Setting BenchBot properties

If you are using the BenchBot in your automation system, you must specify the robot properties for the labware that the robot will handle. Because the weight, material, and design varies, you specify the properties for each labware type.

You must have a technician or administrator user account to perform this procedure.

The labware gripping offset range (Min and Max) parameters tell the VWorks software where to grip a given labware type when transferring it from one device to another. Each device within a system can pose different accessibility challenges when transferring the labware. For example, some devices can have a deep, recessed area, whereas others are more flat. Some devices might have tall flanges that make it impossible for the robot to grip a microplate at a very low point.

You can set two types of gripper offset ranges:

•

Gripper offset range for the labware. Specified on the VWorks software tab in the Labware Editor for each labware definition.

•

Gripper offset range for the device. Specified in the VWorks software Diagnostics software for a given device.

During a protocol run, the VWorks software uses three gripper offset ranges to determine the most compatible grip position for the labware:

You should set the widest possible range for each gripper offset parameter. If the three gripper offset ranges overlap, the robot will use the smallest common gripper offset to perform a direct labware transfer from device A to device B without regripping the labware. If the three ranges do not overlap, the software attempts to plan a path through one or more regrip stations. If the robot cannot perform the transfer, an error message appears at the time of the requested labware transfer.

To provide the system with the greatest flexibility for identifying a grip position that works for all locations, you should set the widest possible range for each gripper offset parameter.

Parameter	Description
Landscape Orientation Gripping Ranges (mm)	The distance from the bottom of the microplate to the lowest and highest points where the bottom of the robot grippers will be holding the microplate in landscape orientation. Default range: 0–10 mm The minimum and maximum values in the ranges depend on the given microplate features and the robot gripper fingers you are using. For example, suppose you are using standard grippers, which are 4.5 mm tall. If the microplate has a 6‑mm tall skirt, you could set the gripper offset range from 0 mm to 2.00 mm. At the minimum, the standard gripper will be flush with the bottom of the microplate. At the maximum, the bottom of the gripper will be at 2.00 mm, still permitting the robot to grip the microplate securely. Specifying multiple ranges provides the robot with additional grip options. In the following example, to avoid the ledge at the top of the skirt, you can specify two ranges: one above the skirt and another on the skirt. Use a comma to separate ranges.
Landscape Open Width	The distance, in millimeters, between the grippers when they are open for labware in the landscape orientation. Enter a value between 76 and 134 mm.
Landscape Closed Width	The approximate distance, in millimeters, between the grippers when they are closed. Enter a value between 76 and 134 mm. The Landscape Closed Width value is always used with the Landscape Tolerance value. When picking up labware, the grippers close until the Grip torque is reached. Then, the robot checks to see if the distance between the grippers is within the Landscape Closed Width value +/- the Landscape Tolerance value. If it is outside the summed value, the software will display an error message.
Landscape Tolerance	The distance, in millimeters, the Landscape Closed Width is allowed to vary without causing an error. You can enter a value between 0 and 10 mm.

Parameter

Description

Landscape Orientation Gripping Ranges (mm)

The distance from the bottom of the microplate to the lowest and highest points where the bottom of the robot grippers will be holding the microplate in landscape orientation. Default range: 0–10 mm

The minimum and maximum values in the ranges depend on the given microplate features and the robot gripper fingers you are using. For example, suppose you are using standard grippers, which are 4.5 mm tall. If the microplate has a 6‑mm tall skirt, you could set the gripper offset range from 0 mm to 2.00 mm. At the minimum, the standard gripper will be flush with the bottom of the microplate. At the maximum, the bottom of the gripper will be at 2.00 mm, still permitting the robot to grip the microplate securely.

Specifying multiple ranges provides the robot with additional grip options. In the following example, to avoid the ledge at the top of the skirt, you can specify two ranges: one above the skirt and another on the skirt.

Use a comma to separate ranges.

