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SOLO User Manual - Hudson Robotics Service Downloads Area

1. 68 Example Command SETSIMULATEPUMP 1 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETSKEW Position dX dY Sets the factor in mm per mm of axis travel by which the plate nest at Positionx is out of alignment with the X axis dX and the Y axis dY Example Command SETSKEW 3 0 00234 0 0135 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETSPEEDS Xspeed Yspeed Zspeed Sets the assigned maximum speed for each axis Example Command SETSPEEDS 50000 50000 100000 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETSYRBOTTOM P configuration ONLY Sets the position in motor steps of the syringe s bottom of stroke The top of stroke see GETS YRLIMITS is automatically based upon the hard coded syringe stroke length Example Command SETSYRBOTTOM 4150 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETSYRCURRENT Spercent P configuration ONLY Sets the current level of the syringe motor to increase or reduce its force expressed as a percent value in the range 0 100 This is reset at power on Example Command SETS YRCURRENT 50 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt 69 SETSYRTYPE Type Sets the configuration of the syringe P for Pipettor only Ivek type D for pipettor Dispenser Hamilton type Example Command SETSYRTYPE P lt 13 gt lt 10 gt Response 0000 Success lt 13 gt
2. landscape or P portrait L is the default If the SOLO has other than 6 plate nest positions this may be set by immediately following the L or P with the number of plate nests up to 9 If this is omitted 6 nests are assumed See GETLAYOUT Example Command SETLAYOUT P5 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETLEVELSENSING State 1 or 0 Activates the level sensing feature of a SOLO equipped with level sensing hardware Example Command SETLEVELSENSING 1 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETLIMITS Xmin Xmax Ymin Ymax Zmin Zmax Sets the limits of motion for each axis Example Command SETLIMITS 2700 13600 1600 9700 5020 21020 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETPUMPTYPE Sets the type of pump drive PSD 2 or PSD 4 in a SOLO with a D type syringe Example Command SETPUMPTYPE PSD 2 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETSHUCKDEPTH Steps Sets the number of steps past the syringe bottom which the MultiTip syringe will move when shucking disposable tips Example Command SETSHUCKDEPTH 1500 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETSIMULATEPUMP State 0 or 1 Allows the user to treat the syringe pump as a real pump 0 or to operate in simulated mode ignoring pump commands 1
3. GETTIP returns a 0 Example Command GETTIPLIMITS lt 13 gt lt 10 gt Response 5 15 lt 13 gt lt 10 gt GETTRAVELHEIGHT Returns the Z axis coordinate in motor steps that is used when moving between positions Example Command GETTRAVELHEIGHT lt 13 gt lt 10 gt Response 200 lt 13 gt lt 10 gt GETVALVEPORT Syringe syringe ID letter D configuration ONLY Returns the most recently selected valve port for connection to the Source reservoir Syringe letter is optional and defaults to a GETVALVETYPE Syringe syringe ID letter D configuration ONLY Returns the type of valve 2 to 7 as follows 2 8 ports 45 deg apart 36 3 6 ports 60 deg apart 4 3 ports 90 deg apart 5 2 ports 180 deg apart 6 2 ports 90 deg apart 7 4 ports 90 deg apart Syringe letter is optional and defaults to a GETZCURRENT Returns the assigned maximum current as a percentage for the Z axis motor Example Command GETZCURRENT lt 13 gt lt 10 gt Response 20 lt 13 gt lt 10 gt HERE PointName Saves the current robot position with the indicated point name The name cannot contain spaces or non printing characters Example Command HERE Position1 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt HOME Homes all motors including the syringe and auto zeros them When homing the Z axis the Z axis finishes by moving to its upper limit see SETLIMITS For both P and
4. Height value should Tip Box be the height Height of the top of the bl Sees disposable tip as it tue Depth _ rests in the tip box above the surface of the plate nest The MaxDepth value should be the length of the disposable tip shown as Tip Length in the sketch below measured from the shoulder of the tip mandrel to the end of the tip when it has been picked up using a SOLOSoft method s GetTip step 23 Tip Length mm This data is saved in an ACCESS database table C Program Files SOLOSoft SOLOSoft mdb This must be opened directly if the user wishes to delete a plate type Communications This enables the user to select the type of communication to be used by the computer Serial or TCP IP select the RS 232 port if applicable or the IP address of the SOLO The following screen is displayed Shaker Micro10 Use Serial Port Terminal Window Serial Options Communications Port lt none gt Test Use TCP IP Connection IP Address OK Cancel Apply The Terminal Window button provides a HyperTerminal window which will use the Serial port selected in the Communications Port list box to enable the user to use the SOLO s ASCII Command Set see Appendix A The user can then issue commands directly to the SOLO from the computer keyboard Shaker Nest Accessory If the SOLO has the Shaker Nest Accessory the user would setup the se
5. In the step s graphic plate image available tips are shown in GREEN For multi tip syringe type P8 utilizing single tip option the single tip will be taken sequentially from the first available position along columns starting with 34 column and row H progressing in direction from row H to A and then columns from 1 to 12 In case of using multi tip option 8 tips will be picked up from first available column in the box filled with tips starting with column 1 For a multi tip syringe type P12 utilizing single tip option the single tip will be taken sequentially from the first available position along rows starting with row A to row H progressing in direction from column 12 to 1 and then rows A to H In case of using multi tip option 12 tips will be picked up from the first available in the box filled with tips row starting with row A For guidance on programming tip pickup positions and using different length disposable tips in different methods see the subsection below entitled Programming with Disposable Tips 3 5 Shuck Tip Step X This step whose GUI is shown in the next figure allows the user to discard a disposable tip at the position indicated in the Select Disposal Point box This is usually used at the very end of a method to strip off a remaining tip Otherwise the Get Tip step is normally used to shuck a tip prior to getting another C Document 1 ajere
6. Returns a 1 if the level sensing option is installed and activated a 0 otherwise Example Command GETLEVELSENSING lt 13 gt lt 10 gt Response 1 lt 13 gt lt 10 gt GETLIMITS Returns the limits of each axis of motion The limits are returned in the following order Xmin Xmax Ymin Ymax Zmin Zmax Example Command GETLIMITS lt 13 gt lt 10 gt Response 500 1250 415 4250 4575 20525 lt 13 gt lt 10 gt GETPOINT PointName Returns the saved position of the point name specified The point s motor step coordinates are returned in X Y Z order Example Command GETPOINT Positionl1 lt 13 gt lt 10 gt Response 2148 268 15874 lt 13 gt lt 10 gt 17 18 19 GETPOS Returns the current motor step position of the head in X Y Z order Example Command GETPOS lt 13 gt lt 10 gt Response 2148 268 15874 lt 13 gt lt 10 gt GETPUMPTYPE Returns the type of pump drive PSD 2 or PSD 4 in a SOLO with a D type syringe Example Command GETPUMPTYPE lt 13 gt lt 10 gt Response PSD 4 lt 13 gt lt 10 gt GETSHUCKDEPTH Returns the number of steps a MultiTip pipette head will travel beyond the syringe bottom when shucking disposable pipette tips GETSIMULATEPUMP Returns the current state of the pump 0 means the pump is active 1 means the pump is in simulated mode GETSKEW Position Returns the offset per mm of travel in both X axis and Y axis
7. Dispense Steps which are in the lower portion of the HitPick Step s graphic 3 12 GetLevel Step w The GetLevel step allows the user to detect and record in a file the liquid level inside selected wells in a microplate located at one of the SOLO s six plate nests The user begins by selecting the plate nest and its type of plate where the microplate being measured will be located Next using the Browse button depicted in this step s display below the user selects the location and name of the file where the liquid level data will be saved C File Edit Action View Tools Window Help piela S sele lm e aera y x al Step 1 of 1 e w ai z Costar 96 B S Change plate types es ea ees Z Axis B n 4 a Pica Syringe 2 GetLevel 1 of 1 Number of Wells to Search On Each Pass 1 ALL E Maximum Search Depth into Each Well mm 10 Distance Above Well to Start Level Search mam 4 Select Output File Full Path C Documents and Settings Phil Farrelly My D Browse Plate Barcode None Increment Order Row Order 4142 Column Order 41 81 The user should also select the Search Speeds as percents of full speed at which the probe tip will descend to the liquid surface and the speed at which the syringe piston will expel air until the surface is reached The user must then 43 select the number of wells to search entering 1 to select all unb
8. Fie Edit Action View Tools Window Help Delal S se m 2 alere m y X al Step 1 of 1 B w v u Wait For Input Signal Change plate types Wait For Input Input 2 Accessory Target Value 7 Current Value lo Z N 1of1 Message Please Press the GREEN Button when ready to proceed This option allows a suitably configured SOLO to pause here until a digital input signal with the value of Target Value 1 or 0 is received from another device such as a robot or a user operated pushbutton 3 14 5 Write To Output Selecting the Write To Output action for this step will change this step s display to appear as follows ry File Edit Action Yiew Tools Window Help olsa S ele lm 2 afera hl ab 4 A Step 1of1 Sl w u Send Output Signal Change plate types Write To Output Output 33 Accessory Target Value fi 7 Curent Value 0 1 of 1 This option allows a suitably configured SOLO to set a digital output signal to the Target Value 1 or 0 to provide a signal to device such as a robot or a mechanical system Appendix A Client Server Communications SOLOSoft allows other software applications such as Hudson s SoftLinx to start SOLOSoft methods and pass instructions and parameters to SOLOSoft via Windows Sockets in a client server arrangement Upon bootup SOLOSoft establishes itself as a server in the clent server setup When started SOLOSoft attempts to establish a serve
9. a syringe pump mounted on the rear vertical frame member with either an 8 or 3 position valve The syringe is mounted on the pump body and may be easily changed by the user to sizes ranging from 25uL to 10mL per full stroke This configuration allows the SOLO to perform as both a Pipettor and Dispenser drawing fluid from any one of up to 7 fluid reservoir bottles The Third configuration offers either an 8 or 12 channel multitip dispenser The 8 and 12 channel heads come in either 20ul or 200ul syringe capacity per channel configurations The multitip head can be used as a multichannel or single channel dispenser The SOLO also offers an alternate configuration that allows it to become a component in Hudson s LabLinx track based stacker system providing automated feeding and removal of plates and or tip boxes for high throughput applications The LabLinx track mounts directly to the SOLO s deck taking the place of 2 plate nest positions or even all 4 if very high throughput is desired The SOLOPIus is a SOLO integrated with Hudson s Micro10x high speed bulk dispenser The dispenser is attached to the side of the SOLO with provided hardware The Micro10x and SOLO share a nest position and SOLOSoft seamlessly controls both instruments through its interface Section 1 Hardware 1 Unpacking the SOLO e Remove all material from inside the crate except for the SOLO itself e Cut the Black plastic strapping that secures the SOLO to th
