Parker Smart Syringe Pump
User’s Manual
Doc. #: MAN-000008-001
Date: OCTOBER 2013
ENGINEERING YOUR SUCCESS
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 2
©2013, Parker Hannifin Corporation. All Rights Reserved.
Disclaimer
Although every effort has been taken to ensure the accuracy of this document, it may be necessary, without notice, to make
amendments or correct omissions. Parker Precision Fluidics cannot accept responsibility for damage, injury, or expenses
resulting there from.
Product Warranty Information
This warranty comprises the sole and entire warranty pertaining to products described in the Terms and Conditions of sale.
Return Materials Authorizations
Hazardous Material: All products returned must be free of hazardous materials. Return of any product exposed to bio
hazardous material will not be accepted.
You must obtain a Return Material Authorization (RMA) number from Parker Precision Fluidics in order that we may process
your returned equipment. Material will not be accepted unless an RMA number is assigned and is clearly marked on all
incoming packages and associated paperwork. This policy has been set for our mutual protection in that it greatly reduces the
possibility of misplaced returns. Please call our Customer Service Department at 1-800-525-2857 to obtain an RMA number.
Copyright and Trademark Information
CAVRO® is a registered trademark of TECAN Systems, Inc.
Molex® is a registered trademark of Molex Connectors, Inc.
EPOS2™ is a trademark of Maxon Motor AG
ULTEM® is a registered trademark of SABIC Innovative Plastics IP BV
TriContinent™ is a trademark of TriContinent Scientific, Inc.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 3
Table of Contents
Chapter 1 Overview.................................................................................................................................. 14
1.1 Introduction ...................................................................................................................... 14
1.2 Warnings and Special Symbols ......................................................................................... 15
1.3 CE Compliance .................................................................................................................. 16
1.4 Disclaimers ........................................................................................................................ 16
1.5 Handling Procedures ......................................................................................................... 17
1.6 Pump Features and Options ............................................................................................. 17
Chapter 2 Hardware Setup ....................................................................................................................... 19
2.1 Unpacking the Smart Syringe Pump ................................................................................. 19
2.2 Syringe Pump Setup .......................................................................................................... 19
2.2.1 Mounting ..................................................................................................................... 19
2.2.2 Leak Diversion Features .............................................................................................. 23
2.2.3 Valve Configuration and Flow Direction ..................................................................... 24
2.2.4 Syringe Barrel Selection .............................................................................................. 25
2.2.5 Syringe Barrel/Plunger Installation ............................................................................. 25
2.2.6 Syringe Barrel/Plunger Removal ................................................................................. 29
2.2.7 Fitting and Tubing Installation ................................................................................... 31
2.2.8 Reservoir Requirements .............................................................................................. 35
2.2.9 Pressure Limits ............................................................................................................ 35
2.2.10 Power Requirements................................................................................................... 36
2.2.11 Power and Communications Interface (OEM to Pump).............................................. 36
2.3 Multiple Smart Syringe Pump Configuration .................................................................... 38
2.3.1 CAN Network Terminating Resistor ............................................................................ 39
Chapter 3 Communications Interface ...................................................................................................... 41
3.1 Communication Configurations ........................................................................................ 41
3.1.1 Workstation (PC) Control ............................................................................................ 41
3.1.2 Direct Connection ....................................................................................................... 42
3.2 RS-232 Protocol ................................................................................................................ 43
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3.3 CANopen Protocol ............................................................................................................ 43
3.3.1 CAN Bit Rates .............................................................................................................. 43
3.3.2 Workstation Control with CAN Interface .................................................................... 44
3.3.3 Direct Connection with CAN Interface ........................................................................ 44
3.4 CAN Addressing Scheme ................................................................................................... 45
Chapter 4 Operating the Pump Using the Smart Syringe Pump Software ............................................... 46
4.1 Getting Started.................................................................................................................. 46
4.2 Hardware Setup ................................................................................................................ 46
4.3 Installing the Software ...................................................................................................... 46
4.4 Starting the Software ........................................................................................................ 51
4.5 Basic Operation ................................................................................................................. 52
4.5.1 Homing ........................................................................................................................ 53
4.5.2 Setting Syringe Barrel Size and Replacing Syringe ...................................................... 55
4.5.3 Aspirate ....................................................................................................................... 55
4.5.4 Dispense ...................................................................................................................... 56
4.5.5 Priming ........................................................................................................................ 57
4.5.6 Manual Priming ........................................................................................................... 57
4.6 Configuration .................................................................................................................... 58
4.6.1 Communications Configuration .................................................................................. 59
4.6.2 Pump Configuration .................................................................................................... 60
4.6.3 Motor Drive and Syringe Barrel Usage........................................................................ 60
4.7 Scripting ............................................................................................................................ 60
4.7.1 Synchronous and Asynchronous Operation ................................................................ 62
4.7.2 Scripting Command Tabs ............................................................................................ 62
4.8 Diagnostics ........................................................................................................................ 65
4.8.1 Motion Control ............................................................................................................ 66
4.8.2 Syringe Volume and Calibration .................................................................................. 67
4.8.3 Acceleration, Deceleration and Backlash .................................................................... 68
4.8.4 Motor Current Display ................................................................................................ 69
4.9 Homing Tab ....................................................................................................................... 69
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4.9.1 Homing Parameters .................................................................................................... 70
4.9.2 Proportional Homing ................................................................................................... 71
4.9.3 Pump Unbinding ......................................................................................................... 71
4.10 Pressure Calculator ........................................................................................................... 72
4.11 Pump Parameters ............................................................................................................. 74
4.11.1 Viewing Pump Parameters .......................................................................................... 74
4.11.2 Edit Pump Parameters Dialog ..................................................................................... 77
4.11.3 Resetting Pump Parameters ....................................................................................... 78
4.11.4 Changing Pump Current Limits ................................................................................... 78
4.11.5 Changing Pump Usage and Syringe Usage .................................................................. 79
4.11.6 Changing the Pump Node Address ............................................................................. 79
4.11.7 Changing the Pump RS-232 Baud Rate ....................................................................... 81
4.11.8 Changing the Pump CAN Bit Rate ............................................................................... 83
4.12 Error Handling and Error History ...................................................................................... 84
4.13 Removing the Software .................................................................................................... 85
Chapter 5 Smart Syringe Pump Library .................................................................................................... 87
5.1 Smart Syringe Pump Library Overview ............................................................................. 87
5.1.1 Library Files ................................................................................................................. 87
5.1.2 Using the Smart Syringe Pump Library........................................................................ 88
5.1.3 Object Browser............................................................................................................ 89
5.2 Basic Operation with the Smart Syringe Pump Library ..................................................... 90
5.2.1 Connection .................................................................................................................. 91
5.2.2 Homing ........................................................................................................................ 91
5.2.3 Set Valve Position ........................................................................................................ 93
5.2.4 Set Syringe Size ........................................................................................................... 94
5.2.5 Set Speed..................................................................................................................... 95
5.2.6 Aspirate ....................................................................................................................... 96
5.2.7 Dispense ...................................................................................................................... 97
5.2.8 Unitialize ..................................................................................................................... 98
5.2.9 Changing the Pump Node Address ............................................................................. 98
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5.2.10 Changing the Pump RS-232 Baud Rate ....................................................................... 99
5.2.11 Changing the Pump CAN Bit Rate ............................................................................... 99
5.3 Scripting Operation with the Smart Syringe Pump Library ............................................... 99
5.3.1 Scripting Response Handler ...................................................................................... 100
5.4 Pump Status and Error Handling..................................................................................... 101
5.4.1 Pump Connection ...................................................................................................... 101
5.4.2 Pump Status .............................................................................................................. 101
5.4.3 Error Handling ........................................................................................................... 102
5.4.4 Advanced Error Handling .......................................................................................... 103
5.5 Library Functions and Properties .................................................................................... 104
5.5.1 PumpConnection ....................................................................................................... 104
5.5.2 PumpControl ............................................................................................................. 112
5.5.3 LimitValues ................................................................................................................ 133
5.5.4 Error Data .................................................................................................................. 136
Chapter 6 Scripting Commands .............................................................................................................. 138
6.1 Command Syntax ............................................................................................................ 138
6.2 Pump Control .................................................................................................................. 138
6.3 Program Flow Control ..................................................................................................... 143
6.4 Pump Configuration ........................................................................................................ 144
6.5 Reporting Commands ..................................................................................................... 145
6.6 Error Codes and Status Byte ........................................................................................... 146
6.7 Unsupported Standard Commands ................................................................................ 147
Chapter 7 System Integration Using a Direct Connection ..................................................................... 151
7.1 Overview ......................................................................................................................... 151
7.2 Initialization .................................................................................................................... 151
7.3 RS-232 Protocol .............................................................................................................. 152
7.4 CAN Protocol ................................................................................................................... 152
7.5 Operating Commands ..................................................................................................... 152
7.5.1 Homing ...................................................................................................................... 152
7.5.2 Aspirate and Dispense............................................................................................... 154
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7.5.3 Valve Position ............................................................................................................ 155
7.5.4 Shutdown .................................................................................................................. 155
7.6 Pump Status and Error Handling..................................................................................... 156
7.6.1 Pump Status .............................................................................................................. 156
7.6.2 Error Handling ........................................................................................................... 157
Chapter 8 Syringe Pump Parameters ..................................................................................................... 158
8.1 Motor Parameters .......................................................................................................... 158
8.1.1 Acceleration and Deceleration .................................................................................. 158
8.1.2 Backlash..................................................................................................................... 159
8.1.3 Homing Parameters .................................................................................................. 161
8.1.4 Current Limits ............................................................................................................ 162
8.2 Smart Syringe Pump Limits and Constants ..................................................................... 163
8.3 Syringe Calibration .......................................................................................................... 165
8.3.1 Determining Calibration Value .................................................................................. 165
Chapter 9 Maintenance and Cleaning .................................................................................................... 167
9.1 Preventative Maintenance and Cleaning ........................................................................ 167
9.2 Manifold and Valve Replacement ................................................................................... 168
9.3 EPOS2 Motion Controller and Interface PCB Replacement ............................................ 173
9.3.1 Replacing the EPOS2 Motion Controller ................................................................... 173
9.3.2 Replacing the Interface PCB ...................................................................................... 176
Chapter 10 Troubleshooting .................................................................................................................... 178
10.1 Troubleshooting Guide ................................................................................................... 178
10.2 Pump Status Indicator LED .............................................................................................. 187
10.3 Smart Syringe Pump Error Messages .............................................................................. 188
Chapter 11 Ordering Information ............................................................................................................ 195
11.1 Contact Information........................................................................................................ 195
11.2 Available Configurations ................................................................................................. 195
11.3 Accessories ...................................................................................................................... 196
11.3.1 Syringe Barrels .......................................................................................................... 196
