TRobot user manual

TRobot user manual
Instruction Manual
Ver. 09/10
Model
TRobot 96
TRobot 384
Order No.
050-991
050-992
!! Warning !!
Please read these instructions carefully before using this
apparatus!
Biometra GmbH
Rudolf-Wissell-Str. 30
D-37079 Göttingen
Tel.: ++49 (0)551-50 68 6-0
Fax: ++49 (0)551-50 68 6-66
email: [email protected]
Internet: http://www.biometra.com
Service Department
Rudolf-Wissell-Strasse 14-16
D-37079 Göttingen
Tel.: ++49 (0)551-50 68 6-10 or -12
Fax: ++49 (0)551-50 68 6-11
email: [email protected]
This document describes the state at the time of publishing. It needs not necessarily agree with
future versions.
Subject to change!
2
Instruction Manual TRobot 10/2009
___________________________________________________________
1
Introduction .........................................................................................................................6
1.1
Field of Applications ......................................................................................................6
1.2
Special Features ...........................................................................................................6
1.2.1
Motorized heated lid ..............................................................................................6
1.2.2
Reliable uniform cycling ........................................................................................6
1.2.3
Small footprint .......................................................................................................6
1.2.4
Motorized plate lifter ..............................................................................................6
1.2.5
Communication with the TRobot ...........................................................................7
1.2.6
Internal memory ....................................................................................................7
1.3
Technical specifications ................................................................................................8
1.4
Legal Notes ...................................................................................................................9
1.4.1
PCR License – Legal Disclaimer ...........................................................................9
1.4.2
Copyright ...............................................................................................................9
1.4.3
Liability ..................................................................................................................9
1.4.4
Meaning of the Instructions ...................................................................................9
2
Safety and Warning Notices.............................................................................................10
2.1
3
Installation .........................................................................................................................15
3.1
3.2
3.3
3.4
4
Content of delivery ......................................................................................................15
Unpack and Check ......................................................................................................15
Operation Voltage .......................................................................................................15
Installation Conditions .................................................................................................16
Operating elements...........................................................................................................18
4.1
4.2
4.3
4.4
4.5
5
Definition of Symbols...................................................................................................10
The TRobot front view .................................................................................................18
The TRobot rear view..................................................................................................19
Initializing motorized lid pressure ................................................................................19
Adjust TRobot lid to zero position................................................................................20
Setting lid pressure......................................................................................................21
Thermocycler Manager Software.....................................................................................23
5.1
Introduction..................................................................................................................23
5.2
Installing the Thermocycler Manager Software ...........................................................23
5.3
The Thermocycler Manager Software main screen ....................................................23
5.3.1
Network settings ..................................................................................................23
5.3.2
Record temperature profile..................................................................................24
5.3.3
Connect Thermocycler to the Thermocycler Manager Software .........................25
5.3.4
Block Info.............................................................................................................26
5.3.5
Lid........................................................................................................................27
5.4
Programming screen ...................................................................................................27
5.4.1
Create program ...................................................................................................27
5.4.2
Edit program ........................................................................................................28
5.4.3
Load program ......................................................................................................29
5.4.4
Save program ......................................................................................................29
5.4.5
Send program to Thermocycler ...........................................................................30
5.4.6
Start program ......................................................................................................30
5.4.7
Pause program ....................................................................................................30
Instruction Manual TRobot 10/2009
3
5.4.8
Stop program ...................................................................................................... 31
5.4.9
Show remaining time .......................................................................................... 31
5.5
Memory management................................................................................................. 31
5.5.1
Find program ...................................................................................................... 31
5.5.2
View program...................................................................................................... 32
5.5.3
Copy progam ...................................................................................................... 32
5.5.4
Delete program ................................................................................................... 33
5.5.5
Delete directory................................................................................................... 33
5.5.6
Save all programsto PC...................................................................................... 34
5.5.7
Transfer programs from PC to Thermocycler ..................................................... 35
5.5.8
Create Service Info File ...................................................................................... 35
5.5.9
Direct command.................................................................................................. 36
5.5.10
Exit memory management window..................................................................... 36
5.6
Exit Thermocycler Manager Software......................................................................... 36
5.7
Analysis of temperature data ...................................................................................... 36
6
Serial Communication Protocol ...................................................................................... 39
6.1
General Information .................................................................................................... 39
6.2
Asynchronous Communication ................................................................................... 39
6.2.1
General ............................................................................................................... 39
6.2.2
Command Structure............................................................................................ 39
6.2.3
Command Reply ................................................................................................. 40
6.2.4
Spontaneous Error Messages ............................................................................ 42
6.2.5
Menu Structure ................................................................................................... 43
6.3
Synchronous transferred data..................................................................................... 44
6.3.1
Data format of synchronously transferred data ................................................... 44
6.3.2
Sending only One-Time ...................................................................................... 45
6.4
Setting of the Transfer Protocol ................................................................................... 45
6.5
Communication Start and Stop ................................................................................... 46
6.5.1
Power up of the cycler / Connection start ............................................................ 46
6.5.2
Activation of the Remote Control......................................................................... 46
6.5.3
Re-Initialisation of the Communication................................................................ 46
6.5.4
Re-Initialisation of the Cycler-Software ............................................................... 47
6.5.5
Auto-Restart........................................................................................................ 47
6.6
Setting of the Communication..................................................................................... 47
6.6.1
Check Process CRC16 ....................................................................................... 47
6.6.2
Handshake.......................................................................................................... 47
6.6.3
Quasi-Echo Operation ........................................................................................ 47
6.6.4
Transfer of Synchronous Data ............................................................................ 47
6.6.5
Time-out of the Receiving Buffer......................................................................... 47
6.7
Complications during the Communication .................................................................. 48
6.7.1
Communicational Collisions ................................................................................ 48
6.7.2
Receiving Buffer overflow from the Cycler .......................................................... 48
6.7.3
Checksum Error .................................................................................................. 48
6.7.4
Software-Error .................................................................................................... 48
6.7.5
Restart of the communication ............................................................................. 48
6.8
Special Commands..................................................................................................... 48
6.8.1
Commands to operate the Automated Lid........................................................... 48
6.9
Structure of Menus and Description of Commands..................................................... 49
6.9.1
Overview of the Structure of Menus .................................................................... 49
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Instruction Manual TRobot 10/2009
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6.9.2
Description of Commands ...................................................................................49
6.9.3
Main Menu...........................................................................................................49
6.9.4
Menu Block (BLCK) .............................................................................................50
6.9.5
Menu Block Setup (BLCK / BSET).......................................................................51
6.9.6
Menu Info (INFO).................................................................................................51
6.9.7
Menu Library (LIBR) ............................................................................................51
6.9.8
Menu Edit (LIBR / EDIT) ......................................................................................52
6.9.9
Menu Protocol (PROT) ........................................................................................52
6.10 Formats of the parameters ..........................................................................................53
6.10.1
Examples.............................................................................................................56
6.11 Error codes ..................................................................................................................56
6.11.1
Error Group 0xx: System Errors...........................................................................56
6.11.2
Error Group 1xx: Edit Errors ................................................................................57
6.11.3
Error Group 2xx: Block Errors ..............................................................................57
6.11.4
Error Group 3xx: Block Using Errors ....................................................................58
6.11.5
Error Group 4xx: Memory Error............................................................................58
6.11.6
Error Group 5xx: Input Syntax Error.....................................................................58
6.11.7
Error Group 6xx: Buffer Error ...............................................................................58
7
Trouble shooting...............................................................................................................60
7.1
7.2
7.3
7.4
7.5
8
Slow heating and cooling ............................................................................................60
Autorestart...................................................................................................................60
Autorestart due to unrecognised power failure............................................................60
Opening and closing heated lid off-line .......................................................................60
Recommendations for the use of 384 well Thermocyclers..........................................60
Maintenance and repair ....................................................................................................62
8.1
8.2
8.3
8.4
9
Cleaning and Maintenance..........................................................................................62
Service and repair .......................................................................................................62
Firmware update .........................................................................................................62
Replacement of Spare Parts .......................................................................................62
Accessories .......................................................................................................................63
9.1
10
Plasticware ..................................................................................................................63
Service ...............................................................................................................................64
10.1
10.2
Instructions for return shipment...................................................................................64
Packing of the TRobot Thermocycler ..........................................................................65
11
Equipment Decontamination Certificate.........................................................................66
12
Note for the disposal of electric / electronic waste. ......................................................68
13
Declaration of Conformity ................................................................................................69
14
Warranty.............................................................................................................................70
15
Subject Index.....................................................................................................................71
Instruction Manual TRobot 10/2009
5
1 Introduction
1.1
Field of Applications
The Biometra TRobot is a Thermocycler that is licensed for PCR applications (research use
only) and intended to be used for performing polymerase chain reactions. For integration in
automated environments a Thermocycler has to meet very different needs than a bench-top
instrument. Since space under the robotic arm is limited, a Thermocycler needs a small
footprint. To ensure automated workflow, the instrument must have a motorized lid that allows
the robotic arm to access the block easily and that is strong enough to reliably seal microplates.
All features of the Thermocycler have to be controlled via user-friendly software. After cycling,
plates need to be easily removed for downstream processing. These specifications were the
starting point for the development of the new TRobot Thermocycler.
1.2
•
•
•
•
•
•
•
•
•
•
•
•
Special Features
Designed specifically for robotic systems
Integrated cycler with external controller
Proven peltier technology
Unique: motorized plate lifter!
Motorized heated lid
Lid opening angle 110°
Adjustable lid pressure
Small footprint
Available with 96 well (silver) or 384 well (aluminium) block
Low power consumption
Communication with PC via serial RS232 protocol
Instrument provides extensive status report
1.2.1 Motorized heated lid
The TRobot lid is powered by a two step electric motor. First, the lid closes quickly, then the
second mechanism carefully interlocks the lid at the front. This ensures that a defined,
reproducible pressure is applied. When the lid is closed the electric motor is uncoupled for a
long life. The amount of pressure exerted by the lid can be precisely set to one of 15 different
positions.
1.2.2 Reliable uniform cycling
The TRobot Thermocycler is available in two different block formats. Taking advantage of the
high thermal conductance of silver the TRobot 96 achieves high ramping rates as well as
excellent temperature uniformity. The silver block is coated with gold to ensure lasting
performance. The TRobot 384 block is made of aluminium and achieves perfect fit for 384 well
microplates (050-231). The 384 well block is coated with a special alloy, which supports easy
removal of plates by the motorized lifter.
1.2.3 Small footprint
To produce a compact instrument, the TRobot block module has been separated from the
controller unit. Thus the controller can be placed outside the workstation. By switching the
Thermocycler chassis, the airflow direction can be inverted (front to back or vice versa). This
minimizes contamination due to air flowing towards a liquid handler or other components.
1.2.4 Motorized plate lifter
Removing plates from the block has been one of the major obstacles to Thermocycler
automation. Due to the tight fit, air between the block and the plate is displaced during cycling
6
Instruction Manual TRobot 10/2009
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causing microplates to stick. This makes it difficult for the plates to be removed by a robotic arm.
To solve this problem the TRobot is equipped with four levers that lift the plate from the block as
the lid opens. Once lifted, the plate can be easily removed by a robotic arm. The levers then
return to their initial position allowing a new plate to be positioned.
1.2.5 Communication with the TRobot
All features of the TRobot are controlled via its serial port. A detailed communication protocol is
available (see chapter 6). Integration in existing software environments (of individual robotic
stations) is very easy. In addition to controlling standard features, the TRobot can provide
extensive status messages that allow monitoring of all instrument parameters. A software tool
for directly operating the TRobot from a Personal Computer is also available.
1.2.6 Internal memory
The TRobot provides an internal memory organized in 10 subdirectories. Programs can be
started either by downloading the protocol prior to starting this program. Alternatively, an
existing program can be started from the internal memory of the TRobot.