10. directions that the plate nest at Positionx is out of alignment with that axis The two factors are returned as dX dY The SOLO uses these to adjust the calculated position of the center of a well in a plate at Positionx Example Command GETSKEW 3 lt 13 gt lt 10 gt Response 0 00234 0 01658 lt 13 gt lt 10 gt GETSPEEDS Returns the assigned maximum speed for each motor The speeds are listed X Y Z Example Command GETSPEEDS lt 13 gt lt 10 gt Response 20000 20000 50000 lt 13 gt lt 10 gt GETSTEPSMM Returns the number of motor steps required to move 1 mm for each axis X Y and Z in that order Example Command GETSTEPSMM lt 13 gt lt 10 gt Response 43 225 46 366 315 05 lt 13 gt lt 10 gt GETSYRBOTTOM P configuration ONLY Returns the position in motor steps of the syringe s bottom of stroke GETS YRCOUNT Returns the number of syringes on the SOLO meaningful in D configuration only Default value is 1 GETSYRCURRENT P configuration ONLY Returns the existing current setting 0 100 for the syringe drive motor as a percent of maximum GETSYRLIMITS P configuration ONLY Returns the stroke limit in motor steps for a full syringe stroke in order Bottom Top Example Command GETS YRLIMITS lt 13 gt lt 10 gt Response 4160 250 lt 13 gt lt 10 gt GETSYRPOS Syringe syringe ID letter Returns the current position of the syringe in motor steps Syringe letter
11. method will have its date and time of completion logged along with process data applicable to that step if any The log file is saved in the same folder as the SOLOSoft application and has the file name MethodName YYYY MM DD HH mm SS log where MethodName is without the hso extension and the date time in the name refers to the moment that method is started Refresh This refreshes the display of currently opened methods 2 4 Tools Menu Simulated Configuration This option is only active when the communications port see Communications below is set to lt none gt forcing SOLOSoft into Simulate Mode This allows the user to try out different SOLO configurations such as switching between P D P8 and P12 syringe configurations changing syringe volume and switching from Landscape to Portrait layout Type of Syringe Pipettor C Pipettor Dispenser Volume Number of Positions 1000 uL 4 Nests Deck Alignment Landscape Portrait OK System Liquid not applicable to simulation mode a P Syringe Type Z axis mounted syringe This option allow the user to move the syringe piston Up Aspirate or Down Dispense where only the syringe piston moves not the robot axes Aspirate Volume ul FILL Speed Z 100 Syringe uL f2 Ba Start Aspirate the user can enter a volume uL or by leaving the volume at FILL run the syring
12. step by dragging any of the Step buttons in the toolbar at the upper left into the white field immediately below arranging the steps in the order desired by the user As each step is dropped into the white field the grey area to the right will provide a GUI specific to that type of step that allows the user to define parameters for that step A completed method will consist of a series of steps arranged in a single vertical column much like a flow chart Step types available to the user are described below 3 2 Aspirate Step f This step will move the pipettor to a selected aspirate position then aspirate the indicated volume of fluid The display shown below depicts an Aspirate step drawing 95 uL from well A3 of a 96 well plate located at Position on the SOLO s deck on its first execution then 75 uL from well C4 on its second execution see the LOOP step below C C HudsonSOLOWocument 1 hso DAR A l t o 1 T X A Syringe ul J Start by Emptying Syringe Costar 96 us ha Meena Mix Cycle Jo top ea lI FJB Ea Syringe Speed Pre Aspirate j Me a 1 3 100 0 ul am MixWolume f g uL Change Plate Types Backlash Shift amounts are measured from the o Steps location of the TAUGHT POSITION l EA Multiple Wells if a Plate from its TOP surface 3 il i jA 1 Enter the J Do Tip Touch Select Type of Source number of wells Aspirate Shift mm Tip Touch Shift mm ay to be asp
13. the SOLO operates with the following communication specifications Baud Rate 38400 Data Bits 8 Stop Bits 1 Parity None Handshake None Device Type DCE Connector 9 pin female For TCP IP communication each unit must have a unique IP address assigned This can be accomplished with the SETIPADDR command The computer should then connect to this IP address on TCP port 7 SOLO commands have the following format command parameter parameter2 lt 13 gt lt 10 gt The command portion is the actual command to be executed by the pipettor This may be followed by a comma separated list of parameters as specified in the individual command descriptions Arguments listed inside square brackets are optional All SOLO commands are terminated by a carriage return line feed combination ASCII characters 13 and 10 The command is then delivered to the pipettor unit which parses validates and executes the requested command before returning a response Commands may be sent to the SOLO while it is processing other commands The SOLO can queue up to 10 commands The behavior when the queue when overloaded is currently unspecified There is currently no message indicating that the command queue has been overloaded The following example would send the DISPENSE command with an argument indicating to dispense at position Platel a volume of 10 uL at a syringe speed of 100 of normal stroke speed DISPENSE Plate
14. then if inside a Loop will start at the well following the last one aspirated during the previous execution of this step The volumes to be aspirated will appear in their respective well locations in the plate image across the bottom of the display Aspirate from Named Point The volume to be aspirated from a point such as a vial location can also be imported from a comma separated text file but for this type of position the values can be in any number of rows columns and are read in left to right top to bottom order As in the case of aspirating from a plate position above any zero or negative volume values will simply be skipped The SOLO will aspirate the next non zero volume in the file If inside a Loop it will use the value following the last one aspirated during the previous execution of this step A complete list of the values to be aspirated can be viewed in the dropdown list inside the Aspirate Volume uL box C Document 1 A etle 18 gt A A Syringe uL Valve Port 250 v 2 v Mixing gt EA Il Gal A Syringe Speed PreAspirate j7 Ma a Mix Cycles 5 100 0 uL art Mix Volume 50 uL Change Plate Types Eerten 5 Aspirate Shift amounts are measured from 0 teps the location of the TAUGHT POSITION if a Plate from its TOP surface Aspirat i fai Aspirate Volume uL r Det Touch Select Type of Source Moo Aspirate Shift mm Tip Touch Shift mm Aspirate from Plat
15. tip into the currently selected reservoir If no or 0 Volume is specified the syringe will continuously move fluid or air from the tip into the currently selected reservoir emptying the line and requiring a HALT command to stop the process If a negative value is given for Volume the positive integer of that value will be the number of syringe strokes to be executed with the first stroke just bringing the syringe to the bottom of its stroke If Syringe ID is omitted or if a syringe ID letter above j is used ALL syringes will be operated together See PRIME Example Command EVACUATE 1000 25 b lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt FILL Volume uL Speed of full stroke speed P configuration ONLY Both arguments are optional If none are given the syringe to the top of the stroke Otherwise it aspirates the given volume at the indicated speed See EMPTY 56 GETDECKHEIGHT Position Returns the distance mm of the deck surface of plate nest Positionx from the shoulder of the mandrel at the Z axis lower limit and its calculated coordinate in motor steps that would be the Z position of the tip mandrel if it could reach the deck surface of the plate nests If the position is omitted the deck height at Position is returned Example Command GETDECKHEIGHT lt 13 gt lt 10 gt Response 25 5 mm 33250 steps lt 13 gt lt 10 gt GETDISPTIPCURRENT Returns the LO
16. types in the SOLOSoft database will be shown Clicking on the desired plate will add it to that position The OK button will save the changes while the Cancel button will restore the original data These changes will take effect immediately and remain so while this method is loaded In order to preserve these changes the next time this method is loaded the method itself must be saved upon closing it 3 14 Operate Accessory This utility allows the user to operate any of several optional accessories that are available for the SOLO Drag down the Operate Accessory button to select this type of step Then select the individual accessory by clicking on its icon button in the display shown below S Fie Edit Action view Tools Window Help Diela S sele lm e AGIR m 7 X al Step 1 of 1 ell w v Operate Accessory Device Change plate types Select Device 8 Micro10x 10 Way Valve 4 Shaker Nest Wait For Input Ay Accessory 1 of 1 H Write To Output The individual accessory selected will be shown as described below 3 14 1 Microl0x Selecting the Micro10x action for this step will change this step s display to appear as follows aletale TIE A Step 1 of 1 Sel x Operate Micro10x Change plate types Micro1 Ox Dispense C Prime C Empty A Accessory 1of1 Program 7 This option allows a SOLOPlus to perform rapid dispensing from an attached MicrolOx The user ca
17. vy t TipBox 200uL i TipDisposal Change plate types Syringe Type Single Channel Number of Tips to Use 1 GetTip a 00000 000000 660600600608606806060686 e e0e06e060060000600686 SOOCOCSOSEESS ll eo 060606060066606686 e0e006006 00006086 As in the Aspirate step the location of the tip box is selected by clicking on the appropriate nest position in the displayed deck image For syringe types D and PO the tip shucking executed at the beginning of this step will occur at the position selected in the Select Disposal Point box For syringe types D and PO below the deck image is a note showing the tip location inside the tip box where the last tip was used For all syringe types SOLOSoft keeps track of tip count in tip boxes between methods and even if closed and powered down For syringe types D and PO the tip retrieved in this step will be the next tip in the box counted across the box in row order For multi tip syringe types P8 and P12 SOLOSoft keeps track of tips available in tip box for box single tip and multi tip operations The last tip count will be reset to zero if the type of plate at that location is changed if the identity of that tip box is changed e g if operated using Hudson s SoftLinx scheduling software and a new tip box is moved into that position or if the tip box is reset in the Change Plate Types utility see that subsection below
