PlateCrane EX - Hudson Robotics
Contents
1. New Protocol 1 Reset Plates Status Run 66 View Interface Code Time Name Message 42 Simulace The following Initial Plate Locations form will be displayed HUDSON 10015 Solo Position 1 HUDSON 10015 Solo Position2 HUDSON 10015 Solo Position3 HUDSON 10015 Solo Position4 HUDSON 10015 Solo Position5 HUDSON 10015 Solo Position6 Click on the Edit Definitions button to either change the parameters of a previously defined plate or to give you access to the New Plate button The New Plate button is to create a new plate definition Then the following form will be displayed PlateCrane EX User Manual Hudson Robotics Inc 26 Edit Plate Definiti Plate Definitions Costar 96 Polystyrene Falcon 96 Greiner 384 Polystyrene You can select a pre existing plate from Hudson s library of plate types by selecting from a drop down list in the Choose a Defined Plate box at the top of the form or simply enter or edit the other data fields manually The five dimensional factors to be entered are defined as follows Plate Height The stacking height of the plate when in one of the PlateCrane s stacks This is the distance from the bottom of the plate to the bottom of the plate immediately above it in the stack Averaging this by measuring a stack of plates then dividing by the number of plates in the stack will produce a much more accurate number than measuring just on2. Workcell Configuration WO View Workcell Messages This will open the port setup screen for that particular interface Under the available ports box you will choose the correct communication port that the PlateCrane is connect to Left click on the OK box to accept the changes of the communication port Once you click ok the window will close and you will be brought back to the manage Plug in screen The Plug in will now state that it is not initialized To initialize the plug PlateCrane EX User Manual Hudson Robotics Inc 15 in left click on the initialize Plug in button If the instrument is installed on the correct communication port and the instrument is powered on then the status screen will then change to initialized E Plug in Class PlateCrane Plates Unloaded Solo Unloaded StackLink Unloaded Plug in Installation premere me ne ae If the status comes back that it could not communicate with the firmware then it is either attached to the wrong communication port or the instrument is not turned on Once the PlateCrane is initialized successfully then you can left click on the Plug in setup button This button will open the calibration window for the PlateCrane 4 Plug in Setup For the PlateCrane the Plug in setup button contains the calibration screen for the PlateCrane First left click on the PlateCrane name in the workcell list After it is highlighted click on the Plug in s
3. PlateCrane EX User Manual Hudson Robotics Inc 24 HUDSON 10015 Name Instrument Type Status PlateCrane PlateCrane Unloaded lc Plates Plates Unloaded Solo Solo Unloaded Ah StackLink StackLink Unloaded Once the workcell is defined follow the help tool by left clicking on the help icon to create your method or contact Hudson Robotics for technical support 3 Setting up Plate Parameters Entering correct dimensions for the plates you will be using is critical for the proper handling of those plates by the PlateCrane as it automatically adjusts its positions for each different plate type used in every method based solely on the information entered into that plate s definition While not running a method the user may right click on the Plates Plug in located in the left toolbox in your protocol editor PlateCrane EX User Manual Hudson Robotics Inc 25 000 5 4 5 New Protocol 1 4 General Protocol Steps o Delay Protocol Run Program hg Send E Mail x Modify Variable Si Advanced Instrument 0 End Protocol sa Parallel Processes L3 Region C Critical Region Qf Conditional Statement Loop Process 9 Error Handler 4 PlateCrane T Read Input 1 Open Gripper 1 Close Gripper 1 Move Plate 1 Remove Lid 1 Replace Lid 1 Move Absolute 1 Move Crane 1 Write Output 1 Begin Incubate 1 End Incubate
4. Hudson Robotics Inc 12 3 Manage Plug Ins After SoftLinx is opened the instruments will need to have their correct communication ports associated to them If an edgeport USB to serial converter was purchased this must be installed before the instruments are configured and ports assigned to them To assign a communication port to an instrument you must click on the Manage Plug ins button Please select CJ New Protocol Open Protocol to edit a protocol to set up your available plug ins This will open the Plug in manger screen From this screen you can add remove and edit Plug ins that are installed on the computer PlateCrane EX User Manual Hudson Robotics Inc 13 Selected Plug in Configuration HUDSON 10015 Configure Plug in la Plug in Class PlateCrane PlateCrane 1 O Initialize Plug in Plates Plates 4 Solo Solo Plug in Seti urin Seni A Stacktink StackLink View Selected Plug in Code o Shutdown Plug in Plug in Installation Add New Plug in b erento New Puan Remove Selected Plug in Reload Selected Plug in j A Package Plug in to File Workcell Configuration View Workcell Messages Left click on the plug in that you want to modify once the plug in is highlighted left click the Configure Plug in button PlateCrane EX User Manual Hudson Robotics Inc 14 Plug in Class Solo Unloaded StackLink Unloaded 3 amp Package Plug in to File
