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1. The operations allowed are loading or clearing a dictionary from a diskette modifying and saving it or just viewing its contents Observation when a new program is created it must be saved into the current dictionary before exiting the system and switching it off If not it is lost 68 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA OCH KONST KTH 6 6 Getting started All the programming we have done is On line This chapter deals about how to succeed in programming and editing existing programs but first it is necessary how to start First of all switch all the equipment on the robot the controller the PC and the different stations to be used Then a screen like the following one will appear Pict 40 introduction screen Press System V On line option The Main Menu will be displayed Sanple Data Module Setup yiten Systen V On line Operation 2P100 ZYNATE 11 v2 1 ROBOT S N 05506 nodified by Jor chan The Systen U Controller is currently dle Pict 41 System V Online Main menu If not the next message is displayed The System V Controller is not responding Press a key to continue To solve this insert a diskette that contains a dictionary in the controller press the RELOAD button on the front panel of the controller and press any key Then the previous screen will appear picture 41 69 ms Campus de Terrassa sr UNIVERSITAT POLIT CNICA DE CATALUNYA
2. Wire connection for the evaporation station Black wire ground Orange wire input 7 Brown wire switch 5 Red wire switch 6 please look at the pictures above Instructions for this station put into evaporator the robot performs the manipulations to put the current container attached into the station in the position pointed by the variable EVAPORATOR INDEX The evaporator arm is swung to the side allowing access to the heater block After this the gas purge tubes are lowered and the gas is turned on A Observation the evaporator heater must be manually turned on get from evaporator the evaporator arm is swung pneumatically up and to a side and the tube is taken from the position pointed by EVAPORATOR INDEX Variable for this station evaporator index 1to6 This variable is used to specify the particular container position in the heater block This value is set or modified by using a math assignment statement such as EVAPORATOR INDEX 4 35 di Versa Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH Demonstration program for the EVAPORATION station Name of the program JOOCHAN EVAPORATOR Description this program gets a cristal tube from the Tumble Mixer rack and places it into the Evaporator station in order to evaporate its contents After 5 seconds it is taken back to the rack display off get hand a get from centrifuge prompt Insert evaporatior p
3. no This parameter is used to specify whether the cap is discarded after it has been removed from the container 38 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA mi D KTH Demonstration program for the CAPPING 16x100mm Tube station Name of the program JOOCHAN CAPPER Description this program takes a test tube cappes and uncappes it and finally the tube is taken back to the rack to the position pointed by the user display off get hand a get from centrifuge takes a test tube from the Tumble Mixer station put into capper cap performs capping get from capper put into capper uncap performs uncapping get from capper prompt Enter destination position Rack 2 1 to 50 input rack 2 index put into rack 2 park hand The previous high level functions include some basic instructions such as c get cap takes a cap from the storage place C park cap brings the cap to the store place again c open capper opens the claws of the capper to keep the tube C close capper once the tube is released the claws get closed Observation in order to perform the capping a plastic tube must be used and a plastic cap must be placed onto the station store This plastic tube must be located in the Tumble Mixer station not in an ordinary rack That is why the instruction get from centrifuge is used 39 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp
4. 6 test tubes are taken back to their former position in the rack Observation indexes must be updated before exiting the loop If not wrong operations are performed display off rack l index 1 evaporator index 1 get hand a do6times The loop is done 6 times Q get from rack 1 put into evaporator rack l index rack l index 1 updating indexes evaporator index evaporator index 1 enddo rack 1 index rack 1 index 1 evaporator index evaporator index 1 do 6 times get from evaporator put into rack 1 rack 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 82 di iw Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH Demonstration program for pausing Name of the program JOOCHAN PAUSE Description this demonstration program asks for the amount of time that the System is going to wait for It is saved on a variable created by us named joochan pause During that time in seconds the system will do nothing but waiting display off prompt Insert pause time input joochan pause timer 1 joochan pause wait for timer 1 83 iw Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH Demonstration program for condition IF THEN Name of the program JOOCHAN DEMO IFTHEN Description this demonstration program takes a test tube from the
5. A Observation the balance must be manually set When the electric power is on for the first time the balance is off Therefore the operator must push the black strip on the border of the device just below the light panel to switch it on Instructions for this station put into balance the robot places the current tube in the hand into the balance The pneumatic door is opened and the tube is put into Then the door is closed When the balance has become stabilized weight is taken obtain weight the weight value of the container is stored in a read only variable called WEIGHT VALUE To get the weight shown on the screen command printc is needed move over balance the robot moves the current hand A K or ISTD HAND over the balance and the balance door is opened This is a useful instruction when delivering a pippeted sample into the balance tube for example get from balance the robot removes the container from the balance Variable for this station weight value the weight value is kept in this read only variable 32 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA a t P Demonstration program for the WEIGH station Name of the program JOOCHAN BALANCE Description this program gets a test tube and displays its weight on the screen display off it is used to make the current program lines not to appear on the screen get hand a gets the proper hand to take a tube afterwa
6. so that the system knows that a new station has been placed there 22 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA mbling amp Programming a robot for pharmaceutical purposes 4 3 Detailed information on each station HAND A Description The general purpose hand station provides the capability to grasp and move containers from 9 to 16 mm from station to station around the benchtop and is also used with the Capping Station Location from sector 46 to sector 47 on the plate amp Moved afterwards to sector 21 22 on the Pyplate this operation has been performed in order to show how a station position must be retaught when is placed into another different location See chapter 6 8 for more information Pict 12 hand attachment Instructions for this station get hand a the system checks to see if a hand is on the robot If there is a hand and it is not the requested hand this hand is parked Afterwards the robot attaches the hand the system determines what hand is attached to the robot and performs the manipulations to park the hand Then variable S HAND ID 0 no hand attached park hand 23 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes HAND K pippeting Description this station can transfer 0 2 to 2 0 ml of liquid using 2 ml disposable pipet tips between user designated sample sour
7. such as SETUP TEST and PYSECTION INFO is a program included on each EasyLab disk supplied by Zymark that allows the user to manually align the Pysection station that was last PYAPPENDed with respect to the robot in the chosen sector is a program included on each EasyLab disk that allows the user to test the operation of the station that was ast Pyappended PYSECTION INFO is a program included on each EasyLab disk that provides specific documentation for the station that was ast Pyappended This program is intended to be read on screen or printed 66 VETENSKAP Campus de Terrassa oi UNIVERSITAT POLITECNICA DE CATALUNYA KTH 6 3 Zymate Files There are several MS DOS file types used by the zymate System V controller files installed on the PC hard drive or on a zymate boot diskette when PCSETUP run i e SYS5 EXE SYS5 HLP files installed in controller memory when you boot the controller from the System Disk or a Controller boot diskette ZYO ZOS INTP ZMD These files MUST EXIST on all controller boot diskettes in order to successfully operate the system ZYO ZOS is a file that contains the zymate Operating System INTP ZMD interprets all Easy Lab commands and variables EXEC ZMD provides screen information to the PC PCPRINT ZMD gives access to the parallel printer port on the PC files containing a zymate dictionary ZYD file are created when a controller dictionary is saved to a diske
8. Ma Uieu Cha Date 1 SELECTION Ai oe cr Match ote Date Entry Beal Date Select Date Entry Press lt i gt for help Pict 55 creating new data System In this section dictionary information and related items are saved After creating a new program it must be saved into the dictionary Otherwise it is lost when switching the controller off ata lodule SetUp Systen V On line Operation v2 1 ROBOT S N 05506 modified by Jor chan en U Controller is currently idle Fi gt for help Pict 56 entering System menu from the Main Menu A complete section is unfolded The main functions are System Status this section is only about the amount of memory and memory available anple Data Module SetUp Systen U On line Op Te MATE 11 v2 1 ROBOT S N 05506 Load Mire The System U Controller is c Pyappend dictionary Edit Title Save dictionary Copy ZYD PC lt Systen U Copy 2YD PC gt Systen U Vieu dictionary SeCurity Fornat Diskette Pict 57 introduction screen 75 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes Load Dictionary enter this menu each time you run the system for the first time Pyappend Dictionary when some information in another different dictionary is to be included in the current one you must append its contents It is also needed when re programming a previously removed station becau
9. a conditional or GOTO statement before the loop has completed 78 VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 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 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 EasyLab Program lines are executed in the order 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 GOTO statements are program level sensitive A GOTO statement must refer to a numbered statement whitin the same program The numbered statement referred to by a GOTO statement is always searched for from the beginning of that program GOTO statements should be programmed logically to avoid creating endless loop