18. 1 10 100 lt 13 gt lt 10 gt A space is required between the command and its argument string All are ASCII text characters as shown except the carriage return and line feed which are binary bytes Command Responses The controller will echo every byte of the command back to the sender as it is received Upon detecting the two bytes lt 13 gt lt 10 gt the controller will execute the command Upon completing execution the controller will respond in one of two ways 1 For query commands where a data response is required it will return data response lt 13 gt lt 10 gt 2 For action commands or invalid queries it will return error code error description lt 13 gt lt 10 gt If an action is requested or an error occurs the response will be a 4 digit error code a space ASCII character 32 and a short description of the error that occurred A response of 0000 Success represents a correctly executed command Other responses will indicate an error As examples 1 Valid query command Command GETPOS lt 13 gt lt 10 gt Echo GETPOS lt 13 gt lt 10 gt Response 0 0 0 lt 13 gt lt 10 gt i e current x y z coordinates Valid action command Command MOVE Positionl1 lt 13 gt lt 10 gt Echo MOVE Positionl1 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt i e action successfully executed Invalid query command Washer is an unknown position Command GETPOINT Washer lt 13 gt lt 10 gt Ec
19. 1mm 4 Liquid handling features Pipetting v Bulk Dispensing N A No of fluid sources N A Syringe size 20 or 200 uL Wash Pump N A Safety features Password protection Emergency Stop E stop Button located on the front of the dispenser chassis Dimensions W 556mm 30 x D 483mm 19 x H 610mm 24 Weight 27 kg 60 Ib Power requirements Power 60VA Voltage 100 240VAC Frequency 50 60HZ Operating conditions Temperature 15 32 C 59 90 F Relative humidity 30 80 non condensing Regulatory compliance Computer requirements PC with Microsoft Windows 2000 or Microsoft Windows XP Intel Pentium 4 or AMD equivalent Free disk space 25 MB RAM 512kB 1 RS232 port or 1 USB port Section 2 Software 1 Installation 1 1 Installation CD Place the SOLOSoft Installation CD in your CD drive It will automatically begin the Installation process It will create a folder C Program Files SOLOSoft where the SOLOSoft executable files the SOLOSoft Active X control plate definition Access database and support files are loaded This folder is also the default folder for all SOLOSoft methods which have the file extension hso Several sample methods are loaded from the CD as well 1 2 RS 232 Most users will choose to use the included RS 232 cable to connect their computer to the SOLO If you are using RS 232 a 9 pin femal
20. D syringe types the syringe piston homes at the top of its stroke Example Command HOME lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt HOME Axis Homes the motor of the indicated axis X Y Z or P and auto zeros it Then if homing the Z axis moves the Z axis to its upper motion limit Example Command HOME P lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt JOG Axis Distance Moves the specified Axis X Y Z the indicated number millimeters If the distance exceeds one of that axis limits the axis will travel to the limit and no error will be issued Positive values for X are to the user s right for Y are toward the user and for Z are downward Example Command JOG X 500 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt 41 LIMP State Turns motor holding power On 1 or Off 0 to all 3 robot axes Example Command LIMP 0 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt 42 LISTPOINTS Returns a numbered list of the points saved in the robot s controller Each line of the list has the format Name X Y Z The text End of List will be sent to indicate the end of the list Example Command LISTPOINTS lt 13 gt lt 10 gt Response 1 Position1 2148 349 25491 lt 13 gt lt 10 gt 2 Position2 3187 496 15451 lt 13 gt lt 10 gt End of List lt 13 gt lt 10 gt 43 LOADPOINT PointName X Y Z Saves the indi
21. HudsonSOLOWocument 1 hso Syringe uL Do High Speed Dispense Alet T A 125 Mixing Syringe Speed Blow off E Mix at n orl Change Plate Types ad Gen Shift amounts are measured from the location of the TAUGHT POSITION Multiple Wells if a Plate from its TOP surface Aspirate Enter the I Do Tip Touch 1 of 2 Select Type of Target number of wells m Dispense Shift mm Tip Touch Shift mm to be filled on Dispense to Plate Position each pass x Shift 9 x Shift 0 C Dispense to Named Point 1 Y Shift 0 Y Shift 0 een Increment Order Z Shift g Z Shift 9 Row Order 41 A2 1 Switch to File Data Positive Z is Shift from Coulmn Order A1 81 Upwards Dispense Point Dispense Volumes uL sss 2 i iii oeo000000000000000 2 si ii i eo000000000000000 eo000000000000000 oeo000000000000000 sis eo000000000000000 oo000000000000000 ojojlojojlojojolojojojolojojojojo eoocc0c0c00000000000 elojojlojojlojololojojlojololojojo 3 4 Get Tip Step T This step whose GUI is shown in the next figure will start by shucking any tip that may have been left on the mandrel from a prior activity then move to the next tip position in a tip box located at in this example Position1 D File Edit Action View Tools Window Help Diela S sele slm 2 afera h 7 pj a ee Select Disposal Point E ed il w
22. MOVE_Z PointName Moves only the Z axis to the position saved in with the indicated point name Example Command MOVE _Z Positionl lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt PRIME Volume uL Speed Syringe ID letter D configuration ONLY All arguments are optional The syringe will operate at the speed given 100 is the default until the specified volume is moved from the currently selected reservoir toward the tip If no or 0 Volume is specified the syringe will continuously move fluid from the currently selected reservoir into the tip filling the line and requiring a HALT command to stop the process If a negative value is given for Volume the positive integer of that value will be the number of syringe strokes to be executed with the first stroke just bringing the syringe to the top of its stroke If Syringe ID is omitted or if a syringe ID letter above j is used ALL syringes will be operated together See EVACUATE Example Command PRIME 1000 25 b lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt READINP InputNum Returns the state of input InputNum which is a number 72 Returns a 1 if the input is ON 0 if OFF Inputs 56 are read from the Z world board above 56 are inputs to the M drives Example Command READINP 6 lt 13 gt lt 10 gt Response 1 lt 13 gt lt 10 gt 52 SEEKLEVEL Z_Speed 1 100 Syringe Speed 1 100 M
23. P step Index to Value in the current method Index starts at 1 for the first LOOP step in the method and increments for each subsequent LOOP step if multiple LOOPs are present NESTSTATUS Index Value Allows the client to set the status to Value FULL or EMPTY of the SOLO nest at Position ndex one of the plate nest names on the SOLO e g Position1 OUTPUTFILE FullPathName Allows client to specify the full path and file name including file extension of the output file to be used by any HITPICK step in the current This will override the file path name that was saved with the method The second argument may be left blank SOURCEFOLDER FullPath Allows the client to specify the folder where the current method s HITPICK step s will look for the input Source file which is always named PlateBarcode csv where the source plate s barcode is input from a different place in the application FullPath must end in a backslash V STOP Causes SOLOSoft to stop the current running method but leave it loaded and current Appendix B RS 232 Communications and Command Set Firmware Version 7 00 Hudson s SOLO Single or Multi Channel Pipettor Dispenser is designed to respond to a simplified set of ASCII commands to allow any user program capable of reading writing via an RS 232 port or TCP IP connection to exercise all the features of the SOLO Protocol Description The RS 232 connection for
24. PTIPCURRENT Sets the LOW and HIGH Z Axis running current range as a of 100 to use when performing the GETTIP command The current is adjusted linearly between the LOW and HIGH values in proportion to how many tips are to be retrieved 1 to 12 Example Command SETDISPTIPCURRENT 12 40 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETDISPTIPSPEED Sets the LOW and HIGH Z Axis velocity range to use when performing the GETTIP command The speed is adjusted linearly in inverse proportion between the LOW and HIGH values in proportion to how many tips are to be retrieved 12 to 1 Example Command SETDISPTIPSPEED 4000 8000 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETFULLSTROKE Sets the value of the number of stepper motor steps per full stroke of the syringe The same value is used for every syringe in a multi syringe equipped SOLO Example Command SETFULLSTROKE 2000 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt 58 SETIPADDR XXX XXX XXX XXX Assigns the indicated IP address to the controller The controller will immediately disconnect all TCP IP connections and begin using its new IP address This will cause an immediate loss of communications if this command is sent from a TCP IP connection Example Command SETIPADDR 192 168 1 2 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt 59 SETLAYOUT Layout Sets the SOLO s layout using a value of L
25. SOLO User Manual Version 5 15 lt Aludson 10 Stern Avenue Springfield NJ 07081 Tel 973 376 7400 Fax 973 376 8265 Introduction 4 Section 1 Hardware 1 Unpacking the SOLO 2 SOLO Setup 2 1 Ivek Pump Setup 2 2 Hamilton Pump 2 3 Multichannel 3 Accessories Section 3 1 Heating Cooling Nest Section 3 2 Shaker Nest Section 3 3 SOLOPlus 4 Hardware Specifications Section 2 Software 16 1 Installation 1 1 Installation CD 1 2 RS 232 2 SOLOSoft Main Screen 2 1 Overview 2 2 File Menu 2 3 View Menu 2 4 Tools Menu 2 5 Window Help Menus 3 Developing SOLOSoft Methods 3 1 Overview 3 2 Aspirate Step 3 3 Dispense Step 3 4 Get Tip Step 3 5 Shuck Tip Step 3 6 Loop End Loop Steps 3 7 Pause Step 3 8 Move Arm Step 3 9 Set Speed Step 3 10 Prime Step 3 11 HitPick Step available ONLY for single tip operation modes 3 12 Change Plate Types 3 13 Operate Accessory 3 13 1 Microl0x 3 13 2 Ten WayValve 3 13 3 Heating Cooling Nest 3 13 4 Shaker Nest 3 13 5 Wait For Input Appendix A Client Server Communications Protocol Description Hudson SOLO Command Set Appendix C Firmware Settings Error Bookmark not defined Introduction The SOLO Robotic Pipettor is designed to easily automate complex pipetting tasks that would otherwise prove tedious or error prone for researchers to
26. Syringe ID letter Dispenses indicated volume at the indicated position Speed is optional and defaults to 100 Backlash is optional and defaults to 0 Syringe ID a or b etc is required with the D type of syringe if only one syringe is desired to act and if the SOLO is equipped with more than one syringe pump Eliminating the syringe ID letter or using a letter above j will cause ALL the syringes to obey the command Syringe ID is only meaningful with the D configuration Example Command DISPENSE Position2 50 80 4 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt EMPTY Volume uL Speed of full stroke speed P configuration ONLY Both arguments are optional If none are given the syringe goes to the bottom of the stroke otherwise it dispenses the given volume at the indicated speed If speed control is desired but syringe needs to go to bottom of stroke use 0 for Volume and the desired setting for Speed See FILL Example Command EMPTY 50 25 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt Or to go to bottom Command EMPTY lt 13 gt lt 10 gt or EMPTY 0 25 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt EVACUATE Volume uL Speed Syringe ID letter D configuration ONLY All arguments are optional The syringe will operate at the speed given 100 is the default until the specified volume is moved from the
