Agilent Technologies BenchCel Microplate Handler User manual

Original Instructions
This guide contains the following topics:
•“About this guide” on page 2
•“Safety guidelines” on page 3
•“Emergency stops” on page 4
•“Hardware components and axes of motion” on page 7
•“Labware considerations” on page 11
•“Starting up and shutting down” on page 12
•“Handling labware racks safely” on page 14
•“Filling and emptying the labware racks” on page 14
•“Installing and uninstalling labware racks” on page 17
•“Using BenchCel Diagnostics” on page 20
•“Cleaning up after use” on page 29
G5580A BenchCel Microplate Handler
Quick Guide

About this guide
2G5580A BenchCel Microplate Handler Quick Guide
About this guide
This guide summarizes the operator instructions in the BenchCel Microplate Handler
User Guide.
This guide assumes the following:
•The BenchCel Microplate Handler is installed correctly. For details, see the
BenchCel Microplate Handler User Guide.
•The device profile for the specific BenchCel Microplate Handler configuration is
already created and the teachpoints are already set. For setup instructions, see the
BenchCel Microplate Handler User Guide.
•You are familiar with the VWorks Automation Control software. See the VWorks
Automation Control Quick Start. For detailed instructions, see the VWorks
Automation Control User Guide.
Where to find the user documentation
To access the user guides for Agilent Automation Solutions products, do one of the
following:
•From within VWorks software, select Help > Knowledge Base or press F1.
•From the Windows desktop, select Start > Agilent Technologies >
VWorks Knowledge Base.
•Go to the online VWorks Knowledge Base at www.agilent.com/chem/askb.
Contacting Agilent Technologies
Web: https://www.agilent.com
Contact page: https://www.agilent.com/en/contact-us/page
Documentation feedback: [email protected]

3
Safety guidelines
G5580A BenchCel Microplate Handler Quick Guide
Safety guidelines
WARNING
Using controls, making adjustments, or performing procedures other than those
specified in the user documentation can expose you to moving-parts hazards and
hazardous voltage. Before using the BenchCel Microplate Handler, make sure you
are aware of the potential hazards and understand how to avoid being exposed to
them.
Ensure that you are trained in the safe operation of the device and that you have read
the Agilent Automation Solutions Products General Safety Guide and the safety section
of the BenchCel Microplate Handler User Guide.
Figure Safety label location on BenchCel Microplate Handler (front and side view)
For a description of the moving parts, see “Hardware components and axes of motion”
on page 7.
For the emergency-stop procedure, see “Emergency stops” on page 4.
WARNING
If you touch any of the moving parts or attempt to move labware while the BenchCel
Microplate Handler is in operation, the device could pinch, pierce, or bruise you. Keep
your fingers, hair, clothing, and jewelry away from the device while it is in motion.

Emergency stops
4G5580A BenchCel Microplate Handler Quick Guide
Emergency stops
The BenchCel Microplate Handler is equipped with an interlock circuit and emergency-
stop pendant. When the BenchCel Microplate Handler is integrated with other devices
in a third-party system, Agilent Technologies recommends that you install a main
emergency-stop button to safely stop the robot and all devices simultaneously.
CAUTION
You might not be able to resume a protocol after an emergency stop. Do not use an
emergency stop to pause a run. To pause and continue a run, use the appropriate
commands in the automation software.
Stopping in an emergency
WARNING
After pressing the emergency-stop button, the robot arm might have momentum and
continue to move until it comes to the end of its travel in the x-axis, z-axis, or theta-
axis or until it bumps into an obstacle. Stay clear of the robot until it stops moving.
To perform an emergency stop:
Press the red button on the pendant. The safety interlock circuit is interrupted, disabling
the robot motors. The BenchCel Microplate Handler operation stops.
Recovering from an emergency stop
After you press the button on the emergency-stop pendant, the robot stops. One of the
following occurs:
•If you stopped a protocol run, a dialog box opens in the VWorks software.
•If you stopped the robot while diagnosing problems in BenchCel Diagnostics, a
motor-disable message opens.
Use the following procedure to recover in either case.

