 PlateCrane EX User Manual Hudson Control Group Inc Change the Fuse S SE 17 CHAPTER 8 TVOUDICSIO ONG scssiassscssccicectntscivesseecevcensnsdbesdsacavsdvibuev ebeedevsspindsvesbacasseacase 19 P ui sak cance esesinysuissboraediavish vaste iecwuessvsuupiobsh ctesesyseveuetdecwenuspsbenavasaceossseacsesersucetutsneusisetinese 20 Hudson s PlateCrane Communications and Command Set eee 20 Protocol DesCriptIOm 4 ne eee deeem e e teet er eet de ee ee e dicate 20 Command ES a AEE E E AE M ide Mr AN d ode mud d EU A 22 Ertor Gode Description AEE E E EE e ON Mot NM NE iM A 34 Warranty amp Service Agreement Terms and Conditions eere 35 As EC E 35 B Seryice Agreements ue cn de ERIS TUI EE ect ME ed ettet etus 36 PlateCrane EX User Manual Hudson Control Group Inc ii WARNING This product may be used only in the manner described in this manual When used other than as specified the safety protections provided by the equipment may be impaired TABLE OF SYMBOLS The following symbols are to alert your attention to important information or warnings that may present some hazards These symbols may not appear in the manual or on the product WARNING Possible hazardous situation could resu2. Device Interfaces Enables PlateCrane to work in conjunction with specific laboratory instruments to process microtiter plates Instrument alignment bases Enables the instruments to be locked to the PlateCrane so they will not shift Vision Calibration System This allows the user to use a camera attached to the gripper with special calibration plates for teach PlateCrane positions The camera makes workcell setup both faster and more accurate Teach Pendant This enables the end user to attached a teach pendant to the PlateCrane The Teach pendant comes with control buttons for the R axis Z axis P axis Y axis and also a limp button The teach pendant saves time during setup especially if used in conjunction with the Vision Calibration System PlateCrane EX User Manual Hudson Control Group Inc 14 CHAPTER 6 Hardware Specifications General 999 W Note Specifications are subject to change without notice Plate Capacity Plate Format Plate Storage Device Housing Material Gripper Material Arm Mechanism Robotic Arm Rotary Travel Horizontal Reach Vertical Reach Mechanical Description R axis Stepper Motor Z axis Stepper Motor Rotary Gripper Stepper Motor Telescoping Motor PlateCrane EX User Manual Standard Up to 30 plates without lids or 25 plates with lids Additional Up to 420 plates without lids or up to 350 plates with lids Port
3. Install Softlinx Software see Chapter 3 Y NOTE Please refer to parts list to verify that all parts are included in the PlateCrane carton If any parts are missing please contact Hudson Control Group see Chapter 7 for Technical Support DO NOT DISCARD the PlateCrane carton This carton has been specially created for this product and must be used for any additional shipping of the instrument to prevent damage PlateCrane EX User Manual Hudson Control Group Inc Power Cord Location Communication Cable location Figure 7 The Stacks can only be installed in one direction The open side of the stack Figure 8 needs to be facing the PlateCrane EX and the closed end must face the user Figure 9 In Figure 10 you can see which way the stacks should be seated on the PlateCrane s magazine base with the open side facing inward toward the PlateCrane Figure 8 Figure 9 Stack installed correctly Figure 10 PlateCrane EX User Manual Hudson Control Group Inc Parts List The PlateCrane EX carton s should include the following PlateCrane EX 2 Extruded Stacks additional Stacks optional Stack Base additional Bases optional Power cord Communication cable User Manual This document CD containing Softlinx and interfaces Teaching plate s Alignment Bases for instrument s optional Gripper jaws for PlateCrane Gripper Includes Allen Wrench Centering Plate for PlateCrane Gripper Incl
4. Stacks The standard PlateCrane includes two extruded aluminum stacks Each stack can hold up to 30 standard height microtiter plates The stacks are from an aluminum extrusion for rigidity and precision The stacks are held in position by plastic guide blocks on a stack base The base is connected to the PlateCrane EX by three allen head screws The PlateCrane can be upgraded to have a maximum capacity of fifteen 15 stacks on three stack bases PlateCrane EX User Manual Hudson Control Group Inc 13 Power Cord Communication Cable Connection The power cord plugs into the AC inlet on the rear of the PlateCrane Input power is either 120V or 230V 50 or 60 Hz The communication cable is connected from the rear of the PlateCrane to the chosen serial port on the computer usually COM 1 Power Switch The power switch is located on the side plate with the power cord and communication cable see Figure 11 It has a 0 and 1 engraved on it to show the OFF and ON power condition of the PlateCrane refer to Figurel1 PlateCrane power is ON when the switch is pressed in the 1 position and PWR LED on the rear of the PlateCrane is illuminated Optional Components The following are additional items available for the PlateCrane Additional Stacks Expands PlateCrane capacity of up to 450 microtiter plates 15 stacks Barcode Reader Kit Enables the PlateCrane to identify individual microtiter plates by using bar code strips on the plates
5. Response 00 lt 16 gt lt 13 gt lt 10 gt Command MOVE ABS P 45 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 22 MOVE P Name MOVE P will move the PlateCrane P axis to the taught point given by Name Example Command MOVE P READER lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 23 MOVE R Name MOVE R will move the PlateCrane R axis to the taught point given by Name Example Command MOVE R READER lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt PlateCrane EX User Manual Hudson Control Group Inc 26 24 MOVE_Y Name MOVE Y will move the PlateCrane Y axis to the taught point given by Name Example Command MOVE Y READER lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 25 MOVE Z Name MOVE Z will move the PlateCrane Z axis to the taught point given by Name Example Command MOVE Z READER lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 26 OPEN OPEN will open the PlateCrane s gripper Example Command OPEN lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt PlateCrane EX User Manual Hudson Control Group Inc 27 27 READINP Number READINP will return the current state of the digital input Number returning 0 OFF or 1 ON Number can have the values 1 through 48 for the input address is the R axis home switch 2 is the Z axis home switch 3 is the Stack Height sensor 4 1s the Gripper Fully C