Instruction Manual TRobot 10/2009
7
1.3
Technical specifications
Thermocycler
Capacity
Block
Max. heating
Max. cooling
Temperature range
Temperature uniformity
Control accuracy
Heated Lid
Temperature range
Pressure range
Max. opening angle
Two step electric motor
Front locking mechanism
Motorized plate lifter
Thermocylcer dimensions
Footprint (W x L)
Height (lid closed)
Height (lid opened)
Weight
Interface
Controller
Input voltage
Maximum power
consumption
Interface
Dimensions (W x L x H)
Weight
8
TRobot 96
Remote Thermocycler with
motorized heated lid
96 well microplate
96 well gold plated silver block
3,5 °C/sec
2,5 °C/sec
-3,0 – 99,9°C
+ 0,5°C
+ 0,1°C
TRobot 384
Remote Thermocycler with
motorized heated lid
384 well microplate
384 well aluminium block, special
coating
1,0°C/sec
1,0 °C/sec
-3,0 – 99,9°C
+ 0,5°C
+ 0,1°C
30 – 99°C
0 – 10 kg/plate,
adjustable in 15 increments
110°
Yes
Yes
Yes
30 – 99°C
0 – 10 kg/plate,
adjustable in 15 increments
110°
Yes
Yes
Yes
168 x 226mm
195mm
306mm
7 kg
37 pin (controller),
10 pin (power)
168 x 226 mm
195mm
306mm
7 kg
37 pin (controller),
10 pin (power)
100, 115, 230 Volt
350 Watt
100, 115, 230 Volt
350 Watt
37 pin (controller),
10 pin (power)
serial RS232
190 x 440 x 125 mm
5,9 kg
37 pin (controller),
10 pin (power)
serial RS 232
190 x 440 x 125 mm
5,9 kg
Instruction Manual TRobot 10/2009
___________________________________________________________
1.4
1.4.1
Legal Notes
PCR License – Legal Disclaimer
Purchase of a Biometra Thermocycler conveys a limited non-transferable immunity from suit for
the purchaser’s own internal research and development and applied fields other than human in
vitro diagnostics under one or more of US Patents Nos. 5,038,852, 5,656,493, 5,333,675,
5,475,610, and 6,703,236, or corresponding claims in their non-US counterparts, owned by
Applera Corporation.
No right is conveyed expressly, by implication or by estoppel under any patent claim, reagents,
kits, or methods such as 5´ nuclease methods, or under any other apparatus or system claim,
including but not limited to US Patent No. 6,814,934 and its non-US counterparts, which
describe and claim thermal cyclers capable of real-time detection.
Further information on purchasing licenses may be obtained by contacting the Director of
Licensing, Applied Biosystems, 850 Lincoln Centre Drive, Foster City, California 94404, USA.
Biometra biomedizinische Analytik GmbH
Rudolf Wissell Str. 30
37079 Goettingen, Germany
1.4.2
Copyright
All rights reserved. It is not allowed to copy and publish the manual or parts of it in any form as
copies, micro film or other methods without a written authorisation from Biometra.
Biometra is pointing out that applied company and brand names are usually protected trade
marks.
1.4.3
Liability
Biometra is not liable for damages and injuries caused by use not considering these operating
instructions in parts or completely.
1.4.4
Meaning of the Instructions
Biometra recommends that you first read these instructions carefully. This operation instruction
is part of the product and should be kept over the full life-time of the instrument. It should also
be forwarded to subsequent owners and users. Make sure that additions and updates are
inserted into the operation instructions.
Instruction Manual TRobot 10/2009
9
2
Safety and Warning Notices
2.1
Definition of Symbols
Symbol
Definition
Caution! Refer to instruction manual!
Achtung! Beachten Sie die Hinweise im Handbuch
Danger! High voltage!
Gefahr! Hochspannung!
Fragile!
Zerbrechlich!
Danger! Hot surface!
Gefahr, Heisse Oberfläche!
Please read this manual carefully before starting operation of the TRobot Thermocycler. The
TRobot Thermocycler is intended for sample incubation at varying temperatures.
•
General safety precautions for laboratory work must be observed when working with the
TRobot Thermocycler.
•
The TRobot does not produce a sound power level that could be hazardous for the user.
The thermoblock and the heated lid will reach high temperatures
during operation. Both thermoblock and heated lid can burn you.
Das schnelle Heizen des Thermoblocks kann dazu führen, dass
Flüssigkeiten explosingsartig verkochen. Verwenden Sie daher
immer eine Schutzbrille während des Betriebs! Schliessen Sie vor
dem Start eines Programms den Deckel des Gerätes!
Rapid heating of the thermoblock can cause liquids to boil
explosively. Always wear safety goggles and gloves during
operation. Close the lid before starting a program.
Das schnelle Erhitzen von Flüssigkeiten kann zu plötzlichem
Überkochen führen. Tragen Sie daher immer Schutzbrille und
Handschuhe während des Betriebs. Schliessen Sie den Deckel
bevor Sie ein Programm starten.
Do not heat samples without having the lid locked securely.
Stellen Sie vor Programmstart sicher, dass der Deckel sicher
geschlossen ist!
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Instruction Manual TRobot 10/2009
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Be aware that samples are reaching high temperatures. Do not touch
or open hot tubes or microplates, because hot liquid may quickly spill
out.
Die Proben können hohe Temperaturen erreichen. Fassen Sie
heisse Probengefäße oder -platten nicht an und öffen Sie diese
nicht, andernfalls kann kochende Flüssigkeit herausspritzen!
Do not touch the heated lid.
Fassen Sie nicht an den Heizdeckel!
Use only suited plastic ware in the TRobot thermocycler. Tubes and
plates must show good fit when placed in the thermoblock. Only use
tubes that are suited for high temperatures (tight lids).
Benutzen Sie nur Platten und Gefäße, die für hohe Temperaturen
(bis 100°C) geeignet sind, die gut in den Thermoblock passen (kein
Wackeln) und deren Deckel dicht schliessen!
The TRobot Thermocycler contains no user serviceable parts. Do not
open the housing instrument. Service and repair may only be carried
out by the Biometra Service department or otherwise qualified
technical personal.
Der TRobot Thermocycler beinhaltet keine Teile, die vom Anwender
gewartet oder repariert werden können. Öffnen Sie nicht das
Gehäuse des Thermocyclers! Lassen Sie Service und Reparaturen
von der Biometra Service Zentrale oder von qualifiziertem
Fachpersonal durchführen.
Do not use the instrument when damages of the housing, block,
cable or other parts are visible.
Benutzen Sie den TRobot Thermocycler nicht, wenn
Beschädigungen am Bock, Gehäuse, Kabel oder an anderen Teilen
erkennbar sind.
Prior to connecting the unit to the power source please ensure that
the voltage selector at the backside of the controller is set to the
required voltage and make sure that the appropriate fuses are
inserted in the fuse holder (see chapter 3.3).
Stellen Sie vor dem Anschalten sicher, dass die Einstellung des
Spannungswahlschalters auf der Rückseite des Controllers mit der
Netzspannung übereinstimmt und die passenden Sicherungen im
Sicherungshalter eingesetzt sind (siehe Abschnitt 3.3).
Instruction Manual TRobot 10/2009
11
Make sure that the main supply voltage is in accordance with the
label above the power connection.
Die Netzspannung muß mit dem Wert auf dem Typenschild über
dem Netzanschluss übereinstimmen.
Unplug the power cable before you open the TRobot Thermocycler.
Danger of electric shock!
Vor dem Öffnen des Gehäuses unbedingt den Netzstecker ziehen.
Gefahr eines elektrischen Schlages!
Make sure that the appliance connector and the plug of the supply
cord are accessible, so you can separate the instrument from the
mains.
Stellen Sie sicher, dass der Netzschalter und das Netzkabel gut
zugänglich sind, so dass das Gerät im Bedarfsfall von der
Netzspannung getrennt werden kann.
Connect the TRobot Thermocycler to a grounded socket.
Schliessen Sie den TRobot Thermocycler an eine geerdete
Steckdose an.
When only few samples are put in the block place additional tubes in
the four corner positions. This is to evenly distribute the lid pressure
and prevents single tubes from excessive pressure. Use of few tubes
may result in damage of the tubes by excessive pressure.
Sofern nur wenige Proben behandelt werden, bitte zusätzlich jeweils
ein (leeres) Gefäss gleicher Höhe in die Eckpositionen des Blocks
setzen. Bei einer zu geringen Probenzahl im Block besteht die
Gefahr, dass Gefässe beschädigt werden.
Appropriate safety regulations must be observed when working with
infectious, pathogenic or radioactive material. Ask the responsible
local safety inspector for details.
Wenn pathogene, radioaktive oder infektiöse Proben behandelt
werden, müssen die einschlägigen Sicherheitsbestimmungen
berücksichtigt werden. Fragen Sie den für Ihren Standort
zuständigen Sicherheitsbeauftragen für Details.
The TRobot Thermocycler must not be used with explosive,
flammable or volatile liquids.
Der TRobot Thermocycler darf nicht mit brennbaren, explosiven oder
flüchtigen Substanzen betrieben werden.
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Instruction Manual TRobot 10/2009
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Do not place fingers between lid and housing when opening or
closing the lid.
Beim Öffnen und Schliessen des Deckels keine Finger zwischen
Block und Deckel bringen. Gefahr von Quetschungen!
It is not necessary to apply oil into the opening of the block in order
to improve the heat transfer between the block and the sample
tubes.
If you still decide to use oil, do not use silicon oil. Mineral oil may be
used.
Die Verwendung von Öl zwischen Proben und Block für einen
besseren Wärmeübergang ist nicht erforderlich.
Sofern Sie dennoch Öl einsetzen wollen, auf keinen Fall Silikonöl,
sondern Mineralöl verwenden.
Ensure that both the rear and bottom ventilation slits not clogged by
dust or other material. Danger of overheating!
Stellen Sie sicher, dass die Lüftungsschlitze an der Unter- und
Rückseite frei zugänglich und nicht durch Staub oder andere
Materialien verstopft sind. Gefahr der Überhitzung!
Let equilibrate the TRobot Thermocycler to room temperature before
starting operation.
Insofern der TRobot transportiert wurde, das Gerät bitte vor dem
ersten Anschalten auf Raumtemperatur equilibrieren lassen (1 bis 6
Stunden).
There must be sufficient distance between the ventilation slots on the
front and rear side of the Thermocycler and a wall or another
instrument (min 10 cm). Danger of overheating!
Das Gerät sollte mit einem Mindestabstand von 10 cm zwischen der
Geräterückseite und einer Wand oder anderen Gegenständen
aufgestellt werden. Gefahr der Überhitzung!
This instrument is designed and certified to meet EN 61010-1 safety
standards. It should not be modified or altered in any way. Alteration
of this instrument will void the warranty, void the EN61010-1
certification, and create a potential safety hazard.
Das Gerät ist gebaut und zertifiziert nach dem Sicherheitsstandard
EN 61010-1. Es darf in keiner Weise modifiziert werden. Jegliche
Veränderung des Gerätes führt zum Verlust der Garantie, der EN
61010-1 Zertifizierung und ist eine potentielle Gefahrenquelle.
Place the TRobot Thermocycler on a stable, non flammable surface
in a dry, safe environment.
Stellen Sie den TRobot Thermocycler auf eine stabile, nicht
entflammbare Unterlage in einer sicheren und trockenen Umgebung.
Instruction Manual TRobot 10/2009
13
The TRobot is designed for operation in robotic workstations. Access
during operation should be restricted. The instrument is equipped
with a motorized lid that opens and closes automatically. Never put
your hands inside the instrument during the motorized lid is in action!
The closing lid exerts significant pressure and can cause bruises
when operated improperly.
Der TRobot ist für die Integration in automatisierte Anlagen
konzipiert. Während des Betriebs sollte für Anwender kein Zugang
zum Gerät möglich sein. Das Gerät ist mit einem motorisierten
Heizdeckel ausgerüstet, der beim Schließen erhebliche Kraft ausübt.
Beim Schließen des Deckels niemals die Hände in den
Thermocycler halten! Durch die Kraft des Deckels besteht bei
unsachgemäßer Handhabung die Gefahr von Quetschungen.
Do not use alcohol (e.g. methanol, ethanol), organic solvents or
abrasives to clean the instrument.
Verwenden Sie keine Alkohole (Methanol, Ethanol), organische
Lösungsmittel oder Scheuermittel zur Reinigung des Instruments.
For transports always use the original Biometra box.
Verwenden Sie zum Transport des Gerätes ausschliesslich die
Biometra-Originalverpackung.
14
Instruction Manual TRobot 10/2009
___________________________________________________________
3 Installation
3.1
Content of delivery
1)
2)
3)
4)
TRobot Thermocycler
Controller, TRobot
Manual
Thermocycler Manager Software
Please keep the original packaging material for return shipment in case of servicing. The
TRobot shipping box provides a specially developed system for contact-free transport of this
electronic device.
