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F - CAN Communication Commands

Cavro® XLP 6000 Modular Syringe Pump Operating Manual, 734237-C, en

F - 1

F CAN Communication Commands

Command Type

Command

Valid/Invalid

CAN Equivalent

Initialization

Z, Y, W

Valid

None

Initialization

Valid

None

Plunger Movement

A, a, P, p, D, d

Valid

None

Valve

I, O, B

Valid

None

Valve

E, ^

Valid

None

Set

S, V, v, c, L, K, k

Valid

None

Command for
microstep-enabled
firmware

Valid

None

Control

G, g, M, H

Valid

None

Control

Valid

Frame type = 2
Command = “3” (ASCII)

Control

Valid

Frame type = 2
Command = “1” (ASCII)

Control

Valid

Frame type = 2
Command = “4” (ASCII)

Control

Reset

Invalid

Frame type = 2
Command = “0” (ASCII)

Control

Clear loaded command

Invalid

Frame type = 2
Command = “2” (ASCII)

Control

J, s, e, U

Valid

None

Report

?0 through ?29

Invalid

Frame type = 6
Command = “0” through
“29” (ASCII)

Report

Invalid

Frame type = 6
Command = “10” (ASCII)

Report

Invalid

Frame type = 6
Command = “23” (ASCII)

Report

Invalid

Frame type = 6
Command = “29” (ASCII)

Summary of Contents for cavro xlp 6000

Page 1: ... Copyright by Tecan Systems Operating Manual Cavro XLP 6000 Modular Syringe Pump October 2005 734237 C ...

Page 2: ...Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en ...

Page 3: ... C en Operating Manual Cavro XLP 6000 Modular Syringe Pump Tecan Systems Inc 2450 Zanker Road San Jose CA 95131 USA T 1 408 953 3100 Toll Free 1 800 231 0711 F 1 408 953 3101 E mail tecansystemsinfo tecan com Web Site www tecansystems com October 2005 734237 C ...

Page 4: ...defect and prior to return fills out a Certificate of Decontamination document P N 730171 obtains a return authorization number from Tecan Systems provides Tecan Systems with the serial number of each instrument to be returned and prepays freight charges to the factory or a designated Tecan Systems repair depot No warranty is expressed or implied for The foregoing warranties and limitations are cu...

Page 5: ...XLP 6000 Modular Syringe Pump Operating Manual 734237 C en Document Status Sheet Title Cavro XLP 6000 Modular Syringe Pump Operating Manual ID 734237 C en Version Revision Issue Major changes 1 C New edition ...

Page 6: ...Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en This page has been left intentionally blank ...

Page 7: ...l Considerations 2 1 2 2 Cabling 2 3 2 3 Communication Interfaces 2 4 2 4 Settings and Options 2 9 2 5 Installing Components 2 11 2 6 Mounting 2 13 3 Software Communication 3 1 XLP 6000 Addressing Scheme 3 1 3 2 Communication Protocols 3 3 3 3 Using the XLP 6000 Command Set 3 20 3 4 Initialization 3 23 3 5 Operating Commands 3 27 3 6 Error Codes and Pump Status 3 47 4 Setting Up the XLP 6000 for Y...

Page 8: ...ns B 1 C ASCII Chart of Codes for U S Characters D Chemical Resistance Chart E XLP 6000 Physical Specifications F CAN Communication Commands G Command Quick Reference G 1 Pump Configuration Commands G 1 G 2 Initialization Commands G 2 G 3 Valve Commands G 4 G 4 Plunger Movement Commands Status Bit Reports G 4 G 5 Set Commands G 5 G 6 Control Commands G 5 G 7 Non Volatile Memory EEPROM Commands G 6...

Page 9: ...inge Installation 2 13 Figure 2 8 XLP 6000 Outline Drawing 2 14 Figure 3 1 CAN Message Structure 3 11 Figure 3 2 Valve Position Examples for 3 Port Non Distribution Valves 3 28 Figure 3 3 Valve Position Examples for 3 Port Distribution Valves 3 29 Figure 3 4 Valve Position Examples for 4 Port Non Distribution Valves 3 30 Figure 3 5 Valve Position Examples for T Valves Non Distribution 3 31 Figure ...

Page 10: ...Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en This page has been intentionally left blank ...

Page 11: ...Up the XLP 6000 1 1 Regulatory Considerations The XLP 6000 is a general laboratory module Since it not a medical device it is not subject to FDA regulatory approval The XLP 6000 uses only recognized components and bears the UL Recognized Component Mark The use of UL Recognized components in a product or system allows UL to focus the evaluation of the complete system on its intended end use and thu...

Page 12: ...rations The XLP 6000 is an electronic device that is sensitive to electrostatic discharge ESD Static discharge from clothing or other fixtures can damage these 1 0 1 Radio Interference The XLP 6000 can radiate radio frequency energy which may cause interference to radio and television communications Follow standard good engineering practices relating to radio frequency interference when integratin...

Page 13: ...or ankle straps ESD mats or worktables ESD wax on the floor Prepare an ESD free work area before the chassis is grounded 1 4 Functional Description of the XLP 6000 The XLP 6000 uses a stepper motor driven syringe and valve design to aspirate and dispense measured quantities of liquid Both the syringe and the valve are replaceable Functional descriptions and illustrations of each major XLP 6000 com...

Page 14: ...syringe Figure 1 2 Syringe Components Syringes are available in these sizes 50 µL 100 µL 250 µL 500 µL 1 0 mL 2 5 mL 5 0 mL 10 mL and 25 mL For ordering information see Appendix A Ordering Information Note To obtain optimal performance and maximum life from any syringe please follow the syringe cleaning and maintenance procedure included with each Cavro Syringe Technical Note 1 PN 730317 contains ...

Page 15: ...nents 1 4 3 Printed Circuit Assembly The printed circuit assembly PCA holds the microprocessor and circuitry to control the syringe and valve drive The PCA provides connectors for electrical inputs and outputs as well as a communication address switch For information on modes of operation see Chapter 3 Software Communication Figure 1 4 shows the accessible components on the printed circuit board a...

Page 16: ...printed circuit assembly inputs outputs and the address switch see Chapter 2 Hardware Setup 1 4 4 Communication Interfaces Depending on the pump configuration the XLP 6000 can communicate singly or in a multi pump configuration through an RS 232 RS 485 or CAN Controller Area Network interface For RS 232 and RS 485 baud rates of 9600 and 38400 are supported For CAN baud rates of 100K 125K 250K 500K...

Page 17: ...5 µL to 25 mL range Any other use is considered improper and may result in damage to the pump and or unreliable test results The XLP 6000 is designed to meet recognized technical regulations and is built with state of the art components Nevertheless risks to users property and the environment can arise when the module is used carelessly or improperly Appropriate warnings in this Operating Manual s...

Page 18: ...Software Communication Note Before performing any work with the XLP 6000 first read this Operating Manual carefully To ensure proper operation follow these tips Always set up and mount the pump in an upright position Failure to do so can cause problems priming the system Always run liquid through the syringe and valve when they are moving Failure to do so can damage the sealing surfaces Before run...

Page 19: ...t voltage 24V nominal Output voltage tolerance 10 maximum 5 preferred Well regulated power supplies are recommended as operating pumps below 24V will affect performance Output voltage regulation 1 with varying line input voltage and load Output current not including loads other than a single pump 1 5A for power supplies with minimal capacitance 850mA for power supplies with internal filter capacit...

Page 20: ... In this example it is assumed that all the pumps and other equipment will sometimes operate simultaneously External equipment with inadequate bypass capacitance or that is inadequately sourced for current can cause overvoltage transients and sags and can create unnecessary ripple current in the XLP 6000 This can result in decreased component life Additionally it is possible for a regulated power ...

