Home

BioCel User Guide, version 6.0

Contents

1. More information For more information about using PDF documents see the Adobe Acrobat PDF help system that can be accessed from your Acrobat viewer Related topics Chapter 1 Introduction BioCel User Guide For information about See Hardware features BioCel overview on page 13 What this guide covers What this guide covers on page 3 Contacting Velocity11 Reporting problems on page 7 Reporting problems About this topic Reporting hardware problems Reporting user guide problems Related topics If you have a technical problem that you cannot resolve after reading the chapter on maintenance and troubleshooting read the information in this topic for how to report problems with the BioCel If you have a problem with a hardware component of the BioCel that you cannot resolve let us know by Q Sending an email to serviceQvelocityll com or euroserviceQvelocityll com Q Calling Velocity11 Technical Support at 1 800 979 4811 or 1 650 846 6611 If you find a problem with this user guide or have suggestions for improvement please use the feedback button in the online help Your comments will be reviewed promptly and used to write the next version of the guide S You can also send an email directly to documentation velocity11 com For information about See Reporting software problems VWorks User Guide Sending files VWorks User Guide 7 Chapter 1 Introduction BioCel User Guide
2. If the plate has not slipped and was not damaged during the collision click Retry 89 90 Chapter 6 Maintenance and troubleshooting BioCel User Guide Related topics 5 Ifthe plate has slipped during the collision or was damaged click Diagnostics and move the plate manually a Move the robot to a position that is easy for you to access b While holding the plate with your hand click Open gripper to release the plate from the robot c Place the plate at the destination location manually d Close Diagnostics e Click Ignore and continue 6 Ifthe crash was particularly hard you might need to re home the robot Click Home The robot uses servo motors with encoders that always track the robots position even during a collision Only re home the robot after a severe collision For information about See Using the interlock override Overriding the safety interlock on page 90 Emergency stop circuits Power system on page 27 Power panel Power panel on page 21 Checking teachpoints About fine tuning robot teachpoints on page 79 Overriding the safety interlock About this topic Procedure At times you might need to override the safety interlock so you can perform tasks on the BioCel deck This topic describes how to temporarily override the safety interlock This procedure should only be performed by an administrator INJURY HAZARD Only fully trained BioCel Administrators shoul
3. A counterweight should be the same weight as the sample plate You can load counterweights into a VSpin by any of the following methods Q By hand using VSpin Diagnostics software to open and close the centrifuge door and move the rotor Q With the robot using a combination of Robot Diagnostics and VSpin Diagnostics Q Automatically using the robot during a normal run Setting up robotically loaded counterweights is done when creating a protocol Some setup is required by administrators before you can load counterweights robotically To load a counterweight by hand 1 Open VSpin Diagnostics software The VSpin Control dialog box opens 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 counterweight 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 52 Chapter 3 Preparing for a run BioCel User Guide About robotically loaded counterweights Setting up robotically loaded counterweights For the robot to be able to load a counterweight The platepad containing the counterweight must be associated in VWorks with the type of labware used for the counterweight so the robot knows how to pick it up This association is created by an administrator in the manage counterweights database when creating the protocol Q The
4. IWorks Device Driver Programming Interface PlatePierce Seal Piercing Station VWorks Device Driver Interface Microplate Seal Piercer VCode Barcode Print and Apply Station Microplate Barcode Labeler Velocityll Robot 3 Axis Robot VHooks Integration Interface VPrep Pipetting System VWorks Hooks Interface Vertical Pipetting Station VSpin Microplate Centrifuge Microplate Centrifuge VStack Labware Stacker Labware Stacker New contact information Documentation feedback documentation automation agilent com Technical Support 1 800 979 4811 or 1 408 345 8011 service automation agilent com Customer Service 1 866 428 9811 or 1 408 345 8356 orders automation agilent com European Service 44 0 1763853638 euroservice automation agilent com Web www agilent com lifesciences automation Letter to our Customers 2 Agilent Technologies Inc Automation Solutions Division Table of Contents BioCel User Guide Content Chapter 1 Introduction 1 Who should read this guide aannaaien a 2 What this guide covers enade dae ma a ee eee 3 What is new in this version of the user guide nananana aana 4 Accessing Velocity11 user guideS nnna anaa aaa 5 Reporting problems eorr errem e T Rae e PI a Eaa Bley eRe ra TRIB S T Safety information about the BioCel 2 naaa aaa eee 8 Chapter 2 BioCel overview 13 Bas
5. If your BioCel has an automatic door over the waste bin use caution when removing or replacing the waste bin If a protocol is running the automatic door for the waste opening may open or close at any time Low force is used to open and close the door so the risk of serious injury is low However protect yourself by keeping away from the door mechanism at all times To remove the waste bin from its hanger 1 Open the side door nearest the bin 2 Hold the bin at the top right corner with your right hand 3 Lifting the front side of the bin upwards with your right hand place your left hand underneath at the bottom left corner 4 Supporting the bin with both hands lift it up and off the hanger resting it on the BioCel floor 5 Slide the bin out of the BioCel 6 Close the side door To replace the waste bin on its hanger 1 Open the side door nearest the bin 2 Slide the empty bin into the BioCel until it lies underneath the waste opening with the side of the bin resting against the hanger 48 Chapter 3 Preparing for a run BioCel User Guide 3 Lifting the front side of the bin upwards with your right hand place your left hand underneath at the bottom left corner 4 Using both hands lift the bin up over the hanger and down so the hanger supports the underside of the lip 5 Close the side door VStack setup The general process for loading a VStack with plates for a run is described here For more detailed p
6. Related topics For information about BioCel features BioCel systems Networking See Q Basic description on page 14 L BioCel 1200 external features on page 17 Q BioCel 1600 and 1800 external features on page 18 Q Power system on page 27 Q Air system on page 30 Q Vacuum system on page 31 Computers and networking on page 32 Chapter 2 BioCel overview 17 BioCel User Guide BioCel 1200 external features Diagram The main external features of the BioCel 1200 are shown in the following diagram Note The exact locations of the components on your BioCel might be different External connections Interlock sensor Enclosure panels Monitor Keyboard Power panel ls 3 1 0g Frame post p Side door 00242 Foot Related topics For information about See BioCel features Q Basic description on page 14 Q BioCel 1600 and 1800 external features on page 18 BioCel systems Q Power system on page 27 U Air system on page 30 Q Vacuum system on page 31 Networking Computers and networking on page 32 18 Chapter 2 BioCel overview BioCel User Guide BioCel 1600 and 1800 exter
7. 60 Chapter 4 Performing a run BioCel User Guide Pausing and stopping a run About this topic About stopping a run set Ways to stop a run Before continuing with a stopped run Stopping a run using VWorks Using an emergency stop button This topic describes the different ways to pause and stop a run and how the result is different depending on the method you choose Pausing or stopping a run set is the same as pausing or stopping a run You can stop a run by L Clicking Pause in VWorks Q Opening an enclosure door or if the door is open activating the safety interlock by turning the key Q Pushing an emergency stop button Runs stopped this way cannot be continued Before continuing with a run that was stopped make sure that the system is in a valid state for the point of the protocol at which the run stopped In other words make sure that the partial completion of a task has not made changes that will cause an error or cause samples to be switched around when the run continues For example errors can be caused when manually moving a plate to a location that should not have a plate Use VWorks to stop a run under normal circumstances such as when you want to Add or remove labware from stackers Clean up a spill Add reagent to a VPrep reservoir Diagnose a problem COooOvodD Perform an operation that is not part of the protocol See the VWorks User Guide for a procedure IMPORTANT
8. BioCel User Guide Resolving lid removal problems Vacuum based lid remover problems Lid hotel problems Related topics If your BioCel has a vacuum based lid remover you may occasionally find that it does not function properly If this happens you will need to adjust the vacuum sensor that provides feedback on whether a lid is attached to the suction cups This adjustment requires you to turn the air on and off through the Bio I O Diagnostics software while making incremental adjustments to the screw head that lies in the hole on the side of the station To do this you have to remove the side panel on the vacuum delidder device For help with this procedure contact the Velocityll Service Center Preventing problems To prevent problems with a lid hotel make sure that Q The rollers are free of debris and dirt Q The robot holds the plates below the lids Q Bar code labels are not applied to the lids connecting them to plates Q Stacks of labels are not allowed to build up on the plates Q The lids are free of sticky residue from labels Solving problems If you receive a lid detection error try the following 1 Check that the plate type in the protocol is correct for the plate 2 Make sure that the sensors are working a Open the lid hotel diagnostic software b Depress the delidder arms on the left side of the delidder from the robot s perspective and check to see if the green light on the delidder device
9. nO A BiaGGEL 1200 Reset button Interlock keyhole Chapter 2 BioCel overview 21 BioCel User Guide The power panel contains the main controls that power the BioCel This topic describes a typical power panel for a BioCel The following diagram shows a typical power panel for a BioCel I Emergency stop button I Power panel keyhole str Hood light switch 1600 1800 only Main power switch Robot power switch You can use the power panel to perform the following procedures Procedure Turn on and off the main power air supply and power to the robot Turn on and off the hood lights if available Override the safety interlock Activate an emergency stop Reset the safety interlock after an emergency stop has been activated See Turning on the BioCel on page 43 BioCel 1600 and 1800 external features on page 18 Overriding the safety interlock on page 90 Pausing and stopping a run on page 60 Emergency stop error recovery on page 87 The fuses to the BioCel are located inside the power panel If you suspect a blown fuse contact the Velocity11 Service Center before you attempt to open the power panel 22 Chapter 2 BioCel overview BioCel User Guide Related topics INJURY HAZARD The power panel should only be opened by someone from the Velocity11 Service Center or a BioCel administrator working under the guidance of Velocityll service
10. stop circuit I 1 1 1 i yeaa Sai Soa Meme Roms ec mm m en eno Reid m eren ne an e Lnd a fe EE Ee ee Er rein Device Device Device Secondary distribution AC power in Secondary distribution manifold Air system Air is used on the BioCel to description Q Move parts such as the robot gripper VStack grippers and VPrep shelves Q Create vacuums such as for the suction based vacuum delidder The flow of air through the system is controlled by air pressure regulators Many devices have their own built in regulators Air pressure to other parts is controlled by regulators in the air panel of the BioCel The diagram above shows how air to the BioCel can be cut off during a run by Q Pressing an emergency stop button Q Turning off the AIR switch on the power panel Q Turning off the main air shutoff valve in the air panel Q Turning off the main power in the power panel Chapter 2 BioCel overview 31 BioCel User Guide Related topics For information about See Power system Power system on page 27 Vacuum system Vacuum system on page 31 Emergency stop Pausing and stopping a run on page 60 Vacuum system Vacuum flow The following diagram shows the vacuum flow in the optional vacuum diagram system Main vacuum iei Distribution line l manifold Filtration station Waste bottle s Vacuum system A vacuum may be used on the Bi
11. 32 computer monitor damage hazard 9 networking see networking counterweight plate 56 manually loaded 51 robotically loaded about 52 setting up robotic loading 52 D damage hazard computer monitor 9 overhead door 9 DC power supply 28 diagnostics software about 70 Bio I O 71 robot 72 disposing of waste 8 door opening 60 E emergency stop 29 button 60 compared to interlock 62 recovering from 88 enable wires 29 environmental control 28 56 environmental enclosure 36 errors door interlock 87 emergency stop 88 hardware reporting 7 placing plate 97 plate sensor 89 robot 76 servo 89 Ethernet cable 19 hub 29 F fans clean room 29 file teachpoint 77 filtration station 31 Find button 6 finding the file 5 fuse 21 28 G gripper 74 close delay 78 offset 74 open delay 78 hotel see plate hotel and lid hotel injury hazard BioCel User Guide interlock override 10 side door 10 instruments preparing for a run 46 interlock air shutoff valve 22 air system 30 compared to emergency stop 62 injury hazard 10 override 56 recovering from errors 87 safety 10 iSeries controller 28 63 J job roles for readers of this guide 2 jog increment 74 jogging see robot K keyboard shelf adjusting 33 L lid hotel 36 38 removal device 38 suction based remover 36 38 lights maintenance 86 main panel 30 manifold air distribution 30 Materials Safe
12. PlateHub pages Q PlateHub on page 37 Related topics For information about See Hardware features BioCel overview on page 13 What this guide covers What this guide covers on page 3 Accessing the online help Accessing Velocity11 user guides on page 5 Chapter 1 Introduction BioCel User Guide Accessing Velocity11 user guides About this topic This topic describes the different formats of Velocity11 documentation Each Velocity11 user guide is delivered to you as Q Online help Q APDF file U A printed book The information in each format is the same but each format has different benefits Where to find the Online help user guides The online help is added to your computer with the software installation Velocity11 website You can download the latest version of any PDF file from our website at www velocityll com All Velocity1l user documentation can be searched from the website at www velocityl1l 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 1 Do one of the following Select Help gt VWorks Help Press F1 Clicking the question mark icon on the toolbar for context sensitive help 2 Click on the BioCel User Guide link Note If you are not using our software you can access the help from the Velocity11 website at http www velocity11 co
