1. Manuals
  2. Brands
  3. Caliper Life Sciences Manuals
  4. Laboratory Equipment
  5. Twister II
  6. User manual

Caliper Life Sciences Twister II User Manual

Robot
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Twister II Robot
®
User's Manual
©
Copyright 2001 - 2006 Caliper Life Sciences, Inc. All rights reserved.
P/N 113564 Rev. 2

Advertisement

Table of Contents
loading

Summary of Contents for Caliper Life Sciences Twister II

  • Page 1 Twister II Robot ® User’s Manual © Copyright 2001 - 2006 Caliper Life Sciences, Inc. All rights reserved. P/N 113564 Rev. 2...

  • Page 2: Caliper Life Sciences, Inc. Product Warranty

    Caliper Life Sciences, Inc. Product Warranty Caliper Life Sciences, Inc. Product Warranty I. INSTRUMENTS ® Caliper Life Sciences, Inc. (“Caliper”) warrants your Caliper-manufactured instrument’s hardware and firmware against defects in material and workmanship for a period of one (1) year from the date of shipment, subject to the exclusions set forth below and: (i) the warranty for...
  • Page 3 Caliper Life Sciences, Inc. Product Warranty • The Sciclone 384-channel low-volume head is warranted for one (1) year or 750,000 aspirate or dispense movements, whichever comes first. • The Sciclone 100nL head is warranted for one (1) year or 600,000 aspirate or dispense movements, whichever comes first.

  • Page 4: Caliper Life Sciences, Inc. Software License Agreement

    Caliper Life Sciences, Inc. Software License Agreement Caliper Life Sciences, Inc. Software License Agreement Thank you for purchasing our products. PLEASE READ THE TERMS AND CONDITIONS OF THIS LICENSE AGREEMENT CAREFULLY BEFORE OPENING THE PACKAGE CONTAINING THE SOFTWARE MEDIA, THE COMPUTER SOFTWARE CONTAINED THEREIN, AND THE ACCOMPANYING USER DOCUMENTATION (COLLECTIVELY REFERRED TO HEREIN AS THE "PROGRAM").
  • Page 5 Caliper Life Sciences, Inc. Software License Agreement Software Updates. Licensor periodically creates Software updates which will be made available to you at no charge. Thereafter, Licensor shall not be responsible for your use of, and shall not warrant or repair, superseded or outdated versions of Software.

  • Page 6: Preface

    WARNINGS • To reduce the risk of electric shock, do not remove the cover. No user serviceable parts are inside the Twister II. Refer to qualified service personnel if help is required. • Use this product only in the manner described in this manual. If...
  • Page 7 Preface AVERTISSEMENTS • Pour réduire le risque de choc électrique, ne pas retirer le couvercle. Le Twister II ne contient aucune pièce pouvant être réparée par l’utilisateur. Au besoin, confier l’appareil à un réparateur qualifié. • Ce produit ne doit être utilisé que comme décrit dans ce manuel.
  • Page 8 • This device may not cause harmful interference, and • This device must accept any interference received, including interference that may cause undesired operation. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 9 REMARQUE Tout changement ou modification apporté à cet instrument non expressément approuvé par l’entité responsable de la conformité peut annuler l’autorisation d’opérer l’appareil accordée à l’utilisateur. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 10 Risk of puncture injury. Risque de blessure par piqûre. Risk of eye injury; wear safety glasses. Risque de lésion oculaire; porter des lunettes de sécurité. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 11 Symbole de terre de protection. Ground symbol. Symbole de terre. Fuse. Fusible. Alternating current. Courant alternatif. On (supply). Marche (alimentation). Off (supply). Arrêt (alimentation). CE compliance mark. Marque de conformité CE. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 12 Attention, danger potentiel de l’appareil Rouge Arrêter sont codées Bleu Intervention obligatoire couleur: Vert Condition sûre ou informations de sécurité Helpful hints, additional information Conseils utiles, informations supplémentaires P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 13: Table Of Contents

    Setting up a Storage Configuration .............. 29 iLink PRO Storage Setup .................. 35 Adding Materials to the Twister II Racks in iLink PRO ........35 Example: Adding Multiple Materials to Twister II Racks ....... 38 Running the Robot with Caliper Automation Control Software ......42 Starting the Robot Software in Remote Mode ..........
  • Page 14 Pod Parts and Functions................93 Twister II Power/Fuse Assembly ..............98 Optional Components .................. 98 Assay Engine Twister II Parts and Functions ............. 99 Assay Engine Twister II Top View ..............99 Assay Engine Twister II Rack Position Numbers ........100 Assay Engine Twister II Power/Fuse Assembly..........
  • Page 15 Stack Storage Configuration Window ............166 Delete Configuration Window..............167 Runtime Stack Storage Configuration Window ........... 168 About Stack Storage Window..............170 Appendix B: Twister II Specifications..............171 General Instrument Specifications ..............171 Robotic Arm ....................171 Physical Performance ..................171 Physical ......................