3.2
Unpack and Check
Unpack and carefully examine the instrument. Report any damage to Biometra. Do not attempt
to operate this device if physical damage is present.
Please keep the original packing material for return shipment in case of service issues
!! Attention !!
Please fill out and send back the warranty registration card. This is important for you to
claim full warranty.
3.3
Operation Voltage
The TRobot Thermocycler can operate at 100, 115 or 230 Volt.
Important: Prior to connecting the controller to the mains, make sure that the setting of the
Voltage selector at the backside of the controller is in accordance with your mains Voltage and
that it is equipped with the correct fuses.
Backside Controller
Backside Controller
Voltage
Indicator
Netzstecker
Fuse holder
230
11
5
Sicherungen
100
Fuses
Adjustement slot
1
Figure 1: Voltage adjustment slot
Mains supply
Netzschalter
2
Figure 2: Fuse holder
1. To change the operation Voltage settings switch off the instrument and disconnect the mains
plug.
Instruction Manual TRobot 10/2009
15
2. Use a coin or another round shape item to turn the adjustment slot of the Voltage selector at
the backside of the controller (see figure 1) to the new Voltage setting.
3. Pull out the fuse holder at the backside of the controller (see figure 2). Load the fuse holder
with two fuses corresponding to the designated operation Voltage. At an operation Voltage of
230V use two slow-blow fuses of 2 Ampere (2x 2ATT), at an operation Voltage of 100 or 115
Volt use two slow-blow fuses of 4 Ampere (2x 4ATT).
4. Reinsert the fuse holder.
5. Before switching on the instrument make sure that the instrument is fully assembled (see
chapter 3.4).
3.4
Installation Conditions
•
Place the TRobot Thermocycler on a stable surface in a dry environment.
•
Let equilibrate the TRobot Thermocycler to room temperature before starting operation (1 to
6h).
•
Make sure that the appliance connector and the plug of the supply cord are accessible, so
you can separate the controller from the mains.
•
Make sure that the ventilation slots at the front and the rear of the TRobot are not
obstructed. Make sure that there is no object in front of the Thermocycler that may block the
ventilation slots at the front (e.g. a piece of paper etc.)
•
There must be sufficient distance between the ventilation slots on the rear side of the
Thermocycler and a wall or another instrument (min 10 cm).
Ensure that the ventilation slots at the front and back of the instrument are
unobstructed.
Die Lüftungsschlitze an der Vorder- und Rückseite müssen freigehalten werden.
Insufficient ventilation can cause overheating of the instrument.
Eine unzureichende Belüftung kann zu einer Überhitzung des Gerätes führen.
•
Make sure that the main supply voltage is in accordance with the label above the power
connection (see section 3.3).
•
Connect the TRobot Thermocycler and controller to a grounded socket.
•
For installation of the TRobot connect controller and Thermocycler. Both units are
connected with a power cable (9 pin) and a controller cable (37 pin). Cables and plugs are
shown in Figure 3. Both cables have a length of 3m.
16
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power cable
9 pin
controller cable
37 pin
Figure 3: Cable and plugs for connection of TRobot Thermocycler and controller unit
•
Connections on the back of the Thermocycler module are shown in figure 5 (see chapter
4.2).
•
The plugs fit only the correct ports. Incorrect connection is avoided.
Before connecting the unit to the power source, please ensure that the voltage
selector at the back side of the controller is set to the correct voltage.
Vor Inbetriebnahme unbedingt überprüfen, ob der Wahlschalter für die
Netzspannung am Controller mit der örtlichen Betriebsspannung übereinstimmt.
Danger of electric shock! Unplug the controller mains cable and the TRobot
power and controller cable (see Figures 3 and 5) before you open the
Thermocycler or controller.
Gefahr eines elektrischen Schlages! Vor dem Öffnen des TRobot oder
Controllergehäuses unbedingt den Netzstecker vom Controller und das
Controllerkabel und Netzkabel vom TRobot abziehen.
Instruction Manual TRobot 10/2009
17
4
Operating elements
4.1
The TRobot front view
sealing around block
heated lid
96 well silver block
front locking
unit
plate lifter
plate lifter
ventilation slots
Figure 4: TRobot front view.
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4.2
The TRobot rear view
front locking unit
96 well silver block
wheel for
adjustment of
lid pressure
plate lifter
plate lifter
ventilation slots
port for
power cable
(9 pin)
contact for
emergency release
of motorized lid
(use only 9V block battery)
port for
controller cable
(37 pin)
Figure 5: TRobot rear view.
English
Only use a 9V block battery to open
the TRobot lid manually
4.3
Deutsch
Verwenden Sie ausschließlich eine
9V Blockbatterie, um den TRobot
Deckel manuell zu öffnen.
Initializing motorized lid pressure
The TRobot lid pressure can be set in 15 increments. The maximum pressure on the whole
block is 10kg. Before using the motorized pressure lid, it has to be adjusted to the type of
plasticware. Because the plate dimensions of different suppliers significantly vary, the lid has to
be adjusted to the ZERO position (no pressure, turn knob to “0”).
Always unplug the power cable before you adjust the lid pressure of the
TRobot!
Vor dem Justieren des TRobot Heizdeckels immer den Netzstecker ziehen!
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19
Never put your hands inside the instrument during the motorized lid is in action!
The closing lid exerts significant pressure and can cause bruises when
operated improperly.
Biometra strongly recommends to use a 9V battery to open and close the lid
(see chapter 7.4).
Beim Schließen des Deckels niemals die Hände in den Thermocycler halten!
Durch die Kraft des Deckels besteht bei unsachgemäßer Handhabung die
Gefahr von Quetschungen.
Biometra empfiehlt den Heizdeckel mittels einer 9V Batterie zu öffnen und zu
schließen (siehe Abschnitt 7.4)
4.4
Adjust TRobot lid to zero position
The TRobot lid has to be initially adjusted to the specific type of microplates that will be used.
The reason is that plates from different suppliers differ in height, which has a strong impact on
the lid pressure.
1) Turn the knob on the TRobot lid to “0”
2) Remove the white
cap on top of the
knob (unscrew two
screws)
3) Open the TRobot lid (either by using a battery (see chapter 7.4), or with the Thermocycler
Manager software)
4) Put the desired microplate on the TRobot block (complete with sealing!)
5) Close the TRobot lid (either by using a battery, or with the Thermocycler Manager software)
6) Release the internal heated lid by screwing the hexagon socket counter clockwise
Hexagonal socket
Release
Metal ring
20
Fix
Hexagonal socket
(fix and release lid)
Up
Down
Metal ring
(alter lid height)
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7) Turn the metal ring to alter the height of the
internal lid.
A special tool is included. Turn the ring three
times clockwise to raise the lid
Down
Up
8) Turn the metal ring counter clockwise to lower
the internal lid until you can feel that the lid has
just come in contact with the plate on the
thermoblock. This is the defined zero position:
direct contact between plate and lid but no
pressure.
fix
release
9) Hold the metal ring tight (eventually use a pliers) to
fix lid height and screw hexagonal screw clockwise
to fix the position of the inner lid.
4.5
Setting lid pressure
0,67 kg
/ step
Figure 6: Setting lid pressure
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21
If evaporation occurs despite elevated pressure, please choose different brand of plastic ware.
Since microplate dimensions vary between manufactures, not every plate may be compatible
with the instrument. Perfect fit between block and plate is essential for trouble free operation.
Biometra recommends 96 well plates (050-232) and 384 well plates (050-231).
Never dose liquid to the PCR microplate inside the TRobot! Dose liquids
outside of the instrument and always use already sealed PCR microplates.
Keine Flüssigkeiten innerhalb des TRobots in die PCR Mikrotiterplatte
dosieren! Dosieren Sie die Flüssigkeiten außerhalb des Gerätes und
verwenden Sie immer bereits versiegelte Mikrotiterplatten!
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5 Thermocycler Manager Software
5.1
Introduction
The Thermocycler Manager V4.11 is a PC-Software designed to address the following Biometra
Thermocycler models: T1 plus, TRobot, T3000 und TPersonal. Up to 16 Thermocyclers can be
connected and controlled in a network. The software allows to create, modify and store
programs that can be exchanged between different Thermocyclers.
Since the TRobot is designed for integration in workstations, the cycler will normally be
controlled by the software of the robotic station. For this purpose the cycler has to be integrated
in the workstation software. Integration will be done by the manufacturer of the workstation. For
a detailed description of all commands see section 6.9.
5.2
Installing the Thermocycler Manager Software
To install the Thermocycler Manager Software execute the file SetupThermocyclerManager.exe
and follow the instructions of the installation Wizard. All software drivers will be automatically
installed.
5.3
The Thermocycler Manager Software main screen
After the Software is started, the Thermocycler Manager main screen is displayed that allows
access to all functions:
Figure 7: Thermocycler Manager Software main screen
Since it is not yet a Thermocycler connected to the software, the status messages contain blue
question marks and most of the buttons appear greyed out.
5.3.1
Network settings
Click on button
Instruction Manual TRobot 10/2009
, to open the menu for network settings:
23
Figure 8: Network settings screen
Activate the radio button for the serial port (Com Port), the Thermocycler that you would like to
address is connected to.
5.3.2
Record temperature profile
The Thermocycler Manger Software can save a temperature profile for each run. Each second
the set and the actual temperature of the block and the actual temperature of the lid are
recorded. The data later can be analysed with a Microsoft Excel™ file specially configured by
Biometra (Temperature_profile_ThermocyclerManager.xls). To record temperature data activate
(see figure 8, chapter 5.3.1). The software either saves the files in a
the check box
preset folder or you may also set another path. Click on the button
opens where the name and location of the files can be defined:
. A new window
The data format of the stored files can subsequently be changed. Choose under "Temperature
data conversion" the appropriate format by activating the corresponding radio button (see figure
8 chapter 5.3.1). The temperature data can either be displayed separated by a point or a
comma. Then click the button
convert:
24
and in the new window that opens select the file to
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to confirm your selection. A new window opens where the name and
Click on
location of the converted file can be defined:
Click on <save> to complete the process. After the file is converted a message window with the
location and name of the file is displayed:
Note: For analysis of temperature data the file Temperature_profile_ThermocyclerManager.xls
(see chapter 5) can be used.
5.3.3 Connect Thermocycler to the Thermocycler Manager Software
After the network setup is completed, Thermocyclers can be addressed by the Thermocycler
in the Thermocycler Manager Software main
Manager Software. Press the button
screen (see chapter 5.3). After a connection is established the type of Thermocycler that is
Instruction Manual TRobot 10/2009
25
controlled and the status of various parameters are displayed in blue by the Thermocycler
Manager Software. Moreover, different buttons that previously were grayed out and therefore
inactive (see figure chapter 5.3), now have become active and can be used:
5.3.4
Block Info
Press button
to receive information on the block type of the Thermocycler that is
currently addressed by the software:
Additionally, in the main screen an information is displayed which blocks are currently active.
This feature is especially interesting for multi-block systems like the T3000 Thermocycler that
may also be controlled by the Thermocycler Manager Software. Since the TRobot is not a multiblock system, while in use, always block 1 is set active:
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5.3.5
Lid
By activating the button
the automatic lid:
Press
, a new window opens providing the functions for controlling
to open the TRobot lid.
to close the TRobot lid.
Press
to close the window.
Press
Moreover a status line is displayed below the buttons giving information on the lid status.
Note: See chapter 7.4 how to open and close the lid off-line.
English
Never put your hands inside the
instrument during the motorized lid is
in action! The closing lid exerts
significant pressure and can cause
bruises when operated improperly
5.4
Programming screen
5.4.1
Create program
To create a new a program press button
main screen (see chapter 5.3.3).
Deutsch
Beim Schließen des Deckels niemals
die Hände in den Thermocycler
halten! Durch die Kraft des Deckels
besteht bei unsachgemäßer
Handhabung die Gefahr von
Quetschungen.
in the Thermocycler Manager Software
The programming screen opens:
Instruction Manual TRobot 10/2009
27
There are a number of input fields for various parameters available. First define the directory
number, program number, lid temperature, lid preheating and assign a program name. Then
enter parameters for the first program step.
Goto:
Loop number:
Temp. inc.
