2 - Description of each PySection
Contents
1. Each container in the rack has an associated volume and capped status that is automatically updated as the container is moved around the benchtop The rack is made of polypropylene and is mounted on a snap base for easy removal and replacement Containers are held uprightin the rack with adequate spacing to permit individual container access with Zymate Hands Available commands F GET TUBE FROM RACK F PUT TUBE IN RACK GET FROM CENTRIFUGE PUT INTO CENTRIFUGE Variables F RACK INDEX 1 to 8 fal Testing Program none 2 Description of each PySection P Weighing Liquid Transfer 16 x 100 mm Test Tubes VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Description This PySection is used for analytical weighting of liquid samples and sample containers The balance required by this PySection is a Mettler AE200 Series Analytical balance A pneumatic Balance Door Opener included in this PySection allows sample containers to be top loaded into the balance preventing drafts from affecting the balance Thansfer of liquid samples is done by pippetting Available commands PUT INTO BALANCE OBTAIN WEIGHT GET FROM BALANCE MOVE OVER BALANCE BD OPEN DOOR BD CLOSE DOOR BD TARE Variables VVEIGHT VALUE gr TARGET WEIGHT la Testing Program JOOCHAN BALANCE display off get hand a prompt Inster source position Rack 1 1 to 50 input rack 1 index get2. MOVE OVER xxxxx is required Available commands GET ISTD HAND ASPIRATE ISTD DISPENSE ISTD PARK HAND Variables ISTD VOL 0 01 to 0 24 ml Testing Program JOOCHAN HAND ISTD display off get istd hand prompt Insert aspiration volume 0 01 to 0 2 input istd vol aspirate istd prompt Insert destination tube position Rack 2 1 to 50 input rack 2 index move over rack 2 dispense istd park hand VVVVVVVVVV 2 Description of each PySection P Rack GC Vial Rack 1 VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Description This Rack PySection provides storage for 11 mm GC vials Each container in the rack has an associated volume and capped status that is automatically updated as the container is moved around the benchtop The rack is made by polypropylene and is mounted on a snap base for easy removal and replacement Containers are held upright in the rack with adecuate spacing to permit individual container access with Zymate Hands Available commands GET FROM RACR 1 PUT INTO RACR 1 MOVE OVER RACR 1 Variables RACK 1 INDEX 1 to 50 INITIAL VOLUME RACR 1 0 to 12 ml CONTAINER CAPPED RACR 1 YES or NO Testing Program JOOCHAN RACK 1 display off get hand a prompt Inster source position Rack 1 1 to 50 input rack 1 index get from rack 1 prompt Insert destination position Rack 1 1 to 50 input rack 1 index put into rack
3. set temperature while its power is on If it desired to turn the heating block on and off under Zymate System Control the station may be plugged into one of the Power amp Event Controller s AC outlet then commands controlling that outlet and timer statements to allow sufficient block warm up may be added to the top level program Available commands PUT INTO EVAPORATOR GET FROM EVAPORATOR Variables EVAPORATOR INDEX 1 to 6 Testing Program JOOCHAN EVAPORATOR display off get hand a prompt Insert source position Rack 1 1 to 50 input rack 1 index get from rack 1 prompt Insert evaporator position 1 to 6 input evaporator index put into evaporator pauses get from evaporator prompt Insert destination position Rack 1 1 to 50 input rack 1 index put into rack 1 park hand VVVVVVVVVVVV VV 22 Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA af D 2 11 Purpose Tumble Mixer 16 x 100 mm Tube 23 VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Description This PySection provides gentle but thorough mixing of samples in 16 x 100 mm test tubes The tumble mixer is typically used for liquid liquid extraction procedures The tumbling action optimizes the rate of sample partitioning between the solvent phases while minimizing emulsion formation Sample tubes with slip on caps held in place by the tumbling station via a spring loaded
4. PARK HAND Variables ERROR CHECK YES or NO SHUTDOWN ON ERROR YES or NO PRINT CONDITIONS YES or NO SPEED 0 20 to 1 00 Testing Program none 38 dip Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 3 Advanced operations 3 1 Purpose Re teaching positions Description When a PyPlate is removed allowing the station to be placed in a different location than when mounted before the station positions must be retaught to the robot Procedures 6 Using and example for better understanding gt Move HAND A from position 47 to position 21 Load the proper dictionary to the controller Put the PySection Disk labelled GP HAND A in the controller Go to System gt PyAppend dictionary Chose the proper dictionary in our case named CP900 1 ZYD Input the destination sector location number we have chosen sector 21 d a xica You can find the sector number by sighting down the right hand edge of the station while facing the Robot and determining the nearest sector number on the Robot locator plate 6 After a while press Y to run the SETUP program 7 When asked press Enter if the station is mounted on the PyPlate You can install a PySection without having it physically installed 8 Press Enter to TEST the station 9 If everything goes well the station will work properly in the new position 39 dip Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUN
5. between the TIMER x math expression and WAIT FOR TIMER x statements in a program This allows the system to continue operating while timers are active Example Program JOOCHAN PAUSE display off prompt Insert pause time timer 1 joochan pause gt gt gt input joochan pause gt gt wait for timer 1 47
6. display off gt get handa gt get from centrifuge gt putinto capper gt uncap gt get from capper gt put into capper gt cap gt get from capper gt prompt Inster destination position Rack 2 1 to 50 gt input rack 2 index gt put into rack 2 gt park hand Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA Assembling 8 Programming a robot for pharmaceutical purposes f 2 09 Purpose Dilute and Dissolve 16 x 100 mm Tubes Vortex 19 VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Description The Dilute amp Dissolve PySection is used to quantitatively dispense up to 3 discrete liquids into a container Liquid addition can be followed by a vigorous vortexing action to speed mixing and dissolving Liquid addition without vortexing and vortexing without liquid addition is also possible This PySection may be recognized as the first or only Dilute amp Dissolve PySection or as the second Dilute amp Dissolve PySection within the bench configuration Available commands PUT INTO VORTEX VORTEX ON VORTEX OFF VORTEX TIMED RUN GET FROM VORTEX MOVE OVER VORTEX DILUTE Variables VORTEX TIME 0 to 5240 sec VORTEX SPEED 1 0 to 200 Testing Program JOOCHAN VORTEX gt display off gt get handa gt prompt Insert source position Rack 1 1 to 50 gt input rack lindex gt putinto vortex gt prompt Insert duration time
7. gt input vortex time gt vortex timed run gt get from vortex gt prompt Insert destination position Rack 1 1 to 50 gt input rack l index gt putinto rack 1 gt park hand 20 Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA Assembling 8 Programming a robot for pharmaceutical purposes 4 2 10 Purpose Evaporation 21 VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Description The Evaporator PySection for 16 x 100 mm test tubes provides for the evaporation of solvent from containers placed within its heating block The temperature controlled heating block is settable between ambient and 100 C Temperature is manually set by user Solvent evaporation is accelerated by gas purge tubes which are lowered into the containers placed in the heating block The user supplied purge gas is used to pneumaticaly operate the station as well as dry the samples Gas is conserved by being turned on only while there are samples in the station Evaporation to dryness is not detectable by this station Experimentation should be performed to determine the evaporation time necessary of the sample This time can vary with the sample s position in the block how many samples are in the block block temperature gas flow rate solvent type solvent volume container container shape etc The heating block is normaly plugged into its own power source and remains on at its
8. mechanism are turned end over end at a controlled 15 rpm Verification techniques ensure that the sample tubes are capped before they are placed into the tumbling station Included in this PySection is the four position tumbling station a slip on cap dispenser with a capacity of 150 caps and a cap removal station The optional addition of a centrifuge allows quick effective phase separation and breaking of residual emulsions Th ZP710 Centrifuge fits behind the Tumble Mixing PySection so that no additional bench space is required Available commands PUT INTO TUMBLE MIXER GET FROM TUMBLE MIXER Variables MIXER INDEX 1 to 4 El Testing Program none 24 iw Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 4 2 12 Purpose Liquid Liquid Extraction 25 VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Description This PySection performs the transfer of the desired extraction layer from an extraction container to a fluid filled holding loop for subsequent dispensing into a collection container or waste The extraction and collection containers are held by the Robot You determine and program the depth at which the cannula goes into the extraction container the volume to be extracted and the time required to extract the sample The pneumatically controlled cannula wash shuttle rinses the cannula internally and externally with a solvent volume sp