10. centrifuge and takes it to the capper station If the tube is capped it is known by consulting the value of an internal variable named c c capped then it is uncapped If not it is capped and is taken to rack 2 display off get hand a get from centrifuge put into capper if c c capped 1 then 11 when c c capped 1 the tube is capped cap goto 100 uncap get from capper rack 2 index 1 put into rack 2 park hand 84 iw Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH Demonstration program for inconditional jumping GO TO Name of the program JOOCHAN DEMO GO TO Description this demonstration program asks for typing YES or NO and its value is transferred to a variable created by us named joochan time If the answer was Yes 1 it is the value stored in the variable called yes see Sample Data gt View Change Data gt Yes the time is displayed clock If not No 0 the program is finished by jumping to the end code line number 100 display off prompt Write YES to see the time or NO to exit input joochan time if joochan time 0 then 100 clock gotol An inconditional jump to line 1 is executed amp 85 Vernar Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 6 8 Reteaching positions when a station is placed into a different location For hand a A dictionary must be already loaded Goto Modul
11. containers 55 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA mi D KTH Demonstration program for the RACK 2 Name of the program JOOCHAN RACK 2 Description this demostration program gets hand A and asks for the source position where the test tube is The robot gets it and puts it into the same rack in the position entered by the user display off get hand a prompt Insert 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 Observation rack 2 index must be set before executing get from rack 2 order If not the test tube will be taken from the last position pointed by rack 2 index 4f Remember cristal tubes are kept in this rack Do not place any other type of tube plastic tubes since the robot is not able to take them from here Otherwise an error message will appear 56 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes DISPOSAL Description this section provides for the discarding of used disposables sucha as pipet tips extraction columns screw caps A waste bag must be attached under this station to receive the discarde items Location from sector 2 to sector 3 on the plate Pict 34 view of the diposal station Instructions for this station di
12. from balance performs the movement to get the test tube from the balance get from capper once a tube has been capped uncapped it is taken by the hand A get from crimp capper to take a capped tube from this station get from evaporator takes a tube from the evaporation station get from tumble mixer get from vortex takes a tube from the vortex station get from vortex nunc not used Imminent crash possible rss Campus de Terrassa oi UNIVERSITAT POLITECNICA DE CATALUNYA KTH 2 5 Reteaching again the positions when a station is removed Once a station surronding the robot has been removed and assembled again in a different location than when mounted for the first time the positions concerning that station must be retaught E If the station is reassembled in the same place than before only fine tuning is needed a station PyStation is one of the elements that surround the robot such as the balance or the racks mY Observation two complete examples have been done to show how to perform this operation Please go to chapter 6 8 for a complete walkthrough amp Teaching positions when a station is removed 1 Print the PYSECTION INFO program for the current section The listing of the positions to be taught may be found in the Rack Definitions portion of the printout Observation for the Centrifuge station go to Direct Control From Direct Control type DEL F AT ROTOR This deletes
13. of 540 Kbytes Disk drive 3 Y floppy Processor 80C188 processor Clock speed 10 Mhz Power 100 120 volts 220 240 volts AC 50 60 Hz 20 BB Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 3 3 Wire connections Pict 9 rear part of the controller socket plug connected to electric power connection for the hand controller to the 2nd power and event controller bj rn to the PC labeled there as D h vsorn Not connected to the robot see picture on left igelkott Connected nowhere no card inside to the vortex station to the balance to the Z410 capping station to the power and event controller fluga to the centrifuge station Pict 10 rear part of the PC ZI AC IOTmO OU Pict 11 front view of the robot Vernar Campus de Terrassa vier UNIVERSITAT POLITECNICA DE CATALUNYA KTH 4 STATIONS 4 1 Introduction The combination of the different stations that surround the robot in the plate allows it to perform nearly any type of activity for pharmaceutical and chemical purposes such as weighing fluids or solid substances pippeting mixing evaporating solvents in the samples or capping for instance Pippeting technical term used in chemistry for designating the act of sucking up a fluid with a tip from a container and then delivering it into another container Each one of these stations are located in a s
14. radius 0 00 to 2 0 mm overlap max Vertical 0 5 mm max Reach 0 5mm max Wrist 6 in radius 1 0 mm max Warm up Error Rotary Axis 27 in radius Zero 0 degrees lt 0 5 mm Span 360 degrees None with AccuTrak Temperature Error Rotary Axis 27 in radius Zero 0 degrees lt 0 5 mm Span 360 degrees 1 0 mm 10 C typical Operating Characteristics Axis Displacement Rotary 376 4 Vertical 34 0 cm 0 5 cm Reach 32 0 cm 0 5 cm Wrist 550 1 185 to 365 Reach Radius at maximum 27 0 68 cm typical with general purpose hand Transfer Speed time to transfer a container from one position to a second position includes a rotary move of 90 four vertical moves two grip moves and one reach move 3 seconds Axis Operating Forces typical force vs position error Rotary 0 4 oz 0 1 at 27 radius Vertical UP 1 3 kg 2 mm error DOWN 0 4 kg 1 mm error Reach 0 4 kg 1 mm error Axis Stall Forces typical maximum force required to stall an axis Rotary 1 4 kg at 27 radius Vertical UP 9 kg DOWN 14 kg Reach 4 kg Wrist 10 in Ibs Cycle Time 1 5 sec forming a box moving 2 54 cm up 30 5 cm across 2 54 cm down and back gt Material Specifications Drive Cables Material HT SS 7 bundles 19 strands bundle nylon jacket Rating 160 Ibs used at 15 Ibs typical Bearings Type ball or tapered roller bearing assemblies Lub
15. this position from the dictionary in preparation for reteaching the position at the Cntrifuge s new location 2 Prepare to reteach the rack positions by entering the Bench and module setup screen for the robot 3 Press 9 for the Define Rack option and reteach the rack coordinates Observation for HAND A press 9 for the Define Rack option and reteach Z CLEAR HAND A or Z CLEAR HAND 2 Observation II for the Centrifuge station press 9 and follow the on screen prompts to create the new position F AT ROTOR 3 1 When the screen says The rack exists Do you wish to Change C or move it Press C 3 2 Single positions exist as two position racks with both positions occupying identical locations in a 2 row x 1 column matrix 3 3 While teaching the rack positions gently tap each side of the robot wrist box to confirm the hand s positioning 4 Perform step 3 on all rack definitions taught to the system as a rack Observation for HAND A reteach absolute position Z AT HAND A or Z AT HAND A 2 This position is defined with the wrist coupling against the back of the hand actually against the back of the monument since the monument should be used when teaching this position When complete remove the monument and place the hand in its parking position 5 When all rack definitions have been retaught go to Direct Control type Test and press Enter 6 Verify the correct performance and repeat this process
16. 7 Problems and solutions B8 Conclusions B9 References 88 89 90 di oct KONST 4 x Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA ABOUT THE AUTHORS OF THIS REPORT Teachers In Sweden Name Jorge Montero Lopez Career Industrial Engineering on Industrial Electronics Home university Escola Universitaria d Enginyeria T cnica Industrial de Terrassa EUETIT Terrassa Spain University in Sweden Royal Institute of Technology Kungl Tekniska H gskolan KTH Campus syd S dertalje Sweden Name Jordi Rod Sarr Career Industrial Engineering on Industrial Electronics Home university Escola Universitaria d Enginyeria T cnica Industrial de Terrassa EUETIT Terrassa Spain University in Sweden Royal Institute of Technology Kungl Tekniska H gskolan KTH Campus syd S dertalje Sweden Name Mr Christer Albinsson Subject Microprocessors Real Time Systems Embedded systems amp Digital Design University Royal Institute of Technology Kungl Tekniska H gskolan KTH S dert lje Sweden In Spain Mr Albert Masip Jorge Montero s teacher Department of Automation amp Industrial Computering Mr Emiliano Aldabas Jordi Rod s teacher Department of Digital Electronics Versa Campus de Terrassa Fe UNIVERSITAT POLIT CNICA DE CATALUNYA KTH Assembling amp Programming a robot for pharmaceutical purposes A IN
17. ALUNYA Assembling amp Programming a robot for pharmaceutical purposes RACK 1 11 mm vial Description this section provides storage for 11 mm Gc vials Each container in the rack 50 positions has an associated volume and capped status that is updated when the container is taken and moved around the benchtop The test tubes held in this rack must be taken with hand a Location from sector 4 to sector 7 on the plate amp Moved afterwards to sector 17 20 on the Pyplate this operation has been performed in order to show how a station position must be retaught when is placed into another different location See chapter 6 8 for more information Pict 31 Rack 1 Rack definition Positions in the rack are numbered from position 1 to position 50 like this Pict 32 Rack positions VETENSKAP Campus de Terrassa oi UNIVERSITAT POLITECNICA DE CATALUNYA KTH Instructions for this station get from rack 1 a container is taken by the hand from the rack at the position defined in the variable rack 1 index put into rack 1 the robot puts the container into the rack at the position defined in the variable rack 1 index Variables for this station rack 1 index from 1 to 50 This is where the current test tube must be taken from or to be placed in initial volume rack 1 0 to 12 ml 0 as the default value This is the initial starting volume in ml for each tube in the rack If the rack
18. CA DE CATALUNYA KTH Demonstration program for the WHOLE equipment cont printc weight value joochan after weight value joochan added joochan after joochan before prompt Added liquid printc joochan added get hand a move over capper cap get from capper put into rack 2 get from balance put into vortex vortex speed 1 50 vortex on park hand get istd hand aspirate istd move over vortex vortex off dispense istd vortex speed 1 100 vortex time 10 vortex timed run park hand get hand a get from vortex put into evaporator pause10 get from evaporator put into centrifuge timer 1 20 wait for timer 1 get from centrifuge put into rack 1 park hand 60 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes 4 5 GENERAL VIEW OF THE ROBOT AND THE STATIONS 61 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA KTH Assembling amp Programming a robot for pharmaceutical purposes 5 POWER amp EVENT CONTROLLER PEC 5 1 Introduction The Power and Event Controller PEC interfaces with devices that supplement the operation of other stations The Power and Event Controller provides control for devices used in Crimp Capping Evaporation etc Each Power and Event Controller provides programmable control of 8 output Switches 8 logic inputs 2 AC On Off power outlets 1 variable AC power outlet and an analog di
