Hardware components

About this topic

This topic describes the following Direct Drive Robot hardware features:

•	Main components

•	Microplate sensor

•	Gripper lead screw locations

•	Power supply

•	Emergency stop pendant

•	Teaching jig

•	Regrip station

Main components

The following diagrams show the main components of the Direct Drive Robot.

 

 

 

Item	Name	Description
1	Mast	The vertical structure along which the robot arm moves up and down.
2	Waist	The round structure about which the entire robot moves.
3	Arm	The appendage that consists of the bicep, forearm, hand, and grippers.
4	Base	The gray octagonal plate that attaches the robot to the target surface.

 

 

 

Item	Name	Description
5	Bicep	The upper segment of the arm that moves up and down along the mast.
6	Forearm	The lower segment of the arm that rotates about the elbow.
7	Hand	The component of the robot that rotates about the wrist.
8	Grippers	The two finger-like structures that open and close to pick up or place labware.

 

 

 

Item	Name	Description
9	Elbow	The joint that connects bicep and forearm. The forearm rotates about this joint.
10	Wrist	The joint that connects the forearm to the hand. The hand rotates about this joint.

Microplate sensor

The microplate sensor under the robot hand is used to detect the presence of labware in its grip. For more information, see Checking the robot microplate sensor.

 

Gripper lead screw locations

Two gripper lead screws on both sides of the robot hand enable you to manually open and close the robot grippers. You need to manually open and close the grippers when setting teachpoints or during troubleshooting. For information about setting teachpoints, see Setting teachpoints. To change the target open and close positions, see Changing the gripper settings.

 

 

Power supply

The robot power supply is the component that supplies electrical power to the robot and is the communication connection between the robot and the controlling computer.

The robot is supplied with power supply G5411-60010 or G5411-60005. The front of the two models are identical. The two models have different arrangement of connectors in the back.

Power switch and indicator lights

The following diagram shows the front of the robot power supply.

 

 

Item	Label	Description
1	Power	Power switch. To turn on the robot, turn the switch to the on (I) position. To turn off the power, turn the switch to the off (O) position.
2	Motor power	Robot motor indicator light. When the light is on, the robot motor is enabled. When the light is off, the robot motor is disabled. To enable or disable the robot, use the Enable robot motor or the Disable robot motor button in the DDR Diagnostics software.
3	Logic power	Robot power indicator light. When the light is on, the robot power is on. If the light is off, the robot power is off.

Power and communication connections

The following diagrams show the back of power supply G5411-60010 and G5411-60005. The model number is displayed on the serial number label (5).

Figure. Power supply G5411-60010

 

Figure. Power supply G5411-60005

 

 

Item	Label	Description
1	Power inlet	Connects the power supply unit to the power source. Use the supplied power cord.
2	Robot Cable	Connects the robot to the power supply unit. Use the supplied robot cable.
3	Ethernet	Connects the robot to the controlling computer. The power supply unit houses a 10/100 BaseT Ethernet adapter and an RJ-45 receptacle connection. The Ethernet cable is not supplied.
4	Robot disable	Connects the emergency stop pendant to the power supply unit. Use the supplied emergency stop pendant cable.
5	Serial number label	Contains the power supply model number (G5411-60010 or G5411-60005) and serial number.

Emergency stop pendant

The Direct Drive Robot is equipped with an emergency stop pendant. Pressing the red button on the pendant cuts power to the robot motors and stops the robot during an emergency.

If the robot is integrated with other devices in a system, Agilent Technologies recommends that you install a main emergency stop button to cut power to the robot and all devices simultaneously.

For detailed safety information, see the Direct Drive Robot Site Preparation and Safety Guide. For instructions on how to recover from an emergency stop, see Recovering from an emergency stop.

Note: The silver button is not used.

Figure. Emergency stop pendant.

 

Teaching jig

Supplied with the Direct Drive Robot, the teaching jig allows you to set teachpoints quickly and accurately. The teaching jig can be used for setting teachpoints in the landscape (1) or portrait orientation (2).

For instructions on how to use the teaching jig to set teachpoints, see Setting teachpoints.

Note: If size restrictions at teachpoints prevent the use of the teaching jig, you can use the labware intended for the location. For more information, see Setting teachpoints using a labware.

 

Regrip station

A regrip station is a platepad that the robot uses to:

•	Change the labware (landscape/portrait) or A1-well orientation between teachpoints that require different orientations.

•	Adjust its grip at the specified labware gripping height. The location is typically used after a robot picks up a labware higher than the specified gripping height because of physical restrictions at a teachpoint.

 

For more information about designating the platepad as a regrip station, see Designating a teachpoint as a regrip station.

Related information

 

For information about...	See...
Direct Drive Robot description	About the Direct Drive Robot
Robot specifications	Specifications and site requirements
Safety information	Direct Drive Robot Site Preparation and Safety Guide