6. in the PlateCrane controller Example Command CLEARPOINTS lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 3 CLOSE CLOSE will close the PlateCrane s gripper Example Command CLOSE lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 4 DELETEPOINT Name DELETEPOINT will delete the point given by Name from the point list in the PlateCrane memory The PlateCrane will return an error if the point doesn t exist Example Command DELETEPOINT READER lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 5 GETCONFIG GETCONFIG will return a number whose bits indicate the PlateCrane options Rotary Option Present EX Arm Option Present Parallel Gripper Option Present PlateCrane E Series Cannot be unset WNrF Example Command GETCONFIG lt 13 gt lt 10 gt Response 11 lt 13 gt lt 10 gt PlateCrane EX User Manual Hudson Control Group Inc 22 6 GETGRIPSTRENGTH GETGRIPSTRENGTH will return the current gripper strength setting Strength settings are numbered 0 3 with 3 being the highest see SETGRIPSTRENGTH Example Command GETGRIPSTRENGTH lt 13 gt lt 10 gt Response 3 lt 13 gt lt 10 gt 7 GETLIMITS GETLIMITS will return the PlateCrane minimum and maximum position limits for each axis The order of the values in the response are R low limit R high limit Z low limit Z high limit P low limit P high limit Y low limit Y high limit see SETLIMITS Example Comm
7. the Coverage Period For parts that have been replaced Hudson Control is the sole owner of these parts and they cannot be sold or repaired by PlateCrane EX User Manual Hudson Control Group Inc 36 the customer or any third party c Key operator Customer shall designate a key operator to a Hudson Control representative by telephone or email Such operator shall be qualified to perform simple adjustments or corrections as requested by a Hudson Control representative Failure to perform customer maintenance as specified in the Instrument Instruction Manual may result at Hudson Control s option in 1 cancellation of this Agreement or 2 a service call invoiced by Hudson Control at its standard rates for service including travel d Warranty and service coverage does not include the following Any service calls made as the result of the below shall be invoiced by Hudson Control at their standard rates including travel and labor expenses 1 Damage caused by Customer misuse or operation outside of conditions prescribed in the Instruction Manual 2 Damage caused by electrical surges or the use of improper sources intervention of a third party external influences such as fire water damage natural disaster etc 97 Relocation of the instrument 4 Use of chemicals and accessories outside the specifications contained in the Instruction Manual 5 Applications related issues 6 Computer Hard drive crashes and failures e Safe
8. user defined input output stacks The PlateCrane EX is equipped with a Rotary Gripper and an extendable arm With the Rotary Gripper the PlateCrane EX can handle plates in both portrait or landscape configuration The Rotary Gripper provides maximum flexibility with a 350 axis of rotation With the extendable arm the PlateCrane EX has an additional 6 of travel With the additional 6 travel the PlateCrane EX can now access nests anywhere within a 12 18 radius from the center of its base The PlateCrane EX also has two options AutoTeach vision system See Figure 3 and the EasyTeach teaching pendant See Figure 2 The vision system is a camera that attaches to the Gripper When used with the vision teaching plates the software will calibrate the stacks and instruments on its own The teach pendant is a pendant that plugs into the PlateCrane and by the push of a button can control any axis on the PlateCrane The PlateCrane setup and programming procedures are designed to be simple and intuitive requiring no more automation expertise than is required to operate a typical plate washer or reader PlateCrane EX User Manual Hudson Control Group Inc PlateCrane EX Figure 1 EasyTeach AutoTeach s Y i WE Cmaps Figure 3 Figure 2 Computer Requirements The following are recommended for proper operation of the PlateCrane EX and Softlinx e Windows OS 98 SE ME NT4 0 SP6 2000 professional XP profes
9. 220VAC without any changes to their configuration The Run the PlateCrane on 220VAC perform the following Make sure the unit is powered off Install the power cord that is supplying the 220VAC Turn on unit There is no other setup for the PlateCrane after this PlateCrane EX User Manual Hudson Control Group Inc Installing PlateCrane Stacks V7 Note Mishandling of plate stacks can result in misalignment Unpack and unwrap the input output stacks Mount the stacks onto the stack base by gently sliding them down onto the stack guide blocks Installing Barcode Scanner Ifthe Barcode Scanner option was purchased position the scanner stand just outside the outer edge of the plate magazines so that a plate s label can be scanned above the top of the stacks Secure the scanner platform to the scanner stand post and run its RS 232 cable to an available COM port on the host computer Plug its 5 VDC power supply into a nearby 120 VAC receptacle Unplugging Power and Communication Cables During service or moving the unit will have to have the power and communication cable removed To unplug the two cables perform the following The Rear of the PlateCrane should be facing you See figure 11 Unplug the power cable by holding the power cable as close to the PlateCrane as possible and pulling gently straight away from the PlateCrane Unplug the communication cable by loosening the two thumbscrews that secure th