5. Motor Telescoping Motor PlateCrane EX User Manual Standard Up to 30 plates without lids or 25 plates with lids Additional Up to 420 plates without lids or up to 350 plates with lids Portrait amp Landscape Rotary Gripper 2 removable stacks expandable up to 15 Painted steel covering cast aluminum housing Black anodized aluminum textured neoprene rubber inserts Ball bearing axis with high speed screw rail mechanical stops to prevent continuous rotation 345 maximum 345 from center of crane 12 18 radius Maximum 22 75 in from table minimum 4 25 in from table total 18 0 in vertical travel distance Encoded 200 steps per motor revolution 0 025 resolution approx 3 seconds per full rotation 345 Encoded 200 steps per motor revolution 0 015mm resolution approximately 1 5 seconds per complete vertical travel one direction 200 steps per motor revolution 0 030 resolution approx 4 seconds per full rotation 350 Encoded 200 steps per motor revolution 0 032mm resolution approx 1 second per full extension 67 Hudson Robotics Inc 32 3 99 4 Home Position Plate Present Plate Sensor Dimensions Height Weight Electrical Power Input Fuses Grounding Computer Interface Environmental Operating Temperature Operating Humidity Storage Temperature Altitude Ventilation Indoor Use Only Plat
6. is OFF and the power cord is unplugged from the instrument or power source before proceeding with the following instructions Turn the PlateCrane OFF and remove the power cord from the AC inlet on the back of Crane Using a small flat head screwdriver gently pry the fuse holder tray away from its housing to access the fuses see Figure 17 The Fuse holder door swings down PlateCrane EX User Manual Hudson Robotics Inc 34 Remove the blown fuse Replace it with the spare fuse Slide the fuse holder tray back into the AC inlet until it clicks Make sure when re installing the holder the AC line voltage reads the correct way on the inlet Reconnect the power cord to the PlateCrane and reconnect all other cables previously disconnected Verify correct fuse replacement by turning the PlateCrane switch to ON position the light will illuminate immediately Location of fuse holder tray Figure 17 PlateCrane EX User Manual Hudson Robotics Inc 35 CHAPTER 8 Troubleshooting For Troubleshooting Guide please contact Hudson Robotics PlateCrane EX User Manual Hudson Robotics Inc 36 Warranty amp Service Agreement Terms and Conditions 1 Warranty a One year coverage beginning on the factory ship date on all parts and labor including return shipping to the customer via UPS ground or equivalent Warranty is limited to components and software purchased from or provided by Hudson Robotics Inc Te
7. PLATECRANE EX USER MANUAL V E 5 O x Q SHudson ALCS ludson ROBOTICS INC 10 Stern Avenue Springfield NJ 07081 Tel 973 376 7400 Fax 973 376 8265 Contents CHAPTER 1 Introduction serena izere ada aan 1 1 Overview 1 2 Computer Requirements 3 CHAPTER 2 Installation 5 1 Unpack the PlateCrane EX 5 2 Parts DAS D T E A EEE AET 8 3 Setting up the PlateCrane EX seosooseosoesesssesocssesoesseesossessoesoseoesocssesoossesoossessoesossossossssse 9 4 Connect Power Cord amp Communication Cable eee eee e eee eee eren eren nan 9 5 Connect Teach Pendant onere rte trr eter ese Set Ye eU Hee PH ERES Vn ro ERG e vor ve eve EGRE SUPE SEE es 9 6 Switching AC Line Voltage 110VA C 220V AC eere crees eene eene ee setae nno nas tnas tnus 10 7 Installing PlateCrane Stacks 77 eere eere eto seta etta seta seen setas tne eaae eaae 11 8 Installing Barcode Scanner 7 11 9 Unplugging Power and Communication 2 11 CHAPTER 3 PlateCrane EX Software eee nana e eee eese ee eee eee ovaa tenete tn setae 12 1 Brief Description of 12 2 How to Install 12 3 Manage 13 4 Plug in 6 16 52 Calibration Sree nsvssss senssccesssessncsisesiessiesvscnssosssonssoessnosceosdensdenssuassoascestsvessesscsosgevodeveges
8. ant is a pendant that plugs into the PlateCrane and by the push of a button can control any axis on the PlateCrane open and close the gripper and limp the entire PlateCrane This is a great option to have since it will help cut your time down on calibrating the unit The PlateCrane setup and programming procedures are designed to be simple and intuitive requiring no more automation expertise than is required to operate a typical plate washer or reader PlateCrane EX User Manual Hudson Robotics Inc Figure 1 Teach Pendant Figure 2 PlateCrane EX User Manual Hudson Robotics Inc 2 Computer Requirements The following are recommended for proper operation of the PlateCrane EX and SoftLinx Operating System Windows XP SP3 Windows XP x64 Windows Vista 32 Windows Vista 64 Windows 7 32 Windows 7 64 e 2 5GHz Quad Core Pentium processor or faster 4GB RAM or higher CD Rom drive 2 available USB Ports e 3GB MB of free disk space available e NET Framework 4 0 e The Computer has the recommended number of working serial ports You can Purchase USB to serial convertors from Hudson Robotics If Needed Please contact your local Sales Manager Magazine Base Figure 4 Figure 5 PlateCrane EX User Manual Hudson Robotics Inc Crane w Stacks o S o S a Figure 6 PlateCrane EX User Manual Hudson Robotics Inc CHAPTER 2 Installation 1 Unpack the PlateCrane EX WARNING 62 Power swit
