Agilent 1260 Infinity II Preparative Autosampler User Manual 21
Introduction
1
Operating Principle
Transport Assembly
The transport unit comprises an X-axis slide (left-right motion), a Z-axis arm
(up-down motion), and a gripper assembly (rotation and vial-gripping).
Figure 8 Transport A ssembl y
The transport assembly uses four stepper motors driven in closed-loop mode
for accurate positioning of the gripper assembly. The rotational movement of
the motors is converted to linear motion (X- and Z-axes) by toothed belts
connected to the drive spindles. The rotation (theta axes) of the gripper
assembly is transferred from the motor by a toothed belt and series of gears.
The opening and closing of the gripper fingers are driven by a stepper motor
linked by a toothed belt to the planetary gearing inside the gripper assembly.
The stepper motor positions are determined by the optical encoders mounted
onto the stepper-motor housing. The encoders monitor the position of the
motors continually, and correct for position errors automatically (e.g. if the
gripper is accidentally moved out of position when loading vials into the vial
tray). The initialization positions of the moving components are sensed by
reflection sensors mounted on the flex board. These positions are used by the
processor to calculate the actual motor position. An additional six reflection
sensors for tray recognition are mounted on the flex board at the front of the
assembly.
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