10. PLATECRANE EX SOFTLINX USER MANUAL ertHidson rn Ave Springfield NJ 07081 Te ni 35 376 7400 Fax 973 376 8265 Table of Contents CHAPTER 1 Introduction eue eo sacvisccussivonsisenisonsupiesueessiivsnssvevis coups E va gea eV etess 1 OAL DA TA fu H 1 Computer Requirements eee esee sees esee seen eset tn seta setas seta setas setas sesta sess se tones tense easet 2 CHAPTER 2 Inistallation au savii ti ie rb W re HUE EvvER EXE E Cb VERE DU FERE YE REV soosis NY a Maa d 4 Unpack the PlateCrane EX 4 eere eere eee eere ee en oe toon ott netten ne et po ae pepe sone eene t epo Pete teen ee epo ue 4 rure 6 Setting Up The PlateCrane EX e eeeee eee ee eee e eese eene seen netta netta setas set tasses se toss seen ases seco 6 Connect Power Cord amp Communication Cable eee ee ee eee eite seen tn et tn etta sta au 6 Switching AC Line Voltage 110VAC 220V AC eee ee rennen eene eene rennen seen nest tn osea sea 7 Installing PlateCrane Stacks 44 Leer eee eee cette eee e ee ee en seen seen nest tn aseo ta se tns setas seta sea seo 8 Installing Barcode Scanner 4 eeeeeeee sees eee ee esee ee eee enean eta setas e setas see ta se toss etos e setas ena see 8 Unplugging Power and Communication Cables eee ee eee eee e ee
11. Working Environment Customer shall provide the Hudson Control representative with facilities at Customer s location that comply with the applicable regulations of the Secretary of Labor promulgated under the Occupational Safety and Health Act of 1970 f This agreement sets forth the entire agreement and understanding between Hudson Control and Customer regarding service of the Instruments covered hereunder This agreement may be modified only by writing and by authorized representatives of the parties III Custom Service Packages providing features to meet individual customer requirements may be arranged Contact your sales representative or Hudson s service director for availability and pricing PlateCrane EX User Manual Hudson Control Group Inc 37
12. and GETLIMITS lt 13 gt lt 10 gt Response 150 14000 12450 75 0 8500 19000 200 lt 13 gt lt 10 gt 8 GETPOINT Name GETPOINT will return the PlateCrane R Z P Y positions value given by Name The PlateCrane will return an error if the point doesn t exist use the HERE command to teach a point Example Command GETPOINT READER lt 13 gt lt 10 gt Response 1050 4000 90 0 lt 13 gt lt 10 gt 9 GETPOS GETPOS will return the PlateCrane current R Z P Y position values An error will be returned if the PlateCrane hasn t been homed Example Command GETPOS lt 13 gt lt 10 gt Response 1050 4000 90 0 lt 13 gt lt 10 gt PlateCrane EX User Manual Hudson Control Group Inc 23 10 GETSPEEDS GETSPEEDS will return the PlateCrane maximum speed for each axis The order of the values in the response are Maximum R speed Maximum Z speed Maximum P speed Maximum Y speed see SETSPEEDS Example Command GETSPEEDS lt 13 gt lt 10 gt Response 10000 30000 4000 20000 lt 13 gt lt 10 gt 11 GETSWITCHTYPE SwitchNumber GETSWITCHTYPE will return the type and active state of the specified internal limit switch input See SETSWITCHTYPE for more information Example Command GETSWITCHTYPE 1 lt 13 gt lt 10 gt Response 1 0 lt 13 gt lt 10 gt 12 GETZCURRENT GETZCURRENT will return the running current settings for the Z axis The first number indicates the percentage of maximum current used when moving down the se
13. andard use are R Axis Home switch Unused Unused Unused Z Axis Home switch Z Axis Low Limit switch Plate Detection switch in the gripper Unused Unused Valid Types are Generic Read Switch default for unused switches Home Limit Limit Go Soft Stop Pause Jog Jog ActiveStates are Active Low switch is ON when grounded or at 0V Active High switch is ON when powered or above 5V Example re casts the Z Axis Low Limit switch as a generic input Command SETSWITCHTYPE 6 0 0 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 34 SETZCURRENT DownCurrent UpCurrent SETZCURRENT will set the PlateCrane Z Axis running current to the specified percentages DownCurrent specifies the percentage of current to use when moving down UpCurrent specifies the percentage to use when moving up Example Command SETZCURRENT 15 45 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt PlateCrane EX User Manual Hudson Control Group Inc 30 35 SHIFT Point Rpos Zpos Ppos Y pos SHIFT will shift the point name Point by the axis positions given by Rpos Zpos Ppos and Ypos All values represent stepper pulses Example Command SHIFT READER 100 2000 45 0 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 36 SPEED Speed SPEED will set the PlateCrane movement speed to the variable Speed percent of full speed Speed can have any value 1 to 100 Example Comma
14. cond is the percentage used when moving up Example Command GETZCURRENT lt 13 gt lt 10 gt Response 15 45 lt 13 gt lt 10 gt 13 HALT HALT will stop all current PlateCrane motion It is the only command whose successful completion results in an error code other than 00 Example Command HALT lt 13 gt lt 10 gt Response 15 lt 16 gt lt 13 gt lt 10 gt 14 HERE Name HERE will read the current PlateCrane position and store it in the PlateCrane s non volatile memory with the given Name Name can be any string up to 20 characters long The PlateCrane can store up to 50 positions in its memory Example Command HERE READER lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt PlateCrane EX User Manual Hudson Control Group Inc 24 15 HOME HOME will home the PlateCrane Y Z R and P axes The PlateCrane first will home the Y axis the Z axis and then the R and P axes Example Command HOME lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 16 JOG Axis Steps JOG will move the axis Axis the number of steps given by Steps relative to the current position of the PlateCrane Example Command JOG Z 1000 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt Command JOG P 45 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 17 LIMP PowerOn LIMP will restore or remove power from the PlateCrane motors depending on the value of PowerOn If PowerOn is a 1 the mot