Page 21: ...only load on the 24V supply a switcher should have a minimum load specification of 50mA or less An appropriate external power resistor can be used to ensure that the minimum load is met 2 2 Cabling A single cable supplies both power and communications to each XLP 6000 A unique address identifies each pump module For more information see Address Switch Settings later in this chapter See also Chapte...

Page 22: ...female connector on the mating cable Figure 2 1 DA 15 Connector Pins 2 3 Communication Interfaces The computer or controller communicates with the XLP 6000 through an RS 232 interface RS 485 interface or CAN Controller Area Network interface The XLP 6000 automatically detects the communication interface 12 RS 485 B line Data 13 Auxiliary output 1 TTL level 14 Auxiliary output 2 TTL level 15 Auxili...

Page 23: ... RS 485 A and B lines are not reversed Refer to the cabling illustrations on the following pages These illustrations show the multi pump cabling for RS 232 RS 485 and CAN connections respectively Also shown is the external termination scheme for the RS 485 chain 2 3 2 CAN Interface The CAN interface is a two wire serial system The bus is driven differentially in a manner similar to RS 485 The majo...

Page 24: ...2 6 Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en 2 Hardware Setup Communication Interfaces RS 232 Cabling Figure 2 2 RS 232 Multi Pump Cabling ...

Page 25: ...2 Hardware Setup Communication Interfaces Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en 2 7 RS 485 Cabling Figure 2 3 RS 485 Multi Pump Cabling ...

Page 26: ...2 8 Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en 2 Hardware Setup Communication Interfaces CAN Cabling Figure 2 4 CAN Multi Pump Cabling ...

Page 27: ... port distribution and 9 port distribution Baud rate RS 232 RS 485 communication is possible at 9600 baud default and 38400 baud CAN communication is possible at 100K baud default 125K baud 250K baud 500K baud and 1M baud rates Non Volatile Memory Auto Mode Allows the pump to run command strings out of the non volatile memory 2 4 2 Address Switch Settings The address switch see Figure 2 5 Address ...

Page 28: ...tion on the addressing schemes for different pump configurations see Chapter 3 Software Communication 2 4 3 Self Test The F address switch position is used to activate the XLP 6000 self test Self test causes the XLP 6000 to initialize then cycle repeatedly through a series of plunger movements The self test cycles through speed codes 0 to 14 If an error condition occurs the pump stops moving To ru...

Page 29: ...command so that the valve motor shaft is in the correct position 3 Issue an A6000R command to move the plunger to the bottom of travel 4 Remove the syringe and tubing 5 Remove the two socket head screws on the front of the valve then remove the valve from the pump Do not remove the spacer 6 Install the new valve by placing it on the front panel so that the screw holes line up The valve coupler fit...

Page 30: ... lock screw 2 Install the syringe as shown in Figure 2 7 following these steps a Screw the syringe into the valve b Pull the syringe plunger down to the plunger holder assembly c Align the plunger button through hole to the carriage mounting hole d Slide the plunger lock screw through the plunger button and fasten to the carriage Note Make sure the plunger lock screw is securely tightened and the ...

Page 31: ...ribed in Chapter 5 Maintenance Technical Note 001 PN730317 contains practical tips for the tuse and care of Tecan precision syringes 2 6 Mounting The XLP 6000 contains four mounting holes on the front plate of the frame Note Always mount the pump in an upright position Failure to do so can cause problems in priming the system To facilitate mounting see Figure 2 8 XLP 6000 Outline Drawing for criti...

Page 32: ...2 14 Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en 2 Hardware Setup Mounting Figure 2 8 XLP 6000 Outline Drawing ...

Page 33: ...ng on the address byte used Each physical address in the address switch corresponds to a hexadecimal value as shown in Table 3 1 Hexadecimal Addressing Scheme Table 3 1 Hexadecimal Addressing Scheme For example an XLP 6000 with address switch set to 0 is addressed as device 31h in the RS 232 or RS 485 communication protocol hardware address 1 is addressed as device 32h and so on Table 3 2 Address ...

Page 34: ... by using addresses 31h to 3Fh Note Multiple address commands cannot be used to determine device status or to request reports Each device must be queried separately to gather status or generate a report Switch Setting Single Device Dual Device Quad Device All Devices Hex Address ASCII Address Hex Address ASCII Address Hex Address ASCII Address Address Value to Send 0 31 1 41 A 51 Q 5F 1 32 2 2 33 ...

Page 35: ...ote Tecan Systems recommends using the OEM protocol for RS 232 and RS 485 interfaces It provides increased error checking through the use of checksums and sequence numbers Once the XLP 6000 detects either the OEM or DT protocol it will ignore the other protocol until the next power cycle 3 2 1 OEM Communication Protocol OEM communication is a robust protocol that includes automatic recovery from t...

Page 36: ...he command block is being repeated due to a communications breakdown The sequence number is used as an identity stamp for each command block Since it is only necessary that every message carry a different sequence number from the previous message except when repeated the sequence number may be toggled between two different values e g 1 and 2 as each command block is constructed During normal commu...

Page 37: ...uted 7 The PC receives the acknowledgement and continues with normal communications 8 The next command block is stamped with sequence 2 to indicate a new command Scenario 2 1 The computer sends a command block stamped with sequence 1 to the pump 2 The pump never receives the command due to a communication error and thus does not send an acknowledgement to the PC 3 The PC waits 100 ms for the ackno...

Page 38: ...hecksum is the last byte of the message string All bytes excluding line synchronization and checksums are XORed to form an 8 bit checksum This is appended as the last character of the block The receiver compares the transmitted value to the computed value If the two values match an error free transmission is assumed otherwise a transmission error is assumed OEM Protocol Answer Block Characters The...

Page 39: ...hapter 3 2 2 Data Terminal DT Protocol The DT protocol can be used easily from any terminal or terminal emulator capable of generating ASCII characters at 9600 baud 8 bits and no parity Table 3 4 DT Protocol Character Format Parameter Setting Baud rate 9600 or 38400 Data bits 8 Parity None Stop bit 1 Command Block see DT Protocol Command Block Characters for details 1 Start command ASCII or 2Fh 2 ...

Page 40: ...k DT Protocol Answer Block Characters The answer block characters comprising the DT communication protocol are described below Only unique answer block entries are listed in this section For information on command and answer block commands characters see the previous section OEM Protocol Command Block Characters Master Address The master address is the address of the host system This should always...

Page 41: ...ntrol 5 Click OK 6 Set the pump address switch to 0 7 Power on the pump 8 Type 1ZR CR to initialize the pump 9 To run the pump see the commands listed in Using the XLP 6000 Command Set in this chapter To communicate with the XLP 6000 using Windows 95 98 NT 2000 XP follow these steps 1 To connect the XLP 6000 to a communications port on the PC first select the Start Programs Accessories Communicati...

Page 42: ...ication protocol is detected automatically 13 Power on the pump and initialize it by typing 1ZR and pressing Enter To run the pump see the commands listed in Using the XLP 6000 Command Set in this chapter 3 2 4 CAN Interface Communications CAN Controller Area Network is a two wire serial communication bus It eliminates polling sequences that verify task completion Using CAN the pumps asynchronousl...

Page 43: ...es in length follows the MID and length information The MID makes up three nibbles that are transmitted first in a message frame The bits are grouped as shown in Figure 3 1 CAN Message Structure Figure 3 1 CAN Message Structure Direction This is the direction bit It lets the devices on the bus know whether the current message is to or from the master 0 means that the message is from master to slav...

