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Infinium LiHa and Infinium RoMa Operating Manual - Document # 1000000110155 v00
4 - Description of Function
Function
4.3.2 Robotic Manipulator Arm Standard (RoMa Standard)
The robotic manipulator arm is used to transport microplates, reagent blocks,
deep well plates, etc. to different positions on the worktable or for storage in the
microplate shelf.
The RoMa standard coordinate system consists of five axes; the X-axis, the Y-axis
and the Z-axis defining linear movements and the R-Axis defining rotational
movements. The grippers can move in horizontal direction (G-axis).
Fig. 4-5
Robotic manipulator arm RoMa
R
Z
G
Y
X
G
Axis for gripper movements
R
Rotational axis
X
Axis from left to right of worktable
Y
Axis from front to back of worktable
Z
Vertical axis above worktable