9. been replaced Hudson Control is the sole owner of these parts and they cannot be sold or repaired by the customer or any third party c Key operator Customer shall designate a key operator to a Hudson Control representative by telephone or email Such operator shall be qualified to perform simple adjustments or corrections as requested by a Hudson Control representative Failure to perform customer maintenance as specified in the Instrument Instruction Manual may result at Hudson Control s option in 1 cancellation of this Agreement or 2 a service call invoiced by Hudson Control at its standard rates for service including travel PlateCrane EX User Manual Hudson Robotics Inc 38 d Warranty and service coverage does not include the following Any service calls made as the result of the below shall be invoiced by Hudson Control at their standard rates including travel and labor expenses 1 2 3 4 5 6 Damage caused by Customer misuse or operation outside of conditions prescribed in the Instruction Manual Damage caused by electrical surges or the use of improper sources intervention of a third party external influences such as fire water damage natural disaster etc Relocation of the instrument Use of chemicals and accessories outside the specifications contained in the Instruction Manual Applications related issues Computer Hard drive crashes and failures e Safe Working Environment Customer shall pro
10. ch must be turned OFF during entire installation procedure DO NOT loosen or tighten any screws or touch parts not specified in the instructions Never force any component to fit Overview 1 p T9 A Connect power cord and communication cable to PlateCrane see Figure 7 Remove PlateCrane EX from carton place right arm underneath PlateCrane tower and the left arm underneath the PlateCrane base Once you have a good hold on the unit gently lift the unit straight up Make sure that the PlateCrane is separated from the shipping foam If you have a problem removing the PlateCrane use two people to lift the PlateCrane out of the Box One Person should lift the tower while the other person lifts the base Position the PlateCrane EX on the table Attach Magazine Base s to Crane Base see Figure 6 use the supplied Allen wrench 3 16 screws will be attached to the Magazine base Attach any optional Alignment bases that were purchased with the system use the supplied Allen wrench 3 16 bases are shipped in separate boxes Install Stack s onto Magazine Base see Figure 6 Install SoftLinx Software see Chapter 3 VU NOTE PlateCrane EX User Manual Hudson Robotics Inc Please refer to parts list to verify that all parts are included in the PlateCrane carton If any parts are missing please contact Hudson Robotics see Chapter 7 for Technical Support DO NOT DISCARD the PlateCrane carton This carton has been
11. chnical support by trained personnel via telephone or email during normal business hours will be provided at no cost exclusive of telephone toll charges incurred by the customer during the warranty period On site service will be provided by Hudson Robotics Inc during the warranty period if provided for in the customer quote for that purchased product Factory return service is available for all products under the following conditions 1 The customer is responsible for packing of instrument and shipping to Hudson The customer will be notified of non watranty repair costs if any prior to repair being started 2 Damage incurred in transit to Hudson including but not limited to damage due to improper packing will be the responsibility of the customer and or shipper The customer is advised to retain the original packing material including the cast foam padding in the event service is required Replacement packing materials are available from Hudson at cost plus shipping currently 175 00 3 Hudson will pay return shipping to customer via UPS ground or equivalent Expedited shipping is available at additional cost Updates to correct performance anomalies shall be provided at no cost during the warranty period subject to the warranty terms and conditions Upgrades which provide additional functionality may be offered at reduced costs during the warranty period Factory repairs must be pre authorized by Hudson Robotics Inc an
12. ck no Delete This button will delete the current position that is highlighted Move To This button will move the PlateCrane to the current highlighted position Jog Mode This button will open the Jog screen where you can move any axis of the PlateCrane but without having the option to save that location Open This button will open the PlateCrane gripper Close This button will close the PlateCrane gripper Set Speeds This button will allow the user to change the calibration speed and the overall run speed of the protocols The default speed is 30 for calibration and 100 for running speed 6 Teaching Points Teaching the PlateCrane positions in SoftLinx is a basic SoftLinx skill To do so you will need e SoftLinx 5 0 or 5 1 Interface for PlateCrane and Access to Setup screen e Teach Pendant connected to the PlateCrane optional if a Teach pendant was not purchased then the calibration jog screen will be what moves the PlateCrane around PlateCrane EX User Manual Hudson Robotics Inc 18 e White Teach Block e Access to all installed stacks and nests e PlateCrane installed It must be leveled and powered on 1 Turn SoftLinx on Install the PlateCrane interface and access the PlateCrane setup screen Ensure the PlateCrane and bases are level in relation to the desk surface it is sitting on If the PlateCrane has stacks remove all sleeves PlateCrane EX User Manual Hudson Robotics Inc 19 2 Place t