11.3.2 Compatible Syringe Barrels ....................................................................................... 196
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11.3.3 Accessories and Replacement Parts List ................................................................... 197
Chapter 12 Appendix ................................................................................................................................ 198
12.1 Performance Specifications ............................................................................................ 198
12.1.1 Fluidic ........................................................................................................................ 198
12.1.2 Mechanical ................................................................................................................ 198
12.1.3 Reliability ................................................................................................................... 199
12.1.4 Electrical .................................................................................................................... 199
12.1.5 Communications ....................................................................................................... 199
12.1.6 Environmental ........................................................................................................... 200
12.1.7 Operating Shock and Vibration ................................................................................. 200
12.1.8 Physical Characteristics ............................................................................................. 200
12.1.9 Regulatory Compliance ............................................................................................. 201
12.1.10 Chemical Compatibility ............................................................................................. 201
12.2 Outline Drawing .............................................................................................................. 203
12.3 Calculations ..................................................................................................................... 203
12.3.1 Pressure Calculation .................................................................................................. 203
12.3.2 Move Time Calculations ............................................................................................ 204
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List of Figures
Figure 1.1 Smart Syringe Pump .................................................................................................................. 14
Figure 2.1 Mounting Holes ......................................................................................................................... 20
Figure 2.2 Recommended Vertical Mounting Orientations ....................................................................... 21
Figure 2.3 Vertical Mounting Angle ........................................................................................................... 21
Figure 2.4 Recommended Horizontal Mounting Orientations .................................................................. 22
Figure 2.5 Mounting Orientations Not Recommended ............................................................................. 22
Figure 2.6 Leak Zones ................................................................................................................................. 23
Figure 2.7 Leak Diversion Ports .................................................................................................................. 24
Figure 2.8 Valve and Manifold Port Identification ..................................................................................... 24
Figure 2.9 Retaining Screw and Locking Nut .............................................................................................. 26
Figure 2.10 Plunger Button Saddle ............................................................................................................ 26
Figure 2.11 Installing Syringe Barrel to Manifold ....................................................................................... 27
Figure 2.12 Syringe Barrel Secured to Pump ............................................................................................. 28
Figure 2.13 Syringe Hub Set Screw ............................................................................................................ 29
Figure 2.14 Removing the Syringe Barrel from the Manifold .................................................................... 30
Figure 2.15 Removing the Syringe Barrel from the Syringe Button Clasp ................................................. 31
Figure 2.16 Tubing through Nut ................................................................................................................. 32
Figure 2.17 Ferrule Installation .................................................................................................................. 32
Figure 2.18 Fitting Assembly Preparation .................................................................................................. 32
Figure 2.19 Fitting to Reservoir Port Installation ....................................................................................... 33
Figure 2.20 Fitting to Normally Open or Aspirate / Dispense Port ............................................................ 34
Figure 2.21 Reservoir Tube Routing ........................................................................................................... 34
Figure 2.22 Reservoir Tube Through P-Clamp ........................................................................................... 35
Figure 2.23 Power and Communications Interface OEM to Pump ............................................................ 36
Figure 2.24 Power and RS-232 Communications Pump Cable Detail ........................................................ 37
Figure 2.25 CAN Wiring Diagram ............................................................................................................... 38
Figure 2.26 Multiple Smart Syringe Pump Wiring Diagram ....................................................................... 39
Figure 2.27 CAN Bus Terminating Resistor R1 ........................................................................................... 40
Figure 3.1 Smart Syringe Pump using Workstation Control ...................................................................... 41
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Figure 3.2 Smart Syringe Pump using OEM Embedded Controller ............................................................ 42
Figure 4.1 InstallShield Wizard Welcome Screen....................................................................................... 47
Figure 4.2 License Agreement Window ..................................................................................................... 48
Figure 4.3 Choose Destination Location Window ...................................................................................... 49
Figure 4.4 Start Copying Files Window ...................................................................................................... 50
Figure 4.5 Installation Complete Window ................................................................................................. 51
Figure 4.6 Smart Syringe Pump Software .................................................................................................. 52
Figure 4.7 Pump Status Panel .................................................................................................................... 54
Figure 4.8 Homing on the Operation Tab .................................................................................................. 54
Figure 4.9 Syringe Barrel Size and Replacement ........................................................................................ 55
Figure 4.10 Aspirate on the Operation Tab ............................................................................................... 56
Figure 4.11 Dispense on the Operation Tab .............................................................................................. 56
Figure 4.12 Prime on the Operation Tab ................................................................................................... 57
Figure 4.13 Manual Syringe Priming .......................................................................................................... 58
Figure 4.14 Configuration Tab .................................................................................................................... 59
Figure 4.15 Scripting Tab ............................................................................................................................ 61
Figure 4.16 Basic Commands ..................................................................................................................... 63
Figure 4.17 Additional Commands ............................................................................................................. 63
Figure 4.18 Smart Syringe Pump Commands ............................................................................................. 64
Figure 4.19 Queries .................................................................................................................................... 64
Figure 4.20 Smart Syringe Pump Queries .................................................................................................. 65
Figure 4.21 Diagnostics tab ........................................................................................................................ 66
Figure 4.22 Motion Control on the Diagnostics Tab .................................................................................. 67
Figure 4.23 Syringe Volume and Calibration .............................................................................................. 68
Figure 4.24 Motion Parameters on the Diagnostics Tab ........................................................................... 68
Figure 4.25 Motor Current Display on the Diagnostics Tab ....................................................................... 69
Figure 4.26 Homing tab .............................................................................................................................. 70
Figure 4.27 Homing Parameters on Homing Tab ....................................................................................... 70
Figure 4.28 Proportional Homing on the Homing Tab ............................................................................... 71
Figure 4.29 Pump Unbinding on the Homing Tab ...................................................................................... 72
Figure 4.30 Pressure Calculator Tab .......................................................................................................... 73
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Figure 4.31 View Pump Parameters dialog ................................................................................................ 75
Figure 4.32 Edit Pump Parameters Dialog ................................................................................................. 77
Figure 4.33 Reset Pump Parameters Confirmation Dialog ........................................................................ 78
Figure 4.34 Total Nodes Setting ................................................................................................................. 80
Figure 4.35 Change Pump Window ............................................................................................................ 81
Figure 4.36 Pump Address Power Cycle Prompt Window ......................................................................... 81
Figure 4.37 Change RS-232 Baud Rate Window ........................................................................................ 82
Figure 4.38 RS-232 Baud Rate Power Cycle Prompt Window .................................................................... 82
Figure 4.39 Change CAN Bit Rate Window ................................................................................................ 83
Figure 4.40 CAN Bit Rate Power Cycle Prompt Window ............................................................................ 84
Figure 4.41 Error Dialog ............................................................................................................................. 84
Figure 4.42 Error History Dialog ................................................................................................................. 85
Figure 4.43 Uninstall Prompt ..................................................................................................................... 86
Figure 5.1 Adding Reference to SSPLib.dll ................................................................................................. 88
Figure 5.2 Object Browser View ................................................................................................................. 90
Figure 9.1 Cover Screw Removal .............................................................................................................. 168
Figure 9.2 Cover Removal ........................................................................................................................ 169
Figure 9.3 Manifold Screw Removal ........................................................................................................ 169
Figure 9.4 Valve Electrical Connector ...................................................................................................... 170
Figure 9.5 Connector Removal ................................................................................................................. 170
Figure 9.6 Manifold Removed from Pump ............................................................................................... 171
Figure 9.7 Valve Screw Removal .............................................................................................................. 172
Figure 9.8 Valve Orientation .................................................................................................................... 173
Figure 9.9 PCB Screw Removal ................................................................................................................. 174
Figure 9.10 Removing the EPOS2 Motion Controller PCB ....................................................................... 175
Figure 9.11 Motor and Valve Cable Location on Interface PCB ............................................................... 177
Figure 12.1 Outline Drawing .................................................................................................................... 203
Figure 12.2 Speed Profile Example with Max Speed................................................................................ 205
Figure 12.3 Speed Profile Example without Max Speed .......................................................................... 207
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List of Tables
Table 1-1 Warnings and Special Symbols ................................................................................................... 15
Table 1-2 EMC Regulatory Standards ......................................................................................................... 16
Table 3-1 Recommended PLCs with CAN Support ..................................................................................... 44
Table 4-1 Location of Configurable Pump Parameters .............................................................................. 76
Table 5-1 Smart Syringe Pump Library Files ............................................................................................... 87
Table 5-2 SSPLib.ConnectionStatus Members ......................................................................................... 101
Table 5-3 SSPLib.PumpState Members .................................................................................................... 102
Table 5-4 PumpConnection Properties .................................................................................................... 104
Table 5-5 PumpControl Properties .......................................................................................................... 112
Table 5-6 LimitValues Properties ............................................................................................................. 133
Table 5-7 Pump Connect Error Data Properties ....................................................................................... 136
Table 6-1 Scripting Pump Control ............................................................................................................ 138
Table 6-2 Scripting Acceleration Codes.................................................................................................... 140
Table 6-3 Scripting Speed Codes .............................................................................................................. 141
Table 6-4 Scripting Program Flow Control ............................................................................................... 143
Table 6-5 Scripting Pump Configuration .................................................................................................. 144
Table 6-6 Scripting Reporting Commands ............................................................................................... 145
Table 6-7 Status Byte Error Codes ........................................................................................................... 146
Table 6-8 Unsupported Standard Scripting Commands .......................................................................... 147
Table 7-1 Homing Steps and Objects ....................................................................................................... 153
Table 7-2 Typical Statusword Values during Homing .............................................................................. 153
Table 7-3 Steps and Objects for Aspirate and Dispense .......................................................................... 154
Table 7-4 Statusword Object Bits ............................................................................................................. 156
Table 8-1 Motor Parameters .................................................................................................................... 158
Table 8-2 Recommended Homing Force Parameters .............................................................................. 162
Table 8-3 Smart Syringe Pump Limits and Constants .............................................................................. 163
Table 8-4 Maximum Syringe Speeds ........................................................................................................ 164
Table 8-5 Minimum Syringe Speeds ......................................................................................................... 164
Table 8-6 Default Calibration Parameters................................................................................................ 165
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Table 10-1 Troubleshooting ..................................................................................................................... 178
Table 10-2 LED Indicator states................................................................................................................ 188
Table 10-3 Smart Syringe Pump Software Error Messages ..................................................................... 188
Table 11-1 Available Configurations ........................................................................................................ 195
Table 11-2 Syringe Barrel Accessories ..................................................................................................... 196
Table 11-3 Compatible Syringe Barrels .................................................................................................... 196
Table 11-4 Accessories and Replacement Parts and List ......................................................................... 197
Table 12-1 Chemical Compatibility .......................................................................................................... 201
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Chapter 1 Overview
1.1 Introduction
The Smart Syringe Pump is a miniaturized syringe pump designed for use by Original Equipment
Manufacturers (OEM) for integration into liquid handling applications requiring microliter to
milliliter aspirate and dispense operations. It is also capable of achieving continuous flow rates
in the low nanoliter per second to milliliter per second ranges (syringe size dependent).