Time inc:
Slope
This parameter specifies the starting point of a loop
This specifies how many times a cycle is run (total cycle number =
number backloops +1)
Temperature increment. This option allows increasing /decreasing
temperature within a cycle
Temperature increment. This option allows increasing /decreasing
dwell time within a cycle
This parameter specifies the maximum ramping rate (value 5 means
maximum heating and cooling)
Confirm your entries by pressing the button
. The parameters of the first step
will be displayed in a spreadsheet and the next program step can be entered:
5.4.2 Edit program
To open a program stored on TRobot Thermocycler, enter program number and directory
number and press button
chapter 5.3):
28
in the Thermocycler Manager Software main screen (see
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The programming screen opens (see chapter 5.4.1). By the functions
and
new program steps can be inserted or existing program steps deleted. To
modify a step, activate it in the programming screen and then change desired parameter in the
input form:
5.4.3
Load program
To load a program stored on the computer press button
. The program will
be opened in the programming screen and can be edited as described in chapter 5.4.2.
5.4.4 Save program
Enter the parameters for all the required steps of the PCR program, and then either click on the
or the button
to save the program on the
button
computer. Define the name and location of the program and then click on <save>:
to export protocols as text files. These may be opened and
Press the button
printed out with the Windows™ Editor.
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29
Note: In each case the program is saved to the computer harddisk. See chapter 5.4.5 how to
send a file to the Thermocycler.
5.4.5
Send program to Thermocycler
To send a saved program to the Thermocycler, press button
in the Thermocycler
Manager Software main screen (see chapter 5.3). Choose the program to be transferred and
press
:
Note: The program store (directory and program number) is pre-defined in its parameter list
(see chapter 5.4) and can not be selected before transmission. If you would like to save the
program to a certain store number, first specify the desired location in the parameter list and
save the program prior to transmission.
5.4.6 Start program
To start a program, first enter the program and directory number in the Thermocycler Manager
Software main screen:
Note: The name of the program will be displayed automatically. To check the program prior to
start press button
Press button
to start the program.
5.4.7
.
in the Thermocycler Manager Software main screen (see chapter 5.3)
Pause program
To pause a program press button
screen (see chapter 5.3). Press
30
in the Thermocycler Manager Software main
to resume the started program.
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5.4.8 Stop program
Press button
to stop the program.
5.4.9
in the Thermocycler Manager Software main screen (see chapter 5.3)
Show remaining time
in the Thermocycler Manager Software main screen (see chapter
Press button
5.3) to let the software display the remaining time of started programs. A new window opens
that shows the remaining time:
5.5
Memory management
The Thermocycler Manager Software provides various functions for the management of
programs and directories on the computer or on Thermocyclers. The button
will take you to an extra window for the memory management:
5.5.1 Find program
The Thermocycler Manager Software offers several options to search for a program. After
(see chapter 5.3), a new window opens where the
pressing the button
parameters for the search can be set:
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31
a) Find next program
Searches for the program which is, based on the currently viewed program, deposited at the
next higher memory location of the Thermocycler. If the currently viewed program is stored
at the highest memory location, the software starts to search at the beginning of the memory
and the program at the first used memory location will be displayed.
b) Find active program
Search for the currently used program.
c) Find the program with name
Search for a program by name.
d) Begin to search in directory number
Finds the program that is stored at the first used memory location in the specified directory.
5.5.2
View program
Press button
in the memory management window (see chapter 5.5) to enter the
programming screen (see chapter 5.4). In the programming screen programs can be viewed
and edited.
5.5.3
Copy progam
The function
opens:
allows to copy programs. After activation the following windows
to confirm
In the window you can specify which program where to be copied. Press
your selection. The program then will automatically be copied to the chosen memory location.
Note: Existing programs will be overwritten.
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5.5.4 Delete program
In the window for memory management (see chapter 5.5) enter the location of the program that
you would like to delete:
and in the next window confirm your selection with <yes>:
Press button
When the program is deleted a new window opens showing the following message:
5.5.5 Delete directory
In the window for memory management (see chapter 5.5) enter the number of the directory that
you would like to delete:
and in the next window enter the serial number of the
Press button
Thermocycler:
Note: The serial number of the instrument is written on the type label.
Press button
directory:
. In the next window press <yes> to confirm the deletion of the
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33
When the directory is deleted a new window opens showing the following message:
5.5.6 Save all programsto PC
The Thermocycler Manager Software offers the function to save all programs located in the
memory of a Thermocycler to PC.
in the window for memory management (see chapter
Press button
5.5). In the next window define the path where to programs are going to be saved to and
confirm your selection with <save>.
After copying, you receive a message, how many programs have been copied to the selected
folder:
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5.5.7 Transfer programs from PC to Thermocycler
Press button
in the window for memory management (see chapter 5.5).
In the next window specify which programs to be transferred to the Thermocycler.
Note: If you would like to select multiple programs at one time, hold down the Ctrl key during
the selection process.
Press
to confirm your selection. If a memory location is already in use, you will
receive a message. If the existing program shall be overwritten, confirm with <yes>, otherwise
press <no>:
Finally, you receive a message, how many programs during the process have been copied:
5.5.8 Create Service Info File
This function creates an information file that can be sent to the Biometra service by email. This
allows to some degree an advanced remote diagnosis in case of problems.
To create a Service Info File press
the location to save the file on your computer:
Instruction Manual TRobot 10/2009
. Assign a file name and then select
35
Send the file by email to: [email protected]
5.5.9 Direct command
Biometra Thermocyclers can be directly controlled by serial commands. Press button
to activate the Thermocycler Manager Software command line. Enter
a command and press button
. Chapter 6 gives a comprehensive overview over
all serial commands.
5.5.10 Exit memory management window
Press
5.6
to leave the window for memory management.
Exit Thermocycler Manager Software
Press button
in the Thermocycler Manager Software main screen (see chapter
5.3) to leave the software.
5.7
Analysis of temperature data
For Microsoft™ Excel based analysis of temperature data, the file "Temperature_profile_
ThermocyclerManager.xls" has to be installed on the computer. The file allows the reading and
the graphic representation of temperature data.
Open the Excel file „Temperature_profile_ThermocyclerManager.xls“.
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To open a file containing temperature data, click button "Open new source file" and select the
file to open.
The Excel file is divided into two sheets:
a) Log-Data
b) Log-Curve
a) The sheet „Log-Data“ in lines 1-4 shows run data like the protocol name, used type of
Thermocycler and date. From line 5, the data for the programmed target temperature,
the measured block temperature and lid temperature listed.
b) In the sheet „Log-Curve“ the temperature data is displayed graphically:
The function “Zoom” allows the customized the display of temperature curves. Click on button
“Zoom”. A new window opens where you can change the corresponding parameters to optimize
the display:
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6 Serial Communication Protocol
The following chapters describe all commands for serial communication with the TRobot.
This serial documentation protocol is the basis for integrating the TRobot in automized
workstations. Since workstations from different manufacturers have different software systems,
the TRobot has to be integrated indidvidually. For integration, please contact the manufacturer
of your workstation.
6.1
General Information
The definition describes the communication between a Biometra TRobot and a controlling
device, the master. You have to distinguish between “asynchronous communication” and
“synchronous data”. With the “asynchronous communication” the master transfers single
commands to control the cycler. The “synchronous data” is used for the control of the
thermoblock-activity. If this mode is online the cycler transfers in periodic cycles data about the
operating conditions of the thermoblock.
6.2
6.2.1
Asynchronous Communication
General
Commands and replies:
The controlling device transfers one or more commands to the cycler in one block. The
command interpreter works through the commands in chronological order. The cycler sends
conformation to the master on completion of each task. Each data block terminates with <CR>
(ASCII Carriage Return).
Each Command Induces a Reply.
Exceptions:
If the cycler notices an error during the processing of a command all following commands in the
same data block will be ignored and the master receives no reply from the cycler.
In general the cycler gives only a status signal after the request of the master.
Exceptions:
a. Spontaneous message of the cycler: If the cycler detects an error by the use of its security
system (e.g. overheating), the cycler sends a spontaneous error message to the master if the
connection to the master is still online (see chapter 6.2.4).
b. Synchronous data: see chapter 6.3
Next data block: Before a new data block can be transferred to the cycler the reply relating to
the last data must be received by the master or else the cycler sends an error message.
6.2.2
Command Structure
General output format: command block1[;command block2[;command
block3[;...]]][CRC16]<CR>
command block
= command code and parameter
CRC16
= CRC16-Check value (optional)
<CR>
= ASCII “Carriage Return” (OD)
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39
The elements in angular brackets are optional.
A transmission block may be constructed of multiple command blocks which are separated by
“;”. Each command block terminates with <CR>. If the “check process” is activated, a check
value will be sent in front of each termination signal. (see chapter 6.6.1).
Each command block has the following format:
command code[_parameter1[,parameter2[,....]]]
command code
= command code
_
= blank
Parameter
= parameter according to the list of instructions
If parameters were sent in combination with a command, a blank follows the command code
and one or more parameters. Several parameters are separated by a “,”. An optional parameter
between two other parameters could be left out, by setting a separator. Optional parameter at
the end may be left out totally.
For an example a command block with multiple commands see chapter 6.2.5.
Command Codes: Basically you have to distinguish between long and short commands. The
current version implements only short commands. The following description also shows the long
commands. The list of all command codes is given in chapter 6.9.2.
Short Commands: The command code of short commands is defined by a single letter. The
command letter may be used for different commands in different submenus but each command
may by used once within the same submenu. (see chapter 6.9.2).
Note: When short commands are used the parameters are also transferred in a compact format
(see chapter 6.10).
Long Commands: (yet to be implemented): The command codes of long commands are
constructed of four letters. The letter combination is used in such a way that it draws
conclusions from the commands. Each letter combination exists only once. (see chapter 6.9.2).
Note: When using of long commands the parameters are transferred in a simple readable
format (see chapter 6.10).
Shifting between Short and Long Commands: (yet to be implemented): After the Initialisation the
communication works with short commands. If the cycler receives from the master a long
command, the interpretation switches to long commands. As a result error messages will be
sent also in the long format (see chapter 6.11). The use of any short command switches the
communication back into the short format.
6.2.3
Command Reply
6.2.3.1 Standard Reply
A command reply starts with the short command code with a capital letter, without distinguishing
between the short and long format. The format of the parameters depends on the form of the
last command which was sent. With each transferred data block only one reply is sent.
reply code[_parameter1[,parameter2[,....]]][CRC16]<CR>
40
reply code
= command code with a capital letter
_
= blank
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parameter
= parameter according to the list of instructions
[CRC16]
= check code (optional)
<CR>
= ASCII “Carriage Return” (OD)
If a reply is sent with parameters after the reply code there will follow a blank and then one or
more parameters (see chapter 2.2 “Description of Commands”).
Example:
command:
a<CR>
HEAD (menu EDIT) reads the program head data
reply:A_ 63,1,‘TEST1‘<CR>
heated lid 99°C, heated lid preheating on, program name
'TEST1'
6.2.3.2 Error Message
Error identifier: error messages always have the sign “!” as error identifier detection and a
following three figure error code in HEX. short commands are replied from the cycler by error
messages in the short format, long commands are replied by error messages in the long format.
(see chapter 6.11).
Command codes with errors:
short form: ! error code_command block[CRC16]<CR>
long form: ! error code_ error text_command block[CRC16]<CR>
! error code
= error identifier (see error list)
_
= blank
command block
= invalid command block
error text
= plain text-error message (English)
[CRC16]
= check code (optional)
<CR>
= ASCII “Carriage Return“ (OD)
A command with an error results in a reply with an error identifier, a blank, followed by the error
text with a terminating blank using the long format and the invalid command block. Optionally
the checksum may be transferred in front of the terminating sign.
Example:
!501_k 78_<CR>
short form
!501_invalid command!_k 78<CR>
long form
Parameter:
short form: reply code_! error code_parameter[CRC16]<CR>
long form: reply code_! error code_ error text_parameter [CRC16]<CR>
reply code
Instruction Manual TRobot 10/2009
= command code in capital letter
41
_
= blank
! error code
= error identifier (see error list)
parameter
= invalid parameter
error text
= plain text-error message (English)
[CRC16]
= check code (optional)
<CR>
= ASCII “Carriage Return“ (OD)
A long command with an incorrect parameter receives a reply in the long format, otherwise in
the short form. The reply code is identical in both forms. The error message consists of the reply
code (command code with a capital letter), a blank, an error identifier, a blank, in the long form
the error text with a following blank, and the erroneous parameter.
