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Sample Management Systems

1. T connector tI a L O Air supply to spectrometer 3 Insert end into T connector m J Air supply to LL spectrometer U na _ lt Air supply to index air regulator Figure 6 Installing the T Connector in the Source Air Line 01 999042 00 D0800 Sample Management Systems Installation 23 Chapter 1 Carousel Autosampler Installation Index air Carousel and Regulator Driver Source air Input Double air line Controller P8 f _ Poodeo P4 P2 RS 232 RS 232 cable between NMR console or Sun computer serial port and P3 on the Controller Figure 7 Carousel Autosampler Interconnect Diagram P4 connects to power source O I ANY OAYAS Od NdldL NI P8 P4 P2 connect to driver P3 connects to NMR console or Sun computer P3 connects to regulator Figure 8 Carousel Autosampler Controller Box Back Panel 24 Sample M
2. This manual is organized as follows e Chapter 1 Carousel Autosampler Installation provides complete instructions for installing the Carousel e Chapter 2 SMS Autosampler Installation provides complete instructions for installing and calibrating the SMS autosampler e Chapter 3 Nanoprobe MultiSampler Installation provides complete instructions for installing and calibrating the Nano Multisampler NMS 01 999042 00 D0800 Sample Management Systems Installation 13 14 Sample Management Systems Installation 01 999042 00 D0800 Sections in this chapter e 1 1 Compatibility page 16 Chapter 1 Carousel Autosampler Installation e 1 2 Unpacking the Carousel Autosampler page 16 e 1 3 Installing the Carousel Autosampler page 17 e 1 4 Using the Carousel page 28 e 1 5 Adjusting the Eject Air page 31 e 1 6 Loading and Unloading Samples page 32 e 1 7 Testing and Using the Carousel Autosampler page 34 e 1 8 Walkup Mode with the Carousel Attached page 35 e 1 9 Error Codes and Error Recovery page 36 e 1 10 Controller Voltages page 37 The Carousel autosampler shown in Figure 1 is a pneumatically actuated microprocessor controlled device designed to automatically insert and retrieve samples from the bore of the magnet The Carousel autosampler pro
3. Figure 48 Location of RS 232C port on UNITY or VXR NMR System To Connect to an Automated XL Spectrometer Connect to the Sample Changer Port on as shown in Figure 49 Run the system configuration routine to set the system to automatic and to set the tray size to 50 or 100 RF card cage Cable to digital card cage ACQ A7 P2 B 00 958476 00 Port Interface board 00 9581 76 00 RS 232 sample changer port Figure 49 RS 232C Port on XL Systems for SMS Autosampler Interface 86 Sample Management Systems Installation 01 999042 00 D0800 2 14 Connecting the SMS Autosampler to the NMR Console To Adjust the Sample Detection Circuit If the spectrometer is a N YINOVA the sample detection circuit on the Magnet Sample Regulation MSR board Part No 01 902030 02 must be adjusted to ensure correct sample detection when using the SMS autosampler aie The following steps describe how to adjust the RAI sample detection circuit 1 Locate the PRES ADI pot and the SAMP Wa PRES LED on the front of the MSR board See Figure 50 2 Using a pot adjustment tool or a small flat head screwdriver turn the pot all the way counterclockwise until it stops 3 Insert a sample 4 Turn the pot clockwise until the green SAMP PRES LED lights 5 Eject the sample The LED should go off If not turn the pot counterclockwise until the LED goes off 6 Insert the sample again The LED should ligh
4. 82 To Connect to MERCURY Systems lui 82 To Connect to GEMINI 2000 or Gemini Systems 83 To Connect to UN YINOVA UNITYplus UNITY and VXR Systems __ 85 To Connect to an Automated XL Spectrometer n 86 To Adjust the Sample Detection Circuit 87 Chapter 3 Nanoprobe MultiSampler Installation 89 Dol System Rogue menis ire 90 Dz Before the Installation ssisecccvccseasesawnecwaseclceudsvnaewodedarme saecencvaateiaeunergctecdeaddvaatusesasevnecsncens 90 Preparing for the Installati n ori 90 Unpacking the Boxes iii 91 3 3 Attaching the Mounting Plate and Elevator 92 4 Sample Management Systems Installation 01 999042 00 D0800 3 4 Attaching the New Probe Flange ii 93 3 5 Setting the Probe Elevator Lower Limit 00 i 94 2 Adjus ine the Stabilizer FOOL sessist tisper en aE aE ana E eN eiaei 94 3 7 Adjusting the Elevator Arm ul 95 38 Installing th Carousel ssi lie 96 3 9 Connecting Electrical and Pneumatic Lines 98 Ali Testine the NMS sioni 100 Using Terminal Window and tip hardwire Connection 100 Using the VNMR NMS Window 101 Using a PC and Zymark System V Software 102 A NMS ENOC COUS siii iaia green 108 3 12 Pressure and Vacuum Adjustments
5. Sample Management systems Pub No 01 999042 00 Rev DO800 ap ni VARIAN Sample Management Systems Carousel SMS and NMS Pub No 01 999042 00 Rev DO800 Applicability of manual Carousel autosampler system and SMS autosampler system for UNITYINOVA MERCURY VxWorks Powered MERCURY UNITYplus GEMINI 2000 UNITY VXR Gemini and automated XL NMR spectrometer systems MERCURY VxWorks Powered is shortened to MERCURY VX throughout this manual Revision history As 87 195410 00 C0196 Revision D1196 Added MERCURY released 11 19 96 D0497 Added magnetic field caution for index air regulator E0298 Added MERCURY VX dual 50 sample tray info removed 100 sample tray info As 01 999042 00 A0398 Changed part number from 87 195410 00 to 01 999042 00 B1098 Added VAST installation chapter B0699 Added note about renaming TWO50 ZYD to AUTOLOAD ZYD for dual 50 sample trays pg 71 C0200 Removed VAST chapter VAST is covered in a new manual 01 999144 00 D0800 Added NMS installation chapter Technical contributors Jim Kutz Greg Brissey Frits Vosman Andy Myles Harry Berhitoe Technical writer Dan Steele Everett Schreiber Technical editor Dan Steele Copyright 2000 by Varian Inc 3120 Hansen Way Palo Alto California 94304 http www varianinc com All rights reserved Printed in the United States The information in this document has been carefu
6. 11 12 13 14 If the hand is attached as was done in the previous procedure the hand and arm should be positioned at a high vertical position near the robot If the hand is not attached go to Methods menu and select EXecute a Prog Then select the GET HAND GP program Next go to the ZYMATE XP PROGRAMMING screen by selecting ZYMATE XP ROBOT from the Module SetUp menu Press 6 and enter MONUMENT RACK When prompted for an index enter 1 Based on the default value of the dimensions of the HAND GP the hand moves to where the center of the monument target should be at a vertical position of about 16 5 cm Press F1 to raise the robot Place the monument in the parking station with the lip pointing away from the robot Press F8 to go to the ZYMATE XP HAND PROGRAMMING screen and use the F3 key to open the grip Then place an upside down sample tube in the fingers with the top of the tube flush with the bottom of the fingers Close the grip to hold the sample tube Press F7 to go to the ZYMATE XP PROGRAMMING screen Press the function keys as necessary to position the center of the fingers directly over the center spot on the top of the monument The bottom of the fingers should be flush with the top of the monument Check to see that the tube is concentric with the circles on the monument Press F8 to go to the ZYMATE XP HAND PROGRAMMING screen Press 4 to select Define Hand Type HAND GP and press Enter When prompted
7. The sample in position 9 should float at the correct height If not adjust the eject air as described in Adjusting the Eject Air on page 31 The Carousel autosampler can now be used for NMR 1 7 Testing and Using the Carousel Autosampler 34 This procedure describes how to test and operate the Carousel autosampler after it is installed If any error messages appear refer to the next section for their meaning and remedy Simple Tests l Make sure the carousel is loaded with nine samples and is installed on the carousel driver as described in previous sections Enter e in VNMR to turn on the eject air Disengage the lock pin and then move the sensor arm to the right until it stops in front of position 9 Check that the eject air pressure is sufficient to float the turbine sample to the correct height If not adjust the eject air as described in Adjusting the Eject Air on page 31 Using the manual index button index the carousel through all positions Check the turbine sample float height for each position Stop when position 9 is over the upper barrel Enter loc 1 change and to change to position 1 The carousel does the following e The message expl Experiment started appears on the Sun computer e The carousel rotates a half position in this case between positions 9 and 1 e The carousel rotates to position 1 and inserts the sample e The message exp1 Setup complete appears on the Sun computer Run
8. 108 Chapter 4 SMS Autosampler Theory and Troubleshooting 111 dl TIVO lea ade 111 General Intormatoii sedesiinacsedccncnnsancsansennenaniacaaanedonaonmiwneosdccnesinantieawedssnmenaeesasnes 111 SMS autosampler Interface islanda 112 safely FEJES perpresa E EEE EEE EEE FOTO RI IA LI 113 ke TPPOUDICS MOOS siria EE io ao 113 SMS Fails t Resp id scrrsriicana renano deri rara 113 To Adjust the 5 Volt DC Critical Power Supply _ 114 Measurements for Setting Up Accutrak and Pots and LEDs _ 114 POR IMICSSACCS sica ip 115 NUO ili ii ie 117 01 999042 00 D0800 Sample Management Systems Installation 5 List of Figures Pie By Cruise Alioni ata 15 Figure 2 Carousel Autosampler System Parts L ie 18 Figure 3 Magnet Sample Regulation Board Front Panel 19 Figure 4 Carousel Driver Bottom View Side View And Upper Barrel 20 Figure 5 Connecting the Carousel Autosampler Air Line to the Cross Connector 21 Figure 6 Installing the T Connector in the Source Air Line 23 Figure 7 Carousel Autosampler Interconnect Diagram rire 24 Figure 8 Carousel Autosampler Controller Box Back Panel 24 Figure 9 Orientation of Connectors Into the TRIPLE DC SERVO amp I O Board 25 Pieufe 10 Index Air Regulator Back VW
9. 5 Connect the multi tube couplings to their mating couplings at the probe elevator and carousel These are the air source and vacuum line necessary for operation 6 Connect one end of the 1 4 in tube supplied with the NMS controller to the air supply inlet port on the NMS controller Connect the other end to a suitable house supply capable of 65 psi 4 4 bar minimum and 100 psi 6 8 bar maximum WARNING Pinch point hazard The probe can move unexpectedly when connecting and turning on the supply pressure to the NMS controller Keep body parts away from the movable parts CAUTION Only plug the power cord into a properly grounded outlet supplying the correct voltage Use a standard IEC 320 style power cord appropriate for your country Insert the three pronged grounded plug fully 7 Plug in the ac Power cord WARNING Pinch point hazard The instrument will move during initialization at power up Keep all body parts away from the unit 8 Power ON the Nano MultiSampler controller The green Power LED should be lit on all three components followed by the green Run LED 01 999042 00 D0800 Sample Management Systems Installation 99 Chapter 3 Nanoprobe MultiSampler Installation 3 10 Testing the NMS You can test the NMS in the following three ways e Using a terminal window and tip hardwire connection e Using the VNMR NMS window e Using a PC and Zymark System V software Using Terminal Window and tip hardwire Connection
10. The main advantage for using a terminal window setup for tip hardwire is that you receive error information back from the NMS controller when the NMS gets an error condition The disadvantage is the communications is slow and you must enter the instructions in the terminal window slowly Use the following procedures to setup a tip hardwire session and rest the NMR l 2 Command Al A2 A3 100 Open a terminal window on the Sun computer Make sure the etc remote file is configured for tip hardwire on the serial port that the NMS is connected Enter tip hardwire in the terminal window to establish the connection The terminal window should show that you are now connected Use the commands listed in Table 6 to test the NMS Enter the commands slowly or you might cause problems with the testing During the testing the NMS might get an error condition The error number appears in the terminal window Table 9 lists NMS error code descriptions Step through each adjustment test in sequence Make any necessary adjustments If adjustments are needed refer the instructions in Attaching the New Probe Flange on page 93 through Installing the Carousel on page 96 Step through each of the test sequences The installation of the NMS is complete when all tests function correctly Establish line shape and resolution for all probes This is especially important if you had to rotate the RT shims in Attaching the Mounti
11. e Yellow caution risk of danger e Red stop e Blue mandatory action e Green safe condition or information Table 4 Floor to Shim Distances Magnet Size Min Floor to R T shim distance in inches 300 89 29 300 LH 23 400 All 29 500 All 29 600 89 29 90 Sample Management Systems Installation 01 999042 00 D0800 3 2 Before the Installation Unpacking the Boxes The NMS is shipped in three boxes Unpack and inventory each box to ensure that all necessary parts were shipped Use Table 5 to verify that you have received all parts Table 5 NMS Units and Parts Part Numbers Parts 01 905198 00 NMS Elevator and Box NMS controller RS 232 cable 50 ft 15 2 M 01 907383 00 Mounting Kit for NMS Elevator Bracket Hanger for NMS Elevator Bracket Hanger Spacer Kit Hardware Kit for NMS Elevator Install Collar Clamp Two Piece MNS 55797 RS 232 cable DB25M to DB25F 64114 dead end assembly 41019 instructions 63954 adaptor plate 65603 antislip disk x4 36216 ac power cable 38594 1 4 in OD pneumatic tube 25 ft 7 6 M 51523 RS 232 cable DB25M to DB9F 53971 beryllium copper allen wrench 63232 screws 2 x M5x10mm 41013 1 4 in T fitting 41014 1 8 in NPT 1 4 in elbow fitting 41015 1 4 in NPT 1 4 in elbow fitting 61676 suction cups 47254 1 6 A Type F 250 V fuses x4 36483 3 A Type F 250 V fuse 01 905 198 00 elevator box NMS elevator 01 905199 00 carousel box NMS carousel RS 232 cable 25
12. SMS Autosampler Installation 1 With the filtered power strip and controller power switch off turn on the robot power switch Turn on the filtered power strip 2 Turn on the laptop computer with the controller power still off If you selected automatic bootup as instructed in the previous procedure step 4 the Zymark System V Controller Main Menu should appear with the first menu item System V On Line selected as shown in Figure 29 If for some reason the DOS prompt appears enter ZY MATE at prompt 3 Press Enter The system looks for the System V Controller Since the System V Controller is not on it prompts The System V Controller is not responding Press any key to continue Press any key The screen blanks 4 Insert the Varian dictionary disk into the System V Controller floppy drive 5 Turn on the System V Controller 6 When prompted press Shift F9 the Shift key and F9 keys simultaneously and then Shift F10 the Shift key and F10 keys simultaneously when the message For field service SHIFT F9 SHIFT F10 appears The Zymark System V Controller Main Menu appears ignore the additional message to press SHIFT F9 SHIFT F10 7 Press the RELOAD button hold for a few seconds on the front of the System V Controller to load the Varian dictionary from the floppy into the System V Controller memory This overwrites current dictionary information in the controller RAM so do not press RELOAD if you have already begun
13. gerdaseiacaeadassaamnncacnndsnadechaaeecdeesnbeomnbaimmbseaobudensdcantuadadatawersandaxs 62 lo Recoyermonm a COlision sila 62 To Exerce WC RODO iprtadioniaiairainheniaiton iena 63 To SetRoDot Speed ssi 64 2 10 Calibrating the RODO spiriti 64 To Run the SET ACCUTRAK Self Alignment Routine 65 To Set the Zero and Calibration Positions i 65 211 Posrhonins the Table cirie 69 2 12 Prepare ibe Robot for Teach sr 70 To Define the CP1 AT HAND GP Position 70 To Define the CP1 CLEAR HAND GP Position _ in T2 To Test the Vertical Alignment of the Sample Tube _ ceeeseernnneeees T2 213 Icaching the RODOL sornione ot 72 To Define the FAKE HAND Special Hand _ in 72 To Define a Monument Rack in Alignment with the Monument __ 73 To Attichithe Hand secesiausasgsies seven sein rece ccsateanhestnsseeasdeaseonaneetentennetancetsdabad nase 73 To Define the Hand at the MONUMENT RACK Position 74 NO Teac i RACK POSITIONS sea 75 To Teach the Magnet Position 78 To Set the System V Controller Time and Date in 79 To Save a Dictionary piro prio danaro ricarico 80 To Test the Teaching Positions sella 80 2 14 Connecting the SMS Autosampler to the NMR Console 82 To Connect to MERCURY Systems with VXWORKS Upgrade
14. go to step 1 e If the Zymark software has not been installed the system will display the DOS prompt C gt skip to step 3 Select Exit System V to quit and exit to the DOS prompt At the DOS prompt enter TYPE CONFIG SYS to display the file contents c Locate the device line that installs the device driver for the controller it should look similar to the following device C SYSTEM V ZYCHAN2 SYS COM 1 If the number 2 follows the word ZYCHAN the latest software is installed skip to 2 5 Powering Up the System page 53 If the number 2 does not follow the word ZYCHAN continue to step 2 and load the new version Insert the Varian Utilities disk labeled SYSTEM V UTILITIES DISK into the laptop floppy drive Depending upon the configuration of the laptop COM 1 may not be available Determine which serial port is available to the System V controller by running the COMMTEST program provided with the Zymark software Editdevice line using a DOS ASCII text editor and change the COM statement to set the device to an available port Sample Management Systems Installation 01 999042 00 D0800 2 5 Powering Up the System 3 Start the PCSETUP program by entering from the DOS prompt e g C gt A PCSETUP When prompted for disk setup choose hard disk setup Press Enter twice to select Source A and Setup C When prompted for the COM port enter the port suitable for your computer e You might need to run COMMTEST t
15. high field magnet such as 400 500 600 or 750 MHz could cause you to lose your balance and fall Take care when removing the carousel from a high field magnet To Load and Unload Samples with the Carousel Installed This procedure describes loading and unloading samples from the carousel while it is still attached to the driver If you want to remove the carousel before loading and unloading samples use the next procedure 1 Turn on the eject air Sample Management Systems Installation 01 999042 00 D0800 1 6 Loading and Unloading Samples Move the sensor arm to the left until it stops between position 9 and position Remove the sample from position 9 Then remove the rest of the samples With the eject air still on insert the samples into the carousel in any order Be sure to remember which samples are in which positions Move the sensor arm back to the right until it aligns with position 9 The sample in position 9 will float Now is a good time to check sample float height Adjust eject air if necessary as described in Adjusting the Eject Air on page 31 The Carousel autosampler can now be used for NMR To Remove the Carousel and Load Samples This procedure describes Sensor arm removing the carousel then loading or unloading samples from the carousel An illustration optical sensor of the carousel and driver is shown in Figure 16 TR N Lock pin and Turn on eject air by entering e in V
16. you want Then press ENTER to run the program Select Execute a Prog and press return Edit Programs allows you to edit the various programs create a new program or rename copy delete and print a program Manual Control provides a Zymate System prompt in an entry window In this window you are able to manually enter commands to perform many of the operations that are available in the pull down menus You can also set parameter values Scheduler is seldom used It is described in the Zymark documentation only not in this manual Module SetUp menu This pull down menu shown in Figure 32 lists the modules installed in the System V Controller Zymark System V On line Methods Sample Data Module SetUp System Easylink Output V2 00 Generic RS232 Interface V1 0 PC PRINTER INTERFACE ZYMATE XP ROBOT Figure 32 Zymark System V On Line Menu with Module SetUp Pull Down Menu The modules you will be most concerned with are e Generic RS232 Interface e ZYMATE XP ROBOT Selecting one of the modules brings up its teaching screen It is from here that you will enter the robot teaching screen called ZYMATE XP PROGRAMMING by selecting the Zymate XP Robot option and pressing Enter Sample Management Systems Installation 01 999042 00 D0800 2 7 Testing Module Communications and Function Keys System menu This pull down menu shown in Figure 33 provides seven selections that allow you to perform Zymate system operations The
17. 1 23 Vdc 1 284 Vdc 1 24 Vdc 1 295 Vdc 1 25 Vdc 1 306 Vdc Measurements for Setting Up Accutrak and Pots and LEDs On the robot baseboard are yellow green and red LEDs that receive signals from digital encoders attached to the reach vertical and rotary axes These LEDs should be set from the factory to the positions given below If one of the red LEDs comes on that pot is out of tolerance and should be replaced After replacing a pot or adjusting Accutrak the axis worked on must be exercised so that it travels over its full range 50 times To do this execute the program called SET ACCUTRAK This updates the calibration factors for Accutrak After the exercise is complete you should then adjust zero and calibrate the axis Sample Management Systems Installation 01 999042 00 D0800 4 2 Troubleshooting Reach 7 3 in 18 5 cm from the back of the wrist to the front of the arm housing Yellow LED and green LED should toggle at almost the same time Vertical 6 1 in 15 5 cm from top of cable clamp to bottom of bridge at top of robot Yellow LED and green LED should toggle at almost the same time Rotary Green LED should toggle in center of yellow range when robot is at 183 degrees Error Messages Below is a list of the error messages returned by the spectrometer when there is a problem Under each error message is an explanation and correction General Operation Errors The following errors indicate a problem with the ge
18. 10 Calibrating the Robot page 64 e 2 11 Positioning the Table page 69 e 2 12 Preparing the Robot for Teaching page 70 e 2 13 Teaching the Robot page 72 e 2 14 Connecting the SMS Autosampler to the NMR Console page 82 The SMS Sample Management System autosampler accessory Figure 19 generally referred to as the autosampler in this manual is an electromechanical robotic device designed to automatically insert and retrieve samples from the bore of the magnet The system is designed for completely automatic unattended operation and can handle from to 100 samples When installed the robot is attached to a table and then the table is moved next to the magnet where the robot is calibrated and taught the magnet and sample rack positions Two sample tray configurations are available A 50 sample tray accommodates 5 mm and 10 mm sample tubes Two 50 sample trays accommodate one hundred 5 mm and 10 mm sample tubes Each sample position is individually encoded so that the computer can address a position either randomly or sequentially In addition sample locations are staggered to improve the identification Figure 19 SMS Autosampler of each sample position Sample zero is a default position accessible by the autosampler for various error recovery scenarios including power failures 01 999042 00 D0800 Sample Management Systems Installation 41 Chapter 2 SMS Autosa
19. 26 Figure 11 Checking Carousel Rotation Top View ii 21 Figure 12 Carousel with Sensor Arm in Locked and in Run Positions 28 Figure 13 Lock Pin on Sensor Arm Disengaged and Engaged 29 Figure 14 Bottom View of Carousel Showing Connector and Groove 29 Figure 15 Optical Sensor and Proper Sample Floating Height 31 Figure 16 Carousel Autosampler Carousel and DrIVEr ire 33 Figure 17 Manually Loading and Unloading Samples Through Position 1 36 Figure 18 Controller Diagnostics Panel Voltages ii 38 COS ESS AUO 1010 5 ARRE Rent erent nner oe eee eer renee inne sent eter eterna en err ener eer 41 Figure 20 SMS Autosampler Robot and Location of the Turntable and Base Covers 44 Figure 21 Overhead View of Magnet and Table with Robot Mounting Holes 46 Figure 22 Adjusting the Table ere NG sis vasa sesossccosenc ii 46 Figure 23 Overhead View of Robot Mounted on the Table 47 Figure 24 Orientation of Sample Rack and Hand Parking Station 47 Figure 25 Fuse Block Assembly and Voltage Selector Card 49 Figure 26 System V Controller Back View Showing Connectors c ce
20. 49 Figure 27 Robot Base Back View Showing Connectors rie 50 Pipe 28 SMS Autosampler Block Diastami rrrrri ae SI Figure 29 System V Main Men Screeitii scs c10sccteoosencseccasesencvanssveecevensbasaterasccanssbnnsievaseoanawaraceancts 53 Figure 30 Zymark System V On Line Menu L rire 55 Figure 31 Zymark System V On Line Menu with Methods Pull Down Menu 55 Figure 32 Zymark System V On Line Menu with Module SetUp Pull Down Menu 56 Figure 33 Zymark System V On Line Menu with System Pull Down Menu 57 Figure 34 ZY MATE XP PROGRAMMING Screen cirie 58 Figure 35 ZYMATE XP HAND PROGRAMMING Scfee0 ccccceeeseeeeeneceeeeceeeeeeeeeeeeeeeees 58 6 Sample Management Systems Installation 01 999042 00 D0800 List of Figures Figure 36 ZYMATE XP PROGRAMMING Screen ececceceeeeesssseeeeeeesnnneanacaascccceeeceeeeseeeeees 60 Figure 37 ZYMATE XP HAND PROGRAMMING Scfeen ccccseeeseeeeenneeeeceeeeeeeeeeeeeeeees 60 Figure 38 Underside of Arm Housing and Wrist for Measuring Reach 66 Figure 39 Preferred Table Orientation to Varian Magnets 69 Figure 40 Alternate table Orientation to Varian Magnets 70 Figure 41 Preferred Table Orientation to Oxford Magnets with Antivibration Legs 70 Figure 42 50 Position Rack S
21. 50 61 error codes 36 NMS 108 error condition during a sample change 111 error message definitions 115 error messages 115 European fuses 48 Execute a Named Command selection 61 EXecute a Prog pull down menu 56 61 105 exercising the robot 63 F FAKE HAND special hand defining 72 filter regulator assembly 21 filtered power strip 50 flammable gases warning 10 FOB block 16 42 Sample Management Systems Installation 117 Index fuse replacement 48 G Generic RS 232 board 50 generic RS 232 board and the SMS 54 GET HAND GP program 61 62 63 73 grip zero position 68 gripper force 68 H hand attaching to robot wrist 62 removing from robot wrist 62 hand parking station installation 47 hand held controller 57 59 hand held controller connecting 50 hardware 112 helium contact with body 10 helium gas flowmeters caution 12 high power amplifiers cautions 12 hose fittings 19 l index air regulator magnetic field effects 25 placement 25 index number 75 inspecting for shipping damage 42 installing the Nanoprobe MultiSampler 89 109 system requirements 90 interface 112 L laptop 61 installing Zymark software for the SMS 52 internal serial port 52 102 PCMCIA serial card 52 102 laptop and SMS what to do if turned off 54 laptop computer connecting to System V Controller 51 102 laptop PC 42 LEDs on robot baseboard 114 line voltage 48 lock pin 28 29 locke