27. TXI Al Shuck Disposable Tip nu v Select Disposal Point Change Plate Types TipDisposal b4 ShuckTip 1 of 1 zl 3 6 Loop End Loop Steps EK These steps shown in the next figure at the top and bottom of the method flow diagram allow the user to repeat sequences of steps the number of times indicated in the Enter NUMBER of Loops to Perform box After repeating every step between these two loop steps the method will continue with the next step after the End Loop step Loops can be nested within other loops If for instance a loop with 3 repeats is nested inside a loop with 2 repeats the steps inside the inner loop will be executed a total of 6 times while those within only the outer loop will be executed 2 times SOLOSoft will pair each Loop step with the very next End Loop that appears in the method Any Loop without a matching End Loop will be ignored C C HudsonSOLOWocument 1 hso Aleta YOK A Ajere WK ES Enter the NUMBER S lll cad of Loops to Perform B Change Plate Types 3 1 for Continuous Loop Aspirate 2 of 4 l Dispense 3 of 4 3 7 Pause Step This step shown in the next figure allows the user to pause the run and present a message to the operator It also allows the user to permit the operator to end the method at the time of the pause if for instance no liquid was aspirated The user types the desired messa
28. W and HIGH Z Axis running current range to use when performing the GETTIP command The current is adjusted linearly between the LOW and HIGH values in proportion to how many tips are to be retrieved 1 to 12 GETDISPTIPSPEED Returns the LOW and HIGH Z Axis velocity range to use when performing the GETTIP command The speed is adjusted linearly in inverse proportion between the LOW and HIGH values in proportion to how many tips are to be retrieved 12 to 1 GETFULLSTROKE Returns the current number of stepper motor steps per full stroke of the syringe Example Command GETFULLSTROKE lt 13 gt lt 10 gt Response 3750 lt 13 gt lt 10 gt GETIPADDR Returns the current IP address of the unit Example Command GETIPADDR lt 13 gt lt 10 gt Response 192 168 1 2 lt 13 gt lt 10 gt 13 GETLAYOUT Returns an L for landscape default or a P for portrait Landscape layout has the plate positions arranged so that Al is at the left rear corner of each plate with row A running along the rear edge of the plate from the user s perspective facing the SOLO Portrait has Al at the right rear corner of the plate with row A running along the right edge of the plate Immediately following the L or P is a number indicating the number of nest positions this unit has on its deck Example Command GETLAYOUT lt 13 gt lt 10 gt Response P5 lt 13 gt lt 10 gt GETLEVELSENSING
29. attern that is stored with the method The user selects an Output file and file path where the transfer information is to be stored the same file for all plates in a run There must be a separate source file for each Source plate where that file s name is SourcePlateBarcode csv For instance if that Source plate s barcode is 40 ABC123 then the file s name would be ABC123 csv The file contents are simply the well name of each source well followed by a comma then the amount uL to be transferred into each target well The format would looks as follows A01 50 C09 75 each well volume entry is on a separate line H11 55 The user can use a header line if desired of Source Well for clarity This line is ignored by SOLOSoft if present The HitPick Step allows the user to fill multiple target wells from each source well and the amount aspirated from the source well will be that multiple of the amount in the source file That is if the user elects to fill 3 target wells from each source well the amount aspirated from well AO1 above would be 150 uL with SOLOSoft multiplying the amount in the source file by 3 Each line in the output file has the format Date Time Source Plate Barcode Source Well Target Plate Barcode Target Well Amount uL with no header line A typical entry would appear as follows 6 23 2008 2 40 24 PM ABC123 A03 DEF456 A01 53 The picture below shows the HitPick Step
30. cated X Y and Z values in steps under the specified point name Example Command LOADPOINT Position 2148 349 20491 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt 44 MIX Volume uL Speed Cycles Starting Action A or D Syringe Letter Causes the syringe to stroke in out starting with either an Aspirate A or a Dispense D action each stroke having the Volume input here at a Speed as a percent of full 100 stroke speed Example Command MIX 50 25 3 A b lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt MOVE PointName Moves the head to the saved position indicated by PointName moving the X and Y axes first followed by the Z axis Example Command MOVE Positionl lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt MOVE_ABS Axis Position Moves the indicated axis X Y Z to the absolute position indicated in steps Example Command MOVE_ABS Z 510 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt MOVE_X PointName Moves only the X axis to the position saved in with the indicated point name Example Command MOVE_X Position1 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt MOVE_Y PointName Moves only the Y axis to the position saved in with the indicated point name Example Command MOVE _Y Positionl1 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt 49
31. directly modify these coordinates then move to the modified coordinates However the actual saved coordinates of that position will NOT be overwritten unless the user clicks on the Save Point at Current Location button on the right The screen button Set Skew allows the user to adjust the calculated locations of plate wells in case an individual nest is not in perfect alignment with the X or Y axes Pressing this button when teaching a plate nest position will provide the user with instructions on how to make this adjustment This is important particularly when dealing with 1536 well plates The screen button Relax Motors can be used to remove power from all 3 robot axes allowing the user to manually maneuver the tip to the desired location Clicking on that button again will restore motor power Change Password This allows the current user to change his her password which will then apply to any subsequent log ins Users This allows a user of Level 3 to add or delete users from the system s database Login This allows the user to login using his her User Name and Password The User Level will become that of the newly logged in user Notes on User Level Restrictions User Level 1 Intended for users who can operate the SOLO but are not allowed to open change save or close methods or use the Communication utility Level 1 users can run already loaded methods teach modify deck positions and chang
32. e Position i i Aspirate Point Shift o x Shift g Aspirate from Named Point Position Y Shift 0 Y Shift 0 Z Shift 9 Z Shitt Switch to File Data Positive Z is Shift from Upwards Aspirate Point of Aspirate Shift This enables the user to adjust the actual aspiration location from the taught position selected for aspiration This enables the user to go toa non standard location or to move in other than well spacing increments Do Tip Touch Tip Touch Shift 31 This enables the user to do a tip touch to clean a droplet off the tip and to specify where that tip touch will be relative to the actual aspiration location Any shift done in the Aspirate Shift selection above will affect this aspirate location This will cause the tip to touch twice on opposite sides of the well or vessel Aspirate Volumes table This graphic shows an image of the plate type selected for this step and enables the user to enter distinct volumes for each well in the plate Important be sure to pres lt ENTER gt after entering the last volume into any well location as it will not be saved if you don t As a convenience you may enter a value in the first element of any row or column then click on the row column number to set every well in that line to that value Liquid Level Detect Units equipped with the Liquid Level Sensing option allow the user to check
33. e RS 232 connector is located on the rear panel of the SOLO Connect the provided cable here and to the serial port on your computer Selecting the serial port assignment and communication parameters is covered in another section of this manual 2 SOLOSoft Main Screen 2 1 Overview Upon Startup SOLOSoft presents the Log In display which shows the current Version and a Log In button Click on the button then enter your name and password On initial usage the default User Name is Me with a NULL password Under the Tools Menu discussion below are instructions about setting up actual user names and their passwords After entering a valid user name and password the Main Screen display is shown as below SoloSoft File view Tools Window Help olea S ee m e Clicking on any of the five options on the Menu Bar provides the menu features described in the following subsections 2 2 File Menu New This option creates a blank method whose default name is Document1 and the user can now start developing a new method as described in the Method Development section below For SOLOPIlus units equipped with a multi channel pipetter a message box with the question Do you want to use Single Tip Mode will appear on the screen Selecting Yes as an answer will instruct all steps in the new method to use only one channel of the multi channel pipetter head The new method ca
34. e piston all the way to the top of its stroke Dispense the user can enter a volume uL or by leaving the volume at EMPTY completely empty the syringe by running the syringe piston all the way to the bottom of its stroke b D Syringe Type Side mounted valved syringes This option allow the user to move liquid from any of the systems fluid reservoir vessels to or from the tip For both Aspirate and Dispense the reservoir is selected by selecting the appropriate Valve Port in the displayed input box Aspirate Volume ul 0 Speed 100 Syringe uL Valve Port aj125 M Operation F Continuous Start M No Strokes ES Aspirate the user can enter a volume uL to move from the tip to the reservoir even volumes greater than the syringe s volume or by checking the Continuous operation box run the syringe piston continuously until the user clicks on the Halt button The No Strokes box can be checked and the desired number of aspiration strokes entered as another operation option If there are multiple syringe pumps on the SOLO the Syringe box will drop down to allow the user to select any individual syringe or at the bottom of the list ALL syringes operating together Dispense the user can enter a volume uL to move from a reservoir to the tip even volumes greater than the syringe s volume or by checking the Continuous operation box run the syringe pi
