Robotic check weighing/dispensing system

“To accurately weigh (4 decimal places), under laminar flow air, dispensed liquid in up to 500 ampoule fills (and partially stopper them) and to label containers with a unique identifier.” The labelling needs to be clear and un-smudged, the filling and weighing operations need to retain the order of the ampoules, the ampoules need to be returned to a freeze drying tray without falling over. Typical volumes are 0.4000 to 1.0000ml and a weighing accuracy of +/- 0.001g minimum is required.