22. 90 The arrow on the knurled knob now points up or down See Figure 13 Notice how the sensor arm is free to rotate 3 Move the sensor arm to the right from between positions 9 and 1 to directly over position 9 When the carousel is mounted to the driver the arm only moves between the run and locked positions shown in Figure 12 4 Look through the tubes Notice that the white retaining disk inside the carousel has a cutout that aligns with the sensor arm This cutout allows one sample to drop into the magnet while the other eight samples rest on the retaining disk Sample Management Systems Installation 01 999042 00 D0800 1 4 Using the Carousel Lock Pin Disengaged Lock Pin Engaged Knurled knob Pull out and Rotate 90 rotate 90 until it snaps arrow up or down Into recess arrow left or right x x Figure 13 Lock Pin on Sensor Arm Disengaged and Engaged 5 Look at the bottom of the carousel You see a connector and a groove that fit into the connector and alignment bar on the top of the driver as shown in Figure 14 Notice the orientation of the connector and the alignment groove and compare this to the driver connector and alignment bar Alignment Electrical connector groove and drive pin Figure 14 Bottom View of Carousel Showing Connector and Groove 6 Move the sensor arm to between position 9 and position 1 and then engage the lock pin by rotating it 90 and allow
23. CP32 RACK for the second 50 sample rack When prompted Rack exists Do you wish to C Change or M Move it press C for change When prompted Do you want to change the rack index name press N for no When prompted Enter name of hand on the Zymate robot press Return and HAND GP displays in the upper screen Table 2 Sample Rack Names Rack Rack Name Ist 50 position rack CP31 RACK closest to robot power cord 2nd 50 position rack CP32 RACK 16 Sample Management Systems Installation 01 999042 00 D0800 11 12 13 14 i bey 16 17 18 19 20 21 22 23 24 2 13 Teaching the Robot You will then be prompted Move to clear access to rack position 1 and press G Before you press G you should use the function keys to position the robot so that it will not crash into anything Press G The hand will move to where teaching position 1 is Write down the vertical value which should be about 19 5 cm Use the function keys to lower the teaching pointer to the top of the rack as described for one of the following sample racks 50 position rack without dimple Place the teaching pointer centered on the dotted circle 50 position rack with dimple Place the pointer centered into the dimple on the rack Use the function keys to position reach and rotary so the teaching pointer is centered over the appropriate spot on the rack Use the function keys to move the arm up 10 cm to about 19 5
24. Then turn the laptop off then on Enter ZYMATE at the DOS prompt Bring up the Zymark System V On line menu screen by selecting System V On line from the Zymark System V Controller Main Menu screen Select the Module SetUp option from the on line menu and press Enter Verify that the Generic RS323 Interface and XP Robot modules are listed in the Module Setup pull down menu as shown in Figure 32 If these are not listed turn the controller power off reseat the module boards and try again If the two modules are listed continue to the next step Position the highlighted bar over the XP Robot selection and press Enter to bring up the ZYMATE XP PROGRAMMING screen which is shown in Figure 36 Press the laptop function keys F1 through F6 to move the robot arm in small steps see Figure 36 Press the function key F7 turbo at the same time as any of the other function keys to move the robot arm in larger steps of 1 cm Press F8 to go to the ZYMATE XP HAND PROGRAMMING screen shown in Figure 37 Press the function keys F3 through F6 to move the wrist and gripper in small steps see Figure 37 Test the hand held controller by repeating steps 6 through 9 using the function keys on the hand held controller 01 999042 00 D0800 Sample Management Systems Installation 59 Chapter 2 SMS Autosampler Installation F1 ZYMATE XP PROGRAMMING UP VERTICAL FO REACH ROTARY DOWN WRIST F3 GRIP SYRINGE OUT LAST NAME F4 CURREN
25. and Pneumatic Valves 01 999042 00 D0800 Sample Management Systems Installation 109 Chapter 3 Nanoprobe MultiSampler Installation 110 Sample Management Systems Installation 01 999042 00 D0800 Chapter 4 SMS Autosampler Theory and Troubleshooting Sections in this chapter e 4 1 Theory of Operation next e 4 2 Troubleshooting page 113 4 1 Theory of Operation This section provides a description of the autosampler s electronics and interface General Information When the System V Controller is powered on it emits a short beep when it is ready to receive commands from the console If the System V Controller detects an error condition during a sample change it emits a beep Typically this results from trying to grasp a sample that isn t there In most cases VNMR reports this error and stops the experiment In VNMR temporarily stop the experiment by entering the command autosa Correct the problem and resume the experiment by entering the command autora The following are some operating rules to keep in mind when using the System V controller e Always keep a dictionary floppy disk in the System V Controller e Detected errors are recorded with a time stamp and parameter values showing the robot state at the time of the error This file is named either ERROR1 OUT or ERROR2 OUT These files can be examined on any PC with an ASCII text editor The following are some rules to keep in mind during sampler changer oper
26. and write the value in the VERTICAL field This height will later be used to calibrate the height of the magnet position Press G When prompted Enter number of positions in a row default value press Enter The hand will move to the second teaching position of the rack Use the function keys to lower the teaching pointer to the top of the rack Use the function keys to position reach and rotary so the teaching pointer is centered over the appropriate spot on the rack Use the function keys to reset the height to the value you wrote down earlier in this procedure Press G When prompted Enter number of positions in a column default value press Enter For the 50 position tray the last position uses the teaching insert to center the third teaching position The vertical height for all three positions should be the same The hand will move to the third teaching position of the rack Write down the vertical value Use the function keys to lower the teaching pointer to the top of the rack Use the function keys to adjust the rotary and reach so the teaching pointer is centered precisely on the teaching position Use the function keys to reset the height to the value previously noted Press G When prompted Move to desired rack height press G Press Esc to return to ZYMATE XP PROGRAMMING screen Now check the fourth teaching position of the rack to validate the decisions you made above a From Robot ZYMATE XP PROGRAMMING scree
27. at this 1 5 Table with Robot Mounting Holes m distance prevents the robot from hitting the magnet stacks when the robot is initially exercised 2 Remove the bolt assembly from each telescoping leg and adjust the height so that the table top is approximately 10 to 19 cm 4 to 7 5 in below the height of the upper barrel top as shown in Figure 22 Reinstall and tighten the bolt assemblies to secure the table top 10 to 19 cm 4 to 7 5 in Bolts 4 for adjusting table top height Figure 22 Adjusting the Table Height 46 Sample Management Systems Installation 01 999042 00 D0800 2 3 Setting Up the Table Robot and System V Controller 3 If necessary slightly raise or lower the height by adjusting the table feet 4 Place a level on the center of the table top and adjust the table feet until the table is level in all axes To Mount the Robot These steps describe how to mount the robot to the table top Power inlet 1 Position the robot over the three mounting holes on the table top When correctly positioned the robot power inlet faces in the direction shown in Figure 23 2 Locate three panhead screws Robot wrist three washers and three lockwashers in the plastic bag Figure 23 Overhead View of Robot Mounted labeled Robot Fastening Kit on the Table 3 Insert a lockwasher then a washer over the end of the one of the screws 4 From under the table insert the screw lock
28. back of the wrist housing to the front of the arm C O housing as shown in Figure 38 This measurement should be 2 8 cm 1 1 in Q Q If the measurement is not 2 8 cm 1 1 in Wrist go to the next step If Arm housing bottom the measurement is bottom 2 8 cm 1 1 in go to Reach zero 2 8 cm 1 1 in the procedure Reach Reach calibration 30 5 cm 12 in Calibration on page 66 Figure 38 Underside of Arm Housing and Wrist for Press 0 to bring up the Measuring Reach Robot Axis Calibration menu Press Z to go to the Reach Zero screen Press the function keys F3 or F4 to adjust the reach position for a 2 8 cm 1 1 in measurement between the back of the wrist box and the front of the arm housing as shown in Figure 38 Do not press any other function keys Press Esc to store the reach zero position Press Esc again to return to the ZYMATE XP PROGRAMMING screen Reach Calibration This procedure calibrates the reach potentiometer voltage as determined over a 30 5 cm 12 in distance l 2 Leave the arm high enough so that it will not hit the monument While in the ZYMATE XP PROGRAMMING screen use the function keys F3 and F4 to adjust the reach so that a 30 5 cm 12 in ruler just fits between the back of the wrist and the front of the arm housing See Figure 38 If the REACH field shows 27 7 cm this value is 30 5 cm 12 in minus the rea
29. carousel present Error 24 probe contents disagree with software Error 25 rotor already in rack position 3 12 Pressure and Vacuum Adjustments 108 The pressure and vacuum adjustments are preset at the factory Call Varian Technical Support before you make any adjustments Two regulators inside the NMS controller control the pressure supplied to the elevator and the vacuum to the system to retrieve the rotor These regulators shown in Figure 65 are adjusted at the factory and generally do not require adjustment as part of the normal installation process The pressure gauge on the face of the NMS controller should read 60 psi provided the house air supply 1s between 65 psi 4 4 bar minimum and 100 psi 6 8 bar Sample Management Systems Installation 01 999042 00 D0800 3 12 Pressure and Vacuum Adjustments maximum If the inlet pressure is within the prescribed range adjust the system regulator to set the pressure to 60 psi The system vacuum is indicated on the LCD display and should range between 115 no rotor and 165 holding a rotor If the arm fails to retrieve the rotor check the replacable cup on the retrieval arm for damage the rotor cap for cracks and then check the vacuum and if necessary adjust it to within these limits Pneumatic Valve LED Pneumatic Valves 8 total Vacuum Regulator Vacuum Gauge no units Pressure Regulator Pressure Gauge back Figure 65 NMS Controller Pressure and Vacuum Regulators
30. discuss the health risks of being in proximity to magnetic fields Wearers of metal prosthetics and implants should contact their physician to determine if a danger exists Refer to the manuals supplied with the magnet for the size of a typical 5 gauss stray field This gauss level should be checked after the magnet is installed WARNING Keep metal objects outside the 10 gauss perimeter from the centerline of the magnet The strong magnetic field surrounding the magnet attracts objects containing steel iron or other ferromagnetic materials which includes most ordinary tools electronic equipment compressed gas cylinders steel chairs and steel carts Unless restrained such objects can suddenly fly towards the magnet causing possible personal injury and extensive damage to the probe dewar and superconducting solenoid The greater the mass of the object the more the magnet attracts the object Only nonferromagnetic materials plastics aluminum wood nonmagnetic stainless steel etc should be used in the area around the magnet If an object is stuck to the magnet surface and cannot easily be removed by hand contact Varian service for assistance 01 999042 00 D0800 Sample Management Systems Installation 9 SAFETY PRECAUTIONS Warning Notices continued 10 WARNING WARNING WARNING WARNING WARNING WARNING WARNING Refer to the manuals supplied with the magnet for the size of a typical 10 gauss stra
31. drive plate Bottom view Recess for microswitch for carousel position Drive cylinder ti OU Air adjust knob Microswitches Side view White disk P _ ao Top of upper barrel Driver clamp Figure 4 Carousel Driver Bottom View Side View And Upper Barrel Sample Management Systems Installation 01 999042 00 D0800 Make sure the driver is fully seated onto the upper barrel The driver is fully seated 1 3 Installing the Carousel Autosampler 8 Using the 5 32 inch Allen wrench tighten the clamp screw so that the driver fits snugly Do not overtighten Generally tighten until snug and then add 1 4 turn You can slide a turbine 1 1 1 inch O D in and out to check the integrity of the upper barrel The turbine should slide freely in and out To Install the Air Line The two procedures in this section describe how to install the Carousel autosampler air line into the source filter regulator air line The Carousel autosampler index air regulator requires a clean air nitrogen source of 65 psi minimum pressure during eject Identifying Your Source Air System Your source filter regulator assembly has one of two basic configurations one that includes the cross connector between the filters and the regulators Figure 5 or one that does not include the cross connector Figure 6 1 Locate the filter regulator assembly that supplies the system on which you are installing t
32. for SMS 53 PFG junction box 19 powering up the SMS with the PC attached 53 preparing to calibrate the robot 61 preparing to teach the robot 61 probe elevator lower limit setting 94 probe flange for NMS attaching 93 probe guide holes 32 prosthetic parts warning 9 R rack mounting plate installation 47 radio frequency emission regulations 12 01 999042 00 D0800 reach calibration procedure 66 reach zero position 66 relative rack positions 65 relief valves warning 11 RELOAD button 54 61 65 removable quench tubes warning 11 retaining disk 28 robot baseboard RAM 64 exercising with VARIAN EXERCISE 63 mounting to table top 47 resetting speed to 0 2 61 setting the speed 64 robot arm manually moving 61 ROBOT AXIS CALIBRATION menu 67 Robot Axis Calibration menu 66 ROBOT WRIST CALIBRATION screen 69 RS 232 cable 25 RS 232 peripheral 112 RS 232C serial link 42 rubber stopper 32 run mode 28 S S SPEED parameter 64 safety features 113 safety precautions 9 11 sample change cycle time 42 sample changer 41 sample detection circuit 19 87 sample positions 41 sample rack installation 47 sample rack names 76 sample racks 75 sample removal errors 116 sample trays 41 two 50 sample trays 75 sample zero 41 saving the dictionary 80 Scheduler pull down menu 56 serial interface board 82 83 SET ACCUTRAK program 65 114 setting up the laptop computer for testing the NMS 102 testin
33. ieri 98 Figure 58 NMS Controller Back Panel hier 99 ERI ac 101 Figure 60 NMS autosampler block diagram 103 Figure 61 System V Main Menu Screen Lc erre nice eee rici 104 Figure 62 Zymark System V On Line Menti 105 Figure 63 Zymark System V On Line Menu with Methods Pull Down Menu 105 Figure 64 Diagnostic and Test Program Selection Window c ccseeesenenenteeeeeeeeeeeeeeeeeeneees 106 Figure 65 NMS Controller Pressure and Vacuum Regulators and Pneumatic Valves 109 01 999042 00 D0800 Sample Management Systems Installation 7 List of Tables Table 1 Fuses Used for 120 and 220 V Operation i 48 ARENA ae deo 76 Table 3 Tests Conditions and Expected Results for Testing Teaching Positions 81 Table 4 Floor to Shim Distances iii ronda ria 90 NEUE ii 91 Table 6 Commands Used for Testing the NMS ceesssssesssseessssessessssseeseeeseecceseeeeeseeeeeeeees 100 Table 7 NMS Installation Window Buttons and Commands 102 Table 8 NMS Tests Run Using Zymark System V Software and a PC 106 Toe NMS Biror Codis irrita recata oine Eara AEE EENIA EEEE TEE 108 Table 10 Voltages for 5 Vdc Power Supply 114 8 Sample Management Systems Installation 01 999042 00 D0800 SAFETY PRECAUTIONS The fol
34. is not attached select EXecute a Prog from the METHODS menu and select the GET HAND GP file Go to the ZYMATE XP PROGRAMMING screen by selecting XP ROBOT from the Module SetUp menu Use the function keys to position the fingers over a rack Press 6 to select Execute Named Command A flashing cursor appears in CURRENT NAME field Enter the name of the rack e g CP31 RACK and press Enter A flashing cursor will appear in the INDEX field Enter 2 for the index number and press Enter The robot arm will move over the first hole index 2 with the vertical height at the value set in defining the rack about 19 9 cm Adjust the tube upward in the turbine so the top of the tube just touches the bottom of the fingers This will be used as a height gauge when the height is set at the magnet Press F8 to go to the ZYMATE XP HAND PROGRAMMING screen Set the grip to 80 for 5 mm sample tubes or 150 for 10 mm sample tubes This should open the fingers to allow an NMR sample tube to pass through Press F7 to return to the ZYMATE XP PROGRAMMING screen Use the function keys to move the robot away from the rack Turn on the compressed air for ejecting a sample from the magnet Manually place the height gauge sample tube turbine assembly into the top of the magnet so it is floating on the compressed air with the height as set in step 9 Position the robot arm as follows to define the magnet position a Press F5 with F7 Turbo to
35. not use the manual index button to rotate the driver Align the numbers on the carousel to the numbers on the driver Push down on the carousel until it seats This engages the electrical connector and drive pin see Figure 14 At the console turn on the eject air Disengage the lock pin by pulling out the knurled knob and rotating it 90 The arrow on the knurled knob will point up or down Move the sensor arm to the right until it is over position 9 This is the run position You will notice some resistance as you move the arm The carousel is now ready to use for NMR experiments To Remove the Carousel This procedure describes how to remove the carousel from the driver Position 9 must be over the upper barrel before the carousel is removed CAUTION Samples could fall through and break if the carousel is not in the locked mode Before removing the carousel index the carousel so that position 1 is over the upper barrel The sensor arm must be in the locked position as shown in Figure 12 with the lock pin engaged and the arrow on the knurled knob pointing to the left or right 30 Sample Management Systems Installation 01 999042 00 D0800 1 5 Adjusting the Eject Air 1 After an automated run is finished turn on the eject air at the console 2 Use the manual index button to rotate the carousel until position 9 aligns with the upper barrel 3 Move the sensor arm to the left from run to lock mode see Figure 1
36. or magnet 2 Turn off the air flow to the filter regulator assembly 3 Use a 1 4 inch Allen wrench to remove the plug from the bottom of the cross connector 4 Screw in the 1 4 inch tube connector 28 860043 00 into the bottom of the cross connector as shown in Figure 5 5 Insert one end of the 25 ft 1 4 inch black tube into the tube connector you just installed as shown in Figure 5 6 Insert the other end of the 25 ft 1 4 inch black tube into the connector on the index air regulator 7 Turn the knob on the source air regulator so that the pressure reads 60 psi Installing the T Connector If your source filter regulator does not have the cross connector installed you must install the supplied T connector into the source air line as described in the following steps You will need a sharp device such as a scalpel or X Acto knife and the supplied T connector 1 Make sure no sample is in the probe or magnet 2 Turn the knob on the filter regulator assembly so the pressure reads zero 3 At8to 10 inches from the regulator cut the 1 4 inch air line with a sharp device such as a scalpel or X Acto knife See part 1 in Figure 6 4 Insert the two ends of the air tube that you just cut into the two ends of the T connector 28 860034 00 See part 2 in Figure 6 5 Insert an end of the supplied 25 ft 1 4 inch black tube into the third connector on the T See part 3 in Figure 6 6 Insert the other end of the 25 ft 1 4
37. pot and the SAMP PRES LED on the front of the MSR board See Figure 3 2 Using a pot adjustment tool or a small flat head screwdriver turn the pot all the way counterclockwise until it stops 3 Insert a sample 4 Turn the pot clockwise until the green SAMP PRES LED lights 5 Eject the sample The LED should go off If not turn the pot counterclockwise until the LED goes off 6 Insert the sample again The LED should light If not turn the pot clockwise until the LED lights 7 Repeat steps 5 and 6 until the LED consistently lights when a sample is inserted and goes off when a sample is ejected To Attach the Driver This procedure describes how to clamp the driver to the top of the upper barrel The procedure requires a 5 32 inch Allen wrench which is included in the bag with driver The carousel driver is illustrated in Figure 4 Magnets must have more than 1 2 inch of the upper barrel MAGNET SAMPLE REGULATION READY AP FAIL or reset 4 aa at na J4 P R E S TE S A M P P R E S 3 01902030 Sample detection circuit adjustment A Figure 3 Magnet Sample Regulation Board Front Panel top free and clear from any obstacles for example PFG junction box hose fittings etc for mounting the driver to the upper barrel 1 Make sure no sample is in the probe or magnet 2 Locate the driver in the shipping box The Allen wr
38. s and part numbers for the robot and System V Controller A voltage selector is also present to allow the voltage to be set to one of four configurations Figure 25 shows the fuse block assembly and voltage selector card as it is removed from the unit Table 1 Fuses Used for 120 and 220 V Operation buia Fuse for 120 Vac Fuses for 220 Vac Part No Quantity Part No Quantity Robot 3A SLO 46364 1 1 6A SLO 44232 2 System V Controller 1 5A 37645 1 0 8A 39838 2 230 240 Vac 220 240 Vac 4 as shipped Sample Management Systems Installation 01 999042 00 D0800 2 3 Setting Up the Table Robot and System V Controller Power entry port Voltage g S selector card Fuse block Figure 25 Fuse Block Assembly and Voltage Selector Card To Set Up the System V Controller This procedure describes how to set up the System V Controller The back of the System V Controller is illustrated in Figure 26 CAUTION Avoid equipment damage or data loss by keeping the System V Controller and laptop PC well away from the magnet Do not place either unit on the robot table especially after the table has been moved to its final position next to the magnet Refer to the safety section at the beginning of this manual 1 Remove the System V Controller from its box and place it so that the cable can reach the robot which is no more than 20 feet away The back of the System V Controller contains five expansio
39. selection you will use most is the Save Dictionary option Zymark System V On line Methods Sample Data Module SetUp Quit System StAtus Load Dictionary Pyappend dictionary Edit Title opy ZYD PC lt System V Copy ZYD PC gt System V View dictionary SeCurity Format Diskette Figure 33 Zymark System V On Line Menu with System Pull Down Menu 2 7 Testing Module Communications and Function Keys This procedure describes how to confirm communications between the controller the robot and the interface modules as well as how to test the hand held controller 1 Press Esc repeatedly until the message Quit to DOS Y appears Enter Y 2 At the DOS prompt C gt enter COMMTEST Next to the entry for COM2 you should see Installed and compatible with System V Controller If you do not see this message check the connection between the laptop and the System V Controller Then turn the laptop off then on 3 Enter ZYMATE at the DOS prompt 4 Bring up the Zymark System V On line menu screen by selecting System V On line from the Zymark System V Controller Main Menu screen 5 Select the Module SetUp option from the on line menu and press Enter 6 Verify that the Generic RS323 Interface and XP Robot modules are listed in the Module Setup pull down menu as shown in Figure 32 If these are not listed turn the controller power off reseat the module boards and try again If the two modules are listed continue
40. senses returns the rack to the home position and begins again This test works best when only one sample is used TEST RACK Exercises one rotor through all rack positions and is used primarily for rotor arm height adjustment This exercise picks up the rotor carries the rotor over to the probe and returns the rotor to the next rack position ADJUST RACK A program used for adjusting the rotor handling arm at the carousel rack GET FROM MAGNET Unlocks the probe lowers the probe from the magnet and rotates the probe to the 54 7 degree position PUT INTO MAGNET Rotates the probe to the vertical position unlocks the probe lock lifts the probe into the magnet and locks the probe into position Using the VNMR NMS Window aoe ss si Current sample 0 NMS dialog is echoed here Using the NMS window from VNMR to align and test the NMS removes some of the guesswork gg from setting up the complete system The window Ce Connecting to NMS provides buttons for testing the system Lack of __tower Probe error information is a drawback for using the NMR 7 window Next Sample 1 1 Start VNMR and enter nms on the input m x Probe window The NMS window opens 2 Click on the Install button to display the Adjust and Test selections as shown in Install il Figure 59 Adjust e TASSFETOO i TINSEFTIon Each button sends a command to the NMS nana i controller and echoes that command in the dialog window Tab
41. teaching the positions unless you saved your values to the dictionary disk Any time the laptop or System V Controller is powered off follow steps 2 through 4 of the above procedure to power on the system If you don t follow this procedure different displays will appear and will require undocumented responses Also if the generic RS 232 communication board is not installed in the System V Controller different results than those described above will occur If you get confusing results turn off the controller turn off the laptop and repeat steps 2 through 4 If you ever have to move the robot arm manually e g after a collision turning the System V Controller power back on reinitializes the electronics and the system determines the current position of each axis of motion 2 6 Using Zymark Menus 54 During the installation and calibration of the robot you use the laptop computer to interact with the System V Controller to move the robot and teach it various positions The Zymark software menu system has several layers including several options that you use repeatedly This section provides an overview of the menus so that you can take a few minutes to familiarize yourself with them before proceeding with the installation The following is a list of hints for working with Zymark menus e To select an option from a pull down menu use the arrow keys to move the highlight bar over the desired option and press Enter e To exit ou