15. de will be two ASCH digits from 00 to 99 00 represents a correctly executed command Any other response indicates an error An invalid query command will produce a 01 lt 16 gt lt 13 gt lt 10 gt response As examples 1 Valid query command Command INPUT R 2 lt 13 gt lt 10 gt Echo INPUT R 2 lt 13 gt lt 10 gt Response 0 lt 13 gt lt 10 gt i e input no 2 is OFF 2 Valid action command Command CLOSE lt 13 gt lt 10 gt Echo CLOSE lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 1 e action successfully executed 3 Invalid query command WASHER is an unknown position Command GETPOINT WASHER lt 13 gt lt 10 gt Echo GETPOINT WASHER lt 13 gt lt 10 gt Response 02 lt 16 gt lt 13 gt lt 10 gt invalid point name Note If any command contains an error the PlateCrane sends the error code and lt 16 gt lt 13 gt lt 10 gt immediately otherwise the 00 lt 16 gt lt 13 gt lt 10 gt bytes are sent at the completion of execution PlateCrane EX User Manual Hudson Control Group Inc 21 Command Set The PlateCrane recognizes the following commands 1 CJOG Axis Speed CJOG will cause the specified Axis to move at the indicated speed until a HALT is issued Specifying a negative speed will reverse the direction of motion Example Command CJOG P 200 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 2 CLEARPOINTS CLEARPOINTS will delete all the points that are stored
16. e cable to the PlateCrane then slowly pull the cable straight away from the PlateCrane PlateCrane EX User Manual Hudson Control Group Inc CHAPTER 3 PlateCrane EX Software Brief Description of Software Hudson s standard PlateCrane application software Software can be found on one 1 installation CD This CD can be loaded onto any PC running Microsoft s Windows 98 SE NT 4 0 w service pack 6 2000 or XP This software provides a complete set of utilities to run the PlateCrane EX and any instruments purchased by the end user Hudson s SoftLinx is an easy to use dynamic scheduling software program for control of integrated lab automation workcells and systems SoftLinx includes a multitasking core executable combined with device interfaces that are written in VBA Visual Basic for Applications The user sets up a method using a drag and drop icon based method editor How to Install Software Turn computer ON Start Windows if it s not already running Insert CD into cd rom drive and then close the drawer The CD has an auto run function so the installation of the software is automatic If the CD does not auto run then click on the Start menu q 4 4 4 Click the run menu then type in the location of the CD and Setup exe E Setup exe 4 Then click OK to start installation 9 Follow instructions as prompted to complete the installation After installing SoftLinx open it by clicking the shortcut installed on
17. e the power to the PlateCrane is OFF and the power cord is unplugged from the instrument or power source before proceeding with the following instructions Turn the PlateCrane OFF and remove the power cord from the AC inlet on the back of Crane Using a small flat head screwdriver gently pry the fuse holder tray away from its housing to access the fuses see Figure 17 The Fuse holder door swings down PlateCrane EX User Manual Hudson Control Group Inc 17 4 Remove the blown fuse Replace it with the spare fuse Slide the fuse holder tray back into the AC inlet until it clicks Make sure when re installing the holder the AC line voltage reads the correct way on the inlet Reconnect the power cord to the PlateCrane and reconnect all other cables previously disconnected Verify correct fuse replacement by turning the PlateCrane switch to ON position the light will illuminate immediately Location of fuse holder tray Figure 17 PlateCrane EX User Manual Hudson Control Group Inc 18 CHAPTER 8 Troubleshooting For Troubleshooting Guide please contact Hudson Control Group PlateCrane EX User Manual Hudson Control Group Inc 19 Appendix Hudson s PlateCrane Communications and Command Set Version 5 0 Hudson s PlateCrane is designed to respond to a simplified set of ASCII commands to allow any user program capable of reading writing via an RS 232 port to exercise all the features of the PlateCrane Pr
18. email during normal business hours will be provided at no cost exclusive of telephone toll charges incurred by the customer during the warranty period Hudson Control Group Inc will provide on site service during the warranty period excluding Microl and Micro10 instruments Factory repair services are available for all products under the following conditions 1 The customer is responsible for packing of instrument and shipping to Hudson The customer will be notified of non warranty repair costs if any prior to the repair being started 2 Damage incurred in transit to Hudson including but not limited to damage due to improper packing will be the responsibility of the customer and or shipper The customer is advised to retain the original packing material including the cast foam padding in the event service is required Replacement packing materials are available from Hudson at cost plus shipping currently 175 00 3 Hudson will pay return shipping to customer via UPS ground or equivalent Expedited shipping is available at additional cost Updates to correct performance anomalies shall be provided at no cost during the warranty period subject to the warranty terms and conditions Upgrades which provide additional functionality may be offered at reduced costs during the warranty period Factory repairs must be pre authorized by Hudson Control Group Inc and will include issuance of a Returned Materials Authorization RMA