19. E CATALUNYA KTH Demonstration program for the CENTRIFUGE station Name of the program JOOCHAN CENTRIFUGE Description this program display off get hand a prompt Insert source position Rack 1 1 to 50 input rack 1 index get from rack 1 prompt Inster centrifuge position 1 to 6 input centrifuge index put into centrifuge pause10 f vol output 1 in the rack there is no container get from centrifuge prompt Inster destination position Rack 1 1 to 50 input rack 1 index put into rack 1 park hand 45 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA VETENSKAP OCH KONST KTH LIQUID LIQUID STATION Description this station 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 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 Location from sector 15 to sector 16 on the plate Observation this station has not been used in this project as a liquid feedback is needed An error message would appear if using this station without fluids Nevertheless the instructions needed will be added if in a future this feedback is included 46 VETENSKAP Campus de Terrassa oi UNIVERSITAT POLITECNICA DE CATALUNYA KTH Connections PEC blac
20. ITECNICA DE CATALUNYA OCH KONST KTH By entering in Methods and selecting Execute a Prog Sanple Data Hodule SetUp EXecut og Systen U On line Operation Edit Prograns TE 11 v2 1 ROBOT S M 05506 modifie Manual Control je Systen U Controller is currently Press lt Fi gt for help Pict 44 Running an existing program a list of all the different programs is shown aple Data M ADJUST CAPPER Pict 45 List of all the available programs Place the lighted bar over the program you want to run and press enter make sure before this that all the devices have the elements to work properly such as pressured air or electric power By entering in Methods and selecting Edit Programs the programmer is allowed to modify an existing program This is useful when a program that has recently been created need some changes due to failure in working Pict 46 Editing an existing program I 71 Campus de Terrassa OCH KONST UNIVERSITAT POLIT CNICA DE CATALUNYA KTH Assembling amp By doing so a new sub menu is unfolded amp Programming a robot for pharmaceutical purposes Edit program entry a list with all the existing programs is shown and by pressing again on a selected name the program can be modified see pictures 47 and 48 Create New program new programs are created here Rename Program entry if the name of a program is to be changed Delete Program Entry to delete an
21. KTH sembling amp Programming a robot for pharmaceutical purposes In order to perform any activity loading an existing Dictionary is required before In the Main Menu go to System and press the Load Dictionary option Sanple Data Module SetUp System U On line Op Systen St tus 2ZYMATE 11 v2 1 ROBOT S N 05506 Load dictionary The Systen U Controller is c Pyappend dictionary Edit Title Save dictionary Copy ZYD PC lt Systen V Copy ZYD PC gt Systen U Vieu dictionary SeCurity Fornat Diskette Pict 42 loading a dictionary is required before any type of programming A list of all the existing dictionaries will be displayed Select a dictionary Joochan zyd in this case and press Enter Sanple Bata Bodale Set p E tea Pict 43 name of the dictionary saved in a diskette Now all the variables and programs concerning the robot and the stations are available and loaded into the system Press Escape and come back to the Main Menu On the top bar of the Main Menu pict 41 different programming sub menus are shown Methods 3 possibilities are given Executing a Program Edit Programs Manual Control Sample Data is were all the variables are kept Module Setup all the information concerning the modules is there This section is needed when a station must be placed somewhere else System dictionary activities must begin at this point Quit 70 Campus de Terrassa UNIVERSITAT POL
22. Operation Edit Prograns TE 11 v2 1 ROBOT S N 05506 nodified t Manual Control JOEL E rai Press lt Fi gt for help Pict 61 manual control is useful after creating new programs 77 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA sj B KTH 6 7 Loop amp Conditional commands Loop and conditional commands are commonly used when programming They allow to repeat an action for a concrete number of times loop sentences or execute an action only when a specific condition is true conditional sentences In this chapter the main instructions are explained and by moving forwards for some pages demonstration programs are given 6 7 1 Loop commands 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 The DO and ENDDO statements frame the section of program they affect All DO statements are not affected by an ENDDO statement within the same program This is they are program level sensitive An active DO statement is not affected by an ENDDO statement appearing in another program If a number 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 Under DISPLAY OFF the number of the loop being executed is still displayed DO Loops can be exited using
23. Programming a robot for pharmaceutical purposes VORTEX STATION Description this Dilute amp Dissolve station is used to dispense up to 3 discrete liquids into a container Liquid addition can be followed by a vigorous vortexing action shaking to spped mixing and dissolving Liquid addition without vortexing and vortexing without liquid addition is also possible Location from sector 23 to sector 25 on the plate Pict 27 vortex station and Input amp Output tube containers Connections Pict 28 electric connections 40 VETENSKAP Campus de Terrassa oi UNIVERSITAT POLIT CNICA DE CATALUNYA KTH Instructions for this station put into vortex the robot places a container into the vortex station get from vortex the robot takes the test tube from this station This command includes vortex off So if get from vortex is executed when it is on it will automatically stop vortex on this command makes the test tube be shaked This activity is on until the user writes vortex off or get from vortex vortex off if the votex is on then it will stop move over vortex the robot places the test tube just above the station vortex timed run variable vortex time must be linked to a value before executing this command For example vortex timed run 4 Then the test tube will be vortexed for 4 seconds V On low level instruction included in vortex on to start vortexing V Off low level in
24. TALUNYA KTH Variables for this station pipet volume 0 2 to 2 0 This variable is used to specify the volume of liquid to be aspirated from the container below before executing the ASPIRATE 2ML TIP command air gap 1 volume 2ml 0 to x The defaul value for this variable is 0 025 aspirate 2ml pause time 0 to x The default value is zero This parameter s value indicates how long in seconds the system will pause while aspirating liquid into the pipet tip dispense 2ml pause time 0 to x The default value is zero min 2ml pipet volume 0 2 The default value is 0 2 max 2ml pipet volume 2 0 The default value is 2 0 25 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA mi D KTH Demonstration program for the PIPETTING 2 ml TIP station hand K Name of the program JOOCHAN HAND K Description this demostration program gets the pippeting hand Hand K and a 2 ml tip from the pippeting station Afterwards the tip gets stuck into the hand and a certain volume decided by the user is sucked from a test tube and released into another tube both decided by the user as well display off get hand k takes the proper hand get 2ml tip takes a tip from the station storage prompt Insert source tube position Rack 2 1 to 50 input rack 2 index links the number typed on the keyboard to the variable rack 2 index move over rack 2 performs the movement prompt Insert aspiration vol
25. TENSKAP KONST KTH Instructions for this station get istd hand park hand aspirate istd dispense istd Variables for this station istd vol 0 01 Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA the system checks to see if a hand is on the robot If there is a hand and it is not the requested hand this hand is parked Afterwards the robot attaches the hand the system determines what hand is attached to the robot and performs the manipulations to park the hand Then variable S HAND ID 0 no hand attached a small air gap is drawn into the syringe The cannula is moved into the liquid and the specified volume variable ISTD VOL of liquid is aspirated into the syringe The hand is moved over the reservoir and a second air gap is drawn The value of ISTD VOL is reset to zero a MOVE OVER command see chapter 2 4 Commands and variables summary for the robot must be executed before this one as there are several places to deliver its contents such as in a test tube placed in a rack or in a test tube placed in the vortex station for example The cannula end is placed against the inside wall of the container below and the entire syringe contents are dispensed into the container Finally the cannula end is moved above the container to 0 024 This variable is used to specify the volume of internal standard to be aspirated from the reservoir below the hand The value is st by using a ma
26. TRODUCTION ABB Automation VETENSIAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA A INTRODUCTION 1 What s an automated system The meaning of this word can be described as follows Automation 1 The implementation of processes by automatic means 2 The investigation design development and application of methods of rendering processes automatic self moving or self controlling 3 The conversion of a procedure a process or equipment to automatic operation 1 1 The need of automation amp robotics As the current economic system forces companies to automate their industrial processes in order to produce better and faster than their rivals automating and robotics are needed Companies therefore can substitute human operators with autonomous machines All things which need done are completed and or supplemented by automation reducing money errors danger and most effectively time So there are not only economic reasons for automating but also for safety reliability and pecision This current project is an example this robot was made for working in a chemical industry Sometimes workers have to handle hazardous substances and might get serious injuries So the best option is to place a robot to perform those dangerous activities Other dangerous activities in which robots are used are for instance arc welding foundries painting and coating Pict 1 Robotic application for an aut
27. VETENSKAP Campus de Terrassa oi UNIVERSITAT POLITECNICA DE CATALUNYA KTH ABSTRACT Modern times need modern ways of production Robots have been created for this purpose They can perform accurate movements in a short time Their capability of speed and accurary make them ideal for many of the current industrial processes and for obtaining good economic results This project deals with a robot used for pharmaceutical purposes This robot can perform different activities such as pippeting or obtaining the weight of a sample all that with incredible precision and with no human intervention Any task may be performed completely automatically so human errors are not possible Moreover it may occur that the equipment needs to handle hazardous substances so a human being might be affected by them if he had to handle those substances by himself The contents of this report are those ones related to the detailed description of the characteristics of each part of the equipment as well as the programming of the robot and those devices used by it Several programs have been developed to show robot operation The way to assemble all the equipment and connecting each part is also explained thoroughly so new placement of the equipment will not require much effort Because of that a User s Manual has also been developed and it is enclosed in this report Finally it is to say that this current report is intended to be a complete re