13. You cannot continue with a run after using an emergency stop because VWorks must be restarted Use this option for emergencies only In an emergency situation you can instantly stop all accessible moving parts does not include cooling fans by pressing an emergency stop button Emergency stop buttons are located on the table and the power panel Pressing an emergency stop button Q Cuts power to the robot motor Q Cuts power to the instruments except for the main power to any VPreps and VPrep pumps Opening an enclosure door during a run Related topics Chapter 4 Performing a run 61 BioCel User Guide Q Cuts power to the VPrep motors that move the head and activates the brake on the head to prevent it from falling U Stops the air supply to the instruments Provided the interlock circuit has not been overridden you can open an enclosure door at any time during a run to instantly stop BioCel motion The interlock light on the power panel will turn off when this happens and generates a robot error after which you can either continue or abort the run or enter diagnostics When you close the door an error dialog box opens If a VPrep was in motion when the door was opened a VPrep Error dialog box might also be displayed IMPORTANT Do not use the door interlocks to routinely stop a protocol The door interlocks are designed to be a safety backup system Instead use the pause button in VWorks For more i
14. double click sound If the z value is incorrect the plate will make a dropping sound or a crunching sound depending on whether the value is too high or low When you have established the direction and approximate magnitude of the inaccuracy set the jog increment Click Move to Point for Position 2 Click the appropriate jog button to move the gripper and click Teach point here for Position 2 This temporarily applies the new teachpoint setting If you click Cancel the new setting will not be saved Using the Pick amp Place function move the back plate to the reference position repeat the move to the place position and look to see if the accuracy has improved Continue with this iterative process until the plate is placed correctly Click OK to save the new teachpoint For information about See Robot Diagnostics Using Robot Diagnostics on page 72 Teachpoints About fine tuning robot teachpoints on page 79 Chapter 6 Maintenance and troubleshooting 65 BioCel User Guide Maintenance and troubleshooting This chapter tells you how to keep your BioCel in good working order and what to do when you encounter a problem This chapter contains the following topics Routine maintenance on page 86 Resolving robot errors on page 87 Overriding the safety interlock on page 90 Resolving plate placing errors on page 91 Resolving lid removal problems on page 92 DLDODUDUDALU Recovering from a power
15. filter installed Without a filter your PlateLoc can become damaged The location and model of these components depend on how your BioCel is configured They might be rack mounted or they might be towers The model used depends on what other devices and equipment are on your BioCel The illustration below shows the two possible models Computer UPS HHHH Computer The Ethernet and RS 232 hubs form communication connections between a single cable connected to the computer and multiple cables going to devices This allows the BioCel s computer to communicate with many devices at once BioCel 1200 Communication hubs are mounted beneath the BioCel deck inside the side doors The location of the hubs vary according to your specific design and they might not be located together Bio 1 0 console Bar code power supply optional Chapter 2 BioCel overview 25 BioCel User Guide I Fans RS 232 hub Bio I O console I Ethernet hub BioCel 1600 1800 Both communication hubs are mounted beneath the BioCel deck inside the side doors The location of the hubs might vary according to your specific design I Ethernet hub RS 232 hub Emu Bio 1 0 The Bio I O console Q Makes information from analog and digital sensors available to the computer Q Initiates actions such as turning on the st
16. has overhead doors DAMAGE HAZARD To avoid damage to the computer monitor make sure that you move the monitor out of the way as you close the overhead doors 9 10 Chapter 1 Introduction BioCel User Guide Lower side door injury hazard Interlock override injury hazard Laser warnings l il 2s eye Eo 00008 The lower side door hazards apply only if you have a BioCel 1600 or 1800 INJURY HAZARD Always close the lower side doors when you finish the operation that led you to open them Leaving side doors open creates a tripping hazard It can also block escape routes in a laboratory INJURY HAZARD Only fully trained BioCel administrators should have access to and use of the safety interlock key Use the override only when you know how the robot and devices will move during the protocol when the robot speed is slow and when you have taken measures to keep away from the areas in which the robot and device parts will be moving With the interlock overridden it is possible to be hit by the robot when it is moving If this happens the robot will immediately stop minimizing injury and the likely outcome is minor bruising However not all circumstances can be foreseen and more serious injury is possible It is the responsibility of every operator to use the built in BioCel safety features follow warnings and safety labels and keep out of the robot s radius whenever it is like
17. have performed a clean up after the last run 2 Exit VWorks 3 Ifyou have a secondary computer a Exitany software running b Shut down the secondary computer through Windows Wait for the operating system to shut down 4 Shutdown the main computer through Windows Wait for Windows to exit 5 Turn off the computer monitor 6 If you use modules or devices that require a vacuum pump optionally turn off power at the pump if the pump has an on off switch 7 Turn off the Robot power on the power panel 9o Turn off the System power on the power panel if applicable to your BioCel Chapter 4 Performing a run 67 BioCel User Guide 9 Push the UPS button that turns off power output to all parts of the system If you have more than one UPS on your BioCel make sure that you turn them all off For more information about turning off the UPS see the user manual for the UPS 10 On the power panel turn the main power switch counterclockwise to the off position 11 If moving the BioCel unplug the air Ethernet and main power cables Related topics For information about See Post run clean up Cleaning up after a run on page 65 Stopping a run Pausing and stopping a run on page 60 Monitoring a run Monitoring the status of a run on page 63 68 Chapter 4 Performing a run BioCel User Guide Chapter 5 Diagnostics 69 BioCel User Guide Diagnosties This chapter explains how to use diagnostics s
18. outage on page 93 86 Chapter 6 Maintenance and troubleshooting BioCel User Guide Routine maintenance About routine maintenance Checking the air filter for replacement Device maintenance Replacing fluorescent tube lights The BioCel does not require a lot of routine maintenance In general practice good housekeeping by cleaning up spills and following the clean up procedures Once a month check that the Robot gripper pads are not torn cracked or otherwise worn Overhead doors remain at the correct height Liquid handling tubing is not torn cracked or discolored Air filter is clean Main air pressure reads 100 110 psi 0 62 0 69 MPa Table top is free of debris such as pieces of chipped plates and microtubes OoUoOCOCD If the house air supplied to the BioCel is clean the air filter should rarely need to be changed To check the air filter for replacement 1 Open the side door behind the air panel 2 Look at the front of the air filter container If there are any oil droplets or general dirt visible on the filter the filter should be changed Contact the Velocity11 Technical Support for instructions For information about routine maintenance of the individual devices see the relevant device documentation The interior of the BioCel has standard type fluorescent tube lights that occasionally need to be replaced We recommend that two people work together to replace a light To replace a fl
19. page 5 Reporting problems on page 7 DULDODULDALU Safety information about the BioCel on page 8 Chapter 1 Introduction BioCel User Guide Who should read this guide Job roles Related topics This user guide is for people with the following job roles Job role Lab manager administrator or technician Operator For information about What this guide covers What uis new in this user guide Accessing Velocityll user guides and online help Using the BioCel safely Responsibilities Someone who is responsible for Q Managing the BioCel Developing the applications that are run on it problems that might arise Q Q Solving the more challenging d Developing training materials and standard operating procedures for operators Someone who performs the daily production work on the BioCel and solves routine problems Your organization may choose to create its own procedures for operators including the procedures in this guide See What this guide covers on page 3 What is new in this version of the user guide on page 4 Accessing Velocityll user guides on page 5 Safety information about the BioCel on page 8 Chapter 1 Introduction 3 BioCel User Guide What this guide covers What is covered This guide covers a description of the BioCel system the operation of the hardware components and the use of diagnostics What is not covered This guide does not cover
20. staff Do not force open the power panel door It has a safety device to prevent it from opening when the main power switch on the power panel is turned on For information about See Power system configuration Power system on page 27 Overriding the interlock Overriding the safety interlock on page 90 Using the emergency stop Pausing and stopping a run on page 60 Status of the BioCel Monitoring the status of a run on page 63 Hardware control components About the hardware control components Air panel The main hardware control components include the following Air panel Main computer Uninterruptible power supply UPS Bio I O Ethernet hub RS 232 hub Optional components include the following OUOOoUoOUOdD Q Bar code power supply L Weigh Pad hub Q Pump modules The placement and in some cases the physical attributes of these control components depends on how your BioCel is configured For example your computer may be mounted in a rack or it may be a free standing tower depending on what other devices and equipment are on your BioCel The air panel on all BioCels is located behind the power panel It is accessible by opening one of the side doors Chapter 2 BioCel overview 23 BioCel User Guide Some BioCels might have an additional air pressure regulator for a vacuum delidder The BioCel air panel shown below has only a robot air pressure regulator Function Robot air press
21. the plates that they were removed from It includes a sensor at each lid position so the system knows which positions contain lids Unlike a plate hotel a lid hotel cannot be easily removed from the BioCel table Lidded plates are brought to the lid hotel so that the lids are held by the rollers The robot then pulls the plate down leaving the lid behind Chapter 2 BioCel overview 39 BioCel User Guide Concept developed by Novartis Pharma AG NIBR DT IAT Basel Switzerland VShuttle The VShuttle has two decks each with a pair of rotating plate pads It allows plates to move between robots while maintaining the same orientation 40 Chapter 2 BioCel overview BioCel User Guide Weigh Pad Weigh Pads are available in different sizes They report the percentage of liquid in a container that sits on the Weigh Pad T Related topics For information about See Adding and removing plates from Placing and removing plate hotel the Plate Hotel labware on page 50 Using the PlateHub Device Driver User Guide Chapter 3 Preparing for a run 41 BioCel User Guide Preparing for a run This chapter describes how to start the BioCel and prepare it to run an existing protocol All of the procedures in this chapter can be performed by someone with operator privileges This chapter contains the following topics Workflow for preparing the BioCel for a Run on page 42 Tuming on the BioCel on page 43 Perfo
22. using VWorks setting up devices and networking the BioCel Hardware version This guide covers the hardware for the BioCel 1200 1600 and 1800 This includes accessories such as the Weigh Pad and plate hotel BioCel Because the BioCel is a custom product with many options this guide customization describes features that might not be included in your BioCel Related topics For information about See Using VWorks VWorks User Guide Using diagnostics for a third party Device Driver User Guide device Operating a Velocityll device The user guide for that device Networking the BioCel VWorks User Guide Chapter 1 Introduction BioCel User Guide What is new in this version of the user guide About this topic This topic briefly describes the new features this guide covers New Feature Feature Description See BioCel 1200 Automation platform that is BioCel 1200 external features smaller than the BioCel 1600 and on page 17 1800 BioCel 1800 Automation platform thatislarger BioCel 1600 and 1800 external than the BioCel 1200 and 1600 features on page 18 Modifications to the BioCel Changes in the power panel Q Power panel on page 21 1600 C Changes to the air panel Q Hardware control components on page 22 Device table Mobile table that locks into the Docking the mobile device table BioCel to the BioCel on page 34 New accessories Q Translator linear robot Q Translator linear robot on QO
23. you need information about the network cards in the BioCel see the VWorks User Guide If your BioCel has a device that includes its own computer such as the Zeiss Multimode plate reader the same monitor is used for both computers You can switch the monitor display between the two computers This feature is a property of the monitor switching device To switch the monitor display between two computers 1 Rapidly press the SCROLL LOCK key on the keyboard twice Chapter 2 BioCel overview 33 BioCel User Guide Related topics For information about See Networking VWorks User Guide Log files VWorks User Guide Using bar codes CL VWorks User Guide L VCode User Guide Adjusting the keyboard shelf About this topic This topic describes how to change the position of the computer shelf and monitor by adjusting the shelf at the appropriate pivot joints Adjusting the shelf To adjust the position of the computer shelf 1 Swivel the shelf at the appropriate pivot joints to make the adjustments Use the labeled illustration below to locate the appropriate joint for adjusting 2 To loosen or tighten the joints pry off the joint covers and use a wrench to make adjustments Monitor position lock Pivot joints Related topics For information about See BioCel computer Computers and networking on page 32 Power to the computer Power system on page 27 34 Chapter 2 BioCel overview BioCel Us
24. BioCel System User Guide XE Agilent Technologies Notices Agilent Technologies Inc 2009 No part of this manual may be reproduced in any form or by any means including electronic storage and retrieval or translation into a foreign language without prior agreement and written consent from Agilent Technologies Inc as governed by United States and international copyright laws User Guide Part Number G5500 90002 January 2009 rebranded edition September 2006 fifth edition Contact Information Agilent Technologies Inc Automation Solutions 5301 Stevens Creek Blvd Santa Clara CA 95051 USA Technical Support 1 800 979 4811 or 1 408 345 8011 service automation agilent com Customer Service 1 866 428 9811 or 1 408 345 8356 orders automation agilent com European Service 44 0 1763853638 euroservice automation agilent com Documentation feedback documentation automation agilent com Web www agilent com lifesciences automation Acknowledgements Microsoft and Windows are registered trademarks of the Microsoft Corporation in the United States and other countries Warranty The material contained in this docu ment is provided as is and is sub ject to being changed without notice in future editions Further to the max imum extent permitted by applicable law Agilent disclaims all warranties either express or implied with regard to this manual and any information contained herein inc