42. that is used The program SET ACCUTRAK is run so the System V Controller can correct for any variances in the pots that measure positions Initial zero positions are defined for the vertical wrist reach and grip motions of the robot These positions establish the starting point of the various movements and after they are set the robot will not move past the zero positions Then calibration positions are also defined to calibrate the pot voltage readings to the actual dimensions The zero and calibration positions are stored in the robot baseboard RAM which is backed up by battery The other positions are stored in memory on the System V Controller After Sample Management Systems Installation 01 999042 00 D0800 2 10 Calibrating the Robot teaching all the positions they also are saved to the Varian dictionary disks in the file AUTOLOAD ZYD which can be reloaded if necessary by pressing the RELOAD button on the front of the System V Controller An absolute reference position CP1 AT HAND GP is defined when the robot arm is positioned so it mates with the monument located in the parking station The dimensions of the hand are then determined in a two step process e A MONUMENT RACK position called FAKE HAND is defined with the wrist pins of the robot arm positioned in the monument no hand is installed e A second MONUMENT RACK position is defined with the HAND GP on the robot arm and positioned with the
43. that secures the robot To Remove the Packing Base This procedure describes removing the wood packing base from the bottom of the robot You will need a flatblade screwdriver to do this 1 Use the flatblade screwdriver to remove the two turntable cover screws You can raise the robot arm to do this Keep these screws for use later Figure 20 shows the location of the turntable cover 2 Locate and remove the two screws that secure the base cover these screws are at the back of the robot Keep these screws for later use 3 Unsnap the base cover from the bottom of the robot This might take some force 4 Remove the base cover 5 Locate the two screws that hold the robot to the wood packing base Remove these two screws and lift the robot off the wood base i Wrist coupling and wrist pins Robot arm N Turntable cover Base cover Figure 20 SMS Autosampler Robot and Location of the Turntable and Base Covers 44 Sample Management Systems Installation 01 999042 00 D0800 2 3 Setting Up the Table Robot and System V Controller 6 Reassemble the robot as follows a Replace the base cover you removed in step 4 b Snap the base cover to the bottom of the robot c Replace the two screws removed in step 2 that secure the base cover d Replace the two turntable cover screws you removed in step 1 To Unpack the Remaining System Components This section describes how to unpack
44. the driver 1 3 Installing the Carousel Autosampler The next several sections describe how to install and test the Carousel autosampler Before starting the installing first read Before You Begin on page 19 Below is a list of the major steps involved e Attaching the driver Clamp the driver to the top of the upper barrel e Installing the air line Install an air line from the source air supply to the index air regulator e Connecting cables and final preparations Connect the dual air line and signal cables adjust the pressure to the driver 01 999042 00 D0800 Sample Management Systems Installation 1 Chapter 1 Carousel Autosampler Installation Microswitches Driver below Carousel Index air regulator Pressure gauge _ Pressure i Manual no index button Controller Dual air line Power connector P4 E a Signal a connector RS 232 connecior P3 Figure 2 Carousel Autosampler System Parts 18 Sample Management Systems Installation 01 999042 00 D0800 1 3 Installing the Carousel Autosampler Before You Begin If the spectrometer is a UNTYINOVA the sample detection circuit on the Magnet Sample Regulation MSR board Part No 01 902030 02 must be adjusted to ensure correct sample detection when using the Carousel autosampler The following steps describe how to adjust the sample detection circuit 1 Locate the PRES ADJ
45. to Send signal 01 999042 00 D0800 Sample Management Systems Installation 113 Chapter 4 SMS Autosampler Theory and Troubleshooting 114 To Adjust the 5 Volt DC Critical Power Supply This procedure describes adjusting the 5 volt power supply for the System V Controller CPU board Be sure to make all measurements with the module cards installed Use the following specifications and references e Measurement specification is 0 00 two places e Adjustment specification is 0 000 three places e Test or adjustment location is J11 of System V Controller CPU board e Orientation Pin 1 is closer to the rear of the case e PIN OUT Pin 1 5 0 Vdc Pin 2 reference voltage 1 2 to 1 3 Vdc Pin 3 adjusted voltage 1 3 to 1 4 Vdc Pin 4 ground Pin 5 clock not checked Pin 6 ground use this point for ground 1 Using Pin 1 positive and Pin 6 negative verify 5 0 Vdc Adjust R19 on power supply near fan as required 2 Using Pin 2 positive and Pin 6 negative measure the reference voltage 3 Locate measured reference voltage in Table 10 and write down the corresponding Adjust voltage listed directly to the right 4 Using Pin 3 positive and Pin 6 negative adjust if required by manipulating R12 near J11 to obtain the voltage listed in Table 10 Table 10 Voltages for 5 Vdc Power Supply Measure Adjust Pin 2 Pin 6 Pin 3 Pin 6 1 20 Vdc 1 251 Vdc 1 21 Vdc 1 262 Vdc 1 22 Vdc 1 273 Vdc
46. to the next step 7 Position the highlighted bar over the XP Robot selection and press Enter to bring up the ZYMATE XP PROGRAMMING screen which is shown in Figure 36 8 Press the laptop function keys F1 through F6 to move the robot arm in small steps see Figure 36 9 Press the function key F7 turbo at the same time as any of the other function keys to move the robot arm in larger steps of 1 cm 10 Press F8 to go to the ZYMATE XP HAND PROGRAMMING screen shown in Figure 37 01 999042 00 D0800 Sample Management Systems Installation 57 Chapter 2 SMS Autosampler Installation F1 ZYMATE XP PROGRAMMING UP VERTICAL FO REACH ROTARY DOWN WRIST F3 GRIP SYRINGE OUT LAST NAME F4 CURRENT NAME IN F5 Press function keys or enter following CLOCKWISE 1 Base Coordinate Commands 7 Move to Coordinates FG 2 Base Speed Commands 8 Change Position COUNTER 3 Name Absolute Position 9 Define Rack Nape 4 Name Relative Position T Define Monument TURBO 5 Base Sense Commands P Programming Commands F8 6 Execute Named Command D Delete Entry HAND SCREEN Figure 34 ZYMATE XP PROGRAMMING Screen F1 ZYMATE XP HAND PROGRAMMING FILL VERTICAL F REACH ROTARY DISPENSE WRIST F3 GRIP SYRINGE OPEN LAST NAME FA CURRENT NAME CLOSE F5 Press function keys or enter following WRIST CW 1 Hand Position Commands 6 Execute Named Command F6 2 Hand Speed Commands 7 Move to Coordinates WRIST CCW 3 Hand Sense Commands 8 Cha
47. until the fingers meet Do NOT press any other function keys 8 When the grip is properly closed press Esc to save the grip zero position Press Esc again or press F7 to return to the ZYMATE XP PROGRAMMING screen The robot uses a sensor in the wrist to determine the force applied to the gripper fingers When that force exceeds a predetermined value the gripper motor stops driving This allows the robot to grip a 5 mm or 10 mm sample tube and generates an error message if no sample tube is sensed when one is expected 2 11 Positioning the Table At least two people are needed to set up and position the table Move the table so the edge of the table is located at least 5 cm 2 in from the magnet edge e Varian magnets the preferred position is shown in Figure 39 Alternatively you can place the table directly opposite of the preferred position as shown if Figure 40 e Oxford magnets the preferred position is shown in Figure 41 132 cm 36 in 52 in 91 cm 36 in eal Y a 5cem 2 in 152 cm a 60 in gt Figure 39 Preferred Table Orientation to Varian Magnets 01 999042 00 D0800 Sample Management Systems Installation 69 Chapter 2 SMS Autosampler Installation Figure 40 Alternate table Orientation to Varian Magnets Figure 41 Preferred Table Orientation to Oxford Magnets with Antivibration Legs 2 12 Preparing the Robot for Teaching 70 After the table is posi
48. 2 until the arm stops between position 9 and position 1 In the lock position all the samples rest on the retaining disk 4 Engage the lock pin by pulling the knurled knob and turning it 90 The lock pin fits into the hole in the white upper disk of the carousel The locking pin keeps the sensor arm from moving out of the lock position 5 Remove the carousel by pulling up on the carousel while holding down the driver rocking gently if necessary The upper barrel may lift slightly The sensor arm provides a convenient central gripping point CAUTION Without the carousel mounted the eject air pressure is too high and samples may launch out of the magnet when ejected Using the procedure in Walkup Mode with the Carousel Attached on page 35 is recommended for unautomated work Otherwise lower the eject air pressure if you intend to use the magnet without the carousel Refer to Adjusting the Eject Air on page 31 1 5 Adjusting the Eject Air This procedure describes how to adjust the eject air pressure so that the sample and turbine float where the optical sensor on the sensor arm can see the sample Figure 15 shows the optical sensor and the correct sample floating height The empty carousel should be mounted on the driver as described in the procedure for mounting the carousel on the previous page Variation in supply air pressure can cause failures Adjust the eject air to the lowest level expected from th
49. ALIBRATION menu Press Z to go to the ZERO screen 7 Ifneeded press FS or F6 to rotate the wrist so that the pins are centered precisely on the holes Do NOT press any other function keys 8 When the wrist is properly centered press Esc to save the wrist zero value Press Esc again or press F7 to return to the ZY MATE XP PROGRAMMING screen Grip Zero This procedure establishes the grip zero position which in this case is where the fingers are all the way closed Note that the robot senses when the gripper is being resisted and stops driving the gripper motor This keeps the gripper from crushing sample tubes l Remove the monument and place the hand all the way down into the hand parking station From the ZYMATE XP PROGRAMMING screen use the function keys to move the robot wrist pins into the holes of the hand Press F1 to raise the arm and hand until the VERTICAL field shows 15 cm Press F8 to bring up the ZYMATE XP HAND PROGRAMMING screen Press F4 until the GRIP field shows 0 units The fingers should be closed all the way so that the finger blocks touch Sample Management Systems Installation 01 999042 00 D0800 2 11 Positioning the Table If the finger blocks touch skip to 2 11 Positioning the Table page 69 If the finger blocks do not meet go to the next step 6 Press 0 to bring up the ROBOT WRIST CALIBRATION screen Press Z to go to the ZERO screen 7 If needed press F4 to close the fingers all the way
50. Features The autosampler contains several safety features to prevent injuries to personnel and damage to the autosampler and NMR samples The emergency stop button stops the autosampler The CPU board is still functional and the gripper retains any sample The autosampler continues if the button is disenganged Each motor has over travel limit switches that power down the motors Also each motor has a time limit to complete its task if the limit is exceeded the motors are powered down The System V Controller must be powered off and on to reinitialize the system Wait three minutes for the initialization process to finish 4 2 Troubleshooting This section provides some troubleshooting techniques and definitions of error messages SMS Fails to Respond For UNITY plus UNITY VXR Gemini and XL systems The SMS fails to respond when a command is entered into the Sun computer Refer to Service Bulletin MP94002 for more details For the NMR console to communicate with the SMS Controller module the wiring of the 10 pin connector on the RS 232 Varian Interface cable must be correct Also pins El E14 on the SMS Controller Generic Serial board assy 38663 must be jumpered correctly During communication between the console and the SMS Controller the console serial port transmits a Request to Send signal to the Controller Serial board The Request to Send signal is looped back from the Serial boar and received by the console as a Clear
51. Ft 7 6 M carousel to controller lead weight 61530 Rack 63955 probe angle tool 01 999042 00 D0800 Sample Management Systems Installation 91 Chapter 3 Nanoprobe MultiSampler Installation 3 3 Attaching the Mounting Plate and Elevator 92 The RT shim coil must be removed before the mounting plate is installed Figure 51 shows how the how the mounting plate and base plate are attached You can change the orientation of the RT shim coil to allow for unobstructed movement of the elevator assembly Base of magnet Magnet enclosure flange Elevator base plate Shim spacer or Mounting base spacer nut plate spacer RT shim Elevator and mounting plate elevator not shown Probe Figure 51 Attachment of Mounting Plate and Base Plate Orient the elevator assembly to assure that nothing obstruct the elevator movement Determine if the RT shim coil cable will interfere with the movement of the elevator If necessary remove and reposition the RT shim coil This will affect magnet shimming Calculate the correct shim spacers Varian shims or shim spacer nut magnet base to RT shim distance Oxford shims e New Shim Spacers Varian shims Original Shim Spacers Base Plate Thickness e RT shim to elevator base plate Oxford shims Original RT shim to magnet base plate Base Plate Thickness Attach the elevator
52. Green Ground Goes to the outer limit switch 3 Red 5 V input Detects if carousel is in a valid position e 0 V if carousel is in a valid position e 5 V if carousel is not in a valid position 4 Not used P3 Connector P3 uses pins 1 2 and 3 Pin 4 is not used 1 Black 12 V to drive the carousel rotation Goes to the air valve to actuate the carousel drive 2 Green Ground 3 Red 5 V input Pressure confirm switch e OV if pressure is greater than 26 psi 4 Not used P2 Connector P2 uses pins 2 and 4 Pins 1 and 3 are not used 1 Not used 2 Brown Ground 3 Not used 4 Gray 5 V input Inner limit switch that detects if the carousel is in position 1 e 0 V if the carousel is in position 1 e 5 V if the carousel is not in position one 01 999042 00 D0800 Sample Management Systems Installation 39 Chapter 1 Carousel Autosampler Installation 40 Sample Management Systems Installation 01 999042 00 D0800 Chapter 2 SMS Autosampler Installation Sections in this chapter e 2 1 Compatibility page 42 e 2 2 Unpacking the SMS Autosampler System page 42 e 2 3 Setting Up the Table Robot and System V Controller page 45 e 2 4 Setting Up the Laptop Computer page 51 e 2 5 Powering Up the System page 53 e 2 6 Using Zymark Menus page 54 e 2 8 Testing Module Communications and Function Keys page 59 e 2 9 Preparing to Calibrate and Teach the Robot page 61 e 2
53. LEGAL COMMAND shutdown An illegal character has been received This is a normal response to any command except E energize or H help when in the shutdown mode Sample Loading Errors If a sample removal error occurs during sample loading the same error message will appear on the monitor However the error number will be different the error number will equal the corresponding sample removal error number plus 20 For example if a gripper abort error occurs during sample loading error number 27 7 20 will appear on the monitor Sample Management Systems Installation 01 999042 00 D0800 Numerics 10 mm sample tubes 41 50 position tray illustration 75 50 sample tray 41 5 mm sample tubes 41 5 volt power supply 114 A absolute reference positions 65 air flow adjustment 26 AUTOLOAD ZYD 75 AUTOLOAD ZYD dictionary file 65 automatic teller machine ATM cards caution 11 autosampler compatibility with Varian spectrometers 42 compatibilty with vibration isolation systems 42 power up 53 system parts list 43 unpacking 43 B beeps to indicate an error 111 block diagram NMS 103 SMS 51 C calibration positions setting 65 CALIBRATION screen 68 Carousel autosampler adjusting eject air 31 adjusting sample float height 32 attaching the driver 19 compatibility with magnets 16 compatibility with Varian spectrometers 16 connecting to the spectrometer 25 description 15 error codes 36 inspecting
54. Make sure you orient the plate so the edge of the plate with two black snap balls faces the robot 6 Install the sample rack onto the mounting plate with sample position facing toward the robot Make sure the rack snaps in place 7 Install the sample depth gauge locator in the inner hole marked no spinner here of the sample rack as shown in Figure 42 on page 75 8 Press the plastic upper barrel adapter locator over the upper barrel of the magnet and tighten the setscrew to hold it in place If the upper barrel is an older style PFG pulsed field gradient upper barrel 300 51 400 54 500 51 and 600 51 you may have to use a modified locator Contact your service representative for more information To Set the Line Voltage The SMS autosampler as shipped from the factory is set to operate at 120 Vac and configured with a single North American type fuse The SMS autosampler can however operate at 220 Vac and can be converted to be compatible with single or dual European fuses To replace a fuse change the voltage selection or convert to single or dual fusing refer to the document Fuse Replacement and Conversion and Voltage Selection for the Corcom M Series Power Entry Port Part No 45687 that shipped with the unit The power entry ports on the robot and System V Controller contain a fuse holder compatible with single or dual European fuses or a single North American fuse Table lists the appropriate replacement fuse
55. NMR If position 9 is not already C arouse aligned over the upper in barrel use the manual index button to index the carousel to position 9 or enter loc 9 change in VNMR Air adjust Move the sensor arm to the knob a Carousel locked position and engage driver the lock pin as follows Carousel must be in the lock position when removed otherwise samples could fall through the carousel and remounting the carousel would be extremely difficult Figure 16 Carousel Autosampler Carousel a Move the sensor and Driver arm to the left until It stops between position 9 and position 1 b Engage the lock pin by rotating the knurled knob 90 until the arrow points left or right Remove the carousel by pulling up on the carousel while holding down the driver rocking gently if necessary The upper barrel may lift slightly The sensor arm provides a convenient central gripping point Place the carousel on a table 01 999042 00 D0800 Sample Management Systems Installation 33 Chapter 1 Carousel Autosampler Installation 10 Remove the samples from the carousel Load the new samples into the carousel Mount the carousel on the driver Match the sample position numbers on the carousel to the numbers on the driver Press down on the carousel until it seats Enter e in VNMR to turn on the eject air Disengage the lock pin and move the sensor arm to the right until it aligns with position 9
56. S to an NMR console e To Connect to MERCURY Systems with VxWORKS Upgrade next e To Connect to MERCURY Systems on page 82 e To Connect to GEMINI 2000 or Gemini Systems on page 83 e To Connect to UNITYINOVA UNITYplus UNITY and VXR Systems on page 85 e To Connect to an Automated XL Spectrometer on page 86 To Connect to MERCURY Systems with VxWORKS Upgrade MERCURY VxWorks Powered systems use one of the Sun serial ports to connect the sample changer 1 Connect the cable from the RS232 Generic board in the System V Controller to serial A or B port on the Sun computer 2 While logged in as vnmr1 enter config 3 Inthe VNMR configuration window set Sample Changer to SMS 50 Sample or SMS 100 Sample and set Serial Port to A or B depending on which one of the Sun serial ports is used for the sample changer Then click Exit and Save To get the 100 sample positions for dual 50 sample trays to show up on the Enter screen edit the file vnmr asm enter conf and make sure set loc max 100 is set default is set loc max 50 To test the SMS autosampler from the spectrometer place one sample tube turbine in hole 1 and another in the magnet From the VNMR input window enter loc 1 change The robot will retrieve the sample tube from the magnet after it ejects and place it in the hole marked no spinner here It will then move the sample tube from hole 1 and insert it into the magnet To Connec
57. SIZE SELECTION BEEP PROGRAM TEXT 148 MATCH PROGRAM TEXT SELECT PROGRAM TO EXECUTE PRESS lt F1 gt FOR HELP THREE COLUMNS OF PROGRAMS USE THE UP DOWN LEFT RIGHT ARROWS TO SELECT THE PROGRAM PRESS RETURN TO RUN THE SELECTED PROGRAM 106 Figure 64 Diagnostic and Test Program Selection Window Each test is a stand alone test The test and diagnostic programs of interest during the set up of the NMS are listed in Table 8 Also present on the E PROM are the other programs displayed are used by the NMS in its normal operation The display of these other programs cannot be suppressed 9 Press lt control gt lt F9 gt lt control gt lt F10 gt to quit or stop a test 10 Select Quit to exit the System V On line menu 11 Select Exit System V from the Zymark System V Controller Main Menu and return to the DOS prompt Table 8 NMS Tests Run Using Zymark System V Software and a PC Test name BEEP CAROUSEL TEST CHECK 60 PSI GET FROM CAROUSEL INIT CONTROLER INIT AUTOLOADER LED TEST PROBE LIFT TEST Description of test Test the beeper Steps carousel though each position Press lt enter gt at the end of the test to return to the selection window Check inlet air pressure Get the rotor from the carousel Initialize the controller Initialize the carousel Test all LEDs Raises and lowers the probe Test cycles numerous times so that the air pressure on
58. T NAME IN F5 Press function keys or enter following CLOCKWISE 1 Base Coordinate Commands 7 Move to Coordinates FG 2 Base Speed Commands 8 Change Position COUNTER 3 Name Absolute Position 9 Define Rack Nape 4 Name Relative Position T Define Monument TURBO 5 Base Sense Commands P Programming Commands F8 6 Execute Named Command D Delete Entry HAND SCREEN Figure 36 ZYMATE XP PROGRAMMING Screen F1 ZYMATE XP HAND PROGRAMMING FILL VERTICAL F REACH ROTARY DISPENSE WRIST F3 GRIP SYRINGE OPEN LAST NAME FA CURRENT NAME CLOSE F5 Press function keys or enter following WRIST CW 1 Hand Position Commands 6 Execute Named Command F6 2 Hand Speed Commands 7 Move to Coordinates WRIST CCW 3 Hand Sense Commands 8 Change Position 5 4 Define Hand D Delete Entry BASE 5 Name Hand Position SCREEN F8 TURBO Figure 37 ZYMATE XP HAND PROGRAMMING Screen Sample Management Systems Installation 01 999042 00 D0800 2 9 Preparing to Calibrate and Teach the Robot To aid in identifying the function keys on the hand held controller we recommend that you make a copy of Figure 36 and Figure 37 on the next page and keep it on the table top next to the hand held controller 13 Return to the ZYMATE XP PROGRAMMING screen also called BASE screen either by pressing the F7 key or by pressing the Esc key 14 Return to the Zymark System V On line menu by pressing Esc 2 9 Preparing to Calibrate and Teach the Robot This
59. TYPE to GEMINI AUTO Also set SAMPLE TRAY SIZE to 50 or 100 depending on the number of samples the SMS autosampler tray S will accommodate Leave CONFIG and then enter JEXPn to join the experiment that was previously active If desired retrieve a good set of shims by entering the RTS command otherwise just set LOAD Y Enter SU to reset the system parameters Then enter LOAD N Type LK to enter the Lock Display mode The function key menu will now show additional choices for sample insert and sample eject Information about the sample spinning rate sample number from SMS autosampler tray and VT condition will also be displayed GEMINI 2000 enter config in the VNMR entry window Set Sample Changer to SMS ASM 50 Sample or SMS ASM 100 Sample Then click Exit and Save Sample Management Systems Installation 01 999042 00 D0800 2 14 Connecting the SMS Autosampler to the NMR Console To Connect to YINOVA UNITY plus UNITY and VXR Systems Connect the cable from the RS232 Generic board in the System V Controller to the RS 232C port on the NMR console or Sun computer e UNITYTNOVA Connect to serial port A or B on the Sun computer Adjust the sample detection circuit on the Magnet Sample Regulation board as described in To Adjust the Sample Detection Circuit on page 87 e UNITY plus connect to J8222 as shown in Figure 47 e UNITY and VXR connect to J222 as shown in Figure 48 While logged in as vnmr1 enter co
60. The zero and calibration positions for the robot should be set correctly from the factory and saved on robot baseboard RAM which is backed up by battery Use the following procedures to check these positions and adjust them only if necessary These procedures are necessary if an adjustment potentiometer or the robot base board is ever replaced If you do have to adjust the zero position for any range of motion be sure to use ONLY those functions keys that adjust that particular motion Any other function keys can misadjust one of the other motions When you are in the zero mode pressing the function keys moves the robot arm and thus changes the actual position while not changing the position as displayed on the screen 01 999042 00 D0800 Sample Management Systems Installation 65 Chapter 2 SMS Autosampler Installation 66 Reach Zero This procedure establishes the reach zero position as 2 8 cm 1 1 in This value prevents the robot arm from colliding with the robot base 1 From the Zymark System V On line screen pull down the Module Setup menu and select XP Robot This brings up the ZYMATE XP PROGRAMMING screen Press the function keys F1 or F2 until the VERTICAL field on the ZYMATE XP PROGRAMMING screen shows 25 cm This value should raise the arm enough so you can see under the wrist box to make your measurement Press the function keys F3 or F4 until the REACH field shows 0 0 cm Use aruler to measure from the
61. a Hgiagele 0 8 4 6 Lilia Chapter 1 Carousel Autosampler Installation c csseeesenseeeeeneeees IL CORPI ii nto 1 2 Unpacking the Carousel Autosampler Inspecting for Shipping Damage salare Unpacking the Carousel autosampler 1 3 Installing the Carousel Autosampler BOAO YOU DEUI areali onori To Attach th Driver sleale To Install The Air Line sila To Connect Cables and Make Final Preparations n E Um CH i To Inspect the Carousel To Monitihe Cari sari To Remove The Carousel suisseiiiore arnie separa pate santa pordenone 1 5 Adjusting the Eject Aif oriana 1 6 Loading and Unloading Samples To Load and Unload Samples with the Carousel Installed To Remove the Carousel and Load Samples _ in 1 7 Testing and Using the Carousel Autosampler 1 8 Walkup Mode with the Carousel Attached _ 1 9 Error Codes and Error Recovery iii iii iene 1 10 Co ttoller Voli salle Controller Diagnostic Panel ul Triple DC Servo and I O Board __ Chapter 2 SMS Autosampler Installation iii LUI ia E TT 2 2 Unpacking the SMS Autosampler System To Inspect for Shipping Damage Seal cic