5
Emergency stops
G5580A BenchCel Microplate Handler Quick Guide
To recover the BenchCel device after an emergency stop:
1If the robot dropped labware before or during the emergency stop, remove the
labware that was dropped. Also remove labware at teachpoints or other locations.
2If the BenchCel robot attempted to place labware at a location that was not free, a
collision might have occurred resulting in misalignment of the robot gripper. Check
the robot gripper alignment:
aMove the robot arms so that they are perpendicular to the x-axis.
bMake sure the bottom of the robot gripper pads are perpendicular to the robot
arms. If they are not, contact Agilent Technical Support.
Figure Gripper alignment: (A) Correct, (B) Incorrect
3At the emergency-stop pendant, turn the button clockwise to restore power to the
motors.
4If you stopped a protocol run in an emergency, select one of the following in the
VWorks message dialog box:
AB
Selection Description
Diagnostics Opens the BenchCel Diagnostics dialog box. See step 5.
Note: This selection is available only when you are in the
middle of a protocol run and not while you are in
BenchCel Diagnostics.
Retry Attempts to restart the current command or task in the
run.
Ignore and continue Ignores the current command or task and continues to
the next command or task in the protocol sequence.
Abort Aborts the current command or task in the run. Select
Abort if you have determined that the protocol run is not
recoverable.

Emergency stops
6G5580A BenchCel Microplate Handler Quick Guide
For a full description of the selections, see the VWorks Automation Control User
Guide.
5Optional. In BenchCel Diagnostics, use the available commands to manually move
the robot or other components, including:
•Release the microplate that the robot is currently holding.
•Upstack the microplate that the robot is currently holding.
•Replace the lid on the microplate.
•Home the robot.
•Verify teachpoints.
If a physical crash occurred, always start BenchCel Diagnostics to home the robot and
verify teachpoints.

7
Hardware components and axes of motion
G5580A BenchCel Microplate Handler Quick Guide
Hardware components and axes of motion
Front view
The following figure and table describe the primary hardware components and axes of
motion.
Figure BenchCel Microplate Handler components (front view)
1
2
3
4
5
6
7
8
9
Item Feature Description
1Labware
rack (with
labware)
The accessory that stores labware to be processed in a run.
2Stacker
head
The structure at which:
•A labware rack is loaded. Two sensors inside of each stacker head detect the
presence of the racks.
•A microplate is checked for type and orientation using a plate-presence sensor and
four plate-orientation sensors.
•A microplate is lowered into the stacker grippers to begin a run.

Hardware components and axes of motion
8G5580A BenchCel Microplate Handler Quick Guide
3Air pressure
regulator
The knob that adjusts the air pressure inside the device. Compressed air is used to
move the components inside the stacker heads. Each regulator controls the air
pressure to the two adjacent stacker heads. For details, see the BenchCel Microplate
Handler User Guide.
4Safety
shield
The clear panel that is installed on the front of the BenchCel device to prevent access
while it is in operation.
5Pendant The component that is part of the safety interlock circuit, which must be closed for the
BenchCel device to operate. Pressing the raised button on the pendant interrupts the
interlock circuit and stops the robot motors. Use this method of stopping the robot for
emergencies only.
6Rack
release
button
The button that unlocks the rack for removal. The rack-release button (1) at the top of
each stacker head displays different colors to indicate the state of the stacker head.
•Green. The labware rack is installed correctly on the BenchCel device and the
microplates are unloaded. The stack of microplates are ready for processing or you
can unlock and remove the labware rack.
•Flashing green. The labware rack is unlocked and can be removed.
•Blue. The stack of microplates is loaded. You cannot unlock and remove the
labware rack.
•Red. The clamps are open without a rack installed. Do not install a rack until the
clamps are closed.
7Robot head The component that moves (1) horizontally along the x-axis and (2) vertically along the
z-axis.
Item Feature Description

9
Hardware components and axes of motion
G5580A BenchCel Microplate Handler Quick Guide
8Robot arms The two parallel structures that are attached to and rotate about the robot head along
the theta-axis.
9Robot
grippers
The structures inside the robot arms that close and open to hold and release a
microplate. Using the provided software, you can adjust the distance between the
grippers (1) to hold a microplate loosely or tightly.
Item Feature Description