28. ata Look at this technical information to learn more about the robot and its dimensions performance amp material specifications and its operating characteristics Dimensions Height 71 1 cm Width 35 6 cm Depth 35 6 cm 24 Arm Swing Length 71 1 cm 1 Weight 39 2 k arm swing ai 24 p m General Specifications m EE E E 4 EE i gt D Degrees of Freedom Base amp Wrist 4 Degrees of Freedom Hands 1 or 2 additional Axis Positioning Servo motor driven AccuTrak feedback p Lifting Capacity 1 4 kg Hands Auto changeable 2 Operating Weight with Core Plate 22 4 kg amp gt Shipping Weight 66 4 kg 1 Vertical Spring Holding Capacity Standard GP Hand holding m N a sample container of no more than 700 grams E N When power to the robot is turned off or when collision detection or thermal protection occurs in the vertical m axis the vertical height of the robot will seek a neutral d point as long as the sample and container weight does not exceed this weight If this weight is exceeded the arm settles to a vertical height of zero 1 Y TZ Pict 6 dimension measures 13 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Performance Specifications Repeatability same direction Rotary 27 in radius 0 5 mm max Vertical 0 25 mm max Reach 0 25 mm max Wrist 0 5 mm max Repeatability opposite direction Rotary 27 in
29. ces and destinations The hand consists of a 2 5 ml syringe automatic tip ejector parking stationand a rack to hold 105 pipet tips Location from sector 30 to sector 31 on the plate Pict 13 hand K is used for pippeting lateral and front view Instructions for this station get hand k the system checks to see if a hand is on the robot If there is a hand and it is not the requested hand this hand is parked Afterwards the robot attaches the hand get 2ml tip the system determines whether hand K is on the robot The system determines robot positioning and decides whether it needs to move to the appropiate tip rack clear region The next tip is taken aspirate 2ml tip a move over command must be executed before this command in order to place the robot over the sample source The tip is moved into the liquid and a small air gap is drawn The amount to be aspired is determined by the variable PIPET VOLUME dispense 2ml tip a move over command must be executed before this command The tip is moved to a height 1 cm above the final liquid level in the container below The fluid is dispensed into the container The amount dispensed is determined by the variable PIPET VOLUME park hand the system determines what hand is attached to the robot and performas the manipulations to park the hand Then variable S HAND ID 0 no hand attached 24 VETENSKAP Campus de Terrassa er UNIVERSITAT POLITECNICA DE CA
30. d Name deleted from Dictionary 21 Press R RETurn 22 Escape and come back to the Main Menu 23 Insert the proper installation sofware diskette supplied by Zymark in the controller in this case labelled as RACK 11 mm vial 24 System Pyappend Dictionary 25 Select the dictionary that appears and that deals thoroughly with the current station for rack 1 Z013 1 zyd 26 Follow the instructions on the screen 12 1 Select input target number of the sector on the robot plate The new location chosed on the plate is on the 17 20th position around the Robot former position on the plate was 4 to 7 12 2 Press Y yes when asking for running Setup 26 3 Follow instructions 26 4 When asked if the station mounted on a Pyplate answer Y Yes 26 5 Run Test to check correct installation of the rack 12 5 Rack 1 has been placed successfully in another new location 27 Press Enter 28 Press Enter to run Test program and check successful configuration 87 dip Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 7 PROBLEMS amp SOLUTIONS These are the main problems we have had during the execution of this project After studying the system thoroughly we succeded in making everything work without any external help These are some solutions for different types of problems which might appear in the future f the Tumble mixer does not work Look if it is connected to the power L
31. e Setup gt Zymate Il Robot Delete Entry press D Write the name of the station to be deleted hand a in this case Press Enter Next message will be displayed Name deleted from Dictionary Press R RETurn Escape and come back to the Main Menu Insert the proper installation sofware diskette supplied by Zymark in the controller in this case this disk is labelled as GP HAND A 10 System gt Pyappend Dictionary 11 Select the dictionary that appears and that deals thoroughly with the current station for hand A cp900 1 zyd 12 Follow the instructions on the screen Pee IN ED Ores E a 12 1 Select input target number of the sector on the robot plate The new location chosed on the plate is on the 21st position around the Robot former position on the plate was 46 47 12 2 Press Y yes when asking for running Setup 12 3 Follow instructions 12 4 When asked if the station mounted on a Pyplate answer Y Yes 12 5 Hand a has been placed successfully in another new location 13 Press Enter 14 Press Enter to run Test program and check successful configuration 86 rss Campus de Terrassa su UNIVERSITAT POLIT CNICA DE CATALUNYA KTH For rack 1 15 A dictionary must be already loaded 16 Go to Module Setup gt Zymate II Robot 17 Delete Entry press D 18 Write the name of the station to be deleted in this case rack 1 19 Press Enter 20 Next message will be displaye
32. e sure that the variable air confirm sensor is set to O Otherwise error recovery subroutines will be performed 33 di Versa Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KONST KTH EVAPORATION STATION Description the Evaporation Pysection station fror 16 x 100 mm test tubes provides for the evaporation of solvent from containers placed in the heating block The temperature controlled heating block is settable between ambient and 100 C and the temperature is set by the 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 pneumatically operate the station as well as dry the samples Gas is only turned on when there are tubes in the station Location from sector 8 to sector 11 on the plate Pict 19 front amp top views of the evaporation station Connections The black tube pointed by the arrow in picture 21 must go to the air input of the electro valve in picture 20 Pict 21 PEC pneumatic connection 34 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes Pict 20 connections to other devices Pict 22 connection to the electric transformator Pict 25 connection to switches Pict 23 connection to ground Pict 24 connection to input
33. eneration robots were developed between approximately 1990 and the present These machines can be stationary or mobile autonomous or insect type with sophisticated programming speech recognition and or synthesis and other advanced features Fourth generation robots are in the research and development phase and include features such as artificial intelligence self replication self assembly and nanoscale size physical dimensions on the order of nanometers 3 b Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH Pict 2 a cartesian robot Pict 3 an arm robot Pict 4 SCARA amp cartesian robots for pict 2 to 4 ABB automation and Seiko di Versa Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KONST KTH 2 3 Industrial applications These are the fields in which robots are used ArcWelding Automotive Cutting and Finishing Consumer goods Gluing and Sealing Foundry Reconditioning Material handling General Manufacturing Packaging Metal fabrication Painting and Coating Plastics Spotwelding Chemical applications Pict 5 application for bottling ABB automation As shown above several industrial activities can be performed with the help of robots They contribute to achieve excellent results in precision and speed and that means in the end good economic results Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Asse
34. er 3 3 Wire connection named L 64 rss Campus de Terrassa su UNIVERSITAT POLIT CNICA DE CATALUNYA 6 SOFTWARE 6 1 Introduction This equipment combine robotics computer and laboratory stations to automate laboratory procedures The robot transports the sample between stations the computer controls hardware execution and sofware execution and the laboratory stations perform basic operations such as pipetting mixing diluting centrifugation extraction Before the system is running and performing any type of chemical pharmaceutical operations the system must load specific software called EASYLAB which allows the user to program the robot and stations as desired As shown in chapter 4 each station has its own pre programmed commands get hand a for instance which are kept in a dictionary This dictionary has to be created when the system is running for the first time by placing in the PC all the disks delivered by Zymark and Pyappending their contents amp Observation No program installing is needed This is because this system had already been working before in AstraZeneca Therefore all program installation had already been performed and dictionaries had been created The final user has only to make his own programs according to his plans by using the instructions in the dictionary This section describes the system software and the procedure to make different programs to use the station
35. er 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 statements 80 Vernar Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 6 7 2 Time commands pausing 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 To wait for timers WAIT FOR TIMER x where x is equal to the timer set 1 throug
36. existing program Print Program Entry to print a program Module Setup Create Neu Progran Renane Progran Entry Copy Progran Entry Jelete Progran Entry Print Progran Entry Pict 47 Editing an existing program II Progran Text Pict 48 list of all the available programs If the user wants to make his own programs next step is necessary Sanple Data Module Setup Systen Edit Progran Entri Renane Progran Entry Copy Progran Entry Delete Progran Entry Press lt Fi gt for help Print Frogran Entry Pict 49 Creating a new program I 72 ms Campus de Terrassa d UNIVERSITAT POLIT CNICA DE CATALUNYA KTH ssembling amp Programming a robot for pharmaceutical purposes The system will ask for a name for the new program Enter nane of neu progran A aie Pict 50 Creating a new program II And afterwards the user may start programming Pict 51 main programming menu and options PROGRAMMING KEYS Insert Line Unchange Line Delete Line Mark Paste F10 Undelete Line 73 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA KTH Variables Variables are kept in this section They can be created or just read For instance if a mathematical variable is needed it must be created in this menu Go to Sample Data in the Main Menu and press enter The following screen will be shown Nodule Setup jsten On line Operation OT S M 05506 m
37. ey are placed into the tumbling station Location from sector 40 to sector 45 on the plate Pict 30 mixer and centrifuge rack Observation this station has not been used in this project as polypropilene caps with polypropilene foam liners Wheaton 242214 and 16x100 mm test tubes are needed to cap test tubes prior to mixing its contents Nevertheless the instructions needed will be added Connections black wire to ground Power amp Event Controller red wire to switch 4 orange wire to input 5 yellow wire to input 4 brown wire to switch 3 50 VETENSKAP Campus de Terrassa oi UNIVERSITAT POLITECNICA DE CATALUNYA KTH Instructions for this station put into tumble mixer the robot loads a container into the tumble mixer at the position defined by mixer index The robot moves into the station clear area and the system checks if there is an uncapped container in the hand If so the robot moves to the cap dispenser and executes the moves to cap the tube get from tumble mixer the robot gets the test tube from the tumble mixer at the position defined by the mixer index variable and removes the cap from the container just unloaded Variables for this station mixer index 1 to 4 This variable is used to specify the position in the tumble mixer This variable is set by using a math asignment For instance mixer index 3 51 Campus de Terrassa UNIVERSITAT POLITECNICA DE CAT
