Gripper tab quick reference

About this topic

The Bravo gripper can pick up labware and move it from one location to another on the Bravo deck. If the Bravo Platform includes a gripper, you use the controls on the Gripper tab to configure the gripper movements.

 

The red Stop motors button does not perform an immediate stop. The Bravo head can continue to move in the same direction at the same speed. To perform an emergency stop, press the red button on the emergency-stop pendant.

 

Procedures

You can use the Gripper tab to fine-tune the gripper movements using the following procedures:

•	Verifying the gripper setup

•	Using the gripper controls

Gripper Teaching area

 

Control or indicator	Description
Labware	Specifies the labware to be used during a move operation as defined in the Labware Editor.
Y offset	Specifies the offset to the y‑axis teachpoint at each location to center the gripper about the labware.
Teach Y offset for gripper	Calculates the offset from the selected location teachpoint to where the gripper is and applies it as the y-offset.
Approach height (mm)	Specifies a vertical offset (safe distance) above the labware.
Approach	Moves the gripper to the specified approach height.
Move	Moves the gripper to the teachpoint.

Gripper Movement area

 

Control or indicator	Description
Location A Pick A -> Place B	Specifies the origin and destination locations for the gripper to move the labware.
Location B Pick B -> Place A	Specifies the origin and destination locations for the gripper to move the labware.
Plate present in gripper	Lights when the plate sensor detects labware in the gripper.

Jog Gripper Axes area

 

Control or indicator	Description
Up -Zg, Down +Zg and increment (mm) list	Enables you to set an incremental distance (mm) to move the gripper, and then move it the specified distance along the Zg-axis. The gripper holds and moves labware along the Zg-axis from one location to another.
Open -G, Close +G and increment (mm) list	Enables you to set an incremental distance (mm) to move the gripper, and then open or close it the specified amount. The gripper grips the labware along the G-axis.
Dock gripper below head	Moves the gripper to the docked position to ensure that there is not interference when moving the liquid-handling head.
Open gripper/Close gripper	Opens and closes the gripper, respectively.
Speed	Sets the velocity of each gripper movement. For example, you might want to use a slow speed when setting the y offset.

Zg-Axis and G-Axis areas

 

Control or indicator	Description
Digital display (mm)	Displays the distance (mm) from the axis home position when the gripper is not in the home position.
Home	Homes the gripper along the selected axis.
Enable motor, Motor enabled	Enables or disables the motor for the selected axis. The Motor enabled indicator lights when the motor for the axis is turned on.

Related information

 

For information about…	See…
Opening Diagnostics	Opening Bravo Diagnostics
Troubleshooting problems	• Troubleshooting hardware problems • Troubleshooting hardware problems
Reporting a problem	Reporting problems