Regrip Turntable User Guide

UMI-LH-250

Microplate locator

Nest

Flow adjusters

Air supply port

DB-15 connector
Regrip Turntable User Guide
Rev. Revision History Date

001 Original Issue 00-06

Copyright © 2000 CRS Robotics Corporation

POLARA, RAPL-3, RAPL-II, and RAPL are trademarks of CRS Robotics Corporation and may be used to
describe only CRS Robotics products.
All brand names and product names used in this guide are trademarks, registered trademarks, or trade
names of their respective holders.
The information in this document is subject to change without notice.
CRS Robotics Corporation makes no warranty of any kind with regard to this material, including, but not
limited to, the implied warranties of merchantability and fitness for a particular purpose. CRS Robotics
Corporation assumes no responsibility for any errors that may appear in this document. CRS Robotics
Corporation makes no commitment to update nor to keep current the information contained in this
document.
CRS Robotics Corporation software products shall remain the property of CRS Robotics Corporation.
RAPL-3 and robot training courses are offered at CRS Robotics in Burlington, Ontario, Canada, or can be
conducted at your facility. For additional information, contact the Customer Support Department.
Additional copies of this guide, or other CRS Robotics literature, may be obtained from the Sales
Department or from your distributor.

ii User Guide: Preface

PREFACE

About This Guide

This user guide contains general information and instructions for installing
and using the regrip turntable.

Who Uses This Guide

This guide is intended for system integrators and administrators of
automated laboratory systems. To install the peripheral described in this
guide, you should have basic mechanical, electrical, and pneumatic skills.

How to Use This User Guide

Throughout this user’s guide warnings are marked by a “!” symbol
in the left margin. Failure to comply with these warnings can result in
erroneous operation or danger to the user.
Before attempting to follow instructions or examples in a chapter, read the
entire chapter first.
This guide consists of the following chapters:
• Introducing the Regrip Turntable, which describes the features,
benefits, and design considerations of the regrip turntable
• Safety, which instructs you in the safe operation of the regrip turntable.
• Installing the Regrip Turntable, which describes how to unpack,
mount, and connect the regrip turntable
• Using the Regrip Turntable, which describes a complete cycle of
operation of the regrip turntable and its control interface
• Maintenance, which describes the maintenance, cleaning, disinfecting,
decontamination, and shutdown procedures for the regrip turntable
• Troubleshooting, which provides tips to help ensure that the regrip
turntable functions properly
• General Specifications, which describes the physical and operating
characteristics of the regrip turntable, its communications interface, and
the regrip turntable’s optimal operating conditions
• Glossary, which defines terms used in this user guide

User Guide: Preface iii

 Preface: For More Information

For More Information

If you are integrating this regrip turntable into a POLARA™-based system,
refer to the following documents:
• POLARA Instrument Interface Guide for the Regrip Turntable, which
describes the software interface POLARA systems use to control this
peripheral
• POLARA User Interface Integrator and Administrator Guide, which
describes how to integrate the regrip turntable into a POLARA system
• POLARA User Interface Researcher and Operator Guide, which describes
how to operate and customize the behavior of this peripheral in a
POLARA system
You can obtain additional copies of this guide or other CRS Robotics
literature from the Lab Automation Sales Department or from your
distributor.

Training
Training courses for POLARA administrators and system integrators are
offered at our facility in Burlington, Ontario, Canada, or can be conducted at
your facility. For additional information, contact the Training Department.

Contacts
Surface Mail/Shipping
CRS Robotics Corporation
5344 John Lucas Drive
Burlington, Ontario L7L 6A6
Canada

Telephone
1-905-332-2000 (voice)
1-800-365-7587 (voice: toll free in Canada and United States)
1-905-332-1114 (facsimile)

E-Mail
Sales: [email protected]
Customer Support: [email protected]
Training: [email protected]
General: [email protected]

World Wide Web

www.crsrobotics.com

iv User Guide: Preface

 Preface: Contents

Contents

CHAPTER 1.............................................................................. 1
Introducing the Regrip Turntable .............................................. 1
Purpose .............................................................................. 1
Features ............................................................................. 2
Benefits .............................................................................. 2
Appropriate Use .................................................................. 2
Design Considerations ........................................................ 3