  • Page 16: Introduction

    If you are using iLink software, see the iLink User’s Manual for information on the Robot software. The Twister II robot is used to move microplates and lids between instruments in an automated system. The hardware descriptions, Twister II maintenance, and Twister II troubleshooting procedures are included in this manual.

  • Page 17: Robot Software Terminology

    Twister II software. System Operators should be familiar with the definitions of positions and paths if they will be re-teaching the Twister II robot positions. System Integrators must be familiar with all of the definitions provided in this section.
  • Page 18 Moves to the instrument’s Safe position When placing a material into an instrument, the sequence above is used, except the Place<PositionNumber> and the PlaceClearance<PositionNumber> positions are used instead of the Pick positions. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 19: Paths

    Absolute position reached. Relative positioning should be used only by advanced users. Most users only need to use the Teach Wizards in the Twister II robot software to create the required positions and paths.

  • Page 20: Robot Procedures

    When the Robot software is started in Remote mode by the automation control software, the automation control software automatically opens the INI file with the same name as the robot resource to control the robot. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 21: Storage Configuration Using Stack Storage Software

    INI files as a template to create multiple robot resources with different names, as described below. Example: If a Twister II robot resource will be named “Robot” in the automation control software, you must create an INI file named Robot.ini before you add the robot to the automation control...

  • Page 22: Material Layout Using Ilink Pro Storage Software

    Material Layout using iLink PRO Storage Software The iLink PRO Storage software for the Twister II racks is used with the iLink PRO automation control software to set up the initial material layout. The initial material layout shows where to place the materials in the racks before starting to run an iLink PRO method.

  • Page 23: Operation

    Keep all objects out of the path of the robot arm. Robot Software Setup The Twister II software setup procedures must be performed before integrating the robot with the other instruments in the system and with the Caliper automation control software. The following...

  • Page 24: Start The Robot Software

    Turn on the robot power switch. On the Windows task bar, select Start→ All Programs→ Caliper Life Sciences→ Instruments→ Caliper Life Sciences Robot→ Caliper Life Sciences Robot. The Robot software starts and the main window opens, as shown in Figure Figure 1.

  • Page 25: Create A New Robot Project

    When the project is saved, the Robot software stores the robot data in all appropriate files of the same name. For example, changes to the TwisterII project are saved in TwisterII.ini, TwisterII.xpd, and TwisterII.pos. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 26: Configure The Robot Software

    Open the Settings window and set the Comm port for the robot. Repeat for all robots in the system. “Initialize and Home the Robot” on page 27. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 27: Initialize And Home The Robot

    Rotary - Robot rotates to a position above rack 2. • Wrist - Twister II: The wrist rotates the grips to a position perpendicular to the robot arm. XP Robot: The wrist rotates the grips to a position parallel to the work surface.

  • Page 28: Customize The User Interface

    If desired, you can customize the tool bars in the Robot software. Use the down-arrow icons on the tool bars to access the Customize Tool bars menu. See the Windows Help file for instructions on customizing tool bars. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 29: Stack Storage Setup

    Operation Stack Storage Setup This section is only for systems using a Twister II robot with the CLARA software. The XP robot does not use the Stack Storage software. If you are using iLink, see the iLink User’s Manual. If you are using iLink PRO and the iLink PRO Storage software, see “iLink...
  • Page 30 Figure Figure 6. Browse for Computer Window Locate the computer where CLARA is installed, select the computer name, and click the OK button. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 31 ‘Material2’ is a Polystyrene, 96microplate, flat bottom plate. Grouping by name creates a configuration with all Material1 grouped together and all Material2 grouped together; i.e., each material name is assigned to a different rack. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 32 It is the user’s responsibility to place the materials in the racks properly, based on the CLARA application. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 33 The total stack of materials MUST be below the top of the rack. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 34 CLARA software. 15 The New Stack Storage Configuration window opens as shown in Figure Figure 11. New Stack Storage Configuration Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 35: Ilink Pro Storage Setup

    PRO Storage Setup This section is for systems using a Twister II robot with the iLink PRO software. If you are using iLink, see the iLink User’s Manual. If you are using CLARA and the Stack Storage software, see “Stack...
  • Page 36 Drag and Drop to Rack 2 Figure 14. Multiple Racks for One Material If the method moves the plates to an empty Twister II rack during the method, you must define an output rack: Drag the material from the last input rack to the output rack.
  • Page 37 Operation Adding Materials to the Twister II Racks in iLink PRO (Continued) Figure 15. Twister II Output Rack If the method discards the material to a waste location or puts it into a different storage instrument instead of placing it into an empty rack, you do not need to define an output rack.

