Agilent Technologies BenchBot Setup guide


BenchBot Robot
Safety and Installation
Guide
Original Instructions

Notices
© Agilent Technologies, Inc. 2011
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
G5486-90001
Edition
Revision 01, June 2011
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
customerservice.auto[email protected]
Customer Service: 1.866.428.9811
or +1.408.345.8356
[email protected]
European Service: [phone]
[e-mail]
Documentation feedback:
[email protected]
Web:
www.agilent.com/lifesciences/
automation
Acknowledgements
Adobe®and Acrobat®are trademarks of
Adobe Systems Incorporated.
Microsoft®and Windows®are either
registered trademarks or 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, including 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.
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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 greater 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 Notices
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.

iiiBenchBot Robot Safety and Installation Guide
Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
About this guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Reporting problems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
1. Safety guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
General safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Safety and regulatory compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Emergency stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Mechanical hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Electrical hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Ergonomics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2. Laboratory setup requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
General placement considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Workstation table requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Robot dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
BenchBot integration plate specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Robot mounting specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Safety equipment space requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Computer placement requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Workspace specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Electrical requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Environmental requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Labware and performance specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
VWorks software requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3. Installing the BenchBot Robot workstation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Installation workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Assembling and disassembling the integration plates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Installing and removing the robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Installing the computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
About the BenchBot Disable Hub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
About the Light Curtain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
About the shield . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Contents
iv BenchBot Robot Safety and Installation Guide

v
BenchBot Robot
Safety and Installation Guide

Preface
This preface contains the following topics:
•“About this guide” on page vi
•“Reporting problems” on page viii

Preface
About this guide
vi BenchBot Robot Safety and Installation Guide
About this guide
Who should read this guide
This guide is for people with the following job roles:
Installers, integrators, lab managers, and administrators are users who must
have technical expertise. In addition, lab managers and administrators are
individuals or groups responsible for the use and maintenance of the BenchBot
Robot and for ensuring that operators are adequately trained.
What this guide covers
This guide describes the following:
•Potential safety hazards of the BenchBot Robot and how to avoid them.
•Specifications and site requirements for the BenchBot Robot. Use this
information to plan the space for the BenchBot Robot. Make sure your site
meets the requirements outlined in this guide before installing the robot.
•Installation instructions for the robot and, if applicable, the BenchBot
integration plates.
Job role Responsibilities
Installer Unpacks, installs, and tests the Agilent BenchBot Robot
before it is used.
Integrator Configures hardware and writes software.
Lab manager,
administrator,
or technician
•Manages the automation system that contains the
BenchBot Robot
•Develops the applications that are run on the system
•Develops training materials and standard operating
procedures for operators
Operator Performs the daily production work on the system that
contains the BenchBot Robot and solves routine problems.

vii
Preface
About this guide
BenchBot Robot Safety and Installation Guide
Related guides
The BenchBot Robot Safety and Installation Guide should be used in
conjunction with the following user documents:
•BenchBot Robot Unpacking Guide. Explains how to unpack and pack the
robot.
•BenchBot Robot User Guide. Explains how to set up and operate the
BenchBot Robot.
•VWorks Automation Control Setup Guide. Explains how to define labware,
track labware, and manage users.
•VWorks Automation Control User Guide. Explains how to add devices,
create protocols, and set task parameters for each device in the system.
•VWorks Software Quick Start. Provides an overview of how to use the
VWorks Automation Control software.
•Automation Solutions device user guides. Explain how to set up and use
the Automation Solutions devices.
•Third- party device user documents. Explain how to set up and use the
third- party devices.
Accessing Agilent Technologies Automation Solutions user guides
You can search the online knowledge base or download the latest version of
any PDF file from the Agilent Technologies website at www.agilent.com/
lifesciences/automation.
Safety information for the Agilent Technologies devices appears in the
corresponding device safety guide or user guide. You can also search the
knowledge base or the PDF files for safety information.
Related information
For information about... See...
Reporting problems “Reporting problems” on page viii
Safety precautions “Safety guidelines” on page 1
Site requirements and robot
specifications
“Laboratory setup requirements” on
page 11
Installation instructions “Installing the robot” on page 27