Landscape Open Width

The distance, in millimeters, between the grippers when they are open for labware in the landscape orientation. Enter a value between 76 and 134 mm.

Landscape Closed Width

The approximate distance, in millimeters, between the grippers when they are closed. Enter a value between 76 and 134 mm.

The Landscape Closed Width value is always used with the Landscape Tolerance value. When picking up labware, the grippers close until the Grip torque is reached. Then, the robot checks to see if the distance between the grippers is within the Landscape Closed Width value +/- the Landscape Tolerance value. If it is outside the summed value, the software will display an error message.

Landscape Tolerance

The distance, in millimeters, the Landscape Closed Width is allowed to vary without causing an error. You can enter a value between 0 and 10 mm.

Parameter	Description
Portrait Orientation Gripping Ranges (mm)	The distance from the bottom of the microplate to the lowest and highest points where the robot grippers can hold the microplate in portrait orientation. Default range: 0–10 mm The minimum and maximum values in the ranges depend on the given microplate features and the robot gripper you are using. The long sides of some microplates have a raised section in the middle of each side. In this case, set the minimum gripper offset higher than the uneven surface to ensure that the robot can grip the microplate evenly and securely. The following example shows how the range can vary depending on the microplate features. Specifying multiple ranges provides the robot with additional grip options. In the following example, you can specify three ranges: one above the raised section, one at the raised section, and one on the skirt. Use a comma to separate ranges.
Portrait Open Width	The distance, in millimeters, between the grippers when they are open for labware in the portrait orientation. Enter a value between 76 and 134 mm.
Portrait Closed Width	The approximate distance, in millimeters, between the grippers when they are closed. Enter a value between 76 and 134 mm. The Landscape Closed Width value is always used with the Landscape Tolerance value. When picking up labware, the grippers close until the Grip torque is reached. Then, the robot checks to see if the distance between the grippers is within the Landscape Closed Width value +/- the Landscape Tolerance value. If it is outside the summed value, the software will display an error message.
Portrait Tolerance	The distance, in millimeters, the Landscape Closed Width is allowed to vary without causing an error. Enter a value between 0 and 10 mm.

Parameter

Description

Portrait Orientation Gripping Ranges (mm)

The distance from the bottom of the microplate to the lowest and highest points where the robot grippers can hold the microplate in portrait orientation. Default range: 0–10 mm

The minimum and maximum values in the ranges depend on the given microplate features and the robot gripper you are using. The long sides of some microplates have a raised section in the middle of each side. In this case, set the minimum gripper offset higher than the uneven surface to ensure that the robot can grip the microplate evenly and securely. The following example shows how the range can vary depending on the microplate features.

Specifying multiple ranges provides the robot with additional grip options. In the following example, you can specify three ranges: one above the raised section, one at the raised section, and one on the skirt.

Use a comma to separate ranges.

Portrait Open Width

The distance, in millimeters, between the grippers when they are open for labware in the portrait orientation. Enter a value between 76 and 134 mm.

Portrait Closed Width

The approximate distance, in millimeters, between the grippers when they are closed. Enter a value between 76 and 134 mm.

Portrait Tolerance

The distance, in millimeters, the Landscape Closed Width is allowed to vary without causing an error. Enter a value between 0 and 10 mm.

In the Grip torque box, type the percent of maximum grip force the robot must use when gripping labware. The range is 0 to 100.

For information about...	See...
Workflow for adding labware to the Labware Editor	Workflow for defining labware
Opening the Labware Editor	Opening the Labware Editor
Using the Labware Editor	Labware Editor overview
Direct Drive Robot	Direct Drive Robot User Guide
BenchBot	BenchBot Robot User Guide

For information about...

See...

Workflow for adding labware to the Labware Editor

Workflow for defining labware

Opening the Labware Editor

Using the Labware Editor

Labware Editor overview

Direct Drive Robot

Direct Drive Robot User Guide

BenchBot

BenchBot Robot User Guide