19. in 29 0in 27 7in w out footpads amp 45 lbs 120V 230V AC 50 60 Hz Determined by position of fuse holder For 120V 230V One 2A Time Delay 5mm x 20mm 205 in x 787 in Through the power cord must be properly earth Grounded RS 232 serial cable 15 to 40 C 59 to 104 F 0 to 85 no condensation 20 to 65 C 4 to 149 F Up to 2000m Fans Require 2 of free space in front of them Hudson Control Group Inc 16 CHAPTER 7 Maintenance Maintenance WARNING Qualified personnel can perform all maintenance procedures in this manual Only Hudson representatives should perform any maintenance not discussed in this manual n G Gloves should be worn during any cleaning procedure Cleaning the PlateCrane VP Note DO NOT use spray abrasive cleaners onto PlateCrane Clean the outside surfaces of PlateCrane using cloth or sponge dampened with alcohol water or mild glass cleaner Clean finger pads of gripper with alcohol or other residue free solvent Clean any spills on PlateCrane immediately Only clean the exterior of the unit DO NOT remove instrument covers to clean inside Never allow water or fluid to leak inside the PlateCrane Vv VVV WV Change the Fuse s Extra fuses are shipped with the PlateCrane Fuses burn out occasionally and must be replaced The following fuses are used with the PlateCrane Metric 1 x 2 amp 5 x 20 mm Time Delay Fuse WARNING 6 Be sur
20. l capability of 345 It utilizes a hard stop to prevent continuous rotation and a proximity sensor which determines the Home position for the horizontal rotation The Z axis is driven by an encoded stepper motor This axis can travel up to 18 inches and complete a full stroke in less than three seconds This axis utilizes a proximity sensor which determines the Home position and uses the top and bottom plates as its hard stops The P axis is driven by an encoded geared stepper motor This axis has a rotational capability of 350 It utilizes a hard stop to prevent continuous rotation and a proximity sensor which determines the Home position for the gripper rotation The Y axis is driven by an encoded stepper motor This axis can travel up to 6 inches and complete a full stroke in 2 seconds This axis utilizes a proximity sensor which determines the Home position and uses the arm assembly for it s hard stop The standard gripper consists of a pair of gripper fingers that have two rubber inserts that provide a secure grip on microtiter plates The lower part of the gripper floats vertically and locates microtiter plates by using a proximity switch This switch is located inside the gripper housing and indicates when the arm has encountered a microtiter plate The outside edge of a microtiter plate activates the floating gripper A centering plate is used to center microtiter plates inside the stack before the gripper picks them up
21. losed sensor 5 is the Rotary Gripper home switch 6 8 are unused 9 12 are JackRabbit Port B inputs 2 5 13 is the left Address Input JackRabbit Port D input 0 14 is the right Address Input JackRabbit Port D input 3 15 if the R axis home switch 16 18 are the R axis driver inputs 2 4 19 20 are unused 21 is the Z axis home switch 22 is the Stack Height sensor 23 24 are the Z axis driver inputs 3 4 25 26 are unused 27 is the P axis lower limit 28 is the P axis upper limit 29 31 are the P axis driver inputs 0 2 32 is the P axis home switch 33 is the Y axis lower limit 34 is the Y axis upper limit 35 37 are the Y axis driver inputs 0 2 38 is the Y axis home switch 39 40 are unused 41 48 are the Teach Pendant inputs JackRabbit Port A 0 7 Command READINP 1 lt 13 gt lt 10 gt Response 0 lt 13 gt lt 10 gt input is off 28 SET Source Destination SET will copy the PlateCrane coordinates of position name Source to the position name given by Destination Example Command SET READER TEMP lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt PlateCrane EX User Manual Hudson Control Group Inc 28 29 SETCONFIG config pattern WNrF c SETCONFIG will set the PlateCrane options present on this PlateCrane Each bit of the configuration pattern indicate
22. lt in serious injury w NOTE A statement that is cautionary operating tip instrument damage may occur if not followed e HINT Helpful hints and additional information List of instructions parts gt LIST u Important information Specifications Electrical Hazard CAUTION PlateCrane EX User Manual Hudson Control Group Inc iii CHAPTER 1 Introduction Overview The PlateCrane EX See Figure 1 is a multifunctional Pick amp Place instrument with a cylindrical robotic work envelope It is designed to provide a simple answer to automating laboratory instruments that employ microtiter plates The PlateCrane EX is a small and portable robotic system capable of handling up to thirty 96 well 384 well or 1536 well microtiter plates per stack with a maximum capacity of 450 plates 15 stacks The PlateCrane EX has the ability to rotate up to a maximum of 345 about its base axis The standard software provided with the PlateCrane EX is called Softlinx and can run multiple instruments in an easy to use GUI interface Softlinx is written in the Visual Basic for Applications programming language and can run on the Windows NT 4 0 w Service Pack 6 Windows 98 Windows 2000 and Windows XP operating systems The PlateCrane EX can be interfaced with readers washers liquid handlers labelers pipettors etc To prevent sample contamination the PlateCrane can handle microtiter plates with lids in conjunction with
23. more Troubleshooting laboratory instruments in an integrated workcell Using Hudson s SoftLinx Software a user can easily setup and run an automated workcell that can perform even complex operations unattended The PlateCrane is available in three models that differ principally in the length of their reach and in their total plate storage capacity Figure 16 You can now select the topic of interest from the six choices in the tree in the left hand screen panel Description provides an overview of the PlateCrane Configuration describes how to set the PlateCrane s serial port and operating mode Setup describes how to create and teach PlateCrane positions and movement paths Method Editor describes how to incorporate PlateCrane activities into a SoftLinx method Run describes how to start and run a method which uses the PlateCrane Troubleshooting describes some common errors problems and their likely causes You can also print any or all of the above topics to obtain a hardcopy of the PlateCrane s help utility PlateCrane EX User Manual Hudson Control Group Inc 12 CHAPTER 5 PlateCrane Components The Robotic Axes The PlateCrane has the following axes R rotates the PlateCrane horizontally Z moves the PlateCrane arm vertically P rotates the gripper horizontally Y extends retracts the PlateCrane arm fS The R axis is driven by an encoded stepper motor This axis has a rotationa