Page 44: ...ands Pumps respond to the frame types described below On the Fly Commands V and T Type 0 Normal commands use a frame type 1 i e Action Commands Since commands sent over the CAN bus with a particular frame type must complete before a subsequent command using the same frame type can be issued a different ID must be used when issuing an on the fly command For this reason on the fly commands must be i...

Page 45: ... from the pump for report commands will be type 6 Note There is no type 5 frame Report Answer Commands Type 6 This frame type is used to get information back from the pump It is similar in operation to the query commands i e used in the OEM and DT protocols The report command is one byte long and consists of one or more ASCII characters in the data block Report commands in ASCII format are Command...

Page 46: ...sed This permits long program strings to be sent as with the other communications interfaces remember that the XLP 6000 buffer size is 255 characters Handling of Pump Boot Requests When the pump is first powered up or receives a system reset command frame type 2 command 0 the pump notifies the host of this condition by sending a boot request message at 100 millisecond intervals until it receives a...

Page 47: ... Device Frame RTR Length Node ID Slave ID 0 001 0000 000 0 0010 0010 0000 0010 0000 Host acknowledges the boot request with Dir 0 Host to slave Note Boot MID is the same for all nodes Group 1 Boot request response group Device 0 Always 0 in boot response Frame 0 Boot request response frame RTR 0 Always 0 Length 2 Two data bytes in return message Node ID Group ID 2 Pump Address 0 00h Must respond w...

Page 48: ...The answer frame format is device dependent Generally it will have the following format MID DLC Answer MID 11 bit message identifier The direction bit is 1 The group number and the frame type are the same as received Device ID is the slave message ID assigned by the host Pump sends Dir Group Device Frame RTR Length 1 001 0110 010 0 0000 Host acknowledges Dir Group Device Frame RTR Length Node ID S...

Page 49: ...e issuing the next command with frame type 1 If the user insists on sending the command a command overload status results Several commands with different frame types can be in progress at the same time e g an action command and a query command Following are typical exchanges between the host and slave for action commands multi frame commands common commands and query commands Action Command The ho...

Page 50: ...d The host commands 29 of frame type 6 to a pump and the pump is set to address 1 Host sends 0 XXXXXXX 011 0 1000 Z2S5gA3 Dir Slave ID Frame type RTR DLC Data bytes 0 XXXXXXX 100 0 1000 000OgHD30 Dir Slave ID Frame type RTR DLC Data bytes 0 XXXXXXX 001 0 1000 00G10G5R Dir Slave ID Frame type RTR DLC Data bytes Pump acknowledges 1 XXXXXXX 001 0 0000 Dir Slave ID Frame type RTR DLC After executing t...

Page 51: ...e is type 3 the middle frame is type 4 and the last frame is type 6 Host sends 0 XXXXXXX 110 0 0010 29 Dir Slave ID Frame Type RTR DLC Data bytes Pump reports 1 XXXXXXX 110 0 0010 20h 60h Dir Slave ID Frame Type RTR DLC Host sends 0 XXXXXXX 110 0 0010 23 Dir Slave ID Frame Type RTR DLC Data bytes Pump reports 1 XXXXXXX 011 0 1000 20h 60h XLP60 Dir Slave ID Frame Type RTR DLC 1 XXXXXXX 100 0 0111 0...

Page 52: ... such as A6000R moves the plunger to position 6000 A multi command string such as IA6000OA0R moves the valve to the input position moves the plunger to position 6000 turns the valve to the output position and finally returns the plunger to position 0 The pump s command buffer holds a maximum of 255 characters If a command is sent without the R Execution command it is placed into the buffer without...

Page 53: ... requirements Configuration options available to the user include resolution backlash valve type and baud rate N n Set Microstep Mode Off On The N command enables or disables microstepping fine positioning The syntax for this command is N n where n 0 or 1 0 is the default n Numerical value within a given range 0 6000 Range of numerical values allowed n Default value Value of n Description 0 Normal...

Page 54: ...that a small volume of fluid flows out the input side of the valve during this operation Set User Data Command The command loads a byte of user data into non volatile memory n1 n2 where n1 is 0 15 location in non volatile memory and n2 is 0 255 data to load into non volatile memory U n Write Pump Configuration to Non Volatile Memory The U command is used to write configuration information to the n...

Page 55: ...ndition The force at which the plunger presses against the top of the syringe can be controlled via a parameter after the Initialization command possible values are 0 1 and 2 Table 3 6 lists the recommended initialization force for each type of syringe Caution To retain the integrity of the seal on smaller syringes use a lower initialization force than that for larger syringes The default initiali...

Page 56: ...small gap was designed so that the Teflon seal does not hit the top of the plunger each time the syringe moves to the home position This maximizes the life of the syringe seal The k command must be followed by the Initialization command Z Y or W Each time the unit is powered down the k value will return to the default condition For example to offset 10 increments away from the top of travel send t...

Page 57: ...orce and at default initializa tion speed 2 Initializes at one third plunger force and at default initialization speed 10 40 Initializes at full force and at speed code n1 See command S for a list of speed codes n2 0 Sets initialization input port to port 1 default 1 X Sets initialization input port for distribution valves where X is the number of ports on the valve n3 0 Sets initialization output...

Page 58: ... port 1 default 1 X Sets initialization input port for distribution valves where X is the number of ports on the valve n3 0 Sets initialization output port to port X default where X is the number of ports on the valve 1 X Sets initialization output port for distribution valves where X is the number of ports on the valve W Parameter Value Description n1 0 Initializes at full plunger force and at de...

Page 59: ...ized using the Z n1 n2 n3 or Y n1 n2 n3 commands to set the true home position Caution Incorrect use of this command can damage the device 3 5 Operating Commands 3 5 1 Valve Commands Valve commands position the input and output channels to the specified ports Similar valve commands cause different actions depending on whether you are using non distribution valves or distribution valves With non di...

Page 60: ...ve moves following the shortest path available For example in Figure 3 2 if the 3 port non distribution valve has been initialized with the Z command the ports will be numbered as shown in the top diagram clockwise Issuing an O command aligns the syringe port with port 2 as shown Figure 3 2 Valve Position Examples for 3 Port Non Distribution Valves With distribution valves the direction in which t...

Page 61: ...d will align the syringe port with port 3 as shown Figure 3 3 Valve Position Examples for 3 Port Distribution Valves Following are more detailed descriptions of the various valve commands and what they do I Move Valve to Input Position Non distribution Valves The I command moves the valve to the input port set by the initialization command following the shortest path I n Move Valve Clockwise to Po...

Page 62: ...ions bypassing the syringe The valve moves following the shortest path E Move Valve to Extra Position 4 Port Non distribution Valve The E command connects the extra position in the 4 port valve bypassing the syringe The valve moves following the shortest path Note The B and E commands are useful when flushing fluid lines If a Valve command is issued to a valveless pump the command is ignored Cauti...

Page 63: ...ion Operating Commands Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en 3 31 Figure 3 5 Valve Position Examples for T Valves Non Distribution Figure 3 6 Valve Position Examples for 6 Port Distribution Valves ...

Page 64: ...tion The A command moves the plunger to the absolute position n where n 0 6000 in standard mode and 0 48000 in fine positioning and microstep mode For example A300 moves the syringe plunger to position 300 A6000 moves the syringe plunger to position 6000 Command n Parameter Value Description A 0 6000 Absolute position in half increments N 0 0 48000 Absolute position in microsteps N 1 0 48000 Absol...

