Agilent Technologies Bravo Platform User Manual page 61

2 Setting up the Bravo Platform
Configuring external robot access
50
Software scheduling conflicts
The software resolves conflicts, where both the Bravo robot and external robot are
scheduled to approach a blocked location, as follows:
•
If the Bravo robot is at a blocked location when an external robot is scheduled to
approach, the Bravo robot will complete the task in progress before moving to a
different location. After the Bravo robot completes the move from the blocked
location, the external robot can approach the target location.
•
If the Bravo robot and the external robot are both scheduled to approach a blocked
location, the software gives priority to the request that it receives first.
For example, the Bravo robot would get priority, regardless of whether the location
is configured as blocked, if the software receives the Bravo robot's request for
access before receiving the request from the external robot.
Example scenario 1: Two BenchCel robots and the Bravo robot operating
concurrently
In this example, three robots can move concurrently at the Bravo deck:
•
BenchCel robot 1. Downstacks labware to deck location 1. The Bravo head is also
blocked from location 4 during the external robot access to prevent a potential
collision with the opened BenchCel gripper arms.
•
BenchCel robot 2. Upstacks labware from deck location 6. The Bravo head is also
blocked from locations 3 and 9 during the external robot access to prevent a
potential collision with the opened BenchCel gripper arms.
•
Bravo robot. Performs operations at locations 2, 5, 7, and 8 while the two BenchCel
robots simultaneously access the other deck locations. For example, the Bravo
robot could move a tip box from location 7 to 8, perform a Tips On task at location
8, and then aspirate and dispense at the labware on deck locations 2 and 5.
The following figure shows the deck location designations for the two BenchCel robots
and the Bravo robot.
Figure
Deck locations for Bravo robot (blue) and BenchCel robot (gray) operations
Example scenario 2: The Bravo robot, BenchBot Robot, and Direct Drive Robot
operating concurrently
In this example, three robots can move concurrently at the Bravo deck:
•
BenchBot Robot with a landscape grip. Approaches location 1 from the rear opening
in the Bravo backplate. To be conservative, location 2 is also reserved for the
BenchBot Robot and blocked for access by the Bravo robot.
However, if you are certain that the external robot's approach path would not cross
within the area that the Bravo head requires to access location 2, location 2 could
be unblocked to optimize usage.
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Plate Orientation
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Bravo Platform User Guide