Preface
Reporting problems
viii BenchBot Robot Safety and Installation Guide
Reporting problems
Contacting Automation Solutions Technical Support
If you find a problem with the BenchBot Robot, contact Automation Solutions
Technical Support at one of the following:
Europe
Phone: [phone]
email: [e-mail]
US and rest of world
Phone: [phone] (US only) or +1.408.345.8011
email: [email protected]
Reporting hardware problems
When contacting Agilent Technologies, make sure you have the system ID and
the serial number of the device ready.
Figure System ID label on the BenchBot Disable Hub
Figure BenchBot Robot serial number label location
Power
Interlock
Normal
Bypass
Interlock

ix
Preface
Reporting problems
BenchBot Robot Safety and Installation Guide
Reporting software problems
When you contact Automation Solutions Technical Support, make sure you
provide the following:
•Short description of the problem
•Relevant software version number (for example, automation control
software, diagnostics software, ActiveX control software, and firmware)
•Error message text (or screen capture of the error message dialog box)
•Relevant files, such as log files
Reporting user guide problems
If you find a problem with this user guide or have suggestions for
improvement, send your comments in an email to
documentation.aut[email protected].
Related information
For information about... See...
What this guide covers “About this guide” on page vi
Safety precautions “Safety guidelines” on page 1
Installation instructions “Installing the robot” on page 27

Preface
Reporting problems
xBenchBot Robot Safety and Installation Guide

1
BenchBot Robot
Safety and Installation Guide

1
Safety guidelines
This chapter contains the following topics:
•“General safety information” on page 2
•“Safety and regulatory compliance” on page 4
•“Emergency stop” on page 6
•“Mechanical hazards” on page 7
•“Electrical hazards” on page 9
•“Ergonomics” on page 10

1 Safety guidelines
General safety information
2BenchBot Robot Safety and Installation Guide
General safety information
Before installing and using the Agilent BenchBot Robot
Before installing and using the BenchBot Robot, make sure you are aware of
the potential hazards and understand how to avoid being exposed to them. You
must be properly trained in the correct and safe installation and operation of
the device.
EU installations only. Be aware that the G5487A BenchBot Robot (standalone/
component configuration) is considered partly completed machinery that is
required to be installed with other equipment such that the fully assembled
machinery complies with the essential health and safety requirements (EHSRs)
of the Machinery Directive 2006/42/EC.
Intended product use
Agilent Technologies products must only be used in the manner described in
the Agilent Technologies product user guides. Any other use may result in
damage to the product or personal injury. Agilent Technologies is not
responsible for any damages caused, in whole or in part, by improper use of
the products, unauthorized alterations, adjustments or modifications to the
products, failure to comply with procedures in Agilent Technologies product
user guides, or use of the products in violation of applicable laws, rules or
regulations. Except as otherwise expressly provided in Agilent Technologies
product user guides, any alteration, adjustment, or modification to the products
will void the product warranty.
The BenchBot Robot is not intended or approved for diagnosis of disease in
humans or animals. You assume full responsibility for obtaining any regulatory
approvals required for such use and assume all liability in connection
therewith.
Safety labels
Warnings in the user documentation or on the device must be observed during
all phases of operation, service, and repair of this device. Failure to comply
with these precautions violates safety standards of design and the intended use
of the product. Agilent Technologies assumes no liability for the customer’s
failure to comply with these requirements.
The following table lists the common symbols you might find on the device.
The symbol on the label indicates the risk of danger. A description of the
warning and information that will help you avoid the safety hazard are
provided in this guide.
WARNING Do not remove the BenchBot Robot exterior covers or otherwise
disassemble the robot. Doing so can expose you to hazards that could cause serious injury
and damage the BenchBot Robot.
WARNING Using controls, making adjustments, or performing procedures other than
those specified in the user guide can expose you to moving parts and hazardous voltage.