62. a simple NMR experiment Enter loc 2 change to change to position 2 Run an experiment if desired Automation Run If desired run a series of short NMR experiments from the enter program to verify full automation The enter program is described in the User Guide Liquids NMR manual Sample Management Systems Installation 01 999042 00 D0800 1 8 Walkup Mode with the Carousel Attached Begin the automation run with sample in position 9 inserted into the magnet The automation run will begin with the sample in position 1 After a full carousel automation run 9 samples finishes the sample from position 9 will be in the magnet The steps below describe what to do next After a partial automation run less than 9 samples finishes the sample from the last position used will be in the magnet Enter 10c 9 change or manually index the carousel to position 9 The steps below describe what to do next 1 Enter e to eject the sample from the magnet 2 Go over the carousel move the sensor arm to the left between position 9 and 1 and engage the lock pin as described in Using the Carousel on page 28 3 Enter i in VNMR to turn off the eject air 4 Remove the sample from the carousel or remove the carousel as described in Loading and Unloading Samples on page 32 WARNING Personal injury hazard Removing the carousel while reaching over a high field magnet such as 400 500 600 or 750 MHz could cause you to lose your ba
63. al card cage with two interconnecting cables one to control the SMS autosampler and the other to control the automated sample pneumatics Figure 45 shows where the board is installed in the GEMINI 2000 and Gemini console L After storing the current shim values turn the NMR console power off Refer to Figure 46 and make sure that the jumpers on the Serial Interface board are set properly then place the board in a slot in the digital cardcage usually to the right of the Pulse Controller board Connect the serial cables between the Serial Interface board and the SMS autosampler as shown below Serial Interface 8 Port serial board located in an Option slot Gemini system console Rear view Sample changer RS 232 port Figure 45 Rear View of Gemini System Console and Serial Board SMS autosampler Sample Changer J3 P3 lt lt M cable 81 839818 00 Changer Turn the console power on After the system has booted up open the CONFIG screen to configure the spectrometer for the sample changer 01 999042 00 D0800 Sample Management Systems Installation 83 Chapter 2 SMS Autosampler Installation 84 00 000000 00 000000 J2 B O a O v 2 gt lt n D a X D oO Qo 2 Q c O 50 O o 9 o c lt T O ASM 100 Cc O Spare Figure 46 8 port Serial Interface Board P2501 5980 6 Jumper Layout e Gemini enter the command CONFIG and set the INSTRUMENT
64. ala To Unpackthe RODE slice ian To Remove the Packing Base i riinan To Unpack the Remaining System Components _ n 2 3 Setting Up the Table Robot and System V Controller To Set Upthe TabDIE sione ripa care ate To Monario RODO sims ia To Mount the Table Hardware cccccccccceeesseeeeeeeeeeenenaaaaaeeeeeeeceeeeeeeeeeeeeees To Setthe Line Voltage aeneon To Set Up the System V Controller i To Connect the Robot and the System V Controller 01 999042 00 D0800 Sample Management Systems Installation 2 4 Setting Up the Laptop Computer iones indare SI Connecting the Laptop Computer SI Running the SMS Setup and Test Program _ 52 2 5 Powering Up the System sr 53 so Usma Zymak Menus iii 54 Zymark System V Controller Main Menu Screen _ i 55 Zymark System V On line Menu _ 55 2 7 Testing Module Communications and Function Keys _ 57 2 8 Testing Module Communications and Function Keys __ n 59 2 9 Preparing to Calibrate and Teach the Robot __ M 61 Preliminary Information ceesesesssssssssssssesseecceeecceeeeceeeeeeeeeeeeeeeeeeseeeeeaaeaqags 61 To Initially Attach the Hand to the Robot Wrist__ in 62 Stopping Collisions
65. am turn off the System V Controller power and manually raise the arm to the top Extend the arm to the fully extended position and rotate the arm around to make sure nothing interferes with robot movement After you are sure nothing will interfere with the robot turn the System V Controller back on Press Shift F9 and then Shift F10 2 Place the Emergency Stop Button next to your laptop computer so that shortly after the program starts you can test the emergency stop by pressing the button 3 Select the Methods option from the on line menu and press Return or Enter 4 Place the highlighted cursor over the EXecute a Prog selection and press Return or Enter A message window appears that allows you to select a program to run 01 999042 00 D0800 Sample Management Systems Installation 63 Chapter 2 SMS Autosampler Installation 5 Press V to move to the programs starting with the letter V Using the cursor keys position the highlighted bar over VARIAN EXERCISE and press Return or Enter The program starts 6 Press the Emergency Stop Button The robot should stop If it doesn t press Shift F9 to stop the program then Shift F10 to abort Recheck the Emergency Stop Button connection 7 If the stop button worked correctly twist the button in the direction indicated by the arrow to override the emergency stop and resume VARIAN EXERCISE Let the program run to completion To Set Robot Speed Before setting zero and cali
66. anagement Systems Installation 01 999042 00 D0800 1 3 Installing the Carousel Autosampler 1 Place the controller box in a convenient location outside the 5 gauss perimeter usually on top of the NMR console The controller has a steel case that can be drawn to the magnet CAUTION The index air regulator can be affected by high magnetic fields and might not operate properly if placed too close to the magnet The carousel failing to rotate properly might be a symptom of the index air regulator being affected by the magnetic field Keep the index air regulator several feet away from the magnet center outside the 100 gauss perimeter 2 Place the index air regulator in a convenient location typically next to or on top of the controller The index air regulator can be affected by magnetic fields greater than 100 gauss and should be placed at least several feet away from the magnet center 3 Connect the double 1 8 inch air line black from the index air regulator to the carousel driver One channel of the line has colored shrink tubing on each end The line with the colored shrink tubing attaches to the lower port on each device port B on the index air regulator 4 Connect the RS 232 cable from P3 on the DUAL RS 232 INTERFACE board in the controller to the NMR console connector or Sun computer labeled as follows e MERCURY VX systems Serial port A or B on the Sun computer e UNIYINOVA systems Serial port A or B on the Sun
67. and F10 key simultaneously to abort the rest of the cycle Press the Esc key possibly several times to return to the Zymark System V On line menu e Leaving the robot on turn off the System V Controller Move the robot to a safe position and turn the controller back on If you get the message Rotary not in position press Esc and select XP Robot from the Module Setup screen The display will now show the correct position e Physically restrain the robot until the system times out in about five seconds This might require considerable force Press Shift F9 and then Shift F10 To Recover from a Collision If a collision does occur and the robot is safely stopped you may need to complete one or more of the of the following steps Sample Management Systems Installation 01 999042 00 D0800 2 9 Preparing to Calibrate and Teach the Robot 1 Turn off the System V Controller and manually move the arm to a safe position e g reach at 0 and aligned with the parking station Turn on the System V Controller then press Shift F9 and Shift F10 to reinitialize the electronics to the current position 2 Set the speed to 0 2 as described in To Set Robot Speed on page 64 3 Manually remove the hand from the robot wrist and place it in the parking station Since the System V Controller has been turned off it no longer knows the hand is on the robot If a collision occurs after you have taught the CP1 AT HAND GP position select Me
68. ation e Always adjust the sample height using the depth gauge position e Ifa sample has been previously changed by the robot then a failure to grasp a sample from the magnet results in an error that stops the experiment sample change e If the console has been rebooted or an eject command has been issued from VNMR failure to grasp a sample from the magnet does not stop the experiment sample change but continues to place the requested sample into the magnet e If the console has been rebooted or an eject command has been issued from VNMR a sample taken from the magnet is placed in sample position 0 Remember to remove the sample from position 0 as soon as possible 01 999042 00 D0800 Sample Management Systems Installation 111 Chapter 4 SMS Autosampler Theory and Troubleshooting 112 e Any sample left in the hand as a result of an error or user abort is placed in sample position 0 on the next sample change Remember to remove the sample from position 0 as soon as possible e If goisissued from VNMR when Joc is different from the last sample change the robot changes the sample e Ifsamples are moved and or if the user is unsure what sample is in the magnet the user can issue an eject then and insert command from VNMR to be sure the sample is placed in position 0 SMS autosampler Interface The interface between the autosampler and an external terminal conforms to the TTL voltage levels RS 232 interface specifications describ
69. base plate to the bottom of the magnet using the nonmagnetic screws provided Insert the RT shim coil use the appropriate spacers for Varian shims in to the bore of the magnet Fasten the RT shims to the base plate e Varian shims are held in place with screws e Oxford shims are held in place using a shim nut Adjust the position of the shims using shim spacers Varian shims or shim spacer nut Oxford shims Refer to the measurements you made in section 3 2 Before the Installation page 90 and in step 3 Sample Management Systems Installation 01 999042 00 D0800 3 4 Attaching the New Probe Flange 8 Attach the elevator and elevator mounting plate to the elevator base plate using six nonmagnetic screws Do not tighten down these screws at this time 9 Insert the appropriate mounting base plate spacer and tighten the six screws installed in step 6 10 The elevator attached to the magnet is shown in Figure 52 11 Make sure no part of the probe elevator is touching or interfering with any part of the magnet legs or equipment mounted to the legs 12 Manually rotate the rotary elevator and confirm a clear path for the probe to move Figure 52 Probe Elevator and Elevator Mounting Plate 3 4 Attaching the New Probe Flange Remove the existing probe flange and attach the new one as described in the following steps 1 Remove the existing probe flange The new probe flange has an inner sleeve that might have
70. been removed depending on the probe style 2 Slide the new probe flange down the probe and place it in about the same position as the old flange The radial orientation of the probe sleeve does not matter The flange is keyed to lock the probe in place during operation To position the radial orientation of the flange position the probe so that the sample opening is facing away from you Twist the new probe flange until the allen screw is on the right and the keyed area of the probe is on the left 3 Place the probe with the new probe flange on the elevator arm Manually move the elevator arm and probe up and into the magnet 4 Mate the probe with the upper barrel as follows a Engage the locking mechanism to hold the probe flange in the top position after the probe is fully raised b Loosen the allen screw on the probe flange and slowly push the probe upward so that the probe moves into the magnet When the upper barrel center tube starts to rise stop pushing the probe up into the magnet c Press the upper barrel center tube back down until it fully mates with the RT shim coil 5 Tighten the probe flange clamp screw with a 5 32 Allen wrench to take the clearance slack from the probe clamp but not so tight the flange assembly can not be moved on the probe Depending on the style of probe the glass VT connector might be on either the right or left side 01 999042 00 D0800 Sample Management Systems Installation 93 Chapte
71. ber of characters may be echoed back This is useful for terminal usage in expanding single letter commands to their full text descriptions e A command terminator is issued to the peripheral except for those commands that request information e Upon receiving the command terminator or a command that requests information the peripheral responds as in three ways If an error occurs the peripheral returns a decimal error number which may be preceded or followed by descriptive text This text must not contain any digit 0 9 Sample Management Systems Installation 01 999042 00 D0800 4 2 Troubleshooting The last character of the error message must be an EOM to indicate an error has occurred Only error numbers between 1 and 32767 are accepted If the command requests information the peripheral returns a decimal number no text no EOM When the peripheral is ready for the next command the character sequence carriage return and period or line feed and period signifies that the peripheral is ready for the next command e An EOM sent to the peripheral aborts a command and returns the peripheral to a known state No command terminator is needed with this command it need not be echoed to the system Below are some examples of command sequences Command Meaning CR carriage return LF line feed EOM control C PERIOD n number in the form of ASCII string error message any text string excluding digits Safety
72. bottom of the hand fingers touching the bullseye on top of the monument which 1s in the parking station All other positions will now be taught as relative positions referenced to CP1 AT HAND GP with the hand dimensions subtracted Relative positions are then defined for each rack e g CP31 RACK when the fingers of the hand are positioned so they touch three defined locations on the rack The software includes information that determines the position of each tube with respect to the rack itself Finally a relative position CP191 MAGNET is defined when the fingers of the hand are positioned at the magnet position To Run the SET ACCUTRAK Self Alignment Routine The SET ACCUTRAK program measures each movement 50 times to set the adjustment potentiometers WARNING Avoid personal injury by using caution around the robot work area The robot is capable of operating at high speeds Leaning into the robot work area placing your hand or arm in its path or wandering within range of the robot s movements could result in serious physical injury CAUTION Avoid damage to the robot and other equipment by clearing the area around the robot The SET ACCUTRAK program vigorously and repetitively moves the robot arm along three axes From the Zymark System V On line menu pull down the Methods menu and select EXecute a Prog Select SET ACCUTRAK and press Enter to begin the self alignment routine To Set the Zero and Calibration Positions
73. bration or teaching positions you should slow the robot down to minimize the consequences of any collisions The robot speed varies from 0 1 to 4 where 4 is the fastest and 1 is the default A safe speed for setting and teaching positions is 0 2 The steps below describe how to set the speed to 0 2 CAUTION If you turn off the System V Controller the speed reverts back to the default value which is too fast to safely set and teach positions Any time you turn the System V Controller power off use the procedure below to set the speed to a slower value of 0 2 1 From the Zymark System V On line menu pull down the Methods menu and select Manual Control The Zymate prompt Z gt appears 2 Check the current value of the S SPEED parameter by entering S SPEED at the Z gt prompt It will probably show a 1 3 Enter S SPEED 2 to change the value of the S SPEED parameter to 0 2 The speed is now set to 0 2 4 Press Esc to exit Manual Control 5 Press Esc again to return to the Zymark System V On line menu 2 10 Calibrating the Robot 64 In order for the robot to function correctly several initial adjustments must be made to the robot itself and then positions are taught for every movement the robot must do in a complete sample change cycle The philosophy behind the positioning relies on defining the positions of any racks and the tubes in them in a relative way so they can be accessed independently of the hand
74. ch zero value of 2 8 cm skip to the section Vertical Zero next If the REACH field does not show 27 7 cm go to the next step Sample Management Systems Installation 01 999042 00 D0800 2 10 Calibrating the Robot 4 Press 0 to go to the Zero Calibration menu 5 Press C to calibrate 6 Press Enter to put cursor into the REACH field 7 Enter 27 7 into the Reach field and press Enter 8 Press Esc to return to the ZYMATE XP PROGRAMMING screen Vertical Zero This procedure establishes the vertical zero position at 1 8 cm This value allows the wrist to move slightly below the monument center if needed l Place the monument all the way down in the hand parking station if not already done The flat side of the monument should face toward the robot lip facing away While in the ZYMATE XP PROGRAMMING screen press the function keys as necessary to position the robot reach rotary and vertical positions so that the wrist pins are directly in front of and centered in the holes in the monument You may need to press F8 to go to the ZYMATE XP HAND PROGRAMMING screen and press F5 or F6 or center the wrist pins Make sure you are in the ZYMATE XP PROGRAMMING screen If the value in the VERTICAL field is 1 8 cm skip to the section Vertical Calibration next If the value is not 1 8 cm go to the next step Press 0 to bring up the ROBOT AXIS CALIBRATION menu Press Z to go to the Vertical Zero screen Press the function
75. ch connector has between 2 and four wires and is described with pin one at the top of the connector The color voltage measurement and purpose of each wire is provided Voltages are measured when the controller is powered on with the individual connector removed Note that position limit switches are normally closed type showing 0 ohms if the switch is not make or high resistance if the switch is closed P8 Connector P8 uses pins 1 2 3 and 4 Pins 5 and 6 are not used 1 Yellow 12 V input to photodiode 2 Orange Ground 3 Violet 5 V input to photodetector Goes to the connector at the bottom of the carousel 4 White output from photodetector Goes to the sample eject LED and photosensor e O V if turbine blocks the sensor hole at least half way Ta E Triple DC Servo and I O Board FOVAYILNI c e SY WN y A O I ANY OAYAS DA IldidL FOVAYILNI FINGOW ILVINAZ WN E a 3 Em E m o By I Controller Diagnostic Panel 5V Gnd Gnd Gnd Gnd 24V 24V 13V Figure 18 Controller Diagnostics Panel Voltages 38 Sample Management Systems Installation 01 999042 00 D0800 1 10 Controller Voltages e 2 V if sample tube blocks the sensor hole e 3 3 V if nothing blocks the sensor hole and sample inserted 5 Not used 6 Not used P4 Connector P4 uses pins 2 and 3 Pins 1 and 4 are not used 1 Not used 2
76. computer Also refer to Before You Begin on page 19 e UNITYplus systems J8222 SAMPLE CHANGER e UNITY or VXR systems J222 SAMPLE CHANGER e MERCURY GEMINI 2000 or Gemini systems Sampler Changer on the Serial T O board The Computer Controlled Insert Eject accessory 00 966647 01 must already be installed e Automated XL systems Sampler changer on the Port Interface board 5 Connect the driver and the index air regulator to the controller according to the substeps below The white connectors on the ends of the cables are oriented as shown in Figure 9 where the wires come out towards the right from the back of the connector Empty connector on the Connector plugged into the TRIPLE DC SERVO amp I O TRIPLE DC SERVO amp I O board in the controller board in the controller Connector side view lam Figure 9 Orientation of Connectors Into the TRIPLE DC SERVO amp I O Board 01 999042 00 D0800 Sample Management Systems Installation 25 Chapter 1 Carousel Autosampler Installation a Connect the signal cable 51693 TDS I O from the index air regulator to P3 on the TRIPLE DC SERVO AND I O board in the controller The connectors are labeled b Connect the three ends of the signal cable 51694 TDS I O from the carousel driver to P8 P4 and P2 on the TRIPLE DC SERVO AND I O board in the controller 6 Connect the power cable from the power transforme
77. ctionary disk in the System V Controller 3 Select Save Dictionary from the System menu 4 When prompted for a name type AUTOLOAD and press Enter When the system asks File exists overwrite answer Y You will be shown the title of the current dictionary and will be asked if you want to change it If you press N for no it starts saving If you press Y for yes you are asked for a new title After you enter a new title and press Enter it saves the file CAUTION Make a second copy of the Varian dictionary disk use a double density disk If the first disk is damaged a service call will be needed to reteach the robot 5 To make a copy of the second Varian dictionary disk insert it into the System V Controller floppy drive Then repeat steps 3 and 4 6 Leave one of the Varian dictionary disks in the System V Controller at all times Make sure it is not write protected 1 e the hole must be covered so that error messages can be written to it when they occur If for some reason the robot is not accessing the positions correctly you can reload the teaching positions from the Varian dictionary disk by pressing the RELOAD button on the front of the System V Controller To Test the Teaching Positions This section provides some simple tests that confirm that the positions were taught correctly The tests are listed in Table 3 with any special conditions and the expected results Be prepared to press the Emergency Stop button
78. d mode 28 M magnet position 65 magnet postion definition 78 magnet quench warning 10 Magnet Sample Regulation MSR board 19 87 magnetic media caution 11 magnets compatible with autosampler 42 magnets compatible with Carousel 16 Manual Control pull down menu 56 manually moving the robot arm 61 118 Sample Management Systems Installation metal objects warning 9 Methods menu 56 105 Module SetUp menu 56 MONUMENT RACK position 73 74 mounting plate NMS 92 mounting plate and elevator for NMS attaching 92 N naming racks 75 Nanoprobe MultiSampler 89 nitrogen contact with body 10 nitrogen gas flowmeters caution 12 NMS 89 adjusting elevator arm 95 adjusting elevator stabilizer foot 94 attaching probe flange 93 carousel installation 96 connecting electrical and pneumatic lines 98 list of parts 91 probe elevator lower limit setting 94 testing 100 108 NMS E PROM 105 NMS installation requirements 90 NMS testing commands using terminal window and tip hardwire connection 100 dagnostic and test program selection window 106 error codes 108 programs run using the PC 106 running the NMS setup and test programs 103 setting up the laptop computer 102 using terminal window and tip hardwire connection 100 VNMR NMS Window 101 North American type fuses 48 O operating tips 111 optical sensor 31 over travel limit switches 113 p pacemaker warning 9 packing base 44 PCSETUP
79. e stator and sample Nano probe in load remove sample position Carousel Thumbscews one of two Figure 54 Carousel Elevator Probe and Magnet Orientation 2 Move the carousel next to the probe as shown in Figure 54 and Figure 55 Gently rotate the handler arm clockwise until it is over the probe and then fully lower it If the handler arm suction cup hits the probe or stator raise the carousel by first loosening the height adjustment locking knob see Figure 56 and then turning the 96 Sample Management Systems Installation 01 999042 00 D0800 3 8 Installing the Carousel Suction cup shown positioned over the Nano probe stator Magnet Leg Nano probe inclined 54 7 deg for sample removal and insertion NMS two piece collar clamp a Elevator arm Elevator Magnet bore x 4 w O Figure 55 Probe Carousel and Elevator As Viewed From The Magnet Bore thumb screw located on the column between the base and the carousel section counter clockwise to raise it Use the leveling feet if more height is needed 3 Align the carousel e For coarse alignment move the entire carousel e For fine adjustment loosen the two thumbscrews on the underside of the carousel base plate and move the top assembly see Figure 54 and Figure 56 4 Adjust the height of the carousel so the suction cup is approximately 0 080 in 2 mm above the top of the rotor stator see Figur
80. e supply air during a 24 hour period that maintains an acceptable turbine float height for the sensor 1 Make sure the air hoses A Turbine should cover half of the hole Optical sensor an Optical sensor detects turbine through hole Figure 15 Optical Sensor and Proper Sample Floating Height for body and VT air are attached to the probe and flow meters are set for about 11 cfm Some probes require more eject air than others If the pressure required to eject the sample and float the turbine adequately exceeds 65 psi check for the guide hole at the bottom of the probe 01 999042 00 D0800 Sample Management Systems Installation 31 Chapter 1 Carousel Autosampler Installation If your probe has a guide hole in the bottom for a capacitor or inductor stick and if your experiment does not require the stick plug the guide hole with the provided rubber stopper 2 In VNMR turn on the eject air by typing e and then pressing Return 3 With the knurled knob disengaged see Figure 13 move the sensor arm to the left so that it clicks between position 9 and 1 see Figure 12 4 Place a sample in position 9 of the carousel 5 Move the sensor arm back in front of position 9 6 Look through the round hole in the position 9 tube of the carousel The sample should be floating high enough for the optical sensor to see the t
81. e 56 and detail in Figure 57 01 999042 00 D0800 Sample Management Systems Installation 97 Chapter 3 Nanoprobe MultiSampler Installation Suction cup assembly hidden by access cap access Cap LEDs 48 Position rack Pneumatic hose connection Communications link to controller Base plate Horizontal adjustment thumbscrews _ Rotor handler arm fine adjustment screw Fine height Adjustment Knob Height adjust locking knob Leveling feet Figure 56 AutoLoader Front Panel 5 Move the rotor handler arm on the carousel up and out of the way of the probe 6 Loosen the four access screws on the base of the base of the carousel slide the cover off WARNING Avoid back injury when loading the 25 pound carousel stabilizer weight Use safe lifting techniques 0 080 in 2 mm 7 Lift the carousel stabilizer weight into the base and locate it over the two threaded studs extending from the base plate Figure 57 NMS Suction Cup and 8 Reinstall the cover Probe Detail 9 Check the alignment and if necessary repeat step 3 and step 4 This completes the assembly and adjustments made without the electrical and pneumatic lines connected The alignment and assembly are evaluated with the instrument powered up and the pneumatic lines connected using the interactive program described in Section 3 10 Test