  • Page 38: Example: Adding Multiple Materials To Twister Ii Racks

    Example: Adding Multiple Materials to Twister II Racks This example demonstrates how to add three plates with different names to the same Twister II racks. The plate names will be Mother, Daughter, and Destination. All three plates must be the same plate type.
  • Page 39 Operation Example: Adding Multiple Materials to Twister II Racks (Continued) Drag the Daughter plate from rack 2 to rack 3. Drag from Rack 2 to Rack 3 Figure 17. Twister II Output Rack Drag the Make Output icon onto rack 3. The layout for Daughter is complete.
  • Page 40 Operation Example: Adding Multiple Materials to Twister II Racks (Continued) Drag the Destination plate from rack 2 to rack 3. Drag from Rack 2 to Rack 3 Figure 19. Twister II Output Rack 10 Drag the Make Output icon onto rack 3. The layout for Destination is complete.
  • Page 41 Operation Example: Adding Multiple Materials to Twister II Racks (Continued) 14 Drag the Mother plate from rack 2 to rack 3. Drag from Rack 2 to Rack 3 Figure 21. Twister II Output Rack 15 Drag the Make Output icon onto rack 3. The layout for Mother is complete.

  • Page 42: Running The Robot With Caliper Automation Control Software

    Once a run is started, do not add or remove plates from instruments or racks, and do not interfere with the movement of the Twister II arm. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 43: Loading The Materials Into The Twister Ii Racks

    Any discrepancy in the material count will result in a CLARA error. See the CLARA User’s Manual for details on running CLARA applications. In CLARA, to monitor the materials in the Twister II racks, see “Viewing the Material Positions while a CLARA Application is Running” on page If an error occurs while moving a material, see “Error Recovery”...

  • Page 44: Viewing The Material Positions While A Clara Application Is Running

    Stack Storage main window is enabled. Select View→Runtime. The Runtime Stack Storage Configuration window displays the current position of the materials in the Twister II racks as shown in Figure 23 on page Figure 23. Runtime Stack Storage Configuration Window The material positions and the rack data columns update in real time as the materials are moved.

  • Page 45: Error Recovery

    Robot software to move or re-position the robot before you can Retry, Continue, or Abort the run. If the robot is moving a material to or from the Twister II racks when an error occurs, you should view the current material positions in the racks.
  • Page 46 Move, use the instrument’s software to prepare the instrument. In CLARA, choose Skip to skip over the instruction that generated the error or choose Retry to retry the instruction that generated the error. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 47 Operation If the error occurs during a move from a Twister II rack to another Twister II rack: Leave the error displayed in the CLARA software. (This ensures that no new instructions begin executing while you recover from the error.) Click the Robot Software button on the Windows task bar to display the Robot software.

  • Page 48: Retry Operation

    +/- buttons to put the materials in the positions they would be in after the instruction that caused the error. Choose the Continue option in the CLARA software. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 49: Abort Operation

    All output racks must be empty, and the input racks must be properly loaded. See the CLARA User’s Manual for instructions on recovering applications. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 50: Moving The Robot Manually

    Turn on the robot. On the Windows task bar, select Start→ Programs→ Caliper Life Sciences→ Instruments→ Caliper Life Sciences Robot→ Caliper Life Sciences Robot. The Robot software starts and the main window opens, as shown in Figure Figure 24. Robot Software Main Window P/N 113564 Rev.

  • Page 51: Opening The Correct Ini File

    Comm port setting and positions and paths that were taught for the system.) Click the Open button to open the project file and display the robot settings, positions, and paths. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 52: Initializing And Homing The Robot

    Reach - Arm fully retracts. • Rotary - Robot rotates to a position above rack 2. • Wrist - Twister II: The wrist rotates the grips perpendicular to the robot arm. XP Robot: The wrist rotates the grips parallel to the bench. •...

  • Page 53: Moving The Robot

    Type the desired numeric position in the Target Position text box and then press the Enter key. Hover the cursor over the text box to view the range of motion on each axis. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 54 Home All Axes button to home the robot before moving the robot to any other positions. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 55: Moving The Robot To An Instrument Position

    Click the Move To button to move the robot. If the path out of the instrument is not clear, execute the Clear path for the instrument position to move the robot out of the instrument. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 56: Teaching The Robot