35. e shipping form yyoewse ess VORRT we Aw as oem ewe 7 7 7 A j 7 ry 7 7 E f a 7 d aTa ee SES __ Shipping e Once the straps are removed lift the SOLO by the aluminum bracket that the nest plate holders are secured to DO NOT LIFT BY THE ARM as this will damage the unit See Picture on next page Lifting points on Solo e Once the unit is out of the crate remove all the plastic wrapping that secures the arm to the SOLO and the cooling nest to its alignment bracket if E lt lt f Remove a Plastic Wrap e Once the plastic wrap is removed install the nest plates on the deck of the SOLO Align the holes in the bottom of the nest plate with the metal dowel pins on the stainless deck and push the nest plates onto the deck Remove the Power cable and communication cable from their shipping packages and plug them into the correct locations on the SOLO s rear panel Install the SOLOSoft on the computer you are going to use with the SOLO The unit is now ready to startup 2 SOLO Setup Depending on the version of SOLO that you purchased there will be different hardware setups before you start using your instrument We currently carry three types of SOLOs 1 Ivek Pump 125ul or 250ul 2 Hamilton Pump syringe size optional 3 MultiChannel 8 or 12 Channel configuration 2 1 Ivek Pump Setup The Ivek Pump SOLO comes ready to run from the factory The Mandrel is shipped
36. e their own passwords User Level 2 Level 2 users cannot create new methods add or delete users or use the Communications utility All other SOLOSoft functions are available to Level 2 users User Level 3 All SOLOSoft functions are available to Level 3 users Define Plate Types This enables the user to define the properties of the various microplates that will be used in the SOLO The following screen is displayed 210 Sy eee steht MaD ep 2 y 44 40 96 Deep Protein Costar 96 __ Costar 96 Polystyreru Falcon 384 Greiner 1536 MJ 96 PCR Note 1 All measurements are millimeters 2 For Tip Boxes enter Tip Length Save and Exit in the MaxDepth column The user creates a new plate by placing the mouse cursor in the last row of the Name column then typing in the name of the new plate The user must also enter the number of Wells the SOLO will calculate the center of each well based upon this the Height of the top of the plate from the nest surface then the depth of the bottom of the plate s wells measured from its top surface This Max Depth depth will be limit below which the SOLO needle or disposable tip will not travel when aspirating or dispensing within a SOLOSoft method Defining Disposable Tip Boxes and Tips When ww defining disposable UJ tip box parameters Measurements in mm the
37. folder where SOLOSoft methods and user data files are stored GETVALUE VariableName PositionName Currently the only VariableName supported is NESTSTATUS which returns the status of the SOLO s PositionName nest EMPTY or FULL LOAD FullMethodPathName Causes SOLOSoft to load the pre saved method FullMethodPathName must contain the full path and file name with extension of the method which now becomes the currently active method PAUSE Causes SOLOSoft to pause execution of the currently active and running method RESUME Causes SOLOSoft to resume execution of the currently paused method RUN FullMethodPathName Causes SOLOSoft to load if not already loaded and run the method FullMethodPathName see LOAD above SETNAME Allows the client application to give this SOLO unit a name that may differentiate it from another SOLO that may be in the system The default name is SOLO Pipettor SETNESTSTATUS Sets the status of a SOLO s plate nest position to enable the client application to properly react to that status such as REMOVE or FULL 51 SETUP Causes SOLOSoft s window to expand to full size and the foreground SETVALUE VariableName Index Value Enables the client application to set variable values that SOLOSoft s method will use Four variable names are currently supported 1 LOOPCOUNT Index Value Enables the client to set the number of iterations of LOO
38. for multi tip option of P12 type syringe Al B1 H1 A2 H2 etc Note For multi tip P8 syringe all non zero volume wells in each row will be addressed before moving to the next row Note For multi tip P12 syringe all non zero volume wells in each column will be addressed before moving to the next column Any wells with a zero volume will be skipped by single tip units and not included in the increment count Syringe uL This is read from the SOLO s firmware and is selected from a dropdown list of the syringes actually on this unit Start by Emptying Syringe Pn syringe type only where n is 0 1 8 or 12 Checking this box will cause the needle or tip to move over the intended aspirate position then the syringe piston will move to its bottom empty position at the start of this step This is useful to ensure that the full capacity of the syringe is available for this aspiration Otherwise the aspiration will start at the last position of the syringe piston Mixing If the box is checked immediately after aspiration the SOLO will dispense then aspirate the amount entered the number of times given by the Mix Cycles value ending with a final dispense to leave the mixed sample in the well or vessel Valve Port D syringe type only not shown The user must select the appropriate fluid reservoir by choosing the correct valve from a drop down list for the selected syrin
39. ge into the Enter pause message box and allows the operator to end the method by checking the Allow user to end run at this step box 0 C HudsonSOLOWocument 1 hso Pause Options ajeta 1 X A gt Enter pause message w lI 2 t The SOLO is PAUSED A Change Plate Types Allow user to end run at this step Automatically continue after seconds Pause 2 of 5 ej as The user may also simply set a timer in seconds to pause the method here then automatically resume after the time has elapsed 3 8 Move Arm Step e This step shown in the next figure allows the user to simply move the robot arm to any taught position at a speed given as a percentage of the arm s full speed in the XYZ Speed box The X and Y axes move first followed by the Z axis C Document 1 Seg Alst sujee TIX Al Move Arm ed lI v v Destination Change Plate Types TipDisposal x Vv Move Z Axis to Travel Height at Start of Move Movedrm 1 of 1 YZ Speed 100 As an option by checking the Move Z Axis box the tip will move up to its normal travel height prior to moving laterally to the selected destination position 37 3 9 Set Speed Step The default robot arm speed is 100 of full speed This step shown in the next figure allows the user to set the movement speed for subsequent steps at the percentage of full speed de
40. ge pump Syringe Speed Scroll up or down to accelerate or slow the syringe piston s movement Pre Aspirate Enter this volume to aspirate air before each aspiration event in this step This allows air pockets to separate each individual aspirated sample and also allows the dispense volume to blowoff with an air pocket to forcibly expel tip droplets at the end Backlash Enter the number the default is 0 of uL that you wish to have the syringe piston move in reverse at the end of its stroke This is used to control droplets or end of tip air gaps also used in a Dispense step for a given commanded volume Multiple Wells The number of aspirations done in each execution of this step in the selected row or column order Any wells with a zero volume will be skipped and not counted in the number selected Note For multi tip P8 only column order is available and for P12 syringe only row order is available Switch to File Data If the Switch to File Data option is selected the user will be shown a browse screen to browse for the file or to just enter its name The selected file and its path will be shown just below the button s location The text on the button will change to Switch to Entered Data to enable the user to go back to using the plate image table across the bottom of the display and manually enter volume values for each well or the named point The file structure will be dete
41. guments are separated by commas An illustration of the communication protocol is as follows Application SOLOSoft ADDPLATE Positionl lt ETX gt gt lt 0000 lt ETX gt OK lt ETX gt gt ADPLATE Position2 lt ETX gt gt 0001 Unrecognized Command ADPLATE lt ETX gt OK lt ETX gt gt The invalid command contains a misspelling of the command itself Valid commands are listed below ADDPLATE PositionName PlateBarcode Tells the SOLO that a plate with a barcode ID of PlateBarcode has been delivered to the SOLO s deck at nest PositionName If PlateBarcode is omitted just use PositionName and leave off the extra commas CLOSE Causes SOLOSoft to self terminate GETMESSAGE Obtains a string that the SOLO method creates at the end of a SOLO method s run This value is nulled out upon being read via this command and at the beginning of any method run It will contain either an error message if the method ended in an error condition or will have the value 0000 if the Method ended successfully GETMETHOD Obtains the name of SOLOSoft s currently loaded active method GETPATH Obtains SOLOSoft s current folder where SOLOSoft exe resides GETSTATUS Obtains SOLOSoft s current method s running state IDLE RUNNING PAUSED or STOPPING GETTIPCOUNT PositionName Gets the number of the last tip to be removed from a tip rack at PositionName GETUSERPATH Obtains the default
42. ho GETPOINT Washer lt 13 gt lt 10 gt Response 0002 Invalid Parameter lt 13 gt lt 10 gt invalid point name Note If any command contains an error the StackLink sends the response immediately otherwise the response is sent at the completion of execution Hudson SOLO Command Set The SOLO recognizes the following commands 1 ASPIRATE PointName Volume uL Speed of normal stroke speed Backlash uL Syringe ID letter Aspirates the indicated volume at the indicated position Speed is optional and defaults to 100 Backlash is optional and defaults to 6699 0 Syringe letter a or b etc is required with the D type of syringe if only one syringe is desired to act and if the SOLO is equipped with more than one syringe pump Eliminating the syringe ID letter or using a letter above j will cause ALL the syringes to obey the command Syringe ID is only meaningful with the D configuration Example Command ASPIRATE Position1 50 25 6 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt CLEARPOINTS Clears all stored positions Example Command CLEARPOINTS lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt DELETEPOINT PointName Deletes the position PointName Example Command DELETEPOINT Position1 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt DISPENSE PointName Volume uL Speed of full stroke speed Backlash uL
43. irated Aspirate from Plate Position on each pass x Shift o X Shift ro Aspirate from Named Point EH Y Shift 0 Y Shift 0 Increment Order F Eom 0 oy E Switch to File Data Positive Z is Shift from Pee Na _SwichtoFie Da Upwards Aspirate Point Coulmn Order 41 81 Aspirate Volumes uL The user has a number of parameters to select in an Aspirate step Select Type of Source Plate Position A Plate Position can be selected and identified by clicking on one of the 4 possible deck plate nest positions Position to Position4 in the deck image above the selection box Named Point if this is selected the screen will change to that shown at the end of this subsection below allowing the user to select ANY taught position whether or not associated with a plate nest The available points are selected from a drop down list shown near the bottom center of the display and the user would enter the desired volume in the box immediately above this Increment Order applies only to aspirating from a plate position for SOLO equipped with single tip pipettor head or multi tip pipettor head used in Single Tip Mode Row Order disabled for multi tip option of P8 type syringe Ifa multiple number of wells per execution is entered or if this step is within a Loop each aspiration will increment in the order Al A2 A12 Bl B12 etc Column Order disabled