Page 65: ...r down 300 increments P600 moves the plunger down an additional 600 increments to an absolute position of 900 The P command will return error 3 invalid operand if the final plunger position is greater than 6000 p n Relative Pickup Not Busy This is the same as the P command except that the status bit of the reply string indicates that the pump is not busy D n Relative Dispense The D command moves t...

Page 66: ...he plunger travels is dependent on the ramping up and down If the plunger move is short it may never reach top speed Ramping Down The plunger will decelerate based on the programmed slope To enhance fluid breakoff the Cutoff command c can be used to define the end speed of the plunger just before it stops Note The Cutoff command is only active in a dispense move During aspiration the move will end...

Page 67: ...d Ramping is not allowed in on the fly changes 2 Issue a new top speed in the range 5 to 750 e g V600 while the plunger is moving to change the speed on the fly Note When the move completes speed values revert to original values i e value sent on the fly is temporary Note When changing speed on the fly in CAN use frame type 0 L n Set Slope During the beginning and end of a move the plunger speed r...

Page 68: ... in pulses second This command may be sent while a command string is already executing See section on Changing Speed on the Fly earlier in this chapter Note Syringes 2 5 mL and larger may require slower speeds Users must determine the appropriate speeds for their applications 8 20000 9 22500 10 25000 11 27500 12 30000 13 32500 14 35000 15 37500 16 40000 17 42500 18 45000 19 47500 20 50000 Command ...

Page 69: ...timing for specific applications see Appendix B Plunger Information The S command sets top speed without changing start speed slope and cutoff speed except under the following conditions If the start speed is higher than the new top speed start speed is changed to equal the top speed If the cutoff speed is higher than the new top speed cutoff speed is changed to equal the top speed Speed codes the...

Page 70: ... 800 7 50 60 0 15 600 10 00 80 0 16 400 15 00 120 17 200 30 00 240 18 190 31 58 253 19 180 33 33 267 20 170 35 29 282 21 160 37 50 300 22 150 40 00 320 23 140 42 86 343 24 130 46 15 369 25 120 50 00 400 26 110 54 55 436 27 100 60 00 480 28 90 66 67 533 29 80 75 00 600 30 70 85 71 686 31 60 100 00 800 32 50 120 00 960 33 40 150 00 1200 34 30 200 00 1600 35 20 300 00 2400 36 18 333 33 2667 ...

Page 71: ...d if Cutoff Speed is less than the Start Speed set If the Start Speed v is greater than the Top Speed the Start Speed will be set equal to the Top Speed 2 Top Speed should always be greater than or equal to the Start Speed and Cutoff Speed Changing the Top Speed will modify the Cutoff Speed and Start Speed if they were improper but will not modify the stored Start Speed For instance values of 750 ...

Page 72: ...is ASCII 1 for frame type 2 X Execute the Last Command or Program String The X command repeats the last executed command or program string Note The X command frame type 1 is valid in CAN communication An equivalent command is ASCII 3 for frame type 2 G n Repeat Command Sequence This command repeats a command or program string the specified number of times If a GR or a G0R is sent the sequence is r...

Page 73: ...on The H command is used within a program string to halt execution of the string To resume execution an R command or TTL signal must be sent The syntax for this command is H n where n 0 2 Two TTL inputs are available input 1 J5 pin 7 and input 2 J5 pin 8 They control execution as follows Command Segment Description A0 Move plunger to position 0 g Outer loop start P50 Move plunger down 50 increment...

Page 74: ...ompletion the R Execution command will resume the program string If the command was terminated due to a problem or error the pump must be reinitialized Caution When a plunger move is terminated lost increments may result Reinitialization is recommended following termination Note The T command frame type 0 is valid in CAN communication An equivalent command is ASCII 4 for frame type 2 J n Auxiliary...

Page 75: ...s command is placed at the beginning of a program string to load the string into the non volatile memory The syntax for this command is s n where n 0 14 Up to 15 program strings numbered 0 through 14 can be loaded into the non volatile memory Each string can use up to 128 characters For example IA3000OA0R requires 10 bytes Example Program String s8ZS1gIA3000OA0GR Command Segment Description s8 Loa...

Page 76: ...n from Non Volatile Memory Auto Mode flag in the EEPROM and begins operating in the default mode Note U commands take effect upon the pump s next power up Linking Program Strings in the Non Volatile Memory Non volatile memory program strings can be linked by ending one program string with an e command that refers to a second program string Example Program Strings slZgIA3000OA0G5e2R s2gIA3000OgHD30...

Page 77: ... pulses sec 50 2700 4 Report Actual Position of Plunger The 4 command reports the plunger encoder position in increments 6 Report Valve Position The 6 command reports the valve position in mnemonics i input o output e extra and b bypass for non distribution valves For distribution valves the 6 command reports ASCII values 1 X where X is the number of distribution valve ports 10 or F Report Command...

Page 78: ...or Report Number of Valve Movements Since Last Report The 18 or command reports the number of valve movements since the last 18 or command 20 or Report Firmware Checksum The 20 or command reports back the firmware checksum The checksum is the same for all part numbers at the same revision level 23 or Report Firmware Version The 23 or command reports the firmware part number and version in ASCII ch...

Page 79: ...ding a program string or individual command to ensure that the pump has completed the previous command successfully Note Q is the only valid method for obtaining pump status in serial mode Note The Query command is invalid in CAN communication The response to the Q command the status byte provides two items of information Pump status bit 5 and error code bits 0 3 3 6 1 Status Bit Bit 5 is the stat...

Page 80: ...s the error 3 invalid operand Table 3 8 Error Codes Error Code Description 0 00h Error Free Condition 1 01h Initialization error This error occurs when the pump fails to initialize Check for blockages and loose connections before attempting to reinitialize The pump will not accept commands until it has been suc cessfully initialized This error can only be cleared by successfully ini tializing the ...

Page 81: ...er the Initialization command If the Q command indicates both a successful initialization and that the pump is ready subsequent Move commands can be sent 10 0Ah Valve Overload This error occurs when the valve drive loses incre ments by blockage or excess backpressure The pump must be reini tialized before normal operation can resume Sending another Valve command reinitializes the valve and sets it...

Page 82: ...command is sent while the plunger is moving The pump ignores the command and issues an error 15 The Q command allows the controller to determine when the command is complete and the pump is ready to accept new commands Note There is no need to reinitialize the pump following this error type Report commands Control commands and the Top Speed command V will not return an error 15 Report and Control ...

Page 83: ...08 12 Internal Failure 0 1 X 0 1 1 1 0 4Eh 6Eh 78 110 14 A D converter failure 0 1 X 0 1 1 1 1 4Fh 6Fh 79 111 15 Command Overflow Status Byte Hex if Bit 5 Dec if Bit 5 Error Code A7000R Does not move the plunger and reports a No Error status when queried Q command returns error A second try returns error 3 67 P6000P600R Moves to position 6000 then stops A Q command returns an error t2000R Returns ...

Page 84: ...3 52 Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en 3 Software Communication Error Codes and Pump Status This page has been intentionally left blank ...

Page 85: ...tubing or sandwiched between two fluids in the pump system tubing Air gaps may be created by aspirating air programmed air gaps or by the spring action of the fluid system inertial air gaps aspirate dispense tubing Connects the valve output port 1 4 28 thread or M6 fitting to a sample source and destination To ensure good breakoff aspirate dispense tubing tends to have a smaller I D than reagent t...

Page 86: ...producible pumping action The air in an unprimed line acts as a spring adversely affecting accuracy and precision reagent tubing Connects the valve input port 1 4 28 thread or M6 fitting to a reagent source Reagent tubing is used to fill the pump syringe it tends to have a larger I D than aspirate dispense tubing and a blunt cut end which extends into the reagent system fluid A fluid used to prime...