38. f hours spent on this we have succeeded in making everything work First of all all the equipment had to be assembled and connected Afterwards exhaustive study was carried out Later on some demonstration programs were made and finally a general program was developed Some stations were placed onto different locations and new programming had to be done Meanwhile some problems had to be solved such as the lack of pessured air some failures in two stations the balance and the vortex station and serious problems with a connection pin in the hand of the robot that made it not open its fingers As we have acquired vast experience in this field we have also enclosed a User s Manual so that next users of this equipment have proper and quick information of the robot and the different stations Finally it is to say that all the aims have been achieved 89 dip Vernar Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 9 REFERENCES Zymark corporation Hopkinton MA 01748 USA Telephone 508 435 9500 or fax 508 435 3439 Zymark User s Manual vol 1 amp 2 Diverse authors Hopkinton MA Year of publication 1988 www zymark com Asea Brown Boveri ABB Sweden www abb com Seiko Instruments USA Inc Factory Automation Division 2990 West Lomita Blvd Torrance CA 90505 Phone 310 517 7850 Fax 310 517 8158 www seikorobots com 90
39. ference guide to all the coming users of the equipment such as teachers and pupils rss Campus de Terrassa se UNIVERSITAT POLIT CNICA DE CATALUNYA KTH TABLE OF CONTENTS About the authors A Introduction A What s an automated system A1 1 The need of automation amp robotics A2 But what s a robot A2 1 Type of robots A2 2 History A2 3 Industrial aplications B Our project B1 Introduction B2 Robot Jaguar B2 1 Introduction B2 2 Technical data B2 3 Wire connection B2 4 Commands and variables summary for the robot B2 5 Re teaching again the positions when a station is removed B3 The controller B3 1 Introduction B3 2 Specifications B3 3 Wire connections B4 Stations B4 1 Introduction B4 2 Original position of each station in the plate B4 3 Detailed information on each station B4 4 General demostration program using all the available stations B4 5 General view of the robot and the stations B5 Power and Event Controller PEC B5 1 Introduction B6 Software B6 1 Introduction B6 2 Software terms B6 3 Zymate files B6 4 On line Off line menus B6 5 Dictionary B6 6 Getting started B6 7 Loop and conditional commands B6 7 1 Loop commands B6 7 2 Time commands pausing B6 7 3 Examples 11 89 13 13 13 14 15 16 17 18 19 20 20 20 21 22 22 22 23 58 59 60 61 62 62 64 65 65 66 67 68 69 70 77 78 78 80 81 82 85 B6 8 Re teaching position when a station is placed into a different location 86 87 B
40. gital input A 5 v 12 v and 12 v power supply is also included and 8 Spare connectors are also available for use These are used as terminals when an internal option such as the Preamplifier Modulle is installed within thr PEC A Power and Event Controllers facilities may be used by different stations The assignment of a PEC and its programmable connections take place when the sation requiring their usage is installed in the system The PEC facilities are operated by the individual sections An Air Monitor Manifold that provides a confirm sensor filter regulator and air line connections manifold is included with the Power and Event Controller Pict 34 general view of the Power amp Event Controller and pneumatic connection 62 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes Connections black wire from the liquid liquid extraction station violet wire from the electro valve violet wire from the balance black wire from the evaporation station black wire from the tumble mixer not connected to switch 1 Power supply to the air sensor not used Pict 35 detailed wire connection picture There is a serial conection from the switch1 that takes 12 volts to the other switches switch 2 to switch 8 Otherwise all the switches should be connected to 12 volts Connections l ora
41. h 4 or 1 through 8 in non PyTechnology systems x should NOT be enclosed in parentheses in this format Remarks Each timer can be set to a maximum of 65535 seconds Current timer values using timer array facility may be used in math expression as a variable The setting of a timer as no effect on system operation The modules continue to operate as if that program line was never encountered Program execution is suspended when The WAIT FOR statement is encountered AND The time specified has not elapsed The timer value may be checked during the running of a program by requesting the value of the timer array A timer may be set in a program or in Manual Control When the Zymate System is actively waiting for a timer to elapse any actions taken by the operator are ignored If a program has to be aborted while it is waiting for a timer it must be done by turning off the Controller s power Several program statements may appear 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 81 iw Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 6 7 3 Examples Demonstration program for looping Name of the program JOOCHAN DEMO LOOP Description this demonstration program takes a test tube from rack 1 and puts it into the evaporator station This is done for 6 times After that the opposite operation is performed
42. if not 18 P Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA VETENSKAP OCH KONST Fine tuning positions When a station has been removed from its original location its positions will need to be redefined as the bench is configured After you Pyappend see chapter 6 for further information the software the Setup program asks if the station is mounted on a Pyplate Press N print out PYSECTION INFO and redefine all station absolute and rack positions Relative positions should not require redefining and the need for any incremental position changes is not likely to be apparent at this time When a rack definition is being changed the robot moves to the three previously defined corners for fine tuning If the station orientation differs greatly from the orientation when mounted on the PyPlate make sure that nothing is in the way as the robot goes to these previously taught corners Follow the steps for redefinition as if the station was mounted on its PyPlate but do not place any hardware in the robot s path until the robot has moved to the first corner To avoid this completely you may delete the station definition and define a new one Please follow the following example Obs rack is the general term for defining either a single position rack i e a station or a 2 dimensional rack rack for containers a PyPlate is the flat circular surface on which the robot is mounted and
43. is going to be empty of containers this variable must be set to 1 container capped rack 1 YES or NO NO as the default value If set to NO it shows that the rack is full with uncapped containers Internal variable r1 vol 0 there is a container but empty positive number there is a container full 1 there is no container This variable might be modified in those programs when an error appears and there is no quick solution for it For instance if the system says that there is no container at a position but ther is actually one this variable might be modified in order to make the system know that 53 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA mi D KTH Demonstration program for the RACK 1 Name of the program JOOCHAN RACK 1 Description this demostration program gets hand A and asks for the source position where the test tube is The robot gets it and puts it into the same rack in the position entered by the user display off get hand a prompt Insert source position Rack 1 1 to 50 input rack 1 index get from rack 1 gets the test tube into the position pointed by rack 1 index prompt Insert destination position Rack 1 1 to 50 input rack 1 index put into rack 1 park hand Observation rack 1 index must be set before executing get from rack 1 order If not the test tube will be taken from the last position pointed by rack 1 inde
44. k wire to ground white wire to input 3 red wire to switch 2 orange to input 2 brown wire to switch 1 Instructions for this station aspirate ll cannula the hand and container are brought under then up to the cannula dispense ll cannula the holding loop contents are dispensed into the collection container and any residual drop is touched off Variables for this station Il cannula depth 0 to 15 0 9 0 as the default value This parameter is used to specify the depth in cm from the top of the container to where the end of the cannula will be placed for layer extraction Il cannula volume 0 to 9 8 5 0 as the default value This parameter is used to specify the volume of liquid in ml to be aspirated from the extraction container ll aspirate time 1 to x 20 0 as the default value 47 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes CRIMP CAPPING STATION Description this station provides automatic filling and crimp capping of 11 mm vials The Crimp Capping Pysection consists of a peumatically driven crimp capper vial cap holder and vial holder Cap presence in the holder is verified by a microswitch Location from sector 17 to sector 20 on the plate Pict 29 crimp capping sation Observation this station has not been used in this project as a rack of 11 mm vials is needed in the system Er
45. kel and this last one is connected also to the controller please see chapter 3 3 Wire connections for further information Instructions for this station Cap the robot places the container to be capped into the capping station takes the cap from the cap store and caps the container by moving yaws in a rotation movement uncap the robot places the container to be uncapped into the capping station takes the cap out from the tube and places it onto the cap store put into capper the robot places the container in its hands into the capper and verifies that the jaws successfully close around the container This command is included in CAP and UNCAP command so it is not necessary to write it to perform a capping get from capper once the test tube has been capped or uncapped the robot moves down takes the test tube and moves upwards The CAP and UNCAP commnads do not remove the container from the capper This action must be performed separately move over capper this command is used when needing for example delivering the contents of the pippet tip into the tube stuck in the jaws Variables for this station cap index 1 or 2 default value 1 This variable is used to specify which cap holder will be used for storing a cap cap torque 1 to 3 default value 2 This parameter is used to specify the torque value to which tubes will be capped discard cap index yes or no default value
46. mbling amp Programming a robot for pharmaceutical purposes B OUR PROJECT Zymark Corporation Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA B OUR PROJECT 1 INTRODUCTION Nowadays industries of all kinds have included automation in nearly all their productive activities in order to achieve better results on precision time safety This current machine is a robot made exclusively for chemical and pharmaceutical applications by Zymark Corporation USA Zymark Corporation www zymark com is a premier provider of products technologies and services for laboratory applications in the rapidly expanding life sciences marketplace Zymark is focused exclusively on laboratory automation and robotic solutions The company s products span the full range of user needs from low cost single function workstations to today s most sophisticated modular robotic systems This robot and its surrounding stations were bought by Astra Zeneca one of the Swedish leading pharmaceutical companies and it was donated some years later to Kungl Tekniska H gskolan Campus Telge S dert lje Sweden We Jorge Montero L pez and Jordi Rod Sarr were at the current moment of writing this report Electronic Engineering students at Universitat Polit cnica de Catalunya and we were taking our final exam work in Sweden in the framework of the European Erasmus Socrates exchange programme Our work has consisted in studying th
