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39

BenchBot Robot
Safety and Installation Guide





3
Installing the BenchBot Robot
workstation

This chapter contains the following topics:

•

“Installation workflow” on page 40

•

“Assembling and disassembling the integration plates” on
page 42

•

“Installing and removing the robot” on page 45

•

“Installing the computer” on page 51

•

“About the BenchBot Disable Hub” on page 52

•

“About the Light Curtain” on page 56

•

“About the shield” on page 59

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Summary of Contents for BenchBot

Page 1: ...BenchBot Robot Safety and Installation Guide Original Instructions...

Page 2: ...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...

Page 3: ...ons 17 BenchBot integration plate specifications 18 Robot mounting specifications 22 Safety equipment space requirements 24 Computer placement requirements 31 Workspace specifications 32 Electrical re...

Page 4: ...Contents iv BenchBot Robot Safety and Installation Guide...

Page 5: ...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...

Page 6: ...nd 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...

Page 7: ...ion 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 Agilen...

Page 8: ...ng Europe Phone 44 0 1763850230 email euroservice automation agilent com US and rest of world Phone 1 800 979 4811 US only or 1 408 345 8011 email service automation agilent com Reporting hardware pro...

Page 9: ...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 thi...

Page 10: ...Preface Reporting problems x BenchBot Robot Safety and Installation Guide...

Page 11: ...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 Ele...

Page 12: ...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 p...

Page 13: ...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 abo...

Page 14: ...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 devic...

Page 15: ...tion 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 o...

Page 16: ...egrated 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...

Page 17: ...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 sp...

Page 18: ...otates 186 about the shoulder 2 Elbow Robot forearm rotates 336 about the elbow 3 Wrist Robot hand rotates to any angle about the wrist 4 Mast Robot arm moves up and down along the mast WARNING Keep c...

Page 19: ...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...

Page 20: ...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...

Page 21: ...obot dimensions on page 17 BenchBot integration plate specifications on page 18 Robot mounting specifications on page 22 Safety equipment space requirements on page 24 Computer placement requirements...

Page 22: ...age 24 Because the robot power cord is 2 7 m 9 ft long locate the BenchBot Robot within 2 7 m 9 ft of an electrical outlet Be aware that the power communication and pendant connections are on the left...

Page 23: ...table requirements on page 14 Robot dimensions Robot dimensions on page 17 Integration plate specifications BenchBot integration plate specifications on page 18 Robot mounting specifications Robot mou...

Page 24: ...487A 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 w...

Page 25: ...bers to prevent the table from swaying when the workstation is in operation The frame must have some provisions for securing the table surface Table legs must be a maximum of 152 cm 60 in apart Table...

Page 26: ...late specifications on page 18 Robot mounting specifications Robot mounting specifications on page 22 Space requirements for the safety equipment Safety equipment space requirements on page 24 Space r...

Page 27: ...m 48 4 cm 48 4 cm 23 5 cm Dimension Value Height 68 2 cm 26 8 in Width 23 5 cm 9 3 in Depth 48 4 cm 19 0 in Weight 19 kg 42 lb For information about See Robot workspace Workspace specifications on pag...

Page 28: ...es that can be assembled to provide a stable mounting surface for the BenchBot Robot Available in different sizes the integration plates can be combined to create custom size mounting surfaces to meet...

Page 29: ...mm x 305 mm 24 in x 12 in Total dimensions column The dimensions value is the total measurement of the plate the mounting surface plus the lip of the plate The lip is the 12 7 mm 0 5 in of ledge surro...

Page 30: ...holes as shown in the diagram For assembly instructions see Installing the robot on page 27 Figure Countersink holes for joining adjacent plates Plate mounting specifications M5 FHSC screws supplied a...

Page 31: ...ing hole specifications The following diagram shows the integration plates and the spacing of the holes for mounting the robot and devices The spacing of the device mounting holes are uniform across a...