9. when the statement following THEN refers to a numbered statement When THEN is followed by a number the numbered statement must appear within the same program as the IF THEN statement and be preceded with the line number specified e lf a line number is calculated following THEN and a non integer value results that value is rounded to the nearest integer 44 VETONSIA Campus de Terrassa vier UNIVERSITAT POLITECNICA DE CATALUNYA KTH 4 Loop conditional amp pausing commands If a line number is calculated following THEN the THEN must be followed by GOTO If a line number is specified following THEN GOTO is not necessary if a constant is used A line number specified by an IF THEN statement must label a statement apearing within THAT program The same line number may be used in several different programs Branching always occurs within the same program If the same line number appears multiple times in a single EasyLab program the first occurrence of that number from the beginning of the program is the one referenced There are 5 spaces reserved at the beginning of each statement for line numbers A line number may appear before each statement in EasyLab program but a program may be written without any line numbers A line number does NOT cause an EasyLab program to be excluded by sequential line numbers Line numbers are used as reference markers for program braching statem
10. 1 park hand VVVVVVV VV Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA Assembling 8 Programming a robot for pharmaceutical purposes 4 2 05 Purpose Rack 13 x 100 Rack 2 11 VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Description This Rack PySection provides storage for 13 x 100 mm test tubes Each container in the rack has an associated volume and capped status that is automaticaly updated as the container is moved around the benchtop The rack is made of polypropylene and is mounted on a snap base for easy removal and replacement Containers are held upright in the rack with adecuate spacing to permit individual container access with Zymate Hands Available commands GET FROM RACK 2 PUT INTO RACR 2 MOVE OVER RACR 2 Variables RACK 2 INDEX 1 to 50 INITIAL VOLUME RACR 2 0 to 8 ml CONTAINER CAPPED RACK 2 YES or NO Testing Program JOOCHAN RACK 2 display off get hand a prompt Inster source position Rack 2 1 to 50 input rack 2 index get from rack 2 prompt Insert destination position Rack 2 1 to 50 input rack 2 index put into rack 2 park hand VVVVVVV VV WM KTH 2 Description of each PySection Rack 16 x 100 Rack F Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA gt 2 Description of each PySection Description This Rack PySection provides storage for 16 x 100 mm test tubes
11. 100 clock goto 1 43 dip Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 4 Loop conditional amp pausing commands 4 4 3 Purpose IF THEN Description This command is used in an EasyLab statement to make a decision regarding program flow based on a result returned from an expression The change in program flow can incolve jumping to another program line executing another program or module action performing a calculation specifying a module action or pausing system operation Normally EasyLab program lines are executed in the order they appear in the program When the IF THEN statement involves jumping ro another program line a line number is used Line numbers which can range 1 to 65535 are used only as reference points for program branching by IF THEN and GOTO statements Format IF expression comparator expression THEN statement where expression is either a constant a real data variable or a module command variable input or bi directional only where comparator is either lt gt gt lt lt or gt where statement is either a line number module command program math expression or an EasyLab language command except an IF THEN statement or DO LOOP Remarks e If the condition is not satisfied the statement following THEN is ignored Program execution continues with the next statement in the EasyLab program e F THEN statements are program level sensitive
12. H m ON n 1 to 5 m 1 to 8 PEC n SWITCH m OFF n 1 to 5 m 1 to 8 PEC n ACm ON n 1 to 5 m 1 to 2 PEC n ACm OFF n 1 to 5 m 1 to 2 PEC n A TO D UNSCALED n 1 to 5 Variables PEC n VAR AC x n 1 to 5 x 0 to 200 PEC n INPUT m n 1 to 5 m 1 to 8 CONFIRM AIR SENSOR YES or NO Testing Program none 36 Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA Assembling 8 Programming a robot for pharmaceutical purposes 4 2 18 Purpose Zymate Il Core System 37 VETONSIA Campus de Terrassa vier UNIVERSITAT POLITECNICA DE CATALUNYA 2 Description of each PySection Description The Zymate Il Core System provides the basic functions of a Py Technology System The Controller with its EasyLab language allows you to construct application programs using a series of PySections commands and variables setting statements The Zymate Il Robot Module provides highly efficient sample handling and transfer between PySections The Zymate Il Robot is pre mounted on a central locator plate around which the PySections are arranged The Zymate Printer provides a hardcopy of system conditions and data The EasyLab Program Scheduler Module automates the processing of multiple samples in a serialed manner The Remote Robot Teaching Module is used for positioning the Zymate Robor without having to be at the keyboard Available commands ROBOT EXERCISE INITIALIZE SYSTEM SHUTDOWN SYSTEM PRINTER ON PRINTER OFF