Hardware components and axes of motion
10 G5580A BenchCel Microplate Handler Quick Guide
Back view
Figure BenchCel connection panel (Back view)
Item Part Description
1Air-input fitting Connects the air tubing to the BenchCel device.
Compressed air is used to actuate components inside the
stacker head.
2Power switch Turns on or off the power to the BenchCel device.
3AC power entry Connects the power cord to the BenchCel device.
4Ethernet port Connects the Ethernet cable from the controlling
computer to the BenchCel device to allow communication
between the computer and the device. Use this port as an
alternative to the serial connection.
5Serial port Connects the serial cable from the controlling computer to
the BenchCel device to allow communication between the
computer and the device. Use this port as an alternative to
the Ethernet connection.
6Pendant port Connects the pendant to the safety interlock circuit.
1
2
3
4
5
6

11
Labware considerations
G5580A BenchCel Microplate Handler Quick Guide
Labware considerations
Acceptable microplates
The BenchCel device is designed to handle labware that comply with the standards
ANSI/SLAS 1-2004 (R2012) through ANSI/SLAS 4-2004 (R2012). For use of
nonconforming labware, contact Agilent Technical Support.
The BenchCel device uses gripping mechanisms to hold microplates securely and
repeatably in the labware rack and in the robot arms. The BenchCel device typically
holds the microplates halfway between the top of the microplate and the top of the
microplate skirt (5 to 10 mm above the bottom of the microplate).
In the following figure, notice the gripper-microplate contact point
Figure Labware rack detail with microplate held by the stacker grippers (front view)
Lidded microplates
Microplates that do not have lids or have shallow lids (lids that do not reach the
microplate skirt) provide enough clearance to allow secure and repeatable gripping.
Microplates with deeper lids can be more challenging, because the microplate must be
held by the skirt. If the skirt is too flexible, the stacker grippers will bend the skirt. The
bent skirt can grip the microplate lid stacked beneath, inadvertently removing the lid.
Some labware vendors might offer alternative lids that are shallower. Contact the
vendor for details.
Figure Lidded microplate examples
Item Description
1No lid: excellent gripper clearance
2Shallow lid: good gripper clearance
3Deep lid: no gripper clearance, must be held by skirt
1
2
3

Starting up and shutting down
12 G5580A BenchCel Microplate Handler Quick Guide
Challenging microplate characteristics
Microplates that have the following characteristics might require additional setup time
to ensure repeatable performance for the BenchCel device:
•Microplate material. Although you can adjust the robot grip distance to compensate
for microplate flexibility, some microplates are too soft and tend to bend in the
robot grippers or become warped after thermal cycling. (for example, low-profile
polypropylene PCR microplates).
•Manufacturing variance. Gross variations in microplate dimensions can reduce
repeatability of secure gripping. In addition, because the BenchCel device uses
reflected light to sense microplate presence and orientation, variations in the
reflective properties of the microplates can affect optimal operation.
•Microplate design. Some microplates have special features specifically designed
for particular instruments but are not optimized for the BenchCel device.
•Thermal cycling effects. Microplates that have been through thermal cycling might
become warped.
•Tall labware. Especially tall tube racks and tip boxes that are taller than 65 mm
might pose challenges in the BenchCel device. Contact Agilent Technical Support
about acceptable tall labware.
•Extra long lid. Some microplates that have lids that extend past the microplate skirt
tend to pose challenges for the BenchCel device. Contact Technical Support for
guidance.
Starting up and shutting down
The following procedures describe how to start up and shut down the BenchCel
Microplate Handler when you are operating it as a standalone device. For instructions
on how to turn on and turn off the BenchCel Microplate Handler when it is integrated
into a workstation or system, see the workstation or system user documentation.
Starting up the device
WARNING
Do not touch the BenchCel Microplate Handler as you start the software. The robot
head moves when the device moves to home position.
To s tar t up th e B enchC el Microplate Handler:
1On the back side of the BenchCel Microplate Handler, press the power switch to the
on (I) position.
Every time you turn on the BenchCel Microplate Handler, the robot homes (the
robot is sent to the factory-defined home position for each axis of motion).