CHAPTER 2.............................................................................. 5
Safety....................................................................................... 5
Motion Hazards .................................................................. 5

CHAPTER 3.............................................................................. 7
Installing the Regrip Turntable ................................................. 7
Package Contents ............................................................... 7
Unpacking Instructions....................................................... 7
Mounting............................................................................ 8
Connecting to the System.................................................... 8
Setting the Flow Controls .................................................... 9

CHAPTER 4............................................................................ 11
Using the Regrip Turntable ..................................................... 11
Typical Operation.............................................................. 11
Control Interface ............................................................... 12

CHAPTER 5............................................................................ 13
Maintenance .......................................................................... 13
Daily................................................................................. 13
Periodic ............................................................................ 13
Routine Cleaning .............................................................. 14
Disinfecting/Decontaminating........................................... 14
Replacing Parts................................................................. 14
Shutdown ......................................................................... 14
Storage ............................................................................. 14
Shipping ........................................................................... 14

CHAPTER 6............................................................................ 15
Troubleshooting ..................................................................... 15
Tips .................................................................................. 15
Troubleshooting Problems ................................................. 15
Support Contact Information............................................. 15

User Guide: Preface v

Preface: Contents

CHAPTER 7............................................................................ 17
General Specifications ............................................................ 17

Glossary................................................................................. 19

vi User Guide: Preface

CHAPTER 1

Introducing the Regrip Turntable

This chapter describes the purpose, features and benefits, and design
considerations of the regrip turntable.

Purpose
Automated laboratory systems move containers, such as microplates, lids,
and tip boxes, between instruments. Instruments accept microplates in
either landscape or portrait mode, which may require a microplate’s
orientation to be changed as it moves through the system.
When commanded by an intelligent device such as a programmable logic
controller or personal computer, the regrip turntable will rotate a microplate
90 ˚, thus changing its orientation between landscape and portrait mode.

Microplate locator

Nest

Flow adjusters

Air supply port

DB-15 connector

Figure 1-1: Key parts of the regrip turntable-rear view

User Guide: Introducing the Regrip Turntable 1

 Introducing the Regrip Turntable: Features

Landscape mode Portrait mode

Figure 1-2: The regrip turntable in landscape and portrait modes

Features
The regrip turntable has the following features:
• A compact footprint
• Support for standard and deep well microplates
• Position sensors, which detect when the turntable is in landscape or
portrait mode
• Support for lidded and unlidded plates
• Compatibility with any CRS Articulated Arm (A255, A465, F3)
• Accessibility by standard CRS 65mm gripper and microplate fingers
• Compatibility with SBS standard for labware

Benefits
The features of the regrip turntable provide the following benefits:
• Flexibility in system design as the regrip turntable can accommodate
lidded, unlidded, regular or deep-well microplates, and tip boxes
• Increased system efficiency, since the regrip turntable rotates a
microplate quicker than the robot
• Increased system efficiency, since the robot is available to serve other
functions

Appropriate Use
The CRS regrip turntable is intended for use in typical laboratory
environments. It is not intended for use under extremes of temperature, in
clean-room environments, or with hazardous or corrosive materials.

2 User Guide: Introducing the Regrip Turntable

 Introducing the Regrip Turntable: Design Considerations

The regrip turntable is designed to hold one object (such as a microplate or

tip box) at a time. Placing additional microplates or additional weight on the
turntable may cause spills and may reduce the turntable’s life expectancy.

Design Considerations
Use a regrip turntable to rotate microplates, lids, or tip boxes, rather than
the robot, to increase system efficiency. Locate the regrip turntable near the
instrument that requires a change in microplate orientation.

User Guide: Introducing the Regrip Turntable 3

Introducing the Regrip Turntable: Design Considerations

4 User Guide: Introducing the Regrip Turntable

CHAPTER 2

Safety

This chapter provides safety information for installing and operating the
regrip turntable.