47. n robots Two of the joints move in rotation and the third moves in translation The robot is capable of moving its arm within a spherical space The figure to the left shows a robot with polar configuration 4 Articulated arm configuration robots All the movements of joints or arm members are rotary This configuration is similar to that of the human arm It consists of two straight components corresponding to the human forearm and upper arm mounted on a vertical pedestal These components are connected by two rotary joints corresponding to the shoulder and elbow A wrist is attached to the end of the forearm providing several additional joints 5 SCARA configuration robots This configuration is a special version of the Articulated arm configuration The shoulder and elbow joints rotate about vertical axes The SCARA configuration provides substantial rigidity for the robot in the vertical direction but compliance in the horizontal plane This makes it ideal for many assembly tasks Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA si B KTH 2 2 History Robots are sometimes grouped according to the time frame in which they were first widely used First generation robots date from the 1970s and consist of stationary nonprogrammable electromechanical devices without sensors Second generation robots were developed in the 1980s and can contain sensors and programmable controllers Third g
48. nge wire from the balance J orange wire from the liquid liquid extraction station K white wire from the liquid liquid extraction station L yellow wire from the tumble mixer station orange wire from the tumble mixer station red wire from the crimp capping station orange wire from the evaporation station orange wire from the electro valve Pict 36 input diagram 63 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA kr Assembling amp Programming a robot for pharmaceutical purposes Connections connected to 12 volts brown wire connected to the liquid liquid station connected to Q 12 volts red wire connected to the liquid liquid station connected to S 12 volts brown wire connected to the tumble mixer station connected to U 12 volts Q R S T U V W X red wire connected to the tumble mixer station Pict 37 switch diagram Connections S5 1 connected to W 12 volts 5 2 brown wire connected to the evaporation station SO 1 connected to S 5 1 12 volts S6 2 red wire connected to the evaporation station S 7 1 connected to 6 1 12 volts S7 2 white wire from the crimp capping station S8 1 connected to S7 1 12 volts S8 2 orange wire connected to the electro valve power supply Pict 38 switch diagram Pict 39 connections to other devices See chapt
49. odif iea by Jor chan ty troller is currently tale s Fi for help Pict 52 entering the option for variables For example if the variable to be changed is air confir sensor place the highlighted bar on it and press Enter anple Data Molule jet syaten Mane SELECTION AIR COMFIRN SENSOR Match Select Data Entry Press Pi for help Unt 2nL AIR GAP 2 BD C GRIF Pict 53 content of View Change data menu The value of this variable can be now read or changed Observation this option is very useful for variables wich deal with sensors For instance if there is no pressured air for the stations the system will display a message in which it is said that some air is needed The solution is to Edit that program and see where the variable for that error appears Then you must go to Sample Data menu and change the variable to the proper value so that the problem does not appear any more Module Setup 1 CONT IAN SENSOR eal eta 1 elect Data Entry Press 1 for he p Enter the real Value Pict 54 viewing and or changing the value of the variable 74 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA KTH bling amp Programming a robot for pharmaceutical purposes Next section shows how a new variable is created For instance in the demonstration program for the whole equipment chapter 4 4 variable joochan added has been created DRL thods Hodule Setup ysten
50. omated task ABB automation VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 2 But what is a robot As the topic discussed in this project is robotics its absolutely necessary to know what this word means Robot A robot is a machine designed to execute one or more tasks repeatedly with speed and precision 2 1 Types of robots There are as many different types of robots as there are tasks for them to perform A robot can be controlled by a human operator sometimes from a great distance But most robots are controlled by computer and are classified into different categories cartesian cylindrical polar articulated arm and SCARA Selective Compliance Assembly Robot Arm robots 1 Cartesian co ordinate configuration robots Three directions X Y and Z are specified Co ordinate directions are orthogonal at right angles to each other These robots move in three directions in translation at right angles to each other The cylindrical configuration as shown in the figure to the left uses a vertical column and a slide that can be moved up or down along the column The robot arm is attached to the slide so that it can be moved radially with respect to the column By rotating the column the robot is capable of achieving a work space that is similar to a cylinder UNIVERSITAT POLITECNICA DE CATALUNYA VETENSKAP Campus de Terrassa KONST KTH 3 Polar configuratio
51. ook if the power cables work Execute VORTEX ON Look if the wires are properly connected and that they are not loose mop cs Solution fix the connector by pressing it to the controller while the vortex is ON until you hear the noise of the engine ON Air pressure missing on screen error messages 1 Look if there is air pressure connected to the PEC 2 Check if you have enough air pressure minimum is 27 psi 2185 Kpa 3 Check if all the variables concerning air pressure are OK i e air confirm sensor Balance on screen warning messages 1 Power ON the balance by pressing the front ON OFF button 2 Wait until it is stable 3 Check if all the pneumatic connections are OK Robot arm Problem The robot is unable to open its fingers Possible cause of failure look at the arm of the robot just where the hand is attached Some pins are placed there They transmit information If the arm gets a hand with extreme speed one of that pins is pushed backwards and electrical connections fail Solution draw any wrong pin to the right position align it up 88 rss Campus de Terrassa su UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 8 CONCLUSIONS After four months of intense work this project is finished We have been the first people to study this system as nobody at university knew nothing about it Everything was completely new for us Only with the manuals of the system and lots o
52. 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 If the condition is not satisfied the statement following THEN is ignored Program execution continues with the next statement in the EasyLab program IF THEN statements are program level sensitive when the statement following THEN refers to a numered 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 If a line number is calculated following THEN and a non integer value results that value is rounded to the nearest integer If a line number is calculated following THEN the THEN mus be followed by GOTO If a line number is specified following THEN GOTO is not necessary if a constant is used A line numb
53. orougly documenting re assembling and re programming again the cylindrical robot and all the different stations Some problems we have had are mainly those ones related to pressure air based stations and finding out the correct wire connections between the controller the robot and the power and event controller since all the equipment had been taken to pieces when it was delivered to university Vernar Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 2 ROBOT Jaguar K PK PK OK CK OK K K K K K K K K K K 2 1 Introduction This robot provides the fast efficient sample handling available for laboratory automation systems The Zymate robot is a fully programmable laboratory robot Its movements speed and tactile sensing capability can be optimized for the requirements of the application The robot s fully independent reach and vertical axes provide flexibility and motion control It incorporates interchangeable hands to carry various containers and samples and to perform functions such as gripping and pipetting These hands are optimized for a specific purpose and several hands may be used throughout a procedure Tactile sensing capability is included in the robot hand and all robot axes to verify the successful completion of robot functions The use of both digital encoders and potentiometers provides excellent positional linearity resolution and absolute positioning 2 2 Technical d
54. osition 1 to 6 input evaporator index links the number typed by the user to this variable put into evaporator placed in the evaporator and the mechanism is activated paused waiting for 5 seconds get from evaporator prompt Insert destination position Rack 1 1 to 50 input rack 1 index put into rack 1 park hand The previous high level functions put into evaporator and get from evaporator include some basic instructions such as e mech in the mechanism above rotates and the platform goes down The metal tubes get placed into the test tubes and some air is blown into them to evaporate its contents e mech out the platform goes up and the rotatory mechanism turns Observation a glass or plastic tube must be taken exclusively from the evaporator rack Otherwise a possible crash might be imminent Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes CAPPING STATION 16x100 mm tubes Description this capping station provides automated capping and uncapping of screw capped 16 x100 mm test tubes The success of capping and uncapping operations is internally verified Location from sector 32 to sector 33 on the plate Pict 26 grips and cap container 37 rss Campus de Terrassa oi UNIVERSITAT POLITECNICA DE CATALUNYA KTH Connections This station is connected to the Z410 capping station named cy
55. pecific place on the plate The plate is a round platform under the robot base that provides locating sectors for the physical connection of the stations a sector is a numbered slot in the locator place There are 48 sectors around the robot Most stations consume from 2 to 6 sectors This chapter deals with all these different stations and provides detailed information on each one of them in order to have complete knowledge and control and therefore being able to use them to perform all the activities as desired 4 2 Original position of each station in the plate The following sectors show where the different stations must be placed around the robot Sectors From 48 to 1 2 sectors LC Injection station not used in this project 2 to 3 Disposal station 4 to 7 Rack 1 11 mm vial 8 to 11 Evaporation Station 12 to 14 Dispenser 16 x100 mm vial Not used in this project 15 to 16 Liquid Liquid Extraction 17 to 20 Crimp Capping 21 amp 22 empty 23 to 25 Dilute and Dissolve Vortex Station 26 to 29 Weighing Liquid Transfer Balance 30 to 31 Hand K Pippeting 2 x 2 mm 32 to 33 Capping 16 x100 mm tube 34 to 35 Istd hand 36 to 39 Rack 2 13 x 100 mm 40 to 45 Tumble Mixer 16 x 100 mm 46 to 47 Hand A These stations can be removed from their original position but then all the positions involving that station must be retaught please see chapter 2 5 for further information