Page 32: ...the layout of the robot and devices be aware that the robot or any device can straddle two or more plates Robot base dimensions Figure BenchBot Robot base top view left and side view right Robot base...

Page 33: ...egration plates or attachment surface Operating the robot without bolting it down can create excessive vibration causing inaccurate pick and place performace In addition it can cause the robot to fall...

Page 34: ...pment consists of the following BenchBot Disable Hub Emergency stop pendant One of the following Light Curtain Shields The following diagram shows an example workstation with the Light Curtain The pin...

Page 35: ...Mounting screws and washers are provided Emergency stop pendant Pendant cable 2 m 6 ft 19 13 cm 48 31 cm 35 56 cm Power Interlock Normal Bypass Interlock 6 27 cm Dimension Value Width Without mounting...

Page 36: ...ions of the posts Transmitter and receiver cables 5 0 m 16 4 ft The Light Curtain must be mounted vertically on the integration plates The following diagram and table show the dimensions of the lightp...

Page 37: ...how the spacing of the holes for the screws The lightpost can be mounted at either the corner or side of the integration plates Figure Lightpost mounting holes for corner mount Figure Lightpost mounti...

Page 38: ...re Mirror post mounting holes 3 8 cm 3 8 cm Mounting requirement Measurement Screw type M6 socket head cap screw Number of screws 3 per mirror post Hole distance center to center 3 8 cm 1 5 in corner...

Page 39: ...ound a workstation The size of a workstation determines the size and number of panels used Figure The BenchBot Robot workstation with shield L shaped mounting brackets supplied and M6 x 12 screws supp...

Page 40: ...tion about See Robot workspace Workspace specifications on page 32 Robot dimensions Robot dimensions on page 17 Integration plate specifications BenchBot integration plate specifications on page 18 Ro...

Page 41: ...4 in to the length of the table surface for the computer equipment For information about the supplied computer contact Automation Solutions Customer Service Related information For information about S...

Page 42: ...a standard labware held in the portrait orientation Figure BenchBot Robot radial reach left and vertical reach right Robot zone The robot zone is the region within which the BenchBot Robot is allowed...

Page 43: ...the robot zone The teachpoint zone is between the two boundaries IMPORTANT To optimize performance results teachpoints should be set within 30 mm to 415 mm along the z axis IMPORTANT If you are planni...

Page 44: ...pace requirements Safety equipment space requirements on page 24 Computer placement requirements Computer placement requirements on page 31 Electrical requirements Electrical requirements on page 35 E...

Page 45: ...240 VAC Frequency 50 60 Hz Current 4 A Power consumption 200 W typical Fuses 6 3 A 250 V time delay 5 mm x 20 mm Chassis plug IEC 60320 C14 For information about See General placement considerations G...

Page 46: ...ation Operating Recommended range Temperature 4 40 C Humidity 10 90 RH non condensing Storage non operating Recommended range Temperature 20 50 C Humidity 0 90 RH non condensing For information about...

Page 47: ...rameter Value Distance between grippers Maximum 134 mm Minimum 77 mm Homed 130 mm Payload Maximum 300 g Repeatability x y z 0 1 mm Yaw xy plane 0 02 Transfer time Pick and place 5 s average For inform...

Page 48: ...r the Automation Solutions Knowledge Base at www agilent com lifesciences automation Related information For information about See Computer placement requirements Computer placement requirements on pa...

Page 49: ...tains the following topics Installation workflow on page 40 Assembling and disassembling the integration plates on page 42 Installing and removing the robot on page 45 Installing the computer on page...

Page 50: ...you should become familiar with how the BenchBot Disable Hub works with the Light Curtain and the shield See steps 8 and 9 If you have the G5487A BenchBot Robot standalone component configuration you...

Page 51: ...Workstation configuration Install the Light Curtain or shield One of the following About the Light Curtain on page 56 About the shield on page 59 10 Install the VWorks software VWorks Automation Cont...