3
1 Safety guidelines
General safety information
BenchBot Robot Safety and Installation Guide
Related information
Symbol Description
Indicates that you must read the accompanying
instructions (for example, the safety guide) for more
information before proceeding.
Indicates hazardous voltages.
Indicates pinch, crush, and cut hazard.
Indicates laser hazard.
Indicates hot surface hazard.
Indicates protective conductor terminal, which is bonded
to conductive parts of an equipment for safety purposes.
Indicates that you must not discard this electrical/
electronic product in domestic household waste.
For information about... See...
Safety and regulatory certifications “Safety and regulatory compliance” on
page 4
Installing the safety equipment “Installing the robot- disable hub” on
page 48
How to stop the robot in an
emergency
“Emergency stop” on page 6
Moving parts hazards “Mechanical hazards” on page 7
Electrical hazards “Electrical hazards” on page 9
Ergonomics “Ergonomics” on page 10
Reporting problems “Reporting problems” on page viii

1 Safety guidelines
Safety and regulatory compliance
4BenchBot Robot Safety and Installation Guide
Safety and regulatory compliance
The BenchBot Robot complies with the applicable EU Directives. See the
Declaration of Conformity or Declaration of Incorporation, as applicable, for
details. The BenchBot Robot is designed to comply with the standards listed in
the following table.
Electromagnetic compatibility
If the BenchBot Robot causes interference with radio or television reception,
which can be determined by turning the device off and on, try one or more of
the following measures:
•Relocate the radio or television antenna.
•Move the device away from the radio or television.
•Plug the device into a different electrical outlet, so that the device and the
radio or television are on separate electrical circuits.
•Make sure that all peripheral devices are also certified.
•Make sure that appropriate cables are used to connect the device to
peripheral equipment.
•Consult your equipment dealer, Agilent Technologies, or an experienced
technician for assistance.
Changes or modifications not expressly approved by Agilent Technologies could
void the user's authority to operate the equipment.
Sound emission declaration
Sound pressure: Lp < 70 dB according to EN 27779:1991.
Schalldruckpegel: LP < 70 dB nach EN 27779:1991.
Regulatory Compliance Standard
EMC
European Union EMC Directive 2004/108/EC
IEC 61326- 1:2005 / EN 61326- 1:2006
Canada ICES/NMB- 001:2004
Australia/New Zealand AS/NZS CISPR 11:2004
Safety
European Union Machinery Directive 2006/42/EC
Low Voltage Directive 2006/95/EC
IEC 61010- 1:2001 / EN61010- 1:2001
Canada CAN/CSA- C22.2 No. 61010- 1- 04
USA ANSI/UL 61010- 1:2004

5
1 Safety guidelines
Safety and regulatory compliance
BenchBot Robot Safety and Installation Guide
Related information
For information about... See...
General safety information “General safety information” on page 2
Emergency stop “Emergency stop” on page 6
Mechanical hazards “Mechanical hazards” on page 7
Electrical hazards “Electrical hazards” on page 9
Ergonomics “Ergonomics” on page 10

1 Safety guidelines
Emergency stop
6BenchBot Robot Safety and Installation Guide
Emergency stop
Emergency-stop pendant
The BenchBot Robot is equipped with an emergency- stop pendant. Pressing the
red button on the pendant decelerates and stops the robot during an
emergency. The z- axis brake engages to prevent the robot arm from falling
freely.
Figure Emergency-stop pendant
G5486A BenchBot Robot (workstation configuration). For safe operation, make
sure you install the safety equipment that is purchased with the BenchBot
Robot workstation configuration. See “Safety equipment space requirements” on
page 24.
G5487A BenchBot Robot (standalone/component configuration). When the
robot 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.
In addition, all operators should be instructed in the emergency stop
procedure.
Related information
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-y plane, or
until it bumps into an obstacle.
For information about... See...
General safety information “General safety information” on page 2
Safety and regulatory certification “Safety and regulatory compliance” on
page 4
Mechanical hazards “Mechanical hazards” on page 7
Electrical hazards “Electrical hazards” on page 9
Installing the safety equipment “Installing the robot- disable hub” on
page 48
Recovering from an emergency
stop
BenchBot Robot User Guide