25. Centrifuge task that uses the counterweight must specify from which device to pick up the counterweight This is specified by an administrator when creating the Centrifuge task for the protocol CL The counterweight plate must be placed by the operator on the platepad specified in the Centrifuge task IMPORTANT Itis the operator s responsibility to make sure that the counterweight on the pickup platepad is of the correct type to balance the sample plate VWorks does not generate an error if the type of counterweight picked up does not match the type of sample plate Note The administrator who creates a protocol can add user messages to the protocol to remind the operator before a run which types of plate to put on which platepad To set up robotically loaded counterweights 1 Identify a process that includes a Centrifuge task look at the plate instance and note the type of plate used for the process In the same process pane click the Centrifuge task in the process In the Protocol Task Parameters toolbar note the name of the device defined in the Select counterweight to use list If you are unable to select a device the administrator has not yet defined a counterweight Note If you have just added a counterweight and it does not appear in the list click a different task and click back on the Centrifuge task 4 Repeatthe procedure for the remaining Centrifuge tasks in the protocol It might help to create a ta
26. If you have fine tuned teachpoints before make sure you use the same platepad for the picking reference position Click Diagnostics Click Robot This opens the Robot Diagnostics window 5 Inthe Position 1 list select the reference platepad 6 Inthe Position 2 list select the device whose teachpoint you want to fine tune Remember that you should check both the location places to and picked from 84 Chapter 5 Diagnostics BioCel User Guide Related topics Check the values for the approach heights The approach height is the height to raise the robot gripper above the teachpoint before the robot moves the plate horizontally towards or away from the place plate position Make this value large enough to avoid catching the plate on a lip or other protuberance as it is moved from a position but not so high that it hits a shelf or other object above the position This value is device dependent For most devices a value of 8 10 mm will work Start with a value of 6 mm for picking a tipbox from a VPrep shelf when making these settings IMPORTANT If approach heights are set incorrectly it could result in a robot crash To fine tune a robot teachpoint part two l Set the Robot Speed to Slow Click Pick amp Place 221 Carefully watch how the robot places the plate and listen to the sounds it makes If the plate catches the lip of the plate position because the r or t value is incorrect it can make a
27. OD LIGHTS switch clockwise to ON 2 If you use devices that require a vacuum created by a vacuum pump a Check that the gauge on the vacuum pump indicates a vacuum pressure b Make sure that the vacuum system is connected correctly 3 Ifyou use devices that require a gas supply such as a StoreX incubator make sure that the supply is turned on Chapter 3 Preparing for a run 45 BioCel User Guide 4 Make sure that all four lights on the power panel are on If you have not previously selected the option to sense the air pressure automatically check that the operating pressure is 100 110 psi 0 62 0 69 MPa for the main regulator and 35 60 psi 0 27 0 34 MPa for the robot regulator 5 Tum on the devices if they are not already on For more information see the device s user guide Related topics For information about See Connections for utilities Utilities connections on page 19 Power panel Power panel on page 21 Vacuum system Vacuum system on page 31 BioCel hazard warnings Safety information about the BioCel on page 8 Performing a BioCel ready state check Ready state When the BioCel is on and ready for a protocol to be opened conditions Q The status lights are off BioCel 1200 does not have status lights Q All devices are on pneumatic devices are supplied with air and a vacuum is supplied where used Q The computer is on and ready for a user to log in to the operating system Q The UPS
28. PlateHub Diagnostics Rack handle Related topics For information about Changing PlateHub rack locations See Device Driver User Guide For information about Workflow this procedure belongs to Preparing devices for a run Performing pre run checks About this topic Chapter 3 Preparing for a run 55 BioCel User Guide See Workflow for preparing the BioCel for a Run on page 42 Preparing devices and accessories on page 46 After turning on the BioCel creating a protocol and preparing the devices you would typically perform a number of pre run checks This topic describes the checks to perform Procedure To check that the BioCel is ready for a run 1 For each VPrep make sure that any reservoirs and Micro Wash trays are on the correct shelves 2 Makesure that there are no stray plates or lids in robot accessible places which include Platepads VPrep shelves VStack plate stages VSpin buckets VCode plate stages PlateLoc plate stages Plate hotel shelves PlateHubs Lid hotel bays Lid removal devices 9999999999 Third party devices You can also set the robot to check all accessible positions at the beginning of a run DAMAGE HAZARD Leaving a stray plate in the system might cau
29. Safety information about the BioCel About this topic This topic gives general information about BioCel safety hazards Before using the Before using a BioCel your organization should make sure that you are BioCel properly trained in L General laboratory safety Q The correct and safe operation of the BioCel C The correct and safe operation of other lab automation systems or components used in combination with the BioCel If you are the person in your organization responsible for training others on the BioCel and you have a safety question please contact Velocity11 Service Center Safety labels Pay attention to any safety labels printed on your BioCel 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 AN Chemical hazards Some chemicals used when working with the BioCel 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 Waste disposal Remember to dispose of chemicals in compliance with all applicable regulations Product use Velocityll 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
30. and hold the white button labelled TEST on the side of the reader for about 4 seconds When you release the button the green light next to the label LASER ON should remain on 3 Adjustthe reader if needed to have as many laser lines crossing the bar code as possible 4 In VWorks select Tools gt Test bar code reader If you have more than one auxiliary bar coder reader select the appropriate one from the list 6 Click Test The bar code appears in the bottom of the dialog box followed by the percentage read quality Adjust the bar code reader until the percentage is as high as possible usually about 5096 7 Pressthe test button again to turn the laser off 54 Chapter 3 Preparing for a run BioCel User Guide Related topics For information about Troubleshooting bar code reader errors Positioning the bar code reader Workflow this procedure belongs to Setting up the PlateHub See VWorks User Guide VCode User Guide Workflow for preparing the BioCel for a Run on page 42 About this topic This topic describes how to set up the PlateHub Procedure To set up the PlateHub 1 Make sure that the racks are in the appropriate locations as defined in the PlateHub profile 2 Remove racks by grabbing the rack handle and pulling up to slide the rack out Fill the racks and slide them back into position Make sure rack locations and other PlateHub parameters are set correctly in the
31. and in the delidder diagnostics lights for the arm you pressed c Ifthe green light does not turn on make sure the delidder is plugged in and configured correctly and that the other arms work their green lights turn on If one arm does not work a setscrew may need adjustment To do this call Velocity11 Service Center 3 Check the lid hotel teachpoints to make sure that they are correct If you need help with this contact the Velocity1l Service Center For information about See Using the lid hotel VWorks User Guide Chapter 6 Maintenance and troubleshooting 93 BioCel User Guide For information about See Stopping a run Pausing and stopping a run on page 60 Recovering from a power outage About this topic What happens when the power is cut Recommended actions during a power outage What happens when the power is restored Related topics This topic describes behavior of the BioCel when the power is cut to it and what to do to recover from the outage If there is a main power outage the following events will occur Q The UPS starts to beep while providing power to the devices Note Power to the environmental control will be cut Q VWorks writes an error message to the log displays an error message on the screen and notifies you are if you have email notification configured Q The BioCel continues to run execute a protocol until the UPS charge passes the thresholds specified in VWork
32. apter 3 Preparing for a run BioCel User Guide 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 take up roll cut it and re attach the end Too much label backing on the take up roll can interfere with operation of the VCode 4 Use VCode Diagnostics to perform a plate labeling test For more detailed information about operating the VSpin manually see the VSpin User Guide The VSpin can spin one or two sample plates at the same time Spinning one sample plate at a time always requires a counterweight plate The counterweight plate can be added manually or robotically To set up a VSpin 1 Do one of the following Ifyou are using a manually loaded centrifuge counterweight place the counterweight into bucket 2 using VSpin Diagnostics to open and close the VSpin door Ifyou are using robot loaded counterweights make sure you have correctly set up counterweights in VWorks placed the counterweights in the correct plate positions and checked to make sure the buckets are empty Ifyou are spinning two protocol plates and not using a counterweight make sure you have set up the plate loading properly in VWorks and that both buckets are empty DAMAGE HAZARD To avoid a robot crash always place the counterweight 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 ro
33. at the previous position If there does not seem to be a teachpoint error contact Velocity11 If the plate is held in the gripper but is not seated correctly establish whether the plate was positioned correctly at the pickup location If the plate was not positioned correctly at the pickup location reposition the plate and click Retry in the Robot Error dialog box If the plate was positioned correctly at the pickup location there may be a problem with the approach or departure height Alternatively there might be a problem with the plate the labware definition for the plate a teachpoint or the plate sensor In this case you should contact Velocity11 Servo error recovery The robot s motion is controlled by a servo system that cuts power to the robot if it encounters resistance to movement that is slightly higher than that expected from just the inertia of the robotic arm holding a plate Additionally when the power is cut a servo error is generated The great majority of servo errors occur when the plate being carried crashes into another plate sitting on a device To recover from a servo error 1 Check the BioCel deck to determine the cause of the collision and remove the obstruction For example it may be a plate from a previous run Check the plate being held by the robot to make sure that it has not been damaged or spilled Check to be sure that the plate did not slip in the grippers during the collision
34. ate calibration tool touches the back of the gripper t Plate is centered in the gripper Z Top of the plate calibration tool bumper is flush with the top surface of the gripper fingers IMPORTANT Accurate placement of a plate is a property of both the picking position s teachpoint and the placing position s teachpoint Therefore when you are fine tuning a teachpoint always consider the teachpoint of the position that a plate is collected from The ability to tolerate a deviation from the optimal teachpoint depends on the tolerance in the geometry of the device that receives the plate It is less important for the absolute value of the teachpoint for a plate position to be optimal than it is for the teachpoints of the position at which a plate is picked up and the position to which the plate is delivered to work together To explain further if the teachpoint at the pick position is 1 mm less than the optimum rvalue and the teachpoint at the place position is 1 mm less than the optimum the end result is that the plate is placed accurately at the position Also if the teachpoint of the picking position has an rvalue that is low by 1 mm and the teachpoint of the placing position has an rvalue that is high by 1 mm the combined effect is that the plate is placed 2 mm forward of where should be Using the teachpoint plate calibration tool the following diagrams demonstrate both a correct and incorrect example of a teachpoint Correc
35. atus lights and opening and closing optional trash and enclosure doors Q Provides 24V power to some devices such as the Lid Hotel and Vacuum Delidder Many of the thin gray low voltage cables that run through the BioCel go to the Bio I O You should not need to touch the Bio I O If you have multiple auxiliary bar code readers you may have a separate power supply for connecting them The bar code power supply is mounted inside a side door underneath the BioCel deck 26 Chapter 2 BioCel overview BioCel User Guide Weigh Pad hub optional Pump modules optional Related topics Oo o d D amp D BARCODE READER POWER SUPPLY e D READER 1 READER 2 If you have Weigh Pads for reservoirs and waste you may have a hub for connecting the Weigh Pads to VWorks The hub is usually mounted with the other communication hubs inside a side door underneath the BioCel deck 271 If you have a VPrep configured on your BioCel the pump modules may be mounted inside a side door underneath the BioCel deck Here they do not take up deck space and are easily accessible for maintenance For information about See The BioCel air system Air system on page 30 Opening Bio I O Diagnostics Using Bio I O Diagnostics on page 71 Turning on the BioCel Turning on the BioCel on page 43 Power system About this topic Chapter 2 BioCel ove
36. ble that looks like this one which replicates the relevant information from the manage counterweights database Plate Type Platepad w 1 X 2 3 5 Place the counterweights on the platepads with which they are associated Related topics Chapter 3 Preparing for a run 53 BioCel User Guide For information about See Setting user message tasks VWorks User Guide Centrifuge task parameters VWorks User Guide Aligning and testing auxiliary bar code readers About this topic Laser warnings Procedure This topic describes the procedure for testing auxiliary bar code readers If a device has a bar code reader you should make sure that it is functioning and correctly aligned before starting runs Note Auxiliary bar code readers are set up in the Device Manager INJURY HAZARD Class II laser hazard Looking directly at the laser light might seriously damage your eyes INJURY HAZARD Do not disassemble bar code reader sensor heads Laser emission from the reader is not automatically stopped if the sensor head is disassembled INJURY HAZARD Unless following a procedure in a Velocity11 user guide do not touch the white TEST button on the side of the bar code reader sensor head This button turns on the laser creating the possibility of a long exposure to the light To align and test a bar code reader 1 Place a plate labeled with a bar code on the plate pad that has the reader you want to test 2 Press