82. e being displayed The System V On line menu Figure 62 is displayed Using Zymark Menus During the installation and calibration of the elevator you use the laptop computer to interact with the NMS Controller to move the elevator or carousel The Zymark software menu system has several layers including several options that you use repeatedly This section provides an overview of the menus so that you can take a few minutes to familiarize yourself with them before proceeding with the installation Zymark System V On line Menu The Zymark System V On line menu shown in Figure 62 provides four pull down menus across the top of the screen Use the left and right arrow key to navigate across the menu bar Press the ENTER key to select a drop down menu Use the up and down arrow keys to select an option and press ENTER to execute this option from the drop down menu You will only use the Methods menu The other menus are described in Zymark documentation only not in this manual Zymark System V Controller Main Menu Version x x Copyright 1989 Zymark Corporation All rights reserve0 stem V On line Edit a ZYD file Read a Zymate Il disk Write a Zymate Il disk Exit System V F1 Help Select an Option Esc Quit Figure 61 System V Main Menu Screen Sample Management Systems Installation 01 999042 00 D0800 3 10 Testing the NMS j Methods Sample Data Module SetUp System Quit i Figure 62 Zymark System V On Line M
83. e best alignment with the parking station 5 Test the alignment by pressing F1 and F2 to lower hand into the station Repeat steps 4 and 5 as necessary 6 When satisfied raise the arm over the parking station and press 7 to select Move to Coordinates 7 Enter the value for the vertical zero about 1 8 cm in the VERTICAL field then press Enter until the arm parks the hand Watch the parking motion and repeat it until you achieve the smoothest motion possible When satisfied leave the hand and arm parked Do not move the arm until instructed to do so 8 Press 8 to select Change Position enter CP1 AT HAND GP and press Enter The screen should display Position changed in the dictionary and then display Absolute Position on the right side of the window 9 Press T Define Monument 10 Enter Y when you see the Do you want to move it prompt 11 Enter N when you see the Do you want to rename it prompt 12 Enter G when you see the Remove Hand Move arm into monument prompt 13 Press Esc CAUTION To avoid a collision and possible damage to the hand and fingers 14 15 never execute the named command CP1 AT HAND GP if the hand is already on the robot arm You can test the CPI AT HAND GP position by using F4 on the hand held controller to move the wrist away from the monument Then press 6 to select Execute Named Command and enter CP1 AT HAND GP The robot wrist inserts into the hand while the hand is in the parking s
84. e following e RS 232 connection to a host computer at least one 4 mm rotor a flange and a Nano probe e 110 or 220 Vac outlets near where the system will be set up e 65 psi 4 4 bars minimum 100 psi or 6 8 bar maximum dry air source you might need to add an air regulator to the existing NMR spectrometer air assembly 3 2 Before the Installation Read this section before starting the installation WARNING Do not make any electrical or pneumatic connections until instructed to do so Unexpected movements of carousel and elevator during the setup procedure may result in injury or equipment damage Preparing for the Installation 1 Mark the orientation of the shim coil The RT shim coil must be removed a mounting plate installed and the RT shims re installed Mounting of the probe elevator may require rotation of the RT shims 2 Measure the distance between the bottom of the magnet and the top of the RT shims You will need this measurement when you re install the shims 3 Measure the distance from the floor to the bottom of the RT shims This distance must be greater then the values given in Table 4 4 Verify house air will supply a min of 65 psi 4 4 bar minimum and 100 psi 6 8 bar maximum 5 Clear away cables or equipment from under the magnet and from the area where the probe will be accessed 6 Make sure that no magnet fittings will obstruct probe travel Labels on the NMR units are color coded as follows
85. e required are e rotary axis The rotary axis adjustment for 0 degrees vertical should be correct because that was set at the factory e front to back The front to back adjustment will need attention because slight errors are created while mounting the probe to the flange e side to side the side to side adjustment should be adjusted if necessary 2 Use a 5 64 in Allen wrench to adjust the small set screw located on the flange holder see Figure 53B e Clockwise moves the top of the probe closer to the elevator assembly but drives against the captive screw e Counter clockwise moves the top of the probe away from the elevator and causes the captive screw to appear loose 3 Make the appropriate adjustments to best center the probe within the hole in the mounting flange 01 999042 00 D0800 Sample Management Systems Installation 95 Chapter 3 Nanoprobe MultiSampler Installation Manually raising and lowering the probe slightly will help define the adjustment Slowly raise the probe into the magnet to ensure free movement throughout the full range of movement The probe coils are now aligned with the RT shim coil 3 8 Installing the Carousel The carousel is positioned to the left of the probe 1 Manually rotate the probe to the 54 7 position see Figure 54 and Figure 55 Magnet base Magnet leg Elevator with probe in upper position dotted and lowered solid Suction cup aligned with Nano prob
86. e tube in hand and air flow on Air flow on Robot in front of magnet No sample tube in hole 1 Sample tube in hole 1 only and air flow on Expected Results Arm moves into hand Arm gets hand and moves high Robot moves to its clear position Fingers at bull s eye position Hand moves above correct hole Hole number is 1 2 of number entered Robot moves to its clear position Robot moves to magnet clear position Hand moves above magnet Robot grabs sample tube from hole 1 and lifts it Robot puts sample tube in hole 1 Robot grabs tube from hole 1 and lifts it Robot moves to its clear position Robot puts sample tube into magnet Robot grabs the sample tube from magnet and moves to a high position Robot moves above magnet Robot puts sample tube in hole 1 Robot takes sample tube from hole 1 puts it in the magnet returns it to hole 2 and cycles through all other positions in the rack Sample Management Systems Installation 81 Chapter 2 SMS Autosampler Installation 2 14 Connecting the SMS Autosampler to the NMR Console 82 When the calibrations are finished the autosampler is ready for operation Disconnect the laptop computer Turn the System V Controller off then on When it boots up it will now communicate with the spectrometer over the generic RS 232 module It will also reset the system back to the default speed This section contains the following procedures for connecting the SM
87. ed below Hardware The RS 232 peripheral robot is defined as data communication equipment DCE and the system NMR console is defined as data terminal equipment DTE RS 232 connections operate in the following ways e To inform the system that the peripheral is present the system s request to send RTS echoes back as clear to send CTS This means that pins 4 and 5 of the 25 pin connector are jumpered on the peripheral side e To inform the system that the peripheral is powered and ready the data carrier detect DCD line is high 5 V This means pin 8 of the 25 pin connector is at 5 V when the peripheral is powered and ready and at 0 V when not e To inform the peripheral that the system is present the data terminal ready DTR line is high 5 V This means pin 20 of the 25 pin connector is at 5 V Software The basic command protocol is as follows e All characters sent to the peripheral are echoed back by the peripheral The system does not echo characters back to the peripheral e A carriage return Return key terminates commands e All numbers are decimal and are sent as ASCII character strings e g the number 128 is sent as the characters 1 2 8 The command sequence proceeds as follows e When the command character s is sent to the RS 232 peripheral an EOM control C decimal 3 is echoed back by the peripheral when it is ready for the command terminator or parameter Before EOM any num
88. ed to the default speed of 1 e The System V Controller no longer knows what hand is attached to the robot Reset the speed to 0 2 as described in the procedure To Set Robot Speed on page 64 This minimizes the consequences of a future collision Manually remove the hand from the robot wrist and place it all the way down in the hand parking station Use the GET HAND GP program only after the CP1 AT HAND GP positions has been defined as described in the procedure To Attach the Hand on page 73 After you have confirmed or set the Zero and Calibration positions of the robot they will remain set until you change a potentiometer or the robot baseboard Pressing the RELOAD button on the front of the System V Controller loads positions from the Varian Dictionary disk overwriting whatever positions that may have been defined in the System V Controller memory 01 999042 00 D0800 Sample Management Systems Installation 61 Chapter 2 SMS Autosampler Installation 62 To Initially Attach the Hand to the Robot Wrist On the back of the hand is a connector that mates with the connector on the wrist and two holes with guillotine type latches that connect to and securely hold the two wrist pins CAUTION Only Varian service or installation engineers should attach or remove the hand as described below Manually attaching or removing the hand can damage the connector in the wrist coupling Attaching the Hand To saf
89. edure for connecting the laptop is described later The procedure for connecting the SMS autosampler system to a Varian NMR spectrometer console is also described later The back of the robot is illustrated in Figure 27 XP Robot Emergency Module board in stop button System V Controller Figure 27 Robot Base Back View Showing Connectors 1 Connect the power cord to the power connector on the back of the robot Plug the male end of the power cord into the filtered power strip do not connect the filtered power Strip to the house ac source at this time 2 Locate the emergency stop button and attach its cable to the 9 pin male connector above the robot power connector Secure the connection with a small flatblade screwdriver 3 Connect the cable from the XP Robot Module board in the back of the System V Controller to the 9 pin female connector above the robot s power connector 4 Locate the hand held controller and connect its cable to the 9 pin connector on the back of the System V Controller 5 Connect a power cord to the power connector at the back of the System V Controller Plug the male end of the power cord into the filtered power strip 6 Make sure the filtered power strip is OFF and connect the strip power cord to the house ac source Sample Management Systems Installation 01 999042 00 D0800 2 4 Setting Up the Laptop Computer 2 4 Setting Up the Laptop Computer Connecting the Laptop Com
90. ely attach the hand to the wrist place the hand all the way down in the parking station so that the guillotine latches are retracted Then press the function keys as necessary to move the arm into the hand and lift it from the parking station After the CP1 AT HAND GP position has been taught you should always attach a hand by executing the program GET HAND GP with the hand in the parking station When you execute this program the System V Controller knows which hand is on the robot and will correct for the hand dimensions Removing the Hand To remove the hand press the function keys as necessary to move the robot arm so that the hand 1s all the way down in the parking station Then use the function Keys to back the robot arm out of the hand You can manually remove the hand from the robot by pressing all the way up on the two latches on the bottom of the hand and carefully pulling the hand straight away from the wrist Stopping Collisions If the robot is colliding with anything you can do one of the following to help prevent damage e Use the Emergency Stop button Release the button by turning it clockwise Be aware that after you release the stop button the robot may continue its previous action If the robot continues press Shift F9 as described below e Press Shift F9 the Shift key and F9 keys simultaneously This will stop the robot at the current step in its cycle You can then press the Shift F10 keys the Shift key
91. ench is in the same bag as the driver 3 Locate the clamp portion of the driver see Figure 4 Loosen the clamp screw with the Allen wrench 4 Slide the clamp of the driver down over the top of the upper barrel until it stops 5 Rotate the white disk on the driver counter clockwise looking from the top so that position 9 is over the upper barrel 6 Orient the driver so that it does not interfere with any other hardware on the magnet or upper barrel such as the PFG junction box or magnet vent stacks Also keep cryogen servicing in mind 01 999042 00 D0800 Sample Management Systems Installation 19 Chapter 1 Carousel Autosampler Installation 20 On Varian 200 51 and 300 51 magnets the driver must be oriented so that the drive cylinder points to the front of the magnet and the carousel sensor arm see Figure 2 is towards the back of the magnet Note that the driver clamp shown in Figure 4 has a thin side same side as the clamp screw Under most circumstances the clamp can be oriented with this thin side directly opposite the PFG junction box However if necessary the thin side can slide directly between the PFG junction box and the upper barrel when the lip inside the clamp makes contact with the top of the upper barrel CAUTION Do not overtighten the clamp Overtightening can crimp the upper barrel Overtightening can also cause the clamp to twist resulting ina gap and air leak between the clamp and the
92. end and a 25 pin connector at the other end The laptop cable has RJ 11 12 phone jack connectors on both ends and uses the included RJ 11 12 to DB 25 25 pin male adaptor Laptop with PCMCIA serial card 1 cable the cable has a 9 pin female connector at one end and a 15 pin female connector at the other end Turn off the laptop computer Connect the cables Laptop with internal serial port Connect one end of the RJ 11 12 phone jack cable to the laptop and the other end to the adaptor RJ 11 12 to DB 25 male Connect the 15 pin connector to the 15 pin connector on the System V Controller Connect the other end of the cable with the 25 pin connector to the adaptor connected to the laptop cable Laptop with PCMCIA serial card Connect the 9 pin female connector to the PCMCIA serial card adaptor Connect the other end to the 9 pin connector on the System V Controller Running the SMS Setup and Test Program The SMS Setup and Test program installs the Zymark software that allows communication between the laptop computer and the System V Controller L L Zz Turn on the laptop computer by pressing the power switch on the left side for a few seconds The laptop will boot up Make sure the latest Zymark software is installed by checking the CONFIG SYS file e If the Zymark software has been installed the system displays the Zymark System V Controller Main Menu see Figure 29 Press Esc then Enter to Quit to DOS
93. enu Methods Sample Data Module SetUp System Quit i EXecute a Prog Figure 63 Zymark System V On Line Menu with Methods Pull Down Menu Methods menu this pull down menu is shown in Figure 63 and has the following selections e Execute a Prog e Edit Programs e Manual Control e Scheduler is not active Execute a Prog opens a screen that allows you to select a program and provides a listing of the programs on the NMS E PROM Use the arrow keys to select a program You can type the first letter of a program to move more quickly to the one you want Then press ENTER to run the program The other options are not used in this manual 1 Select Execute a Prog and press return A selection entry window and a large list of programs Figure 63 are displayed on the screen The menu bar from the Zymark System V On Line Menu may still be displayed at the top of the screen The menu is not active The selection field has the first test BEEP preloaded 2 Press ENTER to execute the BEEP test Adjust the beeper volume by turning the beeper clockwise or counter clockwise Press ENTER when the test is completed Select Methods from the System V On line menu Select Execute a Prog from the menu Select the next test to run Press ENTER e ES Repeat step 3 through step 7 for each test 01 999042 00 D0800 Sample Management Systems Installation 105 Chapter 3 Nanoprobe MultiSampler Installation NAME PROGRAM TYPE
94. for shipping damage 16 installation 17 27 installing the air line 21 loading and unloading samples 32 locked mode 28 mounting the carousel 30 removing the carousel 30 run mode 28 sample change cycle time 15 sample tube sizes 15 shipping damage 16 system parts list 17 testing the system 34 Ultra nmr shims accessory 16 unpacking 17 upper barrel requirements 16 using the carousel 28 carousel installation NMS 96 cautions defined 9 collisions 01 999042 00 D0800 Index avoiding 62 recovering 62 COM port 53 command protocol 112 command sequence 112 COMMTEST 52 104 COMMTEST command 57 59 communication link 42 communications system components 59 communications system components testing SMS aT CONFIG screen 85 CONFIG SYS file 52 103 connecting electrical and pneumatic lines NMS 98 controller box 25 CPI AT HAND GP position 65 AT HAND GP position defining 70 CLEAR HAND GP position defining 72 CP191 MAGNET position 65 79 credit cards caution 11 cross connector 21 D data communication equipment 12 data terminal equipment 112 dictionary saving 80 driver installation 19 driver orientation 19 dual 50 sample trays changing TWO50 ZYD to AUTOLOAD ZYD fi DUAL RS 232 INTERFACE board 25 DUAL ZYMATE MODULE INTERFACE board 26 E Edit Programs pull down menu 56 eject air adjustment 31 elevator arm of NMS adjusting 95 Emergency Stop Button 63 emergency stop button
95. fully look into the top of the carousel to check the carousel alignment with the upper barrel Figure 11 illustrates alignment overrotation and underrotation e If the driver rotated too far overrotated as shown in Figure 11 turn the air adjust knob on the driver see Figure 4 slightly clockwise If the driver did not rotate far enough underrotated as shown in Figure 11 turn the air adjust knob on the driver slightly counter clockwise e If the driver made a noise but failed to rotate the index air regulator might be affected by the magnet field Move the index air regulator outside the 100 gauss perimeter You might have to degauss the regulator The normal position for the air adjust knob is opened 1 8 counter clockwise turn from completely closed 5 Use the manual index button to rotate the driver to position 9 Check each position to make sure the indexing meets the following two criteria e Carousel sample position is directly over the upper barrel e Micro switch on the driver extends into a position hole in the bottom of the white disk The driver is now installed on the magnet and is connected to the index air regulator and the controller Proceed to the next section which describes how to use the carousel 01 999042 00 D0800 Aligned Overrotated Underrotated Figure 11 Checking Carousel Rotation Top View Sample Management Systems Installation 27 Chapter 1 Carousel Autosample
96. g plate to top of the probe If the probes has clearance for rotate firmly tighten the thumbscrews that mount the lower stop Otherwise make adjustments and repeat step 3 and step 4 3 6 Adjusting the Stabilizer Foot 94 Proper adjustment of the stabilizer foot is made when the foot contacts the floor just before reaching its full extension 1 Locate the stabilizer foot assembly on the back of the probe elevator 2 Loosen the two mounting screws holding stabilizer foot and then extend the foot from the cylinder as far as it will go 3 Lower the mounting bracket until the foot just touches the floor and then lower it approximately 0 04 in 1 mm more Note that carpeted floors might require more contact 4 Tighten the mounting screws Sample Management Systems Installation 01 999042 00 D0800 3 7 Adjusting the Elevator Arm 3 Adjusting the Elevator Arm Note This adjustment was made at the factory Only make adjustments if they are needed to allow unobstructed movement of the probe into the magnet Once you start making too many adjustments proper probe alignment might become difficult Se A Probe alignment with magnet bore B Adjusting the probe alignment Figure 53 Probe Flange Adjustment Adjust the elevator arm for proper probe alignment with the magnet bore 1 Observe the alignment of the probe with the hole in the shim mounting plate see Figure 53A The three rotary adjustments that might b
97. g the SMS 51 shipping damage 42 SMS testing running the setup and test programs 52 software 112 solids high power amplifiers caution 12 spectrometers compatible with autosampler 42 spectrometers compatible with Carousel 16 speed setting robot speed 64 SPEED command 64 stabilizer foot of NMS elevator adjusting 94 supply air pressure variations 31 System menu 57 System V Controller 42 5 V power supply 114 connecting the cables 50 01 999042 00 D0800 Index expansion slots 49 setting date and time 79 setting up 49 turning on the power 54 what happens when robooting 61 System V Controller for SMS what to do if turned off 54 System V main menu screen 53 104 System V On line for NMS 104 System V utilities disk for the SMS 52 T table height adjustments 47 initial setup 46 mounting the robot 47 orientation to magnet 69 table positioning 69 teaching pointer 76 teaching rack positions 75 Tee connector 21 testing the teaching positions 80 tip hardwire and NMS controller 100 TRIPLE DC SERVO AND I O board 26 troubleshooting techniques 113 two 50 sample trays 75 TWOS50 ZYD 75 U Ultraenmr shims accessory 16 unpacking the system 17 43 upper barrel locator installation 47 upper barrel top 19 upper barrels incompatibilities 16 using Zymark menus NMS set up and testing 104 SMS set up and testing 54 V Varian Dictionary disk 61 Varian dictionary disks 65 Varian Orde
98. ge claim FOB PALO ALTO Transfer of ownership occurs when the shipment leaves the factory The customer is responsible for filing claims for shipping damage Upon request Varian will provide assistance in filing claims FOB DESTINATION Transfer of ownership occurs at the customer s point of receipt Varian is responsible for filing claims for shipping damage Remember that damage discovered 15 or more days after delivery generally cannot be recovered and such damage is at the expense of the customer Sample Management Systems Installation 01 999042 00 D0800 1 3 Installing the Carousel Autosampler Unpacking the Carousel autosampler When shipped from the factory the Carousel autosampler is packaged in one box You can use a utility knife to open the box Remove the Carousel autosampler system components from the box as you need them The Carousel autosampler box contains the following parts see Figure 2 e Carousel e Driver e Controller e Index air regulator e Tubing and connector kit e Power and RS 232 cable kit The carousel holds the nine samples and mounts on the driver which clamps to the upper barrel and provides the indexed drive mechanism for rotating the carousel The controller provides the communication link between the NMR console the carousel driver and the index air regulator The index air regulator provides a pressure gauge regulator and 4 way solenoid operated gas valve for controlling the air flow to
99. he Carousel autosampler 2 Determine whether or not your filter regulator assembly has the cross connector 3 Choose one of the following procedures e If the assembly has the cross connector Figure 5 you only need to insert the supplied air line into the connector on the T fitting as described in Connecting the Air Line to the Cross Connector next e If the assembly does not have the cross connector Figure 6 you must cut the air line and install a T connector as described in Installing the T Connector Connecting the Air Line to the Cross Connector If your source filter regulator includes the cross connector between the filters and the regulator Figure 5 you can connect the supplied air line to the cross connector as described in the following steps You will need a 1 4 inch Allen wrench Filter regulator Cross connector assembly Air supply to spectrometer gt 1 4 inch tube connector 28 860043 00 apil pii Air supply to Carousel autosampler regulator gt Figure 5 Connecting the Carousel Autosampler Air Line to the Cross Connector 01 999042 00 D0800 Sample Management Systems Installation 21 Chapter 1 Carousel Autosampler Installation 22 1 Make sure no sample is in the probe
100. howing Teaching Positions 75 Figure 43 Teaching Pointer and Teaching Inserts Cross Sectional VieWS 76 Figure 44 Rear View of MERCURY System Console and Serial Board 83 Figure 45 Rear View of Gemini System Console and Serial Board 83 Figure 46 8 port Serial Interface Board P2501 5980 6 Jumper Layout 84 Figure 47 Location of RS 232C Port on UNITY plus System ccccccecesesesncccnceceeceeeeeeeeeeeeeees 85 Figure 48 Location of RS 232C port on UNITY or VXR NMR System 86 Figure 49 RS 232C Port on XL Systems for SMS Autosampler Interface 86 Figure 50 Magnet Sample Regulation Board Front Panel 87 Figure 51 Attachment of Mounting Plate and Base Plate 92 Figure 52 Probe Elevator and Elevator Mounting Plate 93 Figure 53 Probe Flange Adjustment cccccccssssssseesscecsesessscessssessssessseseseeeeeseceecenceeeaeeeeeeeeeeess 95 Figure 54 Carousel Elevator Probe and Magnet Orientation 96 Figure 55 Probe Carousel and Elevator As Viewed From The Magnet Bore 97 Figure 30 Autoloader Front Paliely cr rid 98 Figure 57 NMS Suction Cup and Probe Detail rrrreriiieeeeee
101. if necessary If the robot expects to grip a sample tube that is not there an error message is displayed on the laptop You can use the Shift F9 Shift F10 keys to stop the robot The tests are written for a single 50 sample tray If you are testing the second 50 sample tray use CP32 RACK and RACK 5 To test the positions use the steps below 1 Return to the System V On Line menu 2 Select the Methods menu 3 Select Manual Methods 4 Move the robot to the test position by typing in the position shown in Table 3 80 Sample Management Systems Installation 01 999042 00 D0800 2 13 Teaching the Robot Table 3 Tests Conditions and Expected Results for Testing Teaching Positions Positions to Test CP1 AT HAND GP S REACH 0 GET HAND GP CP1 CLEAR HAND GP MONUMENT RACK CP31 RACK even number CP1 CLEAR HAND GP CP191 CLEAR CP191 MAGNET RACK 5 INDEX 1 GET FROM RACK 5 PUT INTO RACK 5 GET FROM RACK 5 CP1 CLEAR HAND GP PUT INTO MAGNET GET FROM MAGNET CP191 MAGNET PUT INTO RACK 5 S SPEED 1 TEST RACK 5 01 999042 00 D0800 Special Conditions Hand in parking station and robot in front of station Hand in parking station Hand on arm clear of parking station Monument in parking station and robot in front monument Robot in front of rack Hand on arm clear of parking station Robot in front of magnet Sample tube in hole 1 Sample tube in hole 1 Hand on arm clear of parking station Sampl