13. M VETONSIA Campus de Terrassa vie UNIVERSITAT POLITECNICA DE CATALUNYA USER S MANUAL TABLE OF CONTENTS 1 Getting started 2 1 1 Booting the system 2 2 Description of each PySection 3 38 2 01 General Purpose Hand A 3 4 2 02 Pipetting Hand 0 2 to 2 0 ml 5 6 2 03 Internal Standard Hand 0 010 to 0 200 7 8 2 04 Rack GC Vial Rack 1 9 10 2 05 Rack 13 x 100 Rack 2 11 12 2 06 Rack 16 x 100 Rack F 13 14 2 07 Weighing Liquid Transfer 16 x 100 mm Test Tubes 15 16 2 08 Capping 16 x 100 mm tubes 17 18 2 09 Dilute and Dissolve 16 x 100 mm Tubes Vortex 19 20 2 10 Evaporation 21 22 2 11 Tumble Mixer 16 x 100 mm Tube 23 24 2 12 Liquid Liquid Extraction 25 26 2 13 Crimp capping 27 28 2 14 Test Tube Dispenser 16 x 100 mm test tubes 29 30 2 15 Disposal 31 32 2 16 Centrifuge 16 x 100 mm Tubes 33 34 2 17 Power and Event Controller PEC 35 36 2 18 Zymate Il Core System 37 38 3 Advanced operations 39 3 1 Re teaching positions 39 4 Loop conditional amp pausing commands 40 47 4 1 DO ENDDO 40 41 4 2 GOTO 42 43 4 3 IF THEN 44 45 4 4 TIMER x WAIT FOR TIMER x 46 47 VETONSIA Campus de Terrassa vier UNIVERSITAT POLITECNICA DE CATALUNYA KTH 1 Getting started 1 1 Purpose Booting the system 1 Insert the Boot Disk in the Controller 2 Turn ON the power of the Controller the Robot the PyStations and the PC 3 In the main menu PC select System V On line an
14. This PySection provides automated centrifugation of samples The electro mechanically operated loading door and rotor position indexing capability of the centrifuge allow robotic interaction with this station The 8 position balancing container rack provides two transfer positions for placing samples into and removing samples from the centrifuge and six position for holding any balance container not in use during centrifugation The sample s position within the centrifuge and its spin time is automatically tracked when the aplication is serialized using EasyLab Program Scheduler Available commands PUT INTO CENTRIFUGE GET FROM CENTRIFUGE Variables CENTRIFUGE INDEX 1 to 6 CENTRIFUGE SPEED 0 to 3000 Testing Program JOOCHAN CENTRIFUGE VVVVVVVVVVVVV VV display off get hand a prompt Inster source position Rack 1 1 to 50 input rack l index get from rack 1 prompt Inster centrifuge position 1 to 6 input centrifuge index put into centrifuge pausel0 f vol output 1 get from centrifuge prompt Inster destination position Rack 1 1 to 50 input rack l index put into rack 1 park hand 34 Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA Assembling 8 Programming a robot for pharmaceutical purposes 4 2 17 Purpose Power and Event Controller PEC 35 VETENSKAP Campus de Terrassa ser UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Description The P
15. YA KTH 4 Loop conditional amp pausing commands 4 4 1 Purpose DO ENDDO Description DO Loops are used within a program to execute a group of statements a specific number of times Format DO x TIMES x number of executions to perform program ENDDO Remarks e The DO and ENDDO statements frame the section of program they affect e All DO statements is not affected by an ENDDO statement within the same program This is they are program level sensitive e An active DO statement is not affected by an ENDDO statement appearing in another program e fanumber is calculated to specify the number of loops to execute and that number is a non integer value that value is rounded to the closest integer e Under DISPLAY OFF the number of the loop being executed is still displayed e DO Loops can be exited using a conditional or GOTO statement before the loop has completed Example Program JOOCHAN DEMO LOOP display off gt rack 1 index 1 gt evaporator index 1 gt get hand a gt do 6 times gt get from rack l gt put into evaporator 40 di VETENSIAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 4 Loop conditional amp pausing commands VV VV VV VV VV N NN N rack 1 index rack 1 index 1 evaporator index evaporator index 1 enddo rack 1 index rack 1 index 1 evaporator index evaporator index do 6 times get from evaporator put into rack 1 ra
