Agilent Technologies BenchBot User manual

Agilent Technologies
BenchBot Robot
User 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 transla-
tion into a foreign language) without prior
agreement and written consent from Agi-
lent Technologies, Inc. as governed by
United States and international copyright
laws.
User Guide Part Number
G5486-90003
Edition
Revision 00, 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
[email protected]om
Customer Service: 1.866.428.9811
or +1.408.345.8356
customerservice.auto[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.
Technology Licenses
The hardware and/or software described in
this document are furnished under a
license and may be used or copied only in
accordance with the terms of such license.
Restricted Rights Legend
If software is for use in the performance of
a U.S. Government prime contract or sub-
contract, Software is delivered and
licensed as “Commercial computer soft-
ware” as defined in DFAR 252.227-7014
(June 1995), or as a “commercial item” as
defined in FAR 2.101(a) or as “Restricted
computer software” as defined in FAR
52.227-19 (June 1987) or any equivalent
agency regulation or contract clause. Use,
duplication or disclosure of Software is
subject to Agilent Technologies’ standard
commercial license terms, and non-DOD
Departments and Agencies of the U.S. Gov-
ernment will receive no greater than
Restricted Rights as defined in FAR 52.227-
19(c)(1-2) (June 1987). U.S. Government
users will receive no 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.

Contents
iiiBenchBot User Guide
Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
About this guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
Accessing Automation Solutions user guides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . x
1. Introduction to the BenchBot Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
About the BenchBot Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Hardware components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Device integration options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Software overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Quick start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2. Setting up the BenchBot Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Setup workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Turning on and turning off the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Creating a device file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Adding and deleting BenchBot Robots in the device file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Creating BenchBot Robot profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Setting up robot communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Selecting a teachpoint file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Saving the profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Initializing the profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Editing and managing profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3. Setting teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Teachpoint setting workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Planning BenchBot Robot teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Setting new teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Specifying the A1-well orientation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Selecting the teachpoint type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Setting the Approach Height and Approach Distance parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Setting the Min and Max Gripper Offset parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Setting the X, Y, Z, and Yaw parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Adding multiple orientations to a teachpoint. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Saving the teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Setting teachpoints using a labware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Verifying teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Editing existing teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Managing teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Cycling teachpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Contents
iv BenchBot User Guide
4. Preparing for a protocol run. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Workflow for preparing a protocol run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Planning for the protocol run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Performing dry runs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Stopping the robot in an emergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
5. Using BenchBot Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
About BenchBot Robot Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Checking the robot status and log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Homing the robot and grippers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Retracting the robot into the robot zone. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Jogging the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Disabling and enabling the robot joint motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Stopping the robot motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Changing the robot speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Changing the robot speed definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Opening and closing the robot grippers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Changing the gripper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Updating the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Backing up the robot firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Installing new or restoring existing firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
6. Maintaining the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Routine maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Cleaning the robot gripper pads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Replacing robot gripper pads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Replacing robot grippers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Replacing fuses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
7. Troubleshooting robot problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Recovering from an emergency stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Resolving robot initialization errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Recovering from servo errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Troubleshooting hardware problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Troubleshooting error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Reporting problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
A. Quick reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Robot status area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Log area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
General commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Jog/Move tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Teachpoints tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Cycler tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Setup tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Profiles tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

Contents
vBenchBot User Guide
B. Orderable parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Parts list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Contents
vi BenchBot User Guide

vii
BenchBot Robot
User Guide
Agilent Technologies
Preface
This preface contains the following topics:
•“About this guide” on page viii
•“Accessing Automation Solutions user guides” on page x

Preface
About this guide
viii BenchBot Robot User Guide
About this guide
Who should read this guide
This user 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 Agilent BenchBot Robot and the operation of the
hardware components using Agilent BenchBot Robot Diagnostics.
This guide does not provide instructions for the following:
• Installation instructions
• VWorks software or third- party automation software
• Agilent Technologies devices, such as the Bravo Automated Liquid Handling
Platform, PlateLoc Thermal Microplate Sealer, Microplate Seal Piercer,
Microplate Labeler, Vertical Pipetting Station, Microplate Centrifuge, and
Labware Stacker.
•Third-partydevices
See “Related guides” on page ix.
Software version
This guide documents the following:
• BenchBot Diagnostics version 1.0.x or later
• BenchBot firmware version 1.0.x or later
Job role Responsibilities
Installer Unpacks, installs, and tests the 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 BenchBot Robot
and solves routine problems.