    Teaching the Robot Overview This section describes how to teach robot positions using either the Robot Teach Wizard (for use only with Twister II robots) or using the Robot software. When teaching a Twister II robot, you use the Teach Wizard to...
  • Page 57 Click the Add button below the Names list. • If CLARA or iLink PRO is not installed, the Instrument Name window opens. Type the name of the Twister II storage racks in the Instrument Name window and click the OK button. Go to step 5.
  • Page 58 Teaching the Robot Teaching the Twister II Storage Racks (Continued) • Click the Yes button to open the Instruments window (see page 132) and display a list of the resources that have been created in CLARA or iLink PRO. Choose the name of the storage racks from the list and click the OK button.
  • Page 59 Teaching the Robot Teaching the Twister II Storage Racks (Continued) To teach the Twister II storage racks, click the Yes option and click the OK button. The Rack Teach Wizard Welcome Window opens as shown in Figure Figure 32. Rack Teach Wizard - Welcome Window Follow the instructions on the Welcome window and then click the Next button.
  • Page 60 Teaching the Robot Teaching the Twister II Storage Racks (Continued) Click the Next button to display the Select Racks window as shown in Figure Figure 34. Rack Teach Wizard, Select Racks Window 10 Select the check boxes next to the numbers of the racks in the system.
  • Page 61 Teaching the Twister II Storage Racks (Continued) 12 Follow the instructions on the Place Teach Block window: Place the teach block (included with the Twister II) on the top of rack 1. Be sure the teach block rests flat on the top of the rack.
  • Page 62 Teaching the Robot Teaching the Twister II Storage Racks (Continued) WARNING Make sure hands and fingers are away from the robot before performing the next step. 15 Click the Next button to teach the position. The robot grippers close on the teach plate. If you are teaching more than one rack,...
  • Page 63 Teaching the Robot Teaching the Twister II Storage Racks (Continued) Figure 38. Rack Teach Wizard, Finish Window 18 Click the Finish button. The Save Changes window opens as shown in Figure Figure 39. Save Changes window 19 Click the Yes button to save the positions. The Rack Teach Wizard closes and the Robot software main window opens.

  • Page 64: Teaching The Instrument Positions

    Initialize button to initialize the robot, and click the Home All Axes button to Home the robot before teaching. Click the Teach tab on the Robot software main window. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 65 Choose the name of the instrument from the list and click the OK button. Choosing from the list ensures that the name of the taught positions exactly matches the name of the instrument in CLARA or iLink. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 66 Figure 43. Select Teaching Wizard Window To teach an instrument, click the No option and click the OK button. The Instrument Teach Wizard Welcome Window opens as shown in Figure P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 67 If desired, adjust the speed that the robot will move at when moving to and from the racks. 10 Click the Next button to display the Plate Delivery Mode window as shown in Figure 46 on page P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 68 13 Use the arrow buttons next to the Number of Locations text box to set the number of material locations that the robot will access in the instrument. The default is 1. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 69 16 Click the Next button. The Place Microplate window opens as shown in Figure Figure 49. Instrument Teach Wizard, Place Microplate Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 70 17 Place an empty microplate in the plate location shown in the Place Microplate window. Make sure the plate is flat, flush and as centered as possible. 18 Hold the Twister II arm so it does not drop. WARNING You must support the robot arm before performing the next step! When the robot motors are released, the arm will drop if not supported.
  • Page 71 23 Click the Next button to teach the position. The Different Pick Position window opens as shown in Figure 52 on page P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 72 25 If you selected Yes, do not click the Next button. Continue with step 26 below. If you selected No, click the Next button and go to step 29. 26 Hold the Twister II arm so it does not drop. WARNING You must support the robot arm before performing the next step! When the robot motors are released, the arm will drop if not supported.
  • Page 73 Be careful not to move the microplate. Using the controls on the Robot software main window, close the grips around the material. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 74 31 Click the Next button to teach the position. The Teach Clearance Path window opens as shown in Figure Figure 55. Instrument Teach Wizard, Teach Clearance Path Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 75 When the robot motors are released, the arm will drop if not supported. Hold the Twister II arm so it does not drop. b Click the Disable button to release the robot servo motors so you can move the robot to the desired position. Make sure the robot can reach the next position by moving in a direct line from any material position in the instrument.
  • Page 76 36 Click the Yes button to save the positions. The Instrument Teach Wizard closes and the Robot software main window opens. 37 To permanently save changes, select File→Save to save the robot project. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 77: Example: Sciclone Position Numbers And Locations

    The location of the Twister II robot determines which positions can be accessed. As an example, if the Twister II Robot is located on the right side of the Sciclone and can reach 5 positions, when teaching the robot using the Instrument Teach wizard: Set the Number of Locations to 5 (because that is the number of positions you will be teaching).

  • Page 78: Example: Teaching The Clear Path For The Sciclone

    In this example, the Sciclone positions and locations that the robot can access are shown below. Depending on the type of Twister II robot you have and the location of the robot, you must determine which positions your robot can access.
  • Page 79 Click the Disable button to release the robot motors so you can move the robot to the desired position. Move the Twister II arm (still gripping the microplate) from the Sciclone position that you are teaching straight in toward the Twister II tower.
  • Page 80 Sciclone deck position, • the arm is fully retracted toward the tower, and • the wrist is rotated so the plate will not hit the Sciclone leg when rotating. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 81 13 Click the Disable button to release the robot motors to teach the second Sciclone clear position. If you did not use a microplate to hold up the Twister II arm, make sure to support the arm before clicking the Disable button.
  • Page 82 Example: Teaching the Clear Path for the Sciclone (Continued) 17 Rotate the Twister II wrist (without rotating the entire arm, just the wrist) so the short edge of the microplate is toward the front of the system, and the wrist is straight (aligned with the arm) as...

