Labcyte Access Dual Robot User manual

USER GUIDE
Access™ Dual Robot System
Version 2.0
APRIL 2019
FOR RESEARCH USE ONLY
LABCYTE INC.
170 Rose Orchard Way
San Jose, CA95134
USA
Tel: [phone] |Email: [e-mail]
USER GUIDE |Access™ Dual Robot System
© 2019 LABCYTE INC. All rights reserved.
MAN-2019-2.0
APRIL 2019

Published APRIL 2019
Part Number: 001-15357 Revision 3
Documentation for Access™ Dual Robot System, Version 2.0
The information contained in this guide is subject to change without notice. Any unauthorized changes or modifications to the
Access™ Dual Robot System will void its warranty. Contact Labcyte, Inc. prior to making any change or modification.
Copyright © 2019 Labcyte Inc. All rights reserved. Labcyte®, Echo®, MicroClime®, the Labcyte logo, Dynamic Fluid Analysis™ and
Access™ are registered trademarks or trademarks of Labcyte Inc., in the U.S. and/or other countries. Printed in the United States of
America.
Microsoft, Windows, Windows 7, Windows 10, ActiveX, and Microsoft SQL Server are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Intel® Core™ i5 are trademarks or registered trademarks of Intel
Corporation or its subsidiaries in the United States and other countries.
All other registered or unregistered trademarks used herein are the exclusive property of their respective holders.
For research purposes only; not for use in diagnostics.
Echo® Liquid Handlers, Applications Software and Automation Systems from Labcyte Inc. are covered by one or more of the
following patents:
United States: 6,416,164; 6,548,308; 6,603,118; 6,612,686; 6,642,061; 6,666,541; 6,707,038; 6,710,335; 6,746,104; 6,802,593;
6,808,934; 6,809,315; 6,849,423; 6,855,925; 6,869,551; 6,893,836; 6,893,115; 6,916,083; 6,932,097; 6,938,987; 6,938,995; 6,991,917;
7,070,260; 7,090,333; 7,185,969; 7,270,986; 7,354,141; 7,405,072; 7,405,395; 7,439,048; 7,454,958; 7,481,511; 7,717,544; 7,899,645;
7,900,505; 7,901,039; 8,107,319, 8,389,295; 8,503,266; 8,770,69; 9,212,250; 9,586,215; 9,908,133; 10,112,212; 10,118,186.
European Patent EP: 1322430; 1324823; 1337325; 1352112; 1366356; 1348116, 1409254, 1534526; 1585636; 1879697.
Japan: 4189964; 4309131; 4434581; 4559218; 4624644; 4990476; 4955901; 4990476; 5031875.
Additional patents are approved and pending in the United States and other countries.
COPYRIGHT
Labcyte Inc.
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1 | Preface 5
About this Guide 5
Intended Audience 5
Technical Support Resources 5
Related Documentation 6
Document Conventions 6
Safety Notation Marks 6
2 | Product And Safety Labels 7
Compressed Air 12
Corrosive Chemicals 12
Crush Hazard 12
Cut Hazard 12
Earth Ground 12
Electrical Hazard 13
Eye Hazard 13
General Warning Label 13
Laser Hazard 13
Product Label 13
Tip Hazard 14
Trip Hazard 14
3 | Safety Warnings 15
Electrical Safety Warnings 15
Additional Safety Warnings 15
System Emergency Stop ESTOP Button 16
Light Tower System State Alerts 16
Alarm Alerts In Tempo 18
Interlock Sensors 19
Lid Presence Sensors 20
Teach Mode 20
4 | System Requirements 21
Facility Requirements 21
Computer Specifications And Supported Operating System 21
Supported Software Versions 22
Supported Labware 22
5 | System Dimensions 23
Safe System Configurations 23
Device Module 1 24
Device Module 2 26
Echo Module 28
AmbiStore Storage Module 30
MicroServe Storage Module 32
Cytomat Storage Module 34
Robot Cell 36
6 | Interacting With The Access System 37
Using Control Panel Buttons And Switches 37
TABLE OF CONTENTS
3

