Abstract: A method of estimating an operating state of a drive system is presented. The drive system comprises an electric motor and a mechanical unit being moved by the electric motor. The method comprises a) operating the electric motor using electrical properties, b) determining movement properties regarding the movement of the mechanical unit using the electrical properties, repeating steps a) and b) for a number of times using changed electrical properties, and generating a distribution function. The distribution function allocates electrical properties to the resulting movement properties. The method also comprises estimating the operating state in response to the generated distribution function.

Abstract: A method for determining a position of a rack on a rack placement unit of a laboratory handling system is presented. The rack is configured to carry a number of laboratory sample containers. The method comprises measuring a height profile of the rack, determining at least one corner region of the rack based on the measured height profile of the rack, and determining the position of the rack based on the determined at least one corner region of the rack.

Abstract: A method of estimating an operating state of a drive system is presented. The drive system comprises an electric motor and a mechanical unit being moved by the electric motor. The method comprises a) operating the electric motor using electrical properties, b) determining movement properties regarding the movement of the mechanical unit using the electrical properties, repeating steps a) and b) for a number of times using changed electrical properties, and generating a distribution function. The distribution function allocates electrical properties to the resulting movement properties. The method also comprises estimating the operating state in response to the generated distribution function.

Abstract: A method of handling laboratory sample containers is disclosed. The method comprises moving a laboratory sample container to a target position. The target position is a position at which the laboratory sample container is inserted into a corresponding orifice of a laboratory sample container rack provided that the laboratory sample container rack is placed at an intended position. The laboratory sample container is prevented from moving vertically due to gravity if correctly inserted into the corresponding orifice of the laboratory sample container rack. The method also comprises releasing the laboratory sample container in a vertical direction such that the laboratory sample container can move in the vertical direction due to gravity, determining if the laboratory sample container moves in the vertical direction, and performing an error procedure if it is determined that the laboratory sample container moves in the vertical direction.

Abstract: A method of handling laboratory sample containers is presented. The method comprises moving a laboratory sample container to a target position. The target position is a position at which the laboratory sample container is inserted into a corresponding orifice of a laboratory sample container rack provided that the laboratory sample container rack is placed at an intended position. The laboratory sample container is prevented from moving horizontally more than a predetermined horizontal distance if inserted into the corresponding orifice of the laboratory sample container rack. The method also comprises applying a force in a horizontal direction (xy) to the laboratory sample container, determining if the laboratory sample container moves in the horizontal direction (xy) more than the predetermined horizontal distance, and performing an error procedure if it is determined that the laboratory sample container moves in the horizontal direction (xy) more than the predetermined horizontal distance.