24. nd SPEED 50 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 37 STATUS STATUS will return the PlateCrane current status 0 Not Initialized 1 Initialized Example Command STATUS lt 13 gt lt 10 gt Response 0 lt 13 gt lt 10 gt Command STATUS lt 13 gt lt 10 gt Response 1 lt 13 gt lt 10 gt 38 TEACH mode The TEACH command enables or disables the Teach Pendant A 1 activates the Teach Pendant while a 0 disables it The Teach Pendant is enabled by default on power up It is recommended that this command be issued to prevent user interference during computer operation of the PlateCrane Example Command TEACH 1 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt PlateCrane EX User Manual Hudson Control Group Inc 31 39 TERMINAL TERMINAL will set the PlateCrane controller in terminal mode When the PlateCrane is in terminal mode incoming characters from the host are sent directly to the motor controllers This will enable the user to operate the individual axes using the controller s own command language To disable the terminal mode type TERMINAL again To operate the Y and P axes in single mode the command Y A56 or PA56 should be sent to the driver This will place the driver in single mode until the drivers are reset by sending an ASCII 3 or until the command A24 is sent The Z and R axes can be placed in single mode by sending the command ZPY 0 or RPY 0 This
25. number Customer certification of decontamination is required prior to return of any instrument s for factory service instruments not certified decontaminated may be refused service and returned at customer s expense While Hudson Control Group Inc makes every effort to provide software and instruments suitable to a wide range of automation tasks no guarantee is made as to the suitability of the hardware and or software provided for a given application unless so stated in the written purchase agreement Repair of failures caused by but not limited to misuse fire flood or other act of God chemical or environmental exposure or repair by persons not authorized by Hudson Control Group Inc may at the sole discretion of Hudson Control Group Inc be charged at the prevailing hourly service rate PlateCrane EX User Manual Hudson Control Group Inc 35 currently 120 hr for Factory Service 120 hr for travel time and 240 hr for Field Service B Service Agreements Service Agreements in one year periods are available at prevailing rates and provide the following coverage in addition to the original warranty a One scheduled onsite maintenance service call per year of coverage to include evaluation and adjustments repairs to meet instrument performance specifications b Inspection and replacement of marginal components All applicable hardware and software updates d If previous warranty or service agreement cove
26. ors will be powered If PowerOn is a 0 power will be removed Other values are invalid This will allow the user to move the arm manually The encoder positions will continue to update while motor power is off Example Command LIMP 0 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 18 LISTPOINTS LISTPOINTS will list all the points that are stored in the PlateCrane memory Example Command LISTPOINTS lt 13 gt lt 10 gt Response I STACKI 1000 7000 0 300 lt 13 gt lt 10 gt 2 STACK2 1350 7000 0 300 lt 13 gt lt 10 gt 3 READER 8500 5670 1 18024 lt 13 gt lt 10 gt 4 BARCODE 4500 2700 1 18341 lt 13 gt lt 10 gt lt 13 gt lt 10 gt PlateCrane EX User Manual Hudson Control Group Inc 25 19 LOADPOINT Name Rpos Zpos Ppos Y pos LOADPOINT will load the point name and the positions that are given by Rpos Zpos Ppos Y pos into the PlateCrane none volatile memory This command should be executed when it is required to load a position from backup Example Command LOADPOINT READER 4550 7865 0 1000 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 20 MOVE Name MOVE will move the plate crane to the taught point given by Name Example Command MOVE READER lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 21 MOVE ABS Axis Position MOVE ABS will move the axis Axis to the absolute position given by Position Example Command MOVE ABS Z 1000 lt 13 gt lt 10 gt
27. otocol Description The RS 232 controller of the PlateCrane operates with the following communication specifications Baud Rate 9600 Data Bits 8 Stop Bits l Parity None Handshake None Device Type DCE Connector 9 pin female All commands consist of an ASCII command followed by a space and a list of comma separated arguments if appropriate then a two byte end of line carriage return line feed as in the example HERE STACK1 lt 13 gt lt 10 gt The lt gt symbols are not actually part of the protocol but are used here to denote bytes that are represented as their decimal number equivalent i e lt 13 gt denotes a byte of value 13 a carriage return The above command s individual byte values for instance would be H E R E S T A C kK I lt 13 gt lt 10 gt 72 69 82 69 32 83 82 65 67 75 49 13 10 Note commands are not case sensitive and the space is important point names are case sensitive The PlateCrane will echo every byte back to the sender Upon detecting the two bytes lt 13 gt lt 10 gt the controller will then execute the command Upon completing execution the controller will respond in one of two ways 1 For query commands where a data response is required it will return PlateCrane EX User Manual Hudson Control Group Inc 20 ASCII Response plus lt 13 gt lt 10 gt 2 For action commands it will return 2 byte ASCII error code plus lt 16 gt lt 13 gt lt 10 gt The error co
