Emergency stops

The BenchCel Microplate Handler is equipped with an interlock circuit and emergency-stop pendant. When the BenchCel Microplate Handler is integrated 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.

 

CAUTION You might not be able to resume a protocol after an emergency stop. Do not use an emergency stop to pause a run. To pause and continue a run, use the appropriate commands in the automation software.

Stopping in an emergency

 

WARNING  After pressing the emergency-stop button, the robot arm might have momentum and continue to move until it comes to the end of its travel in the x-axis, z-axis, or theta-axis or until it bumps into an obstacle. Stay clear of the robot until it stops moving.

To perform an emergency stop:

Press the red button on the pendant. The safety interlock circuit is interrupted, disabling the robot motors. The BenchCel Microplate Handler operation stops.

 

Recovering from an emergency stop

After you press the button on the emergency-stop pendant, the robot stops. One of the following occurs:

•	If you stopped a protocol run, a dialog box opens in the VWorks software.

•	If you stopped the robot while diagnosing problems in BenchCel Diagnostics, a motor-disable message appears on the screen.

Use the following procedure to recover in either case.

To recover the BenchCel device after an emergency stop:

1	If the robot dropped labware before or during the emergency stop, remove labware that was dropped. Also remove labware at teachpoints or other locations.

2	If the BenchCel robot attempted to place labware at a location that was not free, a collision might have occurred resulting in misalignment of the robot gripper. Check the robot gripper alignment:

a	Move the robot arms so that they are perpendicular to the x-axis.

b	Make sure the bottom of the robot gripper pads are perpendicular to the robot arms. If they are not, contact Agilent Automation Solutions Technical Support.

Figure. Gripper alignment: (A) correct alignment, and (B) incorrect alignment

 

3	At the emergency-stop pendant, turn the button clockwise to restore power to the motors.

 

4	If you stopped a protocol run in an emergency, select one of the following in the VWorks software message dialog box:

 

Selection	Description
Diagnostics	Opens the BenchCel Diagnostics dialog box. See step 5. Note: This selection is available only when you are in the middle of a protocol run and not while you are in BenchCel Diagnostics.
Retry	Attempts to restart the current command or task in the run.
Ignore and continue	Ignores the current command or task and continues to the next command or task in the protocol sequence.
Abort	Aborts the current command or task in the run. Select Abort if you have determined that the protocol run is not recoverable.

For a full description of the selections, see the VWorks Automation Control User Guide.

5	Optional. In BenchCel Diagnostics, use the available commands to manually move the robot or other components, including:

•	Release the microplate that the robot is currently holding.

•	Upstack the microplate that the robot is currently holding.

•	Replace the lid on the microplate.

•	Home the robot.

•	Verify teachpoints.

If a physical crash occurred, always start BenchCel Diagnostics to home the robot and verify teachpoints.

Related information

 

For information about…	See…
Pausing and resuming protocol runs	VWorks Automation Control User Guide
Using commands in BenchCel Diagnostics	Diagnostic tools
Complete list of available commands in BenchCel Diagnostics	Quick reference
Reporting a problem	Reporting problems