ix
Preface
About this guide
BenchBot Robot User Guide
Related guides
This user guide should be used in conjunction with the following documents:
•BenchBot Robot Unpacking Guide. Explains how to unpack and pack the
robot.
•BenchBot Robot Safety and Installation Guide. Provides the Agilent
BenchBot Robot specifications, site requirements, and installation
instructions. The guide also describes the potential safety hazards and how
to avoid them.
•VWorks Automation Control Setup Guide. Explains how to install the
VWorks software, define labware, track labware, and manage users.
•VWorks Automation Control User Guide. Explains how to add devices,
create protocols, set task parameters, and run protocols.
•VWorks Software Quick Start. Provides an overview of how to use the
VWorks Automation Control software.
•Automation Solutions device user guides. Explains how to set up and use
the Automation Solutions devices.
•Third- party device user documents. Explains how to set up and use the
third- party devices.
Related information
For information about... See...
Accessing related user guides “Accessing Automation Solutions user
guides” on page x
Reporting problems “Reporting problems” on page 165

Preface
Accessing Automation Solutions user guides
xBenchBot Robot User Guide
Accessing Automation Solutions user guides
About this topic
This topic describes the different formats of Automation Solutions user
information and explains how to access the user information.
Where to find user information
The Automation Solutions user information is available in the following
locations:
•Knowledge base. The help system that contains information about all of the
Automation Solutions products is available from the Help menu within the
VWorks software.
•PDF files. The PDF files of the user guides are installed with the VWorks
software and are on the software CD that is supplied with the product. A
PDF viewer is required to open a user guide in PDF format. You can
download a free PDF viewer from the internet. For information about using
PDF documents, see the user documentation for the PDF viewer.
•Agilent Technologies website. 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.
Accessing safety information
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.
Using the knowledge base
Knowledge base topics are displayed using web browser software such as
Microsoft Internet Explorer and Mozilla Firefox.
Note: If you want to use Internet Explorer to display the topics, you might
have to allow local files to run active content (scripts and ActiveX controls). To
do this, in Internet Explorer, open the Internet Options dialog box. Click the
Advanced tab, locate the Security section, and select Allow active content to run in
files on my computer.
To open the knowledge base, do one of the following:
• From within VWorks software, select Help > Knowledge Base or press F1.
• From the Windows desktop, select Start > All Programs > Agilent Technologies >
VWorks > User Guides > Knowledge Base.

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Preface
Accessing Automation Solutions user guides
BenchBot Robot User Guide
Opening the help topic for an area in the VWorks window
To access the context-sensitive help feature:
1In the main window of the VWorks software, click the help button .
The pointer changes to . Notice that the different icons or areas are
highlighted as you move the pointer over them.
2Click an icon or area of interest. The relevant topic or document opens.

Preface
Accessing Automation Solutions user guides
xii BenchBot Robot User Guide
Features in the Knowledge Base window
Item Feature
1Navigation area. Consists of four tabs:
•Contents. Lists all the books and the table of contents of the
books.
•Index. Displays the index entries of all of the books.
•Search. Allows you to search the Knowledge Base (all products)
using keywords. You can narrow the search by product.
•Favorites. Contains bookmarks you have created.
2Navigation buttons. Enable you to navigate through the next or
previous topics listed in the Contents tab.
3Content area. Displays the selected online help topic.
4Toolbar buttons. Enable you to print the topic or send documentation
feedback by email.

xiii
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Accessing Automation Solutions user guides
BenchBot Robot User Guide
Related information
For information about... See...
Who should read this guide “About this guide” on page viii
What this guide covers “About this guide” on page viii
Reporting problems “Reporting problems” on page 165

Preface
Accessing Automation Solutions user guides
xiv BenchBot Robot User Guide

1
BenchBot Robot
User Guide

1
Introduction to the BenchBot Robot
This chapter contains the following topics:
•“About the BenchBot Robot” on page 2
•“Hardware components” on page 4
•“Device integration options” on page 11
•“Software overview” on page 13
•“Quick start” on page 16