13. d Move up 375mm in the Z axis Check to ensure that ALL white block edges are not touching the plate sleeves If any are center the plate using the jog controls on the setup screen Once centered move down 375mm Save the point now DO NOT click teach stack Repeat for all stacks PlateCrane EX User Manual Hudson Robotics Inc 21 PlateCrane EX User Manual Hudson Robotics Inc 22 9 Teach all nests Place the white teach block in stack 1 or the common teach nest Close gripper on the white teach block Jog the crane in the Z direction to travel height Press and hold the Limp button on the teach pendant then move the crane manually grab the crane with your hands with the teach block gripped into the nest 10 The teach block must be manually placed in the nest such that the edges of the nest do not touch the teach block at all or in a very minimal fashion AND the bottom surface of the teach plate must barely be touching the surface of the nest Press any button on the teach pendant to restore power to the crane Any contact to the edges of the nest will affect plate movement Once the crane is positioned jog the crane up 25mm then down 25mm to ensure smooth plate movement If it hits edges and can be retouched do so now Save the point once completed Repeat for all nests 11 Once all stacks and nests are taught create a SoftLinx protocol or method that exercises plate movement to all points Ensure movement to all point
14. d will include issuance of a Returned Materials Authorization RMA number Customer certification of decontamination is required prior to return of any instrument s for factory service instruments not certified decontaminated may be refused service and returned at customer s expense While Hudson Robotics Inc makes every effort to provide software and instruments suitable to a wide range of automation tasks no guarantee is made as to the suitability of the hardware and or software provided for a given application unless so stated in the written purchase agreement Repair of failures caused by but not limited to misuse fire flood or other act of God chemical or environmental exposure or repair by persons not authorized by Hudson Robotics Inc may at the sole discretion of Hudson Robotics Inc be charged at the prevailing hourly service rate currently 162 50 hr for Factory Service 162 50 hr for travel time and 325 hr for Field Service PlateCrane EX User Manual Hudson Robotics Inc 37 2 Service Agreements I Service Agreements in one year periods are available at prevailing rates and provide the following coverage in addition to the original warranty a One scheduled onsite maintenance service call per year of coverage to include evaluation and adjustment repair to meet instrument performance specifications b Inspection and replacement of marginal components c If previous warranty or service agreement covera
15. e plate Plate Rise The distance the PlateCrane will move up mm to grip the plate after its gripper has bottomed out on the plate while retrieving it from a stack Lid Height The amount mm that a lid increases the stacking height of the plate while in a PlateCrane stack Lid Rise The distance mm the gripper will rise from the place where it grips the plate itself in order to grip and remove the lid Lid Stack Height The height mm of each lid while stacked with other lids without plates Calculated similarly to Plate Height but for the lids only PlateCrane EX User Manual Hudson Robotics Inc 27 4 Plate Definitions Plate Height is illustrated in the following drawing Plate Height DJ Plate Rise is illustrated in the following drawing Plate Rise Gripper Closes on Gripper Plate Stops on Plate Surface Plate Rise PlateCrane EX User Manual Hudson Robotics Inc 28 Lid Height and Lid Rise are illustrated in the following drawing Lid Height and Lid Rise Gripper Closes on Lid Height Lid Lid Gripper Rise Closes on Plate Ld The check box labeled Ignore No Plate Present Sensor if checked will allow the PlateCrane to grip special plates that may be too narrow to grip without triggering the No Plate Present sensor in the gripper that normally would indicate an empty gripper The text box labeled StackLink Delay msec has no effect on PlateCrane opera