Motion Hazards
The regrip turntable can turn quickly, and without warning. To prevent spills
or personal injury, disable the turntable before working in its vicinity.

User Guide: Safety 5

Safety: Motion Hazards

6 User Guide: Safety

CHAPTER 3

Installing the Regrip Turntable

This chapter describes how to unpack, mount, connect, and adjust the
regrip turntable.

Package Contents
The package contains the following items:
• One regrip turntable
• Package of 4 #8 flathead wood screws

Unpacking Instructions
To unpack the regrip turntable, take the following steps:
1 Place the container right side up.
2 Open the container and remove any shrink-wrap or bubble wrap packing
material.
3 Carefully remove the regrip turntable and package of wood screws from
the container.
4 Store all packing material and shipping containers, in case you need to
ship the regrip turntable in the future.

User Guide: Installing the Regrip Turntable 7

 Installing the Regrip Turntable: Mounting

Mounting
Fastening point

6.30 in. (160mm)

6.30 in. (160mm)

Figure 3-1: Top view of the regrip turntable, showing outside dimensions
To mount the regrip to a wood core table, take the following steps:
1 Using Figure 3-1 as a guide, determine the correct position of the
turntable on the table.
2 Mark the regrip turntable’s fastening points and start the holes for the
fasteners.
3 Fasten the regrip turntable to the table with the four #8 flathead wood
screws, provided.

Connecting to the System

The regrip turntable has the following ports for interfacing to the system:
• A DB-15 port, which contains input pins to control the regrip turntable’s
pneumatics and output pins from its proximity sensors
• A port for the air supply
For details, refer to the sections on the following pages.

8 User Guide: Installing the Regrip Turntable

 Installing the Regrip Turntable: Setting the Flow Controls

DB-15 Port Pinout

Figure 3-2 shows the pin numbering for the DB-15 connector, as seen from
the outside when facing the rear of the regrip turntable.

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

Figure 3-2: Pin numbering of the DB-15 connector

The following table lists the functions of the pins on the DB-15 connector.
Table 3-1: Pinout of the regrip turntable DB-15 connector

Pin Function
1 Ground
2, 5, 6, 7, 9, 10, 11, 12, Not connected
14, 15
3 Proximity sensor output for 90˚
4 Proximity sensor output for 0˚
8 +24V
13 Solenoid valve controlling turntable
direction

Air supply port

• Attach a 5/32” (4 mm) diameter air feed line to the bulkhead fitting on
the back of the regrip turntable.
• Use clean, dry, filtered air at 60±2 psi (4.1 ± .15 bar).

Setting the Flow Controls

Airflow is controlled through two flow controls located on the rear of the
regrip turntable. The flow controls are two brass knobs, labeled CW FLOW
and CCW FLOW. They function as follows:
• CW FLOW: Controls how fast the turntable rotates in a clockwise
direction
• CCW FLOW: Controls how fast the turntable rotates in a counter-
clockwise direction
To decrease the airflow and slow turntable rotation, turn the knob clockwise.
To increase the airflow, and increase turntable rotation, turn the knob
counter-clockwise.
If the regrip turntable has been delivered as part of a complete POLARA lab
system, the flow controls have been properly adjusted during installation. In
this case, do not adjust the flow control. If the regrip turntable has been
purchased by itself the rotation speed may need adjusting.

User Guide: Installing the Regrip Turntable 9

Installing the Regrip Turntable: Setting the Flow Controls

Adjusting Turntable Speed

Perform the following steps to adjust the flow controls:
1 Fill the wells of a microplate using the least viscous liquid that will be
used, to the maximum volume that will be used.
2 Orient the regrip turntable in landscape mode. If it is currently in portait
mode, send the control signal to rotate the turntable counter-clockwise
to landscape mode.
3 Place the microplate on the regrip turntable.
4 Reduce the airflow to a minimum for the CW FLOW adjuster. First, turn
the flow adjuster clockwise as far as it will go, then turn it back half a
turn in the counter-clockwise direction.
5 Repeat step 4 for the CCW FLOW adjuster.
6 Send the control signal to rotate the turntable clockwise to portrait
mode. If the turntable does not rotate, or rotates too slowly, increase the
flow using the CW FLOW adjuster.
7 Send the control signal to rotate the turntable counter-clockwise to
landscape mode. If the turntable does not rotate, or rotates too slowly,
increase the flow using the CW FLOW adjuster.
8 Repeat steps 6 and 7 until the regrip turntable rotates at an acceptable
speed. An acceptable speed is one that is slow enough to prevent
splashing, but fast enough to meet throughput requirements.
9 When the proper speed for each rotation is achieved, lock the brass nut
on each flow control to prevent accidental adjustment.