Access System Control Button Panels 37
Control Panel Button Locations On The Access System 39
Main Disconnect Switch 39
Opening Doors And Panels 40
Operating Device Shelves 41
Docking And Undocking Device Modules 43
Performing A Temporary Undocking 43
Performing A Full Module Undocking 44
Removing Fixed Storage Modules 47
Loading And Unloading Labware 48
Accessing The PlateLoc iKit 50
Using The Echo Turntable For Standalone Use 50
Manually Rotating The Turntable 51
Transition The Echo Turntable From Standalone Mode To Online Mode 53
Transition The Echo Turntable From Online Mode To Standalone Mode 54
Troubleshooting 57
7 | Basic Operations 59
Starting The Access System 59
Starting The Tempo Software 62
Initializing System Devices 63
Setting Up Before A Run 64
Shutting Down The Access System 66
Shutting Down The Software Only 67
Shutting Down For Maintenance Or Transport 67
Shutting Down By The Building Management System 68
Shutting Down In An Emergency 68
Recovering From An Emergency Shutdown 69
8 | Maintenance 73
Weekly Maintenance 73
Check The Gaskets 73
Inspect The Locating Features 74
Change The Echo Coupling Fluid 74
Check The Suction Cups 75
Purge The Water Vapor 75
Yearly Maintenance 75
Labcyte Inc.
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1 | Preface
This section provides information about who the intended audience is, the hardware and software requirements, technical support
resources, and documentation conventions used.
About this Guide
This guide describes how to operate the Access™ Dual Robot System (Access system).
Figure 1: Access System
Intended Audience
The Access system is designed to be used by individuals who are familiar with good laboratory practices (GLP)1 or a similar
laboratory safety program.
Access system operators must read this guide before using the Access system.
Technical Support Resources
For technical support issues, support requests can be submitted via email to [e-mail].
For telephone support, call [phone].
LABCYTE INC. USER GUIDE|Access™ Dual Robot System
CHAPTER 1 | Preface
5

Related Documentation
Related Labcyte documentation consists of the following publications:
lTempo™ Automation Control Software User Guide
lAccess™ Single and Dual Robot System Site Prep Guide
lAccess™ Single (SRS) and Dual Robot (DRS) System Specifications
lEcho® 650 Series Liquid Handler Site Prep Guide
lEcho® 650 Series Liquid Handler User Guide
lEcho® 500 Series Liquid Handler User Guide
lEcho® 525 Series Liquid Handler User Guide
lEcho® Cherry Pick Quick Start Guide
lEcho® Cherry Pick User Guide
lEcho® Combination Screen User Guide
lEcho® Combination Screen Quick Start Guide
lEcho® Array Maker User Guide
lEcho® Array Maker Quick Start Guide
lEcho® Plate Reformat User Guide
lEcho® Plate Reformat Quick Start Guide
lEcho® Plate Audit User Guide
lEcho® Plate Audit Quick Start Guide
lEcho® Dose-Response User Guide
lEcho® Dose-Response Quick Start Guide
Document Conventions
Style Purpose
blue italicized text (PDF, Web only) Cross references, link, Web addresses
courier std Commands, filenames, directories, paths, user input
bold text Interactive interface objects, keys, buttons
italicized text Book titles, glossary terms
Safety Notation Marks
This guide uses the following symbols in the left margin to draw your attention to the specified type of information.
Symbol Description
Warning - Warnings alert all users to the following:
lPotentially hazardous conditions
lActions that may result in personal injury or death
Caution - Cautions alert the user to actions that may result in the following:
lDamage to the equipment
lLost or corrupted data
lUnrecoverable interruption of the operation being performed
Note - Notes emphasize or expand upon the surrounding information.
Table 1: Safety Notation Marks In This Guide
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2 | Product And Safety Labels
Listed below are the product and safety labels on the Access system components (the list may vary, depending on the
configuration of your system).
IMPORTANT! Before handling or servicing any instrument in your Access system, be sure to read and understand the safety
section in the user guide associated with that instrument. User guides for all instruments can be found on the installation CD.
lCompressed Air
lCorrosive Chemicals
lCrush Hazard
lCut Hazard
lEarth Ground
lElectrical Hazard
lEye Hazard
lGeneral Warning Label
lLaser Hazard
lProduct Label
lTip Hazard
lTrip Hazard
Hazards are better indicated by hazard-specific labels (Clarion.com or similar) where needed
LABCYTE INC. USER GUIDE|Access™ Dual Robot System
CHAPTER 2 | Product And Safety Labels
7

Figure 2: Access System - Product Safety Labels Locations
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Figure 3: Access System - Compressed Air Label Location
Figure 4: Access System - Laser Hazard Label Location
CHAPTER 2 | Product And Safety Labels
9