The Smart Syringe Pump uses a brushless DC motor with encoder coupled to a gear train and a
lead screw to actuate a syringe plunger, which is contained within the syringe barrel assembly.
Figure 1.1 shows an overview of the pump and identifies some of its major components.
Figure 1.1 Smart Syringe Pump
Manifold LED Syringe Barrel
(user installed)
Syringe Plunger
(user installed) Syringe Button Clasp Drive Body
Power and
Communications
Port (J1)
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1.2 Warnings and Special Symbols
Please read this instruction manual carefully before installing and operating the Smart Syringe
Pump. Failure to follow the guidelines could result in personal injury and/or damage to the
pump.
The following symbols are used throughout this document:
Table 1-1 Warnings and Special Symbols
Symbol Description
Warning: Advises user that failure to take or avoid a specific action could result in
physical harm to the user.
Caution: Advises user that failure to take or avoid a specified action could result in
damage to the product.
Note: Indicates additional information that emphasizes or supplements important
points of the main text.
Toxic Substance: Indicates chemical or biological hazards associated with substances
or samples.
Explosion or Fire Hazard: Indicates explosive or fire hazard.
ESD Warning Label: Indicates that electrostatic protection should be used.
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1.3 CE Compliance
Although the Smart Syringe Pump is a module designed for incorporation into larger systems
that require independent testing and certification, the Smart Syringe Pump carries the CE mark
and meets the requirements of the following regulatory directives and applicable standards.
FCC Part 15 Subpart B, Class B
EMC Directive (2004/108/EC)
EN 61326-1:2006 Standard (per Table 1-2)
IEC 61010-2-101
Table 1-2 EMC Regulatory Standards
Basic Standard Description Test Level Compliance Level
AS/NZ CISPR
11:2003
Radiated
Electromagnetic
Emissions, Group 1
Radiated (30 MHz to 1 GHz) Class B
IEC 61000-4-2:2008
Electrostatic
Discharge (ESD)
Immunity
4 kV Contact Discharge
8 kV Air Discharge
Performance Criterion A
Performance Criterion A
IEC 61000-4-3:2006
Radiated Radio-
Frequency,
Electromagnetic
Field Immunity
10 V/m (80 MHz to 1 GHz)
3 V/m (1.4 GHz to 2.0 GHz)
1 V/m (2.0 GHz to 2.7 GHz)
Performance Criterion A
Performance Criterion A
Performance Criterion A
IEC 61000-4-8:2009 Power Frequency
Magnetic Field
Immunity
30 A/m (50 Hz, 60 Hz)
Performance Criterion A
1.4 Disclaimers
Although every effort has been taken to ensure the accuracy of this document, it may be
necessary, without notice, to make amendments or correct omissions. Parker Precision Fluidics
cannot accept responsibility for damage, injury, or expenses resulting there from.
The user is solely responsible for making the final selection of the system. The user must analyze
all aspects of the application and follow applicable industry standards and product information.
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The user is responsible for determining that such data and specifications are suitable and
sufficient for all applications and reasonably foreseeable uses of the products or systems.
Read this User’s Manual before using the Smart Syringe Pump.
Warning: This product is to be used only as specified by the manufacturer. Use outside of the
parameters or procedures specified in this guide may result in personal injury, impair the safety
precautions of the pump and void all certifications and warranties.
Note: Follow local municipal waste ordinances for proper disposal provisions to reduce the
environmental impact of WEEE (waste, electrical and other electronic equipment). To ensure
that you safely dispose of this equipment, contact the proper local authorities in your area.
Note: Changes or modifications to the product, not approved by the Parker Precision Fluidics
will void the warranty.
Note: This equipment is intended for indoor use in a clean environment under the following
conditions:
Operating Temperature: 15⁰C to 40⁰C
Storage Temperature: -20⁰C to 70⁰C
Operating Humidity: 30% to 90% RH (non-condensing)
Storage Humidity: 30% to 95% RH (non-condensing)
1.5 Handling Procedures
Caution: Electrostatic protection should be used when handling the Smart Syringe Pump to
avoid damage to the product and electronics.
1.6 Pump Features and Options
The Smart Syringe Pump is a compact syringe pump that is designed for OEM precision liquid
handling applications. It has the following standard features and functions:
Miniature size at 104 mm (length) x 17.5 mm (width) x 161 mm (height)
Lightweight at 367 grams
Low operating power consumption at 12 watts nominal
Suited for standard 30mm stroke syringe sizes from 50 µL to 1000 µL
Full stroke accuracy ± 1%
Partial (10%) stroke accuracy ± 2%
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Full stroke precision <= 0.1% CV
Partial (10%) stroke precision <= 0.5% CV
Throughput < 1.1 seconds per full stroke
Flow rate ranges 7.5 nL/sec to 1000 µL/sec
High dispense / aspirate resolution of 228,495 increments
Chemically inert liquid isolation, 3-way solenoid valve
Compatible with standard ¼-28 bottom seal fittings
Supports direct mounting at the point of dispense
Long life at 5,000,000 cycles
RS-232 and CAN bus interface
User-friendly graphical user interface software for pump evaluation or optimization
Microsoft .NET library functions for integration into client user interface
CE compliant for emissions, immunity, and safety
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Chapter 2 Hardware Setup
This chapter contains information and instructions for setting up the Smart Syringe Pump.
2.1 Unpacking the Smart Syringe Pump
Upon receiving the Parker Smart Syringe Pump, inspect the shipping container for damage
before unpacking. If no damage is visible, carefully remove the product container from the
shipping container. Remove the pump from the product container and electrostatic bag.
If there is damage to the shipping container, notify the local carrier regarding liability. If there is
damage to the product container or product, refer to product warranty and return authorization
details on Page 2.
Note: Keep the product container and its packaging for proper storage of the equipment when
not in use.
Warning: Do not use the Smart Syringe Pump if there is damage to the product.
Caution: Electrostatic protection should be used when handling the Smart Syringe Pump to
avoid damage to the product and electronics.
2.2 Syringe Pump Setup
2.2.1 Mounting
The Smart Syringe Pump can be mounted by using the two M5 threaded holes located
on the back side of the pump (see Figure 2.1).
Caution: The Smart Syringe Pump should only be mounted and operated in a clean
environment to prevent external and internal contamination.
Caution: When mounting the pump, select a screw length (or use spacers) that will not
exceed 0.30” depth so as not to interfere with the electrical connector at the base of the
pump.
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Figure 2.1 Mounting Holes
Note: The Smart Syringe Pump should be mounted in a location to take advantage of
the leak diversion features described in Section 2.2.2.
The Smart Syringe pump may be mounted in the vertical mounting positions shown in
Figure 2.2.
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Figure 2.2 Recommended Vertical Mounting Orientations
Note: For the leak diversion features to work properly in the vertical orientation, the
pump must be mounted within 2° of vertical as shown in Figure 2.3.
Figure 2.3 Vertical Mounting Angle
Syringes mounted in this
orientation may require
manual priming initially
to remove bubbles from
the syringe barrel (see
Section 4.5.6).
Mounting plane
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The Smart Syringe pump may also be mounted in the horizontal mounting positions
shown in Figure 2.4.
Figure 2.4 Recommended Horizontal Mounting Orientations
Do not place the pump in the horizontal mounting orientations with the logo down as
shown in Figure 2.5Error! Not a valid bookmark self-reference..
Figure 2.5 Mounting Orientations Not Recommended
Mounting plane
Mounting plane
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Warning: Do not mount the Smart Syringe Pump in the horizontal orientations shown in
Figure 2.5. Potential user harm or damage to the pump may occur if syringe leaks should
occur.
2.2.2 Leak Diversion Features
The following image depicts the areas where leaks are diverted if a leak should occur
during operation (see Figure 2.6). A leak may occur due to wearing of the syringe
plunger or overpressure of the valve. The Smart Syringe Pump has specially designed
features to divert fluidic leaks away from critical areas.
Figure 2.6 Leak Zones
The manifold and drive body contains leak diversion ports which should not be blocked
for the leak diversion features to work properly (see Figure 2.7).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 24
Figure 2.7 Leak Diversion Ports
Note: For the leak diversion features to work properly in the vertical orientation, the pump
must be mounted within 2° of vertical as shown in Figure 2.3.
2.2.3 Valve Configuration and Flow Direction
The valve in the Smart Syringe Pump is a liquid 3-way solenoid type. The valve and
manifold port identification is shown in Figure 2.8.
Figure 2.8 Valve and Manifold Port Identification
Leak Diversion Ports
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 25
The ports shown in Figure 2.8 are described below:
Port 1: Reservoir port, normally closed, bi-directional flow, used for inlet tube.
Port 2: Syringe port, common, bi-directional flow.
Port 3: Output port, normally open, bi-directional flow, used for probe or output
tube.
2.2.4 Syringe Barrel Selection
The Smart Syringe Pump supports five (5) different size syringe barrels, they are as
follows: 50 µL, 100 µL, 250 µL, 500 µL and 1000 µL.
It is the responsibility of the OEM to select the correct size syringe barrel(s) for their
application. Refer to Section 11.3.1 for syringe barrel part numbers. Refer to Section
2.2.5 for syringe Barrel/plunger installation or replacement.
2.2.5 Syringe Barrel/Plunger Installation
To install the syringe barrel/plunger assembly, follow the procedure below:
Note: There are no tools required for this procedure. It is the user’s responsibility to
replace the syringe barrel as recommended by the syringe manufacturer. Refer to the
syringe barrel manufacturer’s specifications for the correct replacement interval.
Warning: Use personal protective equipment such as gloves and safety glasses when
removing and installing the glass barrel. Personal injury could occur in the event of glass
breakage or liquid spillage.
Step 1: Move the Smart Syringe Pump to the fully aspirated position. If you are using
the Smart Syringe Software, Home the Smart Syringe Pump if necessary and
then use the Replace Syringe button in the Operation tab (see Sections 4.5.1
and 4.5.2).
Step 2: Move the locking nut to the head end of the retaining screw (see Figure 2.9).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 26
Figure 2.9 Retaining Screw and Locking Nut
Step 3: Install a syringe by inserting the syringe plunger button end into the lead nut.
Make sure the syringe plunger barrel is correctly seated in the syringe button
clasp before tightening the retaining screw. The retaining screw must center on
the saddle (hourglass portion) of the plunger button to prevent slippage (see
Figure 2.10).
Figure 2.10 Plunger Button Saddle
Step 4: Tighten the retaining screw (clockwise) finger tight then finger tighten the
locking nut down (clockwise) onto the syringe button clasp.
Note: Failure to take these steps may impact priming and pump performance
since the syringe plunger may not reach home/end position. An increase in
backlash may also occur due to a loose syringe plunger.
Plunger Button Saddle
Syringe Plunger
Button
Locking Nut Retaining Screw
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 27
Step 5: Pull/draw the syringe barrel towards the common or syringe port on the
manifold (see Figure 2.11).