Page 87: ...ion of the syringe plunger between start speed top speed and cutoff speed volume calculation The volume aspirated or dispensed when the syringe plunger moves a specified number of increments depending on the syringe size To determine the number of increments required to aspirate or dispense a given volume use the following formula of increments pump resolution x volume syringe size For example to ...

Page 88: ... to separate the system fluid from subsequently aspirated sample or reagent Air gaps should be aspirated slowly to avoid break ups and they should be one tenth the volume of the aspirated fluid or at least 10 µL to avoid any dilution effect Similar air gaps should separate each aspirated fluid when performing multiple aspirates with no intervening dispenses in order to prevent premature mixing and...

Page 89: ...cription of the various types of tubing see Appendix A Ordering Information Table 4 2 Tubing Recommendations 4 Make pump connections Connect power and communications cables to the pump install syringe and tubing Place the end of the input tubing in a reservoir of particle free fluid place the end of the output tubing in a waste reservoir 5 Check communications to the pump Open the Pump Link progra...

Page 90: ...ut position and into the syringe Inspect the pump tubing and syringe for bubbles and re prime until all bubbles are completely gone If bubbles remain after several priming strokes disassemble the syringe and clean it with alcohol Also check to ensure the fittings are tight and the syringe is tight within the Teflon fitting Re prime Possible errors Error 9 plunger overload See step 8 8 Check aspira...

Page 91: ...top speed Send the command cxIA6000OA0R and monitor the dispense for plunger overload or any splattering of the fluid dispensed outside of the dispense vessel If any of these conditions occur lower the cutoff speed until the pump can dispense the fluid with clean breakoff Another condition that affects breakoff is the formation of inertial air gaps This is seen as a small air gap inside the tubing...

Page 92: ... leaks the result of differing coefficients of expansion of Teflon and glass Leaks may occur when pumping fluids that are at or below 15 C 61 F To reduce the amount of carryover a ratio of three parts reagent to one part sample is recommended Before pumping any organic solvent please refer to Appendix D Chemical Resistance Chart in this manual Using organic solvents may reduce tubing and seal life...

Page 93: ...e pump is not in use Note Do not allow the pump s to run dry for more than a few cycles 5 2 Weekly Maintenance The fluid path of the XLP 6000 must be cleaned weekly to remove precipitates such as salts eliminate bacterial growth and so on Any of the three following cleaning procedures can be used Weak detergent Weak acid and base 10 bleach The procedures using these solutions are described in the ...

Page 94: ...n to remain in the pump for 10 minutes with the syringes fully lowered 4 After a 10 minute period remove the reagent tubing from 0 1 N HCl solution and cycle all the fluid from the syringes and tubing into a waste container 5 Prime the pump a minimum of 10 cycles with distilled or de ionized water 5 2 3 10 Bleach Cleaning To clean the pump with 10 bleach follow these steps 1 Make a solution of 10 ...

Page 95: ...cision gravimetrically using an analytical balance with the capability to measure to 0 1 mg Gravimetric measurements should be corrected for the specific gravity of water at the ambient temperature The syringe can be checked by programming in the desired volume and determining the weight of fluid dispensed To determine precision and accuracy run a minimum of 20 replicates The Mean Standard Deviati...

Page 96: ...the tubing use a 5 16 wrench and gently loosen the fittings 2 Unscrew the fittings and remove the tubing 3 To install new tubing insert the fitting into the valve and tighten it finger tight 4 Using a 5 16 wrench turn the fitting another to turn 5 3 3 Replacing a Syringe To replace a syringe follow these steps 1 Remove the liquid from the syringe 2 Remove the plunger lock screw 3 Lower the plunger...

Page 97: ...into place d Slide the plunger lock screw through the plunger buttons and fasten to the carriage 6 Re initialize the pump Note Make sure the plunger lock screw is securely tightened and the plunger button is free to move on the plunger lock screw Figure 5 1 Syringe Replacement 5 3 4 Replacing the Reagent Syringe Seals Note See Chapter 2 Hardware Setup for an illustration of the syringe components ...

Page 98: ... the plunger three complete turns This is necessary to make the sharp raised edge of the plunger bite into the seal for a secure fit 10 Wet the seal with distilled or deionized water then insert the plunger seal assembly into the glass barrel Note Syringe sizes 1 mL and above have O rings 5 3 5 Replacing the XLP 6000 Valve To replace the XLP 6000 valve follow these steps 1 Remove as much fluid as ...

Page 99: ...n from 1 4 to 1 2 turn after the screws contact the valve body Figure 5 3 XLP 6000 Valve Replacement 3 Port Valve Shown 5 4 On Site Replacements 5 4 1 Replacing the Printed Circuit Assembly PCA To replace the printed circuit board assembly follow these steps 1 Power off the pump 2 Remove the two screws that hold the printed circuit board to the pump 3 Note the cable connection locations and unplug...

Page 100: ...5 8 Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en 5 Maintenance On Site Replacements This page has been intentionally left blank ...

Page 101: ...Technical support is available 7 00 a m to 5 30 p m PST Monday Friday Our mailing address is Tecan Systems Inc 2450 Zanker Road San Jose CA 95131 USA When calling for technical service please have the following information ready Part number Serial number Model type Description of the problem Note See the following diagram for the location of the label containing part number and serial number infor...

Page 102: ...6 2 Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en 6 Technical Service Figure 6 1 XLP 6000 Label Location ...

Page 103: ...tative for availability Description Valve Type Part Number XLP 6000 with 120 3 Port Valve 28 Plastic 734714 XLP 6000 with 120 3 Port Valve M6 Plastic 735098 XLP 6000 with 90 4 Port Valve 28 Plastic 735100 XLP 6000 with 90 4 Port Valve M6 Plastic 735102 XLP 6000 with T Valve 28 Plastic 736544 XLP 6000 with T Valve M6 Plastic 736546 XLP 6000 with Y Block valve 28 Plastic 736326 XLP 6000 with Y Block...

Page 104: ...yringes Interconnect Tubing Seals Pump Evaluation Accessories Valves Miscellaneous Parts Printed Circuit Boards Part Number Description 734801 Syringe 50 µL 734802 Syringe 100 µL 734803 Syringe 250 µL 734804 Syringe 500 µL 734805 Syringe 1 0 mL 734806 Syringe 2 5 mL 734807 Syringe 5 0 mL 734808 Syringe 10 0 mL 734809 Syringe 25 0 mL Part Number Description 734810 Seal 50 µL 4 pkg 734811 Seal 100 µ...

Page 105: ...n Part Number Description Plastic Valves 729370 Valve 120 3 Port 1 4 28 fitting 731305 Valve 120 3 Port M6 fitting 736658 Valve 90 4 Port 1 4 28 fitting 736656 Valve 90 4 Port M6 fitting 736759 Valve T 1 4 28 fitting 736766 Valve T M6 fitting 736329 Valve Y Block 1 4 28 fitting 736328 Valve Y Block M6 fitting 736615 Valve 90 3 Port Distribution 1 4 28 fitting plug 736613 Valve 90 3 Port Distributi...

Page 106: ...P 12 027 1 4 28 to blunt cut 5133 Aspirate Dispense tube FEP 29 031 Thermal drawn 5723 Aspirate Dispense tube FEP 33 031 Necked 5729 Reagent tube TFE 21 031 1 4 28 to blunt cut 5402 Aspirate Dispense coiled tube FEP 64 027 Thermal drawn 6865 Interconnect tube FEP 3 054 1 4 28 to 1 4 28 720592 Reagent tube TFE 61 5 063 1 4 28 to blunt cut 720595 Aspirate Dispense tube FEP 61 5 055 Necked 720597 Asp...