44. is 6699 optional and defaults to a Example Command GETSYRPOS a lt 13 gt lt 10 gt Response 1206 lt 13 gt lt 10 gt GETSYRTYPE Returns the type of syringe configuration P for Pipettor only Ivek type D for pipettor Dispenser Hamilton type 30 GETSYRVOLUME Syringe syringe ID letter Returns the full stroke volume of the syringe in uL Example Command GETSYRVOLUME a lt 13 gt lt 10 gt Response 125 lt 13 gt lt 10 gt GETTIP Position PointName TipBoxHeight NumTips Causes the pipettor to pickup a disposable tip at the indicated position Returns a 1 or O text indicating a successful or failed tip pickup The optional argument TipBoxHeight is the height mm of the body of the tip box containing the disposable tips This is the Z axis height of the pickup point The optional argument NumTips accepts a number from 1 to 12 P type syringe only which determines the Z axis current and speed used during this action The value of this argument is 1 by default Example Command GETTIP 1 Position1 TipBoxHeight 2 lt 13 gt lt 10 gt Response 1 lt 13 gt lt 10 gt GETTIPLIMITS Returns the low limit and high limit in mm around the commanded tip pickup position see GETTIP that indicate a successful tip pickup Exceeding the lower limit indicates an empty tip well exceeding the high limit indicates jamming on a tip s rim either of which result in a failed pickup
45. k position 6 or in the back position so that the Micro10x nest is located at the SOLO deck position 5 This bracket contains two 11 alignment pins which locate the Micro10x into its proper position During shipping the SOLO and Micro10x are shipped in different boxes To install the Micro10x onto the SOLO you will slide the Micro10x next to the SOLO where the alignment bracket is installed Slowly lift the Micro10x up so the bottom of the plastic deck is above the alignment pins Move the Micro10x into position so that the alignment holes in the Micro10x plastic deck are aligned with the alignment pins in the SOLO bracket Slowly move the Microl10x down until the Micro10x deck is located on the pins and that the bottom the Micro10x deck is sitting flush on the alignment bracket You may have to adjust the feet on Micro10x to re level the unit to the SOLO deck See Figure 3 3 MC10X Plastic Deck with Alignment holes SoloPlus Alignment Bracket Figure 3 2 Figure 3 3 4 Hardware Specifications SOLO Pipettor SOLO Pipettor Dispenser Hardware features Arm configuration One liquid handling arm Tip configuration 1 disposable tip ldisposable tip Pipetting Needle Tip variety Disposable tips with or without filters 10 20 50 100 250 uL Disposable tips with or without filters 10 20 50 100 250 uL or Stainless Steel Pipetting Cannula various gages and length are available Posi
46. locked wells the depth to which the probe should travel before stopping that plate s well depth as listed in its definition see Define Plate Types above is the limit for this setting and the distance above the plate to begin the actual search The user would then select the order for incrementing the probe from one well to the next Row or Column order and may block out individual wells of entire rows or columns by clicking on the plate graphic at those wells or rows columns Those wells thus appearing in BLACK will not be measured It is then up to the user to actually use the file data this step produces such as in a special VB step in SoftLinx or another external software application 3 13 Change Plate Types This utility allows the user to select the type of microplate or tip box omni tray etc that is located in any of the 4 plate nest positions It also allows the operator to reset any used tip box count to zero which would have the SOLO start retrieving tips at the Al tip position Select Plate Types Select Deck Layout Position Position2 x Position asition3 Pasition2 Plate Type osition4d My384 X Identify the TYPE of PLATE at any of the Plate Positions To change a plate type at any of the 4 positions or to add a plate where the nest was empty click on the down arrow of the box for that position and a list of all the defined plate
47. lt 10 gt SETSYRVOLUME Volume Syringe syringe ID letter Sets the full stroke volume of the syringe in uL Syringe letter is optional and defaults to a Example Command SETSYRVOLUME 125 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETTIPLIMITS Lower Upper Sets the distances mm above and below the defined height of the tip box when the tip mandrel shoulder for P type syringes or the shucking bar for multi tip syringes is at the tip box height which indicates either a jammed mandrel tip the Upper number or an empty tip position the Lower number Reaching Lower figure indicates that the mandrel passed the normal tip press position indicating an empty tip box location while stopping at the Upper indicates that the mandrel has jammed on a tip rim and didn t secure a tip Both are positive numbers The Lower limit is usually set to 0 while the Upper limit should be roughly 1mm less than the length of the mandrel nib Example Command SETTIPLIMITS 0 8 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETTRAVELHEIGHT Zmm Sets the height in mm below the Z axis upper limit position for traveling between positions Usually set to 1 mm Example Command SETTRAVELHEIGHT 1 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt 73 SETVALVEPORT PortNum Syringe syringe ID letter D configuration ONLY Sets the current valve p
48. mount required In order to reduce any effect from pipetting residual volumes at the very lowest end of the pipette tip s range the next to last aspiration step will be limited to 50 of the total remaining aspiration volume so that the last aspiration is also at least 50 of the Max Volume setting The user can browse the computer for the appropriate folder where Source plate files will be found and can browse or simply enter the full path and name of the output file Then before saving the method can select those Target plate rows columns or individual wells which will be blocked from receiving transfers from the Source plate These will be colored black as in the above graphic The user can also select whether to fill the Target plate in Row across the top then down or Column order Pending but un aspirated hit wells on the Source plate are displayed in yellow while completed transfers are shown in green on both plates If the Source Plate s hits have all been transferred or if the Target Plate is full the HitPick Step will end and if this step is imbedded inside a Loop that Loop will end and the Method will proceed with the next step beyond that Loop s End Loop step Usually the Method will have been designed to end here to enable replacing either of the finished plates Not shown in the graphic above are the aspiration and dispensing settings that the HitPick Step has in common with the Aspirate and
49. n select to run a dispense or prime program or to empty the fluid back into its source Dispense and prime programs are configured ahead of time in the Micro10x itself Consult the Micro10x manual for more information on creating and editing dispense and prime programs 3 14 2 Ten WayValve Selecting the Ten Way Valve action for this step will change this step s display to appear as follows Alor ley TE Al Step 1 of 1 Sen x Operate Ten Way Valve Change plate types Ten Way Valve Set Valve Number f4 x A Accessory 1of1 This option allows a SOLOPIlus with an attached Ten Way Valve input for the Microl0x to modify the fluid being dispensed by the Micro10x Execution of the step results in a change in the input valve port on the Ten Way Valve It is recommended to re prime the Micro10x after switching fluids Optionally the user may want to empty the Micro10x before changing fluid sources to conserve liquids 3 14 3 Shaker Nest Selecting the Shaker Nest for this step will change this step s display to appear as follows affus TX Al Operate Shaker Nest CXU wie Shaker Settings Change Plate Types aT aoo RPM Duration 60 seconds Accessory A 1 of 1 This enables the user to set the speed and duration of a shaking action for the nest if it is so equipped 3 14 4 Wait For Input Selecting the Wait For Input action for this step will change this step s display to appear as follows 6
50. n then be saved under the Save As option described Open This option allows the user to open an existing method either to run it or to edit it The default storage folder for existing methods is C Program Files SOLOSoft however a browse window allows the user to for a method file that may be located elsewhere Multiple methods may be open at the same time with the currently active method being the one whose display is out front Close This will close the currently active method the one in front only Close All This will close ALL open methods Save This will save the currently active method only using the path and name shown along the title bar of that method Save As This allows the user to select a different path and or name for the currently active method This new path name will then appear in its title bar Print This will send the currently active method to the user s printer in a text format Exit This selection will close SOLOSoft 2 3 View Menu Toolbar Checking this option displays the Toolbar buttons along the upper left area of the Main Screen immediately below the Menu Bar Unchecking this hides these Status Bar Checking this option displays the status bar across the bottom of the Main Screen Unchecking it hides this bar Enable Logging Checking this option will establish a Method Log File for each method that is run Every step executed by the
51. nside the tip stripping bracket This command first moves to a location 20mm forward of the position in the 71 Y direction then moves horizontally to it Lastly the arm moves to the Z travel height to strip off the tip A permanent non deletable position called TipDisposal would normally be used for this but any position name can be designated Example Command SHUCKTIP TipDisposal lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SPEED Percentage Set all current X Y Z motor speeds to the indicated percentage of maximum speed Example Command SPEED 50 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt STATUS Axis If the optional Axis argument is not provided returns a 1 if all motors including the syringe are homed returns 0 if any or all are not homed If the Axis argument is given X Y Z or P will return a 1 if that axis is homed 0 if not Example Command STATUS X lt 13 gt lt 10 gt Response 1 lt 13 gt lt 10 gt SYRINGE D configuration ONLY Places the user s computer in terminal mode communicating directly with the syringe pump and valve Entered characters are sent directly to the pump valve controller The user can exit terminal mode by typing the cntl Z character Example Command SYRINGE lt 13 gt lt 10 gt Response Type Z to Quit lt 13 gt lt 10 gt 81 TERMINAL Puts the SOLO i