Figure 2.11 Installing Syringe Barrel to Manifold
Step 6: Tighten the syringe barrel into the manifold (clockwise). The syringe barrel
should be finger tight.
Caution: Grasp the hub of the syringe barrel only when tightening (see Figure 2.11).
Avoid cross threading or over tightening as these conditions may decrease plunger life.
Figure 2.12 shows the syringe barrel correctly secured to the pump.
Syringe Barrel Hub
Manifold
Common or
Syringe Barrel Port
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 28
Figure 2.12 Syringe Barrel Secured to Pump
Step 7: Home the Smart Syringe Pump. Refer to Section 4.5.1 for homing instructions
when using the Smart Syringe Pump Software.
Step 8: If the syringe barrel has been replaced, reset the syringe usage to zero cycles in
the Configuration tab of the Smart Syringe Software (see Section 4.6.3).
Step 9: If the Smart Syringe Pump is operated under extreme operating conditions such
as high temperatures or under vibration, you may also tighten the syringe barrel
hub set screw located on the manifold (see Figure 2.13). This set screw requires
a 0.035” (0.9 mm) hex driver.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 29
Figure 2.13 Syringe Hub Set Screw
If syringe calibration is required, refer to Section 8.3.1 for calibration procedure.
2.2.6 Syringe Barrel/Plunger Removal
To remove the syringe barrel/plunger assembly, follow the procedure below:
Step 1 (optional): De-prime the reservoir and outlet tubing by loosening the fittings.
After the tubing is de-primed, reattach the fittings.
Step 2: Move the syringe plunger to the fully aspirated position. If you are using the
Smart Syringe Software, Home the Smart Syringe Pump if necessary and then
use the Replace Syringe button in the Operation tab (see Sections 4.5.1 and
4.5.2).
Step 3: Unscrew the syringe barrel from the syringe port on the manifold (counter
clockwise) using the barrel hub only. (See Figure 2.14)
Note: If the barrel has not been de-primed, some fluid may drip from the barrel
during this step (see optional Step 1).
Syringe Hub
Set Screw
0.035” Hex
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 30
Warning: Use personal protective equipment such as gloves and safety glasses
when removing and installing the glass barrel. Personal injury could occur in the
event of glass breakage or liquid spillage.
Figure 2.14 Removing the Syringe Barrel from the Manifold
Step 4: With the syringe barrel unscrewed from the manifold, unscrew the locking nut
first and then the retaining screw (counter clockwise) from the syringe button
clasp and remove the syringe barrel from the pump (see Figure 2.15).
Unscrew the Syringe Barrel from
the Manifold (counter clockwise)
Manifold
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 31
Figure 2.15 Removing the Syringe Barrel from the Syringe Button Clasp
2.2.7 Fitting and Tubing Installation
Follow the steps below for attaching the tubing and fittings provided in the Evaluation
Kit to the pump. Other tubing may be used, including ¼” OD or 1/8” OD tubing with
flanged or flangeless ¼-28 bottom seal fittings.
Evaluation Kit component information:
Tubing: .030 inch ID x 1/16 inch OD
Nut/Fitting: Flangeless, 1/16 inch, ¼-28
Ferrule: Flangeless, 1/16 inch
Tools required for this procedure:
Tubing cutter
Step 1: Insert the tubing through the nut/fitting as shown in Figure 2.16.
Syringe Button Clasp Retaining Screw Locking Nut
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 32
Figure 2.16 Tubing through Nut
Step 2: Insert the end of the tubing into the ferrule as shown in Figure 2.17.
Note: The ferrule must be installed with the conical side towards the nut/fitting.
Figure 2.17 Ferrule Installation
Step 3: Prepare the tubing/fitting assembly to be installed onto the pump as shown in
Figure 2.18.
Figure 2.18 Fitting Assembly Preparation
Step 4: Screw the fitting (clockwise) into Port 1: Reservoir port as shown in Figure 2.19.
Make sure that the ferrule seats smoothly against the manifold. The nut should be
finger tight. Be careful not to cross thread the nut.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 33
Figure 2.19 Fitting to Reservoir Port Installation
Note: The tubing assembly may be easier to install with the syringe barrel removed. See
Section 2.2.6 for syringe barrel removal.
Step 5: Follow steps 1 though 4 for installation into the Port 2: Output port as shown in
Figure 2.20.
Note: The tubing assembly to the output port can be substituted with a probe tip for
certain applications. The probe tip would connect to output port in the same manner as
the tubing assembly.
Port 1:
Reservoir Port
Fitting Assembly
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 34
Figure 2.20 Fitting to Normally Open or Aspirate / Dispense Port
For multiple pumps, the reservoir tube may be routed in the vertical slot created
between the pumps (see Figure 2.21).
Figure 2.21 Reservoir Tube Routing
Port 3: Output Port
Fitting Assembly or
Probe Tip
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 35
For a single pump, the reservoir tube may be secured with an optional P-Clamp (see
Figure 2.22). See Section 11.3.3 for P-Clamp ordering information.
Figure 2.22 Reservoir Tube Through P-Clamp
2.2.8 Reservoir Requirements
For systems fluids that enter the Smart Syringe Pump, filter the fluids with a 100 mesh
or 150 micron filter prior to use. In-line filters are not recommended.
Please refer to Section 12.1.10 for chemical compatibility.
Note: For users that are sensitive to siphoning/pumping action (point of dispense
applications), it is recommended to place the reservoir supply at the same level as the
pump. Failure to take this step may result in siphoning during the time both ports are
open to the common port.
2.2.9 Pressure Limits
The Smart Syringe Pump is limited to a maximum pressure of 29 psi. An overpressure
safety device is recommended to limit the pressure downstream of the Smart Syringe
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 36
Pump. See Section 12.3.1 for information on calculating the pressure drop in tubing for
a given flow rate, tubing length and bore size, and viscosity.
Caution: The pressure at the Smart Syringe Pump should be limited to 29 psi to avoid
damage to the internal valve. The Smart Syringe Pump software has a pressure
calculator, which can guide the application to prevent over pressure (see Section 4.10).
2.2.10 Power Requirements
The Smart Syringe Pump requires an external power supply capable of producing 24VDC
+/- 5% (+/-1.2VDC) with a rating of at least 1.0 Amp (continuous) and 4.0 Amps
maximum.
Warning: Do not reverse the polarity of the input power. Fire may result when
supplying more than 4.0 Amps to reversed polarity input power connection.
2.2.11 Power and Communications Interface (OEM to Pump)
The power and communications interface between the OEM System and the Smart
Syringe Pump requires a Molex® connector (See Figure 2.23 and Figure 2.24). The
connector is keyed to ensure proper installation. Make sure that the connector is
properly latched during installation.
Figure 2.23 Power and Communications Interface OEM to Pump
Connect the power and
communications
cable to the pump at
location J1
(J1) Female
connector on
pump
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 37
For pump communications using RS-232, Figure 2.24 shows the pump cable assembly
details.
Figure 2.24 Power and RS-232 Communications Pump Cable Detail
Cable #1 to User
Power Supply
RED (+24VDC)
BLACK (GND)
Cable #2 to
DE9 Serial
Communication
DE9-2 (toTxD)
DE9-3 (to RxD)
DE9-5 (to GND)
WIRING DIAGRAM
1
2
3
4
5
6
7
8
9
10
11
12
1CABLE #1 (POWER GND)
CABLE #1 (+24V POWER)
CABLE #2 (RS232 GND)
CABLE #2 (SSP RxD)
CABLE #2 (SSP TxD)
32
4
5 6
0 Molex® # 63819-0000 Tool, Crimper
1 Molex® # 43025-1200 Connector, Female 12-Pos. Micro-Fit 3.1
2 Molex® # 43030-0007 Terminal Crimp Socket, 20-24 AWG
3 General Cable # C6348A or Equiv. Cable Multi 2; 22 AWG; 7/30, PVC
4 General Cable # C2462A or Equiv. Cable Multi 3; 24 AWG; 7/32, PVC
5 Norcomp # 983-009-020R121 or Equiv. Backshell, DE9
6 Norcomp #171-009-202L001 or Equiv. Connector, DE9 Female
For pump communications using CAN bus, use the wiring diagram shown in Figure 2.25.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 38
Figure 2.25 CAN Wiring Diagram
Note: The power and communications cables between the OEM System and the Smart
Syringe Pump are the responsibility of the OEM.
Warning: Do not reverse the polarity of the input power. Fire may result when
supplying more than 4.0 Amps to reversed polarity input power connection.
2.3 Multiple Smart Syringe Pump Configuration
The Smart Syringe Pump communications may be connected in series, or “daisy-chained”.
Pumps may be addressed individually or collectively while connected on the same
communications bus.
The pump to pump communication is supported through the CAN bus regardless of the OEM
communications to the pump. The OEM may use either RS-232 or CAN bus to communicate to
the pumps, while the pump to pump communications is always CAN bus. See Figure 2.26 for the
multiple pump wiring diagram.
Note: The CAN bit rate of the first Smart Syringe Pump in the CAN network must be set to a
value other than “Auto” to allow communications to the other pumps. To set the CAN bit rate,
see Section 4.11.8.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 39
Figure 2.26 Multiple Smart Syringe Pump Wiring Diagram
PUMP N
120 W
PUMP 1 PUMP 2
120 W
24 VDC
CAN LO
CAN HI
6 1
9 5
RS-232
DE9
126
1 7
126
1 7
24 VDC
PUMP 3
126
1 7
24 VDC
126
1 7
24 VDC
UNIT 1 UNIT 2 UNIT 3 UNIT 4 UNIT N
OEM
CAN
OEM
RS-232
-OR-
1
2
3
4
5
6
7
8
9
10
11
12
PWR GND
RS232 GND
SSP TxD
SSP RxD
PWR +24V
CAN GND
CAN HI
CAN LO
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
6
7
8
9
10
11
12
POWER
SUPPLY
BLACK (GND)
RED (+24VDC)
POWER
SUPPLY
POWER
SUPPLY
POWER
SUPPLY
POWER
SUPPLY
Note: The power and communications cables between the OEM System and the Smart
Syringe Pump are the responsibility of the OEM. Unit 1 can be RS-232 or CAN, but
consecutive pumps communicate via CAN only.
2.3.1 CAN Network Terminating Resistor
The pump to pump communications are supported via CAN bus communication lines.
Up to 127 Smart Syringe Pumps can be connected in series on the same CAN network.
Each Smart Syringe Pump is equipped with a 120 ohm terminating resistor (R1) for the
CAN network (see Figure 2.27).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 40
Note: Special resistor placement is required for pumps which are daisy-chained in
series. Following the instructions provided for proper installation.
Figure 2.27 CAN Bus Terminating Resistor R1
If one or two Smart Syringe Pumps are installed with no other devices on the CAN
network, then no changes are required for the terminating resistor.