Page 107: ...96 Interconnect tube TFE 20 060 1 4 28 to 1 4 28 726172 Aspirate Dispense tube TFE 24 060 1 4 28 to 1 4 28 Part Number Description Material Length Inches Units Tube Ends Part Number Description 727899 Pump Link Software package includes manual programmer s kit 3 5 diskettes 4 723914 AC power supply 24V 120V Evaluation two pumps 723942 AC power supply 24V 220V Evaluation two pumps 725744 DA 15 adap...

Page 108: ...riety of liquid handling modules and a choice of standard cap piercing disposable tip or multi channel probes are available All instruments include liquid level sensing and step loss detection A 3 3 Cavro XE 1000 Modular Digital Pump A simple compact economical pump module the Cavro XE 1000 is designed for high volume OEM instrument manufacturers who need to perform pipetting and diluting function...

Page 109: ...ly from a single communication port The Smart Valve uses a single 24 V DC power supply and contains a buffered output which can be used to drive an additional relay or solenoid A 3 7 Cavro XL Series Smart Peristaltic Pump A compact eight roller unit with 1 2 3 or 4 channels Cavro Smart Pump modules are stepper motor driven and are designed to provide highly reproducible flow rates with minimum pul...

Page 110: ...top shape These include consumables such as probes and syringes seal kits tubing and valves or accessories such as I O boards linear drive boards or enhancement kits for your system A 4 Mating Connector Suppliers Tecan Systems does not sell mating connectors beyond those found on its evaluation power supply For customer convenience a list of DA 15 mating connectors and their suppliers is provided ...

Page 111: ...ent cases are presented below 1 Start top and cutoff speeds are equal or top speed is less than 50 Hz 2 Typical move with ramp up constant speed and ramp down 3 Move is too small to reach cutoff speed 4 Move is too small to reach top speed Note Plunger move times have been calculated with backlash compensation set to 0 K 0 B 2 1 Symbol Definitions Table B 1 Symbol Definitions Symbol Name Range n U...

Page 112: ... 2 Move Calculations Case 1 Start Top and Cutoff Speeds are Equal or Top Speed is Less than 50 Hz Case 1 is used when v V c or V 50 Diagram of move Calculation Total Move Time t Total Move Time t1 t2 t3 Seconds A1 Ramp Up increments Half increments A2 Ramp Up increments Half increments A3 Ramp Up increments Half increments Symbol Name Range n Unit v 900 Hz L 14 V 900 Hz A 3000 full increments c 90...

Page 113: ...lculation Ramp Up increments Ramp Down increments If 481 477 6000 then Ramp Up Time Ramp Down Time v 50 Hz L 14 V 5800 Hz A 3000 full increments c 500 Hz half increments half increments seconds seconds A A A 1 3 2 v V Speed Hz c time in s t A V v L 1 2 2 2 2 2 5800 50 2 14 2500 481 A V c L 3 2 2 2 2 2 5800 500 2 14 2500 477 A A A 1 3 2 t V v L 1 5800 50 14 2500 16 t V c L 3 5800 500 14 2500 15 ...

Page 114: ...e Total Move Time Case 3 Move Too Small to Reach Cutoff Speed Case 3 is used when Vn c Diagram of Move Calculation Theoretical Top speed If then half increments seconds seconds v 50 Hz L 14 V 5800 Hz A 5 full increments c 900 Hz A A A A 2 1 3 2 2 3000 481 477 5042 t t t t 1 2 3 16 87 15 1 18 v V Speed Hz c time in s t Vn Hz Vn AL v 4 4 5 14 2500 50 838 2 2 Vn c ...

Page 115: ... Move Too Small to Reach Top Speed Case 4 is used when Vn V and Vn c Diagram of Move Calculation Top speeds Total Move Time seconds full increments v 50 Hz L 14 V 5800 Hz A 350 full increments c 900 Hz Hz Hz t Vn v L 838 50 14 2500 023 A A 1 5 v V Speed Hz c time in s t Vn Vn AL v c 2 2 2 350 14 2500 50 900 2 4991 2 2 2 2 t L Vn v c L 1 2 1 2 4991 50 900 26 ...

Page 116: ...B 6 Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en B Plunger Information Plunger Time Calculations This page has been intentionally left blank ...

Page 117: ...cimal Character or Function 0 00 none 65 41 A 1 01 SOH 66 42 B 2 02 STX 67 43 C 3 03 ETX 68 44 D 4 04 EOT 69 45 E 5 05 ENQ 70 46 F 6 06 ACK 71 47 G 7 07 BEL 72 48 H 8 08 BS 73 49 I 9 09 HT 74 4A J 10 0A LF 75 4B K 11 0B VT 76 4C L 12 0C FF 77 4D M 13 0D CR 78 4E N 14 0E SO 79 4F O 15 0F SI 80 50 P 16 10 DLE 81 51 Q 17 11 DC1 82 52 R 18 12 DC2 83 53 S 19 13 DC3 84 54 T 20 14 DC4 85 55 U 21 15 NAK 8...

Page 118: ... tick 32 20 SP 97 61 a 33 21 98 62 b 34 22 99 63 c 35 23 100 64 d 36 24 101 65 e 37 25 102 66 f 38 26 103 67 g 39 27 apostrophe 104 68 h 40 28 105 69 i 41 29 106 6A j 42 2A 107 6B k 43 2B 108 6C l 44 2C comma 109 6D m 45 2D en dash 110 6E n 46 2E period 111 6F o 47 2F 112 70 p 48 30 0 113 71 q 49 31 1 114 72 r 50 32 2 115 73 s 51 33 3 116 74 t 52 34 4 117 75 u Decimal Hexadecimal Character or Func...

Page 119: ...7 C en C 3 53 35 5 118 76 v 54 36 6 119 77 w 55 37 7 120 78 x 56 38 8 121 79 y 57 39 9 122 7A z 58 3A 123 7B left brace 59 3B 124 7C vertical bar 60 3C 125 7D right brace 61 3D 126 7E tilde 62 3E 127 7F DEL 63 3F 64 40 Decimal Hexadecimal Character or Function Decimal Hexadecimal Character or Function ...

Page 120: ...C 4 Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en C ASCII Chart of Codes for U S Characters This page has been intentionally left blank ...

Page 121: ...hemicals used in individual applications with the XLP 6000 may result in damage to the pump and or test results DANGER Variations in chemical behavior during handling due to factors such as temperature pressure and concentration can cause equipment to fail even though it passed an initial test SERIOUS INJURY MAY RESULT Use suitable guards and or personal protection when handling chemicals The mate...

Page 122: ...evere Effect Acrylonitrile N A A Excellent B2 Good Adipic Acid N A A Excellent B2 Good Alcohols Amyl A Excellent A Excellent A Excellent Alcohols Benzyl A Excellent A Excellent A Excellent Alcohols Butyl N A A Excellent A2 Excellent Alcohols Diacetone B1 Good A Excellent A1 Excellent Alcohols Ethyl A Excellent A Excellent A1 Excellent Alcohols Hexyl N A A Excellent A1 Excellent Alcohols Isobutyl N...

Page 123: ...m Nitrate A Excellent A Excellent A Excellent Ammonium Oxalate N A N A A1 Excellent Ammonium Persulfate A Excellent A Excellent B2 Good Ammonium Phosphate Dibasic A Excellent A2 Excellent B Good Ammonium Phosphate Monobasic N A A Excellent B Good Ammonium Phosphate Tribasic N A A Excellent B Good Ammonium Sulfate A Excellent A Excellent B Good Ammonium Thiosulfate N A N A N A Amyl Acetate A1 Excel...