56. pharmaceutical purposes 2 3 Wire connection Once the robot is placed onto a flat surface it must be connected to a power source electric current Moreover the robot must be connected to another device in order to get all the orders that it has to perform since it is only a mechanic structure This device is the controller Picture 7 shows the conections to be performed between the controller and the robot A to electric power B tothe controller Pict 7 wire connection for the robot Vernar Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA 2 4 Commands and variables summary for the robot Next commands are used exclusively to make the robot move in different ways as to shown below Commands for the hands get hand a when executed the robot moves and gets in front of the hand Then by performing a linear movement onwards attaches hand A fingers gethand k the same procedure as hand A Hand K pippet is attached get istd hand internal standard hand liquid injection is attached park hand the robot gets in front of the frame and by a linear movement parks the hand in its former place This command is valid for any type of hand A K amp istd Commands for the racks amp stations These commands are used to perform movements over certain stations rack 2 balance vortex capper and crimp capper Some must compulsory be executed such as aspirate 2ml tip which needs mo
57. rds prompt Insert source test tube position Rack1 1 to 50 prompt shows a message on the screen input rack 1 index links the number typed by the user to this variable et from rack 1 takes a test tube from the position pointed by rack 1 index 8 put into balance opens the door of the balance and the robot leaves the test tube inside in order to get the weight obtain weight function for obtaining the weight of the sample The value is saved to the variable weight value prompt The weight of the tube is printc WEIGHT VALUE printc shows on the screen the value of an internal variable such as weight value get from balance opens the door and the robot takes the tube prompt Insert destination test tube position Rack 1 1 to 50 input rack 1 index the destination number typed is linked to this ariable put into rack 1 the tube is left in the position pointed by rack l index ark hand places the current hand into its original P p g position hand storage position Observation the weight is not taken unless the balance is stable putinto balance and get from balance are high level instructions which have different sub routines inside error check for air pressure open door close door Warning the proper test tube glass tube must be taken and from the proper rack Rack 1 If not there will be a crash when placing it into the balance amp Important Mak
58. rication permanently lubricated motors Motors Type permanent magnet d c brush type servo motor Gear Reduction integral gear reduction housing Rotary Vertical and Reach 19 7 1 Wrist 187 1 Encoders Rotary AccuTrak optical encoder with 36 poles Vertical and Reach AccuTrak magnetic encoder with 6 poles Potentiometers Base Axis Position 10 turn hybrid element servo mount 2k or 10k Wrist Position 1 turn conductive plastic servo mount 2k Arm Stainless Steel abrasive ground Posts Steel centerless ground oxide passivated Lubrication arm amp posts SAE 30 automotive type engine oil Dwell Time 5 ms XP look ahead Finger Travel 1 5 15 3 33 cm Payload 1 36 kg continuous 20kg transient Maximum Speed Rotary 298 cm sec rotary 0 24 sec 90 Reach 99 5 cm sec Vertical 73 3 cm sec Work Envelope 9 m3 Cross Sectional Work Envelope 0 27 m2 Environmental Specifications Main Voltage 100 120 220 240 VAC 10 Main Frequency 48 62 Hz Power Consumption 180 VA max Operating Temperature 10 C to 30 C Relative Humidity 10 90 Safety Not to be used where explosive concentrations of flammable vapors can accumulate Corrosive Materials Standard Robot is not intended to handle corrosive materials Mounting Upright on flat horizontal surface 14 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for
59. ror messages appear when the system ask for them Nevertheless the instructions needed will be added if those vials are ever available 48 VETENSKAP Campus de Terrassa oi UNIVERSITAT POLITECNICA DE CATALUNYA KTH Connections black wire to switch 7 white wire to switch 7 red wire to input 6 green wire to ground in the Power amp Event Controller Instructions for this station get from crimp capper the robot performs manipulations to get the vial from the holder put into crimp capper the system determines if the cap has been removed and if not the robot readjusts the position of the vial and places the cap in the parking station The vial is then placed in its holder move over crimp capper the robot positions the pipet tip into the tip guide crimp vial the vial is repositioned in the robot fingers and placed in the capper jaws The vial is crimped uncap vial the robot removes and stores the cap in the cap holder 49 ms Campus de Terrassa v UNIVERSITAT POLIT CNICA DE CATALUNYA KTH ssembling amp Programming a robot or pharmaceutical purposes TUMBLE MIXER 16X100 mm Description this station provides mixing of samples in 16 x 100 mm test tubes The tumble mixer is typically used for liquid liquid extraction procedures Tests tubes are placed there and the turned end over end at 15 rpm verification is performed to ensure that the tests tubes are capped before th
60. s 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 A line number soecified by a GOTO statement mus be labeled a statement appearing 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 branching statements 79 VETENSKAP Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 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
61. s as well as how to modify existing programs how to save them or how to check the correct working process of a new program step by step 65 6 2 Software terms EASYLAB PLUS LOAD CLEAR REGION APPEND PYAPPEND SETUP TEST Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA is the software provided allowing inmediate operation Software features include simple standarized command structure ability to test a station s function while configuring the benchtop tracking a container s status i e volume while it moves from station to station error recovery and confirm verification techniques is a disk drive command which causes the contents of an EasyLab formatted disk to replace the entire contents of the controller s current dictionary is the area surrounding the robot intended to be clear of harware This assures clearance for the robot arm as it moves throughout ist 360 rotation is a disk drive command which causes the dictionary of a disk to be added to the Controller s current dictionary Current dictionary entries with the same name as an incoming entry will be overwritten is a disk drive command which causes the dictionary os a disk to be added to the Controller s current dictionary and also establishes the physical location of the Pysection in a user specified sector around the robot locator plate Current dictionary with the same name as an incoming entry will be overwritten
62. se initial installation disks must be appended to the current dictionary Module Setup Systen Status Save dictionar Copy 2YD PC lt Copy ZYD PC jieu dictionar SeCurity Fornat Diskette Pict 58 appending a dictionary Save Dictionary information in the system is saved into the disk in the controller Systes St tes Load dicticsary Pyappend dictionsry Edit Title Copy HERE UTE Copy 20 KC gt Sgsten Vies dictionry SeCuri Toreat te Pict 59 saving a dictionary A name for the dictionary will requested If writing again an existing name the old dictionary will be overwritten Sanple Data Module Setup Systenl Systen Status Load dictionary B Pyappend dictionary Select File to Lo Balt Title YD PC C Systen V YD PC gt Systen V Enter 2YD File Nane ictionary ty Diskette Pict 60 enter the dictionary name 76 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA KTH Copy ZYD PC lt System V for copying information from the controller to the PC Copy ZYD PC gt System V for copying information from the PC to the controller View dictionary variables and programs are shown there Finally the last important section to be shown is Manual Control It allows the user to execute a program step by step The robot must be connected and instructions must be written on the screen one at a time Sanple Data Hodule Setup EXecute a Prog Systen V On line
63. spose to waste The robot deposits the item in the hand pipet tip or test tube in this station 57 di iw Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH Demonstration program for the DISPOSAL station Name of the program JOOCHAN DISPOSAL Description this program gets a test tube from rack 1 and takes it to the waste container where used tubes are kept display off get hand a prompt Insert source position Rack 1 1 to 50 input rack 1 index get from rack 1 dispose to waste park hand 58 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA mi D KTH 4 4 General demonstration program using all the available stations Demonstration program for the WHOLE equipment Name of the program JOOCHAN DEMO 1 Description in this program all the available stations have been used and all the commands to make them work have been included display off rack 1 index 1 rack 2 index 1 pipet volume 0 5 istd vol 0 1 evaporator index 1 centrifuge index 2 get hand a get from rack 1 put into balance obtain weight prompt Weight printc weight value joochan before weight value get from centrifuge put into capper uncap park hand get hand k get 2ml tip move over capper aspirate 2ml tip move over balance dispense 2ml tip dispose to waste bd close door park hand prompt New Weight 59 iw Campus de Terrassa UNIVERSITAT POLIT CNI
64. st be aware of the consequences If placement in the clear region is necessary it is best to strategically choose the first or last sector on the robot locator plate for positioning since the robot rarely travels through this area beware of the chance of the elbow hitting objects when servicing stations across from the violated sector You must add programming to keep the robot clear from obstructions 19 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes 3 THE CONTROLLER 3 1 Introduction The whole system is operated through its controller Operator interaction with the controller is made possible by having a PC connected to the controller A controller is a computer used to command the robot to position and orient the tool the hand and the pippet in this system or part correctly in space at all times The controller functions as the brain of the robot Robots today have controllers that are run by programs sets of instructions written in code Almost all robots of today are entirely pre programmed by people they can do only what they are programmed to do at the time and nothing else In the future controllers with artificial intelligence or AI may allow robots to be more self reliant and independent Pict 8 front view of the controller 3 2 Specifications Dictionary Space 180 Kbytes per Controller Expansion Unit to a maximum