Figure 5: Access System - Trip Hazard Label Locations
Figure 6: Access System - Product Label Location
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Figure 7: Access System - Earth Ground Label Location
Call Out
Number
Label
Symbol Label Name Description
1Compressed
Air This label cautions users that the force from compressed dry air could puncture the skin.
2Earth
Ground
This label is located behind the Main Disconnect Switch box on the main unit. It indicates a
grounding point in the system.
3Corrosive
Chemicals
This label is located on the device module that contains the LXp reagent dispenser which
deposits the reagent on the plate. This is a hazard because the pressurized supply lines could
blow the reagents off the tray and onto other Access components.
4Laser
Hazard
On the robot frame, there is a load lock door that connects the storage module to the workcell
robot. There is a pneumatic device for open/close the door for maintaining air temperature inside
the robot. If you look through that door, you may see a laser beam for the bar code reader.
5Eye Hazard
This label is located on the Echo and device modules, where each manually operated door is at
eye level. When the door slides open and robot arm selects a tray there is a risk of arm chemicals
splashing.
6Cut Hazard This label is located on the storage module's load lock doors. A cut can occur if you do not keep
your hands clear of the load lock doors while operating the machine.
7Crush
Hazard
This label is located in the space between a module and the robot frame. A hand or foot can be
crushed in that space when you push the button that triggers the motor to move the modules
toward the robot frame,
8Electrical
Hazard
Underneath the Power Distribution Unit (PDU), there is a retractable utility bundle (encased in a
black hose) that connects all the power cables from the robot to the modules. The other
electrical hazard label location is on each module's box lids.
9Tip Hazard This label indicates that the module can be tipped over if someone is actively pushing on it.
10 Trip Hazard This label warns you about a potential trip hazard. When modules are moved away from the
robot, the tracks, which are raised two inches above the ground, are exposed.
11
General
Warning
Label
This label reminds you to take normal safety precautions when operating and working around an
Access system.
12 Product
Label
This label includes Labcyte corporate identification, product identification, product serial number,
regulatory agency marks, origin of manufacture, date of manufacture, input power specifications,
WEEE symbol, and the CE mark.
Table 2: Call out table for Access System - Location of Product Safety Labels
CHAPTER 2 | Product And Safety Labels
11

Compressed Air
The Compressed Air label indicates the danger of a compressed dry air (CDA) jet puncturing the skin.
Corrosive Chemicals
The Corrosive Chemicals label reminds the user to keep corrosive agents, or otherwise damaging material, away from all Access
system components.
Crush Hazard
The Crush Hazard label indicates moving parts that can potentially injure the user. Ensure parts are, and will remain, stationary
before servicing.
Cut Hazard
The Cut or Severe Hazard label warns the operator to keep their hands clear of this area while operating the system to prevent a
possible cut injury.
Earth Ground
The Earth Ground label indicates a grounding point in the system.
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Electrical Hazard
The Electrical Hazard label warns the user of possible injury from electrical cables, connections, and circuits inside the Access
system.
Eye Hazard
The Eye Hazard label warns the user to wear protective eye wear to keep their eyes safe from a possible chemical splash.
General Warning Label
The General Warning label reminds users to take normal safety precautions when operating and working around an Access
system.
Laser Hazard
The Laser Hazard label warns the user that the devices in the Access System optionally use laser-based bar code scanners. These
devices are regarded as Class 1 or Class 2 laser light hazards under normal operating conditions (with instrument covers on).
Product Label
The Access System Product label includes Labcyte corporate identification, product identification, product serial number,
regulatory agency marks, origin of manufacture, date of manufacture, input power specifications, WEEE symbol, and the CE mark.
The Conformité Européenne (CE) Mark label indicates conformance to product safety standards for countries in the European
Economic Area. The CE Mark is part of the Product label.Return it to the manufacturer for recycle or ecological disposal.
The Waste Electrical and Electronic Equipment (WEEE) symbol signifies that this instrument should not be disposed of in the trash.
Electrical Hazard CHAPTER 2 | Product And Safety Labels
13

