A method of filling a prescription using a pharmaceutical storage and retrieval device , the pharmaceutical storage and retrieval device including a housing , an interface panel supported by the housing and having an access control device , a shelving system supported by the housing and including a plurality of shelves , an access port supported by the housing and including a platform , a door supported by the housing to selectively cover the access port , a scanner supported by the housing and included with the platform , and a gantry system positioned within the housing , the gantry system including a gripper assembly and a motor coupled to the gripper assembly to move the gripper assembly within the housing , the method comprising: verifying, by a processor , identification information input into the access control device ; obtaining, by the processor , a queue of prescriptions to be filled from a pharmacy computer ; selecting a prescription from the queue of prescriptions to be filled, the selected prescription containing prescription information including a medication type; determining, by the processor , a shelf location of a container expected to have the medication type of the prescription information; retrieving the container from the determined shelf location in the shelving system by engaging the container with the gripper assembly of the gantry system ; positioning the container on the platform within the access port by moving the gripper assembly and the container to the access port with the motor of the gantry system ; scanning, by the scanner , the container to determine an actual medication type within the container while the container is on the platform of the access port ; opening the door to the access port if the actual medication type within the container matches the medication type of the prescription information; and returning the container to its shelf location if the actual medication in the container does not match the medication type of the prescription information. verifying, by a processor , identification information input into the access control device ; obtaining, by the processor , a queue of prescriptions to be filled from a pharmacy computer ; selecting a prescription from the queue of prescriptions to be filled, the selected prescription containing prescription information including a medication type; determining, by the processor , a shelf location of a container expected to have the medication type of the prescription information; retrieving the container from the determined shelf location in the shelving system by engaging the container with the gripper assembly of the gantry system ; positioning the container on the platform within the access port by moving the gripper assembly and the container to the access port with the motor of the gantry system ; scanning, by the scanner , the container to determine an actual medication type within the container while the container is on the platform of the access port ; opening the door to the access port if the actual medication type within the container matches the medication type of the prescription information; and returning the container to its shelf location if the actual medication in the container does not match the medication type of the prescription information. <EOS>