  • Page 83: Teaching The Xp Robot

    64), or you can teach the positions manually (see below). When teaching the XP robot, the Twister II storage racks are not used to hold materials and the Stack Storage software is not used to create the initial Storage Configuration. Use the software for the storage instrument where the materials are located at the beginning of the run to set up the initial storage configuration.
  • Page 84 For more information on position types, see “Additional Position Types” on page Click OK to save the position. The position is displayed in the Positions list. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 85 V1, select the Robot instrument. Select the position you want to change and click the Change button. The position is updated with the current position of the robot. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 86: Testing The Positions And Paths

    Click the Teach tab. Click the Test and Verify tab (see Figure 68). Select the instrument you want to test on the Names tab (see Figure 68). P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 87 The PutPlate command causes the robot to move in one direct motion to the selected position’s Safe position.Be sure there is nothing in the path of the robot arm to prevent a robot crash. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 88 Return to step 2 on page 86 and repeat until all material locations have been tested and verified. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 89: Twister Ii Hardware

    Racks (3) - Racks that hold various types of materials. The top of the materials in the rack can not extend above the top of the rack. Additional pods can be added to the Twister II for a total of up to nine racks.

  • Page 90: Robot Axes

    11.25” (28.5 cm.) to 19.75” (50.1 cm.) from the center of the robot post. The total span is 8.5” (21.6 cm.). The Twister II robot uses the reach movement to place materials at variable distances, which enables the additional capacity of the three-rack pod arrangement and enables the Twister II to access instruments at various distances from the Twister II.
  • Page 91 Mechanical stops prevents continuous rotation. The 340 rotation provides the ability to deliver and retrieve plates to almost any point around the circumference of the Twister II. The position above each of the rack locations and instruments must be taught after hardware and software installation.

  • Page 92: Twister Ii Robot Parts And Functions

    Twister II Robot Parts and Functions Twister II Robot Canister The Twister II robot canister is the base of the robot. The canister is used to rotate the arm and to secure the pod to the robot in a permanent, level position. For more information on the pods, see “Pod Parts and Functions”...

  • Page 93: Rack Position Numbers

    Figure 73. Rack Numbers Pod Parts and Functions Pods are platforms attached to the Twister II robot that hold three storage racks. One pod (included with the Twister II) contains the power entry port assembly and provides power to the robot.
  • Page 94 Power Switch Rocker switch labeled 1/0. When the switch is on (1), the LED light turns on. Make sure the Twister II is positioned to allow access to the power switch to easily disconnect or turn off/on the unit. P/N 113564 Rev. 2 Twister II Robot User’s Manual...
  • Page 95 One pod contains the power entry port and the power connections to the robot. Each Twister II robot must have exactly one pod with the power entry port. Securing...
  • Page 96 A retractable pin that presses against the base of the rack to hold the rack on the pod. Rack Locator Centers the rack and holds the rack on the pod. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 97 Connector Location of the power and communication Location cables that connect to the robot canister. Pod Set Screws Set screws to stabilize the pod. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 98: Twister Ii Power/Fuse Assembly

    Twister II Power/Fuse Assembly The Power Entry Port/Fuse assembly is located on the side of one pod. There is always only one power entry port for the Twister II, regardless of the number of pods. Additional pods do not have power connectors.

  • Page 99: Assay Engine Twister Ii Parts And Functions

    The Assay Engine Twister II base contains the components to rotate the robot arm around the center axis, and three rack locations. The Assay Engine Twister II base is designed to enable the robot base to be secured to the side of a Caliper Sciclone ALH 3000 liquid handler.

  • Page 100: Assay Engine Twister Ii Rack Position Numbers

    Twister II Hardware 100 Assay Engine Twister II Rack Position Numbers Rack positions are numbered counter-clockwise, with position 1 closest to the front of the Assay Engine Twister II (see Figure 80). Rack 3 Rack 2 Rack 1 Figure 80. Rack Numbers...
  • Page 101 Rocker switch labeled 1/0. When the switch is on (1), the LED power light turns on. Make sure the Assay Engine Twister II is positioned to allow access to the power switch to easily disconnect or turn off/on the unit.

  • Page 102: Rack Parts And Functions

    Each rack has two side handles and one top handle to facilitate removal and transport. You teach the rack positions using the Twister II Robot software. The racks are interchangeable, but each rack is marked with the pod position, and you may need to re-teach the rack position if racks are changed.

  • Page 103: Communications Cable

    Communications Cable The communications cable connects to the communications port on the side of the Twister II pod or the back of the Assay Engine Twister II and to a serial communications port on the computer. Only one comm port on the computer is required for the Twister Additional comm ports are required for additional instruments to the system.

  • Page 104: Twister Ii - Maintenance

    See “Contact Us” on page Cleaning the Twister II WARNING Reagents used in processing activities with the Twister II may be corrosive, radioactive, flammable, and/or toxic. Refer to the MSDS (Material Safety Data Sheet) for detailed information. • Avoid direct contact with spilled liquid.