37. bot For more information about See Setting up a counterweight Setting up a VSpin counterweight plate on page 51 Workflow this procedure belongs Workflow for preparing the BioCel for to a Run on page 42 Testing an auxiliary bar code Aligning and testing auxiliary bar code reader readers on page 53 Placing and removing hotel plates Placing and removing plate hotel labware on page 50 Setting up a PlateHub Setting up the PlateHub on page 54 50 Chapter 3 Preparing for a run BioCel User Guide Placing and removing plate hotel labware About this topic Removing and replacing a hotel Related topics You can place plates into a plate hotel and remove plates from a plate hotel by Q Removing the plate hotel from the BioCel first if the hotel is not attached L Leaving the plate hotel on the table In general it is better to add and remove plates while leaving the hotels in place This way you are less likely to spill liquids in the plate wells and it will reduce wear on the registration pins metal dowel pins and hotel bases IMPORTANT If you remove a plate hotel you must put it back in the same place to maintain accurate teachpoints To remove a plate hotel 1 Holding the top handle lift directly upwards The plate hotel lifts off its base To replace a plate hotel 1 Holding the top handle position the plate hotel above the base so that the dowels are alig
38. d have access to and use of the safety interlock key Use the override only when you know how the robot and VPrep modules will move during the protocol when the robot speed is slow and when you have taken measures to keep away from the areas in which the robot and VPrep modules will be moving To override the safety interlock 1 Insert the override key into the interlock key hole on the power panel and turn it clockwise to the zero position Chapter 6 Maintenance and troubleshooting 91 BioCel User Guide 2 In the Robot Error dialog box select Retry Related topics For information about See Opening a door during a run Pausing and stopping a run on page 60 Safety interlocks and emergency Comparing interlock and emergency stops circuits on page 62 Resolving plate placing errors About plate placing If the robot does not place a plate accurately on a device the problem errors could be with the C Teachpoint for either that device or for the previously scheduled device including approach height In this case see for more information about fine tuning teachpoints U Device because it was moved or reconfigured by someone else who did not re teach the teachpoints L Plate In this case replace the plate with one that is not deformed Relate information For information about See Fine tuning teachpoints Using Robot Diagnostics on page 72 92 Chapter 6 Maintenance and troubleshooting
39. e VStack User Guide If your BioCel is equipped with environmental control check that environmental settings are within acceptable ranges for the run Close all doors DAMAGE HAZARD If running a BioCel 1600 or 1800 make sure that you move the computer monitor out of the way as you close the overhead doors If the interlock override is on put the key into the interlock override keyhole in the power panel and turn it to the 12 o clock position This disables the interlock override and stops the robot if the door is opened For more information about See Workflow this procedure belongs Workflow for preparing the BioCel for to a Run on page 42 Chapter 3 Preparing for a run 57 BioCel User Guide For more information about See Setting the robot to check all VWorks User Guide accessible plate positions 58 Chapter 3 Preparing for a run BioCel User Guide Performing a run Chapter 4 Performing a run 59 BioCel User Guide This chapter describes the hardware procedures associated with performing a run All of the procedures in this chapter can be performed by someone with operator privileges This chapter contains the following topics a Q Q Q Q Pausing and stopping a run on page 60 Comparing interlock and emergency circuits on page 62 Monitoring the status of a run on page 63 Cleaning up after a run on page 65 Turning Off the BioCel on page 66
40. e Light 4 4 Input 4 00 90 c2 cb 27 8c s Blue Light 5 Qs Input 5 00 90 c2 cb 27 8c H Blue Light 6 Q6 Input 6 00 90 c2 cb 27 8c e Blue Light 7 Q7 Input 7 00 90 c2 cb 27 8c es Blue Light 8 s Input 8 00 90 c2 cb 27 8c s Audible Alarm Q9 Input 9 00 90 c2 ch 27 8c 10 Output 10 00 90 c2 cb 27 8c 10 Input 10 00 90 c2 cb 27 8c i1 Output 11 00 90 c2 cb 27 8c Qhii Input 11 00 90 c2 cb 27 8c iz Output 12 00 90 c2 cb 27 8c 12 Input 12 00 90 c2 cb 27 8c QQi3 Output 13 00 90 c2 cb 27 8c 13 Input 13 00 90 c2 cb 27 8c 14 Output 14 00 90 c2 cb 27 8c 14 Input 14 00 90 c2 cb 27 8c 15 Output 15 00 90 c2 cb 27 8c 15 Input 15 00 90 c2 cb 27 8c 16 Output 16 00 90 c2 cb 27 8c 16 Input 16 00 90 c2 cb 27 8c 9h17 Input 17 00 90 c2 cb 27 8c 19 Input 18 00 90 c2 cb 27 8c 19 Input 19 00 90 c2 cb 27 8c 20 Input 20 00 90 c2 cb 27 8c Tem off selected outputs G Circuit breaker enabled Reset circuit breaker A 2 To test an output select it from the list and then click Turn on selected outputs The indicator next to the output lights up The output remains on until you turn it off Chapter 5 Diagnostics BioCel User Guide Related topics For information about See What the Bio I O does Hardware control components on page 22 Using Robot Diagnostics About this topic This topic explains how to move the robot using Robot Diagnostics software For gene
41. e in the out position 8 Close the deck enclosure doors If you have overhead doors heed the following warnings INJURY HAZARD Opened overhead doors are approximately 6 feet 2 inches 188 cm above the floor To avoid injury be aware of the door height and position at all times when working around the BioCel INJURY HAZARD The pneumatic braces on overhead doors should be adjusted so you can comfortably open and close the doors If you have to strain to open a door please contact the Velocity11 Service Center and ask to have the braces adjusted DAMAGE HAZARD Always open and close overhead doors using their handles Opening and closing overhead doors by pulling and pushing on their corners may crack the glass and damage the pneumatic braces 9 Pressthe green reset button on the power panel 10 If there is a secondary computer for a third party device such as a plate reader turn it on and log in to Windows To turn on the BioCel part three 1 On the power panel a Check that the INTERLOCK light is on This indicates that the enclosure doors are closed provided the interlock override is not in use b Turn the AIR switch counterclockwise and check that the indicator light is on This turns on air to the devices If the air does not come on or the green reset button does not restore power to the devices check the emergency stops doors and interlock key c If your BioCel has lights turn the HO
42. er Guide Docking the mobile device table to the BioCel About this topic Connection description Procedure Some users might have a Velocityll mobile device table which holds an external device that exchanges plates with the BioCel The device is mounted to this mobile table which in turn is mounted to the BioCel This ensures the devices position does not change This topic describes how to dock and undock the mobile table Read this topic if you have a device external to the BioCel and want to integrate it with a BioCel using a Velocityll mobile table Two alignment rods and a threaded shaft are all permanently mounted to the mobile table Two docking slots that receive the alignment rods and a Tnut that receives the threaded shaft are permanently mounted on the BioCel The following diagram shows the table docked Mobile table BioCel T nut Docking slot Alignment rods Threaded shaft To engage the mobile table 1 Move the mobile table so the alignment rods on the mobile table are within the docking slots on the BioCel 2 Check to be sure that the threaded shaft is positioned in front of the Tnut 3 Insert an 8 mm T wrench in the end of the center threaded shaft and turn it clockwise to screw it into the T nut that is bolted to the BioCel 4 Continue tightening the shaft until it stops The tightening of t
43. es Relevant Velocityll device user guide Diagnostics for third party devices Device Driver User Guide Bio I O Diagnostics Using Bio I O Diagnostics on page 71 Robot Diagnostics Using Robot Diagnostics on page 72 Chapter 5 Diagnostics 71 BioCel User Guide Using Bio I O Diagnostics About this topic The Bio I O Diagnostics software is primarily used by Velocity11 personnel for troubleshooting communication problems between VWorks and the BioCel devices During troubleshooting Velocityll personnel might ask you to assist with some tasks in Bio I O Diagnostics This topic describes how to open the Bio I O Diagnostics in VWorks3 and test an output If you are running VWorks4 the procedure might be different Procedure To use the Bio I O Diagnostics 1 Open the Bio I O Diagnostics a Click the Device Manager tab b Inthe Device List expand System if closed and then double click BioIO x Ele System BiolO s gt Environment gt Labware Liquids 3 PlateLoc Thermal Plate Sealer Plate Pad Standard gt Shelf Reagent Shelf Standard H A The Bio I O Diagnostics opens Analog Inputs Profiles Digital Inputs j Input name j Qi Blue Light 1 1 Input 1 00 90 c2 cb 27 8c 2 Blue Light 2 Q2 Input 2 00 90 c2 cb 27 8c 3 Blue Light 3 s Input 3 00 90 c2 cb 27 8c 4 Blu
44. fault Profile BCR COM port 4 Gripper open delay ms 150 Gripper close delay ms 150 Retry pushdown mm 2 IMPORTANT If you change the robot profile and later click Save amp Exit the values are changed in VWorks which will affect protocols that you run afterwards To change robot Profile Settings 1 Type the new value into the text box for the parameter you want to change using the following table as a guide Parameter Description Robot COM port The communications port to which the robot is connected BCR COM port The communications port to which the robot s bar code reader is connected Gripper open delay Interval between the time the gripper starts to open and the time the robot starts to depart from a plate If this value is set too low the gripper might not have completely released the plate before the robot moves causing the plate to be dragged Gripper close delay Interval between the time the robot gripper starts to close and the time to departure If this value is set too low the plate might be held too high in the gripper Chapter 5 Diagnostics 79 BioCel User Guide Parameter Description Retry pushdown Pushdown is a robot action used with filtration stations vacuum platepads and vacuum shelves on VPrep pipettors The purpose of the action is to flatten a plate on the stage If during operation the vacuum seal indicator indicates the absence of a seal the robot wi
45. ffects the use of Robot Diagnostics It does not affect VWorks error settings To ignore errors when using Robot Diagnostics 1 Select Ignore errors Ignore errors J 9 The plate sensor in the robot gripper might need to be recalibrated if it is not sensing a plate when there is a plate in the gripper You can also use the plate sensor indicator to check the function of the plate sensor To check the plate sensor 1 Move the robot to a position that has a plate 2 Move up by the robot gripper offset for the plate in question 3 Closethe gripper 4 Look at the Plate present indicator Moving the robot to a teachpoint Moving a plate between teachpoints Locating the teachpoint file Chapter 5 Diagnostics 77 BioCel User Guide Position 2 X Actual position 1 Plate present If the indicator is on the plate sensor is registering a plate in the gripper 5 Open the gripper You can move the robot directly to any teachpoint when there is no plate in the gripper To move the robot to a teachpoint l From the Position 1 or Position 2 list select the teachpoint to move to Position 1 10 VStack 10 Approach ht mm 9 zZ 79 985 R 361 747 T 189 927 Position 2 13 vPrep Shelf 6 Approach ht mm 3 Z 225 755 R 215843 T 59 840 Make sure grippers are open and click Move to point for either Position 1 or Position 2 as appropriate DAMAGE HAZARD When you use the Move to point f
46. 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 Velocityll user guides could void the warranty The BioCel is not intended or approved for diagnosis of disease in humans or animals Overhead door injury The overhead door hazards apply only if you have a BioCel 1600 or 1800 hazards that has overhead doors Overhead door damage hazard Computer monitor damage hazard Chapter 1 Introduction BioCel User Guide INJURY HAZARD Opened overhead doors are approximately 188 cm 6 ft 2 in above the floor To avoid injury be aware of the door height and position at all times when working around the BioCel L 6 feet 2 in 188 cm 00007 INJURY HAZARD The pneumatic braces on overhead doors should be adjusted so you can comfortably open and close the doors If you have to strain to open a door please contact the Velocity11 Service Center and ask to have the braces adjusted The overhead door hazards apply only if you have a BioCel 1600 or 1800 that has overhead doors DAMAGE HAZARD Always open and close overhead doors using their handles Opening and closing overhead doors by pulling and pushing on their corners can crack the glass and damage the pneumatic braces The computer monitor hazard applies only if you have a BioCel 1600 or 1800 that
47. g options xl Where to get the online help and PDF Online help The VWorks online help file is installed separately from the software from the VWorks Help CD ROM The file that launches the help is called help html and is located in this directory C VWaorks Workspace docs helpsystem PDF file of the user guide C VWorks Workspace dacs The VWorks user manual in PDF format is located on the software CD ROM as a file that you need to copy onto your computer It is not automatically installed with the software Note You can also download the latest version of all the documentation from our website at www velocity11 com support support html Online help gt The navigation pane has four tabs providing four different ways to locate information The content pane displays the online help topics Navigation buttons in the content pane allow you to navigate through the pages PDF user guides Computer requirements To open a user guide in PDF format you need an Acrobat viewer You can either use the viewer that is built into Adobe Acrobat or you can download the free Adobe Reader application from http www adobe com support downloads main html Printing and searching We provide user guides in PDF format mainly for printing additional copies You can use them for simple searches from the Find button although these searches are much slower than online help searches
48. g up the PlateHub llle 54 Performing prerumCheckS uoces Ree Eee c mx e Hach eho ake es 55 i Table of Contents BioCel User Guide Chapter 4 Performing arun 59 Pausing and stopping a run aaaea 60 Comparing interlock and emergency circuits llle 62 Monitoring the status ofa run llle 63 Cleaning up after a TUldz suco eet mpm teu eme ra mue D rude EM EUR 65 Turning Off the BIOCel xe RE RUE RR dceR e EE ndvens E Gy S RN Ug eren 66 Chapter 5 Diagnostics 69 About Diagnostics software llle 70 Using Bio I O DiagnosticS aE EERE EEEE es 71 Using Robot Diagnostics llle 72 About fine tuning robot teachpoints 2 0 ce ees 79 Fine tuning a robot teachpoint llle 83 Chapter 6 Maintenance and troubleshooting 85 Routine Maintenance u a ook RR De adm gg Gale MEER TEE ERE Ends 86 Resolving robot errors llle 87 Overriding the safety interlock 0 0 0 cee ee 90 Resolving plate placing errors 2 es 91 Resolving lid removal probleMS 00 ce ees 92 Recovering from a power outage llle es 93 Chapter 1 Introduction 1 BioCel User Guide Introduction This chapter contains the following topics Who should read this guide on page 2 What this guide covers on page 3 What is new in this version of the user guide on page 4 Accessing Velocityll user guides on