13
Starting up and shutting down
G5580A BenchCel Microplate Handler Quick Guide
2Turn on the compressed air supply to the BenchCel Microplate Handler.
3Turn on the controlling computer. See the user documentation from the computer
manufacturer.
4Start the VWorks software. To do this, on the Windows desktop, double-click the
VWorks shortcut icon.
For instructions on using BenchCel Diagnostics to operate the BenchCel Microplate
Handler, see “Using BenchCel Diagnostics” on page 20. For instructions on running
protocols in BenchCel workstations, see the VWorks Automation Control User Guide.
Shutting down the BenchCel Microplate Handler
Shut down the BenchCel Microplate Handler if you intend to:
•Leave it unused for a long period of time.
•Service the device.
•Move it to another location.
To shut down the BenchCel Microplate Handler:
1Exit the VWorks software.
2Turn off the compressed air to the BenchCel Microplate Handler.
3On the back of the device, press the power switch to the off (o) position.

Handling labware racks safely
14 G5580A BenchCel Microplate Handler Quick Guide
Handling labware racks safely
Carrying the labware racks
The labware racks store the stacks of labware (microplates, tip boxes, and tube racks)
that are processed during a protocol run. This topic describes how to carry labware
racks safely.
WARNING
Do not hold a rack by the interior edges. The interior edges can have sharp surfaces
that can cause cuts if handled improperly.
CAUTION
A rack that is fully loaded with labware can be heavy. Grasp the rack handle firmly to
prevent the rack from slipping or tilting.
To carry a rack, firmly grasp the rack by the handle as shown in the following figure.
Figure Carrying a front-load rack
Filling and emptying the labware racks
Before you start
WARNING
Make sure you understand how to handle the racks safely.
CAUTION
Before you place labware into a rack that is installed on the BenchCel device, the
clamps in the BenchCel stacker head must be closed (extended). If the clamps are
open the stacker grippers will not prevent the stack of labware from dropping.
Before filling or emptying a rack:
•Position the rack so that the opening is facing you.
•Determine how the microplates should be oriented in the rack.

15
Filling and emptying the labware racks
G5580A BenchCel Microplate Handler Quick Guide
For example, if the BenchCel orientation-sensing feature is enabled, make sure the
A1 wells are oriented in the rack as specified.
•Depending on the rack model, the procedure can vary:
–Front-load racks. The rack can be installed on the BenchCel device or placed on
a flat, level surface.
–Standard or top-load racks. Place the rack on a flat, level surface.
For details on how to install or uninstall the racks, see “Installing and uninstalling
labware racks” on page 17.
Filling a front-load rack
The doors on the front-load rack provide easy access for placing labware into the front
of a rack that is installed on a device.
Before you start:
If the rack is already installed on the BenchCel device, verify that the stack is in the
unloaded state, as follows:
To verify the stack is in the unloaded state:
1In BenchCel Diagnostics, initialize the profile. See “Initializing the BenchCel
Microplate Handler in Diagnostics” on page 21.
2In the Controls tab, click Unload All to unload all the stackers.
To place labware into a front-load rack:
1On each side of the rack, slide the (1) door-release (black) buttons forward, while
pushing outward on the (2) thumb tabs. The (3) rack doors open.
Figure Door mechanism on the front-load rack and opening the front-load rack

Filling and emptying the labware racks
16 G5580A BenchCel Microplate Handler Quick Guide
2Place the labware directly through the open rack doors so that the bottom labware
rests on the rack stacker grippers (4). Ensure the labware is level in the rack.
3Close the doors, press the thumb tabs inward until the doors snap shut.
To remove labware from a front-load rack:
1If the rack is installed on the BenchCel device, verify that the stack is in the
unloaded state. See “To verify the stack is in the unloaded state:” on page 15.
2To open the rack doors, slide the black door-release buttons forward on each side
of the rack, while pressing outward on the thumb tabs.
3Carefully, lift the labware out through the front of the rack.
Filling the standard and top-load racks
WARNING
Use care to avoid sliding your hand on the interior edges in the rack. The edges can
have sharp surfaces.
The following figure shows how to slide a stack of labware into a standard rack.
Figure Filling a standard rack: (1) Sliding the stack down through the top, (2) Supporting the
stack through the bottom slot, and (3) Ensuring stack rests on the rack stacker grippers
To put labware into a standard or top-load rack:
1Place the rack on a flat, level surface.
2Using both hands, carefully slide a small stack of labware down through the top of
the rack.
You can use one hand to support underneath the labware stack, while the other
hand holds the top of the labware to keep it level. See figure.