  • Page 105: Cleaning The Rack Base

    Twister II - Maintenance 105 Cleaning the Rack Base The surface beneath the Twister II racks must be clean at all times. Debris or dust under the racks will mis-align the robot and the racks. Changing the Twister II Fuse(s) Twister II Fuses: •...
  • Page 106 Figure 84. 100/120V Fuse Configuration Fuse Locations (1.6Amp) Figure 85. 240V Fuse Configuration To convert the Twister II fuse configuration for 240V~ operation: Using the small, flat-blade screwdriver, loosen the fuse block screw 2 or 3 turns, but do not remove it.
  • Page 107 Twister II - Maintenance 107 Changing the Twister II Fuse(s) (Continued) Remove the 3Amp fuse. d Turn the fuse block over and replace with the two fuse locations facing up, as shown in Figure Tighten the screw to secure the fuse block to the cover.

  • Page 108: Changing The Assay Engine Twister Ii Fuses

    To order replacement fuses, please contact Caliper Technical Support. See “Contact Us” on page The Assay Engine Twister II operates at 100 - 240V~ using two 2.5A fuses. For instructions for the Twister II, see “Changing the Twister II Fuse(s)” on page 105.

  • Page 109: Moving The Twister Ii

    Disconnect the communications cable from the side of the pod. Prepare a space to accommodate the Twister II during the move (an empty area on the lab bench or a sturdy cart). Disconnect all the pods from the robot canister. Reverse the hardware installation steps in the Robot Installation Instructions.

  • Page 110: Long-Term Shutdown

    Robot Installation Instructions. Long-Term Shutdown If the Twister II will not be used for an extended period of time, clean the external surfaces of the instrument, unplug the power cord, and cover the Twister II and racks with a plastic or cloth cover.

  • Page 111: Troubleshooting

    Caliper Technical Support (see “Contact Us” on page Twister II Troubleshooting Issue 1 The Twister II does not turn on properly when switched on, or does not initialize. Possible Cause Solution Power cord not firmly attached Verify power cord is securely seated in receptacle.
  • Page 112 Troubleshooting 112 Issue 3 The Twister II does not properly place materials into an instrument or the storage racks. Possible Cause Solution The instrument was moved Re-teach the instrument positions (see page 113). The wrong rack is in a rack position Either place the proper rack in the position or (e.g.

  • Page 113: Re-Teaching The Storage Positions

    Troubleshooting 113 Re-Teaching the Storage Positions If you have added additional pods or racks to the Twister II or if the racks have been moved slightly and are not properly aligned with the robot, you should re-teach the storage positions. You can teach...

  • Page 114: Adjusting The Instrument Positions

    For problems with rack positions, you should re-teach the rack positions, as described on page 113. If you continue to have problems, contact Caliper Technical Support (see “Contact Us” on page P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 115: Twister Ii Performance Checks

    Twister II Performance Checks Use the procedures in this section to verify whether there are problems with the Twister II. If all axes move correctly, but you have problems moving to a specific taught position, you may need to re- teach the position or path.

  • Page 116: Power Loss During Operation

    Twister II loses power, which may result in spilled liquids if the robot is holding a filled plate. You should remove any materials from the grip and hold the Twister II arm if you turn off the power while the Twister II is holding a plate.

  • Page 117: Appendix A: Software Reference

    The title bar displays the name of the currently open project. Menu Bar Button Bar Tabs Status Bar Figure 90. Robot Software Main Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 118 Tools Menu Visual Basic Editor - Opens the Visual Basic Editor window (see page 137). Macros - Opens the Visual Basic Application Macro editor (see page 138). P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 119 The robot must be in an appropriate location to place a material before opening the grips to avoid dropping the plate. More Tools Button - Opens the Add or Remove Buttons menu to customize the button bar. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 120 Software The current Software Control Status, either Control Status Standalone or Remote (see page 22 for more information). Software Software name and revision number. Name and Revision P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 121: Manual Controls Tab

    Vertical - Arm lifts to highest position. Reach - Arm moves in toward robot tower. Rotary - Robot rotates to a position above rack 2. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 122 Appendix A: Software Reference 122 Wrist - Twister II: The wrist rotates the grips to a position perpendicular to the robot arm. XP Robot: The wrist rotates the grips to a position parallel to the work surface. Grip - Grips open.