102. inch black tube into the connector on the index air regulator 7 Turn the knob on the source air regulator so that the pressure reads 60 psi To Connect Cables and Make Final Preparations This section describes how to connect the cables between the controller and the other units and how to connect the double air line between the index air regulator and the driver This section also describes how to adjust the air flow to the index air regulator Connecting Cables and the Double Air Line This procedure describes how to connect the signal and power cables as well as the double air line from the index air regulator to the driver Figure 7 shows how the system is connected while the steps below describe the connections The back panel of the controller is Shown in Figure 8 WARNING Keep the controller outside the 5 gauss perimeter of the magnet The controller has a steel case and can fly toward the magnet causing injury and damage Sample Management Systems Installation 01 999042 00 D0800 1 3 Installing the Carousel Autosampler Filter regulator assembly Cut the air supply tubing q Regulator knob vA Air supply to i spectrometer DL gt Insert ends into
103. ing it to fall into the hole in the upper white disk 01 999042 00 D0800 Sample Management Systems Installation 29 Chapter 1 Carousel Autosampler Installation ie Place the empty carousel on the driver as follows a Make sure the sensor arm on the carousel is in the locked position between position 9 and 1 b If needed use the manual index button to manually rotate the driver so that position 9 is over the magnet upper barrel Align the numbers on the carousel with the numbers on the driver d Push down on the carousel until it seats e Disengage the lock pin by pulling out the knurled knob on the sensor arm and rotating it 90 see Figure 13 The arrow on the knurled knob will point up or down f Move the sensor arm to the right until it is directly in front of position 9 You will notice some resistance when moving the arm Normally with samples in the carousel you would not move the sensor arm to run mode unless the eject air is on The empty carousel is now mounted and ready to be used in walk up mode as described in Walkup Mode with the Carousel Attached on page 35 To Mount the Carousel This procedure describes how to mount the carousel on the driver l Make sure the sensor arm on the carousel is locked in between position 9 and 1 The groove in the bottom of the carousel see Figure 14 should be 90 perpendicular to position 9 Make sure the driver has position 9 over the upper barrel If
104. ing the NMS page 100 3 9 Connecting Electrical and Pneumatic Lines On the NMS controller shown in Figure 58 the first DB 9 connector is used to connect the NMS controller CPU to a PC or lap top containing the Zymark NMS System_V Program This connection is only used for service CAUTION Do not connect house air supply to the NMS controller at this time Failure to perform this procedure correctly could cause damage to the probe 98 Sample Management Systems Installation 01 999042 00 D0800 3 9 Connecting Electrical and Pneumatic Lines Pneumatics to probe elevator Pneumatics to carousel 000000000000 0000000000000 000000000000 0000000000000 PC to controller RS232 port SUN to controller RS232 port Elevator to controller port Carousel to controller port Air supply _ Error signal beeper Figure 58 NMS Controller Back Panel 1 Noelectrical power or air pneumatic pressure should be applied to the NMS at this time If the unit is on turn it off and remove the ac power cord 2 Connect an RS 232 cable between the second DB 9 connector from the left Figure 58 on the NMS controller and the RS 232 connector on the Sun workstation Refer also to the block diagram in Figure 60 for attaching the PC to the controller 3 Connect the probe elevator to the NMS controller DB 25 connector labeled Probe elevator 4 Connect the carousel to the NMS controller DB 25 connector labeled carousel
105. it Move the cursor down to highlight Manual Control and press Enter to select it At the Z gt prompt enter the appropriate TRAYSIZE value e Single 50 sample tray TRAY SIZE 50 TRAYNUMBER 2100 is the default e Dual 50 sample trays TRAY SIZE 50 and TRAY NUMBER 2050 Press Esc twice to return to the System V On Line menu If the hand is attached skip to the next step If the hand is not attached select EXecute a Prog from the METHODS menu and then select the GET HAND GP program Go to the ZYMATE XP PROGRAMMING screen by selecting XP ROBOT from the Module SetUp menu Press F to go to the ZYMATE XP HAND PROGRAMMING Screen Press F3 to open the grip enough to r put the teaching pointer in the grip Fingers see Figure 43 The fingers should Teaching should i pointer touch here touch the top of the disc on the teaching pointer A pencil can be used if a teaching l i Teaching pointer is unavailable insert Press F4 to close the fingers and grip ww the teaching pointer Press Esc to return to the ZYMATE Figure 43 Teaching Pointer and XP PROGRAMMING screen Teaching Inserts Cross Sectional Views Press the function keys to position the hand somewhere over the rack Press 9 to define the rack Enter the name of the rack shown in Table 2 and press the Enter key Usually you will use CP31 RACK for a single 50 sample rack which is located near the power input to the robot
106. ition is now defined To Test the Vertical Alignment of the Sample Tube This procedure aligns the fingers so that they hold a sample tube vertically Repeat this procedure if the fingers are involved in a collision l Z 3 Remove the hand from the robot and place it in the parking station Select EXecute a Prog from the Methods menu Then select GET HAND GP Go back to the ZYMATE XP HAND PROGRAMMING screen from the Module SetUp menu select ZYMATE XP PROGRAMMING and then press F8 Press F3 and F4 to grip a sample tube Observe how the tube is held If the sample tube is not vertical slightly bend the fingers to adjust how the tube is held When bending the fingers be sure to hold the finger blocks firmly The finger blocks and their drive mechanism should never have external loads applied to them Press F3 to open the gripper and remove the sample tube Remove the hand and place it in the parking station 2 13 Teaching the Robot 12 To Define the FAKE HAND Special Hand This procedure defines a hand that will be used as a tool to define the monument rack JA With the hand still in the parking station and while in the ZYMATE XP PROGRAMMING screen lower the wrist to the vertical zero about 1 8 cm Then press 6 to select Execute Named Command Sample Management Systems Installation 01 999042 00 D0800 2 13 Teaching the Robot 2 Enter CP1 AT HAND GP The robot arm will move into the hand which is in the par
107. justable wrenches Level 01 999042 00 D0800 Sample Management Systems Installation 45 Chapter 2 SMS Autosampler Installation WARNING The strong magnetic field of the magnet attracts objects containing steel iron or other magnetic materials such as tools electronic equipment compressed gas cylinders steel chairs and steel carts Unless restrained such objects can suddenly fly towards the magnet which could cause personal injury and extensive damage to probe magnet and superconducting solenoid Only nonferromagnetic materials i e plastics aluminum wood and stainless steel should be used in the area around the magnet CAUTION Keep the laptop computer and the System V Controller at a safe distance away from the magnet usually beyond the 5 gauss field The laptop System V Controller magnetic media and components are sensitive to the stray magnetic fields from the magnet Refer to the safety section at the beginning of this manual for stray field information To Set Up the Table At least two people are needed to set 1 5 m 4 ft Robot up the table Final positioning of the i mounting holes table is described later 1 Initially position the table about 1 5 m 4 ft away from the magnet Make sure the three mounting holes for the robot are next to the magnet as shown in Figure 21 Note that other holes in the table top are not shown Figure 21 Overhead View of Magnet and Setting up the table
108. keys F1 or F2 until the vertical position of the wrist pins 1s precisely centered on the holes in the monument Do not press any other function keys Press Esc to store the zero value Press Esc again to return to the ZYMATE XP PROGRAMMING screen Vertical Calibration This procedure calibrates the vertical potential voltage as determined over a 30 5 cm 12 in distance l While in the ZYMATE XP PROGRAMMING screen press F4 to move the robot arm about 5 cm 2 in away from the monument Remove the monument and place the hand all the way down into the parking station Press F3 to move the robot arm out toward the hand Adjust the keys as needed to precisely center the wrist pins on the holes in the back of the hand Press F3 to move the wrist into the hand Press F1 to raise the robot arm until the VERTICAL field reads 32 3 cm If a 30 5 cm 12 inch ruler just fits between the bottom of the hand on the robot and the cross piece of the hand parking station skip to the procedure Wrist Zero next If the ruler does not just fit go to the next step and complete this procedure Press F1 or F2 until the vertical height is correct as described in step 5 The value in the VERTICAL field will no longer read 32 3 Press 0 to go to the ROBOT AXIS CALIBRATION menu 01 999042 00 D0800 Sample Management Systems Installation 6 Chapter 2 SMS Autosampler Installation 68 8 Press C to go to the CALIBRATION screen 9 Ente
109. king station Press F8 to go to the ZYMATE XP HAND PROGRAMMING screen Press 4 to define a hand Enter FAKE HAND Press G until prompted to press Esc Press Esc until back at the ZYMATE XP PROGRAMMING screen di e e 0 To Define a Monument Rack in Alignment with the Monument This procedure defines an initial position for the monument in the parking station Before you begin this procedure the robot arm should be attached to the hand and the hand should be in the parking station CP1 AT HAND GP position 1 While in the ZYMATE XP PROGRAMMING screen press 9 to select Define Rack Enter MONUMENT RACK 2 Enter M for move The system asks Do you wish to change the rack index name 3 Enter N for no The system prompts Enter name of hand on Zymate robot enter FAKE HAND 5 When the system asks Move to rack position 1 Press G press G 6 Enter the number of positions in a row Press Enter to select the default of 2 7 When the system asks Move to rack position 2 press G 8 Enter the number of positions in a column Press Enter to select the default of 1 9 When the system asks Move to desired rack height press G 10 Press Esc The monument rack is now defined To Attach the Hand This procedure describes how to run the GET HAND GP program to attach the hand Note that whenever the System V Controller is turned off then on it no longer has information about the hand definition Therefore after the ha
110. l The carousel must be on the magnet with no sample in position 9 1 Enter e in VNMR to turn on eject air 01 999042 00 D0800 Sample Management Systems Installation 35 Chapter 1 Carousel Autosampler Installation 2 Make sure no sample is in position 9 and make sure position 9 is aligned over the upper barrel 3 Ifthe sensor arm is over position 9 move it to the left until it stops between position 9 and position 1 as shown in Figure 17 You will notice some resistance moving the arm Do not engage the locking pin Run position Locked position Run position Position 9 is accessible for loading or unloading samples Figure 17 Manually Loading and Unloading Samples Through Position 1 4 Place your sample and turbine in position 9 5 With eject air still on rotate the sensor arm back to position one The sample can be inserted and ejected as in normal nonautomated operation 6 Toremove the floating sample from the magnet rotate the sensor arm to the left until it stops between position 9 and position 1 Then lift the sample straight up and out 1 9 Error Codes and Error Recovery This section defines the error codes and suggests ways to recover from the errors The following messages are common to all Varian autosamplers The descriptions and remedies provided below however refer to the Carousel autosampler Sample changer arm unable to move sidewa
111. laced in the stator and the probe is lifted up into the bore of an NMR magnet In a Nanoprobe the rotor containing the sample is held at the magic angle of 54 7 in a stator within the body of Nano probe The NMS comprises the following main units e Probe elevator Attaches the elevator base plate which is attached to the bottom of the magnet This unit lifts the probe into the magnet bore and lowers the probe out of the magnet bore e Probe flange Fits onto any NMR probe shield and then snaps onto the elevator e NMS Controller Sits on the floor away from the magnet The NMS controller provides serial RS 232 communicates between the NMS and the NMR host computer The NMS controller also provides signal and pneumatic connections to the probe elevator and the carousel e Carousel Sits on the floor aligned with the tilted probe The carousel rack holds a 48 samples A rotor handler removes the rotor in the Nanoprobe places the rotor in the rack takes a new one from the rack and places the rotor in the Nanoprobe The probe elevator and NMS controller can be used together to provide a semi automated means of inserting a Varian probe into the NMR magnet The addition of the carousel provides an automated means for loading each of 48 rotors into a Nanoprobe 01 999042 00 D0800 Sample Management Systems Installation 89 Chapter 3 Nanoprobe MultiSampler Installation 3 1 System Requirements NMS installation requires th
112. lance and fall Take care when removing the carousel from a high field magnet 5 If the carousel has been removed from the driver remove the samples and refill it with the next set of samples Be sure to keep the sensor arm in the locked position and the locking pin engaged 6 Replace the refilled carousel on the driver as described in Loading and Unloading Samples on page 32 7 Enter e to turn on the eject air 8 Disengage the locking pin and move the sensor arm over position 9 as described in Loading and Unloading Samples on page 32 9 Adjust eject air pressure as needed The sample in position 9 should be floating with about half of the turbine top showing through the tube hole as described in Adjusting the Eject Air on page 31 10 Enter i to insert the sample in position 9 into the magnet The system is now ready for a complete automation run that will start with the sample in position 1 1 8 Walkup Mode with the Carousel Attached Since the eject air is higher than normal the carousel should remain attached to the driver even when empty Therefore the Carousel autosampler provides a walk up mode that allows you insert and eject samples when the carousel is not being used for automation In other words if you want to run one sample at a time as in normal operation you should do so with the carousel in place This procedure describes how to insert and eject samples one at a time through the carouse
113. lation Planning Manual for details WARNING Do not remove the relief valves on the vent tubes The relief valves prevent air from entering the nitrogen and helium vent tubes Air that enters the magnet contains moisture that can freeze causing blockage of the vent tubes and possibly extensive damage to the magnet It could also cause a sudden dangerous release of nitrogen and helium gases from the dewar Except when transferring nitrogen or helium be certain that the relief valves are secured on the vent tubes WARNING On magnets with removable quench tubes keep the tubes in place except during helium servicing On Varian 200 and 300 MHz 54 mm magnets only the dewar includes removable helium vent tubes If the magnet dewar should quench sudden appearance of gases from the top of the dewar and the vent tubes are not in place the helium gas would be partially vented sideways possibly injuring the skin and eyes of personnel beside the magnet During helium servicing when the tubes must be removed carefully follow the instructions and safety precautions given in the manual supplied with the magnet Caution Notices Observe the following precautions during installation operation maintenance and repair of the instrument Failure to comply with these cautions or with specific cautions elsewhere in Varian manuals violates safety standards of design manufacturing and intended use of the instrument Varian assumes no liability for cus
114. le Adjustable table Zymark hand held controller Sample hand with fingers and hand parking station with hand fastening kit Plastic locator for the upper barrel af rack is ordered One or two 50 sample rack s for 50 or 100 samples if ordered e Rack fastening kit Emergency stop button Varian startup kit with the following parts e Filtered power strip e Stick on platforms and cable ties e Robot warning labels e Sample depth gauge e SMS Autosampler Installation Manual Zymark fuse kit e Zymate XP Core System Users Guide Unpack the Robot When shipped from the factory the autosampler is packaged in six containers including the table which is the largest of the boxes You can use a utility knife to open the boxes l 2 3 4 Locate the box that contains the robot This is the second largest box Use the utility knife to cut open the top of the outer and inner boxes Remove all accessories from the box Cut away at least one side of the two boxes so you can pull the robot sideways out of the boxes 01 999042 00 D0800 Sample Management Systems Installation 43 Chapter 2 SMS Autosampler Installation WARNING Avoid back injury do not lift the robot vertically through the top of the box The robot is heavy and lifting it vertically from the box is an awkward movement that can cause injury 5 Carefully pull the robot sideways through the opened side of the box 6 Remove any packing material elastics cardboard bubble pack
115. le 7 lists the button and the command that is sent to the NMS controller The NMS commands are similar Figure 59 NMS Window to some of the commands in Table 6 that are executed from either a terminal window from tip hardwire or from a PC connected to the NMS controller 3 Step through each adjustment button in sequence Make any necessary adjustments If adjustments are needed refer the instructions in Attaching the New Probe Flange on page 93 through Installing the Carousel on page 96 01 999042 00 D0800 Sample Management Systems Installation 101 Chapter 3 Nanoprobe MultiSampler Installation 102 4 Step through each of the test sequences The installation of the nms is complete when all tests function correctly Table 7 NMS Installation Window Buttons and Commands Button NMS Command NMS Action Insertion Adjust menu F Insert then remove probe several times Rack Adjust menu C Move sample from the probe to the rack Carousel Adjust menu A Move sample from the probe to the rack Insertion Test menu P Insert probe into the magnet Rack Test menu R Removes sample from the probe and places sample into the rack System Test menu T Insert then remove probe Remove sample from probe and place sample in next rack position Retrieve sample and place it in the probe Repeat the cycle for all rack positions Establish line shape and resolution for all probes This is especially important if you had to r
116. lly checked and is believed to be entirely reliable However no responsibility is assumed for inaccuracies Statements in this document are not intended to create any warranty expressed or implied Specifications and performance characteristics of the software described in this manual may be changed at any time without notice Varian reserves the right to make changes in any products herein to improve reliability function or design Varian does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights nor the rights of others Inclusion in this document does not imply that any particular feature is standard on the instrument UNITYINOVA MERCURY Gemini GEMINI 2000 UNITYplus UNITY VXR XL VNMR VnmrS VnmrX Vnmri VnmrV VnmrSGI MAGICAL II AutoLock AutoShim AutoPhase limNET ASM and SMS are registered trademarks or trademarks of Varian Inc Sun Solaris CDE Suninstall Ultra SPARC SPARCstation SunCD and NFS are registered trademarks or trademarks of Sun Microsystems Inc and SPARC International Oxford is a registered trademark of Oxford Instruments LTD Ethernet is a registered trademark of Xerox Corporation VxWORKS and VxWORKS POWERED are registered trademarks of WindRiver Inc Other product names in this document are registered trademarks or trademarks of their respective holders Table of Contents SAFETY ils TIONG siri
117. lowing warning and caution notices illustrate the style used in Varian manuals for safety precaution notices and explain when each type is used WARNING Warnings are used when failure to observe instructions or precautions could result in injury or death to humans or animals or significant property damage CAUTION Cautions are used when failure to observe instructions could result in serious damage to equipment or loss of data Warning Notices Observe the following precautions during installation operation maintenance and repair of the instrument Failure to comply with these warnings or with specific warnings elsewhere in Varian manuals violates safety standards of design manufacturing and intended use of the instrument Varian assumes no liability for customer failure to comply with these precautions WARNING Persons with implanted or attached medical devices such as pacemakers and prosthetic parts must remain outside the 5 gauss perimeter from the centerline of the magnet The superconducting magnet system generates strong magnetic fields that can affect operation of some cardiac pacemakers or harm implanted or attached devices such as prosthetic parts and metal blood vessel clips and clamps Pacemaker wearers should consult the user manual provided by the pacemaker manufacturer or contact the pacemaker manufacturer to determine the effect on a specific pacemaker Pacemaker wearers should also always notify their physician and
118. lt control lt F10 gt and then run CLEAR ERROR or reset the PC and the NMS by turning them both off and then on again 01 999042 00 D0800 Sample Management Systems Installation 107 Chapter 3 Nanoprobe MultiSampler Installation 3 11 NMS Error Codes Because each axis of motion contains two confirm sensors two errors are possible for each axis Errors can result from each of the system confirm programs listed in Table 6 Other run time errors are possible when certain sequences fail to result in a desired manner Table 9 lists errors and specific error numbers Table 9 NMS Error Codes Error Number Error Description Error 1 low air pressure Error 2 no rack detected Error 3 rack not in home position Error 4 not sensing a rotor Error 5 still sensing a rotor Error 6 failure to lock carousel Error 7 failure to unlock carousel Error 8 failure to index carousel Error 9 failure to un index carousel Error 10 failure to lift rotor handle Error 11 failure to lower rotor handle Error 12 failure to rotate rotor handle over probe Error 13 failure to rotate rotor handle over carousel Error 14 failure to lift probe Error 15 failure to lower probe Error 16 failure to lock probe Error 17 failure to unlock probe Error 18 failure to rotate probe to 0 degrees vertical Error 19 failure to rotate probe to 54 7 degrees Error 20 rotor dropped while putting Error 21 failure to put a rotor Error 22 failure to get a rotor Error 23 no
119. mpler Installation The autosampler and the acquisition system communicate through a standard RS 232C serial link at 9600 baud Communication between the laptop PC and the System V Controller requires a high speed serial interface The laptop is not included in the kit and is used only for installation and service Time between sample changes is about 35 seconds for a complete cycle retrieve the sample from the magnet return it to the sample tray locate and pick up the next sample and deliver it to the magnet 2 1 Compatibility The autosampler works with MERCURY VX MERCURY UN YINOVA UNITYplus GEMINI 2000 UNITY VXR Gemini and automated XL spectrometers using the following superconducting magnets e 200 51 and 300 51 magnets from Varian e 200 54 200 89 300 54 300 89 400 54 500 51 and 600 51 magnets from Oxford Where the first number is the proton frequency of the magnet 200 MHz 300 MHZz etc and the second number is the diameter of the bore 51 mm 54 mm etc The autosampler is compatible with most vibration isolation systems but careful attention must be given to table positioning and cryogenic servicing access A site survey might be required prior to installation 2 2 Unpacking the SMS Autosampler System 42 To Inspect for Shipping Damage When the shipment arrives make an immediate visual inspection for shipping damage Take the following steps if you notice any damage to the unit 1 Write down the nat
120. n s boldface letter and pressing Enter Most of the time you will be selecting the first option System V On line to bring up the Zymark System V On line menu Zymark System V On line Menu The Zymark System V On line menu shown in Figure 30 provides four pull down menus across the top of the screen Use the left and right arrow key to navigate across the menu Methods Sample Data Module SetUp System Quit Figure 30 Zymark System V On Line Menu Methods Sample Data Module SetUp System Quit EXecute a Prog Figure 31 Zymark System V On Line Menu with Methods Pull Down Menu 01 999042 00 D0800 Sample Management Systems Installation 55 Chapter 2 SMS Autosampler Installation 56 bar Press the ENTER key to select a drop down menu Use the up and down arrow keys to select an option and press ENTER to execute this option from the drop down menu You will use the three menus listed below the most The other menus are described in Zymark documentation only not in this manual e Methods e Module SetUp e System Methods menu this pull down menu is shown in Figure 31 and has the following selections e Execute a Prog e Edit Programs e Manual Control e Scheduler 1 Execute a Prog opens a screen that allows you to select a program and provides a listing of the programs in the System V dictionary Use the arrow keys to select a program You can type the first letter of a program to move more quickly to the one
121. n press 6 to select Execute Named Command A flashing cursor appears in CURRENT NAME field b Enter the name of the rack e g CP31 RACK for the first 50 sample rack or CP32 RACK for the second 50 sample rack and then press Enter A flashing cursor appears in INDEX field c Enter 92 The robot moves to the appropriate teaching position on either the first or second rack 01 999042 00 D0800 Sample Management Systems Installation 11 Chapter 2 SMS Autosampler Installation 78 d Press F2 to lower the robot and check how well it hits the position If satisfied you are done with this rack If not satisfied you will have to define it again e Press F8 to go to the ZYMATE XP HAND PROGRAMMING screen Remove the teaching pointer by holding the teaching pointer while pressing F3 to open the fingers f If necessary raise the table to the proper height for the magnet Go to the section To Teach the Magnet Position next To Teach the Magnet Position This procedure defines the position for the magnet including an appropriate height at which the hand can grip the sample tube as it floats on the insert eject air l 10 11 12 13 14 Check that the table is positioned correctly with the top level and set at the proper height Place a sample tube in a turbine in hole 1 in the rack and use the sample depth gauge locator to set the sample tube height If the hand is attached skip to step 4 If the hand