Example:
E_!112_FE<CR>
short form
E_!112_max = 5!_FE <CR>
long form
Other errors
short form: reply code_! error code[CRC16]<CR>
long form: reply code_! error code_ error text[CRC16]<CR>
Reply code
= command code in capital letter
_
= blank
! error code
= error identifier (see error list)
error text
= plain text-error message (English)
[CRC16]
= check code (optional)
<CR>
= ASCII “Carriage Return“ (OD)
After a long command the error message returns in the long form, otherwise in the short form.
The reply code is identical in both forms. The error message consists the reply code (command
code with a capital letter), blank, error identifier as well as in the long form the error text
separated by a blank.
Example:
6.2.4
E_!108<CR>
short form
E_!108_ RAM full! <CR>
long form
Spontaneous Error Messages
Spontaneous error messages are not connected with a precursory command of the master.
They are not a reply to a command.
short form: !error code[btip][CRC16]<CR>
42
Instruction Manual TRobot 10/2009
___________________________________________________________
long form: ! error code_error text[btip] [CRC16]<CR>
! error code = error identifier (see error list)
_
= blank
error text
= plant text-error message (English)
[btip]
= only in error group 2xx (see chapter 6.11.3)
[CRC16]
= check code (optional)
<CR>
= ASCII “Carriage Return“ (OD)
After a long command the error message returns in the long form, otherwise in the short form.
The reply code is identical in both forms. The error message consists the reply code (command
code with a capital letter), blank, error identifier as well as in the long form the error text
separated by a blank.
If the last command was sent in the long form the error message is in the long form. Otherwise
it is in the short form. The error message consists of the error identifier as well as in the long
form the error text separated by a blank from the error identifier. In Error group 2xx (see chapter
6.11.3) the parameter btip (block number b, temperature t, current i and pulse p) will be
transferred.
Example:
6.2.5
!004<CR>
short form
!004 cooler too hot!<CR>
long form
Menu Structure
All commands are sorted in a menu structure with a main menu and several submenus (see
chapter 6.9.1. Within a menu only the commands of this menu are available. The command
codes in the short form are termed alphabetically “a”,”b”,”c”,..... The short command code “b”
has different meanings in different submenus. After the power up the command interpreter is in
the main menu. To move from one menu to a submenu a command has to be sent. All
commands are explained in the command list. (see chapter 6.9.2).
Example of a command sequence in the short form:
(editing of a programme)
c;a_3,2;a_63, ,‘TEST1‘;b_1,251C,1E;c_1388,1E;g<CR>
explanation:
c;
LIBR (main menu )
goes to menu LIBR
a_3,2;
EDIT (menu LIBR)
goes to menu EDIT, editing of
programme 2 directory 3
a_63, ,‘TEST1‘;
HEAD (menu EDIT) editing of the header: heated lid 99°C,
preheating of the lid on (default), name 'Test'
b_1,251C,1E;
Instruction Manual TRobot 10/2009
STEP (menu EDIT)
editing of programme step 1:
43
temperature 95.00°C, hold time 30 s
c_1388,1E;
NSTP (menu EDIT) editing of the next step:
temperature 50.00°C, hold time 30s
g
EEND (menu Edit)
terminating of editing and
return to menu LIBR
<CR>
terminating sign of the command block
Return to the main menu: If the command interpreter should return to the main menu the
command has to start with “:”. The colon has always to combine with a command code.
Example: request of the system status:
6.3
:a<CR>
Synchronous transferred data
Synchronous data are used for the control of the activity of a block. They can be sent serially in
an adjustable gap of 1 to 15 seconds. The start and stop of the synchronous data transfer can
be controlled with the command INTV in the menu BSET. During the initialisation the release is
deactivated. After the activation of the synchronous data transfer the cycler sends periodically
every second data beginning with a “#“ or only the “#“ if there is no data for transfer to the
master.
6.3.1
Data format of synchronously transferred data
Separator: After the identifier “#“ follows a blank. The data is separated by a comma
ASCII-presentation
internal format
value +
separator =
buffer
Format:
Bytes
Bytes
Bytes
Bytes
identifier “#”
1
1
1
2
block NR,
1
to 2
1
to 3
block status,
2
to 4
1
to 5
actual time*,
4
to 8
1
to 9
hold time**,
4
to 8
1
to 9
step NR,
1
to 2
1
to 3
loop counter *****
1
to 2
1
to 3
0,
2
to 4
1
to 5
44
Instruction Manual TRobot 10/2009
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heated lid-temperature,
2
to 4
1
to 5
heat sink-temperature,
2
to 4
1
to 5
format identifier ***
1
1
1
2
temperature data
depends on the format identifier
*actual time: counter, which is incremented each 64ms.
**hold time: Increment every second. Shows the hold time from the beginning of a temperatureplateau or during a break the time of this break.
*** format identifier of temperature data:
'A' : middle temperature
2
to 4 Bytes
***** counter of the innermost loop
The termination of synchronous data is marked by <CR> and – if tuned in – in front of each
terminating sign the CRC16-check value.
The format of the data is flexible. Leading zeros are not transferred.
Example:
“#_1,23,84C7F3,54,B,3, 0,230A,10A4,A,1B58“
Explanation:
#_1, 0023, 8701939 * 64ms, 84s, 11, 3, 0, 89.70°C, 42,60°C, A, 70.0°C
6.3.2
Sending only One-Time
Synchronous transferable data can be sent from the cycler after the demand by the master only
one-time (see SDAT-command in menu BLCK). In this case the reply begins with “E” in place of
“#”.
6.4
Setting of the Transfer Protocol
interface configuration:
9600 Baud, 8 Bit, no parity, 1 Stop bit
data format:
US-ASCII-sign
handshake:
RTS/CTS switchable at the cycler
echo mode:
Quasi-Echo switchable at the cycler
buffer size:
124 signs for each buffer (sending - and receiving buffer)
check process:
CRC16 according to ISO 3309, switchable
Instruction Manual TRobot 10/2009
45
6.5
Communication Start and Stop
The cycler only sends data if the master is ready and signals this by sending a sign to the cycler.
6.5.1
Power up of the cycler / Connection start
During the power up of the TRobot the cycler stores one or more messages for the master.
After the cycler receives the first sign from the master (connection start) the saved messages of
the cycler are transferred to the master before the cycler evaluates and replies the message to
the master. Check process (CRC16) and long commands are deactivated after the initialisation
of the cycler which results in a switch on message without a check value in the short format.
The first message which is stored by the cycler is always the message of the protocol version:
!000_protocol version<CR>_
= blank
protocol version
= version number of the communication protocols
Example: !000_0.0.1.0<CR>
During the power up the cycler checks its own memory content. If an error is found during the
check a further message block with the corresponding error message will be added to the
initialisation message.
Example: During the save test an uncompleted program is found because the cycler has been
switch off during the editing of this program. The uncompleted program is removed from the
memory and the following message is shown:
!403<CR>
program empty
If the cycler-software comes across an error in the software the following error message is
shown a new power up and the initialisation message:
!002_Error_code1_code2_code3_code4_code5_code6_code7<CR>
_
= blank
code
= HEX-code 4 digit
This special message is the same in the long and short format. The analysis of the code will be
done by Biometra.
Spontaneous messages which are generated between the power up of the cycler and the first
communication with the master (see chapter 6.2.4) are also temporarily stored.
6.5.2
Activation of the Remote Control
Sending “:” and a command activates the remote control of the Cycler.
6.5.3
Re-Initialisation of the Communication
The command
<ESC><ESC> (2 * ASCII 1B)
without any other sign re-transfers the communication to its starting point. All sending – and
receiving buffers are reset, all settings of the communication are re-transferred to the setting of
the start and the command interpreter is in the main menu. The cycler replies with a message of
the protocol version.
46
Instruction Manual TRobot 10/2009
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6.5.4 Re-Initialisation of the Cycler-Software
The command
^^
(2 * ASCII 5E)
without any other sign re-starts the software and the cyclers itself. (see chapter 6.5.1). The
modus “remote control” is deactivated.
6.5.5
Auto-Restart
A cycler with an active block which is switched off or terminates as a result of a power failure
checks the aborted temperature program and if it is without an error the program starts again
from the point of the deactivation of the block. The communication is the same as above. The
auto-restart-status can be controlled with the command BSTT in the menu BLCK.
6.6
Setting of the Communication
The following attributes of the communication are deactivated after the initialisation and have to
be switch on with the corresponding commands.
6.6.1
Check Process CRC16
The check process CRC16 according to ISO 3309 is for transmission reliability. The check
value will be sent in 4 ASCII-signs at the end of a transmission block in front of <CR> without a
separator. The check process is applied during the asynchronous as well as during the
synchronous data transfer by activating the CHCK-command in menu PROT.
6.6.2
Handshake
Hardware handshake makes sure that no data are sent as long as the receiving device is busy.
At using hardware handshake, both CTS and RTS-line of the communication cable must be
wired, a null modem cable is not suitable. Handshake must be enabled at the Cycler (with
command HWHS in menu PROT) and the controlling device.
6.6.3
Quasi-Echo Operation
To check the quality of a connection, the quasi echo operation can be used. During the quasi
echo operation the cycler repeats the transferred command string of the master. During the
active check the cycler attaches its check value to the received command. The ECHOcommand can be activated in menu PROT.
6.6.4
Transfer of Synchronous Data
See chapter 6.3. Activating with the INTV-command in menu BSET.
6.6.5
Time-out of the Receiving Buffer
The serial communication can be controlled by the measurement of the receiving time.
Whenever the first sign arrives at the cycler the time-out counter starts and stops when the
<CR> reaches the cycler. If the adjusted time has elapsed an error will be reported and the
received data will be deleted. The Time-out time can be set in 64ms steps with the ITORcommand in menu PROT.
Instruction Manual TRobot 10/2009
47
6.7
Complications during the Communication
6.7.1
Communicational Collisions
The Master did not wait for all replies and sends new commands before the last message
arrives from the cycler. In this case it receives the error message “!601”, the cycler works out
the previous commands and the last commands of the master become lost.
6.7.2
Receiving Buffer overflow from the Cycler
If the master sends more signs in one transmission block than the receiving buffer can store,
the cycler reacts with an error message. As soon as the cycler receives a <CR> (Carriage
Return) the receiving buffer will delete and the sent data will be lost.
6.7.3
Checksum Error
If the cycler recognises a checksum error a repeat transmission will be demanded from the
master with an “!?”. The same occurs for a checksum error recognised by the master. It also
demands a repeat of the last transmission from the cycler with an “!?”. If this does not occur in
the space of a reaction time especially after the faulty receiving of a new command, the master
has no access to the transmission. The reaction time can be set in PROT/WATM in 64ms steps.
Note: If a fault message has been received, it must be checked if the message begins with
“!000”. Then it is a reboot of a cycler and the check process is deactivated.
6.7.4
Software-Error
If there is an error in the cycler-software the safety programme “SetError” will be started. After
the registration of a software-error the block stops, an error message will be sent to the master
and the cycler is inactivated. After this the cycler must be started by switching off the cycler or
the command “^^” (see chapter 6.5.4). The analyses of the error is checked by Biometra.
6.7.5
Restart of the communication
See chapter 6.5.3 and chapter 6.5.4.
6.8
Special Commands
6.8.1
Commands to operate the Automated Lid
The lid can be opened and closed only if the block is inactive or paused.Use the commands
OPEN and CLOS in menu BLCK. After the cycler receives one of the two commands the cycler
sends the reply to the command and moves the lid. The successful opening and closing of the
automated lid will not be communicated to the master. The status of the lid can be checked with
the command HSTT in menu BLCK.
If the lid is already in the position of the received command the reply is a corresponding error
message to the master.
If the command STRT in menu BLCK(program start) follows the CLOS-command the start of the
program is delayed until the lid is closed.
The following errors result in a spontaneous error message by the cycler:
48
•
Release of the safety switch.
•
A defined time after the action the lid has not moved from his start position
•
After a period of waiting the lit did not reach his target position
•
Both end switches are released.
Instruction Manual TRobot 10/2009
___________________________________________________________
• Emergency switch off of the control logic.