  • Page 123: Teach Tab

    Paths and Positions, see “Robot Software Terminology” on page 17. For information on using the Teaching Wizards, see “Teaching the Robot” on page Figure 95. Teach Tab P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 124 Wizard consist of Pick, Place, Clearance and Safe positions, but do not include path positions. For information on positions and paths, “Robot Software Terminology” on page 17. For information on teaching positions, see page P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 125 Make sure there is a clear path to the position before clicking the Move To button to prevent a robot crash or spilling of material contents. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 126 Clear path for an instrument if you teach Clear positions when the wizard asks if the arm is clear to move all the way up vertically. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 127 If you add or delete positions in the Approach path, you must also add or delete the same positions in the Clear path. The Clear path executes the positions in reverse numerical order. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 128 Names tab. If the instrument has more than one material position, the Plate Location window (see page 134) opens to specify the position where you want to place the plate. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 129: Diagnostics Tab

    Clear Hardware This button aborts a robot error, clears the Errors robot of the error state. Update Status Refreshes the data for the selected axis. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 130: Open Window

    Figure 101. Save As Window Select an .ini file name or type a new file name in the File Name text box, and click the Save button. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 131: Add Instrument From Clara Or Ilink Window

    Robot software. The Instrument Name window opens (see page 132). P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 132: Instruments Window

    Figure 104. Instrument Name Window Type the desired instrument name in the text box. Clicking the OK button starts the Teach Wizard (see page 139) to teach the positions. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 133: Add Position Window

    Path Name text box - The name of the path to create. OK - Creates the new path and adds it to the Paths list. Cancel - Closes the New Path window without creating a new path. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 134: Plate Location Window

    Safe position before clicking OK to prevent a robot crash or spilling of material contents. Cancel - Closes the Plate Location window without moving the robot. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 135: Log Window

    Erases the data from both communication types. Save to File Saves the data from the selected communication type to a .txt file in the ICP folder. Done Closes the Log window. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 136: Settings Window

    Settings window. To save the settings in the INI file, select File→Save on the Robot software main window. Cancel Closes the Settings window without changing the settings. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 137: Visual Basic Editor Window

    When debugging VBA macros in standalone mode, you may not see error messages displayed. The Log window or the VBA debugging tools should be used to display needed information. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 138: Vba Macros Window

    • Creates a new Macro with the name in the Macro Name text box in the selected dictionary file. • Opens the VBA program for writing the new Macro code. Delete Deletes the selected macro. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 139: About Window

    This section describes the windows used to teach the racks and instruments. The Teach wizards automate the process of teaching instrument positions in the Caliper Life Sciences Robot software. The wizards enable you to teach either the Twister II racks or an instrument. See “Teaching the Robot” on page The Teaching Wizards can be used to reteach the instrument or rack positions.

  • Page 140: Teach Wizard Buttons

    Closes the Rack Teach Wizard without saving the positions that were taught. Back Returns to the previous window. Next Advances to the next window. Finish Completes position teaching and closes the wizard. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 141 Select Teaching Wizard Window Use the Select Teaching Wizard to choose whether to teach an instrument or the Twister II racks. It is very important to use the correct teaching wizard, since the wizards create different types of positions based on this selection.

  • Page 142: Rack Teach Wizard

    Appendix A: Software Reference 142 Rack Teach Wizard Use the Rack Teach Wizard to teach the Twister II storage racks. This section describes each window in the Rack Teach Wizard. Rack Teach Wizard - Welcome Window The Welcome window welcomes you to the wizard and describes the requirements for starting to teach.
  • Page 143 You must teach the rack before you can use the automation control software to move plates into or out of the rack. Rack 1 is always taught. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 144 The Teach Rack 1 window shows how to set up the robot and plate for teaching the first rack. Figure 118. Rack Teach Wizard, Teach Rack 1 Window Clicking Next creates the Rack 1 position on the Positions tab. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 145 If the robot drops the teach plate, you must re-teach all racks. Click Next to teach any remaining racks. When all racks are taught, the Finish window opens. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 146 File→Save As on the Robot main window. To discard the changes, close the Robot software and choose No When prompted to save the changes. Figure 121. Save Changes Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 147: Instrument Teach Wizard

    Instrument Teach Wizard - Welcome Window The Welcome Window welcomes you to the wizard and describes the requirements for teaching. Figure 123. Instrument Teach Wizard, Welcome Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 148 The default is Find Plate. Figure 125. Instrument Teach Wizard, Set Speed Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 149 5 positions, select 5 as the number of material locations. If you are re-teaching locations, you must re-teach all of the material locations for the instrument. Figure 126. Instrument Teach Wizard, Number of Locations Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 150 Then in the automation control software, you would set up a Move to Sciclone position 5. Figure 127. Instrument Teach Wizard, Position Number Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 151 Grip buttons - Open and close the gripper if you neeed to grip or release a plate. Servo Control buttons - Enables or disables the robot axes. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 152 Grip buttons - Open and close the gripper if you neeed to grip or release a plate. Servo Control buttons - Enables or disables the robot axes. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 153 Grip buttons - Open and close the gripper if you neeed to grip or release a plate. Servo Control buttons - Enables or disables the robot axes. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 154 Pick position for the current instrument position. Figure 132. Instrument Teach Wizard, Teach Pick Position window Clicking Next creates the Pick position on the Position tab and opens the Teach PickClearance window. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 155 Clicking Next creates the PickClearance position on the Positions tab. Figure 133. Instrument Teach Wizard, Teach PickClearance Position Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 156 If there are multiple locations to teach and you are not teaching the last location, the Position Number window (see page 150) opens to teach the next location. (Note that the Location number is displayed on the window.) P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 157 File→Save As on the Robot main window. To discard the changes, close the Robot software and choose No When prompted to save the changes. Figure 136. Save Changes Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 158: Stack Storage Software