49. he illustration below shows where the utilities are connected behind the side doors of the BioCel The illustration represents one possible configuration The placement of the UPS and main computer might be different depending on how your BioCel 1200 is configured Air panel Utilities entry Main air line UPS Main computer Main Ethernet Main power entry Chapter 2 BioCel overview BioCel User Guide BioCel 1600 and On the BioCel 1600 and 1800 the external utilities connections are 1800 utilities located on the top of the BioCel usually above the power panel connections Main vacuum line Main air line Ethernet cable Main power line Direct plumbing Any BioCel can be customized to have direct plumbing from an external water source In this case the water lines enter through the frame corners Related topics For information about See Entry of utilities Q BioCel 1200 external features on page 17 Q BioCel 1600 and 1800 external features on page 18 Specifications BioCel specifications on page 15 Power panel About the power panel BioCel power panel diagram Power panel functions About opening the power panel INTERLOCK RESET AIR o switch MAIN POWER ROBOT HOOD
50. he threaded shaft will bring the alignment bolts into their proper position Related topics Chapter 2 BioCel overview 35 BioCel User Guide To disengage the mobile table 1 Insert an 8 mm T wrench in the end of the main threaded shaft and turn it counterclockwise until it comes out of the Tnut 2 Move the mobile table away from the BioCel For information about See Accessories BioCel accessories on page 36 Third party devices BioCel devices on page 35 BioCel devices Definition Velocity11 device list Third party devices Related topics Devices are individual pieces of equipment that sit on the BioCel table and manipulate or enable the manipulation of plates The following Velocity11 devices can be used on a BioCel Device Description and Comments PlateLoc Thermal plate sealer PlatePierce Seal piercing station VCode Bar code print and apply station VPrep Pipetting station VSpin Plate centrifuge VStack Labware stacker VersaScan Plate reader There are many third party devices that can be used on a BioCel Fora comprehensive list see the Device Driver User Guide If there is product that you would like to add to your BioCel please contact Velocityll for customization information For information about See BioCel accessories BioCel accessories on page 36 BioCel specifications BioCel specifications on page 15 36 Chapter 2 BioCel overview BioCel User Guide For informat
51. ialog box click Retry If there is a plate in the gripper move it back to the pickup location a Establish the location that the plate was picked from b Inthe Robot Error dialog box click Diagnostics c Gently hold the plate in your fingers or ask another operator to do the same d Click Open Gripper to release the plate to your hand Close all overhead doors Remove the interlock override by turning the key in the power panel Push the reset button on the power panel Click Abort Process in the stop dialog box Close and restart VWorks When you restart VWorks communication with the devices that lost power is re established Chapter 6 Maintenance and troubleshooting BioCel User Guide Plate sensor error Before you can recover from a plate sensor error you must establish the recovery cause of the error To recover from a plate sensor error l If there is no plate in the gripper establish whether the plate was Knocked out of the gripper In this case establish what knocked the plate out of the gripper Missing from the location that the robot attempted to pick it up from In this case place the correct plate in the location and click Retry in the Robot Error dialog box Not picked up In this case there may be a problem with either the labware definition for the plate or a teachpoint Check the teachpoint at the position where it failed to pick up the plate and also the teachpoint
52. ic description e r Re ee SP ee Eee 4a dunes 14 BioCel specifications s esea erae ce esee lcs e he a ke ene i 15 BioCel 1200 external features nia ne Tipan n a a ee 17 BioCel 1600 and 1800 external features nananana aa ee eee 18 UtilitieS CONMECTIONS ss peu Re Em E See Meee EISE e EE 19 Power panel 2222 erase riaka eer A naa e k a e E Ea a a a a a a ayi Paaa 21 Hardware control components a ee eee 22 Power System ws lexus mulebW NLIS Lue due esp 27 AI SYSTE PC T Soyo en ede wild E Shee pee REARS BOA we Me oA ee 30 VACU system ux eei od a C om en Ma Lv e eic rave teu ss rer Go 31 Computers and networking 2e eee ae anes Rae e qme eK e a e sea 32 Adjusting the keyboard shelf llle 33 Docking the mobile device table to the BioCel 2 00000 cee ee eee 34 BIOCEIGEVICES ser ker Arr hk Oe eed en Pg ae eg tee ee oe a Vo er ke ee os 35 BloCel accessotrles 53s dele eeepc Bele Glee OS Sele Oe eed e Pe SA 36 Chapter 3 Preparing for a run 41 Workflow for preparing the BioCel for a Run llle 42 Turning on the BIOCel 3 cox eere etre cep rete de xD Ux eee ce eR RT RU W P ee 43 Performing a BioCel ready state check llle 45 Preparing devices and accessories 2l 46 Placing and removing plate hotel labware llle 50 Setting up a VSpin counterweight plate llle 51 Aligning and testing auxiliary bar code readers eee ee ee 53 Settin
53. ion about See BioCel features Basic description on page 14 BioCel accessories About this topic This topic briefly describes the accessories available for the BioCel The following is a list of the available accessories for the BioCel One or more of them may be present on your BioCel Accessory Description and Comments Auxiliary bar code One or more bar code readers attached to a reader platepad or other device Environmental Glass enclosed area for controlling temperature Enclosure and humidity Tip box delidder A static arm with suction cups that removes lids from tip boxes and drops them into the waste bin Lid hotel See Lid removal devices on page 38 fora description Plate hotel See Plate hotel on page 36 for a description PlateHub See PlateHub on page 37 for a description Transfer station See Transfer station on page 37 for a description Translator linear robot See Translator linear robot on page 38 for a description VShuttle See VShuttle on page 39 for a description Weigh Pad See Weigh Pad on page 40 for a description Plate hotel A plate hotel stores a smaller number of plates than a VStack but unlike the VStack the robot has immediate random access to all plates You can remove the hotel from the BioCel to access plates from the front or leave the hotel in the BioCel and access plates from the back Chapter 2 BioCel overview 37 BioCel User Guide PlateHub The P
54. ion hubs which is why the shutdown procedure includes a step for turning off the UPS After the main switch the electrical line enters a bank of connections in the power panel known as the pre emergency stop block A pre emergency stop power strip is connected to this block Devices wired from the pre emergency stop power strip do not have their power cut when an emergency stop is activated For example the robot retains power after activation of an emergency stop because its DC power is supplied by the robot DC power supply fed from the pre emergency stop block Emergency stop and interlocks Related topics Chapter 2 BioCel overview BioCel User Guide An electrical line from the pre emergency stop block enters the emergency stop relay which controls the emergency stop circuit One output from the emergency stop relay powers an interlock circuit switch Another output supplies the BioCel power strips from which most of the BioCel devices and system components receive current exceptions to this are the VPrep VPrep pumps Ethernet hub and clean room intake and recirculation fans These devices and system components are all wired after the emergency stop and therefore receive no current when an emergency stop is activated This includes the Bio I O and cooling fans which use DC electricity produced by the system DC power supply If an emergency stop is activated the reset button must be pushed to reset the emergency stop relay to a p
55. l blinking in circular pattern Run complete Traffic light status lights A single red yellow and green light fixture is located above one of the BioCel s frame posts Different light patterns indicate different BioCel conditions Light Pattern Status Comment All off Idle System is not in operation VWorks might not be running Green Normal System is in normal error free operation operation Yellow Warning running The system has encountered an error Plates are continuing to process but the error requires attention Yellow Warning System has completed complete operation but errors occurred during the runset resulting in error plates Red Warning idle System is idle but an error was encountered during the compiling of the protocol that will keep the protocol from running Related topics Light Pattern Status Red Error Yellow Error For information about Setting error options Monitoring the UPS Troubleshooting an error Stopping a run Setting up the waste bin Using the User Message task Cleaning up after a run About this topic Procedure Chapter 4 Performing a run 65 BioCel User Guide Comment During operation an error occurred and the system cannot continue without user intervention During operation a network or disk space error occurred The system will stop until the error is fixed See VWorks User Guide VWorks User Guide Q Maintenance and troubleshooting o
56. lateHub is a twelve sided plate storage carousel with each side capable of storing up to 8 tip boxes or 16 plates for a total of 96 tip boxes or 192 plates The PlateHub must be used with the VWorks inventory management system For information about setting up and using the VWorks inventory management system see the VWorks User Guide Transfer station The transfer station is a special platepad used to transfer a plate between the StoreX and the BioCel robot Some transfer stations such as the one shown in the following diagram include two platepads 38 Chapter 2 BioCel overview BioCel User Guide Translator linear robot Lid removal devices The translator linear robot transports plates one at a time from a device or robot to a device or robot Because it translates plates the two robots do not need to access the same positions or to define an envelope The translator linear robot is available in multiple lengths Adding a rotational motor enables it to turn the plate in any orientation 00246 The BioCel supports two types of lid removal device Vacuum based lid remover The vacuum based lid remover sits over the waste opening in the table It uses one or more suction cups to remove plate lids The vacuum used to hold the lids is created by a vacuum ejector which uses an air line rather than a vacuum line Lid hotel The lid hotel is able to store lids so they can be returned to
57. ll push down on the plate in an attempt to create a seal The value for this parameter is the distance pushed down in millimeters Related topics For information about See Robot errors Resolving robot errors on page 87 Moving to a teachpoint Moving the robot to a teachpoint on page 77 About fine tuning robot teachpoints Where teachpoints Teachpoints are axis position coordinates needed by are used Q The robot to be able to accurately pick up and move plates to and from devices Q VPrep heads to be able to accurately position pipette tips into plate wells Q VSpin centrifuges to be able to accurately position the buckets in relation to the door Q VStack stackers to be able to accurately position the plate stage during operation Teachpoint coordinates are relative to the robot s or devices home position and are set up by Velocityll before shipping and verified at your site on installation However you might occasionally need to fine tune teachpoints For information about device teachpoints see the relevant user manual This topic covers only robot teachpoints Robot teachpoints When teachpoints are initially set at the factory they are defined as defined described in the following table 80 Chapter 5 Diagnostics BioCel User Guide The goal of fine tuning robot teachpoints Correct and incorrect teachpoint examples Axis Teachpoint position is set when the r Bumper of the pl
58. luding but not limited to the implied warranties of merchantability and fitness for a par ticular purpose Agilent shall not be liable for errors or for incidental or consequential damages in connection with the furnishing use or perfor mance of this document or of any information contained herein Should Agilent and the user have a separate written agreement with warranty terms covering the material in this document that conflict with these terms the warranty terms in the sep arate agreement shall control Technology Licenses The hardware and or software described in this document are furnished under a license and may be used or copied only in accordance with the terms of such license Restricted Rights Legend If software is for use in the performance of a U S Government prime contract or sub contract Software is delivered and licensed as Commercial computer soft ware as defined in DFAR 252 227 7014 June 1995 or as a commercial item as defined in FAR 2 101 a or as Restricted computer software as defined in FAR 52 227 19 June 1987 or any equivalent agency regulation or contract clause Use duplication or disclosure of Software is subject to Agilent Technologies standard commercial license terms and non DOD Departments and Agencies of the U S Gov ernment will receive no greater than Restricted Rights as defined in FAR 52 227 19 c 1 2 June 1987 U S Government users will receive no grea
59. ly to move BioCel lasers Your BioCel contains one or more lasers used to read bar codes One bar code reader attached underneath the robot arm is used to read plates as they are picked up Other bar code readers might be included on your system attached to platepads VPrep shelves or VCode printers INJURY HAZARD The BioCel bar code readers use class II lasers Before using the BioCel you should be trained in the safe use of these lasers Related topics Chapter 1 Introduction BioCel User Guide The laser beam will not harm your skin so there is no danger in exposing your arms or hands to the beam However you could damage your eyes if you stare directly into the beam Bar code readers emit light for up to 0 5 seconds only when taking a reading so they are only a hazard during protocol runs When a plate is being read the beam should not pass beyond the plate If you are operating the BioCel without plates and with the overhead doors open the risk of exposure is increased Before using the BioCel you should identify the locations of all bar code readers and establish the directions in which they point All readers point downwards to minimize the potential exposure at eye level The robot bar code reader represents the greatest hazard because of its height above the table This bar code reader is angled downwards at 15 and has a maximum illumination arc of 60 centered perpendicularly to the reader With these measure
60. m Main features The online help includes a navigation pane content pane and navigation buttons 5 6 Chapter 1 Introduction BioCel User Guide Navigation pane Content pane Navigation buttons Search Contents Main Pace MM M oS ED Introduction Who should read this guide About Velocity11 user guides Supported software versions Finding your software versions Reporting VWorks problems About Velocity11 user guides Introduction Each Velocity11 user guide is delivered to you as VWorks overview gt Online help gt A PDF file gt A printed book The information in each format is the same but each has different strengths To work most effectively it helps to know when it is best to use each format Basic description Instruments you can use with VWorks Overview of the VWorks user interface Showing and hiding tabs and toolbars in VWorks Relationships of configuration VWorks components Preparing for a run Workflow for preparing a run Starting VWorks Logging in to VWorks and changing your password About tasks processes and protocols Opening a protocol in VWorks Setting general options About setting error handling options Setting general error handling options Notification of errors by email Setting protocol options Setting pre protocol rules Setting protocol rules About log and data files Setting lo