122. n slots all of which you can use to install the expansion boards The middle three slots contain guides that make it easier to install the boards Each slot has a cover that is secured by a white plastic plug To hand held controller To laptop PC Oo So odo Slot cover and Expansion slots 5 plastic plug Figure 26 System V Controller Back View Showing Connectors 01 999042 00 D0800 Sample Management Systems Installation 49 Chapter 2 SMS Autosampler Installation 50 2 Use a screwdriver or pliers to remove any two of the white plastic plugs that secure the module card covers in place Remove the covers 3 Insert the XP Robot Module board labeled XP Robot on the PROM by holding the ring at the end of the board plate and sliding the board plate down into the open slot 4 Carefully align the board connector with the connector inside the System V Controller Then using your thumbs push inward on the plates until the cards are fully seated When correctly seated the rear vertical portion of the board plates should be flush with the back of the System V Controller 5 Insert the RS 232 Generic board by holding the ring at the end of the board plate and sliding the board plate down into the open slot Repeat step 4 above To Connect the Robot and the System V Controller The following steps describe how to connect the power and communications for the system components The proc
123. nce personnel Failure to correct the cause of abnormal readings could result in extensive equipment damage Never operate solids high power amplifiers with liquids probes On systems with solids high power amplifiers never operate the amplifiers with a liquids probe The high power available from these amplifiers will destroy liquids probes Use the appropriate high power probe with the high power amplifier Take electrostatic discharge ESD precautions to avoid damage to sensitive electronic components Wear a grounded antistatic wristband or equivalent before touching any parts inside the doors and covers of the spectrometer system Also take ESD precautions when working near the exposed cable connectors on the back of the console Radio Frequency Emission Regulations The covers on the instrument form a barrier to radio frequency rf energy Removing any of the covers or modifying the instrument may lead to increased susceptibility to rf interference within the instrument and may increase the rf energy transmitted by the instrument in violation of regulations covering rf emissions It is the operator s responsibility to maintain the instrument in a condition that does not violate rf emission requirements 12 Sample Management Systems Installation 01 999042 00 D0800 Introduction This manual covers the installation of the Carousel and SMS autosampler sample management systems Carousel autosampler SMS autosampler
124. nd has been defined it is best to always put the hand on the robot with the GET HAND GP program The System V Controller then knows it has the GP hand attached and can access the hand position definitions correctly 1 While in the ZYMATE XP PROGRAMMING screen use the function keys to move the arm away from the hand Then press Esc to go to the Zymark System V On Line menu 2 From the Methods menu select EXecute a Prog and press Enter A message window appears that allows you to select a program to run 3 Using the cursor keys or a mouse select GET HAND GP and press Enter This program attaches the hand Make sure the robot smoothly attaches the hand If not repeat the procedure To Define the CP1 AT HAND GP Position on page 70 and adjust as necessary 01 999042 00 D0800 Sample Management Systems Installation 13 Chapter 2 SMS Autosampler Installation 74 4 Press the Esc key to get out of this screen and select Module Set Up Select ZYMATE XP ROBOT and press Enter to gain access to the ZYMATE XP PROGRAMMING screen To Define the Hand at the MONUMENT RACK Position This procedure defines the position at which the fingers of the hand the hand use point are located precisely in the center of the circles bull s eye on the top of the monument This position essentially determines the dimensions of the hand in use which allows the hand to be subtracted in defining handless rack positions l 10
125. neral operation of the autosampler e ERROR 96 SMS autosampler is plugged into the RS 232C but not turned on e ERROR 97 SMS autosampler is not plugged into the RS 232C connector e ERROR 98 If you receive ERROR 98 while executing loc x or LOC X change command or while attempting an automation run reinitialize the System V Controller by turning its power off and then on Wait for the beep to indicate that it is ready Try the operation from the console e ERROR 99 SMS autosampler is not responding to issued commands Sample Removal Errors The following errors indicate a problem with removing samples from the sample tray e ERROR 01 NO SAMPLE The gripper has been commanded to close with no sample because the fingers close completely This may be a normal indication for example when executing RO retrieve sample 0 to check the magnet for a sample If a fault occurs the sample switch may need adjustment e ERROR 05 INVALID SAMPLE NUMBER The sample number exceeds the positions available on the tray This error message appears if you attempt to load sample 0 e ERROR 06 INVALID TEMPERATURE Not implemented e ERROR 07 GRIPPER ABORT The gripper is compressed and unable to operate usually because it has contacted another surface e ERROR 08 NEXT SAMPLE OUT OF RANGE Not implemented 01 999042 00 D0800 Sample Management Systems Installation 115 Chapter 4 SMS Autosampler Theory and Troubleshooting 116 e ERROR 13 IL
126. nfig and set the appropriate sample tray size in the CONFIG screen For UNTYINOVA also set Serial Port to A or B depending on which Sun serial port is used to connect the sample changer Select Exit and Save To get the 100 sample positions to show up on the Enter screen edit the file vnmr asm enter conf and make sure set loc max 100 is set defaultis set loc max 50 To test the SMS autosampler from the spectrometer place one sample tube turbine in hole 1 and another in the magnet From the VNMR input window enter 10c 1 change The robot will retrieve the sample tube from the magnet after it ejects and place it in the hole marked no spinner here It will then move the sample tube from hole 1 and insert it into the magnet Yo 7 J8223 J8213 J8210 iii Sample changer Figure 47 Location of RS 232C Port on UNITYplus System 01 999042 00 D0800 Sample Management Systems Installation 85 Chapter 2 SMS Autosampler Installation a ga J223 J213 i gt J222 J212 x n a
127. ng Plate and Elevator on page 92 The vertical position of the probe is correct if you calculated the shim spacers correctly as instructed in step 3 page 90 Table 6 Commands Used for Testing the NMS Test Name Description TEST PROBE Exercises the probe actuator ten times by repeating the following cycle rotate the probe to the vertical position raise it into the magnet and return the probe to the tilted position This test does not raise the probe all the way into the magnet ADJUST FLANGE Performs an endless loop that enables fine positioning of the NMS probe flange to the probe actuator This test raises the probe all the way into the magnet and locks it into position ADJUST PROBE An interactive program used for adjusting the carousel position under the probe when the probe is rotated to the 54 7 degree position Sample Management Systems Installation 01 999042 00 D0800 3 10 Testing the NMS Command Test Name Description A4 AS A6 TEST NMS Performs an endless benchmark test used during the manufacturing process to ensure system alignment and to exercise all functions of a complete system This program moves one rotor from the carousel rack into the probe rotates the probe to vertical raises the probe into the magnet lowers the probe rotates the probe back to 54 7 degrees and indexes the carousel rack to the next position and places the sample into that position This command exercises for as many rotors as it
128. nge Position 5 4 Define Hand D Delete Entry BASE 5 Name Hand Position SCREEN F8 TURBO Figure 35 ZYMATE XP HAND PROGRAMMING Screen Sample Management Systems Installation 01 999042 00 D0800 11 12 13 14 2 8 Testing Module Communications and Function Keys Press the function keys F3 through F6 to move the wrist and gripper in small steps see Figure 37 Test the hand held controller by repeating steps 6 through 9 using the function keys on the hand held controller To aid in identifying the function keys on the hand held controller we recommend that you make a copy of Figure 36 and Figure 37 on the next page and keep it on the table top next to the hand held controller Return to the ZYMATE XP PROGRAMMING screen also called BASE screen either by pressing the F7 key or by pressing the Esc key Return to the Zymark System V On line menu by pressing ESC 2 8 Testing Module Communications and Function Keys This procedure describes how to confirm communications between the controller the robot and the interface modules as well as how to test the hand held controller l 2 10 11 12 Press Esc repeatedly until the message QUit to DOS Y appears Enter Y At the DOS prompt C gt enter COMMTEST Next to the entry for COM2 you should see Installed and compatible with System V Controller If you do not see this message check the connection between the laptop and the System V Controller
129. nnector on the NMS Controller Connect the other end of the cable with the 9 pin connector to the adaptor connected to the laptop cable Sample Management Systems Installation 01 999042 00 D0800 3 10 Testing the NMS Laptop with PCMCIA serial card Connect the 9 pin female connector to the PCMCIA serial card adaptor Connect the other end to the 9 pin connector on the NMS Controller marked diagnostic Running the NMS Setup and Test Program The NMS Setup and Test program runs on a PC off a bootup floppy disk The program provides access from computer to commands in the NMS Controller E PROM 1 Make sure the latest Zymark software is installed by checking the CONFIG SYS file on the floppy disk Insert the Zymark System Software Floppy disk labelled NMS System Boot Diagnostic into the laptop and boot up The Zymark System V Controller Main Menu see Figure 61 is displayed after the PC boots up from the floppy a Select Exit System V to quit and exit to the DOS prompt b Atthe DOS prompt enter TYPE CONFIG SYS to display the file contents 9 pin House Air connector RJ11 12 m _ _ kxX 1 1 11 lt Ru 11 12 to DB 9 9 pin adaptor o NMS Controller Laptop computer with internal serial port air supply at 65 psi 9 pin connector 0 pneumatics to carousel H Standard RS232 S Laptop with PCMCIA serial card pneumatics
130. ns for Teaching Rack Positions Below is a list of things to keep in mind while you are naming racks and teaching rack positions e The index number used in accessing the sample tray holes from the ZYMATE XP PROGRAMMING screen is different than the number marked on the rack by the hole the spectrometer however makes the calculations and accesses the hole you specify For example the index number for the 50 sample tray is twice the number of the hole e g to access hole 1 set the index number to 2 for hole 5 set index to 10 e Fortwo 50 sample trays save a copy of the dictionary AUTOLOAD ZYD and rename the dictionary TWO50 ZYD to AUTOLOAD ZYD e All robot axes should be checked for correct zero and calibration and all hand definitions should be checked before teaching any positions e Any racks taught with improperly defined hands or an uncalibrated robot needs to be retaught e Anytime it is suspected that the fingers have been bent or modified the hand definition should be checked and redefined e If positions were taught with a properly calibrated robot and good hand definitions recalibration and or redefining the hands will usually eliminate the need to reteach 01 999042 00 D0800 Sample Management Systems Installation 15 Chapter 2 SMS Autosampler Installation Teaching Rack Positions l 10 Press Esc to return to the System V On Line menu Move the cursor over to the METHODS menu and press Enter to select
131. o determine which port is available for the System V controller When prompted for permission to overwrite existing files enter Y When prompted for automatic bootup for ZYMATE software enter Y Remove the diskette when the system asks you to Remove Disk from A Enter Y when the system asks Reboot Y 4 Turn the power to the laptop off and then on to load the new device drivers The laptop reboots and opens the Zymark System V Controller Main Menu screen 5 Make a backup copy of the Varian dictionary file AUTOLOAD ZYD a Slide the write protect tab on the Varian dictionary floppy disk to cover the hole b Insert the disk in the laptop floppy drive A c Select Exit System V from the Zymark System V Controller Main Menu The DOS prompt C gt should appear d Atthe prompt enter COPY A AUTOLOAD ZYD A AUTOLOAD BAK e When the file is copied remove the disk from the floppy drive f Repeat steps a through d for the second Varian dictionary disk Remove the disk and store it in a safe place 2 5 Powering Up the System This procedure describe how to power up the system Zymark System V Controller Main Menu Version x x Copyright 1989 Zymark Corporation All rights reserve0 Edit a ZYD file Read a Zymate Il disk Write a Zymate Il disk Exit System V F1 Help Select an Option Esc Quit Figure 29 System V Main Menu Screen 01 999042 00 D0800 Sample Management Systems Installation 53 Chapter 2
132. otate the RT shims in Attaching the Mounting Plate and Elevator on page 92 The vertical position of the probe is correct if you calculated the shim spacers correctly as instructed in step 3 page 90 Using a PC and Zymark System V Software Connecting and Setting Up the Laptop Computer This procedure which is used only during installation or service of the NMS describes how to connect the PC laptop computer to the controller and prepare for system power up Two different laptop configurations exist laptops that have an internal serial port e g Toshiba 1800 or 1850 and laptops that have PCMCIA serial cards Instructions for both configurations are integrated into this procedure A block diagram of the NMS system is shown in Figure 60 l Locate the communication cable s Laptop with internal serial port 2 cables one cable has a 15 pin connector at both ends The laptop cable has RJ 11 12 phone jack connectors on both ends and uses the included RJ 11 12 to DB 9 9 pin male adaptor Laptop with PCMCIA serial card 1 cable the cable has a 9 pin female connector at one end and a 9 pin female connector at the other end Do not use a null modem cable or null modem Turn off the laptop computer Connect the cables Laptop with internal serial port Connect one end of the RJ 11 12 phone jack cable to the laptop and the other end to the adaptor RJ 11 12 to DB 9 male Connect the 9 pin connector to the 9 pin co
133. pped during 1993 or earlier may not be compatible with the Carousel autosampler and may require an upper barrel tube replacement Part No 00 948449 06 Call your Varian NMR service representative The Carousel autosampler is not compatible with UNITYplus and UNITY systems with certain Ultraenmr shims configurations installed The Ultra nmr shims accessory uses the Sample Changer RS 232 port on the console The carousel is compatible with 7 inch and 8 inch sample tubes but cannot accommodate 9 inch sample tubes The carousel adds about 10 inches of height to the upper barrel Therefore for most magnets access to the carousel requires an aluminum latter stool or some type of platform 1 2 Unpacking the Carousel Autosampler 16 Before unpacking inspect for shipping damage As you unpack the Carousel autosampler identify the parts Inspecting for Shipping Damage When the shipment arrives make an immediate visual inspection for shipping damage Take the following steps if you notice any damage to the hardware 1 Write down the nature of the damage on the carrier s waybill 2 Request an inspection and written damage report from the carrier s representative 3 Forward a copy of the damage report to your local Varian representative In case of damage read the FOB block on the Varian Order Input Acknowledgment form This form shows where transfer of ownership takes place as well as who is responsible for filing a shipping dama
134. press M When prompted Do you want to change the rack index name press N for no When prompted Enter name of hand on Zymate robot press Enter and HAND GP displays When prompted Move to rack position 1 Press G press G When prompted Enter number of positions in a row 1 press Return When prompted Move to desired rack height Press G press G Press Esc to return to the ZYMATE XP PROGRAMMING screen Enter 6 to select Execute a Named Command At the Current name prompt enter CP1 CLEAR HAND GP A flashing cursor will appear in the INDEX field press 1 and then press Enter To Set the System V Controller Time and Date L From the Zymark System V On line menu pull down the System menu select System StAtus Enter 6 to select Set Date Answer the date questions with the current year Enter 5 to select Set Time of Day Answer the time question Don t use 24 hour time it will ask for AM or PM Press Esc twice to return to the System V On line screen 01 999042 00 D0800 Sample Management Systems Installation 19 Chapter 2 SMS Autosampler Installation To Save a Dictionary After racks and magnet positions have been taught you should save the dictionary on the two disks provided 1 Press Esc until you return to the System V On line screen 2 Select one of the Varian dictionary disks and make sure the write protect hole on the disk is covered otherwise you will get an error message Insert the Varian di
135. puter This procedure which is used only during installation or service of the SMS describes how to connect the PC laptop computer to the controller and prepare for system power up Two different laptop configurations exist laptops that have an internal serial port e g Toshiba 1800 or 1850 and laptops that have PCMCIA serial cards Instructions for both configurations are integrated into this procedure A block diagram of the SMS system is shown in Figure 28 1 Locate the communication cable s Laptop 25 pin computer with connector RJ11 12 internal serial port e RJ 11 12 to DB 25 25 pin adaptor 15 pin 15 pin t 9 pi connector pin POEEDI to System V connector Controller Laptop with PCMCIA serial card System V Controller Emergency stop button Hand held controller RS 232 port Lower 9 pin connector ZA h n For MERCURY VX and INOVA RS 232 connects to Sun computer serial port MERCURY GEMINI 2000 UNITY plus UNITY VXR XL Gemini SMS autosampler Magnet and table Figure 28 SMS Autosampler Block Diagram 01 999042 00 D0800 Sample Management Systems Installation 51 Chapter 2 SMS Autosampler Installation 52 Laptop with internal serial port 2 cables one cable has a 15 pin connector at one
136. r 3 Nanoprobe MultiSampler Installation 3 5 Setting the Probe Elevator Lower Limit If setting the lower limit is necessary use these steps CAUTION Read the following instructions carefully Failure to perform this procedure correctly could cause damage to the probe 1 Loosen the two cover access screws on the back side of the probe elevator Remove the cover by lifting it up and away from the probe elevator housing The two thumbscrews located on the long slot in the housing mount the lower stop Loosen the two thumbscrews 2 Manually move the rotary elevator up or down in order to locate the probe so the top of the probe has clearance from the underside of the magnet elevator mounting plate while maintaining clearance between the floor and the bottom most part of the probe Tighten the two thumbscrews 3 While observing the floor to probe bottom distance gently push the probe assembly down until the lower stop engages If the probe reaches the floor before the stop then raise the stop 4 Adjust the lower sensor position by loosening the two screws on the side of the elevator and moving the sensor until the lower limit is correctly indicated by a one in the sensor test The sensor test is part of the System_V software which is run from a laptop computer attached to the NMS controller see 3 10 Testing the NMS page 100 5 Gently hold the probe in its vertical position and observe clearance between the shim mountin
137. r 32 3 into the VERTICAL field This value is 30 5 cm 12 in plus the vertical zero value of 1 8 cm 10 Press Esc to save the vertical calibration value 11 Press Esc to go back to the ZYMATE XP PROGRAMMING screen 12 Remove the hand by pressing the function keys as necessary to move the robot arm so that the hand is all the way down in the parking station Then use the function keys to back the robot arm out of the hand Set the hand aside Wrist Zero This procedure establishes the wrist zero position which is the position where the wrist pins are correctly rotated for smooth entry into the monument holes 1 Place the monument all the way down into the hand parking station The monument lip should face up and away from the robot 2 From the ZYMATE XP PROGRAMMING screen press the function keys as necessary to adjust the rotary reach and vertical positions so the wrist pins are centered directly in front of the monument holes 3 Press F3 to move the robot arm into the monument holes Use the function keys as needed to center the pins as precisely as possible 4 Press F8 to go to the ZYMATE XP HAND PROGRAMMING screen Press F5 or F6 as needed until the WRIST field shows 0 degrees 5 If the wrist pins are precisely centered on the monument holes the wrist zero is set correctly skip to the section Grip Zero next If the wrist pins are not centered in the holes go to the next step 6 Press 0 to bring up the ROBOT WRIST C
138. r Input Acknowledgement form 16 42 Varian utilities disk for SMS 52 VARIAN EXERCISE program 63 vertical alignment of sample tube 72 vertical calibration procedure 67 vertical zero position 67 voltage selector card 48 VT experiment warning 10 W walk up mode 35 warnings defined 9 wood packing base 44 wrist zero position 68 Sample Management Systems Installation 119 Index X XP Robot Module board 50 Z zero mode 65 zero positions setting 65 Zero Calibration menu 67 Zymark software for NMS 103 for SMS 52 Zymark software menu system 54 104 Zymark System V Controller Main Menu NMS 104 SMS 55 ZYMATE command 57 59 ZYMATE command and SMS 55 Zymate XP 56 ZY MATE XP HAND PROGRAMMING screen ny fe ZY MATE XP PROGRAMMING screen 57 59 120 Sample Management Systems Installation 01 999042 00 D0800
139. r Installation 1 4 Using the Carousel 28 In day to day operation the carousel will be the main focus of your attention This section contains procedures that describe how to use the carousel After you are familiar with the carousel and have attached it to the driver go to the next section which describes how to adjust the eject air To Inspect the Carousel Inspecting the carousel before mounting it onto the driver will help you understand how it works 1 With the sensor arm locked See Figure 12 and Figure 13 look into the carousel tubes The sensor arm is locked when the arm is positioned between position 9 and position 1 and when the arrow on the knurled knob is pointing to the left or right The pin of the knurled knob should be in the hole located between positions 9 and 1 on the upper white disk of the carousel see Figure 13 In locked mode the retaining disk appears in all nine tubes preventing samples from falling through the bottom In run mode the retaining disk leaves a gap in the tube over the upper barrel allowing the sample to drop into the magnet Locked position Run position TS sal Knurled knob 1 9 I Ji The sample in position 9 can drop into the magnet All samples are held in place Figure 12 Carousel with Sensor Arm in Locked and in Run Positions 2 If the sensor arm is locked disengage the lock pin by pulling out the knurled knob and rotating it
140. r to P4 on the DUAL ZYMATE MODULE INTERFACE board in the controller 7 Connect the power transformer to a wall outlet to a power strip or to the outlet on the front of the spectrometer power supply Use the supplied extension cord if necessary 8 In VNMR log in as vnmrl open the config window and set the following values e MERCURY VX or UN YINOVA Set Sample Changer to Carousel and set Serial Port to A or B depending on which port is used to connect the sample changer Click Exit and Save e For other systems or for VNMR version 5 2 and earlier Set Sample Tray Size to 9 Click Exit and Save Adjusting the Air Flow to the Index Air Regulator This procedure describes how to adjust the air flow to the index air regulator 1 Ifthe black knob on the index air regulator see Figure 10 is locked lift the knob up 2 Turn the knob so that the pressure reads 36 psi Then press down on the knob to lock it back into place Pressure gauge N Pressure adjust knob Source air to elbow connector Manual index A button Figure 10 Index Air Regulator Back View Sample Management Systems Installation 01 999042 00 D0800 1 3 Installing the Carousel Autosampler 3 Use a ball point pen to press the manual index button see Figure 10 on the back of the index air regulator Hold down until the carousel indexes to the next position Notice that the carousel indexes two times to move from one position to the next 4 Care
141. rotate the arm in a clockwise direction until the arm is aligned with the sample in the magnet b Press F3 with F7 to move the arm out until it is just above the sample in the magnet The height as set in step 9 should be slightly above the sample Sample Management Systems Installation 01 999042 00 D0800 15 16 17 18 19 20 21 22 2 13 Teaching the Robot c Press F2 to lower the arm Watch carefully to make sure the tube is centered in the fingers Use the function keys to adjust the rotary and reach as needed d After the tube is correctly centered press F1 to position the arm until the fingers are just level with the top of the sample tube Press 9 to select Define Rack Enter CP191 MAGNET When prompted Rack exists Do you wish to C Change or M Move it press M to move it When prompted Do you want to change the rack index name press N for no When prompted Enter name of hand on Zymate robot press Enter and HAND GP displays When prompted Move to rack position 1 Press G press G When prompted Enter number of position row enter 1 and press Return When prompted Move to desired rack height Press G press G Press Esc to return to the ZYMATE XP PROGRAMMING screen Use F4 and F7 turbo to set reach to zero Use F1 to move the vertical to the top vertical 34 Press 9 to select Define Rack Enter CP1I91 CLEAR When prompted Rack exists Do you wish to C Change or M Move it