16. ck 1 index rack 1 index 1 evaporator index evaporator index 1 enddo park hand rack 1 index rack 1 index 1 evaporator index evaporator index 1 41 VETENSKAP Campus de Terrassa en UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 4 Loop conditional amp pausing commands 4 4 2 Purpose GOTO Description This command is used in a EasyLab statement to branch unconditionally out of the normal program sequence to a specified line number GOTO statements are used primarily to alter the sequence of operation This involves jumping to another location in the program to execute another program or module action or pausing system operation Format GOTO x x constant or variable representing a line number Remarks e This command affects the sequence of execution of EasyLab program statements A GOTO statement causes program execution to jump to the statement in that the program that is labelled with the specified line number Program execution continues from that statement e EasyLab Program lines are executed in the ordeer they appear in the program Although line numbers are not required to determine the operational flow of the program they are used for jumping purposes These numbers which can range from 1 to 65535 are used only as reference points for program branching e GOTO statements are program level sensitive A GOTO statement must refer to a numbered statement whitin the same program e The numbered statement
17. d press Enter amp If apperars an error message Controller not responding don t panic it s normal Just press the Enter button in the computer to continue 4 Now it s loading the system to the Controller After a while we ll access to the Zymark s main menu Now it s time to load the dictionary 5 In the main menu go to System and then Load dictionary 6 Select the proper dictionary JO CHAN ZYD in our case and press Enter To avoid getting an error message remove the hand from the robot if any After a while we ll have the system propery configured and loaded The Original Dictionary File was 0393AP ZYD but we used our modified one JO CHAN ZYD The variable AIR CONFIRM SENSOR must be 0 in order to use air pressure To test each command or instruction Manual Control was used in the main menu go to Methods and then Manual Control To avoid checkings and error messages change ERROR CHECK to value 0 Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA Assembling 8 Programming a robot for pharmaceutical purposes 4 2 01 Purpose General Purpose Hand A VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Description The General Purpose Hand PySection provides capability to grasp and move containers ranging in size from 9 to 16 mm from station to station around the benchtop This hand can also be used with Ca
18. ecified in the application program Available commands ASPIRATE LL CANNULA DISPENSE LL CANNULA WASH LL CANNULA Variables LL CANNULA DEPTH 0 to 15 cm LL CANNULA VOLUME 0 to 9 8 ml LL ASPIRATE TIME 1 to X sec LL VVASH VOLUME 1 to X ml Testing Program none 26 Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA Assembling 8 Programming a robot for pharmaceutical purposes 4 2 13 Purpose Crimp capping 21 gt Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 2 Description of each PySection Description This PySection provides automated filling and capping of 11 mm vials These vials are generally used with GC or HPLC autosamplers The Crimp Capping PySection consists of a pneumatically driven Crimp Capper vial cap holder vial holder and tip guide for vial filling operations Cap presence in the holder is verified by a microswitch Available commands PUT INTO CRIMP CAPPER CRIMP VIAL UNCAP VIAL GET FROM CRIMP CAPPER MOVE OVER CRIMP CAPPER Variables none fal Testing Program none 28 2 Description of each PySection P Test Tube Dispenser 16 x 100 mm test tubes 29 Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA gt 2 Description of each PySection Description The Tube Dispenser PySetcion is used to dispense 16 x 100 mm test tubes The dispenser housing has slots for up to ten stainless steel trays each ha
19. ents Example Program JOOCHAN DEMO IFTHEN VVVVVVVVVV VV o 100 display off get hand a get from centrifuge put into capper if c capped 1 then 11 cap goto 100 uncap get from capper rack 2 index 1 put into rack 2 park hand 45 dip Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 4 Loop conditional amp pausing commands 4 4 Purpose TIMER x WAIT FOR TIMER x Description There are eight internal timers available to the operator as EasyLab Language Commands that may be used to delay system operation or time events during the running of a program Module may operate while timers are active More than one timer may be in use at the same time Format To set timers TIMER x math expression where x is equal to 1 through 4 1 through 8 in non PyTechnology systems and math expression is any constant or variable representing time in Seconds when a program line setting a timer is encountered during the running of a program the following ocurrs a The Controller begins counting the time specified in 1 second increment b The Zymate System continues operating as if this program line had never been encountered To wait for timers WAIT FOR TIMER x where x is equal to the timer set 1 through 4 or 1 through 8 in non PyTechnology systems x should NOT be enclosed in parentheses in this format when the WAIT FOR TIMER statement is encounte