61. main switch and out of the power panel to the UPS If your BioCel includes environmental control or a clean room one or more electrical lines branch off before the UPS These lines supply current to the following options Q Cooling and heating water baths Q Environmental controller console that houses the iSeries controllers for the main BioCel not for any separate environmental enclosures Q Liconic incubators environmental control not transfer mechanism Q UV lights and hood lights Q Clean room output fan These options therefore receive pre UPS pre emergency stop current They are not affected by emergency stops or interlocks but are also not buffered by the UPS from power outages If there is more than one UPS they are connected in series so that current output from UPS 1 supplies the current input for UPS 2 The UPS or UPSs provide current backup to the monitor PC and communications hubs If there is more than one computer and more than one UPS one computer is fed from one UPS and the other computer is fed from the other UPS From the UPS current is passed back into the power panel and through the main switch to the rest of the BioCel This means that when you turn off the main switch current is cut to the UPS but it is also cut between the UPS and the main part of the BioCel preventing the BioCel and its devices from draining the UPS The UPS will continue to be drained by the computer monitor and communicat
62. ments you can establish the space that is illuminated on occasions when there is no plate in the robot gripper INJURY HAZARD Class II aser hazard Do not look directly at the laser beam Looking directly at the laser beam can result in serious eye injury INJURY HAZARD Do not disassemble bar code reader sensor heads Laser emission from the reader is not automatically stopped if the sensor head is disassembled 1 INJURY HAZARD Unless following a procedure in a Velocity11 user guide do not touch the white test button on the side of the sensor head of an auxiliary bar code reader This button turns on the laser creating the possibility of a long exposure to the beam Third party lasers Your BioCel might also contain lasers built into other third party devices such as Zeiss Multimode readers and Liconic incubators For information about laser safety for third party devices see the relevant device s documentation For information about See Reporting problems Reporting problems on page 7 BioCel features Basic description on page 14 11 12 Chapter 1 Introduction BioCel User Guide Chapter 2 BioCel overview 13 BioCel User Guide BioCel overview This chapter contains the following topics OUKCKCHOKOCOOOOOOOODA Basic description on page 14 BioCel specifications on page 15 BioCel 1200 external features on page 17 BioCel 1600 and 1800 external features on page 18 Utili
63. n page 85 L VWorks User Guide Pausing and stopping a run on page 60 Preparing devices and accessories on page 46 VWorks User Guide This topic provides a list of tasks to perform on the BioCel after the last run For more information about cleaning up after the run see VWorks User Guide To clean up after a run 1 Remove sample plates that have been used 2 Remove manually placed plates from platepads hotel shelves VPrep module shelves and so on If necessary remove the counterbalance plate from VSpin devices Wash all items such as reservoirs tubes and manifolds that were contacted by liquid 5 Empty the waste bin 6 Check run logs 66 Chapter 4 Performing a run BioCel User Guide Related topics 7 Turn off environmental controls and temperature controlled water baths For information about See Turning off the BioCel Turning Off the BioCel on page 66 Shutting down the software VWorks User Guide Working with logs VWorks User Guide Turning Off the BioCel About this topic When to use Procedure This topic describes how to shut down the BioCel The procedure for turning off the BioCel is the same as the procedure for turning on the BioCel except that you do not need to press the green reset button Shut down the BioCel when you intend to Q Move it Q Leave it unused overnight or for an extended period of time To shut down the BioCel 1 Make sure you
64. nal features Diagram The main external features of the BioCel 1600 and 1800 are shown in the following diagram Note The exact locations of the components on your BioCel may be different Hood with lights External connections Status light Overhead door Monitor Power panel Frame post Foot Side door Related topics For information about See BioCel features Q Basic description on page 14 L BioCel 1200 external features on page 17 BioCel systems L Power system on page 27 Q Air system on page 30 Q Vacuum system on page 31 Networking Computers and networking on page 32 Utilities con About the utilities connections BioCel 1200 utilities connections Chapter 2 BioCel overview 19 BioCel User Guide nections There are usually the following connections to external utilities on the BioCel Q Main power line Q Main air line Q Main vacuum line optional Q Main Ethernet Some BioCels may also have direct plumbing lines for water and waste instead of reservoirs and waste containers This topic describes the entry of these connections for the BioCel 1200 1600 and 1800 On the BioCel 1200 the connections to the external utilities enter through one of the main frame posts and connect into the BioCel behind the side doors These connections are visible when you open the side doors on the BioCel T
65. ned with the dowel holes 2 Slowly lower the plate hotel onto its base Note On some BioCels the plate hotels are screwed onto the BioCel deck in which case they cannot be removed For more information about See Plate hotels Plate hotel on page 36 How to orient plates About placing plates on page 46 Chapter 3 Preparing for a run 51 BioCel User Guide Setting up a VSpin counterweight plate About this topic Options for loading plates Manually loading counterweights This topic describes how to set up a counterweight for the VSpin A counterweight plate is always required when centrifuging a single plate in a VSpin device on a BioCel 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 10 grams 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 a time This is because the centrifuge task is not typically the time limiting step of a protocol If your spin time is short about 0 45 seconds the protocol will probably run faster if you load the counterweight by hand If your spin time is 45 seconds or longer the protocol will probably run fastest if you load two protocol plates and don t use a counterweight
66. nformation about See Working with diagnostics software Diagnostics on page 69 Recovering from an emergency Emergency stop error recovery on stop page 87 Recovering from an interlock error Door interlock error recovery on page 87 i Chapter 4 Performing a run BioCel User Guide Comparing interlock and emergency circuits About this topic Power components affected by the interlock and emergency stop Related topics This topic provides a table that lists the power circuits that are controlled by the interlock and emergency stop If you open an enclosure door during a run the run will stop When you close the door and click Continue in the stop dialog box the run will resume If you press an emergency stop button during a run you will have to perform a more invasive recovery procedure and you cannot continue with the protocol The following table shows how different components are affected by the door interlock circuit and emergency stop circuit Component Interlock Emergency cuts stop cuts Bio I O power No No Cooling fan power No No Device power such as platepad bar code No Yes reader Module power No Yes except VPrep Robot motor servo power Yes Yes Robot system power No No System air No Yes VPrep motor servo power Yes Yes VPrep pump module motor power Yes Yes Cooling or heating waterbaths No No Liconic incubator environmental control No No UV lights No No Clean room outpu
67. oCel for description L Filtration stations Q Suction to hold plates flat on a VPrep shelf or VStack stage Q Third party devices The vacuum can be supplied by a pump or house vacuum system If a house vacuum system is used the main vacuum line enters the BioCel with the other external connections If a pump is used it will be located on the floor of the BioCel 32 Chapter 2 BioCel overview BioCel User Guide Related topics A reserve vacuum tank may be used to ensure an instantaneous vacuum supply Waste liquid produced by filtration stations is collected in one or more waste containers Vacuums are also created in devices and accessories using vacuum ejectors that create the vacuum at the site where it is required such as at the suction based lid remover For information about See Utility connections Utilities connections on page 19 Lid removing devices BioCel accessories on page 36 Computers and networking Computer functions Network cards Device computers The BioCel computer is used to Q Control the BioCel and its devices Input bar code labelling instructions Store and export log files 0D OD Store and export data collected by plate readers Note Some plate readers have their own computer for storing data Q Communicate with other computers on your organization s network for the exchange of files reporting of errors and accessing email If you are an administrator and
68. oftware to control the robot For information about how to use the diagnostics software for Velocity11 devices see the user guide for the device For information about how to use the diagnostics software for third party devices and Velocityll devices not sold as standalone products see the Device Driver User Guide This chapter contains the following topics Q About Diagnostics software on page 70 Using Bio I O Diagnostics on page 71 Q Q Using Robot Diagnostics on page 72 Q About fine tuning robot teachpoints on page 79 70 Chapter 5 Diagnostics BioCel User Guide About Diagnostics software Background Types of diagnostics software Related topics The BioCel can be controlled in real time directly through the VWorks Diagnostics software using simple commands Diagnostics software is used for Q Troubleshooting Q Setting teachpoints Q Performing manual operations outside a protocol Q Creating and editing profiles For example if an error occurs during a run that leaves a plate where it should not be and the VStack stage out of its home position you can use Robot Diagnostics to move the plate and VStack Diagnostics to return the VStack stage to its home position Instruments and robots manufactured by Velocity1l include their own diagnostics software You can find instructions for using this software in the relevant user guide For information about See Diagnostics for Velocitylldevic
69. or a liquid reservoir becomes empty unless they are on a Weigh Pad VPrep WeighShelf or some third party devices To guard against the problem of a full waste container or empty reservoir container the protocol writer can incorporate User Message tasks into the protocol to remind the operator at the appropriate steps in the protocol Alternatively operators can set their own timer alarms to remind them to fill reservoirs and empty a waste containers at the appropriate time What information is monitored by the BioCel during a run depends on the options selected for the protocol For more information see the VWorks User Guide 64 Chapter 4 Performing a run BioCel User Guide Monitoring BioCel status The BioCels 1600 and 1800 have status lights located on the frame that enable you to monitor the current status of the system from a distance The status of your BioCel is indicated by one of the following status light configurations Note Monitoring the status of a BioCel 1200 is done through VWorks Blue status lights blue status light is located on each BioCel frame post Different light patterns indicate different BioCel conditions Light Pattern Status All on solid Run progressing normally All off Not currently running All blinking simultaneously Run error One light on each post blinking twice Run progressing normally but followed by the other light on each post with interlock bypass in use blinking twice Al
70. osition that allows current to flow The door interlock system is fed AC electricity from the emergency stop relay If an overhead door is opened during a run the interlock switch cuts power to the enable wires that lead to the robot VPrep VPrep pumps and clean room intake and recirculation fans This stops the robot and VPrep motors and turns on their respective z axis brakes The brakes make sure that the VPrep head and robot do not drop preventing damage and eliminating a crushing hazard The interlock switch is bypassed when the interlock override switch is activated by turning a key on the power panel This maintains current in the enable wires even when the overhead doors are open For information about See Systems affected by interlocks and Comparing interlock and emergency emergency stops circuits on page 62 Stopping a run with hardware Pausing and stopping a run on page 60 Turning the BioCel off Turning Off the BioCel on page 66 29 30 Chapter 2 BioCel overview BioCel User Guide Air system Air and power The following diagram shows how the air and power systems interact interaction Becoming familiar with these systems will help you to understand the behavior of your BioCel and solve problems Main air line I 1 I Main i Main 1 Vacuum distribution delidder I I 1 I I manifold I I i I H o Main k Emergency
71. oving a plate to a position that should not have a plate or cause samples to be switched around such as moving a plate from one VStack to another 2 Close the overhead door that was opened 3 Makesure that the interlock light on the power panel is on 4 Inthe Robot Error dialog box select Retry If you are an administrator you can use the interlock override to continue the run with the overhead doors open With an emergency stop error power is cut to modules and devices and VWorks loses information about the state that the modules and devices are in This prevents VWorks from continuing the protocol 88 Chapter 6 Maintenance and troubleshooting BioCel User Guide IMPORTANT You cannot continue the current protocol run after an emergency stop has been activated After an emergency stop button is pushed all device motion stops and error messages are generated in the error log as the scheduler attempts to continue with the protocol To recover from an emergency stop 1 2 Clean up any spills or debris if necessary Twist the activated emergency stop button in a clockwise direction The spring loaded button pops out Close any open doors Push the reset button on the power panel A stop dialog box opens in addition to the Robot Error dialog box that is already open Activate the interlock override by turning the key in the power panel If the protocol includes a pipette task in the VPrep EStop detected d
72. p a VSpin counterweight plate on page 51 Aligning and testing auxiliary bar code readers on page 53 Setting up the PlateHub on page 54 Performing pre run checks on page 55 See Diagnostics on page 69 Overriding the safety interlock on page 90 Pausing and stopping a run on page 60 Chapter 3 Preparing for a run 43 BioCel User Guide Turning on the BioCel About this topic Procedure This topic describes how to turn on the BioCel To better understand what is happening as you turn on the BioCel refer to the description of the Power system on page 27 To turn on the BioCel part one l Make sure that the main power line air line vacuum line optional and Ethernet cable optional are plugged in Make sure that external drains and water lines are attached if your BioCel uses them Make sure the hoses are not kinked and that the hoses go through the appropriate pumps Make sure that any autofilling reservoirs are plugged in On the power panel turn the main power switch to the ON position The main power indicator light on the power panel remains off and this action does not appear to do anything This is correct Open the side door next to the power panel Turn on the UPS uninterruptible power supply by pushing the power button The UPS LEDs illuminate to indicate the UPS power status If you have more than one UPS on your BioCel make sure you turn on all of them If