Page 52: ...n table or attachment surface For a description of the integration plates and the specifications see BenchBot integration plate specifications on page 18 Materials and tools Make sure you have the fol...

Page 53: ...ts and then carefully place the sheets on the integration plates The drip sheets prevent spills from leaking below the integration plates 5 Mark the placement of robots and devices on the plate assemb...

Page 54: ...ion For information about See Attaching the robot Installing and removing the robot on page 45 Installing the computer Installing the computer on page 51 Installing the VWorks software VWorks Automati...

Page 55: ...BenchBot Robot on page 48 Before you start Make sure you Mount the integration plates to the workstation table Review Laboratory setup requirements on page 11 when planning the following Position of...

Page 56: ...ith the computer for setting up the computer Make sure the computer and the BenchBot Robot are turned off Make sure you have the supplied power cord Ethernet cable and robot hub cable the cable that c...

Page 57: ...m and table show the connector pinout 2 AC power entry Connects the BenchBot Robot to an AC outlet with a safety earth grounding pin 3 Ethernet port Connects the BenchBot Robot to the controlling comp...

Page 58: ...s 5 pin pendant port on the robot 2 Use the supplied power cord to connect the robot to the power source 3 Use the supplied Ethernet cable to connect the robot to the controlling computer Connect the...

Page 59: ...connect and remove the following Power cable Ethernet cable Robot hub cable G5486A BenchBot Robot or pendant cable G5487A BenchBot Robot To detach the robot 1 Using the supplied 5 mm hex wrench unscre...

Page 60: ...About the BenchBot Disable Hub on page 52 About the Light Curtain on page 56 About the Light Curtain on page 56 Turning on and turning off the robot BenchBot Robot User Guide Setting up the robot in t...

Page 61: ...nformation WARNING Where there is more than one control or operating position including operators on remote computers you must implement appropriate safety protocols to prevent the operators from hind...

Page 62: ...and four devices that are equipped with emergency stop circuitry Receives interlock circuit signals from system doors or the Light Curtain and transmits them to the robots and devices Allows access f...

Page 63: ...ected to the hub will be disabled Table Normal interlock key setting IMPORTANT You cannot always resume a protocol run after pressing the emergency stop button interrupting the Light Curtain or openin...

Page 64: ...nabled 1 Disabled 1 0 0 or 1 0 or 1 3 1 1 1 0 or 1 0 or 1 1 1 Emergency Stop Inputs Interlock Inputs BenchBot Outputs Pendant 1 Pendant 2 1 2 4 3 Robot 2 Robot 1 Light Curtain Power In 24V 1A Transmit...

Page 65: ...r devices that are equipped with emergency stop circuitry Item Name Description For information about See Safety information Safety guidelines on page 1 Planning for the safety equipment Safety equipm...

Page 66: ...imilar manner to the emergency stop pendant Lightposts project and reflect light beams around the workstation If an object disrupts the light beams the safety interlock circuit stops the robot and dev...

Page 67: ...ts to accommodate flexible configurations In the following example the Light Curtain 1 through 5 surrounds the workstation table Notice that the light transmitter is at lightpost 1 and the light recei...

Page 68: ...equirements on page 24 Installing the BenchBot Disable Hub About the BenchBot Disable Hub on page 52 Interlock key settings About the BenchBot Disable Hub on page 52 Installing the shield About the sh...

Page 69: ...have questions about the safety equipment contact Automation Solutions Technical Support This topic explains the function of the shield and describes how it works Shield description The shield surroun...

Page 70: ...s on page 24 Installing the BenchBot Disable Hub About the BenchBot Disable Hub on page 52 Interlock key settings About the BenchBot Disable Hub on page 52 Installing the Light Curtain About the Light...

Page 71: ......

Page 72: ...Safety and Installation Guide G5486 90001 Revision 01 June 2011...

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