28. rage has expired for more than 30 days pre inspection and repair of instrument at customers expense prior to start of service coverage may be required e Pre inspection may at the service director s discretion be provided in place of the one scheduled onsite maintenance at no charge beyond that of the service agreement f Onsite service is priced by travel time to customer from an established Hudson site 1 Zone I Massachusetts Connecticut Rhode Island New Jersey New York Pennsylvania Delaware and Maryland and California north of Santa Barbara 2 Zone II All other g Payment terms are net thirty 30 days after the date of invoice Customer will be invoiced In case of delayed payment Hudson Control reserves the right to decline service h This agreement may be terminated by either party upon default by the other party of any material obligation under this Agreement which default continues for thirty 30 days after written notice has been provided by the non defaulting party e Il General Conditions These apply to all products under warranty or service agreement a Excluded parts Covered parts do not include chemicals reagents customer replaceable items consumables or other parts listed in the operator s or instruction manual as customer replaceable parts sub assemblies or accessories Replacement of these items will be billed at prevailing rates b Hudson Control reserves the right to use repaired parts during
29. rait amp Landscape Rotary Gripper 2 removable stacks expandable up to 15 Painted steel covering cast aluminum housing Black anodized aluminum textured neoprene rubber inserts Ball bearing axis with high speed screw rail mechanical stops to prevent continuous rotation 345 maximum 345 from center of crane 12 18 radius Maximum 22 75 in from table minimum 4 25 in from table total 18 0 in vertical travel distance Encoded 200 steps per motor revolution 0 025 resolution approx 3 seconds per full rotation 345 Encoded 200 steps per motor revolution 0 015mm resolution approximately 1 5 seconds per complete vertical travel one direction 200 steps per motor revolution 0 030 resolution approx 4 seconds per full rotation 350 Encoded 200 steps per motor revolution 0 032mm resolution approx 1 second per full extension 6 Hudson Control Group Inc 15 Home Position Plate Present Plate Sensor Dimensions Height Weight Electrical Power Input Fuses Grounding Computer Interface Environmental Operating Temperature Operating Humidity Storage Temperature Altitude Ventilation 9 9 9 9 Indoor Use Only PlateCrane EX User Manual Proximity Switch for rotary and vertical arm home zero ranging with encoder homing pulse for final home position Proximity switch Proximity Switch 28 5
30. rte eerte nete nest en se tna ane 8 CHAPTER 3 PlateCrane EX Software eee ee eee e eee seen eee enne etna eee ta sete ta seta seen 9 Brief Description of Software e eeeee eee eee eere essetis seen enean etos esten aseo ta sets sse to osse tasto naso 9 How to Install Software RR 9 CHAP TE LESTIE M Il CHAPTER 5 PlateCrane Components ecce esee e eee ee eren eene enne etna etta setae setas senes 13 The Robotit ccm E E 13 Stacks pep o tre 13 Power Cord Communication Cable Connection eere eee eee eene sette seen aetas tasa aeta ao 14 Power SWItCH MES 14 Optional Components sccccscsccscssseecscsccsccscesccesssceessccsescessscessssesscecssscessesceessesesssessesees 14 CHAPTER 6 Hardware Specifications s ssscccsssccsssccsssccsssscsscsssssssscsssssssssscssscessssessess 15 eap e 15 Roboti AIM P 15 Mechanical Description cese eene serene eren eerte neenon seen setas tons seen sees se tones tense estas etna 15 Dimensi ns senene eSEE asos 16 MAn a Cal EEEE A E E AA E A EE 16 lunidnutsuri M 16 CHAPTER 7 Manten nce sacsiussvexivrceckensssascssenseconnisvesueseusnshesssssvecuewsevevionnsecieisacheas vavsts 17 Maintenance
31. s an option Rotary Gripper EX Arm Parallel Gripper PlateCrane E Series will be set regardless of indicated value Example Command SETCONFIG 11 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 30 SETGRIPSTRENGTH strength SETGRIPSTRENGTH will set the PlateCrane gripper strength Valid settings are 0 3 with 3 being the strongest Example Command SETGRIPSTRENGTH 3 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 31 SETLIMITS Rmin Rmax Zmin Zmax Pmin Pmax Ymin Ymax SETLIMITS will set the minimum and maximum position limits for each axis as given by Rmin Rmax Zmin Zmax Pmin Pmax Ymin Ymax The P axis limits are optional and are only used with the rotary gripper option see GETLIMITS Example Command SETLIMITS 150 14000 12450 75 0 8500 19000 200 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 32 SETSPEEDS RSpeed ZSpeed PSpeed Y Speed SETSPEEDS will set the PlateCrane maximum speed for each axis see GETSPEEDS Example Command SETSPEEDS 10000 30000 4000 20000 lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt PlateCrane EX User Manual Hudson Control Group Inc 29 33 SETSWITCHTYPE SwitchNumber Type ActiveState CNIDNDMABRWN KR AADNBRWNFK OC SETSWITCHTYPE will set an internal PlateCrane limit switch to the specified Type and ActiveState Can be used to change the function of a given sensor The SwitchNumbers and their st
32. sional or home edition e 300 MHz Pentium processor or faster 128 MB RAM or higher 3 2 floppy drive CD Rom drive 100 MB of free disk space available Internet explorer version 5 0 or above e Computer with the appropriate number of working serial ports PlateCrane EX User Manual Hudson Control Group Inc Stack Magazine Base Figure 4 Figure 5 Crane w Stacks Figure 6 PlateCrane EX User Manual Hudson Control Group Inc CHAPTER 2 Installation Unpack the PlateCrane EX WARNING Q Power switch must be turned OFF during entire installation procedure DO NOT loosen or tighten any screws or touch parts not specified in the instructions Never force any component to fit The PlateCrane weighs 45 Ibs and should be handled with care to avoid mishaps Overview 1 Qu A dm n9 Remove PlateCrane EX from carton place right arm underneath PlateCrane tower and the left arm underneath the PlateCrane base Once you have a good hold on the unit gently lift the unit straight up Make sure that the PlateCrane is separated from the shipping foam If you have a problem removing the PlateCrane use two people to lift the PlateCrane out of the Box One Person should lift the tower while the other person lifts the base Position the PlateCrane EX Attach Magazine Base s to Crane Base see Figure 6 Install Stack s onto Stack Base see Figure 6 Connect power cord and communication cable to PlateCrane see Figure 7