73. r information about See BioCel features Q BioCel 1200 external features on page 17 Q BioCel 1600 and 1800 external features on page 18 BioCel specifications BioCel specifications on page 15 VWorks VWorks User Guide Chapter 2 BioCel overview 15 BioCel User Guide BioCel specifications About this topic This topic describes the physical electrical and environmental specifications of the BioCel Physical specifications Dimension 1200 no hood 1600 with hood 1800 with hood Height 196 8 cm 77 5 in 259 1 cm 102 in 259 1 cm 102 in Width 205 7 cm 81 in 1524 cm 60in 182 9 cm 72 in Depth 121 9 cm 48 in 152 4 cm 60 in 152 4 cm 60 in Weight Approximately Approximately 2268 kg 5000 Ib 1088 6 kg 2400 Ib Electrical requirements for all f System location BioCels Requirement EB T Voltage 230V 120V Frequency 50 60 Hz 50 60 Hz Current 20A 30A Fuse 20A 30A Air flow pressure requirements Requirement All BioCels Air pressure 100 110 psi 0 62 0 69 MPa Equipment rating The BioCel conforms to the requirements of Council Directive 72 23 EEC relating to electrical safety by application of the following standard EN61010 1 1993 including Amendment 2 1995 Environmental specifications Requirement 1200 1600 1800 Temperature 15 40 C 15 40 C 15 40 C Relative 10 7596 RH 10 7596 RH 10 7596 RH humidity Elevation 1 2000 m 1 2000 m 1 2000 m 16 Chapter 2 BioCel overview BioCel User Guide
74. r that is triggered when the robot is in a specific position This position defines the home position for that axis When the robot is homed it moves the raxis followed by the taxis and then the z axis until the sensors on each axis are in the triggered position This home position serves as a positional reference for all other points with z r and coordinates of 0 0 0 You should home the robot after a high speed crash The robot homes automatically when you start VWorks Resting When the robot is moved to the rest position it takes the shortest path to the z r t coordinates of 0 0 0 Provided the home coordinates have not changed this position is the same as the home position Resting the robot is faster than homing the robot because it moves at the speed set in Robot Speed and the arm moves faster because it is not using the sensors You may choose to move the robot to the rest position to quickly move it out of the way when you are working on the table To home or rest the robot 1 Click Home or Move to rest position Move to rest position The Position Control group box displays the time interval between the receipt of positional coordinates from the robot This refresh time should be less than 45 milliseconds If it is consistently greater than this contact the Velocity11 Service Center Position Control Refresh time 31 mS You can use diagnostics software to read a plate s bar code for troubleshooting pu
75. ral information about diagnostics software and to learn how to open diagnostics software see About Diagnostics software on page 70 DAMAGE HAZARD Before you use Robot Diagnostics software to move the robot make sure that there is nothing on the table that the robot can crash into Move the robot slowly Robot axes The robot has three axes of movement Axis Description r Radial The horizontal distance in millimeters between the back of the robot s gripper in the home position and the back of the robot s gripper in the current position t Angle The angle in degrees between the center point of the robot s gripper in the home position and the center point of the robot s gripper in the current position Zz Height The vertical distance in millimeters between the center point of the robot gripper at the home position and the center point of the robot gripper at the current position Setting robot speed To set the speed of robot movement 1 Inthe Robot Speed area select Slow Medium or Fast Note We recommend using the Slow or Medium setting for manual control Rebot Speed Slow Medium O Fast Chapter 5 Diagnostics 73 BioCel User Guide Moving the robot by Robot movement is controlled by motor servos You can move the robot hand by hand in the plane of the robot arm but you cannot change its height To move the robot by hand 1 Inthe Servo control area select R amp T servos off Servo Cont
76. rical You make small incremental adjustments until a plate can be accurately picked up and placed at a position Note The smallest increment of movement is 0 05 mm IMPORTANT Accurate placement of a plate is a property of both the picking position s teachpoint and the placing position s teachpoint Therefore when you are fine tuning a teachpoint always consider the teachpoint of the position that a plate is collected from IMPORTANT To help standardize the process it is imperative to select one platepad to use as a reference picking position for all teachpoints On most BioCels this is platepad 1 Teachpoints are manipulated through the Robot Diagnostics software You should be familiar with the features of this software before working with teachpoints Before you start make sure you have a teachplate calibration tool to use for the fine tuning To fine tune a robot teachpoint part one 1 Examine the teachpoint coordinates for other devices that you know should be aligned in one or more axes with the device whose teachpoint you are working on For example all stackers sitting directly on the table and mounted in equivalent hole patterns should have very similar z and rvalues This might give you a clue about whether the teachpoint is inaccurate and in which direction 2 If this is the first time that your BioCel has had its teachpoints fine tuned select a platepad to use as your picking reference position
77. rming a BioCel ready state check on page 45 Preparing devices and accessories on page 46 Placing and removing plate hotel labware on page 50 Setting up a VSpin counterweight plate on page 51 Aligning and testing auxiliary bar code readers on page 53 Setting up the PlateHub on page 54 DDODUDDUDUDALU ULU Performing pre run checks on page 55 42 Chapter 3 Preparing for a run BioCel User Guide Workflow for preparing the BioCel for a Run Workflow steps The general workflow for starting the BioCel and preparing for a run is given in the following table Step For this task 1 Starting the BioCel 2 Logging in to Windows 3 Starting VWorks and logging in 4 Opening a protocol 5 Setting protocol general error and log options 6 Performing a ready state check 7 Preparing labware and accessories 8 Preparing the plate hotel 9 Setting up a VSpin counterweight 10 Testing the auxiliary bar code reader 11 Setting up the PlateHub 12 Performing pre run checks Related topics For information about Using BioCel Diagnostics Overriding the interlock Stopping a run Look here to find the procedure Turning on the BioCel on page 43 VWorks User Guide VWorks User Guide VWorks User Guide VWorks User Guide Performing a BioCel ready state check on page 45 Preparing devices and accessories on page 46 Placing and removing plate hotel labware on page 50 Setting u
78. rocedures see the VStack User Guide To set up a VStack 1 Makesure there is no plate on the stage and then press the load release button to disengage the plate from the grippers and allow removal of the rack Note A rack must be present in the VStack for the load release button to work Remove the rack Fill with the correct labware Return the rack to a VStack that will deliver plates according to the protocol you will run As the racks can be positioned either way round make sure that the A1 wells of the plates are in the top left corner as viewed by the robot 5 After opening the protocol press the load release button to set the gripper PlateLoc setup The general process of preparing a PlateLoc is described here For more detailed procedures see the PlateLoc User Guide To set up a PlateLoc 1 Make sure there is enough seal stock on the roll for the run 2 Make sure that the right support insert is installed for the plates you are using 3 Open the PlateLoc Diagnostics to set default startup values The seal parameters are set in the Task Parameters within the protocol VCode setup The general process of preparing a VCode for a run is described here For more detailed procedures see the VCode User Guide To set up a VCode 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 VSpin set up Related topics Ch
79. rol R amp T servos on Q R amp T servos off 2 Holding the end effector which is the last segment of the arm slowly move the arm to where you want it in the horizontal plane of motion 3 Select R amp T servos on to return control to VWorks Jogging the robot You can move the robot in increments in either the z axis r axis or t axis The process of moving in increments is called jogging DAMAGE HAZARD Before you jog the robot make sure that there is nothing on the table 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 1 If you intend to pick up a plate in the Jog Settings area either Select a type of labware from the list box in which case the appropriate value is automatically entered into the Gripper offset text box Enter the value directly into the Gripper offset text box Jog Settings Specify the labware to generate gripper offset from or enter offset manually 1536 Greiner Black Polystyrene Gripper offset mm 2 Jog increment mm or degrees 1 2 Inthe Jog settings area check and possibly change the following settings 74 Chapter 5 Diagnostics BioCel User Guide Setting Comments Gripper offset The height above the teachpoint which is typically 2 3 mm You will rarely need to change this value from the values automatically entered for the plate type Ho
80. rposes To read a plate s bar code 1 Place the plate with the bar code on a platepad 2 Selectthe teachpoint from which to pick up the plate in the Position 1 list 76 Chapter 5 Diagnostics BioCel User Guide Ignoring robot errors Checking the plate sensor 3 Inthe Position 2 list select Nowhere 4 For Position 1 enter a value for the approach height The approach height is the height to raise the robot gripper above the teachpoint when the robot moves the plate horizontally towards or away from the place plate position Make this value large enough to avoid catching the plate on a lip or other protuberance as it is moved from a position but not so high that the robot hits a shelf or other object above the position This value is device dependent For most devices a value of 8 10 mm will work Start with a value of 6 mm for picking a tipbox from a VPrep shelf or removing a plate from the VSpin when making these settings IMPORTANT If approach heights are set incorrectly it could result in a robot crash 5 Click Pick amp Place 1 22 The robot moves to Position 1 and picks up the plate The bar code is read and displayed in the Bar Code Testing group box You have the option of ignoring robot errors when using Robot Diagnostics You may do this for example when you want to simulate the movement of plates without using plates which would otherwise give a plate sensor error This setting only a
81. rview BioCel User Guide 27 This topic summarizes the power system of the BioCel Becoming familiar with how your BioCel is wired will help you to understand the behavior of your BioCel and solve problems Overview diagram AC power in Temperature controlled water baths Incubator environmental control UV lights Clean room output fan RS 232 hub em oe Post emergency stop power strip Ethernet hub Clean room intake VPrep Pump and recirculation fans B Emergency stop button Emergency stop relay Robot DC power supply The power system is summarized in the following diagram Optional enclosure door controller Post emergency stop power strip Interlock override Interlock switch Door interlocks System DC power i supply Cooling fans Bio I O console 28 Chapter 2 BioCel overview BioCel User Guide Main power Pre UPS pre emergency stop current UPS connections Pre emergency stop In the diagram dotted lines are control enable circuits and solid lines are AC and DC power circuits The dot dash line indicates those elements that lie inside the power panel The dotted line between the robot DC power supply and system DC power supply indicates that the two power supplies are housed in the same box The main AC power enters at the external connections and travels down inside the corner post to the power panel It passes through a main fuse through the
82. s are charged ready to provide battery backup if the main AC power supply is cut L All doors are closed Q The interlock override is off so that opening an enclosure door or pressing an emergency button will activate the emergency stop circuit Related topics For more information about See Status lights Monitoring the status of a run on page 63 Turning on the BioCel Turning on the BioCel on page 43 46 Chapter 3 Preparing for a run BioCel User Guide For more information about See Interlock override Q Resolving robot errors on page 87 Q Overriding the safety interlock on page 90 Checking the UPS charge VWorks User Guide How this procedure fits into the Workflow for preparing the BioCel for overall process of performing a a Run on page 42 run Preparing devices and accessories About this topic When to Use Set up order About placing plates This topic provides a quick reference for use when preparing Velocity11 devices and accessories for use on the BioCel For procedures for setting up third party devices see the manuals for the individual devices The procedures in this topic assume that the devices are already turned on and that you are familiar with the operation of the devices on your BioCel Prepare devices and accessories after you have become familiar with the protocol You would typically prepare the BioCel devices and accessories in the order presented in
83. s at which time VWorks closes and the computer performs an orderly shutdown If you are running a protocol and are near the end you might consider letting it continue until it is finished If you have just started running a protocol and or require environmental control for your protocol and you anticipate a lengthy outage you might consider stopping the run If the BioCel was not shut down during the power outage the system will receive power the UPS recharges and the protocol if running continues If the BioCel was shut down during the power outage it remains off until you turn it on For information about See Setting the VWorks UPS threshold VWorks User Guide Turning on the BioCel Turning on the BioCel on page 43 94 Chapter 6 Maintenance and troubleshooting BioCel User Guide Index Index 95 BioCel User Guide Note You can search our technical documentation on our website at www velocityll com A AC power entry 28 accessories 36 Acrobat Reader 6 air controlling flow 30 filter 22 filter checking 86 main supply 79 panel parts 22 pressure 56 shutoff valve 30 switch 30 system 30 approach height 76 77 84 bar code auxiliary reader 36 reading manually 75 Bio I O diagnostics software 71 BioCel behind the side doors 27 cleaning 65 components 14 definition 14 external features 17 18 overview 14 ready state 45 routine maintenance 86 starting 43 C clean room 28