17
Installing and uninstalling labware racks
G5580A BenchCel Microplate Handler Quick Guide
3Standard racks only. When you reach the bottom of the open slot, transfer your
hand positions so that you continue supporting the labware through the bottom
slot.
4Ensure that the bottom labware in the stack rests on the rack stacker grippers.
To remove the labware from a standard or top-load rack:
1If possible, remove the rack from the device, and place the rack on a flat, level
surface.
IMPORTANT
If you are removing labware from an installed rack, ensure that the stack is unloaded.
See “To verify the stack is in the unloaded state:” on page 15.
2Carefully slide the labware in small stacks, up and out of the top of the rack.
Installing and uninstalling labware racks
Before you start
IMPORTANT
Make sure the BenchCel Microplate Handler power and compressed air are turned on
before you install or uninstall a labware rack.
When lifting the labware rack onto and off of the stacker head, use both hands to grasp
the rack securely around the four corners near the base.
WARNING
Avoid touching the interior edges of a rack when lifting the rack. The interior edges
can have sharp surfaces.

Installing and uninstalling labware racks
18 G5580A BenchCel Microplate Handler Quick Guide
Installing labware racks on the BenchCel Microplate Handler
To install a labware rack:
1At the BenchCel Microplate Handler, verify that the clamps are closed (extended) in
the stacker head.
Note: To close the clamps, open BenchCel Diagnostics. In the Controls tab, click
Stacker at the top of the rack that you want to remove, and then click Close
Stacker grippers.
When you install the rack, the prongs in the labware rack tabs will be inserted into
the slots in the clamps. If the clamps are open, the slots will be hidden, and you
cannot install the rack.
Figure Stacker head with closed (extended) clamps
2With the rack’s open side facing the front, lower the rack onto the stacker head.
The rack is automatically locked into position.
Figure Installing a labware rack on the stacker head (closeup view)
IMPORTANT
Make sure the prongs at the bottom of the rack tabs insert into the slots in the extended
clamps.

19
Installing and uninstalling labware racks
G5580A BenchCel Microplate Handler Quick Guide
Uninstalling labware racks
To uninstall a rack when rack-release button is green:
1Verify that the rack-release button on the stacker head is lit green, and then press it.
A click sounds as the locks retract.
2While the green light is flashing, lift the labware rack up and out of the stacker
head.
Note: If the green light stops flashing, press the rack-release button again.
To uninstall a rack when rack-release button is blue:
1In BenchCel Diagnostics, initialize the profile.
2In the Controls tab, click Unload All to unload all the stackers. See figure, item 1.
In the Controls tab image: (2) A blue rack-release button indicates that the stack is
loaded. (3) A rack image appears on the stacker if the sensors detect a rack. (4) A
green labware image indicates that the sensors detect a plate.
3To unlock the rack, press the green rack-release button at the top of the stacker
head. Wait for the click to sound as the locks retract. While the green light is
flashing, lift the labware rack up and out of the stacker head.

Using BenchCel Diagnostics
20 G5580A BenchCel Microplate Handler Quick Guide
Using BenchCel Diagnostics
BenchCel Diagnostics has three tabbed pages: Controls, General Settings, and Profiles.
You use the commands in the Profiles tab to establish communication with the
BenchCel Microplate Handler. You use the commands and parameters in the Controls
tab to control or move the device components.
IMPORTANT
Some of the BenchCel Diagnostics features are available only if you have VWorks
administrator- or technician-level privileges. For details, see your lab administrator.
This topic describes the following:
•“Opening BenchCel Diagnostics” on page 20
•“Initializing the BenchCel Microplate Handler in Diagnostics” on page 21
•“Sending the robot to the home position” on page 22
•“Homing the robot” on page 23
•“Disabling and enabling the robot motors” on page 23
•“Jogging the robot” on page 24
•“Changing the robot speed” on page 25
•“Moving plates between teachpoints” on page 26
•“Opening and closing clamps” on page 27
•“Extending and retracting shelves” on page 27
For more details, see the BenchCel Microplate Handler User Guide.
Opening BenchCel Diagnostics
To open BenchCel Diagnostics:
1In the VWorks window, ensure that simulation is off and the correct device file
(*.dev) is open.
2In the Devices area, select the BenchCel Microplate Handler device, and then click
Device Diagnostics.