20. from rack 1 put into balance obtain weight prompt Weight of the tube printc weight value get from balance prompt Insert destination position Rack 1 1 to 50 input rack 1 index put into rack 1 park hand VVVVVVVVVVVV VV Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA Assembling 8 Programming a robot for pharmaceutical purposes f 2 08 Purpose Capping 16 x 100 mm tubes 17 VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Works well with 11 x 100 mm test tubes Description This Capping PySection provides automated capping and uncapping of screw capped 16 x 100 mm test tubes The success of capping and uncapping operations is internally verified Preset capping conditions cap containers at 4 torque Default conditions also cause caps not to be discarded after uncapping operations In the event that two containers are in an uncapped state at the same time such as in liquid liquid extraction operations two cap holders are provided The Capping PySection has been preset to use cap holder 1 If required the station can act as a container holder Also an uncapped container positioned in the station can act as a sample source or destination for pippetting operations Available commands PUT INTO CAPPER CAP UNCAP GET FROM CAPPER MOVE OVER CAPPER Variables CAP INDEX 1 or 2 DISCARD CAP YES or NO Testing Program JOOCHAN CAPPER gt
21. ml pipet tips can also be supported by this PySection It is recommended that a Disposal PySection be included in the PySection for convenient disposal of used tips Available commands GET HAND K GET 2ML TIP ASPIRATE 2ML TIP DISPENSE 2ML TIP PARR HAND Variables PIPET VOLUME 0 2 to 2 0 ml NUMBER OF 2ML PREWETS 0 to X ASPIRATE 2ML PAUSE TIME O to X sec DISPENSE 2ML PAUSE TIME Oto X sec Testing Program JOOCHAN HAND K display off get hand k get 2ml tip prompt Inster source position Rack 2 1 to 50 input rack 2 index move over rack 2 prompt Insert aspiration volume 0 2 to 2 0 input pipet volume aspirate 2ml tip prompt Insert destination position Rack 1 1 to 50 input rack 1 index move over rack 1 dispense 2ml tip dispose to waste park hand VVVVVVVVVVVVV VV Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes 4 2 03 Purpose Internal Standard Hand 0 010 to 0 200 Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA gt 2 Description of each PySection Description This PySection can quantitatively transfer 0 010 to 0 200 ml of liquid using a 250 ul syringe between the internal standard source and the sample The PySection includes a Syringe Hand with a 250 ul syringe a reusable dripping lock needle and a covered reservoir for the internal standard NOTE Before executing DISPENSE ISTD
22. ovver and Event Controller PEC interfaces vvith devices that supplement the operation of other PySections in the Zymate System The power 8 Event Controller provides Zymate System control for devices used in Crimp Capping Evaporation Liquid Solid Extraction etc The software supports the installation and operation of up to 5 Power amp Event Controllers in the system Each Power amp Event Controller provides programmable control of 8 output switches 8 logical inputs 2 AC On Off power outlets 1 variable AC power outlet and an analogic digital input A 5V 12V and 12V power supply is also included There are 8 Spare connectors also available for use These are used as terminals when an internal option such as the Preamplifier Module is installed within the PEC The Spare connectors can also be used as tie points if no option is installed A Power amp Event Controller s facilities may be utilized by different PySections The assignment of a Power amp Event Controller and its programmable connections takes place when the PySection requiring their usage is installed in the system The Power amp Event Controller facilities are operated by the individual PySections An Air Monitor Manifold that provides a confirm sensor filter regulator and air line connections manifold is included with the Power and Event Controller Only one Air Monitor Manifold is required regardless of how many ZP830 s are to be used Available commands PEC n SWITC