84. se the robot when holding a plate to crash into the stray plate A typical robot crash will damage the plates spill samples and stop the robot It might also damage the robot gripper pads 56 Chapter 3 Preparing for a run BioCel User Guide Related topics For each VSpin if you are using the robot to load the counterweight make sure that the counterweight plate is on the correct platepad in the correct orientation and that the VSpin is empty If you are manually loading a counterweight make sure that the counterweight is loaded in the VSpin according to the protocol you will run and that it is oriented correctly For each VStack make sure that the stacker contains the plates specified by the protocol and that the labware and plate name displayed on the display panel match The actual labware in the stacker The labware and plate name in the protocol Make sure that the device air pressures regulators lie within the following ranges Device Air Pressure psi Air Pressure MPa PlateLoc 87 90 0 60 0 62 VCode 85 90 0 56 0 62 VPrep 90 95 0 62 0 65 VStack 40 65 0 28 0 34 PlatePierce 75 80 0 65 0 55 To find the current incoming air pressure for the PlatePierce open the PlatePierce Diagnostics software For each VStack open the VStack BioNet Diagnostics software to check that the grip pressure is appropriate for the type of plates that you are using For more information about adjusting the grip pressure see th
85. t fan No No For more information about See Recovering from an emergency Emergency stop error recovery on stop page 87 Recovering from an interlock error Door interlock error recovery on page 87 Chapter 4 Performing a run 63 BioCel User Guide For more information about See Stopping a run Pausing and stopping a run on page 60 Monitoring the status of a run About this topic What to monitor System monitoring After starting a run the operation of the BioCel should be monitored This topic describes how to monitor the status of a run and points to other topics that describe how to monitor specific aspects of a run After starting a run monitor the operation of the BioCel Exactly what you do to monitor a run depends on the protocol that you are using For example you might need to Q Compare the motions of the robot to the protocol tasks being completed You can identify the task that is currently being performed from the position of the green ball in the process panes Because VWorks can schedule more than one task at a time there might be more than one green ball displayed ge Tips Off in 1 selection s of Location 1 Add and remove labware Empty the waste bin Empty liquid waste containers Fill liquid reservoirs DLODULD Replace an empty roll of PlateLoc seal or bar code labels IMPORTANT No errors are reported when a liquid waste container becomes full
86. t teachpoint example The first diagram shows where the gripper picks up the teachplate calibration tool on a platepad when the rteachpoint is set accurately Notice that the optimal teachpoint is where the inside surface of the gripper back is aligned flush with the back of the teachplate tool Chapter 5 Diagnostics 81 BioCel User Guide Optimal teachpoint Back of plate The next diagram shows a side view of the correct teachpoint to illustrate the correct zteachpoint Incorrect teachpoint example In the next diagram the teachpoint is incorrect The back of the robot gripper stops before aligning with the back of the teachplate calibration tool and the teachplate is held too far back in the gripper The result is the plate is delivered too far forward and thus does not sit correctly on the platepad 82 Chapter 5 Diagnostics BioCel User Guide Optimal teachpoint Back of plate The next diagram shows a side view of an incorrect z teachpoint Related topics For information about See Fine tuning procedure Fine tuning a robot teachpoint on page 83 Robot Diagnostics Using Robot Diagnostics on page 72 Chapter 5 Diagnostics BioCel User Guide Fine tuning a robot teachpoint About this topic Before you start Procedure This topic describes how to fine tune a robot teachpoint using the teachplate calibration tool The process of fine tuning robot teachpoints is empi
87. ter than Limited Rights as defined in FAR 52 227 14 June1987 or DFAR 252 227 7015 b 2 November 1995 as applicable in any technical data Safety Noticies A A WARNING notice denotes a hazard It calls attention to an operating procedure practice or the like that if not correctly performed or adhered to could result in personal injury or death Do not proceed beyond a WARNING notice until the indicated conditions are fully understood and met A CAUTION notice denotes a hazard It calls attention to an operating procedure practice or the like that if not correctly performed or adhered to could result in damage to the product or loss of important data Do not proceed beyond a CAUTION notice until the indicated conditions are fully understood and met Letter to our Customers Dear Customer see Agilent Technologies The Agilent Technologies acquisition of Velocityll resulted in the following changes e Creation of Agilent Technologies Automation Solutions formerly Velocityll e Renaming of some Velocityll products e New Customer Service and Technical Support contact information e New website address for product information Please make a note of the following changes as they impact this user guide Velocity11 product name changes Velocity11 product name Changes to Access2 Automated Microplate Loader Automated Centrifuge Loader Element Automation System BioCel 900 System
88. the UPSs are connected in series turn on the UPS that is connected to the main power first followed by the remaining UPSs in the order in which they are connected together If they are not connected in series the order you turn them on does not matter The blue light on the main power panel turns on For more information about the operation of the UPS and the meaning of its status lights see the UPS manufacturer s documentation provided with your BioCel On the power panel turn the Robot power switch and System power switch if your BioCel has one to the ON position The lights adjacent to the switches turn on To turn on the BioCel part two l Check that the power indicator lights on the Ethernet and RS 232 communication hubs are on If the computer monitor is off turn it on Make sure that all devices are turned on Push the computer on off button to start the computer The computer performs self tests starts the operating system and opens the Welcome to Windows screen Log in to Windows 44 Chapter 3 Preparing for a run BioCel User Guide 6 Close the side door INJURY HAZARD For BioCel 1600 and 1800 users always close the side doors when you finish the operation that led you to open them Leaving side doors open creates a tripping hazard It can also block escape routes in a laboratory 7 Make sure that the emergency stop button on the power panel and the emergency stop buttons on the tabletop ar
89. 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 might 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 you do not have to include these steps in the setup Depending on the protocol you intend to run you might need to manually place plates tipboxes reservoirs or counterweights onto platepads hotel shelves VStacks VSpin rotors or VPrep shelves Always place plates so that the A1 well is in the top left corner as viewed by the robot The following illustration is from the operators perspective Waste bin set up Chapter 3 Preparing for a run 47 BioCel User Guide e ooo OOOOOOOOOOO OOOOdOOOOOOO BEEN HHHH OO OOOdOOOO ooo slsteleloleleloetele O0000 JOOOOOO OOOOOOOOOOQOQO OOOOOOOOOOQOO OO le Do Oo e oa ODO DO oo oooogoood A1 well 00015 il Empty the waste bin and replace it under the waste opening in the BioCel table INJURY HAZARD
90. ties connections on page 19 Power panel on page 21 Hardware control components on page 22 Power system on page 27 Air system on page 30 Vacuum system on page 31 Computers and networking on page 32 Adjusting the keyboard shelf on page 33 Docking the mobile device table to the BioCel on page 34 BioCel devices on page 35 BioCel accessories on page 36 14 Chapter 2 BioCel overview BioCel User Guide Basic description About the BioCel Basic BioCel components Related topics The BioCel is a plate processing automation platform that is used in combination with devices for applications such as OoUvoOCdD Compound management Sample preparation Plate replication PCR purification High throughput screening To operate the BioCel you should be familiar with the operating procedures in this guide as well as the guides for the devices installed on your BioCel Every BioCel includes U A frame Q Atable Q A robotic arm Q Acontrolling computer a monitor a keyboard and a mouse C A main power panel and electrical supply circuits Q Communication hubs and cables Q ABio I O console for managing sensor information Q One or more uninterruptible power supplies UPSs Q An AC DC converter DC power supply Q An air system that includes a main air panel pressure regulators an air filter and air lines Q VWorks software U Software for each device Fo
91. ty data Sheet see MSDS modules definition 35 list of 35 preparing for a run 46 MSDS 8 O online help 5 overhead door damage hazard 9 P PDF guide 5 6 pinch valve 37 plate placing errors 97 sensor checking 76 sensor errors 89 plate hotel 36 description placing and removing 50 PlateLoc 35 PlatePierce 35 power main supply 19 panel 21 pre emergency stop current 28 pre run checks performing 55 pre UPS current 28 pushdown defined 79 R regulators 22 30 reserve tank 31 reset button 29 resting the robot 75 robot axes 72 brakes 29 communication time 75 errors 87 homing 75 jogging 73 moving 73 profile 78 recovering from servo errors 89 resting 75 speed 72 run cleaning up after 65 monitoring 63 stopping 60 S safety interlock override 10 29 labels 8 training 8 servo errors recovering from 89 side door injury hazard 10 starting the BioCel 43 status lights 64 stopping a run 60 suction based lid remover 38 T teachpoint file 77 teachpoints fine tuning 79 inaccurate 80 moving a plate between 77 moving robot to 77 third party devices 35 transfer station 37 turning on see starting the BioCel U UPS connections 28 UV lights 28 V vacuum creating 30 system 31 VCode 35 VPrep 29 35 brakes 29 pumps 29 Index 97 BioCel User Guide VSpin 35 VSpin counterweight see counterweight plate VStack 35 Ww warranty 8
92. unction the robot does not use the Approach height Instead it moves to the point using the most direct path If there is a plate in the gripper the plate might contact a lip on the device causing a robot crash Also if there is a plate at the position and the robot grippers are closed there will be a robot crash You can move the robot from one teachpoint to another and then back again If the first teachpoint has a plate the robot will pick it up and move it to the second teachpoint To move a plate between teachpoints l 2 3 4 Select one teachpoint from the Position 1 list Select the other teachpoint from the Position 2 list Set the Approach ht for each position To move a plate from Position 1 to Position 2 click Pick amp Place 1 52 Position 2 to Position 1 click Pick amp Place 2 51 You might need to locate the robot teachpoint file so you can send it to us for troubleshooting purposes 78 Chapter 5 Diagnostics BioCel User Guide To locate the teachpoint file 1 View the path to the file at the bottom of the Robot Diagnostics dialog box New teachpoint file E C wworks workspace teachpoints teachpoints txt Changing robot Robot specific settings are grouped into a profile BioCel platforms with profile settings more than one robot use more than one profile You should rarely if ever need to change the robot profile on your BioCel Diagnostics i Profile Robot COM port 3 De
93. uorescent tube light 1 If your BioCel has a light switch turn off the lights 2 Atthe light itself unplug the power cord that goes to the light 3 Remove the screws securing the light cover 4 With one person working at each end of the light remove the light cover by sliding the cover up and pulling out at the bottom Remove the lamp nu Install a new identical lamp 7 Replace the cover Related topics Chapter 6 Maintenance and troubleshooting 87 BioCel User Guide For information about See Cleaning up post run Cleaning up after a run on page 65 Locating the air filter Air panel on page 22 Resolving robot errors About robot errors Types of robot error Door interlock error recovery Emergency stop error recovery Robot errors are among the most common errors that occur during a run There are four types of robot error Error Type Error Message L Door interlock While placing at lt ocation gt robot emergency stop or door interlock detected Q Emergency stop Plate sensor Failed to sense plate when picking from location Servo While placing at lt ocation gt a servo error has occurred A door interlock error occurs when an overhead door is opened during arun To recover from a door interlock error 1 Make sure that the system is in a valid state for the protocol In other words make sure that you have not made changes that will cause a further error such as m
94. ure regulator Air manifold Main air line Main shutoff valve Main air pressure regulator Air filter Interlock air shutoff valve The air panel contains components that control the flow of air to all parts of the BioCel Component description Component Robot air pressure regulator Air manifold Main air line Main shutoff valve Main air pressure regulator Air filter Interlock air shutoff valve Description Controls how firmly the robot grips a plate Houses air supply connectors for the BioCel devices Directs the external air source Controls the air supply The valve lies between the main air line and the AIR switch on the power panel Note The AIR switch is usually used to turn the air supply on and off You should not need to use the main shutoff valve Controls the air pressure The regulator lies between the main air line and the AIR switch on the power panel Provides an extra purification step for house air You should not need to adjust the air gauges Shuts off the air to moving parts when the interlock circuit is interrupted 24 Chapter 2 BioCel overview BioCel User Guide Main computer and UPS Communication hubs PlateLoc air filter IMPORTANT PlateLoc devices intended for use with the BioCel do not contain an air filter If you plan to remove a BioCel PlateLoc for use in stand alone mode you must contact Velocity11 Service Center and arrange to have a
95. waste bottle 37 disposal 8 Weigh Pad 36 workflow overview 42 98 Index BioCel User Guide ES Agilent Technologies User Guide G5500 90002
96. wever you can type a value into the Gripper offset text box if you need to Be aware however that this is a temporary change To change it permanently you need to make the change in the labware editor Jog increment The distance or angle to move the robot at each jog 3 Inthe Position Control area click one of the following buttons Button Moves the robot Down Down decreasing the Z axis value Up Up increasing the Z axis value In In towards the center of the robot s radius decreasing the raxis value Out Out from the center of the robot s radius increasing the r axis value CW Clockwise decreasing the axis value CCW Counterclockwise increasing the t axis value Position Control Refresh time 4216 mS pn 0 000 L Move to rest Close Open position gripper gripper The readout displays the current coordinates of the robot in relation to the home position Moving the gripper You can open and close the robot s gripper in a single movement To open or close the robot s gripper 1 In the Position Control area click Open gripper or Close gripper Homing and resting the robot Checking communication time Reading a plate s bar code Chapter 5 Diagnostics 75 BioCel User Guide Close Open gripper gripper Homing and resting the robot both move the robot to the home position but there are some important differences between these two actions Homing Each axis of the robot has a senso

Download Pdf Manuals

Related Search

Related Contents

Relax...!!!  Datalogic Scanning POWERSCAN PBT7100 User's Manual  S I S I * AMS2 USER MANUAL * INTERIM RELEASE 10.0  Philips VR556 User's Manual  NEC LT245 User's Manual  AVG Internet Security 2015 User Manual  Amplicom PowerTel 601  Cables Direct 2m HP68 M/M  NORMAS PARA EL USO SEGURO Leer atentamente    

Copyright © All rights reserved. Failed to retrieve file