16. eCrane EX User Manual Proximity Switch for rotary and vertical arm home zero ranging with encoder homing pulse for final home position Proximity switch Proximity Switch 28 5in 29 0in 27 7in w out footpads 45 lbs For 120V 230V Two 2A Time Delay 5mm x 20mm 205 in x 787 in Through the power cord must be plugged into a grounded outlet RS 232 serial cable 15 to 40 C 59 to 104 F 0 to 85 no condensation 20 to 65 C 4 to 149 F Up to 2000m Fans Require 2 of free space in front of them Hudson Robotics Inc 33 CHAPTER 7 Maintenance 1 Maintenance WARNING 62 Qualified personnel can perform all maintenance procedures in this manual Only Hudson representatives should perform any maintenance not discussed in this manual Y Gloves should be worn during any cleaning procedure 2 Cleaning the PlateCrane Note DO NOT use spray abrasive cleaners onto PlateCrane Prior to cleaning disconnect system power Clean finger pads of gripper with alcohol or other residue free solvent Clean any spills on PlateCrane immediately Never allow water or fluid to leak inside the PlateCrane VNN 3 Change the Fuse s Extra fuses are shipped with the PlateCrane Fuses burn out occasionally and must be replaced The following fuses are used with the PlateCrane Metric 1 2 amp 5 x 20 mm Time Delay Fuse WARNING 62 Be sure the power to the PlateCrane
17. er plates The lower part of the gripper floats vertically and locates microtiter plates by using a proximity switch This switch is located inside the gripper housing and indicates when the arm has encountered a microtiter plate The outside edge of a microtiter plate activates the floating gripper A centering plate is used to center microtiter plates inside the stack before the gripper picks them up 2 Stacks The standard PlateCrane includes two extruded aluminum stacks Each stack can hold up to 30 standard height microtiter plates The stacks are from an aluminum extrusion for rigidity and precision The stacks are held in position by plastic guide blocks on a stack base The base is connected to the PlateCrane EX by three allen head screws The PlateCrane can be upgraded to have a maximum capacity of fifteen 15 stacks on three stack bases PlateCrane EX User Manual Hudson Robotics Inc 30 3 Power Cord Communication Cable Connection The power cord plugs into the AC inlet on the rear of the PlateCrane Input power is either 120V or 230V 50 or 60 Hz The communication cable is connected from the rear of the PlateCrane to the chosen serial port on the computer usually COM 1 4 Power Switch The power switch is located on the side plate with the power cord and communication cable see Figure 11 It has a 0 and 1 engraved on it to show the OFF and ON power condition of the PlateCrane refer to Figure11 PlateCrane power is ON w
18. etup button to open the calibration screen PlateCrane EX User Manual Hudson Robotics Inc 16 Selected Plug in Configuration HUDSON 10015 a config Plug in Nam a Plug in Class O Initialize Plug in IE Plates Plates Unloaded 41 Solo Solo Unloaded Plug in Setu 4 StackLink StackLink Unloaded A View Selected Plug in Code 0 Plug in Installation gt Reload Selected Plug in 8 amp Package Plug in to File amp 9 View Workcell Messages 5 Calibration Screen PlateCrane Plug in setup screen and the description of the buttons CRX Plesa Home Save New Point Edit Delete MoveTo JogMode Open Close Set Speed Current Speed 0 Available Points Point Name Fi Axis Z Axis P Axis Y Axis Double Click on any row to directly modify that point s coordinates Exit Setup PlateCrane EX User Manual Hudson Robotics Inc 17 Home This button is used to home the entire PlateCrane If the unit has not been homed the other buttons will be deactivated Save This button loads the points that you see on the screen to the PlateCrane memory New Point This button will add a new point that will either be a stack position nest position or an auxiliary position Edit This button allows the user to highlight a current position and edit the position when this button is clicked it will ask you if you want to move to the current position if uncertain about the location cli
19. ge has expired for more than 30 days pre inspection and repair of instrument at customers expense prior to start of service coverage may be required d Pre inspection may at the service director s discretion be provided in place of the one scheduled on site maintenance at no charge beyond that of the service agreement e Onsite service is priced by travel time to customer from an established Hudson site 1 Zone I Massachusetts Connecticut Rhode Island New Jersey New York Pennsylvania Delaware and Maryland 2 Lone II All other f Payment terms are net thirty 30 days after the date of invoice Customer will be invoiced In case of delayed payment Hudson Control reserves the right to decline service g This agreement may be terminated by either party upon default by the other party of any material obligation under this Agreement which default continues for thirty 30 days after written notice has been provided by the non defaulting party II General Conditions These apply to all products under warranty or service agreement a Excluded parts Covered parts do not include chemicals reagents customer replaceable items consumables or other parts listed in the operator s or instruction manual as customer replaceable parts sub assemblies or accessories Replacement of these items will be billed at prevailing rates b Hudson Control reserves the right to use repaired parts during the Coverage Period For parts that have