    Appendix A: Software Reference 158 Stack Storage Software For systems that include the Twister II robot, the Twister II storage racks, and the CLARA software, the Stack Storage software is used to control material placement in the Twister II racks. This section describes the windows in the Stack Storage software.
  • Page 159 Delete Button - Opens the Delete Configuration window (see page 167) to delete a configuration. Advanced Button - Not currently used. Help Button - Opens the About Stack Storage window, (see page 170). P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 160: Network Browse Window

    CLARA application. Figure 139. Analyze Application Window When the analysis is complete, the material configuration is displayed in the Capacity Planning window (see page 162). P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 161: Choose Clara Application Window

    Starts the CLARA application analysis and opens the Analyze Application window (see page 160) to determine the materials used in the application. Cancel Closes the window without creating a material configuration. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 162: Capacity Planning Window

    Options: • 1 - 3 • 1 - 6 • 1 - 9 • 1 - 12 Instrument The Twister II storage instrument’s resource name in Name CLARA. Non-editable. Maximum A user-defined number that represents the maximum Capacity capacity of one rack, for the Material Type listed.
  • Page 163 Dock/Undo Use this button to drag the Edit buttons away from the Capacity window, and dock the Edit buttons on the Capacity window. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 164: New Stack Storage Configuration Window

    You cannot change any of the settings on this window. Figure 143. New Stack Storage Configuration Window Field Description Racks Graphical representation of the Twister II racks. Display Rack The rack number that the data in the row applies Material...

  • Page 165: Open Configuration Window

    Opens the selected material configuration. The configuration displays in the Stack Storage Configuration window (see page 166). Cancel Closes the Open Configuration window without opening a material configuration. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 166: Stack Storage Configuration Window

    The number of materials that must be loaded into the rack. The quantity of materials should match the number of runs in the CLARA chain, not the number of runs scheduled. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 167: Delete Configuration Window

    CLARA application. Figure 146. Delete Configuration Window Field Description Deletes the configuration selected in the Application list. Clicking OK opens the following window: Figure 147. Delete Warning Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 168: Runtime Stack Storage Configuration Window

    Figure 148. Runtime Stack Storage Configuration Window Field Description Racks Graphical view of the materials in the racks. The material locations are updated as the materials are moved by the robot. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 169 The window will update with the actual material positions the next time a plate is moved in the racks. Cancel Closes the Runtime Stack Storage Configuration window. P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 170: About Stack Storage Window

    The About Stack Storage window (see Figure 149) displays the software version and a System Info button to view system information. Figure 149. About Stack Storage Window P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.

  • Page 171: Appendix B: Twister Ii Specifications 171

    Appendix B: Twister II Specifications 171 Appendix B: Twister II Specifications This section contains the Twister II and Assay Engine Twister II specifications. General Instrument Specifications Plate Capacity Up to 39 microplates (without lids) per rack Materials • 96-well and 384-well plates made by Corning,...

  • Page 172: Physical

    Electrical Electrical 100-240V ~, autosensing Voltage Line Frequency 50/60 Hz Twister II Fuses 100/120V operation: 1 x F3.0A250V, 0.25 x 1.25” (P/N 36483) 240V operation: 2 x T1.6A250V, 5 x 20mm, (P/N 44232) Assay Engine 100 - 240V operation: 2 x T2.5A250V, 5 x...

  • Page 173: Environmental

    Appendix B: Twister II Specifications 173 Environmental Operating Temperature 39.2° to 86°F (4° to 30°C) Operating Humidity 0% to 85% relative humidity, non-condensing Storage Temperature -4° to 149°F (-20° to 65°C) Storage Humidity 0 to 85% relative humidity, Range non-condensing...

  • Page 174: Index

    About Stack Storage window..170 Configuration About Twister II Robot ICP window . 139 storage ..... 21 Absolute Position .
  • Page 175 ..55 Materials Instrument Teach Wizard setting capacity....33 P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 176 ..113 Plate Delivery Mode window teaching positions... . . 56 P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 177 ....173 configuring ....26 P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 178 ..147 overview ....56 P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 179 ....83 XPD file ..... . 20 P/N 113564 Rev. 2 Twister II Robot User’s Manual Caliper Life Sciences, Inc.
  • Page 180 Caliper Life Sciences, Inc. 68 Elm Street Hopkinton, Massachusetts 01748 TEL 508-435-9500 FAX 508-435-3439 http://www.caliperLS.com...

Table of Contents