1 Introduction to the BenchBot Robot
About the BenchBot Robot
2BenchBot Robot User Guide
About the BenchBot Robot
Description
The BenchBot Robot is designed to move labware in an automated laboratory
workstation or system. Because of its compact design, the BenchBot Robot can
be installed on benchtops, in enclosed hoods, or on removable docking tables.
You can integrate up to 10 devices with the BenchBot Robot and easily change
the arrangement of devices to meet application requirements.
EU installations only. Be aware that the BenchBot Robot is considered
a partly completed machinery that is intended 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.
Figure The BenchBot Robot integrated with the Bravo Platform, two Stackers, and a MiniHub
The BenchBot Robot has four axes of motion and is able to grip labware in
both the landscape and portrait orientations. For more information, see
“Hardware components” on page 4.
The BenchBot Robot is controlled by the VWorks software and the BenchBot
Diagnostics plugin. For more information about the software, see “Software
overview” on page 13.

3
1 Introduction to the BenchBot Robot
About the BenchBot Robot
BenchBot Robot User Guide
Configurations
The BenchBot Robot is available in the following configurations:
If you have the standalone/component configuration and would like to
construct a workstation, you can order the BenchBot integration plates and
safety equipment. Contact Automation Solutions Customer Service for details.
Before you operate the system
Related information
Product name Product components
G5486A BenchBot Robot
(workstation configuration)
BenchBot Robot (G5486- 00001)
Computer
Emergency- stop pendant
Regrip station
VWorks software
Integration plates
Safety equipment
G5487A BenchBot Robot
(standalone/component
configuration)
BenchBot Robot (G5486- 00001)
Computer
Emergency- stop pendant
Regrip station
VWorks software
WARNING For safe operation, it is imperative that you follow the precautions in the
BenchBot Robot Safety and Installation Guide.
For information about... See...
BenchBot Robot features “Hardware components” on page 4
BenchBot Robot specifications BenchBot Robot Safety and Installation
Guide
Software that controls the
BenchBot Robot
“Software overview” on page 13
Safety information BenchBot Robot Safety and Installation
Guide
Installation instructions BenchBot Robot Safety and Installation
Guide
Ordering integration plates and
light curtain
“Orderable parts” on page 187

1 Introduction to the BenchBot Robot
Hardware components
4BenchBot Robot User Guide
Hardware components
About this topic
This topic describes the following BenchBot Robot hardware features:
•“Robot components” on page 4
•“Power and communication” on page 7
•“Emergency- stop pendant” on page 8
•“Status light” on page 8
•“Teaching plate” on page 9
•“Regrip station” on page 9
Robot components
The BenchBot Robot consists of the following:
•Main components
•Arm components
•Joints and mast
•Teach button
•Z- axis brake release button
Main components
1
2
3
Item Name Description
1Mast, or
z-axis
The vertical structure along which the robot arm
moves up and down.
2Arm The appendage that consists of the bicep, forearm,
hand, and grippers.
3Base The plate at the bottom of the mast that attaches the
robot to the target surface.

5
1 Introduction to the BenchBot Robot
Hardware components
BenchBot Robot User Guide
Arm components
Joints and mast
4
5
6
7
Item Name Description
4Bicep The upper segment of the arm that moves up and
down along the mast.
5Forearm The lower segment of the arm that rotates about the
elbow.
6Hand The component of the robot that rotates about the
wrist.
7Grippers The two finger- like structures that open and close to
pick up or place labware.
9
8
10
11
Item Name Description
8Shoulder The joint that connects the robot arm to the mast.
The arm rotates 186° about the shoulder.
9Elbow The joint that connects the bicep and the forearm.
The forearm rotates 336° about the elbow.
10 Wrist The joint that connects the forearm to the hand. The
hand rotates to any angle about the wrist.

1 Introduction to the BenchBot Robot
Hardware components
6BenchBot Robot User Guide
Teach b ut ton
Z-axis brake release button
11 Mast, or
z-axis
The vertical structure along which the robot arm
moves up and down.
Item Name Description
12
Item Name Description
12 Teach
button
The button at the top of the robot hand allows you to
set teachpoints. The button also allows you to grip
and release labware in the teach mode. For
instructions on how to set teachpoints, see “Setting
teachpoints” on page 41.
13
Item Name Description
13 Z- axis brake
release
button
The button below the bicep that turns off the z-axis
brake and allows you to move the robot arm
manually along the z-axis.
WARNING The robot arm weighs approximately 7.5 kg
(16.5 lb). Be sure to support the weight of the robot arm when
pressing the button. Failure to do so will allow the robot arm to
fall freely, possibly causing personal injury or damage to
another device.