20. he teach block onto the stack 1 position 3 Using SoftLinx open the setup screen for the PlateCrane Click on New Point and choose new stack OR edit Stack 1 4 Put the crane into limp mode by pressing and holding the limp button on the Teach Pendant The Teach Pendant will have a red LED light active once in limp mode If the light does not activate ensure the Teach Pendant is connected and reinitialize the crane via SoftLinx PlateCrane EX User Manual Hudson Robotics Inc 20 5 Using your hands while the crane is in limp mode center the gripper over the teach block The gripper may rest upon the white block Look at the plate and gripper from directly above them to ensure they are roughly centered 6 Once centered press the Teach Stack icon and then press Save Point at the bottom of the window to save the stack Teach Stack NOTE if there are no stacks teach the most commonly visited nest as stack 1 Follow the instructions above Once completed re save the point as the appropriate nest Skip to step 5 7 Teach all remaining stacks in this manner Place the white teach block onto stack 2 and follow the same instructions above 8 Once all stacks are taught place the white teach block on stack 1 Place a stack sleeve on stack 1 and open the gripper Move to stack 1 by pressing Edit Point on the crane setup screen and accept the movement to the stack Close the gripper and ensure the plate is grippe
21. hen the switch is pressed in the 1 position and PWR LED on the rear of the PlateCrane is illuminated 5 Optional Components The following are additional items available for the PlateCrane Additional Stacks Expands PlateCrane capacity of up to 450 microtiter plates 15 stacks Barcode Reader Kit Enables the PlateCrane to identify individual microtiter plates by using bar code strips on the plates Device Interfaces Enables PlateCrane to work in conjunction with specific laboratory instruments to process microtiter plates Instrument alignment bases Enables the instruments to be locked to the PlateCrane so they will not shift Teach Pendant This enables the end user to attached a teach pendant to the PlateCrane The Teach pendant comes with control buttons for the R axis Z axis P axis Y axis and also a limp button The teach pendant saves time during setup especially if used in conjunction with the Vision Calibration System PlateCrane EX User Manual Hudson Robotics Inc 3l CHAPTER 6 Hardware Specifications 1 General WNote Specifications are subject to change without notice Plate Capacity Plate Format Plate Storage Device Housing Material Gripper Material e 9 Arm Mechanism 2 Robotic Arm Rotary Travel Horizontal Reach Vertical Reach 3 Mechanical Description R axis Stepper Motor Z axis Stepper Motor Rotary Gripper Stepper
22. ics Inc 10 7 Installing PlateCrane Stacks Note Mishandling of plate stacks can result in misalignment Unpack and unwrap the input output stacks Mount the stacks onto the stack base by gently sliding them down onto the stack guide blocks 8 Installing Barcode Scanner Ifthe Barcode Scanner option was purchased position the scanner stand just outside the outer edge of the plate magazines so that a plate s label can be scanned above the top of the stacks Secure the scanner platform to the scanner stand post and run its RS 232 cable to an available COM port on the host computer Plug its 5 VDC power supply into a nearby 120 VAC receptacle 9 Unplugging Power and Communication Cables During service or moving the unit will have to have the power and communication cable removed To unplug the two cables perform the following The Rear of the PlateCrane should be facing you See figure 11 Unplug the power cable by holding the power cable as close to the PlateCrane as possible and pulling gently straight away from the PlateCrane Unplug the communication cable by loosening the two thumbscrews that secure the cable to the PlateCrane then slowly pull the cable straight away from the PlateCrane PlateCrane EX User Manual Hudson Robotics Inc 11 CHAPTER 3 PlateCrane EX Software 1 Brief Description of Software Hudson s standard PlateCrane application software Software can be found on one 1 installa
23. ove the Stacks from the carton then remove the stack from the packaging Install the supplied Stack and Alignment Base s by securing then to the crane base using the supplied screws Adjust the leveling feet on the PlateCrane EX and Stack Base s as required by the surface that they are installed upon 4 Connect Power Cord amp Communication Cable WNote Power switch must be turned OFF Figure 11 8 Remove power cord and communication cable from PlateCrane carton On the rear side of the base unit housing connect one end of the 9 pin to 9 pin serial cable see Figure 7 and attach the other end into COMI port on Host Computer Plug power cable into the PlateCrane s AC inlet located on rear side of the base unit housing see Figure 7 V Note The communication cable amp power cord should be securely plugged into the PlateCrane and computer 5 Connect Teach Pendant PlateCrane EX User Manual Hudson Robotics Inc Stludson Figure 11 6 Switching AC Line Voltage 110VAC 220VAC The power supplies installed in the unit are switching power supplies That means they are able to handle both 110VAC and 220VAC without any changes to their configuration The Run the PlateCrane on 220VAC perform the following Make sure the unit is powered off Install the power cord that is supplying the 220V AC Turn on unit There is no other setup for the PlateCrane after this PlateCrane EX User Manual Hudson Robot