7
1 Safety guidelines
Mechanical hazards
BenchBot Robot Safety and Installation Guide
Mechanical hazards
Protecting users
The BenchBot Robot has relatively low inertia and is designed to stop its
movement when it comes in contact with an obstacle. However, you can be
injured if you obstruct the robot while it is in motion.
Agilent Technologies strongly recommends that you install the robot inside an
enclosure. Safety- interlocked doors or light curtains that stop the robot when
opened or interrupted can be used to further mitigate risk. Make sure the
safety- interlocked enclosure complies with your country's safety regulations.
EU installations only. The enclosure and other safety recommendations are
required so that the BenchBot Robot installation is compliant with the
provisions of the Machinery Directive 2006/42/EC.
Moving-parts hazards
The following diagram shows the robot’s maximum radial and vertical reach.
Notice that the robot arm is able to reach behind the mast. For safety
considerations, the maximum radial reach specification includes a standard
labware held in the portrait orientation.
Figure BenchBot Robot radial (top view) and vertical reach (side view).
WARNING To reduce the risk of injury from moving parts, make sure that the BenchBot
Robot safety interlock circuit is connected to an enclosure or light curtain with an
interlock switch or key.
WARNING To prevent potential damage or personal injury in unsupervised systems,
you must install required warning devices.
WARNING Keep clear of the robot’s reach when it is in motion. Keep your fingers, hair,
clothing, and jewelry away from the robot while it is in motion.
WARNING The robot does not always move in a straight line between teachpoints. Do
not try to predict the robot’s movements and reach into the robot’s travel space while it is
in operation.
A
1
A
1
447 mm
658 mm
0 mm
427 mm
682 mm

1 Safety guidelines
Mechanical hazards
8BenchBot Robot Safety and Installation Guide
Pinch hazards
The BenchBot Robot has four axes of motion:
Puncture hazards
The tapered robot grippers and the robot’s low inertia are features that are
designed to prevent puncture or other injuries. However, you might be injured
if you obstruct the robot while it is in motion.
Related information
2
1
3
4
Item Axis Description of robot movement
1Shoulder Robot arm rotates 186° about the shoulder.
2Elbow Robot forearm rotates 336° about the elbow.
3Wrist Robot hand rotates to any angle about the wrist.
4Mast Robot arm moves up and down along the mast.
WARNING Keep clear of the robot while it is in motion. The robot could pinch or bruise
you near the axes.
WARNING Keep clear of the robot and its grippers while it is in motion.
For information about... See...
General safety information “General safety information” on page 2
Safety and regulatory certification “Safety and regulatory compliance” on
page 4
Emergency stop “Emergency stop” on page 6
Electrical hazards “Electrical hazards” on page 9
Ergonomics “Ergonomics” on page 10

9
1 Safety guidelines
Electrical hazards
BenchBot Robot Safety and Installation Guide
Electrical hazards
Hazardous-voltage electronics
Hazardous- voltage electronics can be found within the BenchBot Robot. Under
normal operating conditions, you are protected from exposure to the hazardous
voltage.
Hazardous- voltage electronics can also be found in the computer. See the
computer manufacturer documentation for the hazard warnings. Make sure you
follow the instructions on the safe operation of the computer.
Related information
WARNING Do not try to gain access to the interior of the BenchBot Robot. Do not
remove panels for any reason. Hazardous voltage inside of the robot can cause severe
injury or death.
WARNING Ensure that the power cord is in good condition and is not frayed. Use of a
frayed or damaged power cord can cause injury. Use only the supplied power cable. Use of
an incorrect power cord can cause damage to the robot.
WARNING Always turn off electrical power and disconnect the power cord before
installing or servicing the robot.
For information about... See...
General safety information “General safety information” on page 2
Safety and regulatory certification “Safety and regulatory compliance” on
page 4
Emergency stop “Emergency stop” on page 6
Mechanical hazards “Mechanical hazards” on page 7
Ergonomics “Ergonomics” on page 10

1 Safety guidelines
Ergonomics
10 BenchBot Robot Safety and Installation Guide
Ergonomics
Lifting and moving the robot
Positioning the computer
See the computer manufacturer documentation for instructions on the correct
positioning of the computer, monitor, and keyboard.
Related information
WARNING The BenchBot Robot weighs approximately 19 kg (42 lb). Attempting to
move the BenchBot Robot without assistance could cause personal injury or damage the
robot. Request assistance and use proper lifting techniques when moving the BenchBot
Robot.
CAUTION Never lift or move the robot by its arm. Doing so can damage the robot.
For information about... See...
General safety information “General safety information” on page 2
Safety and regulatory certification “Safety and regulatory compliance” on
page 4
Emergency stop “Emergency stop” on page 6
Mechanical hazards “Mechanical hazards” on page 7
Electrical hazards “Electrical hazards” on page 9