US 5,206,568 A · Coordinated control of stepper motors

Abstract

An automated multi-purpose analytical chemistry processing center and laboratory work station having a movable table for supporting microtiter plates and other fluid receptacles, a movable arm, and a modular mobile pod affixed for reciprocal movement along the arm. The workstation combines into a single programmable system the capabilities for automation of a wide range of bioanalytical procedures including, not only sample pipetting, serial dilution, reagent additions, mixing, reaction timing and similar known manual procedures, but also programmable spectrophotometric measurements and other physical parameters, further processing based on these measurements and automatic data recording. The work station is adapted to transfer, dispense, and aspirate liquid from one location to another automatically in accordance with user programmed instructions. The work station is capable of measuring physical characteristics of selected samples and performing experimental assays in a closed loop manner in accordance with those measurements. Fluid is dispensed and aspirated using an interchangeable modules having one or a selected plurality of nozzles. Affixed to the modules nozzles are disposable pipettor tips, which are automatically picked up by the pod and ejected by a tip ejector mechanism at the control of the user. Additional modules may be used to perform Measurement Functions. The work station is designed for interactive connection with a remote computer.

Claims12

Dependent claims

A controller for driving a plurality of stepper motors by discrete motor steps to move a first structure with respect to a second structure from a first location to a second location, said second structure having features defining obstacles which interrupt a direct path between the first and second locations, the controller comprising:

first and second stepper motors, said first motor for moving the first structure along a first path, said second motor for moving the first structure relative to the second structure along a second path;
memory means for storing data representing desired motor stepping characteristics, and positions of said first location, said second location, and said obstacles;
motor control devices for the motors, at least one of the control devices comprises first means for advancing its associated motor a determined number of steps, second means for initiating said advancing after a determined number of delay-steps from initiating advancement of another motor, and third means for counting the number of steps advanced;
and
processing means for providing a plurality of motor control instructions to each of the motor control devices, said instructions including timing coordination between stepping of the motors in terms of delay-steps, thereby effective to move the first structure from the first location to the second location in a manner avoiding said obstacles.

2 more elements

Dependencies are inferred from the claim text.

Coordinated control of stepper motors

Life of this patent

Coordinated control of stepper motors

Life of this patent

Abstract

Claims12