24. s is smooth at least 5x If any points are not smooth as in there are snags on nests or lids are not placed on plates properly etc repeat the process above and adjust the points to ensure proper plate movement PlateCrane EX User Manual Hudson Robotics Inc 23 CHAPTER 4 Operation 1 Setting up the Workcell Once the PlateCrane and other instruments are configured with their correct communication ports you can setup your workcell When all the plug ins are configured correctly left click the close button on the bottom right hand of the Plug in Manager screen This will bring you back to the main SoftLinx page where you have two options to choose from The first is to open a new protocol and the second is to open an existing protocol 4 o d New Protocol igi Open Protocol to edit a protocol Please select 99 Manage Plug ins to set up your available plug ins 2 Opening a new Protocol When you open a new protocol there is no workcell that is associated with the protocol After you left click on the New Protocol button you will have to left click the Select Plug in button to setup your workcell P This will open the instrument selection window This is where you will select which instrument you want in your protocol workcell Left click on the check box next to the instrument name that you want to add into your protocol Then click ok on the bottom the window to accept the changes and close the window
25. ses 17 6 Teaching Point cciss cccssicsossssscosscsssesesssscessess sesvoedsnossecsssovescssvasssessouspoessossdecsstvoncsocseens 18 CHAPTER 4 Operah0ti ssiscsasissccvedesiaixasisseiacdsticeseasiusesteavseisetiitadentalbeesscaiincacaavsncniiinetedes 24 1 Setting up the Work cell ccecccciccsssescssnacsscesooesososnnoessvesnsesssecsnsssseseesesosevoessearsnesssesesescensve 24 2 Opening a new Protocol 0ssccesssscvssesssosssoessonssnesseosscossenssenssestseascosssvecsessssessevosesosersos 24 3 Setting up Plate Parameters 2 5255 25 4 Plate 610105 ai ssi rovove voda osdasssetvsess vocedeesvooscaessaeesensvesrsescsosedescsesesteoss sooeviaeonss 28 CHAPTER 5 PlateCrane Components aaa vn nano 30 1 The Robotic e 30 Dis 30 3 Power Cord Communication Cable Connection eee eee eese nana snose 31 4 Power 31 PlateCrane EX User Manual Hudson Robotics Inc 1 5 Optional Components o 5 csciccceccsscccsesnssssvedsveccssonsacsnndssessvosesadscscsseestosedecssecsssestebesasouecssiese 31 CHAPTER 6 Hardware Specifications 000 32 1 lt GemMePal E M 32 Ze RObOUGC ADM sisssssscssssissassccadicensswcsedbesceccsassenseasedascesenassasdossusssapsaseaedestecssensoongsassosscedessouceass 32 3 Mechanical Description gt 32 4 DimensiOns 33 5 Urge peer EEE E E A 33 6 Environmental 33 CHAPTER Maintenance cc cana EINEN E i cR e
26. specially created for this product and must be used for any additional shipping of the instrument to prevent damage PlateCrane EX User Manual Hudson Robotics Inc Figure 7 The Stacks can only be installed in one direction The open side of the stack Figure 8 needs to be facing the PlateCrane EX and the closed end must face the user Figure 9 In Figure 10 you can see which way the stacks should be seated on the PlateCrane s magazine base with the open side facing inward toward the PlateCrane Figure 8 Figure 9 PlateCrane EX User Manual Hudson Robotics Inc Stack installed correctly Figure 10 2 Parts List The PlateCrane EX carton s should include the following PlateCrane EX 2 Extruded Stacks additional Stacks optional Magazine Base additional Bases optional Power cord Communication cable User Manual This document CD containing SoftLinx and interfaces Teaching plate s Alignment Bases for instrument s optional Gripper jaws for PlateCrane Gripper Includes Allen Wrench Centering Plate for PlateCrane Gripper Includes Allen Wrench Allen screws to attach Bases to PlateCrane Allen Wrench for Magazine and Alignment Base s VVVVVVVVVVV VV PlateCrane EX User Manual Hudson Robotics Inc d Setting up the PlateCrane EX Remove PlateCrane EX from the carton and carefully remove the protective plastic covering Unwrap Stack Base and place it near the PlateCrane Rem
27. tion PlateCrane EX User Manual Hudson Robotics Inc 29 CHAPTER 5 PlateCrane Components 1 The Robotic Axes The PlateCrane has the following axes R rotates the PlateCrane horizontally Z moves the PlateCrane arm vertically P rotates the gripper horizontally Y extends retracts the PlateCrane arm Tu Bac The R axis is driven by an encoded stepper motor This axis has a rotational capability of 345 It utilizes a hard stop to prevent continuous rotation and a proximity sensor which determines the Home position for the horizontal rotation The Z axis is driven by an encoded stepper motor This axis can travel up to 18 inches and complete a full stroke in less than three seconds This axis utilizes a proximity sensor which determines the Home position and uses the top and bottom plates as its hard stops The P axis is driven by an encoded geared stepper motor This axis has a rotational capability of 350 It utilizes a hard stop to prevent continuous rotation and a proximity sensor which determines the Home position for the gripper rotation The Y axis is driven by an encoded stepper motor This axis can travel up to 6 inches and complete a full stroke in 2 seconds This axis utilizes a proximity sensor which determines the Home position and uses the arm assembly for it s hard stop The standard gripper consists of a pair of gripper fingers that have two rubber inserts that provide a secure grip on microtit
