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Initializing and Homing the Robot ...................................................................... 52
Moving the Robot .............................................................................................. 53
Moving the Robot to an Instrument Position ...................................................... 55
Teaching the Robot .............................................................................................. 56
Overview ........................................................................................................... 56
Teaching the Twister II Storage Racks .............................................................. 56
Teaching the Instrument Positions..................................................................... 64
Example: Sciclone Position Numbers and Locations ......................................... 77
Example: Teaching the Clear Path for the Sciclone ........................................... 78
Teaching the XP Robot ..................................................................................... 83
Teaching Positions Manually ............................................................................. 83
Testing the Positions and Paths ........................................................................ 86
Twister II Hardware ............................................................................................... 89
Overview ........................................................................................................... 89
Robot Axes ....................................................................................................... 90
Twister II Robot Parts and Functions ................................................................. 92
Twister II Robot Canister ............................................................................. 92
Rack Position Numbers ............................................................................... 93
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.......................................... 100
Rack Parts and Functions ............................................................................... 102
Communications Cable ................................................................................... 103
Power Cord ..................................................................................................... 103
Twister II - Maintenance ..................................................................................... 104
Cleaning the Twister II..................................................................................... 104
Cleaning the Rack Base .................................................................................. 105
Changing the Twister II Fuse(s)....................................................................... 105
Changing the Assay Engine Twister II Fuses................................................... 108
Moving the Twister II ....................................................................................... 109
Long-Term Shutdown ...................................................................................... 110
Troubleshooting ................................................................................................. 111
Twister II Troubleshooting ............................................................................... 111
Re-Teaching the Storage Positions ................................................................. 113
Re-Teaching the Instrument Positions ............................................................. 113
Adjusting the Instrument Positions .................................................................. 114
Twister II Performance Checks........................................................................ 115
Power Loss During Operation.......................................................................... 116
Appendix A: Software Reference ....................................................................... 117
Robot Software ............................................................................................... 117
Robot Software Main Window .................................................................... 117
Manual Controls Tab.................................................................................. 121
P/N 113564 Rev. 2
Twister II Robot User's Manual
Table of Contents
Caliper Life Sciences, Inc.
14
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