RR Mechatronics Starrsed TL Work Instructions

Replace gripper arm assembly

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Work instruction Number 253

Page 1 of 5

Safety: None Bio Hazard area

Instrument: Starrsed TL

1. Disconnect CAN-cable

2. Loosen the bolt from the gripper arm

3. Push the bolt to release the gear from the arm

4. Remove old gripper arm

5. Place new gripper arm

6. Fasten the bolt

7. Adjust the gripper cup to the correct height

(depending on used sample tubes) and fasten lock

nut

8. Connect CAN-cable again

9. Perform a complete System calibration and robot

calibration

10. Checking the correct position of the grippers:

Test and check functioning of the gripper with the

Pick and replace tube functions in the service menu.

Check if the nut on the sensor rod is fixed and if the

sensor is triggered when a tube is picked up by the

gripper.

11. Check the functioning of the adjusted gripper arm

with performing some test samples

Version: 001

Purpose: Replace gripper arm assembly

Revision: 001, 2019

Page 1

Table of Contents

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Page 1 Work instruction Number 253 Page 1 of 5 Purpose: Replace gripper arm assembly Safety: None Bio Hazard area Instrument: Starrsed TL Revision: 001, 2019 1. Disconnect CAN-cable 2. Loosen the bolt from the gripper arm 3. Push the bolt to release the gear from the arm 4.
Page 2 System calibration and Robot calibration: Go to S - TLAX and press C ERVICE SETTINGS ERVICE ALIBRATE Start with a system calibration and perform all robot arm calibration step by step afterwards. System calibration: Remove all tubes before calibration. Each position calibration can be checked with use of the Pick and replace tube function.
Page 3 1. Choose tab "S " YSTEM 2. Press " S ". The robot arm is unlocked and can be moved freely. TART SYSTEM CALIBRATION 3. Move robot arm by hand to a straight forward position at 90 ° in relation to the frame and in the lowest position.
Page 4 Calibration of tube disk position: 1. Choose "Tube Disk". 2. Set tube disk with leg number 1 at in/out position (with the movement options at Service screen). 3. Place a tube in the tube disk at in/out position. 4. Press "C "...
Page 5 4. Move robot arm carefully (and if necessary the tube itself) by hand until the barcode appears as expected on the screen. 5. Press "S ". ET LOCATION Calibration of Manual Position #1 and #2 (Calibrate always two positions): 1. Place tubes on manual position #2 (which is located at the front of the instrument) and #1 inside the instrument.