Tip Hazard
The Tip Hazard label indicates that the module can be tipped over if someone is actively pushing on it.
Trip Hazard
The Trip Hazard label draws attention to an obstacle or a change in elevation that presents the potential hazard.
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3 | Safety Warnings
The Access system is an integrated system that is designed for safe operation of individual devices.
The safety warnings and precautions in this guide and in the individual device user guides must be observed during installation,
relocation, maintenance, repair, and normal operation of an Access system.
Failure to comply with these warnings and precautions violates the safety standards of design, manufacture, and intended use of
an Access system. This can result in hazardous exposure to laser light, high voltage, or moving parts. Exposure to these hazards
can cause severe injury.
Electrical Safety Warnings
Always observe the following electrical safety warnings:
lUse the minimum required circuits and outlets as defined by the Access Single and Dual Robot System Site Prep Guide
Version 2.0. This guide is available from your Labcyte representative.
lThe Access system operates with voltages and currents that can be lethal. Pushing objects of any kind into devices
integrated into the Access system, either through slots or holes in its covers, may cause serious electrical shock or may
short out electrical circuits or parts. Do not spill any liquid inside or on Access system.
lThe Access system does not contain any user-replaceable AC power fuses. If an individual circuit breaker requires
repeated resetting, the Access system could have an electrical problem. Do not use the Access system in this state. For
more information about Labcyte Technical Support, see Technical Support Resources.
Note: Refer to individual device user guides for user-replaceable fuses.
lDo not use AC power cords if the following conditions exist as these conditions can cause an electrical shock hazard and
result in severe injury:
lThe power cords are frayed or damaged.
lOther attached cords, cables, or receptacles are frayed or damaged. Using damaged power cords can cause an
electrical shock hazard and result in severe injury.
lDo not connect (plug in) the AC power cords if the following conditions exist:
lThe Access system, or attached equipment, has been exposed to excessive moisture, or to liquids that have been
spilled on it.
lThe Access system, or any of its sub-assemblies or components, has been dropped or damaged.
lYou suspect service or repair is required.
Additional Safety Warnings
Additional safety warnings include:
lDo not attempt to access the interior of the Access system while a protocol is running.
lDo not dismantle the Access system safe guards except as described in the Maintenance section. Doors are provided to
the areas that require frequent access and are interlocked to protect the operator while the Access system is running.
Exposure to laser light, high voltage, or moving parts inside Access system can cause severe injury.
lKeep your hands, fingers, and clothing clear of the robot and moving parts of other devices.
lUse good laboratory practices and follow the manufacturer’s precautions when working with chemicals. Labcyte is not
responsible or liable for any damages as a result of, or as a consequence of, the use of hazardous chemicals.
LABCYTE INC. USER GUIDE|Access™ Dual Robot System
CHAPTER 3 | Safety Warnings
15

System Emergency Stop ESTOP Button
The Access DRS has six ESTOP buttons, all located on control panels, within easy reach regardless of where you are standing next
to the system. For example, if a module is undocked, another ESTOP button is within reach if you need to dock it.
Figure 8: ESTOP Button
Pressing an ESTOP button disables motor power to the robot, air power throughout the system, and any integrated devices that
provide support for the E-Stop connection such as an Echo liquid handler. It also terminates any currently executing runs.
Note that the PC, PLC, and safety circuit remain powered on when you press the E-Stop button. Additionally, the Echo instrument
is E-Stopped from mechanical motion but the server remains powered on.
When you press an ESTOP button the following happens:
lRobots are stopped
lEchos are stopped
lStorage devices (MicroServe or AmbiStore) are powered off
lHiG3 is stopped
lAir is vented to the room
lRuns in progress are aborted
Light Tower System State Alerts
The Access system has four-color (Red, Yellow, Green, Blue) light towers that alert you to the state of the system.
Figure 9: Light Towers On The Access System
This table describes the state of the Access system based on the light-tower colors states: Off, On, Blinking
Note: The BLUE light indicates that the robot is running in Slow Mode. The two states that cause a robot to slow down
are:Any device door is opened or the Run/Teach mode key is set to Teach.
State of the Access System RED
Light
YELLOW
Light
GREEN
Light Description
Power is on, system
uninitialized. Off Off Off All lights are off when the system is not operating
Power is on, initializing
system & devices Blinking
Minimal Access system activity. Initialization operations
are in progress (both at Tempo startup and through the
Initialization form), or the user-initiated plate cleanup
using the Tempo Control Panel.
Power is on, initialized, Idle
(no runs in progress) Off Off Off All lights are off when the system is not operating.
Run in progress Solid Access system is running.
Table 3: Access System Light Tower Color Alert States
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State of the Access System RED
Light
YELLOW
Light
GREEN
Light Description
Pausing runs Solid Access system is still running.
Paused all runs Solid Access system has runs in progress, however, the user
has paused the runs.
Storage door is unlocked Blinking
The user has reserved the plate storage device for
loading and unloading plates. The Access system cannot
fetch or store plates until the user has released the
reservation. The Access system is working a full speed,
but with diminished capacity for new plates.
A run is in-progress. There is a
non-blocking error on the
system
Blinking Solid
Indicates that a user action is required. Blinking yellow
indicates that a user action is required. Runs are still in
progress if possible.
Runs are active but system is
in a deadlock state Blinking Solid
The user has not responded to errors from the Blinking
Yellow state (see above). The Access system is in a
deadlock state and awaiting action by the user.
A run is in-progress, the door
to the storage module is
unlocked. There is a non-
blocking error on the system
Blinking Blinking
Indicates that a user action is required. Blinking yellow
indicates that a user action is required. Runs are still in
progress if possible.
Runs are active, the door to
the storage module is
unlocked.
Blinking Blinking
The user has not responded to errors from the Blinking
Yellow state (see above). The System is in a deadlock
state and awaiting action by the user.
Full system stop, E-Stop. Solid The user pressed he E-Stop button. The user
disconnected a cart and the E-Stop chain is broken.
Table 3: Access System Light Tower Color Alert States (continued)
Light Tower System State Alerts CHAPTER 3 | Safety Warnings
17