Page 124: ...ene Sulfonic Acid N A A Excellent B1 Good Benzoic Acid A Excellent A2 Excellent A2 Excellent Benzol A Excellent A Excellent A2 Excellent Benzonitrile A2 Excellent A2 Excellent A1 Excellent Benzyl Chloride N A N A A2 Excellent Bleach Solutions A Excellent A Excellent C1 Fair Borax Sodium Borate A Excellent A Excellent A Excellent Boric Acid A Excellent A Excellent A Excellent Bromine Water A Excell...

Page 125: ...cellent D Severe Effect Carbon Tetrachloride dry D Severe Effect A Excellent D Severe Effect Carbon Tetrachloride wet A1 Excellent A Excellent B1 Good Carbonated Water N A A Excellent A1 Excellent Carbonic Acid A Excellent A Excellent A Excellent Chloric Acid A Excellent A Excellent D Severe Effect Chlorine Water A Excellent A Excellent A Excellent Chlorine Anhydrous Liquid B2 Good A Excellent D S...

Page 126: ...Excellent A Excellent D Severe Effect Cyclohexanone A1 Excellent A Excellent C1 Fair Detergents A Excellent A Excellent A Excellent Diacetone Alcohol B1 Good A Excellent A1 Excellent Dichlorobenzene N A A Excellent B1 Good Dichloroethane A2 Excellent A1 Excellent D Severe Effect Diesel Fuel A1 Excellent A Excellent C1 Fair Diethyl Ether C Fair A Excellent D Severe Effect Diethylamine A1 Excellent ...

Page 127: ...ol A Excellent A Excellent A Excellent Ethylene Oxide A2 Excellent A Excellent C1 Fair Fatty Acids A Excellent A Excellent A Excellent Ferric Chloride A2 Excellent A Excellent A Excellent Ferric Nitrate A1 Excellent A Excellent A Excellent Ferric Sulfate A1 Excellent A Excellent A Excellent Ferrous Chloride B1 Good A Excellent A Excellent Ferrous Sulfate N A A Excellent A Excellent Fluoboric Acid ...

Page 128: ...e Effect Hydrobromic Acid 20 A Excellent A Excellent A Excellent Hydrochloric Acid 100 A Excellent A Excellent A1 Excellent Hydrochloric Acid 20 A Excellent A Excellent A2 Excellent Hydrochloric Acid 37 A Excellent A Excellent A2 Excellent Hydrofluoric Acid 100 B Good A Excellent D Severe Effect Hydrofluoric Acid 20 A Excellent A Excellent B Good Hydrofluosilicic Acid 100 B Good A Excellent A Exce...

Page 129: ...A A Excellent D Severe Effect Lithium Chloride N A A Excellent A2 Excellent Lithium Hydroxide N A A Excellent A2 Excellent Lye Ca OH 2 Calcium Hydroxide A2 Excellent A Excellent A2 Excellent Magnesium Bisulfate N A A Excellent A2 Excellent Magnesium Carbonate N A A1 Excellent A Excellent Magnesium Chloride A Excellent A Excellent A Excellent Magnesium Hydroxide A1 Excellent A Excellent A Excellent...

Page 130: ...A1 Excellent A Excellent D Severe Effect Methylene Chloride A1 Excellent A Excellent D Severe Effect Mineral Spirits A1 Excellent A Excellent D Severe Effect Monochloroacetic acid A2 Excellent A Excellent A2 Excellent Monoethanolamine D Severe Effect A Excellent A1 Excellent Morpholine A1 Excellent A Excellent N A Motor oil A Excellent A Excellent A1 Excellent Naphthalene A Excellent A Excellent B...

Page 131: ...ent Phosphoric Acid 40 A Excellent A Excellent A Excellent Phosphoric Acid crude A2 Excellent A Excellent A1 Excellent Phosphoric Acid Anhydride N A A Excellent A1 Excellent Phosphorus N A A Excellent B1 Good Phosphorus Trichloride A Excellent A Excellent D Severe Effect Photographic Developer A Excellent A Excellent A2 Excellent Photographic Solutions A Excellent A Excellent A Excellent Phthalic ...

Page 132: ...ent A Excellent Propane liquefied A1 Excellent A Excellent B Good Pyridine A1 Excellent A Excellent A1 Excellent Pyrogallic Acid A1 Excellent A Excellent A1 Excellent Resorcinal A1 Excellent A Excellent A2 Excellent Salicylic Acid A1 Excellent A2 Excellent A2 Excellent Salt Brine NaCl saturated A Excellent A2 Excellent A Excellent Sea Water A Excellent A Excellent A Excellent Silver Bromide A Exce...

Page 133: ...t Sodium Hypochlorite 20 A Excellent A Excellent A2 Excellent Sodium Hypochlorite 100 A Excellent A Excellent A1 Excellent Sodium Hyposufite A Excellent A Excellent A Excellent Sodium Metaphosphate N A A Excellent A Excellent Sodium Metasilicate N A A Excellent A Excellent Sodium Nitrate A1 Excellent A Excellent A Excellent Sodium Perborate A1 Excellent A Excellent A Excellent Sodium Peroxide A1 E...

Page 134: ...ellent C1 Fair Tetrachloroethylene A1 Excellent A Excellent D Severe Effect Tetrahydrofuran A1 Excellent A Excellent C1 Fair Toluene Toluol B2 Good A Excellent D Severe Effect Trichloroacetic Acid A1 Excellent A Excellent A2 Excellent Trichloroethane A1 Excellent A Excellent D Severe Effect Trichloroethylene B2 Good A Excellent D Severe Effect Trichloropropane A1 Excellent A1 Excellent N A Tricres...

Page 135: ...stilled A Excellent A Excellent A Excellent Water Fresh A Excellent A Excellent A Excellent Water Salt A Excellent A Excellent A Excellent Xylene A Excellent A Excellent C1 Fair Zinc Chloride A1 Excellent A Excellent A Excellent Zinc Hydrosulfite N A A1 Excellent A1 Excellent Zinc Sulfate A Excellent A Excellent A Excellent Chemical Kel F Teflon Polypropylene ...

Page 136: ...D 16 Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en D Chemical Resistance Chart This page has been intentionally left blank ...

Page 137: ...positioning and microstep mode Plunger Drive Principle Stepper motor driven lead screw with quadrature encoder for step loss detection Travel 60 mm Plunger Speed 5 6000 pulses per second Syringes Sizes 50 µL 100 µL 250 µL 500 µL 1 0 mL 2 5 mL 5 0 mL 10 0 mL and 25 0 mL Barrel Material Borosilicate glass Plunger Material Stainless steel Seal Material Virgin Teflon PTFE TFE and UHMWPE Black seals Pr...

Page 138: ...Requirements Voltage 24V DC 10 Current 1 A peak Interface Type RS 232 RS 485 and CAN Baud Rate 9600 or 38400 RS 232 and RS 485 100K 125K 250K 500K and 1M CAN Format Data bits 8 Parity No Stop bit 1 Half duplex Communications Addressing Up to 15 individual addresses available Communications Data terminal and OEM protocol with error recognition Firmware Programmable ramps Programmable plunger speeds...

Page 139: ...utputs CMOS HC level Environmental Operatingtemperature mechanism 59 F 15 C to 104 F 40 C Operating humidity mechanism 20 80 RH at 104 F 40 C Storage temperature 4 F 20 C to 149 F 65 C Safety and Regulatory Compliance The XLP 6000 uses only UL recognized electronic components and bears the UL Recognized component mark Tecan Systems UL customer file number is E164638 ...