6.9
6.9.1
Structure of Menus and Description of Commands
Overview of the Structure of Menus
System
Main Menu(:)
SSTT (a)
BLCK (b)
LIBR (c)
INFO (d)
PROT (f)
ALRM (j)
Block
BLCK (b)
BSTT (a)
→ BSET (b)
HSTT (d)
SDAT (e)
OPEN (f)
CLOS (g)
STRT (h)
STOP (i)
-
HOLD (j)
CONT (k)
TEMP (l)
HTMP (o)
LOOP (p)
RUNS (q)
REMT (r)
AUTR (u)
Block Setup
BSET (b)
BTYP (a)
INTV (b)
STMP (c)
BDAT (d)
6.9.2
Library
LIBR (c)
→ EDIT (a)
CLRP (b)
COPY (c)
NPRG (d)
DNAM (e)
Description of Commands
=
Change to submenu
UM
=
Return into the upper menu
=
Parameter is optional
6.9.3
Protocol
PROT (f)
CHCK (a)
ECHO (b)
WATM (c)
ITOR (d)
HWHS (e)
EDIT
EDIT (a)
HEAD (a)
STEP (b)
NSTP (c)
STPS (d)
ISTP (e)
DSTP (f)
EEND (g)
RUNT (h)
SM
[]
Info
INFO (d)
COMP (a)
CTYP (b)
SVER (c)
SERN (d)
PVER (e)
BTPS (f)
BLKS (g)
Main Menu
commnemonicparameterdescription
reply
systatus
a SSTT
[0]
status?,
Sends system status and switches off the present
alarm off acoustic signal. With 0 all error flags of sysstatus apart
the block error flag are cleared. The block error flag is
automatically cleared by starting the next program or
restarting the cycler software.
blocknr
b BLCK
Æ SM BLCK
[blocknr] block
number
Current block number, is saved up to the next change
c LIBR
library
Æ SM LIBR
Instruction Manual TRobot 10/2009
49
d
f
j
INFO
PROT
ALRM
6.9.4
[alarmfl]
information Æ SM INFO
protocol Æ SM PROT
set/clear 0 = without acoustic signal, 1 = with acoustic signal alarmfl
alarm flag
Menu Block (BLCK)
reply parameter
com mnemonic parameter description
a
BSTT
b
d
BSET
HSTT
e
SDAT
f
OPEN
synchronous Sends once data in the same format as the
synchronous data.
data once
lid open
Opens lid, doesn't send any success message.
The lid position can be questioned in lidstatus
(see HSST). If the lid is already open, then error
g
CLOS
lid close
h
STRT
[0]
[dirnr,
prognr]
blstatus
block status? Sends block status. Controller error flag and
autorestart flag are automatically cleared by
starting the next program or restarting the cycler
software without running block. Lid error flag is
cleared with clearing the heated lid status
(lidstatus), reset cooler error flag .
block setup Æ SM BSET
heated lid
Sends status of heated lid. With 0 following error lidstatus
status?
flags are cleared: emergency off of automated lid,
safety switch released, motor time-out. The flags
'lid too hot' and 'lid too often on' are automatically
cleared with starting the next program or reset of
the cycler software.
syncdata
(once)
start block
Closes lid, doesn't send any success message.
The lid position can be questioned in lidstatus
(see HSST). If the lid is already closed, then error
message
With parameter: starts program prognr of directory dirnr, prognr
dirnumber Without parameter: starts the last used
program. Error message if this program isn't
edited completely.
i
STOP
stop block
Only active block, otherwise error message.
j
HOLD
pause
Only active block, otherwise error message.
k
CONT
continue
Continues the paused program, switches off the
present acoustic signal. Only at pause, otherwise
error message..
l
o
TEMP
HTMP
Sends current block temperature
Sends current heated lid temperature
p
LOOP
temp?
heated lid
temp?
cycle
counter?
q
RUNS
running
step?
Sends directory, program, step number and all set [dirnr,prognr,pr
ogname,lidtem
values of the current step. If direct mode active
p,preheating,
sends invalid value (FFhex) of directory and
stepnr,bltemp,h
program numbers. Nothing if the block is off.
time,loop,#loop
s,0,tempinc,tim
ein c, slope]
r
REMT
remaining
time?
Sends remaining time of active program, if the
direct mode is active then 0.
50
bltempa
lidtempa
[cyclcount[,cycl
Sends current counters of all open loops of the
current step, starting with the innermost. Without count[,cyclcoun
t[,....]]]]
reply parameter: no loop.
remtime
Instruction Manual TRobot 10/2009
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u
AUTR
6.9.5
autorestart
data?
Sends step number and all cycle counter of
program run at the moment of the last restart.
Counters of all open loops, starting with the
innermost. If the direct mode is active, then sends
step number 0. Without reply parameter: Block
was off during restart or data were cleared, when
block was startet once more.
[aurestepnr[,cy
clcount[,cyclcou
nt[,cyclcount[,...
.] ]]]]
Menu Block Setup (BLCK / BSET)
co mnemon paramete description
reply
blocktype
a BTYP
[blocktyp block
Sets block type. Without parameter: sends block type
type[?]
e]
b INTV
[interval] interval {interval/seconds} Sets measuring interval of synchronous syncdata
sync.
data and starts output of data. interval = 0: Sends “sign of (repeated
every interval
data
life” without data each second. interval ≠ 0: Sends data
seconds)
and if necessary “sign of life” each second in which no
data are sent. Without parameter: Stops output of
c STMP [tempfor tmp.Sets or sends temperature format of synchronous data: 'A' tempform
m]
format : middle temperature Without parameter: query
for
synchro
d BDAT
block
Sends block characteristics: Number of sensors, lines,
#sensors,
characte spreading factor, conversion factor "0" if gradient not
#lines
ristics? possible.
,spreadfac,
lintempfac or
6.9.6
Menu Info (INFO)
co mnemon paramete description
a COMP
compan
?
b CTYP
cycler
type?
c SVER
software
version?
d SERN
serial
Software serial number
number?
e PVER
protocol
version?
f BTPS
block
string of possible block types
types?
g BLKS
number
of
blocks?
6.9.7
reply
company
cyclertype
sversion
ssernr
protver
blocktyps
#blocks
Menu Library (LIBR)
co mnemo paramet description
reply
a EDIT [dirnr,
edit
Æ SM EDIT Without parameters: last used program With dirnr,prognr
prognr] program parameters: edit program prognr of directory dirnumber.
b
c
clear
Error if program is active.
dirnr ,
prognr program
COPY dirnr,
copy
Error, if destination is active.
prognr program
(source),
dirnr,
prognr
(d ti )
CLRP
Instruction Manual TRobot 10/2009
dirnr,prognr
51
d
e
NPRG [dirnr]
[dirnr,prognr]
Sends directory and program number of next existing
next
existing program in order of the numbers. If no number was saved
program[? before yet (e.g. by editing), the search starts with directory
0, program 0. With dirnr the start directory can be
]
determined. The search ends with the last program in the
last directory, e.g. directory 9 prg. 99. Without reply
parameter: no program is found.
DNAM dirnr [, directory Without directory name: sends directory name With
[dirname]
dirname] name[?] directory name: sets directory name
6.9.8
Menu Edit (LIBR / EDIT)
co mnemo parameter
description
reply parameter
program Without parameters: sends program header data. [lidtemp,preheating
a HEAD [lidtemp
[,preheating head[?] With parameters: sets all program header. default: ,progname]
lidtemp = 0 (without lid heating), preheating = 1
[,progname]]]
(
)
''
edit /
b STEP stepnr
Without any optional parameter: sends step data. [bltemp,htime,loop,
read
With parameter 1-3: sets all step data. "0" = 30
#loops,0,tempinc,
[bltemp,
step,
hex. defaults: loop = 0, #loops = 0 (no back
timeinc,slope]
htime [,
cycle), tempinc = 0, timeinc = 0, slope = maximum
loop,#loops
slope
[,0
c NSTP [bltemp,
next
Without any optional parameter: sends step data. [stepnr, bltemp,
step[?] With parameter 1 and 2: sets all step data. "0" = htime,
htime [,
30 hex. defaults: loop = 0, #loops = 0 (no back
loop,#loops,0,tempi
loop,#loops
cycle), tempinc = 0, timeinc = 0, slope = maximum nc,timeinc,slope]
[,0
slope
[,tempinc[,tim
ei nc
[,slope]]]]]]
d
STPS
e
ISTP
f
DSTP
g
EEND
edit end Æ UM LIBR Ends editing and returns to LIBR.
h
RUNT
runtime? Sends runtime of edited program
6.9.9
number Sends number of steps of edited program.
of steps?
insert
stepnr [,
bltemp, htime step
[, loop,#loops
[,0
[,tempinc[,tim
ei nc
[,slope]]]]]]
stepnr
delete
step
#steps
stepnr must not be more than the previous step
number +1. "0" = 30 hex. defaults: bltemp =
50.00ºC, htime = 30 s, loop = 0, #loops = 0 (no
back cycle), tempinc = 0, timeinc = 0, slope =
maximum slope;
stepnr must not be more than the previous step
number.
runtime
Menu Protocol (PROT)
co mnemo parameter
a CHCK [checktype]
description
check
Data transfer check
type (?) 0 - without CRC16 check value
1 - with CRC16 check value
without parameter: sends check type
reply parameter
checktype
b
ECHO [echoflag]
echo
0 - without echo
type (?) 1 - quasi echo
without parameter: sends echo type
echoflag
c
WATM [waittime]
waiting
time(?)
waittime
52
Waiting time for the repetition function of CRC
(without syncdata). It is active only for once
command, and for more commands with ‘;’
inactive.
Values between 0 and 254 (* 64ms) .
Instruction Manual TRobot 10/2009
___________________________________________________________
d
ITOR
e
HWHS [handsflag]
[timeoutlen]
timeoutlen
timeout 0: disables time-out of the receiving buffer.
length(?) > 0: enables time-out of the receiving buffer.
Parameter is the initialisation value of the time-out
counter, values between 1 and 255 (* 64ms).
Without parameter: sends time-out length
handsha 0 - without handshake (default)
ke
1 - hardware handshake
type(?) without parameter: sends handshake type
handsflag
6.10 Formats of the parameters
D =
B =
C =
± =
HHHH =
..
decimal
bit
character
sign (nothing = +)
flexible format, max. 2 bytes converted in 1,2,3 or 4 ASCII- hex characters (“0”
HHHHHH =
* =
** =
u =
s =
“9” , “A” .. “F”, “a”, .. “f”);
the same, but max. 3 bytes possible
value * 100d . The real value is multiplied by 100 before converted to hex.
special time format:
if (value < 9 hour) then seconds convert to hex
else then minutes converted to hex and add up 8000h
unsigned
signed, highest bit determines the sign, 0 = plus, 1 = minus
Parameter long format
short format
description
range
#blocks
D
HHHHu
number of blocks
1 .. 3
#lines
DD
HHHHu
number of lines
1 .. 12
#loops
DD
HHHHu
number of back cycles
1 .. 99
0 = no loop
#sensors
D
HHHHu
number of sensors
1 .. 3
#steps
DD
HHHHu
steps
0 .. 99
alarmfl
B
B
acoustic signal
0 = no alarm, 1 = alarm
acttime
HHHHu
HHHHu
cyclical time counter / 64 ms
0 .. FFFF
HHu
step number of auto restart,
0 .. 99
if 0 then direkt mode was active
aurestepnr DD
blocknr
D
HHHHu
block number
1
blocktype
D
HHHHu
block type
0 = 96, 2 = 384
blocktyps
'C:CC,C:CCC, 'C:CC,C:CCC,.... list of block types
...'
.......'