If more than two Smart Syringe Pumps are installed on the CAN network, the resistor
must be removed from the pumps that are not in the first or last position in the network
(see Figure 2.27). If Smart Syringe Pumps are installed with other devices on the CAN
network, where none of the pumps are the first or last position, then, the resistor must
be removed from all pumps.
To remove the terminating resistor, remove the seven (7) screws from the cover (see
Figure 9.2). Remove the R1 resistor using needle nose pliers and replace the cover.
Prior to installing multiple Smart Syringe Pumps on the CAN network, a separate node
address must be set for each pump (see Section 3.4).
Caution: Electrostatic protection should be used when handling the Smart Syringe Pump
to avoid damage to the product and electronics.
R1
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 41
Chapter 3 Communications Interface
3.1 Communication Configurations
The Smart Syringe Pump can be integrated into an OEM system in two configurations, through
workstation (PC) control or through direct connection. RS-232 and CAN bus communications
are supported for both configurations. For multiple pump configurations, the pump to pump
communications is CAN bus regardless of the OEM communications protocol used (RS-232 or
CAN bus). See Section 2.3 for the hardware configuration of multiple Smart Syringe Pumps.
3.1.1 Workstation (PC) Control
Workstation control of the Smart Syringe Pump is shown in Figure 3.1.
Figure 3.1 Smart Syringe Pump using Workstation Control
Workstation
Smart Syringe
Pump Library
Smart Syringe Pump
Motion
Control
Firmware
Data Bus
(RS232, CAN)
OEM
Software
Smart Syringe
Pump Software
(User Interface)
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 42
The Smart Syringe Pump software consists of a user interface (UI) as well as a stand-alone library
for system configuration and control. The workstation must have the Windows XP operating
system or above.
The Smart Syringe Pump library contains RS-232 and CAN communication drivers for interfacing
with the Smart Syringe Pump. This library implements all pump control functions including
scripting with CAVRO® emulation and can be easily integrated with OEM software (see
Chapter 5).
3.1.2 Direct Connection
The Smart Syringe Pump may also be controlled directly by an OEM’s embedded controller (see
Figure 3.2). The embedded controller would communicate directly with the Smart Syringe Pump
motion controller using RS-232 or CAN communication protocols.
Figure 3.2 Smart Syringe Pump using OEM Embedded Controller
Smart Syringe Pump
Motion
Control
Firmware
OEM System
Embedded
Controller
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 43
The motion control firmware embedded in the Smart Syringe Pump is manufactured by Maxon
Motor. This firmware only supports low level commands and does not support scripting
emulation. In this configuration, the OEM will not use software provided by Parker Precision
Fluidics. The OEM software would be responsible for generating, sending and receiving data
frames to and from the motion controller (see Chapter 7).
3.2 RS-232 Protocol
The Smart Syringe Pump supports the following RS-232 baud rates: 9,600; 14,400; 19,200;
38,400; 57,600 and 115,200 (default) bit/sec. The data format is: 8 bits, no parity, 1 stop bit,
half duplex.
To change the RS-232 Baud Rate of the Smart Syringe Pump using the Smart Syringe Pump
software, see Section 4.11.7. To change the RS-232 Baud Rate of the Smart Syringe Pump using
the Smart Syringe Pump library, see Section 5.2.10.
Note: The Smart Syringe Pump does not support data terminal operation. You must use the
Smart Syringe Pump library (see Chapter 5) or the Direct Connection protocol (see Chapter 7) to
control the Smart Syringe Pump.
3.3 CANopen Protocol
The Smart Syringe pump motion controller follows the CIA CANopen specification DS-301
Version 4.02 Application Layer communication profile and the DSP 402 Version 2.0 Device
Profile Drive and Motion Control.
3.3.1 CAN Bit Rates
The CAN bit rates supported are: 20K, 50K, 125K, 250K, 500K, 800K and 1M (default) bit/sec.
The factory default CAN bit rate of the Smart Syringe Pump is set to 1 Mbit/sec. All devices must
communicate with the same bit rate within a CANopen network. The motion controller software
provided by Maxon Motor implements the CANopen protocol.
To set the CAN bit rate of the Smart Syringe Pump using the Smart Syringe Pump software, see
Section 4.11.8. To set the CAN bit rate using the Smart Syringe Pump library, see Section 5.2.11.
Note: The CAN bit rate of each Smart Syringe Pump on the same network must be set to the
same bit rate. The CAN bit rate of the first Smart Syringe Pump in the CAN network must be set
to a value other than “Auto” to allow communications to the other pumps.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 44
3.3.2 Workstation Control with CAN Interface
For workstation control, the following PC CAN interface cards are supported by the
Smart Syringe Pump library:
National Instruments: www.ni.com/can
IXXAT: www.ixxat.de
Vector: www.vector-informatik.de
All CANopen cards offered from these vendors are supported. The CANopen driver from
the manufacturer must be installed on the workstation. Other CAN manufacturers can
also be used; however the Smart Syringe Pump library cannot be used with them. A
separate driver must be developed to directly connect to the motion controller.
Note: The National Instruments CAN adapter is not currently supported on Windows 7
64-bit. It is supported on Windows 7 32-bit or earlier versions of Windows.
3.3.3 Direct Connection with CAN Interface
For direct connection to the Smart Syringe Pump, the following PLCs listed in Table 3-1
are recommended.
Table 3-1 Recommended PLCs with CAN Support
Manufacturer Supported Products Motion Control Library
Beckhoff www.beckoff.de
All offered CAN cards IEC 61131-3 Beckhoff Library
Siemens www.siemens.com/index.asp
Helmholz www.helmholz.de
S7-300 with Helmholz CAN300 Master
Delivered and supported by Helmholz
VIPA www.vipa.de
VIPA 214-2CM02 CAN-Master
IEC 61131-3 VIPA Library
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 45
CAN products from other manufacturers may also be used; however no motion control
libraries are available.
3.4 CAN Addressing Scheme
Pump to pump communications are performed on the CAN communications bus, regardless of
the workstation communications protocol. Up to 127 individually addressable pumps may be
connected on the same network. A unique node address must be allocated to each individual
Smart Syringe Pump on the CAN network.
The node address of the Smart Syringe Pump is set through a software command. The factory
default node address for a Smart Syringe Pump is 1. Before placing more than one Smart
Syringe Pump on the same CAN network, the node address of each pump must be set to a
unique value. This is best performed by connecting each Smart Syringe Pump to the Smart
Syringe Pump software one at a time to change the node address.
To set the CAN node address of the Smart Syringe Pump using the Smart Syringe Pump
software, see Section 4.11.6. To set the CAN node address of the Smart Syringe Pump using the
Smart Syringe Pump library, see Section 5.2.9.
Caution: Do not connect devices with the same node address on the network. The factory
default node address for a Smart Syringe Pump is 1. Unexpected behavior and memory
corruption of the motion control firmware may result. See Section 4.11.3 to reset pump
parameters after memory corruption.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 46
Chapter 4 Operating the Pump Using the Smart
Syringe Pump Software
4.1 Getting Started
Warning: This equipment is to be operated only by qualified persons familiar with the operation
of the pump and the hazards involved. Operation by unqualified persons may result in personal
injury, impairment of safety features of the pump and void all certifications and warranties.
4.2 Hardware Setup
The Smart Syringe Pump software can operate with RS-232 or CAN communications protocols.
For connecting to a Smart Syringe Pump for the first time, an RS-232 connection is
recommended for ease of setup.
See Section 2.2.11 for wiring information.
4.3 Installing the Software
To install the Smart Syringe Pump software:
1. Insert the flash drive and perform the following steps:
a. Open Windows Explorer.
b. Navigate to the flash drive.
c. Double-click SSPInstall_V1.0.
– or –
a. On the Start menu, click Run.
b. Type e:SSPInstall_V1.0. (Substitute e: with the appropriate drive letter if
necessary.)
c. Press Enter.
2. A status window appears momentarily, indicating that the Smart Syringe Pump Software
setup is preparing the InstallShield Wizard to guide you through the installation. Wait
for the Welcome window to appear and then click Next (see Figure 4.1).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 47
Figure 4.1 InstallShield Wizard Welcome Screen
3. In the License Agreement window, accept the terms of the license agreement and then
click Next (see Figure 4.2).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 48
Figure 4.2 License Agreement Window
4. In the Choose Destination Location window, accept the destination folder listed, where
setup will install the files and go to step 5 (see Figure 4.3). Or, if you want to install the
files in another folder, perform the following steps:
a. Click Browse.
b. In the Choose Folder window, select another folder.
c. Click OK.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 49
Figure 4.3 Choose Destination Location Window
5. Click Next.
6. In the Start Copying Files window, review your previous settings. If you want to change
any settings, click Back (see Figure 4.4).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 50
Figure 4.4 Start Copying Files Window
7. Click Next to begin copying files. A Setup status window appears momentarily. The last
window indicates that the installation is complete (see Figure 4.5).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 51
Figure 4.5 Installation Complete Window
8. Click Finish. An icon for the program appears on your desktop along with a Parker >
Smart Syringe Pump folder in the list of All Programs accessible from the Start menu.
4.4 Starting the Software
Start the Smart Syringe Pump Software by double-clicking the icon on the desktop. The window
shown in Figure 4.6 should appear.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 52
Figure 4.6 Smart Syringe Pump Software
In the status bar, there should be a green icon and the status should be Connected. See Figure
4.6 (bottom left). If the icon is red and the status is Disconnected, then you will need to go to
the Configuration tab to setup your communications protocol (see Section 4.6.1).
4.5 Basic Operation
The Operation, Diagnostics or the Homing tab may be used to operate the Smart Syringe. All
basic operations can be performed through the Operation tab. The Home, Stop and Reset
buttons in the toolbar may also be used (see Figure 4.6).
The following operations are available in the Operation tab:
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 53
Home
Aspirate from Reservoir or Output
Dispense to Reservoir or Output
Set syringe size
Prime
Before operating the Smart Syringe Pump, select the pump(s) to operate in the Select Pump(s)
to Address list box. If there is one pump connected, then that pump address will be selected as
a default. If there is more than one pump connected, you may select one or multiple pumps to
operate simultaneously by clicking the mouse with the Shift or Control key. The commands on
the Operation tab will act on the pumps selected in the list box. In all other tabs, the commands
will operate only on the pump selected and shown in the Pump Status panel on the right side of
the main window.
4.5.1 Homing
Before the Smart Syringe Pump can be operated, it must be homed. Homing must be
performed after every power cycle because the position of the drive is not saved in non-
volatile memory. If the software is restarted, you can check the Pump Status panel on
the right side of the main window to determine whether the pump has been homed
(see Figure 4.7). If the pump status indicates Ready, you may operate the pump without
re-homing.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 54
Figure 4.7 Pump Status Panel
To home the pump in the Operation tab, select the homing force and click Home (see
Figure 4.8). For syringe barrel sizes above 250 µL, typically full or ¾ homing force should
be used. For syringe barrel sizes below 250 µL, ¾, ½ or ¼ typically homing force should
be used. The homing force required may change with syringe manufacturer and plunger
tip material.