52. nto terminal mode This mode will allow commands to be sent directly to the motors or syringes The user can exit terminal mode by typing the entl Z character Example Command TERMINAL lt 13 gt lt 10 gt Response Type Z to Quit lt 13 gt lt 10 gt 82 TOUCHTIP PointName X_shift Y_shift Z_shift Speed Will move the tip to a location X_shift Y_shift and Z_shift all in mm from the position given by PointName then X_shift and Y_shift from the taught location The value of Z_shift is negative for an upwards shift Speed is optional and is a percent of full speed defaults to last speed command value Example Command TOUCHTIP Position1 4 0 2 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt 83 VERSION Returns the current firmware version Example Command VERSION lt 13 gt lt 10 gt Response Hudson SOLO v3 00 lt 13 gt lt 10 gt 84 WRITEOUT OutputNum State Sets the state of output OutputNum 1 72 to the value of State 1 to turn the output ON 0 to turn it OFF Inputs 1 56 are on the Z world board above 56 are outputs on the M drives Example Command WRITEOUT 58 1 6 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt
53. oFie Da Upwards Aspirate Paint Coulmn Order 41 81 When using liquid level detection the Z shift value in the Aspirate Shift box indicates the distance to move the tip below the detected liquid level prior to aspirating If the tip reaches the Max Depth position without detecting liquid the Aspirate step will end and SOLOSoft will perform its next action DER 3 3 Dispense Step ol This step will move the pipettor to a selected dispense position then dispense the indicated volume of fluid The display shown below depicts an Dispense step expelling 80 uL into well A of a 384 weel plate located at Position4 on the SOLO s deck on its first execution then 75 uL into well C4 on its second execution see the LOOP step below The parameter selections are identical to those of the Aspirate step except for the following Do High Speed Dispense If this box is checked this step will advance between each of multiple dispenses in the step without descending into the well saving time by avoiding that motion Tip Touch is not available if this option is selected Mixing Same as Aspirate step except in opposite order but ends with a dispense as well Blow off This amount will be expelled from the syringe after the last dispense amount in this step is released It is used to blow off a droplets that may be on the tip at the end of dispensing D C
54. on the unit so there is no need to setup anything on the unit See Figure 2 1 Unit ships with mandrel installed Figure 2 1 2 2 Hamilton Pump The Hamilton pump SOLO is disassembled during shipping to prevent damage The glass syringe from the pump is removed before shipping The mandrel for a disposable tip or the fixed cannula tip is also removed before shipping You may need to home the unit first before you can reinstall the Glass syringe The cannula tip mandrel is installed be pulling out the plunger that locks the mandrel into the Z axis assembly See Figure 2 2 Plunger for mandrel Figure 2 2 2 3 Multichannel The Multichannel SOLO is disassembled during shipping to prevent damage The Multichannel head is removed for shipping The Multichannel head is screwed onto the SOLO s z axis Screw the Multichannel head assembly onto the Pipettor drive assembly See Figure 2 3 You will do this by screwing the Blue threaded nut that is attached on top of the Multichannel head to the Threaded post on the Pipettor drive assembly See Figure 2 4 Threaded Nut Figure 2 3 Figure 2 4 After the Multichannel head is installed onto the SOLO you must install the Pipettor Latching Bracket onto the assembly Slide the bracket onto the Multichannel head and line up the mounting holes for the bracket with the mounting holes on the Pipettor assembly Use the supplied thumbscrews to attach the bracket to the Pipettor as
55. osition connecting the needle always port 1 to the selected reservoir ports 2 7 depending upon valve type This will be the port used for a subsequent ASPRATE DISPENSE EVACUATE or PRIME commands Syringe letter is optional and defaults to a Example Command SETVALVEPORT 5 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETVALVETYPE Type Syringe syringe ID letter D configuration ONLY Sets the type of valve 2 to 7 currently mounted on the syringe pump body as follows 2 8 ports 45 deg apart 3 6 ports 60 deg apart 4 3 ports 90 deg apart 5 2 ports 180 deg apart 6 2 ports 90 deg apart 7 4 ports 90 deg apart Syringe letter is optional and defaults to a Example Command SETVALVETYPE 2 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETZCURRENT Zpercent Sets the current level of the Z axis motor to increase or reduce its moving holding force expressed as a percent value in the range 0 100 Example Command SETZCURRENT 50 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SHIFT PointName Xmm Y mm Zmm Adds the indicated distances mm to the saved position of the position PointName The result becomes the new saved position of that point Example Command SHIFT TEMP 9 18 0 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SHUCKTIP PointName Moves the tip to the indicated position name which should be i
56. oves the Z axis downward as the syringe dispenses air causing a pressure wave to back up when a fluid surface is encountered triggering a sensor and halting the Z axis and syringe piston The Z_Speed and Syringe Speed values should set so that the syringe continues to move during the entire Z axis stroke If they are not used default values of 50 are used for each The command returns the word LIQUID or DRY at the end of the movement plus the Z axis coordinate and the syringe piston motion coordinate at the halt position Example Command SEEKLEVEL 30 10 6 lt 13 gt lt 10 gt Response LIQUID 21345 2078 lt 13 gt lt 10 gt SET SourcePoint DestinationPoint Copies the saved position coordinates from the indicated source point name into the position indicated by the destination point name The destination point does not need to exist beforehand Example Command SET Position TEMP lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt SETDECKHEIGHT Position DeckHeight This establishes the distance mm of the surface of the plate nests below the shoulder of the disposable tip mandrel when it is at the low Z axis limit above plate nest Positionx If Position is set to 1 then all plate nest deck heights will be set to this number Should be set to 0 for a SOLO with a fixed washable tip Example Command SETDECKHEIGHT 35 5 lt 13 gt lt 10 gt Response 0000 Success lt 13 gt lt 10 gt 55 SETDIS
57. perform manually The SOLO can be controlled as a stand alone instrument using its easy to learn user software called SOLOSoft Or it can be integrated into larger automated systems using its own Active X control Hudson s SoftLinx scheduling and workcell control software offers such an integrated interface In its standard configuration the SOLO offers 4 plate nest positions for locating labware such as microplates disposable tip boxes fluid reservoirs or other SBS standard labware Two additional locations can be added to either the left or right side of the SOLO to allow a total of six nest locations Mounted on the side is a flush station with a drain upon which is mounted a forked fixture for removing disposable tips An emergency E Stop button is mounted on the front body of the SOLO Pressing this immediately stops all motion of the major X Y Z axes and causes the normally blue pilot light located on the upper arm to turn red While the E Stop button is pressed in arm power is removed from the major axes allowing them to be manually moved by the user We currently carry three configurations of the SOLO chassis The standard configuration includes a either a 125 uL or 250 uL capacity syringe that is mounted on the robot s vertical axis offering individual pipetting volumes from 100 nL to 250 uL and a waste station and a tip shucking station to automatically remove disposable pipette tips The second configuration offers
58. picted in the X YZ Speed box This will be overridden by the value set in any Move Arm step that may follow C Document 1 Set Arm Speed YZ Speed 100 SetSpeed 1 of 1 3 10 Prime Step The Prime step allows a user to prime or evacuate D type syringe liquid lines or to position a P type syringe piston at a desired position at the start of a method or even at intermediate places in a method The display for a SOLO equipped with a D type syringe appears as follows C Document 1 Ajj TX Al Prime Syringe tow Bd lI wje Priming Position Fuh at Change Plate Types Syringe Speed 2 Moo Dispenser Pipettor Syringe fuL Valve Port 1000 x 2 PRIME C EVACUATE Total Yolume ful TotalNo Strokes 1 9 mon ogether A SOLO can have multiple D type syringe pumps up to 10 and this step allows any individual syringe pump to be exrcised or all at once If all are exercised at once the Total Volume selection is greyed out and only the Strokes selection is allowed Also the valve port selection must be the same for all The display for a SOLO equipped with s type P syringe appears as follows C Document 1 alejas TOX A Prime Syringe Bd il vi Priming Position Flush Syringe Speed 100 fa Change Plate Types Pipettor FILL Syringe EMPTY Syringe C Aspirate Volume C Dispense Yolume The user make elec
59. r port at port no 11139 If successful it holds that port and can be connected via that port to any client application If not successful with port no 11139 such as when another instance of SOLOSoft is running this instance of SOLOSoft will advance the port number by 1 and retry It will retry up to 50 times advancing the port number by 1 with each failure If none of these 50 port number succeeds the error message Cannot open TCP IP Socket will be displayed A client application can connect with SOLOSoft by attempting to connect over the same socket port that SOLOSoft has opened starting with11139 then advancing by 1 if this fails until a connection is established Once a connection is established a client application can send the following messages to control and query SOLOSoft Each command to SOLOSoft consists of a command string ending in a binary 3 ETX SOLOSoft will send a reply containing the data requested or if no data is requested SOLOSoft will send the string 0000 lt ETX gt to confirm a valid command was received The client application must then send the response string OK lt ETX gt which tells SOLOSoft the client has received SOLOSoft s message If the client sends an invalid command SOLOSoft will respond with 0001 Unrecognized Command lt the commandstring it received gt lt ETX gt If a command has arguments the first argument is separated from the command by a space while the individual ar