23. pping Station PySection for screw capping operations involving 9 to 16 mm capped containers The hand comes equiped with optional grip release wires on the finger pads for use with 11 mm vials These wires must be removed when using the hand for screw capping If both 11 mm 17 vial manipulation and capping are to be performed there must be two HAND A s in the system Available commands GET HAND A PARK HAND Variables none Testing Program JOOCHAN HAND A display off get hand a prompt Inster source position Rack 1 1 to 50 input rack 1 index get from rack 1 prompt Insert evaporator position 1 to 6 input evaporator index put into evaporator get from evaporator prompt Insert destination position Rack 1 1 to 50 input rack 1 index put into rack 1 park hand VVVVVVVVVVV VV Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA RTH 4 2 02 Purpose Pipetting Hand 0 2 to 2 0 ml VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Description This PySection can quantitatively transfer 0 2 to 2 0 ml of liquid using 2 ml disposable pipet tips between user designated samples sources and destinations This PySection includes a Syringe hand with 2 5 ml syringe automatic tip ejector parking station rack to hold 105 pipet tips and a bag of 250 2 ml disposable pipet tips An Auxiliary Rack PySection that accomodates an additional 105 1
24. red during the running of a program the following ocurrs a The Controller checks the elapsed time of the timer specified b If the time specified has elapsed TIMER 1 0 system operation continues with no pause 46 dip KTH Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 4 Loop conditional amp pausing commands C If the time specified has NOT elapsed TIMER x greater than 0 c1 The module currently operating finishes its command c2 The Zymate System pauses until the time specified has counted down c3 The system continues from where it left off Remarks e Each timer can be set to a maximum of 65535 seconds e Current timer values using timer array facility may be used in math expression as a variable e The setting of a timer as no effect on system operation The modules continue to operate as if that program line was never encountered e Program execution is suspended when The WAIT FOR statement is encountered AND The time specified has not elapsed e The timer value may be checked during the running of a program by requesting the value of the timer array e Atimer may be set in a program or in Manual Control e When the Zymate System is actively waiting for a timer to elapse any actions taken by the operator are ignored e fa program has to be aborted while it is waiting for a timer it must be done by turning off the Controller s power e Several program statements may appear
25. referred to by a GOTO statement is always searched for from the beginning of that program e GOTO statements should be programmed logically to avoid creating endless loops e If the statement number is calculated using an EasyLab math expression and a non integer value results that calculated value is rounded to the nearest integer The integer value must range between 1 and 65535 e Aline number specified by a GOTO statement mus be labeled a statement appearing within that program e The same line number may be used in several different programs Branching always occurs within the same program 42 dip KTH Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 4 Loop conditional amp pausing commands If the same line number appears multiple times in a single EasyLab program the first occurrence of that number from the beginning of the program is the one referenced There are 5 spaces reserved at the beginning of each statement for line numbers A line number may appear before each statement in EasyLab program but a program may be written without any line numbers A line number does NOT cause an EasyLab program to be excluded by sequential line numbers Line numbers are used as reference markers for program braching statements Example Program JOOCHAN DEMO GOTO 10 100 1 display off prompt Write Y ES to see the time or NO to exit input joochan time if joochan time 0 then
26. ving a capacity for 35 tubes Included with this PySection is the dispenser housing and two trays Additional trays may be purchased in set of two Available commands GET FROM DISPENSER 1 Variables none fal Testing Program none 30 Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA Assembling 8 Programming a robot for pharmaceutical purposes 2 15 Purpose Disposal 31 Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA gt 2 Description of each PySection Description This PySection provides for the discarding of used disposables such as pipet tips extraction columns screw caps and disposable filters The PySection consists of a chute that may be positioned to overhang the benchtop A waste receptacle can be placed under this overhang or a bag can be attached to receive the discarded items Available commands DISPOSE TO WASTE Variables GRIPPER HAND WASTE POS 0 to 200 SYRINGE HAND WASTE POS 0 to 200 Testing Program JOOCHAN DISPOSAL gt display off gt get handa gt prompt Inster source position Rack 1 1 to 50 gt input rack 1 index gt get from rack 1 gt dispose to waste gt park hand 32 de ms Campus de Terrassa me UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 4 2 16 Purpose Centrifuge 16 x 100 mm Tubes 33 VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 Description of each PySection Description
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