Figure 4.8 Homing on the Operation Tab
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 55
The pump is homed when the syringe plunger is in the fully dispensed position. If the
pump does not home in the fully dispensed position, the homing force should be
increased and the pump should be re-homed. Refer to Section 8.1.3 for more
information on homing current and homing offset.
Note: If the Smart Syringe Pump is homed in the incorrect position, it will not be able to
aspirate the full volume of the syringe. Motion errors will also result at the end of
travel.
4.5.2 Setting Syringe Barrel Size and Replacing Syringe
To set the syringe barrel size, select it from Syringe volume dropdown list box on the
Operation tab (see Figure 4.9). Only valid syringe barrel sizes will appear in the list box.
Figure 4.9 Syringe Barrel Size and Replacement
Click Yes to the confirmation prompt to change the syringe barrel size. When changing
the syringe barrel size, the calibration is set to the default value for that size. To change
the calibration value, see Section 4.8.2.
To replace the syringe barrel, click the Replace Syringe button to move the plunger to
the syringe replacement position.
Refer to Section 2.2.5 and Section 2.2.6 for syringe barrel removal and installation
details. Click the Home button after the syringe has been replaced.
4.5.3 Aspirate
The pump must be homed before you can aspirate (see Section 4.5.1).
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Figure 4.10 Aspirate on the Operation Tab
To aspirate, first select desired valve state to either From Reservoir or From Output (see
Figure 4.10). The Reservoir port is near the syringe barrel and the Output port is at the
end of the Smart Syringe Pump (see Figure 2.8). Set the volume and speed and click
Aspirate. You can monitor the progress of the pump movement in the pump status
display on the right side of the main window (see Figure 4.7).
Note: Hovering over the information icon will display the range for the aspirate
speed parameter.
4.5.4 Dispense
The pump must be homed before you can dispense (see Section 4.5.1). If a syringe
barrel other than 100 µL is installed, the syringe barrel size must also be configured (see
Section 4.5.2).
Figure 4.11 Dispense on the Operation Tab
To dispense, first select desired valve state to either From Reservoir or From Output
(see Figure 4.11). The Reservoir port is near the syringe barrel and the Output port is at
the end of the Smart Syringe Pump (see Figure 2.8). Set the volume and speed and click
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Dispense. You can monitor the progress of the pump movement in the pump status
display on the right side of the main window (see Figure 4.7).
Note: Hovering over the information icon will display the range for the dispense
speed parameter.
The Move to Home button will move the plunger to the home position using the
Dispense speed. The Move to Home command differs from the Home command in that
simply moves to the home position previously defined. It does not find and set the
Home position.
4.5.5 Priming
The pump must be homed before you can prime (see Section 4.5.1). To prime, set the
number of cycles and speed and click Prime (see Figure 4.12).
Figure 4.12 Prime on the Operation Tab
The Smart Syringe Pump will aspirate the full stroke volume from the reservoir port and
dispense the full stroke volume to the output port at the speed and number of cycles
specified.
4.5.6 Manual Priming
For smaller syringe barrel sizes, 50 µL and 100 µL, manual priming of the syringe may
assist with the priming process. To manually prime a syringe, perform the following
process.
1. Remove the syringe barrel from the Smart Syringe Pump. If the syringe
barrel has not been installed, click Replace Syringe to move the pump to the
syringe replacement position (see Section 4.5.2).
2. Remove the syringe plunger from the syringe barrel and set aside.
3. With the syringe hub facing down, place a finger lightly over the end of the
hub (see Figure 4.13).
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4. With a wash bottle or eyedropper filled with deionized water, fully fill the
syringe barrel with fluid at the open glass end. When the barrel is filled,
keep your finger on the end of the hub (see Figure 4.13).
Figure 4.13 Manual Syringe Priming
5. Carefully insert the syringe plunger into the glass barrel to the halfway
point, allowing fluid to flow out of the hub.
6. Install the syringe barrel into the Smart Syringe Pump (see Section 2.2.5).
7. Home the Smart Syringe Pump.
4.6 Configuration
The Configuration tab of the Smart Syringe Pump software contains information and control for
Communications and Pump firmware and usage (see Figure 4.14).
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Figure 4.14 Configuration Tab
4.6.1 Communications Configuration
To set the communications protocol used to connect the Smart Syringe Software to the
Smart Syringe Pump, select the RS232 or CAN radio button, the appropriate Interface
name, Port and Baud rate, and click Connect. Only available ports will be listed in the
Port dropdown list box.
The communication settings in the Configuration tab set the communications protocol
and speed for the Smart Syringe Software, not the pump itself. To change the RS-232
baud rate or the CAN bit rate of the pump, see Sections 4.11.7 and 4.11.8.
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The Total Nodes edit box sets the number of node addresses to scan during the Connect
process. This value may be set up from 1 to 127. The factory default is 8 for the Total
Nodes.
Note: The individual node addresses for all the Smart Syringe Pumps connected to the
software must be less than or equal to the Total Nodes value or it will not be detected
by the software. Increase the Total Nodes value to include the node addresses of all
pumps. To set the node address of the pump, see Section 4.11.6.
Note: Keep the total nodes to the minimum required for the Smart Syringe Pumps on
the CAN network. The Connect function takes one second per node address up to the
total nodes specified.
4.6.2 Pump Configuration
The firmware version of the Smart Syringe Pump is shown in the Pump area of the
Configuration tab (see Figure 4.14).
Note: The pump configuration displayed applies to the pump address shown in the
Pump Status panel on the right side of the main window (see Figure 4.14).
4.6.3 Motor Drive and Syringe Barrel Usage
The Smart Syringe Pump drive and barrel usage are stored in the Smart Syringe Pump
controller and are shown in the Pump area of the Configuration tab (see Figure 4.14).
If the syringe barrel is replaced, click the Reset button to reset the syringe usage to zero
cycles.
4.7 Scripting
The Scripting tab of the Smart Syringe Pump software allows control of the pump using scripting
commands (see Figure 4.15).
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Figure 4.15 Scripting Tab
Scripting commands are entered in the command entry text box by keyboard or by clicking the
buttons in the lower scripting tab area. The scripting command and response history are shown
in the read-only text box above the command entry.
The lower scripting tab area contains buttons representing all the scripting commands available
for the Smart Syringe Pump. See Chapter 6 for detailed descriptions of scripting commands.
If a scripting command requires an operand, a text box is located next to the command button.
The range for the operand may differ depending on the positioning mode and syringe barrel
size. If the operand sent is out of range, the pump status will change to “Invalid Operand” and
the correct range will be returned in the scripting response.
All scripting commands except for X and T require the R command to execute. Queries do not
require the R command.
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4.7.1 Synchronous and Asynchronous Operation
The Smart Syringe Pumps may be addressed in a Synchronous or Asynchronous
operation mode. In the Synchronous operation mode, the n command is used to specify
which pumps execute the subsequent commands. Commands are executed by each
pump simultaneously. Commands are not performed until all pumps have completed
the previous command. The pumps specified by the n command continue to execute all
subsequent commands until a new n command is issued. The following scripting
example demonstrates operation in the Synchronous mode:
n1n2S1A3000R ? Node 1: Position (steps) 3000 Node 2: Position (steps) 3000 n2A0R ? Node 2: Position (steps) 0 n1n2? Node 1: Position (steps) 3000 Node 2: Position (steps) 0
The first synchronous scripting command instructs the Smart Syringe Pumps at node 1
and node 2 to set the Speed to 1 and move to the Absolute position of 3000. The
second command queries the position of the pumps. Since both pumps were addressed
in the previous command, both pumps return their current position.
The next set of commands instructs only the Smart Syringe Pump at node 2 to move to
the Absolute position of 0. The following query returns the position of the Smart
Syringe Pump at node 2.
The final command queries the position of both node 1 and node 2. The response
demonstrates that only the pump at node 2 moved to the 0 position.
In the Asynchronous operation mode, commands are only sent to the pump selected in
the asynchronous mode list box (see Figure 4.15). Each pump can be issued a different
set of commands and will run concurrently.
4.7.2 Scripting Command Tabs
The scripting commands for basic commands are shown in Figure 4.16. See Chapter 6
for detailed descriptions of scripting commands.
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Figure 4.16 Basic Commands
The value for the speed operand for the V command indicates the currently set speed
for the Smart Syringe Pump.
The scripting commands for additional commands are shown in Figure 4.17.
Figure 4.17 Additional Commands
The scripting commands for Smart Syringe Pump commands are shown in Figure 4.18.
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Figure 4.18 Smart Syringe Pump Commands
The Smart Syringe Pump commands allow the user to issue scripting commands which
use volume units instead of steps.
The values displayed for the operands of the SV, SZ, VC and t commands indicate the
currently set values for the Smart Syringe Pump. The values shown in Figure 4.18 are
examples only.
The scripting commands for queries are shown in Figure 4.19.
Figure 4.19 Queries
The scripting commands for Smart Syringe Pump queries are shown in Figure 4.20.
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Figure 4.20 Smart Syringe Pump Queries
4.8 Diagnostics
The Diagnostics tab of the Smart Syringe Software is shown in Figure 4.21.
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Figure 4.21 Diagnostics tab
The Diagnostics tab allows you to operate the pump and set advanced pump parameters.
Controls and values shown in the Diagnostics tab apply only to the pump at the address shown
in the Pump Status panel (see Figure 4.7).
4.8.1 Motion Control
The pump must be homed before you can use the motion control section of the
Diagnostics tab (see Section 4.5.1). The motion control section of the Diagnostics tab is
shown in Figure 4.22.
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Figure 4.22 Motion Control on the Diagnostics Tab
In addition to microliter (µL) volume units, the following units are also available for the
position parameter in the Diagnostics tab: milliliter (mL), revolutions (rev) and
quadrature counts (qc). For the Smart Syringe Pump, the following values represent the
full 30mm stroke: 112 rev and 228495 qc.
To aspirate or dispense, select desired Valve Position to either Reservoir or Output (see
Figure 4.22). The Reservoir port is near the syringe barrel and the Output port is at the
end of the Smart Syringe Pump. Set the position and speed and click Aspirate. You can
monitor the progress of the pump movement in the pump status display on the right
side of the main window (see Figure 4.7).
To move to an absolute position, set the position and speed and click Move to Absolute
Position.
To move to the home position, set the speed and click Move to Home.
Note: Hovering over the information icon will display the range for the position and
speed parameters.
4.8.2 Syringe Volume and Calibration
The syringe volume and calibration section of the Diagnostics tab is shown in Figure
4.23.
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Figure 4.23 Syringe Volume and Calibration
To set the syringe barrel size, first select it from Syringe volume dropdown list box. The
Calibration value will automatically change to the default value for the syringe volume
selected. Click Set to set both the new syringe volume and calibration value. If you do
not click Set, the new values will not be saved. The syringe volume and calibration
parameters are set only for the pump address shown in the Pump Status panel on the
right side of the main window (see Figure 4.7). For information on setting the
calibration value, see Section 8.3.1.