60. rial port to control the shaker using the Shaker tab in the Communications display form Micro10 r Teleshake Port Communications Port fk none gt Test OK Cancel Apply Microl0x Accessory If the SOLO has the Micro10x Accessory the user would setup the serial ports to control the Micro10x and if equipped Ten Way Valve using the Micro10 tab in the Communications display form Shaker Micro10 r Micro1 0x Communications Port lt none gt Test r Ten Way Valve Communications Port Test OK Cancel Apply 2 5 Window Help Menus The Window menu enables the user to manipulate the window display patterns familiar to users of MicroSoft Windows products The Help menu s About option will show the current version of SOLOSoft 3 Developing SOLOSoft Methods 3 1 Overview SOLOSoft enables the user to create save and run pipettor processes called methods A method consists of a series of sequential actions called steps that the SOLO will execute when that method is run Methods are created and modified using a drag and drop editor that is started when the user opens a new method or an existing one using the File Menu described above Using the File Menu to select the New option will display the following screen Afete TIK Al SON w vix B Change plate types The user adds each desired method
61. rmined by which type of position is to be aspirated from Aspirate from Plate Position The volume to be aspirated from each well can be imported from a comma separated text file with a row column format that matches the plate type selected for this position e g 8 rows of 12 values each for a 96 well plate This file lists each row on a separated line with each column s value separated by a comma resulting in a file similar to that shown below for a 96 well plate 50 58 66 74 82 90 98 106 114 122 130 138 51 59 67 75 83 91 99 107 115 123 131 139 52 60 68 76 84 92 100 108 116 124 132 140 53 61 69 77 85 93 101 109 117 125 133 141 54 62 70 78 86 94 102 110 118 126 134 142 55 63 71 79 87 95 103 111 119 127 135 143 56 64 72 80 88 96 104 112 120 128 136 144 57 65 73 81 89 97 105 113 121 129 137 145 The file for a 384 well plate would have 16 rows of 24 values each For multi tip operation only values for wells addressed by first tip of multi tip head are taking in consideration Tips on the head are counted from left to right See bellow file list for aspirating with 12 tip head P12 from 96 well plate 50 50 50 50 50 50 50 50 50 50 50 50 42 42 42 42 42 42 42 42 42 42 42 42 30 20 20 20 20 10 10 10 10 Well positions that have zero or negative volume values will simply be skipped The SOLO will aspirate from the number of non zero wells determined by the Multiple Wells setting
62. s graphic image C C HudsonSOLO Wocument 1 hso DER aS etse VX Source Plate Syringe uL Target Plate 15 S amp L Bl Costar 96 Costar 96 Change Plate Types Shaker Max Volume per No of Target Wells Aspiration per Source Well 50 ul 2 RE Source Plate Aspiration Target Plate Dispensing Select Source File Folder Select Output File Full Path C HudsonSOLO Browse C AHudsonSOLO HitPickDutput csv Browse Diper Source Plate Barcode None Target Plate Barcode None Fie oS eb dimari kapa a G a Ooo HitPick 6 of 7 DVOZEZrAC LOMMowLE HOOOUOOUOOOOUOO00U O000m O0 BGRRREEE OOUO8OO0O OOUOU8Oo O000MO OOO0OMmL aaa ae Increment Order Row Order 4142 C Column Order 41 81 Start by Emptying Syringe Syringe Speed Pre Aspirate Backlash Syringe Speed Blow off Backlash 4 The user can select a Maximum Volume per Aspiration to allow the use of pipette tips that may be smaller than the amount needed to complete the transfer and may set the number of Target Wells per Source Well The SOLO will only aspirate up to the Max Volume each time If more than one Target Well is to be filled per Source Well the SOLO will divide that maximum volume by the number of 41 target wells and dispense equal amounts in each until they receive the full a
63. sembly See Figure 2 5 9 9 Thumbscrews for bracket H amp l Pipettor Latching Bracket Figure 2 5 3 Accessories The SOLO has several options that can be purchased in additional to the SOLO they are the following 1 Heating Cooling Nest 2 Shaker next 3 SOLOPlus SOLO w attached Micro10x Section 3 1 Heating Cooling Nest The Heating Cooling Nest accessory comes pre attached onto the SOLO chassis The power and communication cables are not attached to the unit when it is shipped Remove them from the shipping crate and install them on the Cooling Heating Nest See Figure 3 1 Figure 3 1 Section 3 2 Shaker Nest The Shaker Nest comes shipped separately from the SOLO The Shaker Nest has the same alignment holes that are located in the standard nest plates To install the Shaker Nest remove on the nest location and install the Shaker Nest in that location Plug in the supplied power communication cable into the Shaker Nest Plug the communication cable into an available comport on the computer Section 3 3 SOLOPlus The SOLOPIlus option is the addition of a Hudson Robotics Inc Micro10x reagent dispenser that is attached to the side of the SOLO See Figure3 2 The SOLO is equipped with an alignment bracket that is attaches the Micro10x to the SOLO chassis This alignment bracket can be mounted in the front position of the SOLO so that the Micro10x nest is located at the SOLO dec
64. ston continuously until the user clicks on the Halt button The No Strokes box can be checked and the desired number of dispensing strokes entered as another operation option Calibrate Deck This option allows the user to create teach save or delete robot positions within the working area of the SOLO s 3 axis robot arm as well as to jog the arm within that work area Clicking this option will produce the following screen display Deck Calibration Position Name Jog Robot Current Location steps X Axis Select a Position to Calibrate Position1 Axis Position2 Position Position3 Position Coordinates steps Y Axis la YAnis i Hua 5 Position4 ann Z Axis Position5 ae Z Axis Position6 p TipDisposal Y Axis 0 Save Point 0 at Flush Current Location C steps Set Plate Skew Move To Delete Selected Position le ing Home Change Speed Relax Motors Add New Position D a Z Axis Positions should be programmed with the needle tip or disposable pipette tip at the very top surface of the labware being addressed The first 8 position names in the list are PERMANENT and cannot be deleted however the user can re locate them anywhere within the work area of the robot however they are intended to be located properly for use in the SOLO s plate nests and tip shucking flushing stations as follows Position the lefthand rear plate nest location It should be programmed wi
65. t to position the syringe piston at the very top of its stroke FILL or position it at the bottom of its stroke EMPTY Alternatively the syringe may be moved by a selected amount in uL either up Aspirate or down Dispense 3 11 HitPick Step available ONLY for single tip operation modes Th The HitPick Step provides the user with a convenient way to consolidate the contents of selected wells from one or more source plates into one or more target plates This step can be used for cherry picking rearraying and re formatting from one size plate to another The HitPick step is setup much as if it were an Aspirate Step and a Dispense Step combined into one The user choices as to the syringe selection syringe speed X Y Z offsets and Tip Touching are similar to those in the Aspirate and Dispense Steps described above and are not repeated here The user must select the Source plate s position out of the available plate nest positions 1 through 4 and the target plate s position These selections will also define the type of plate that will be present at each of these positions while running just as in the Aspirate or Dispense Steps above The major differences between the HitPick Step and the Aspirate or Dispense Steps are a The Source plate s data ALWAYS comes from a CSV file for which the user selects the folder where the source file s will be found The Target plate s information is derived from a blocking p
66. th a disposable tip pressed onto the syringe tip mandrel in the case of a SOLO with this option or using the fixed tip It is intended to be programmed in the exact center of well Al of a 96 well plate located in that nest position Al being located in the rear left corner of the plate nest for Landscape layouts in the right rear corner of this nest for Portrait layouts Upon clicking the Save Point screen button SOLOSoft will save this point name with the current X and Y axis coordinates and set the Z coordinate equal to the Z axis current travel height setting This Z axis setting applies to all 4 or 6 for Portrait layout of the plate nest positions listed here Position2 the lefthand front plate nest position Position3 the middle rear plate nest position Position4 the middle front plate nest position PositionS the righthand rear plate nest position Position6 the righthand front plate nest position Flush located with the tip in or above the waste drain fixture TipDisposal located where the syringe tip is within the tip stripping fixture with the forks of the fixture surrounding the syringe tip mandrel and just above the top of a disposable tip so that an upward movement of the robot will strip off the disposable tip The coordinates of any position selected from the list along the left will be shown in the box entitled Position Coordinates steps The user can
67. the box Liquid Level Detect box which will cause the pipette tip to seek the surface of the liquid in the well or vessel being aspirated If this is checked a text box labeled Max Depth mm is shown The user should enter the maximum depth of the tip below the upper rim of the well or vessel below which it will not proceed if no liquid is detected If aspirating from a defined microplate and the entered Max Depth value exceeds the Plate Depth value that plate s Plate Depth value will be used so as not to drive the tip beyond the bottom of the well A typical display showing the Liquid Level Detect feature is shown below C C HudsonSOLO seek hso yl et ey oe lI Change T Aspirate from Named Point Tt Y Shit o Y shit o 2 of 3 a S a m Increment Order Z Shift 2 ZShift o S A Syringe uL IV Start by Emptying Syringe 1000 Mixing TrayLid F Gal i Syringe Speed Pre Aspirate r Me a 3 100 20 u E uL 1 4 Dees X Y Aspirate Shift amounts are measured from the o Steps TAUGHT POSITION Z Shift is from the liquid level a Multiple Wells Max Depth mm 12 i of Enter the IV Liquid Level Detect I Do Tip Touch Select Type of Source number of wells Aspirate Shift mm Tip Touch Shift mm to be aspirated Aspirate from Plate Position on each pass Shift o X Shift 9g Plate Types Switch to File Data Positive Z is Shift from DE Td _Swichi
68. tioning Precision X axis 0 025mm Y axis 0 025mm Z axis 0 004mm Motion Range X axis 594mm 23 3 8 Y axis 244mm 9 5 8 Z axis 101mm 4 Liquid handling features Pipetting v Bulk Dispensing N A No of fluid sources N A Syringe size 125 250uL 13 Wash Pump Delivery of wash solution by peristaltic pump Flow 7 14 21 28 mL Software adjustable Safety features Password protection Emergency Stop E stop Button located on the front of the dispenser chassis Dimensions W 556mm 30 x D 483mm 19 x H 610mm 24 Weight 27 kg 60 Ib Power requirements Power 60VA Voltage 100 240VAC Frequency 50 60HZ Operating conditions Temperature 15 32 C 59 90 F Relative humidity 30 80 non condensing Regulatory compliance Computer requirements PC with Microsoft Windows XP or Microsoft Windows7 Intel Pentium 4 or AMD equivalent Free disk space 25 MB RAM 512kB 1 RS232 port or 1 USB port SOLO Multichannel Hardware features Arm configuration Multiple liquid handling arm Tip configuration 12 or 8 Channel Disposable tip Tip variety Disposable tips with or without filters 20 or 200 uL Positioning Precision X axis 0 025mm Y axis 0 025mm Z axis 0 004mm Motion Range X axis 594mm 23 3 8 Y axis 244mm 9 5 8 Z axis 10

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