Instruction Manual TRobot 10/2009
'0:96,2:384'
53
blstatus
BBBBBBBB
BBBBBBBB
HHHHu
0 .. FFFF
block status
low byte:
bit 0 - block is running
bit 1 - controller or cooler error
bit 2 - plateau
bit 3 - ramp
bit 4 - autorestart
bit 5 - cooling = 1 /heating = 0
bit 6 - lid preheating
bit 7 - pause
high byte:
bit 0 - headed lid error
bit 1 - cooler error
bltemp
±DD.D
HHHHs *
set block temperature
-3.00 .. 99.90
bltempa
±DDD.D
HHHHs *
actual block temperature
-7.0 .. 101.7
B
protocol check
0 = no check, 1 = check
'CCCCCCCC'
name of company
'Biometra'
HHHHs *
actual cooler temperature
2.30 .. 70.00
checktype B
company
'CCCCCCCC'
cooltempa DD.D
ctrlnr
D
HHHHu
controller number
1-3
cyclcount
DD
HHHHu
cycle counter
1 .. 100
cyclertype 'CCCCCCCCC 'CCCCCCCCCC' cycler type
C'
dirname
'CCCCCCCC' 'CCCCCCCC'
directory name
'TRobot'
A .. Z, - ( ) # / , < > & + . % !
dirnr
D
HHHHu
directory number
0 .. 9, FF – if direct mode is
active
echoflag
gradient
B
±DD.D
B
HHHHs *
echo on/off
set temperature gradient
0 = off, 1 = on
0 .. 40.0, if gradient
possible; 0, if gradient not
possible
handsflag
htime
B
DD.DD.DD
B
HHHHu **
hardware handshake on/off
set holding time / s or / m
(short format)
hh.mm.ss (long format)
0 = off, 1 = on
00h00m01s .. 08h59m59s
09h00m .. 99h59m
0 = pause
htimea
DD.DD.DD
HHHHu **
holding time / s or / m
up till now
00h00m01s .. 08h59m59s
09h00m .. 99h59m
interval
DD
HHHHu
synchronous data
interval / s
lidtemp
DDD
HHHHu
set lid temperature
1 .. 15
0 = “life sign”
no parameter -> stop
30 - 99, 0 = no heating
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Instruction Manual TRobot 10/2009
___________________________________________________________
lidstatus
BBBBBBBB
BBBBBBBB
HHHHu
heated lid status
low byte:
bit 0 - lid is heated
bit 1 - lid too hot
bit 2 - lid too often on
bit 3 - lid is fast heated
high byte:
bit 0 - lid is open
bit 1 - lid is closed
bit 2 - HW error 1
bit 3 - HW error 2
bit 4 - time-out of engine
bit 5 - safety switches on
0 ... FFFF
lidtempa
DDD
HHHHu *
actual lid temperature
10.00 .. 139.00
HHHHs,
HHHHs,
...
up to 12 factors for calculation -16000 ... 16000
of line temperatures, separated
by commas
HHHHu
back cycle
step number
1 .. actual step number
0 = no loop
preheating B
B
set preheating lid
0 = no preheating,
1 = preheating
progname 'CCCCCCCC'
'CCCCCCCC'
program name
HHHHu
program number
A .. Z, - ( ) # / , < > & + . %
!
0 .. 99, FF – if direct mode
is active
lintempfac ±DDDDD
±DDDDD
...
loop
DD
prognr
DD
protver
'DD.DD.DD.DD' 'DD.DD.DD.DD' protocol version
'00.00.00.00' ..
'99.99.99.99'
remtime
DDDDD
HHHHu
remaining time of active
0 .. 59940 minutes
runtime
DDDDD
HHHHu
complete runtime
0 .. 59940 minutes
scbltemp
±DDD.DD
HHHHs *
temperature at block error
-7.00 .. 101.70
scpeltcur
±DD.DD
HHHHs *
peltier current at block error
0 .. ±99.99
scpuls
HHHH
HHHHu
pulse width at block error
0 .. FFFF
slope
D.DD
HHHHu *
set slope
0.01 .. 1.99
2.0 .. 5.0
spreadfac
DDDDD
HHHH
spreadfactor for gradients
0 .. FFFF
ssernr
'CCCCCCC'
'CCCCCCC'
serial number
0000000 ... 9999999
stepnr
DD
HHHHu
step number
1 .. 99
sversion
'DD.DDCC'
'DD.DDCC'
software version
'00.01tr' .. '99.99tr'
syncdata
see short
see short format synchronous data are used for see range of single
format of single of single
the control of the activity of a parameters
parameters
parameters
block. Contents: blocknr,
blstatus, acttime, htimea,
stepnr, cyclcount, 0, lidtempa,
cooltempa, tempform, bltempa
(see chapter 6.3.1).
Instruction Manual TRobot 10/2009
55
systatus
BBBBBBBB
HHHHu
system status
bit 0 - low voltage
bit 1 - block error
(controller,lid,cooler)
bit 2 bit 3 bit 4 - remote control error
bit 5 - memory error
bit 6 - software error
0 ... FF
tempform
C
HHHHu
temperature format of
'A'
tempinc
±DD.DD
HHHHs *
set temp. increment/C
0 .. ±20.00
timeinc
DDD
HHHHu
set time increment /s
0 .. 240
timeoutlen DDD
HHHHu
length of timeout
0 .. 255 (*64ms)
DDD
HHHHu
waiting time of repeat function 0 .. 254 (*64ms)
if crc16-check is selected
waittime
6.10.1 Examples
Query of block temperature
:b 1;l
6 Bytes
in mnemonics
:BLCK 1;TEMP
12 Bytes
6.11 Error codes
Error codes consist of three decimal numbers. The first sign determines the error group.Variable
numerical values of several formats in this description are represented by format signs,
beginning with ”%”.
Examples:
%4x ; hexadecimal, 4 digit
%2d ; integer, 2 digit
%5f1 ; decimal value, signed, 5 digit altogether, consisting of 3 integer digits, decimal
;point and 1 post-decimal digit.
All error texts end with “!”.
See also chapter 6.2.3.2.
Special error code:
!?
checksum error
6.11.1 Error Group 0xx: System Errors
001
002
003
004
005
006
56
remote control off!
Error %4x %4x %4x %4x %4x %4x %4x
wait: too cold!
cooler too hot!
no printer!
no heated lid!
; remote control not activated
; software error, system halted
; cooler too cold
; cooler too hot
; no printer available
; heated lid not connected
Instruction Manual TRobot 10/2009
___________________________________________________________
007
printer active!
; printer is already active
008
1..%2d only!
; paper feed 1,2 or 3
009
1..%2d only!
; display contrast
010
handshake not possible!
; communication cable not
; suitable
6.11.2
Error Group 1xx: Edit Errors
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
max %1d!
max %2d!
edit not possible!
pgm full: %2d steps!
pgm is empty!
pgm is active!
pgm is edited!
RAM full!
only %3d programs possible!
max %2d!
min = 1!
max = %2d!
min %4f1 max %5f1!
min %5f1C, max %5f1C!
max %2h%2m%2s!
max %2d!
too many nested cycles!
back cycles only: max = %2d!
cycle into cycle!
cycle out of cycle!
gradient out of temperature range!
%5f1C - %5f1C!
max +-%2d C!
max. %3d s!
value?!
cycle value?!
; max. directory number
; max. program-number
; program is active
; max. number of steps reached
; program is empty
; program cannot be changed
; Editing of this program isn't finished
, memory full
; max. number of programs exceeded
; step number larger than progr.length+1
; step number too small
; step number larger than progr. length
; heated lid temperature out of range
; block temperature out of range
; max. time exceeded
; max. number of back cycles exceeded
; too many nested cycles
; destination step is larger than start step
; cycle into cycle
; cycle out of cycle
; temp. out of range because of gradient
; gradient out of range
; temperature increment too large
; time increment too large
; step incomplete (temperature, time!)
; back cycle destination or number of
; back cycles missing
6.11.3 Error Group 2xx: Block Errors
In the long format after the error text or in the short format after the error code follows the block
number (blocknr) b (%1d), controller number (ctrlnr) c (%1d), temperature (scbltemp) t (%5f1C),
current (scpeltcur) i (%4f1A) and pulse (scpuls) p (%4x). (See chapter 6.2.4).
200
201
202
203
204
205
206
no block error! bctip
unidentified error! bctip
emergency off! bctip
peltier contact??! bctip
temp fault! bctip
cooling current low! bctip
heating current low! bctip
Instruction Manual TRobot 10/2009
; no error
; unidentified block error
; error detected by hardware
; missing peltier contact
; block temperature out of range
; set temperature cannot be reached
; set temperature cannot be reached
57
207
208
209
210
211
lid too hot! bctip
cooler fault! bctip
opening not possible! bctip
closing not possible! bctip
motor disconnected??! bctip
; heated lid temperature out of range
; cooler temperature out of range
; lid cannot be opened automatically
; lid cannot be closed
; both endposition switches are active
6.11.4 Error Group 3xx: Block Using Errors
300
301
302
303
304
305
306
307
308
309
310
pgm finished or paused!
start not possible!
block off!
blocks 1 .. %1d!
lid is open!
lid is closed!
lid is not in endposition!
block is active!
wrong block type!
no in tube sensor!
pgm not paused!
; regular program end or pause, no error
; block is already active
; block is (already) off
; wrong block number
; lid is already open
; lid is already close
; lid not ready, start not possible
; not possible, block is active
; wrong block type
; no intube sensor connected
; program isn't paused
6.11.5 Error Group 4xx: Memory Error
401
402
403
404
405
name deleted!
pg %1d/%2d and the following empty!
%3d pgm's empty!
no steps!
data error: block %1d stopped!
406
checksum error!
; Error in directory name
; Error in program memory
; Error in program memory
; program without any step
; error in active program after
;autorestart
; checksum error of software
6.11.6 Error Group 5xx: Input Syntax Error
501
502
503
504
505
506
507
508
invalid command!
missing command!
missing separator!
separator error!
missing apostrophe!
convert error!
missing parameter!
wrong parameter!
; command not available in this menu
; command expected
; separator expected
; wrong use of separator
; apostrophe expected
; conversion error in parameter
; parameter expected
; wrong parameter
6.11.7 Error Group 6xx: Buffer Error
601
602
603
604
611
612
613
621
622
58
rx write denied!
rx read denied!
overflow rx!
rx time-out
tx write denied!
tx read denied!
overflow tx!
sy0 write denied!
sy0 read denied!
; writing into the receiving buffer not possible
; reading from the receiving buffer not possible
; overflow of the receiving buffer
; time-out of the receiving buffer
; writing into transmit buffer 0 not possible
; reading from transmit buffer 0 not possible
; overflow of the transmit buffer 0
; writing into transmitting buffer 1 not possible
; reading from transmitting buffer 1 not possible
Instruction Manual TRobot 10/2009
___________________________________________________________
623
overflow sy0!
; overflow of the transmitting buffer 0
631
sy1 write denied!
; writing into transmitting buffer 2 not possible
632
sy1 read denied!
; reading from transmitting buffer 2 not possible
633
overflow sy1!
; overflow of the transmitting buffer 0
641
sync data fault!
; writing into transmitting buffer 1 and 2 not
; possible
Instruction Manual TRobot 10/2009
59
7 Trouble shooting
7.1
Slow heating and cooling
See chapter 0
7.2
Autorestart
Running programs will be continued from the same step where the power failure has happened
as soon as the power is supplied again. In the Thermocycler Manager Software main screen
(see chapter 5.3) a message is displayed showing that the TRobot has been restarted:
.
7.3
Autorestart due to unrecognised power failure
High voltage fluctuation can lead to an automatic restart of the TRobot Thermocycler. In this
case the cycler restarts at the step where there power failure has occurred. A message is
displayed showing that the TRobot has been restarted (see chapter 7.2). To avoid voltage
fluctuation, do not connect the cycler to a socket shared by a strong power consumer like a
refrigerator or a centrifuge.
7.4
Opening and closing heated lid off-line
The motorized lid can be operated with a 9V block battery. This option can be used in case of
power failure to remove the samples. For operating the lid a battery is contacted to the socket
on the rear side of the Thermocycler (see chapter 4.2)
Open
English
Only use a 9V block battery to open
the TRobot lid manually
7.5
Close
Deutsch
Verwenden Sie ausschließlich eine
9V Blockbatterie, um den TRobot
Deckel manuell zu öffnen.
Recommendations for the use of 384 well Thermocyclers
a) Use the recommended 384 well plates and sealing materials
To prevent sample evaporation by insufficient sealing please use 384 well plates and sealings
tested and recommended by Biometra. A list of plates and sealing is available at
www.biometra.com -> thermocyclers -> plasticware
b) Reduce the temperature of the heated lid
60
Instruction Manual TRobot 10/2009
___________________________________________________________
Due to the fact that the heated lid is very close to the reaction volume with a 384 well plate
compared to 0.2 ml vessels the lid temperature can have a significant impact on the effective
incubation temperature. For reaction volumes less than 10 µl the lid temperature is
recommended to be set at 95 °C. When using a reaction volume of 10 µl or more, set lid
temperature at 85 °C. Even at these lowered lid temperatures possible condensation will not
occur as problem due to a mixture of physical factors like dew point, salt concentration,
temperature difference, air pressure within the tube and reaction volume. It is strongly
recommend to reduce the lid temperature according to the reaction volume. Otherwise, at
conventional lid temperature settings, sample volumes or amplification yields might be reduced.