142. section provides information and procedures that will help you prepare the robot for calibration and teaching Preliminary Information Below is a summary of information you might find especially useful for calibrating and teaching the SMS autosampler Most of the items listed below are mentioned throughout the manual with their appropriate procedures Follow the procedure in Powering Up the System on page 53 whenever the laptop PC is turned off When you select Execute a Named Command from the ZYMATE XP PROGRAMMING screen or when you select EXecute a Prog from the Methods menu on the Zymark System On line screen the robot will go from its current position to the designated position without regard to anything in its way or whether a hand is attached to the robot arm Therefore when you are moving the robot arm with anything except by pressing the function keys be especially alert and watch the arm as it moves anticipating a potential collision with anything in its path Always be prepared to press the emergency stop button if necessary If you manually move the robot arm which may be necessary after pressing the emergency stop button to avoid a collision turn the System V Controller off then on to reinitialize the electronics so that the system can determine the current position of each robot axis of motion Whenever the System V Controller is turned off then on the following will happen e The System V Controller resets the spe
143. t If not turn the pot clockwise until the LED lights 7 Repeat steps 5 and 6 until the LED consistently lights when a sample is inserted and goes off when a sample is ejected Sample detection circuit adjustment p 01902030 Figure 50 Magnet Sample Regulation Board Front Panel 01 999042 00 D0800 Sample Management Systems Installation 87 Chapter 2 SMS Autosampler Installation 88 Sample Management Systems Installation 01 999042 00 D0800 Chapter 3 Nanoprobe MultiSampler Installation Sections in this chapter e 3 1 System Requirements page 90 e 3 2 Before the Installation page 90 e 3 3 Attaching the Mounting Plate and Elevator page 92 e 3 4 Attaching the New Probe Flange page 93 e 3 5 Setting the Probe Elevator Lower Limit page 94 e 3 7 Adjusting the Elevator Arm page 95 e 3 6 Adjusting the Stabilizer Foot page 94 e 3 8 Installing the Carousel page 96 e 3 9 Connecting Electrical and Pneumatic Lines page 98 e 3 10 Testing the NMS page 100 e 3 11 NMS Error Codes page 108 The Nanoprobe MultiSampler NMS automates the process of changing 4 mm samples and positioning the Nanoprobe probe in the bore of a magnet The Nanoprobe is lowered from the magnet and tilted until the sample is vertical A small robotic arm extracts the sample from the stator within the body of the Nanoprobe and sets the sample into a 48 sample carousel A new sample is retrieved p
144. t of a screen and return to the next higher level press the Esc Escape key Sample Management Systems Installation 01 999042 00 D0800 2 6 Using Zymark Menus e To exit to the DOS level press the Esc key until you see the prompt Quit to DOS are you sure Y and press Enter The DOS prompt C gt will appear e To return to the Zymark System V Controller Main Menu screen from DOS type ZY MATE and press Enter You can also reboot the laptop e To bring up the Zymark System V On line screen from the Zymark System V Controller Main Menu screen select System V On line and press Enter To open the ZYMATE XP PROGRAMMING screen to teach the robot select Module SetUp move the highlight bar over Zymate XP Robot and press Enter Zymark System V Controller Main Menu Screen The first screen to appear is the Zymark System V Controller Main Menu screen which is shown in Figure 29 This screen appears when you boot up the laptop or when you enter ZY MATE at the DOS prompt The first selection on the screen System V On line requires the System V Controller to be connected to the laptop The next three selections Edit a ZYD file Read a Zymate II disk Write a Zymate II disk do not require connection to the System V Controller and will not be used The fourth selection Exit System V exits back to DOS Make selections on this menu by positioning the highlighted bar over your choice using the arrow keys or by entering the optio
145. t to MERCURY Systems MERCURY spectrometers have Serial Port board with two serial port connectors Figure 44 shows where the board is installed in the MERCURY console 1 After storing the current shim values turn the MERCURY console power off 2 Connect the serial cable 81 839818 00 between the Serial Port board and the SMS autosampler as shown below 3 Turn the console power on After the system has booted up enter config in the VNMR input window and set Sample Changer to SMS 50 Sample or SMS 100 Sample Then click Exit and Save To get the 100 sample positions for dual 50 sample trays to show up on the Enter screen edit the file vnmr asm enter conf and make sure set loc max 100 is set default is set loc max 50 Sample Management Systems Installation 01 999042 00 D0800 2 14 Connecting the SMS Autosampler to the NMR Console Serial Port b board oje Figure 44 Rear View of MERCURY System Console and Serial Board To Connect to GEMINI 2000 or Gemini Systems GEMINI 2000 and Gemini systems have an additional board installed in the digit
146. t using the manual index button as shown in Figure 8 press and hold the manual index button and wait for motion e If the carousel does not rotate far enough turn the air adjust knob 1 16 of a turn in the counter clockwise direction Test using the manual index button as shown in Figure 10 press and hold the manual index button and wait for motion Air supply to sample changer failed during retrieve No tube or sample is detected Verify that a sample is in the magnet or carousel e If no sample is present do an eject and place a sample in the carousel Then continue to the next sample e Ifa sample is present check the eject air and adjust if necessary as described in Adjusting the Eject Air on page 31 e If the sample sticks in the lower part of the barrel be sure the carousel is fully seated on the driver 1 10 Controller Voltages This section lists various voltages for the controller diagnostics panel and the Triple DC Servo and I O board These voltages can be used for diagnostic purposes 01 999042 00 D0800 Sample Management Systems Installation 3 Chapter 1 Carousel Autosampler Installation Controller Diagnostic Panel Figure 18 shows the voltages of the Controller diagnostic panel Voltages are measured with the controller powered on Triple DC Servo and I O Board This section lists the voltage measurements of the following four connectors on the Triple DC Servo and I O board P8 P4 P3 and P2 Ea
147. tation and stays there In order to ensure that the arm is firmly positioned against the hand when the arm goes to pick it up you can monitor the force With the hand in the parking station press 5 Base Sense Commands As the robot arm moves into the hand watch the value for FORCE OUT on the laptop display A value of 0 3 to 0 7 for FORCE OUT should allow you to meet the criteria listed above 01 999042 00 D0800 Sample Management Systems Installation 71 Chapter 2 SMS Autosampler Installation To Define the CP1 CLEAR HAND GP Position This procedure defines the CP1 CLEAR HAND GP position reach equals 0 cm in which the fingers clear the parking station cross piece by several centimeters 1 8 9 Use F1 and F2 ro raise the hand from the parking station until the fingers clear the parking station cross piece by several centimeters Move the arm to reach zero using F4 do not change the rotary The hand and fingers will be above the parking station cross piece Press 9 to define a rack Enter CP1 CLEAR HAND GQP Enter M for move The system asks Do you wish to change the rack index name Enter N for no When the system prompts Enter name of hand on Zymate robot Enter HAND GP When the system asks Move to rack position 1 Press G press G Enter the number of positions in a row Press Enter to select the default of 1 When the system asks Move to desired rack height press G 10 Press Esc The clear hand pos
148. the elevator can be adjusted Sample Management Systems Installation 01 999042 00 D0800 3 10 Testing the NMS Table 8 NMS Tests Run Using Zymark System V Software and a PC Test name SENSOR TEST TEST NMS VACCUM TEST VALVE TEST TEST AUTOLOADER Description of test Displays a list of all sensors Select the sensor test to run by typing in the test number Only the following tests are relevant to the normal setup of the NMS 11 P11 Probe lifted 12 P12 Probe lowered 13 P23 Probe locked 14 P14 Probe unlocked 15 P15 Probe at 54 7 degrees 16 P16 Probe at 0 degrees Test values returned 1 0 true 0 0 false To exit test type n Test all functions as if the NMS were in normal operation Test the vacuum drawn to by the system to grab the rotor The pressure gauge is inside the NMS controller Normal reading no units is 115 with no rotor or 165 with a rotor being held by the carousel arm Tests each valve total of 8 LED on each valve should light as the valve is tested The valve are inside the controller Test specific actions of the carousel The test options are elected by typing the number corresponding to the test The tests are 1 Move Rotor Handle Towards Down and Back 2 Move Rotor Handle Towards Over Probe and Back 3 Move Rack Lock Towards Unlock and Back 4 Move Indexer Towards Out and Back 5 Turn Vacuum On Then Off If an error occurs press lt control gt lt F9 gt
149. the remaining system components and prepare the work area for the installation of the SMS autosampler l Carefully open each of the remaining boxes and verify that all parts listed in System Parts on page 43 are included with your order Unpack the Systems User s Manual Volume land refer to section 2 1 to prepare the laboratory for the installation In particular refer to the sections on power requirements power conditioning and physical space 2 3 Setting Up the Table Robot and System V Controller After the autosampler system is unpacked and the work area prepared the system is installed using the following procedures Setting up the table Mounting the robot and table hardware Connecting the robot and the System V Controller Setting up the laptop computer Powering up the system Confirming module communications Preparing to calibrate and teach the robot including exercising the robot Calibrating the robot Positioning the table Installing the upper barrel and pneumatics Preparing the robot for teaching Teaching the robot positions Connecting the SMS system to the spectrometer Each procedure is described in a separate section in this manual The following tools are required for installing and servicing the SMS autosampler Laptop PC with compatible serial communication hardware for the SMS Large and medium phillips head screwdrivers Medium flatblade screwdriver Small flatblade screwdriver Two six inch ad
150. thods from the System V On line screen Then select EXecute a Prog and select GET HAND GP If a collision occurs before teaching the CP1 AT HAND GP position use the function keys to move the robot into the hand in the parking station 4 Ifthe collision has involved the fingers they may be bent Repeat the procedures in sections To Test the Vertical Alignment of the Sample Tube on page 72 and To Define the Hand at the MONUMENT RACK Position on page 74 The positions for the racks and magnet should not need to be retaught but it might be useful to confirm them To Exercise the Robot This procedure describes how to run the VARIAN EXERCISE program and test the Emergency Stop Button The VARIAN EXERCISE program runs for 15 minutes and exercises all robot axes It must be run before teaching or checking hand and sample rack position Make sure the hand is not attached to the robot or the program runs only one cycle WARNING Avoid personal injury by using caution around the robot work area The robot is capable of operating at high speeds Leaning into the robot work area placing your hand or arm in its path or wandering within range of the robot s movements could result in serious physical injury CAUTION Avoid damage to the robot and other equipment by clearing the area around the robot The VARIAN EXERCISE program vigorously and repetitively moves the robot arm in all directions 1 Before running the VARIAN EXERCISE progr
151. tioned next to the magnet use the following procedures to define CP1 AT HAND GP and CP1 CLEAR HAND GP After you have begun the teaching procedures in this section do not press the RELOAD button on the front of the System V Controller until after you save the dictionary otherwise you will wipe out the positions you have already defined To Define the CP1 AT HAND GP Position This procedure defines the CP1 AT HAND GP position at which the robot wrist fits into the hand or monument in the parking station You should seek to achieve the following three criteria e The fingers should be positioned so they move smoothly and precisely into the holes in the monument or hand Sample Management Systems Installation 01 999042 00 D0800 2 12 Preparing the Robot for Teaching e The hand should be firmly attached to the robot arm with no gap e The arm should move to the hand smoothly into or out of the parking station You may need to rotate the position of the hand parking station on the table or slightly adjust the settings of the detents in the guides of the parking station in order to achieve these objectives 1 Place the hand in the hand parking station Make sure it is pressed all the way down 2 From the ZYMATE XP PROGRAMMING screen press the function keys as necessary to position the wrist in the hand 3 Use the function keys to lift the hand just clear of the station 4 Use the function keys to adjust reach and rotary for th
152. to elevator a TA Carousel port 25 pin connector Elevator port 25 pin connector DM Spectrometer port to SUN RS232 Diagnostic port 9 pin connector Magnet to PC l l l l l l l l l l 9 pin connector l l l l l l l l l LYOd cec SU Sun computer serial port Figure 60 NMS autosampler block diagram 01 999042 00 D0800 Sample Management Systems Installation 103 Chapter 3 Nanoprobe MultiSampler Installation 104 c Locate the device line that installs the device driver for the controller it should look similar to the following device A ZYCHAN2 EXE COM 1 Depending upon the configuration of the laptop COM 1 may not be available Determine which serial port is available to the System V controller by running the COMMTEST program provided with the Zymark software Edit device line using a DOS ASCII text editor and change the COM statement to set the device to an available port 2 Reboot the PC from the NMS System Boot Diagnostic floppy The NMS System V Controller Main Menu is displayed see Figure 61 Select System V On line by pressing the up and down arrows and then the ENTER key or by pressing S the highlighted letter Initialization messages may be displayed on the screen Press RETURN when the message PRESS ANY KEY is displayed WAITING FOR COMMAND or other messages may be displayed Press lt control gt lt F9 gt lt control gt lt F10 gt while these messages ar
153. to prepare hand use point press G When prompted to position the hand at the monument press G Press Esc to return to the ZYMATE XP PROGRAMMING screen Use the function keys to move the robot above the monument To test the position you just defined for MONUMENT RACK with the HAND GP press 6 and enter MONUMENT RACK When prompted for an index enter 1 The robot should move to the correct position on the monument If not redefine the hand Press F1 to raise the robot arm Remove the monument from the parking station and remove the tube from the fingers Sample Management Systems Installation 01 999042 00 D0800 2 13 Teaching the Robot To Teach Rack Positions This procedure defines the position of each rack by defining three locations at the rack along with the appropriate height for gripping the sample tube The dimensions of the rack are known by the software so the position of the sample tubes in the rack can then be calculated Before following this procedure you must have already defined the monument and hand positions The 50 position tray is illustrated in Figure 42 First teaching a Second teaching position position Fourth position UNE teaching for verification position Depth gauge position Figure 42 50 Position Rack Showing Teaching Positions Consideratio
154. tomer failure to comply with these precautions CAUTION Keep magnetic media ATM and credit cards and watches outside the 5 gauss perimeter from the centerline of the magnet The strong magnetic field surrounding a superconducting magnet can erase magnetic media such as floppy disks and tapes The field can also damage the strip of magnetic media found on credit cards automatic teller machine ATM cards and similar plastic cards Many wrist and pocket watches are also susceptible to damage from intense magnetism Refer to the manuals supplied with the magnet for the size of a typical 5 gauss stray field This gauss level should be checked after the magnet is installed 01 999042 00 D0800 Sample Management Systems Installation 11 SAFETY PRECAUTIONS Caution Notices continued CAUTION CAUTION CAUTION CAUTION Keep the PCs including the LC STAR workstation beyond the 5 gauss perimeter of the magnet Avoid equipment damage or data loss by keeping PCs including the LC workstation PC well away from the magnet Generally keep the PC beyond the 5 gauss perimeter of the magnet Refer to the Installation Planning Guide for magnet field plots Check helium and nitrogen gas flowmeters daily Record the readings to establish the operating level The readings will vary somewhat because of changes in barometric pressure from weather fronts If the readings for either gas should change abruptly contact qualified maintena
155. uid helium and nitrogen can cause an injury similar to a burn Never place your head over the helium and nitrogen exit tubes on top of the magnet If liquid helium or nitrogen contacts the body seek immediate medical attention especially if the skin is blistered or the eyes are affected Do not look down the upper barrel Unless the probe is removed from the magnet never look down the upper barrel You could be injured by the sample tube as it ejects pneumatically from the probe Do not exceed the boiling or freezing point of a sample during variable temperature experiments A sample tube subjected to a change in temperature can build up excessive pressure which can break the sample tube glass and cause injury by flying glass and toxic materials To avoid this hazard establish the freezing and boiling point of a sample before doing a variable temperature experiment Sample Management Systems Installation 01 999042 00 D0800 SAFETY PRECAUTIONS Warning Notices continued WARNING Support the magnet and prevent it from tipping over The magnet dewar has a high center of gravity and could tip over in an earthquake or after being struck by a large object injuring personnel and causing sudden dangerous release of nitrogen and helium gasses from the dewar Therefore the magnet must be supported by at least one of two methods with ropes suspended from the ceiling or with the antivibration legs bolted to the floor Refer to the Instal
156. urbine as shown in Figure 15 In other words the turbine should cover at least half of the inside of the round hole e If the turbine is too low turn up the eject air at the source pressure regulator If eject air is still insufficient air may be leaking through a tuning capacitor or inductor guide hole in the bottom of the probe Use the provided rubber stopper to plug the hole e If the turbine is too high turn down the eject air at the source pressure regulator 7 After the sample is floating at the correct height insert the sample using VNMR by typing i and pressing Return The sample should drop into the probe If the sample drops too rapidly adjust the SLO DROP air in the magnet leg 8 Eject the sample again and recheck the height Adjust the eject air again if necessary The Carousel autosampler can now be used for automation You may have to lower the bearing air to compensate for the higher eject air Proceed to the next section which describes how to load samples into the carousel 1 6 Loading and Unloading Samples 32 The Carousel autosampler provides two methods for loading and unloading samples The only difference between the two procedures is whether the carousel is left on the driver or removed Do not mix turbine types within the carousel Also eject air must be on before the sensor arm is moved from the locked to the run position WARNING Personal injury hazard Removing the carousel while reaching over a
157. ure of the damage on the carrier waybill 2 Request an inspection and written damage report from the carrier s representative 3 Forward a copy of the damage report to your local Varian representative In case of damage read the FOB block on the Varian Order Input Acknowledgment form This form shows where transfer of ownership takes place as well as who is responsible for filing for shipping damage FOB PALO ALTO Transfer of ownership occurs when the shipment leaves the factory The customer is responsible for claims for shipping damage Upon request Varian will provide assistance in filing claims FOB DESTINATION Transfer of ownership occurs at the customer s point of receipt Varian is responsible for claims for shipping damage Remember that damage discovered 15 or more days after delivery generally cannot be recovered and such damage will be at the expense of the customer Sample Management Systems Installation 01 999042 00 D0800 2 2 Unpacking the SMS Autosampler System System Parts The SMS autosampler system contains the following items To SMS robot with the following parts e Power cord e XP Robot module Card and cable e Robot fastening kit e Monument for teaching positions e Hand User s Guide e Robot User s Guide System V Controller with the following parts e Power cord e Two Varian dictionary disks e Varian utilities disk e Communications cable e System User s Manual Volume 1 e Generic RS 232 card and cab
158. vides automatic unattended operation and can handle from to 9 samples The Carousel mounts on the driver which clamps to the top of the upper barrel Because the Carousel autosampler uses no stepper motors it is compatible with all magnetic field strengths The carousel part of the Carousel autosampler consists of nine barrels or tubes that accommodate 5 mm or 10 mm sample tubes in 1 11 inch O D turbines A sample change cycle takes about 35 seconds to complete The chapter Sample Changer Operation in the manual User Guide Liquids NMR describes how to use the sample changer with automation software and the enter program 01 999042 00 D0800 Figure 1 Carousel Autosampler Sample Management Systems Installation 15 Chapter 1 Carousel Autosampler Installation 1 1 Compatibility The Carousel autosampler requires a MERCURY VxWorks Powered shortened to MERCURY VX UNTYTNOVA MERCURY UNITYplus GEMINI 2000 UNITY VXR Gemini and automated XL spectrometers using the following superconducting magnets e 200 51 and 300 51 magnets from Varian e 200 54 200 89 300 54 300 89 400 54 400 89 500 51 600 51 and 750 51 magnets from Oxford Magnets must have more than 0 50 inch of the upper barrel top free and clear from any obstacles e g PFG junction box hose fittings for mounting the driver to the upper barrel The driver requires a 1 25 inch O D upper barrel The upper barrels on 400 MHz magnets shi
159. washer washer assembly through one of the robot mounting holes and into the appropriate hole in the base of the robot Tighten securely with a flatblade screwdriver 5 Repeat steps 3 and 4 with the remaining fasteners To Mount the Table Hardware This procedure describes how to mount the hand parking station the rack mounting plate and sample rack and the upper barrel locator 1 Locate the hand parking station and baseplate Loosen the black wing nut and rotate the parking station so you have access to the four holes in the baseplate Secure the plate to its position on the table top shown in Figure 24 with four phillips head screws that come in the plastic bag labeled Hand Fastening kit Upper barrel Sample rack locator mounting plate Hand parking station and baseplate Figure 24 Orientation of Sample Rack and Hand Parking Station 01 999042 00 D0800 Sample Management Systems Installation 47 Chapter 2 SMS Autosampler Installation 48 2 Rotate the parking station back to its original position then hand tighten the wing nut do not use any tools to tighten the nut 3 Slide the hand into the parking station with the fingers facing away from the robot If necessary adjust the set screw on the bottom of the black bar so it just supports the hand 4 Locate the sample rack Unsnap and remove the mounting plate from the bottom of the rack 5 Position the sample rack as shown in Figure 24
160. y field This gauss level should be checked after the magnet is installed Only qualified maintenance personnel shall remove equipment covers or make internal adjustments Dangerous high voltages that can kill or injure exist inside the instrument Before working inside a cabinet turn off the main system power switch located on the back of the console then disconnect the ac power cord Do not substitute parts or modify the instrument Any unauthorized modification could injure personnel or damage equipment and potentially terminate the warranty agreements and or service contract Written authorization approved by a Varian Inc product manager is required to implement any changes to the hardware of a Varian NMR spectrometer Maintain safety features by referring system service to a Varian service office Do not operate in the presence of flammable gases or fumes Operation with flammable gases or fumes present creates the risk of injury or death from toxic fumes explosion or fire Leave area immediately in the event of a magnet quench If the magnet dewar should quench sudden appearance of gasses from the top of the dewar leave the area immediately Sudden release of helium or nitrogen gases can rapidly displace oxygen in an enclosed space creating a possibility of asphyxiation Do not return until the oxygen level returns to normal Avoid liquid helium or nitrogen contact with any part of the body In contact with the body liq
161. ys during retrieve Index air is too low Check and adjust the index air regulator to increase the air pressure to 38 psi 36 Sample Management Systems Installation 01 999042 00 D0800 1 10 Controller Voltages Sample tray size is not consistent System is configured with wrong tray size Open the CONFIG window and make sure Sample Tray Size is set to 9 Invalid sample number during retrieve Location value too high for Carousel and t raymax configuration incorrect Only positions 1 through 9 are valid for the Carousel Open the CONFIG window and make sure Sample Changer is set to Carousel or Sample Tray Size is set to 9 Sample out of range during automatic retrieve Sample tube is floating too low Slightly increase the system eject air one of the following ways e Increase the cooling air flow e Make sure the body air and VT air hoses are connected to the probe and the flow meters are set to 11 cfm e Increase supply air pressure e Plug the capacitor inductor guide hole in the bottom of the probe with the provided rubber stopper Robot arm failed to find home position during retrieve Carousel is not in an indexed position Adjust the air adjust knob on the driver so that the carousel indexes properly The micro switch should insert fully into the recess on the underside of the white disk of the driver e If the carousel rotated too far turn the air adjust knob 1 16 of a turn at a time in the clockwise direction Tes

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