10 User Guide: Installing the Regrip Turntable

CHAPTER 4

Using the Regrip Turntable

This chapter describes the operation of the regrip turntable and its control
interface.

Typical Operation
A typical operational cycle of the regrip turntable runs as follows, assuming
the regrip turntable is positioned in landscape mode.
1 A robot arm places a microplate in the regrip turntable nest in landscape
orientation. The landscape proximity sensor is ON.
2 The controlling computer sends a signal to the solenoid, changing airflow
direction and causing the regrip turntable to rotate.
3 The landscape proximity sensor turns OFF as the turntable rotates away
from it. When the regrip turntable reaches portrait position at the end of
its travel, the portrait proximity sensor turns ON.
4 The robot removes the microplate from the regrip turntable and delivers
it to the nest of another instrument where it is acted upon as part of a
method.
5 The robot retrieves the microplate from the instrument and returns it to
the regrip turntable.
6 The controlling computer sends a signal to the solenoid, changing airflow
direction and causing the regrip turntable to rotate in the opposite
direction, thereby returning the plate to its original landscape
orientation.
7 The portrait proximity sensor turns OFF as the turntable rotates away
from it. When the regrip turntable reaches landscape position at the end
of its travel, the landscape proximity sensor turns ON.
8 The robot removes the microplate from the regrip turntable nest for
further processing.

User Guide: Using the Regrip Turntable 11

 Using the Regrip Turntable: Control Interface

Control Interface
The following tables describe the regrip turntable’s control interface.
Table 4-1: Regrip turntable inputs

Input Usage
Solenoid ON: Changes air flow direction to clockwise
OFF: Changes air flow direction to
counterclockwise

Table 4-2: Regrip turntable outputs

Output Value
Landscape ON: Turntable in landscape orientation
Proximity sensor OFF: Turntable not in landscape orientation
Portrait Proximity ON: Turntable in portrait orientation
sensor OFF: Turntable not in portrait orientation

12 User Guide: Using the Regrip Turntable

CHAPTER 5

Maintenance

This chapter covers the following topics:

• Maintenance of the regrip turntable, including replacement parts
• Cleaning, disinfecting, and decontaminating procedures
• Shut down and storage procedures

Daily
Each day, perform the following maintenance procedures:
• Check for moisture in the regrip turntable clear airline. If moisture is
present, verify that the inline dryer and filter are operating normally.

Periodic
Each month, perform the following maintenance procedures:
• Check for moisture in the regrip turntable clear airline. If moisture is
present, verify that the inline dryer and filter are operating normally.
• Check the air supply pressure to ensure that it is operating within
acceptable parameters.
• Check the input/output cable to ensure that it is properly attached to
the regrip turntable.

User Guide: Maintenance 13

 Maintenance: Routine Cleaning

Routine Cleaning
Wipe the exterior surface of the regrip turntable with a lint free cloth or
paper towel to remove dust and foreign particles.

Disinfecting/Decontaminating
To disinfect the regrip turntable, spray it with 10% bleach solution, and wipe
clean using a lint free cloth.
If a spill contains radioactive substances, take the following steps:
1 Clean with an appropriate agent such as Decon.
2 Use a wipe test to monitor for residual activity.

Replacing Parts
You can order the following replacement parts from CRS Robotics’ sales
department.
Table 5-1: Regrip turntable replacement parts
Part Name Part Number
Pneumatic Flow Control Valve R-PNV-7770-04-00
Single Solenoid Valve R-PNV-4WSA024V-C

Shutdown
When shutting down your system, shut down the air supply to the regrip
turntable.

