RR Mechatronics STARRSED TL User manual

Page 1
Version: 001
Work instruction Number 253
Page 1 of 5 Purpose: Replace gripper arm assembly
Safety: None Bio Hazard area
Instrument: Starrsed TL Revision: 001, 2019
1. Disconnect CAN-cable
2. Loosen the bolt from the gripper arm
3. Push the bolt to release the gear from the arm
4. Remove old gripper arm
5. Place new gripper arm
6. Fasten the bolt
7. Adjust the gripper cup to the correct height
(depending on used sample tubes) and fasten lock
nut
8. Connect CAN-cable again
9. Perform a complete System calibration and robot
calibration
10. Checking the correct position of the grippers:
Test and check functioning of the gripper with the
Pick and replace tube functions in the service menu.
Check if the nut on the sensor rod is fixed and if the
sensor is triggered when a tube is picked up by the
gripper.
11. Check the functioning of the adjusted gripper arm
with performing some test samples

Page 2
Version: 001
System calibration and Robot calibration:
Go to SERVICE -TLAX SETTINGS -SERVICE and press CALIBRATE
Start with a system calibration and perform all robot arm calibration step by step afterwards.
System calibration:
Remove all tubes before calibration. Each position calibration can be checked with use of the Pick and
replace tube function. If more than one type of tube is used, the calibration has to be tested with all used
types.

Page 3
Version: 001
1. Choose tab "SYSTEM"
2. Press " START SYSTEM CALIBRATION". The robot arm is unlocked and can be moved freely.
3. Move robot arm by hand to a straight forward position at 90 ° in relation to the frame and in the lowest
position.
4. Move tube disk arm number 1 at buffer position.
5. Make sure the fingers on the motors are in a horizontal position.
6. Press "CALIBRATE"
The tube disk makes one complete turn and ends again with tube arm number 1 at buffer position.
7. Press "CLOSE" and the pop-up screen disappears.
8. Move the robot head by hand to approximately home position (top corner at backside).
9. Press "RESET" and System calibration is done.
Robot arm calibration:
All positions of the robot arm can be calibrated. All positions within the instrument are calibrated at the
factory for testing, but has to be checked/re-calibrated after mounting the robot arm on site. Also the track
position has to be re-calibrated on location before first use.
If the gripper picks tubes not correctly (e.g. if other tubes are used), the gripper and all positions have to re-
calibrated before first use. The "HOME"-position cannot be adjusted and is already defined through the "SYSTEM
CALIBRATION".
Other positions can be calibrated individually if needed and each new calibrated position can be checked
with the the manual movement functions on the SERVICE-TLAX SETTINGS SCREEN. (If necessary with all used
sample tube types).
Start with Go to SERVICE -TLAX SETTINGS -SERVICE and press CALIBRATE.
Calibration of Track position:
1. Choose "Track".
2. Place a tube transporter with tube to the track position.
3. Press "CALIBRATE" (the robot arm is set free and can be moved manually).
4. Move robot arm on the correct horizontal position: centered just above the tube cap.
5. Move robot arm downwards until the fingers from the gripper are just below the tube cap.
6. Press "SET LOCATION".

Page 4
Version: 001
Calibration of tube disk position:
1. Choose "Tube Disk".
2. Set tube disk with leg number 1 at in/out position (with the movement options at Service screen).
3. Place a tube in the tube disk at in/out position.
4. Press "CALIBRATE" (the robot arm is set free and can be moved manually).
5. Move robot arm on the correct horizontal position: centered just above the tube cap.
6. Move robot arm downwards until the fingers from the gripper are just below the tube cap.
7. Press "SET LOCATION".
Calibration of the gripper.
With calibration gripper, the width of the gripper can be adjusted. Use one or more common used sample
tube(s) for reference.
1. Press "Calibrate" and choose "Gripper".
2. Press start.
3. Adjust the gripper to the maximum setting with "+" button at first.
4. Adjust the gripper to the correct width with the "-" button.
5. Press SAVE.
6. Check the settings with the the manual movement functions on the SERVICE-TLAX SETTINGS SCREEN. (If
necessary with all used sample tube types)
Calibration of Barcode Reader position:
1. Choose "Barcode Reader".
2. Place a tube in the gripper (with the movement options at Service screen).
3. Press "CALIBRATE", the robot arm moves to the first barcode reader. The robot arm is set free and can be
moved manually.

Page 5
Version: 001
4. Move robot arm carefully (and if necessary the tube itself) by hand until the barcode appears as
expected on the screen.
5. Press "SET LOCATION".
Calibration of Manual Position #1 and #2 (Calibrate always two positions):
1. Place tubes on manual position #2 (which is located at the front of the instrument) and #1 inside the
instrument.
2. Choose "Manual position #1".
3. Press "CALIBRATE" (the robot arm is set free and can be moved manually).
4. Move robot arm on the correct horizontal position: centered just above the tube cap.
5. Move robot arm downwards until the fingers from the gripper are just below the tube cap.
6. Press "SET LOCATION".
7. Choose "Manual position #2".
8. Press "CALIBRATE" (the robot arm is set free and can be moved manually).
9. Move robot arm on the correct horizontal position: centered just above the tube cap.
10. Move robot arm downwards until the fingers from the gripper are just below the tube cap.
11. Press "SET LOCATION".
12. Check with use of the movement controls if a tube is picked and released from manual position #1 and
#2.
Rack input calibration
With calibration rack input, the pick-up position rack input can be adjusted.
1. Choose "Rack".
2. Place a tube in the rack on position 1.
3. Move rack to IN position (with use of the movement options at Service screen).
4. Press "CALIBRATE", the robot arm moves to the rack input position
5. Move robot arm carefully by hand until the fingers of the gripper arms are just below the tube cap.
6. Press "SET LOCATION".