Page 140: ...E 4 Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en E XLP 6000 Physical Specifications This page has been intentionally left blank ...

Page 141: ... for microstep enabled firmware N Valid None Control G g M H Valid None Control X Valid Frame type 2 Command 3 ASCII Control R Valid Frame type 2 Command 1 ASCII Control T Valid Frame type 2 Command 4 ASCII Control Reset Invalid Frame type 2 Command 0 ASCII Control Clear loaded command Invalid Frame type 2 Command 2 ASCII Control J s e U Valid None Report 0 through 29 Invalid Frame type 6 Command ...

Page 142: ...Manual 734237 C en F CAN Communication Commands Report Invalid Frame type 6 Command 20 ASCII Report Invalid Frame type 6 Command 18 ASCII Report Invalid Frame type 6 Command 19 ASCII Report Invalid None Command Type Command Valid Invalid CAN Equivalent ...

Page 143: ... 3 Port Distribution Valve face seal 4 T Valve 7 6 Port Distribution Valve 8 9 Port Distribution Valve 9 Dual loop valve 11 3 Port Distribution Valve plug 30 Set Non Volatile Memory Auto Mode 31 Clear Non Volatile Memory Mode 41 Set RS baud rate to 9600 47 Set RS baud rate to 38400 51 Set CAN baud rate to 100K 52 Set CAN baud rate to 250K 53 Set CAN baud rate to 500K 54 Set CAN baud rate to 1M 57 ...

Page 144: ...ere X is the number of ports on the valve Sets initialization output port Y n1 0 initializes at full plunger force 1 initializes at half plunger force 2 initializes at one third plunger force 10 40 initializes at the defined speed Initializes the plunger drive and homes the valve in a counterclockwise direction n2 0 Set initialization input port to Port 1 1 X Set initialization input port for dist...

Page 145: ...s in a clockwise direction valve ports numbered in a clockwise direction 1 Valve homes in a counterclockwise direction valve ports numbered in a counterclockwise direc tion Initializes the valve drive only z Simulates initialization and sets the current position of the plunger as the home position k 0 80 in standard mode 50 default 0 640 in fine positioning or microstep mode 400 default Set zero g...

Page 146: ...mmand Value of n Description Status A n 0 6 000 0 48 000 in fine positioning or microstep mode A bsolute Position Busy a n 0 6 000 0 48 000 in fine positioning or microstep mode a bsolute Position Ready P n 0 6 000 0 48 000 in fine positioning or microstep mode Relative P ickup Busy p n 0 6 000 0 48 000 in fine positioning or microstep mode Relative p ickup Ready D n 0 6 000 0 48 000 in fine posit...

Page 147: ...ec 900 V n 5 6000 Peak speed Hz sec 1400 S n 0 40 Set speed 11 c n 50 2700 Cutoff speed Hz sec 900 K n 0 31 Set backlash steps 12 n 0 15 Set user data 0 Command Value of n Description R Executes command or command string X Repeats last command string G n 0 48000 Repeats command sequence g Marks start of a repeat sequence M n 0 30000 Delay in milliseconds H n 0 2 Halts command string execution T Te...

Page 148: ...Command Description Q Query Status and Error Bytes Report absolute plunger position 1 Report start speed 2 Report top speed 3 Report cutoff speed 4 Report actual position of plunger 6 Report valve position 10 or F Report command buffer status 12 Report number of backlash increments 13 Report status of input 1 J5 Pin7 14 Report status of input 2 J5 Pin 8 15 Report number of pump initializations 16 ...

Page 149: ...on 1 01h Initialization error Fatal error Reinitialize pump before resuming normal operation 2 02h Invalid command 3 03h Invalid operand 6 06h EEPROM failure 7 07h Device not initialized 8 08h Internal failure 9 09h Plunger overload Fatal error Reinitialize pump before resuming normal operation 10 0Ah Valve overload Fatal error Reinitialize pump before resuming normal operation 11 0Bh Plunger move...

Page 150: ...valid operand 0 1 X 0 0 1 1 0 46h 66h 70 102 6 EEPROM failure 0 1 X 0 0 1 1 1 47h 67h 71 103 7 Device not initialized 0 1 X 0 1 0 0 1 49h 69h 73 105 9 Plunger overload 0 1 X 0 1 0 1 0 4Ah 6Ah 74 106 10 Valve overload 0 1 X 0 1 0 1 1 4Bh 6Bh 75 107 11 Plunger move not allowed 0 1 X 0 1 1 0 0 4Ch 6Ch 76 108 12 Internal failure 0 1 X 0 1 1 1 0 4Eh 6Eh 78 110 14 A D converter failure 0 1 X 0 1 1 1 1 4...

Page 151: ...s Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en G 9 10 Ground Power and logic 11 RS 485 A line Data 12 RS 485 B line Data 13 Auxiliary output 1 TTL level 14 Auxiliary output 2 TTL level 15 Auxiliary output 3 TTL level Pin Function Remarks ...

Page 152: ...G 10 Cavro XLP 6000 Modular Syringe Pump Operating Manual 734237 C en G Command Quick Reference DA 15 Connector Pin Assignments This page has been intentionally left blank ...

Page 153: ...ng 4 4 chemical effect ratings D 1 chemical handling D 1 chemical resistance chart D 1 coefficient of variation percentage 5 4 command execution guidelines 3 20 command overflow error 3 50 command quick reference guide G 1 command string example 3 41 command summary G 1 command syntax 3 21 command types configuration 2 9 control 3 40 G 5 EEPROM G 6 initialization 3 24 G 2 non volatile memory 3 43 ...

Page 154: ... into NVM 3 43 S Set speed 3 37 T Terminate command 3 42 U Write pump config to NVM 3 22 U30 Set NVM auto mode 3 44 U31 Clear run from NVM 3 44 v Set start speed 3 36 V Set top speed 3 36 W Initialize plunger drive 3 26 w Initialize valve drive 3 27 X Execute last command or string 3 40 Y Initialize plunge valve drive CCW 3 25 Z Initialize plunger valve drive CW 3 24 z Simulated plunger initializa...

Page 155: ...ves 3 27 non volatile memory commands G 6 configuration 2 9 linking program strings 3 44 O OEM communication protocol 3 3 answer block characters 3 6 command block characters 3 4 ordering information A 1 O rings 5 6 output specifications E 3 overload errors 3 50 P part numbers configurations A 1 evaluation accessories A 5 manual A 5 miscellaneous A 5 packaging A 5 seals and seal kits A 2 syringes ...

Page 156: ...ental E 3 firmware E 2 inputs E 3 interface E 2 outputs E 3 plunger drive E 1 power requirements E 2 resolution E 1 safety and regulatory E 3 syringes E 1 valve drive E 1 valves E 2 speed changing on the fly 3 35 speed codes 3 37 speed command relationships 3 39 start speed 3 39 4 3 setting 4 6 status byte G 8 syringe 1 4 diagram 2 13 installation 2 12 priming 4 6 replacing 5 4 syringe components ...

Page 157: ...valves ceramic A 3 plastic A 3 volume calculations 4 3 W warning symbols 1 7 wiring 2 2 X XCalibur Modular Digital Pumps A 6 XE 1000 Pump A 6 XL 3000 Series Multi Channel Pumps A 7 XL Series Smart Peristaltic Pump A 7 XL Series Smart Valve A 7 XLP 6000 addressing scheme 3 1 application 4 1 command set 3 20 configurations A 1 factors determining performance 4 1 features 1 2 functional description 1...

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