Storage
Store the regrip turntable indoors in cool, dry, climate controlled
environment.

Shipping
To ship the regrip turntable, take the following steps:
1 Wrap the regrip turntable in bubble wrap or an appropriate packing
material.
2 Ship using the original box, or other suitable container.

14 User Guide: Maintenance

CHAPTER 6

Troubleshooting

This chapter provides information that will help keep your regrip turntable
functioning properly.

Tips
Follow these practices to ensure reliable operation:
• Use clean, dry air as per specifications.
• Use only clean, dry microplates.
• Do not obstruct airflow.

Troubleshooting Problems
Problem: The turntable rotates too quickly or too slowly.
Solution: Perform the following step:
• Adjust the rotation speed. See Adjusting Turntable Speed on
page 10.
Problem: The turntable does not rotate.
Solution: Perform the following steps:
• Check that the input cable is not pinched or damaged. Make
sure all pins are present and not bent. Replace if necessary.
• Check that the airline is properly connected and providing
clean, dry air. Ensure that the airline is not crimped or
pinched.

Support Contact Information

See the section at the beginning of this guide.

User Guide: Troubleshooting 15

Troubleshooting: Support Contact Information

16 User Guide: Troubleshooting

CHAPTER 7

General Specifications

This chapter describes the physical characteristics of the regrip turntable

and its operational requirements.

Physical Characteristics
Length: 6.3 in. [16 cm]
Width: 6.3 in. [16 cm]
Height: 4.7 in. [12 cm]
Weight: 12.2 lb [5.5 kg]
Material: Anodized Aluminum
Colour: Black
Capacity: One microplate, lid, or tip box
Ports: One DB-15 male connector for digital I/O, one bulkhead
fitting for a 5/32 in. [4 mm] diameter air feed line

Operating Requirements
Power: +24VDC 1A
Ambient temperature: 39°F to 140°F [4°C to 60°C]
Maximum relative humidity: 80%
Air supply: Clean, dry, filtered air at 60±2 psi
(4.1 ± .15 bar)

User Guide: General Specifications 17

General Specifications: Support Contact Information

18 User Guide: General Specifications

Glossary

air supply port

A fitting for the 5/32 in. (4mm) diameter air feed line. It is located at the rear
of the regrip turntable.
digital input/output port
A fitting for the control interface of the regrip turntable. Through this port,
the regrip turntable receives signals from and sends signals to the
controlling device (computer, PLC, robot controller, or other controller).
flow adjuster
A fixture located at the rear of the regrip turntable. Used to adjust airflow to
ensure smooth movement of the turntable.
lid
A cover of a microplate.
microplate
A container, with a number of wells that hold material for analysis or
processing. The regrip turntable rotates one microplate. Also called a
microtiter plate or MTP.
microplate locator
A small metal guide on the surface of the regrip turntable nest that stabilizes
the microplate during rotation. There are eight locators on the regrip
turntable.
MTP
See microplate.
microtiter plate
See microplate.
nest
The area of the regrip turntable where the microplate is placed.
pinch point
A space between moving parts of the regrip turntable where there is a danger
of pinching or crushing. A human operator should avoid pinch points to
avoid injury.
POLARA (programming architecture for laboratory automation)
A CRS Robotics control architecture for automated laboratory systems. The
regrip turntable can be integrated into a POLARA system using a software
interface available from CRS. Also, the name of automated laboratory system
control software developed by CRS Robotics.
POLARA lab system, POLARA-based lab system
Any lab system built according to the POLARA architecture.

User Guide: Glossary 19

Glossary: Support Contact Information

proximity sensor
A device that senses when an object is placed near it. Proximity sensors are
used in the regrip turntable to signal the position of the regrip turntable in
either portrait or landscape mode.
RAPL (robot automation programming language)
The language used to program CRS robots.
regrip turntable
A peripheral device used to rotate an object, such as a microplate, lid, or tip
box, 90°. Used in automated laboratory systems to deliver containers to
instruments in the required orientation (either portrait or landscape).

20 User Guide: Glossary