Alarm Alerts In Tempo
System alerts are also triggered and appear in the Alarms and Workcell tabs in Tempo. See the sections "Alarms" and "Workcell" in
the Tempo Automation Control Software User Guide, Version 2.0 for more information.
Alarms Tab
The following figure shows the Alarms tab when there is an active Robot E-Stop alarm. Specific alarm instructions display and tell
you how to recover from any alarm alert.
Figure 10: Alarm Tab - Example Robot E-Stop Alert
Workcell Tab
The Workcell Tab in Tempo indicates which door is open (yellow icon) on the system, lets you turn the system lights on and off,
and provides module communication status.
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Figure 11: Workcell Tab - Yellow Icon Indicates Open Door
Interlock Sensors
The Access DRS has 16 interlock sensors for enclosure access panels including doors, blanking panels, tunnel doors.The system
relies on the sensors to guarantee a safe operation of the system at all times. The impact of a triggered sensor on the system
during operation or when it is idle depends on the location and the type of sensor.
All sensor events are logged and communicated through Tempo software (Alarms Tab) and the integrated light tower system
alerts.
This table lists operator actions that trigger a sensor and how that impacts the Access system.
Actions That Trigger
Sensors Impact on the Access System
Device door is
opened lRobots are slowed into safety mode
Device shelf is pulled
lRobots are slowed into safety mode
lDevices on the shelf are switched to Standalone mode
Table 4: Interlock Sensor Action And Result
Interlock Sensors CHAPTER 3 | Safety Warnings
19

Actions That Trigger
Sensors Impact on the Access System
lIf runs are in progress: the robot continues to move plates to and from devices but the jobs
remain in queue until deadlock
lNew runs do not start
Storage module door
is opened
lEliminates communications between Tempo and the Access system
lRuns in progress continue except for operations to and from the storage device
Module is pulled back
from the Access
system while cables
are attached
lRobots stop
lIf it is device module, all devices are placed in Standalone mode
lRun in progress is aborted
Undock button is
pressed when the
system is idle
lRobot and Echo are unaffected
lAll devices on the undocked module are switched to Standalone mode
lRun is progress is unaffected
Undock button is
pressed when the
system is running
lRobot is stopped
lEcho is paused if the module is an Echo module, otherwise normal operation continues
lAll devices on the undock module are switched to Standalone mode
lRun in progress continues but because the robot is E-stopped, only current plates at devices
can finish, but no new work can begin
Module is pulled back
from the Access
system while the
cables are attached
lRobot is stopped
lEcho is paused if the module is an Echo module, otherwise the module is running normally
lAll devices on the undocked module are switched to Standalone mode
lRun in progress: continues but because the robot is E-stopped, only current plates at devices
can finish, but no new work can begin
Module cables are
disconnected from
the system
lRobot is stopped
lEcho is stopped
lStorage: MicroServe and AmbiStore modules are powered off
lHiG3: E-Stopped
lRun in progress is aborted
Table 4: Interlock Sensor Action And Result (continued)
Lid Presence Sensors
If installed on the Access system, each lid removal shelf has a presence sensor.
Teach Mode
A Teach/Run mode key, which is included with each Access system, allows you to set the system in Teach mode. This mode
overrides sensors and interlocks for system maintenance and setup.
Labcyte recommends to not use Teach mode to execute runs on the system. The robot speed is slowed to approximately 200 mm
per second in maintenance mode so that it does not pose any safety hazards.
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