Instruction Manual TRobot 10/2009
61
8 Maintenance and repair
8.1
Cleaning and Maintenance
The TRobot was built to operate for a long time without the need for periodical maintenance.
Nevertheless, occasionally cleaning of the air inlet may be necessary to maintain the efficiency
of the Thermocycler. Insufficient airflow may lead to reduced heating and cooling rates. The
inlet for the airflow is located at the front side of the instrument (see chapter 4). Be sure that the
inlet is not clogged by dust or other material (e.g. a sheet of paper placed under the cycler can
be attached to the inlet as the fan is in operation). Dust can be removed easily from the inlet
with a conventional vacuum cleaner. Additionally, the Thermocycler housing may be cleaned
from time to time with a smooth cotton cloth. Do not use strong detergents or organic solvents
for cleaning. Never treat the block with abrasive agents.
Important: Appropriate safety regulations must be observed when working with infectious or
pathogenic material.
8.2
Service and repair
The TRobot Thermocycler contains no user serviceable parts. Do not open the housing
instrument. Service and repair may only be carried out by the Biometra Service department or
otherwise qualified technical personal.
The Service department offers Thermocycler maintenances and temperature verifications.
Biometra recommends an annual maintenance and a biannual temperature check for all
Thermocyclers. Please call the following phone number for detailed information: +49 55150881-10/12.
8.3
Firmware update
For instruction for firmware upgrade, please contact the Biometra Service Department or your
local distributor/sales representative.
8.4
Replacement of Spare Parts
Only original spare parts mentioned in these operating instructions are allowed.
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Instruction Manual TRobot 10/2009
___________________________________________________________
9 Accessories
9.1
Plasticware
Biometra offers a broad range of plasticware for the use in PCR. The following table provides an
overview for the product portfolio:
Cat. no.
050-310
050-320
Description
Single tubes
0.2 ml tubes with caps
0.5 ml tubes with caps
1000 pcs.
1000 pcs.
050-254
050-255
Tube strips
Strips 8 tubes and flat caps
Strips 8 tubes and domed caps
125 pcs.
125 pcs.
050-225
48 well plates
48 well microplate
50 pcs.
050-232
050-213
050-253
96 well plates
96 well skirted
96 well non-skirted (low profile)
96 well non-skirted
25 pcs.
25 pcs.
25 pcs.
050-231
050-240
384 well plates
HSQ 384 well skirted
384 well microplate
50 pcs.
50 pcs.
050-237
050-256
050-257
050-236
050-194
050-694
050-251
050-252
Miscellaneous
Silcone mat
Adhesive film
Heat Sealing Film
Heat Sealing Film Aluminium
96 well aluminium plate
384 well aluminium plate
Nop mat 96 well
Nop mat 384 well
50 pcs.
100 pcs.
100 pcs.
10 pcs.
1 pcs.
1 pcs.
20 pcs.
20 pcs.
Instruction Manual TRobot 10/2009
Quantity
63
10 Service
Should you have any problems with this unit, please contact our service department or your
local Biometra dealer:
Biometra GmbH
Service Department
Rudolf-Wissell-Straße 14 - 16
D-37079 Göttingen
Phone:++49 (0)5 51 50 68 6 - 10 or 12
Fax: ++49 (0)5 51 50 68 6 -11
e-mail: [email protected]
If you would like to send the unit back to us, please read the following return
instructions in chapter 10.1
10.1 Instructions for return shipment
In case of an instrument failure that cannot be fixed by the procedures described in section 7
please proceed as follows:
•
Return only defective devices. For technical problems which are not definitively recognisable
as device faults please contact the Technical Service Department at Biometra (Tel.: +49 55150881-10/12, Fax: +49 551-50881-11, e-mail: [email protected]).
•
Please contact our service department for providing a return authorization number (RAN).
This number has to be applied clearly visible to the outer box. Returns without the RAN will
be not be accepted!
•
Important: Carefully clean all parts of the instrument of biologically dangerous, chemical or
radioactive contaminants. If an instrument is contaminated, Biometra will be forced to refuse
to accept the device. The sender of the repair order will be held liable for possible losses
resulting from insufficient decontamination of the device.
•
Please prepare written confirmation that the device is free from biologically dangerous and
radioactive contaminants. The declaration of decontamination (see section 11) must be
attached to the outside of the packaging.
•
Use the original packing material. If not available, contact Biometra or your local distributor.
•
Label the outside of the box with “CAUTION! SENSITIVE ELECTRONIC INSTRUMENT!”
•
Please enclose a note which contains the following:
64
a)
Sender’s name and address,
b)
Name of a contact person for further inquiries with telephone number,
c)
Description of the fault, which also reveals during which procedures the fault occurred, if
possible
Instruction Manual TRobot 10/2009
___________________________________________________________
10.2 Packing of the TRobot Thermocycler
Biometra uses an extra designed packaging system where the instrument is mounted in
between two tearproof foils. The TRobot Thermocycler and controller are put onto the lower
inlet and is fixed in between the foils by pressing the upper inlet down.
Note: The instruments are only protected from transport damage if the packing instructions are
followed and if they are mounted in between the foils. Biometra will not be responsible for
transport damage by improper packing. Always use two separate boxes for the shipment of the
controller and the TRobot instrument to prevent damages!
Gerät zwischen den
Folien schwebend
einspannen!
Mount instrument
floating in between
the foils!
Instruction Manual TRobot 10/2009
65
11 Equipment Decontamination Certificate
To enable us to comply with German law (i.e. §71 StrlSchV, §17 GefStoffV and §19 ChemG)
and to avoid exposure to hazardous materials during handling or repair, please complete this
form, prior to the equipment leaving your laboratory.
COMPANY / INSTITUTE
__________________________________________________
ADDRESS
______________________________________________________________
PHONE NO
_________________________
E-MAIL
______________________________________________________________
EQUIPMENT
FAX NO_________________________
Model
______________
Serial No
______________
______________
______________
______________
______________
______________
______________
If on loan / evaluation Start Date: __________________
Finish Date __________________
Hazardous materials used with this equipment:
__________________________________________________________________________
__________________________________________________________________________
__________________________________________________________________________
Method of cleaning / decontamination:
__________________________________________________________________________
__________________________________________________________________________
__________________________________________________________________________
The equipment has been cleaned and decontaminated:
NAME __________________________________ POSITION _______________________
(HEAD OF DIV./ DEP./ INSTITUTE / COMPANY)
SIGNED ________________________________ DATE ____________________________
PLEASE RETURN THIS FORM TO BIOMETRA GMBH OR YOUR LOCAL BIOMETRA
DISTRIBUTOR TOGETHER WITH THE EQUIPMENT.
PLEASE ATTACH THIS CERTIFICATE OUTSIDE THE PACKAGING. INSTRUMENTS
WITHOUT THIS CERTIFICATE ATTACHED WILL BE RETURNED TO SENDER.
66
Instruction Manual TRobot 10/2009
___________________________________________________________
General Information for Decontamination:
Please contact your responsible health & safety officer for details.
Use of radioactive substances:
Please contact your responsible person for details.
Use of genetically change organism or parts of those:
Please contact your responsible person for details.
Instruction Manual TRobot 10/2009
67
12 Note for the disposal of electric / electronic waste.
Note
for disposal of electric / electronic waste
Hinweis
für die Entsorgung von Elektroaltgeräten
Renseignement
du traitement des déchets des appareils
électrique / électronique
This symbol (the crossed-out wheelie bin) means, that this product should be brought to the return and / or
separate systems available to end-users according to yours country regulations, when this product has
reached the end of its lifetime.
For details, please contact your local distributor!
This symbol applies only to the countries within the EEA*.
EEA = European Economics Area, comprising all EU-members plus Norway, Iceland and Liechtenstein.
------------------------------------------------------------------------------------------------------------------------------------------------------------
Dieses Symbol (die durchgestrichene Abfalltonne) bedeutet, dass dieses Produkt von der Firma Biometra für
eine kostenlose Entsorgung zurückgenommen wird. Dies gilt nur für Geräte, die innerhalb Deutschlands
gekauft worden sind.
Kontaktieren Sie für die Entsorgung bitte die Biometra Service-Abteilung!
Außerhalb Deutschlands wenden Sie sich bitte an den lokalen Händler.
Dieses Symbol gilt nur in Staaten des EWR*.
*EWR = Europäischer Wirtschaftsraum, umfasst die EU-Mitgliedsstaaten sowie Norwegen, Island und
Liechtenstein.
------------------------------------------------------------------------------------------------------------------------------------------------------------
Cet symbol (conteneur à déchets barré d´une croix) signifie que le produit, en fin de vie, doit être retourné à
un des systèmes de collecte mis à la disposition des utilisateurs finaux en conséquence des régulations par
la loi de votre pays.
Pour des information additionel nous Vous demandons de contacter votre distributeur!
Cet symbole s´ápplique uniquement aux pays de l´EEE*.
EEE = Espace économique européen, qui regroupe les États membres de l´UE et la Norvège, Islande et le
Liechtenstein.
68
Instruction Manual TRobot 10/2009
___________________________________________________________
13 Declaration of Conformity
EU – Konformitätserklärung
EC - Declaration of Conformity
Göttingen, August 2004
im Sinne der EG-Richtlinie über elektrische Betriebsmittel zur Verwendung innerhalb
bestimmter Spannungsgrenzen 73/23/EWG
following the EC directive about electrical equipment for use within certain limits of voltage
73/23/EEC
und / and
im Sinne der EG-Richtlinie für die elektromagnetische Verträglichkeit 89/336/EWG.
following the EC directive about the electromagnetic compatibility 89/336/EEC .
Hiermit erklären wir, dass folgende Thermocycler:
Herewith we declare that the following Thermocyclers:
Typen / types:
Best.-Nr. / Order No.:
TRobot Thermocycler 96, TRobot Thermocycler 384
050-991, 050-992
den grundlegenden Anforderungen der
corresponds to the basic requirements of
EG-Niederspannungsrichtlinie 73/23/EWG und der
EC low voltage directive 73/23/EEC and the
EG-Richtlinie über die elektromagnetische Verträglichkeit 89/336/EWG entsprechen.
EC directive about the electromagnetic compatibility 89/336/EEC .
Dr. Jürgen Otte
Quality Manager
Instruction Manual TRobot 10/2009
69
14 Warranty
This Biometra instrument has been carefully build, inspected and quality controlled before
dispatch. Hereby Biometra warrants that this instrument conforms to the specifications given in
this manual. This warranty covers defects in materials or workmanship for 24 months as
described under the following conditions:
This warranty is valid for 24 month from date of shipment to the customer from Biometra or an
authorised distributor. This warranty will not be extended to a third party without a written
agreement of Biometra.
This warranty covers only the instrument and all original accessories delivered with the
instrument. This warranty is valid only if the instrument is operated as described in the manual.
Biometra will repair or replace each part which is returned and found to be defective. This
warranty does not apply to wear from normal use, failure to follow operating instructions,
negligence or to parts altered or abused.
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Instruction Manual TRobot 10/2009
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15 Subject Index
Autorestart 60
Block Info 26
Connect Thermocyc ler 25
Declaration of Conformity 69
Decontamination Certificate 66
Direct command 36
Directory
delete 33
Disposal 68
Error codes 56
Firmware update 62
Heated lid 60
Heated Lid 27
Installation 15
Lid 27
Maintenance 62
Memory management 31
Memory management
exit 36
Motorized lid 19, 20
Network settings 23
Operation Voltage 15
Packing 65
Plasticware 63
Plate lifter 6
Progam
copy 32
Program
create 27
delete 33
edit 28
Instruction Manual TRobot 10/2009
find 31
load 29
pause 30
remaining time 31
save 29
save to PC 34
send 30
start 30
stop 31
Transfer to Thermocycler 35
view 32
Programming screen 27
remaining time 31
Repair 62
Return shipment 64
Serial Communication Protocol 39
Service 62
Service Info File 35
Technical specifications 8
Temperature data 36
Thermocycler Manager
exit 36
Thermocycler Manager Software 23
Installation 23
Main screen 23
TRobot
front view 18
rear view 19
Trouble shooting 60
Warranty 70
71
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