65. struction included in vortex off to stop vortexing Variables for this station vortex speed 1 40 deful value vortex speed 1 time 1 vortex time x This shows the time during which the vortex is on 41 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Demonstration program for the VORTEX station Name of the program JOOCHAN VORTEX Description this program takes a test tube from the position pointed by the user places it into the vortex station and it is shaked during specified time It is then taken and put back in the rack get hand a prompt Enter source position Rack 2 1 to 50 input rack 2 index get from rack 2 put into vortex inserts the test tube into the agitator prompt Insert duration time input vortex time links the typed number to this variable vortex timed run enables the agitator to be on during the time specified in the variable vortex time get from vortex gets the test tube from the agitator prompt Enter destination position Rack 2 1 to 50 input rack 2 index put into rack 2 park hand Observation if there is already a test tube in the station and the function put into vortex is called the robot will leave the tube into the nput container Then it will take the current tube out of the station and will place it into the Output container After this the robot will take the tube in the nput container and will place it into the station Warning a crys
66. tal test tube must be put into Rack 2 before performing this program If the tube is taken from Rack 1 the hand will crash against the station 42 ms Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH CENTRIFUGE STATION Description this station provides automated centrifugation of samples The electromecanically operated door and rotor position indexing capability of the centrifuge allow interaction with this station this station is NOT surrounding the robot on the plate It is placed just behind the tumble mixer Location Pict 30 load door and tube holders Pict 29 general view of the station Connections Pict 31 electric connections 43 VETENSKAP Campus de Terrassa er UNIVERSITAT POLITECNICA DE CATALUNYA KTH Instructions for this station put into centrifuge the robot performs the manipulations to put the container into the input position in the centrifuge rack and afterwards places the test tube into the rotor position defined by the variable called centrifuge index get from centrifuge the robot takes the container from the position defined in the variable centrifuge index and puts it into the output position in the centrifuge rack Variable for this station centrifuge index desired rotor position This variable tells the system the place for the test tube to be putin 44 di iw Campus de Terrassa UNIVERSITAT POLIT CNICA D
67. th assignment such as ISTD VOL 0 1 istd aspirate pause time 0 to X 0 as the default value This parameter indicates how long in seconds the system will pause while aspirating liquid into the syringe istd dispense pause time 0 to X 0 as the default value This parameter indicates how long in min istd vol seconds the system will pause while dispensing liquid into the syringe 0 01 default value It is the minimum value to be transferred by using this hand max istd vol 0 024 default value It is the maximum value to be transferred by using this hand 28 si D Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH Demonstration program for the INTERNAL STANDARD hand aspiration Name of the program JOOCHAN HAND ISTD Description this demostration program gets the internal standard hand asks for the volume to be aspirated and then delivers its contents into a tube display off get istd hand prompt Please insert the volume to be aspirated 0 01 to 02 input istd vol the amount to be aspirated is determined by this variable input by user in this case aspirate istd the volume set before is aspirated prompt Insert destination test tube position Rack 2 1 to 50 input rack 2 index move over rack 2 dispense istd park hand Observation rack 2 index must be set before executing move over rack 2 since this movement instruction needs to know the t
68. tte Typical ZYD files contain individual station dictionaries configuration application or working dictionaries ZYD files are not automatically loaded into memory when the controller is booted Instead they are loaded into the controller by using the Load Dictionary or appended using the Pyappend Dictionary selection from the System V On line menu see forward 67 Vernar Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH 6 4 On line Off line menus On line menu allows the user to interact with the controller and the entire System Programs can be executed in manual control dictionaries can be loaded directly from the controller or a new program can be saved in the controller for instance To achieve that it is required that the controller is connected to the PC and be idle not running whereas in Off line menu the PC is not connected to the controller but allows the user to edit programs view change data or view dictionaries 6 5 Dictionary The dictionary is the portion of memory in the controller that stores the information involving hardware and software information Hardware information is that one about the different stations positions and variables and software information deals with EasyLab commands and programs written or installed in the system Only one dictionary exists in the controller at a time but different dictionaries can be saved as separate MS DOS files to a single disk
69. ube position to deliver its contents If not the hand delivers the fluid in the position pointed by the previous value of rack 2 index and a liquid spilling might be inminent Warning istd vol is set to 0 at the end of the aspirate istd command Therefore if another application needs to handle this variable afterwards it will have to be set again to a value greater than 0 4f Remember internal standard reservoir must be filled to the 50 ml mark before each run and the maximum volume to be aspirated is 0 2 ml 29 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes BALANCE Description this station is used for the analytical weighing of liquid samples and sample containers A pneumatic balance door is included and allows sample containers to be top loaded into the balance preventing drafts from affecting the balance Transfer of liquid samples is done by pippeting Location from sector 26 to sector 29 on the plate Pict 15 pneumatic driven balance 30 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA di Ont KTH Connections Pict 16 pneumatic devices Pict 17 air connections from the electro valve 31 ms Campus de Terrassa UNIVERSITAT POLIT CNICA DE CATALUNYA KTH Assembling amp Programming a robot for pharmaceutical purposes Pict 18 electric connections in the balance
70. ume 0 2 to 2 0 input pipet volume links the number typed on the keyboard to the variable pipet volume aspirate 2ml tip sucks the volume saved in pipet volume from the test tube set by the variable rack 2 index prompt Insert destination tube position Rack 2 1 to 50 input rack 2 index dispense 2ml tip the volume sucked before is now put into another test tube set by thevariable rack 2 index dispose to waste the dirty tip is taken to the trash store and dropped park hand Observation the instruction move over rack 2 has to be compulsory executed before aspirate 2ml tip Warning pipet volume is set to 0 after executing the program Therefore if another application needs to handle this variable afterwards it will have to be set again to a value greater than O 4f Remember the tip rack must be manually filled before starting an application 26 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA Assembling amp Programming a robot for pharmaceutical purposes ISTD HAND Description this Pysection station can transfer 0 010 to 0 200 ml of liquid using a syringe between the internal standard source and the sample This station includes the syringe a reusable luer lock needle and a covered reservoir for the internal standard Location from sector 34 to sector 35 on the plate Pict 14 front and lateral view of the istd hand used for liquid aspiration 27 dip VE
71. ve over rack 2 before move over XXX commands move over rack 2 performed when needing to place any hand over this rack move over balance this is a sub routine included for example in put into balance and performs a movement over the balance The hand stops just above the balance door move over capper sub routine which places a test tube above the capper move over crimp capper to place a tube on the crimp capping station move over vortex allows the hand to be placed above the vortex hole in where the test tube is to be put sub routine included in put into vortex put into xxx commands putinto balance includes the instruction called move over balance put into capper includes the instruction called move over capper put into centrifuge performs the movement to place a test tube into this station put into crimp capper includes the instruction called move over crimp capper put into evaporator the robot puts a test tube into the evaporator put into rack 1 put into rack 2 includes the instruction called move over rack 2 put into tumble mixer put into vortex includes the instruction called move over vortex Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA mi D KTH get from xxx commands get from rack 1 takes a test tube from this rack get from rack 2 takes a test tube from this rack get from centrifuge takes a test tube from the rack placed on the tumble mixer station get
72. where the different stations are screw on 1 Find the Rack name and Index name in PYSECTION INFO Examples rack name index name R1 RACK 1 RACK 1 INDEX B OVER BALANCE YES i e 1 Select the System option then make the View Dictionary selection Move the highlighted bar over R1 RACK 1 example and press Ctrl D to delete the rack If one is not already attached run a Pysection command to get a hand see section 2 4 Enter the robot teaching screen and use the function keys to bring the robot to a safe position clear the Pysection involved Press 9 to define the rack At the blinking cursor type the rack name as given in PYSECTION INFO e g R1 RACK 1 and press Enter At the blinking cursor type the rack index name given in PYSECTION INFO e g R1 RACK 1 and press Enter Press Enter to verify that the proper hand is attached O Follow the rack definition instructions keeping in mind that in PyTechnology racks are taught at a height where the bottom of the fingers are 1 cm above an uncapped container in that position 11 Optional after you have defined the rack verify some positions from the teaching scrren by pressing 6 then entering the rack name and an index value when prompted Observe the robotic alignment over this position PON SP OND Clear region The clear region is the area surrounding the robot intended to be clear of harware If station placement violates this clear region you mu
73. x f Remember cristal tubes are kept in this rack Do not place any other type of tube plastic tubes since the robot is not able to take them from here Otherwise an error message will appear 54 Campus de Terrassa UNIVERSITAT POLITECNICA DE CATALUNYA ssembling amp Programming a robot for pharmaceutical purposes RACK 2 Description this rack is used to keep 13 x 100 mm test tubes Each container in the rack 50 positions has an associated volume and capped status that is updated when the container is taken and moved around the benchtop The test tubes held in this rack must be taken with hand a Location from sector 36 to sector 39 on the plate Pict 33 Rack 2 Instructions for this station get from rack 2 a container is taken by the hand from the rack at the position defined in the variable rack 1 index put into rack 2 the robot puts the container into the rack at the position defined in the variable rack 1 index Variables for this station rack 2 index from 1 to 50 This is where the current test tube must be taken from or to be placed in initial volume rack 2 0 to 12 ml 0 as the default value This is the initial starting volume in ml for each tube in the rack If the rack is going to be empty of containers this variable must be setto 1 container capped rack 2 YES or NO NO as the default value If set to NO it shows that the rack is full with uncapped

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