Note: Hovering over the information icon will display the range for the syringe
calibration parameter.
4.8.3 Acceleration, Deceleration and Backlash
The motion parameters section of the Diagnostics tab is shown in Figure 4.24.
Figure 4.24 Motion Parameters on the Diagnostics Tab
To set the Acceleration or Deceleration parameter, enter the new value in the text box
and click Set. If you do not click Set, the new values will not be saved. If the Set All
check box is selected, the Acceleration and Deceleration values will be set for all the
pumps connected to the Smart Syringe Software. If the Set All check box is not
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selected, the Acceleration and Deceleration values will only be set for the pump address
shown in the Pump Status panel on the right side of the main window (see Figure 4.7).
For information on setting the acceleration and deceleration values, see Section 8.1.1.
The Backlash parameter may be set in quadrature counts (qc) or nanoliter (nL) units. To
set the Backlash parameter, enter the new value in the text box and click Set. If you do
not click Set, the new backlash value will not be saved. The Backlash parameter is set
only for the pump address shown in the Pump Status panel on the right side of the main
window (see Figure 4.7).
For information on determining the backlash value, see Section 8.1.2.1.
The acceleration, deceleration and backlash values are saved across power cycles in
non-volatile memory.
Note: Hovering over the information icon will display the range for the acceleration,
deceleration and backlash parameters.
4.8.4 Motor Current Display
The Motor Current Display section of the Diagnostics tab is shown in Figure 4.25.
Figure 4.25 Motor Current Display on the Diagnostics Tab
The bar in this graph represents the motor current only and not the total current drawn
for the Smart Syringe Pump.
4.9 Homing Tab
The Homing tab of the Smart Syringe Software is shown in Figure 4.26.
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Figure 4.26 Homing tab
4.9.1 Homing Parameters
The Homing Parameters of the Homing tab is shown in Figure 4.27.
Figure 4.27 Homing Parameters on Homing Tab
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To home the Smart Syringe Pump, select the homing speed, homing acceleration, home
offset and homing current threshold and click Home. For most syringe sizes and plunger
tip materials, the default homing parameters can be used. For detailed descriptions of
the homing parameters, see Section 8.1.3. Once the Smart Syringe Pump is homed,
homing parameters are saved across power cycles in non-volatile memory. To restore
default homing parameters, see Section 4.11.3.
Note: Hovering over the information icon will display the range for the homing
speed, homing acceleration, home offset and homing current threshold parameters.
4.9.2 Proportional Homing
The Proportional Homing section of the Homing tab is shown in Figure 4.28.
Figure 4.28 Proportional Homing on the Homing Tab
The proportional homing section of the Homing tab allows the user to set the full force
homing current threshold used in scripting commands and on the Operation tab. In
general, this value should match the nominal current threshold of 800 mA.
To set the full force homing current threshold, enter the new value and click Set. If you
do not click Set, the new value will not be saved. This parameter is saved across power
cycles in non-volatile memory.
When homing with ¾. ½ and ¼ homing force, the full force homing current threshold is
multiplied by the desired homing force factor.
Note: Hovering over the information icon will display the range for the full force
homing current threshold.
4.9.3 Pump Unbinding
The Pump Unbinding section of the Homing tab is shown in Figure 4.29.
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Figure 4.29 Pump Unbinding on the Homing Tab
The Smart Syringe Pump may encounter a bind at the physical limits of travel if the
pump is not homed to the fully dispensed position. If the Smart Syringe Pump
encounters a bind, it may not move or home using the maximum homing current
threshold available. The Pump Unbinding section of the Homing Tab provides a means
to unbind the pump when a binding situation occurs. The Pump Unbinding function
temporarily changes the motor current threshold to the maximum allowable (2A
nominal, 4A peak) to overcome the friction of the bind. The motor is jogged in small
increments of 512 qc to prevent subsequent stall errors.
To unbind the pump when the syringe plunger is fully aspirated position, click Dispense.
To unbind the pump when the syringe plunger is fully dispensed position, click Aspirate.
It may take more than one jog to free the actuator mechanism. You may increase the
number of steps to perform several jog moves in succession.
After the pump mechanism is free, home the pump and verify that the syringe plunger is
in the fully dispensed position.
4.10 Pressure Calculator
The Pressure Calculator tab of the Smart Syringe Software is shown in Figure 4.30.
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Figure 4.30 Pressure Calculator Tab
The pressure calculator is provided as a guide to determine backpressure created by the fluid
downstream of the Smart Syringe Pump. Flow rate, tubing dimensions as well as fluid viscosity
are used to determine the backpressure. The formula used to calculate backpressure is
described in Section 12.3.1.
To calculate backpressure, enter maximum speed used for the application in µL/sec. Enter the
tubing length and inner diameter in inches. Enter the viscosity of the fluid used in centipoise;
for water at 68.4°F (20.2°C), use 1 cP. Press Calculate. The backpressure in pounds per square
inch (psi) will be shown in the Backpressure text box.
For fixed volume sample loops, the inner diameter dimension may not be available for the
backpressure calculation. The Sample Loop Calculator can be used to determine the inner
diameter of a sample loop using the sample loop volume and length. To calculate a sample loop
inner diameter, enter the sample loop volume in microliters (µL) and the length of the sample in
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inches. Press Calculate. The sample loop inner diameter in inches will be shown in the Sample
loop inner diameter text box. This value may then be used in the backpressure calculator.
Caution: The pressure at the Smart Syringe Pump should be limited to 29 psi to avoid damage
to the internal valve.
4.11 Pump Parameters
The Smart Syringe Pump stores a number of parameters in non-volatile memory. These values
are saved across power cycles.
4.11.1 Viewing Pump Parameters
To view the pump parameters, click View > Pump Parameters… The Pump Parameters
dialog is shown in Figure 4.31.
Select the desired Pump Address from the dropdown list box.
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Figure 4.31 View Pump Parameters dialog
There are three types of pump parameters, Configurable, Fixed and Information only.
The Configurable parameters can be changed through the Smart Syringe Pump software
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of library functions. The locations of configurable parameters in the Smart Syringe
Pump software and in this User’s Manual are listed in Table 4-1.
Table 4-1 Location of Configurable Pump Parameters
Parameter Software Location Manual Section Software
Manual Section Description
Syringe Volume Operations tab and Diagnostics tab
4.5.2 and 4.8.2 2.2.4
Calibration Diagnostics tab 4.8.2 8.3
Acceleration Diagnostics tab 4.8.3 8.1.1
Deceleration Diagnostics tab 4.8.3 8.1.1
Backlash Diagnostics tab 4.8.3 8.1.2
Homing Current Threshold
Homing tab 4.9.1 8.1.3
Homing Speed Homing tab 4.9.1 8.1.3
Homing Acceleration Homing tab 4.9.1 8.1.3
Home Offset Homing tab 4.9.1 8.1.3
Full Force Homing Current Threshold
Homing tab 4.9.2 8.1.3
Nominal Current Edit Pump Parameters dialog
4.11.2 8.1.4
Peak Current Edit Pump Parameters dialog
4.11.2 8.1.4
RS-232 Baud Rate Change Baud Rate dialog 4.11.7 3.2
CAN Bit Rate Change Baud Rate dialog 4.11.8 3.3.1
Fixed parameters are set by the factory and cannot be changed by the user. If any of
the fixed parameters are incorrect, they may be reset to the default values (see Section
4.11.3).
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Information only parameters include the syringe and drive usage and firmware version.
These values may vary on each Smart Syringe Pump. The syringe drive usage may be
reset in the Configuration tab (see Section 4.6.3) or in the Edit Pump Parameters dialog
(see Section 4.11.2). The drive usage is not normally changed over the life of the pump,
but can be set in the Edit Pump Parameters dialog (see Section 4.11.2).
4.11.2 Edit Pump Parameters Dialog
The nominal and peak current limits and the pump usage values may be changed in the
Edit Pump Parameters Dialog. To access the Edit Pump Parameters dialog, click Edit >
Pump Parameters from the main menu of the Smart Syringe Pump software. The Edit
Pump Parameters dialog is shown in Figure 4.32.
Figure 4.32 Edit Pump Parameters Dialog
Select the desired Pump Address from the dropdown list box. The settings for the
pump address selected are automatically displayed in the dialog. To reread the
parameters from the pump firmware, click Refresh.
Caution: Do not change the motor type from GG 16mm Encoder. Unexpected behavior
and damage to the motion control system may result.
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4.11.3 Resetting Pump Parameters
If the Smart Syringe Pump does not function properly, you may need to reset the pump
parameters to their default values. In the Edit Pump Parameters Dialog, click Reset All
(see Figure 4.32). Click Yes in the confirmation dialog (see Figure 4.33).
Figure 4.33 Reset Pump Parameters Confirmation Dialog
Clicking Reset All will reset the following parameters to their default values:
Motor Acceleration
Motor Deceleration
Backlash
Homing Speed
Homing Acceleration
Home Offset
Homing Current Threshold
Nominal Current Limit
Peak Current Limit
See Table 8-1 for the default values for these parameters.
Caution: Do not change the motor type from GG 16mm Encoder. Unexpected behavior
and damage to the motion control system may result.
4.11.4 Changing Pump Current Limits
The nominal and peak current limits may be changed with caution in the Edit Pump
Parameters dialog (see Figure 4.32). If the limits are set too low, following errors (stall
condition) may occur. If the limits are set too high, overpressure could occur. To set the
nominal or peak current, enter the new value in the Edit Pump Parameters dialog and
click Set. If you do not click Set, the new values will not be saved.
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The allowable values of the nominal and peak current may change as the parameters
are relative to each other as well as having absolute minimum and maximum limits. The
nominal current must be greater than zero and less than the motion controller limit of
2000mA. The nominal current must also be less than the peak current. The peak
current must be greater than the nominal current and less than the motion controller
limit of 4000 mA.
If the new nominal current is less than the homing current or full force homing current,
the homing current will be reduced to the nominal current. If the nominal current is
increased, the homing current will remain the same.
To restore the nominal and peak current limits to the factory default values, click
Restore. Restoring the current limits also restores the homing current and full force
homing current.
Note: Hovering over the information icon will display the range for the nominal and
peak current limits.
4.11.5 Changing Pump Usage and Syringe Usage
The Pump usage and syringe usage may be set in the Edit Pump Parameters dialog (see
Figure 4.32). The pump usage is normally not changed over the life of the pump.
Syringe usage may be reset when the syringe barrel is replaced. To change the pump
usage or syringe usage, enter the new value and click Set. If you do not click Set, the
new values will not be saved.
4.11.6 Changing the Pump Node Address
To change the node address for a Smart Syringe Pump, connect the pump individually to
the workstation and start the Smart Syringe Pump software.