33. t 13 gt lt 10 gt turn output 1 off Response 00 lt 16 gt lt 13 gt lt 10 gt Command WRITEOUT 3 0 lt 13 gt lt 10 gt turn output 3 on Response 01 lt 16 gt lt 13 gt lt 10 gt error invalid output PlateCrane EX User Manual Hudson Control Group Inc 33 Error Code Description The PlateCrane controller will report one of the following response codes at the completion of each command 00 Command completed successfully 01 Invalid command or parameter 02 Invalid point name 03 Maximum number of points exceeded 04 IMS communication transmit error 05 IMS communication response error 06 Move command wasn t complete 07 Home command wasn t complete 08 Invalid target position 09 PlateCrane is not homed 10 R axis position is out of the dead band limit 11 Z axis position is out of the dead band limit 12 P axis position is out of the dead band limit 13 Invalid rotary option 14 Plate present 15 Motion halt 16 No plate in gripper 17 Y axis position is out of the dead band limit PlateCrane EX User Manual Hudson Control Group Inc 34 Warranty amp Service Agreement Terms and Conditions A a Warranty One year coverage beginning on the factory ship date on all parts and labor including return shipping to the customer via UPS ground or equivalent Warranty is limited to components and software purchased from or provided by Hudson Control Group Inc Technical support by trained personnel via telephone or
34. udes Allen Wrench Allen screws to attach Bases to PlateCrane Allen Wrench for Stack and Alignment Base s VVVVVVVVVVV VV Setting Up The PlateCrane EX Remove PlateCrane EX from the carton and carefully remove the protective plastic covering Unwrap Stack Base and place it near the PlateCrane Remove the Stacks from the carton then remove the stack from the packaging Install the supplied Stack and Alignment Base s by securing then to the crane base using the supplied screws Adjust the leveling feet on the PlateCrane EX and Stack Base s as required by the surface that they are installed upon Connect Power Cord amp Communication Cable V7 Note Power switch must be turned OFF Figure 11 Remove power cord and communication cable from PlateCrane carton On the rear side of the base unit housing connect one end of the 9 pin to 9 pin serial cable see Figure 7 and attach the other end into COMI port on Host Computer Plug power cable into the PlateCrane s AC inlet located on rear side of the base unit housing see Figure 7 W Note The communication cable amp power cord should be securely plugged into the PlateCrane and computer PlateCrane EX User Manual Hudson Control Group Inc Fuse holder door 1 Power ON position Figure 11 Switching AC Line Voltage 110VAC 220VAC The power supplies installed in the unit are switching power supplies That means they are able to handle both 110V AC and
35. will place the driver in single mode until the drivers are reset by sending an ASCII 3 or until the command PY 1 is sent Example Command TERMINAL lt 13 gt lt 10 gt Response 00 lt 16 gt lt 13 gt lt 10 gt 40 VERSION VERSION will report the PlateCrane firmware version Command VERSION lt 13 gt lt 10 gt Response PlateCrane v5 0 lt 13 gt lt 10 gt PlateCrane EX User Manual Hudson Control Group Inc 32 41 WRITEOUT Number State WRITEOUT will set output Number to the state given by State 1 ON 0 OFF All other outputs are left unaffected Number can have the values 1 through 36 for the output address 1 8 are JackRabbit Port A outputs 0 7 not currently available 9 is the left Address output JackRabbit Port B output 6 10 is the right Address output JackRabbit Port B output 7 117 12 are JackRabbit Port D outputs 6 7 13 16 are JackRabbit Port E outputs 0 3 and High Current Outputs 0 3 17 18 are JackRabbit Port E outputs 4 5 19 is JackRabbit output PCLK 20 is JackRabbit output IOBEN 21 24 are the R axis driver outputs 1 4 25 29 are the Z axis driver outputs 1 4 30 is the open gripper output 31 is the close gripper output 32 is the P Axis Party Mode output 34 is the second Grip Strength output 35 1s the first Grip Strength output 36 is the Y Axis Party Mode output Command WRITEOUT 1 0 l
36. your desktop Then click on the Help tab Figure 12 and then click on help topics Figure 13 This Help document will tell you step by step how to setup your SoftLinx Workcells If you have any difficulty with the installation of your software or the configuration of the workcells please contact Hudson Control Group PlateCrane EX User Manual Hudson Control Group Inc SoftLinx INITIALIZED Simulated Figure 12 SoftLinx p OEE Help Topics INITIALIZED Sim Figure 13 PlateCrane EX User Manual Hudson Control Group Inc 10 CHAPTER 4 Operation SoftLinx provides an onscreen User Manual as part of the PlateCrane s Help utility To access this click and release the wj button on SoftLinx s main toolbar shown here File Utilities View Help Figure 14 Move the mouse cursor over the PlateCrane bitmap and then click again to obtain the Help Menu for instruments in your workcell as shown below File Utilities View Figure 15 Select PlateCrane and the PlateCrane s Help screen will be displayed PlateCrane EX User Manual Hudson Control Group Inc 11 BP Platecrane Het o T e amp m Hide Back Prnt Options Description E Sq PlateCrane Help Description Configuration The PlateCrane is a multi axis cylindrical motion E Ves robot designed EN E BIO Ector to move labware usually microtiter plates among one IM Aun or
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