28. tion CD This CD can be loaded onto any PC running Windows XP SP3 Windows XP x64 Windows Vista 32 Windows Vista 64 Windows 7 32 Windows 7 64 This software provides a complete set of utilities to run the PlateCrane EX and any instrument interfaces purchased by the end user Hudson s SoftLinx is an easy to use dynamic scheduling software program for the control of integrated lab automation workcells and systems SoftLinx includes a multitasking core executable combined with device interfaces that are written in VBA Visual Basic for Applications The user sets up a method using a drag and drop icon based method editor 2 How to Install Software gt Turn computer ON Start Windows if it s not already running gt nsert CD into cd rom drive and then close the drawer The CD has an auto run function so the installation of the software is automatic gt fthe CD does not auto run then click on the Start menu Click the run menu and then type in the location of the CD and Setup exe E Setup exe Then click OK to start installation Follow instructions as prompted to complete the installation After installing SoftLinx open it by clicking the shortcut installed on your desktop SoftLinx V SoftLinx is already configured with the all Hudson Robotics Product line interfaces Any additional interfaces that were purchased will be included on the disk and installed during the setup PlateCrane EX User Manual
29. tomating laboratory instruments that employ microtiter plates The PlateCrane EX is a small and portable robotic system capable of handling up to thirty 96 well 384 well or 1536 well microtiter plates per stack with a maximum capacity of 450 plates 15 stacks The PlateCrane EX has the ability to rotate up to a maximum of 345 about its base axis The standard software provided with the PlateCrane EX is called SoftLinx and can run multiple instruments in an easy to use GUI interface SoftLinx is written in the Visual Basic for Applications programming language and can run on the XP SP3 Windows XP x64 Windows Vista 32 Windows Vista 64 Windows 7 32 Windows 7 64 The PlateCrane EX can be interfaced with readers washers liquid handlers labelers pipettors etc To prevent sample contamination the PlateCrane can handle microtiter plates with lids in conjunction with user defined input output stacks The PlateCrane EX is equipped with a rotary gripper and an extendable arm With the rotary gripper the PlateCrane EX can handle plates in both portrait or landscape configuration The Rotary Gripper provides maximum flexibility with a 350 axis of rotation With the extendable arm the PlateCrane EX has an additional 6 of travel With the additional 6 travel the PlateCrane EX can now access nests anywhere within a 127 187 radius from the center of its base The PlateCrane EX also has one option the Teach Pendant See Figure 2 The Teach Pend
30. tse bae 34 1 Maintenance 34 2 Cleaning the Plate Crane 34 3 Change the Fuse S 0 34 CHAPTER 8 1 sinisinta iaaiiai 36 1 a i a ed i YR EN NIE RSEN EAE 37 2 Service Agreemlients 05 scseccccesessescsssoccssessscredsssnstesesocnsstaesustesesesessdassessesosesncsssatevscsososessass 38 PlateCrane EX User Manual Hudson Robotics Inc iii WARNING 6 This product may be used only in the manner described in this manual When used other than as specified the safety protections provided by the equipment may be impaired TABLE OF SYMBOLS The following symbols are to alert your attention to important information or warnings that may present some hazards These symbols may not appear in the manual or on the product i WARNING Possible hazardous situation could result in serious injury w NOTE A statement that is cautionary operating tip instrument damage may occur if not followed HINT Helpful hints and additional information List of instructions parts gt LIST Important information Specifications Electrical Hazard CAUTION PlateCrane EX User Manual Hudson Robotics Inc iv CHAPTER I Introduction 1 Overview The PlateCrane EX See Figure 1 is a multifunctional Pick amp Place instrument with a cylindrical robotic work envelope It is designed to provide a simple answer to au
31. vide the Hudson Control representative with facilities at Customer s location that comply with the applicable regulations of the Secretary of Labor promulgated under the Occupational Safety and Health Act of 1970 f This agreement sets forth the entire agreement and understanding between Hudson Control and Customer regarding service of the Instruments covered hereunder This agreement may be modified only by writing and by authorized representatives of the parties III Custom Service Packages providing features to meet individual customer requirements may be arranged Contact your sales representative or Hudson s service director for availability and pricing PlateCrane EX User Manual Hudson Robotics Inc 39
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