Note: If you are using the Smart Syringe Pump software or library, lower node
addresses are preferred for Smart Syringe Pump. The Connect function takes one
second per node address up to the total nodes specified.
1. On the Configuration tab of the Smart Syringe Pump software, verify that the
value for Total Nodes (default 8) is greater or equal than the new node address
(see Figure 4.34).
a. If the Total Nodes requires changing, enter a value between 1 and 127
in the edit box and click Set.
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Figure 4.34 Total Nodes Setting
2. Click Edit > Pump Address… from the main window of the Smart Syringe Pump
software.
3. In the Change Pump Address window, select the new node address from the
dropdown list box (see Figure 4.35). Only valid node addresses will appear in
the list box.
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Figure 4.35 Change Pump Window
4. Click Set. A window appears prompting you to power cycle the pump (see
Figure 4.36). Changes to the node address take effect only after restart.
Figure 4.36 Pump Address Power Cycle Prompt Window
5. Power off the pump.
6. Power on the pump. Click OK.
7. The pump should appear in the main window with the new node address.
4.11.7 Changing the Pump RS-232 Baud Rate
To change the RS-232 baud rate of the pump through the Smart Syringe Software:
1. Click Edit > Pump Baud Rate… from the main window of the Smart Syringe
Pump software.
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2. In the Change Baud Rate window, select the new RS-232 Baud Rate from the
dropdown list box (see Figure 4.37). Only valid baud rates will appear in the list
box.
Figure 4.37 Change RS-232 Baud Rate Window
3. Click Set. A window appears prompting you to power cycle the pump (see
Figure 4.38). Changes to the node address take effect only after restart.
Figure 4.38 RS-232 Baud Rate Power Cycle Prompt Window
4. Power off the pump.
5. Power on the pump. Click OK. Changing the pump RS-232 baud rate also
changes the Smart Syringe Software RS-2323 baud rate in the Communications
tab.
6. The pump should connect with the new RS-232 baud rate.
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4.11.8 Changing the Pump CAN Bit Rate
To change the CAN bit rate of the pump through the Smart Syringe Software:
1. Click Edit > Pump Baud Rate… from the main window of the Smart Syringe
Pump software.
2. In the Change Baud Rate window, select the new CAN Bit Rate from the
dropdown list box (see Figure 4.39). Only valid bit rates will appear in the list
box.
Figure 4.39 Change CAN Bit Rate Window
Note: The CAN bit rate of the first Smart Syringe Pump in the CAN network
must be set to a value other than “Auto” to allow communications to the other
pumps. It is not recommended to use the “Auto” CAN Bit Rate setting.
3. Click Set. A window appears prompting you to power cycle the pump (see
Figure 4.40). Changes to the node address take effect only after restart.
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Figure 4.40 CAN Bit Rate Power Cycle Prompt Window
4. Power off the pump.
5. Power on the pump. Click OK. Changing the pump CAN bit rate also changes
the Smart Syringe Software CAN bit rate in the Communications tab.
6. The pump should connect with the new CAN bit rate.
4.12 Error Handling and Error History
When a hardware error occurs with the Smart Syringe Pump, an error dialog will appear in the
Smart Syringe Software, see Figure 4.41.
Figure 4.41 Error Dialog
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The pump status indicator LED will be solid red after a hardware error occurs (see Section 10.2).
If you click Reset, the error will be cleared, the LED will be solid green and you may continue to
operate the pump. If you click Ignore, the LED will remain red and no further pump commands
may be issued until the error is cleared. If you click Ignore, you may reset the pump later by
clicking the Reset toolbar button on the main window.
To access the error history of a Smart Syringe Pump, click View > Error History. The Error
History dialog is shown in Figure 4.42,
Figure 4.42 Error History Dialog
The last eight errors are stored with timestamp for each Smart Syringe Pump. Select the desired
pump address from the Pump Address list box, or click All Pumps to see the error history of all
pumps connected to the Smart Syringe Pump software. The System Log button will bring up the
low level system log in Notepad.
4.13 Removing the Software
To remove the Smart Syringe Pump software:
1. On the Start menu, click Control Panel.
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2. Click the Add or Remove Programs icon. If your PC operating system is Windows Vista
or higher, click the Uninstall a Program link under Programs or the Programs and
Features icon.
3. Select the Smart Syringe Pump application.
4. Click the Uninstall/Change button that appears for this program.
5. At the Uninstall Prompt click Yes. (see Figure 4.43).
Figure 4.43 Uninstall Prompt
6. The InstallShield Wizard will uninstall the software.
Note: Do not remove Microsoft .NET Framework 3.5, which is required for the system
software to run properly.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 87
Chapter 5 Smart Syringe Pump Library
5.1 Smart Syringe Pump Library Overview
The Smart Syringe Pump Library is set of windows DLLs and files that provide commands to
configure and operate the Smart Syringe Pump. The Smart Syringe Pump library can be
integrated into Microsoft development environments including Microsoft Visual C#, Visual C++,
Visual Basic, as well as National Instruments LabVIEW and LabWindows.
5.1.1 Library Files
The Smart Syringe Pump Library files can be found in “C:\Program Files\Parker\Smart
Syringe Pump” or “or “C:\Program Files(x86)\Parker\Smart Syringe Pump” if the
software was installed to the default folder. Table 5-1 lists the files that constitute the
Smart Syringe Pump Library.
Table 5-1 Smart Syringe Pump Library Files
File Description
ParkerSSPLib.dll Main Smart Syringe Pump library
ParkerSSPLib.xml Smart Syringe Pump library metadata
EposCmd.dll Motion control library
EposCmd64.dll Motion control library
EposCmd.Net.dll Motion control library .NET wrapper
Log4net.dll Logging utility
Log4net.xml Logging utility metadata
SSPLog.config Smart Syringe Pump logging configuration file
FactorySettings.reg Registry settings
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 88
5.1.2 Using the Smart Syringe Pump Library
The Smart Syringe Pump Library is built on the .NET Framework V3.5 and can be
integrated into projects using Microsoft Visual Studio 2008 or later.
The following example shows integration into Microsoft Visual Studio 2012 C# project.
From the Visual Studio menu, click Project > Add Reference… to bring up the Add
Reference dialog (see Figure 5.1). Select the Browse tab and browse to the library
location “C:\Program Files\Parker\Smart Syringe Pump” or “C:\Program
Files(x86)\Parker\Smart Syringe Pump”.
Figure 5.1 Adding Reference to SSPLib.dll
Build the project with the added reference. The output directory (\bin\Debug or
\bin\Release) should automatically retrieve the following dependent libraries:
ParkerSSPLib.dll
EposCmd.Net.dll
Log4net.dll
Log4net.xml
Manually copy the following files from “C:\Program Files\Parker\Smart Syringe
Pump\bin” to the output directory.
ParkerSSPLib.xml
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 89
EposCmd.dll
EposCmd64.dll
FactorySettings.reg
SSPLog.config
You may alter the directories specified in FactorySettings.reg and SSPLog.config to your
own directories. The settings in FactorySettings.reg must be entered into the registry by
your application installation script for proper operation of the Smart Syringe Library.
Note: Failure to include the FactorySettings.reg file with the OEM installation will not
allow the Smart Syringe Pump library to connect to the Smart Syringe Pumps.
When using the Smart Syringe Library, it is helpful to include the library namespace in a
using directive as shown in the example below.
using Parker.SSPLib;
5.1.3 Object Browser
The Smart Syringe Library contains metadata for all public properties and functions. To
access this information, from the Visual Studio menu click View > Object Browser.
Expand Parker.SSPLib in the tree to expose the assembly contents (see Figure 5.2).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 90
Figure 5.2 Object Browser View
If you click on a class on the left side, or a property or function on the upper right side,
the description will be retrieved from the metadata and shown in the lower right (see
Figure 5.2).
5.2 Basic Operation with the Smart Syringe Pump Library
The namespace for the Smart Syringe Pump library is SSPLib. The main classes of the SMART
SYRINGE PUMP library are PumpConnection and PumpControl. PumpConnection is a singleton
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 91
and provides the main connection to all the Smart Syringe Pumps on the same communications
bus.
PumpConnection contains a sorted list of individual PumpControl objects which represent each
Smart Syringe Pump. The pumps may be addressed directly through the Pumps property of
PumpConnection. The key for each pump in the Pumps sorted list is the CAN node address.
You may also address pumps simultaneously through PumpConnection functions. In each
function below, code examples in C# will be shown for both direct addressing of individual
pumps and simultaneous addressing of multiple pumps.
Note: When issuing commands using direct addressing, you must use a valid node
address or a software exception will occur.
5.2.1 Connection
Call the static function PumpConnection.Initialize() to get the instance of
PumpConnection as shown in this example C# code:
public partial class Form1 : Form { private PumpConnection connection; public Form1() { InitializeComponent(); connection = PumpConnection.Initialize();
connection.ComProtocol = ComDevice.RS232; connection.RS232Port = "COM1"; connection.DriverRS232BaudRate = RS232BaudRate.kbaud115_2;
connection.Connect(); }
//…
}
The connection member shown in this example code will be used in all subsequent
examples.
5.2.2 Homing
Before the Smart Syringe Pump can be operated, it must be homed. Homing must be
performed after every power cycle. If the software library is restarted since a power
cycle, you can check the pump status property PumpControl.CurrentPumpState to
determine whether the pump has been homed (see Section 5.4.1). If the pump has not
been homed, PumpControl.PumpStatus property will return PumpState.NotInitialized.
The basic PumpControl.Home function takes the SSPLib.HomingForce enumeration as
the parameter.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 92
public void Home(SSPLib.HomingForce force, bool wait)
Summary:
Seek and set home position
Parameters:
wait: true returns after move is complete, false returns immediately
force: proportional homing force
The SSPLib.HomingForce enumeration is described below:
public enum HomingForce {
Full, ThreeQuarters, Half, Quarter, Eighth
}
The full force current threshold for homing in mA is defined by the
PumpControl.FullForceHomingCurrent property.
An example of homing the pump at node address 1 using direct addressing is shown
below:
private void buttonHome_Click(object sender, EventArgs e) { connection.Pumps[1].Home(HomingForce.Full, false); }
The PumpConnection.Home function takes a generic list of the node addresses and the
SSPLib.HomingForce enumeration as parameters to address multiple pumps.
public void Home(System.Collections.Generic.IList<ushort> nodes,
SSPLib.HomingForce force)
Summary:
Seek and set home position Since pumps are homed asynchronously, there is no
wait for this function
Parameters:
nodes: list of nodes to address
force: Proportional homing force
An example of homing all pumps on the communications bus using simultaneous
addressing through the PumpConnection.Home function is shown below. In this
example, a list of node addresses was created prior to calling the Home function.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 93
private void buttonHome_Click(object sender, EventArgs e) {
// all pumps List<ushort> nodes = new List<ushort>(); foreach (ushort node in connection.Pumps.Keys)
nodes.Add(node);
connection.Home(nodes, HomingForce.ThreeQuarters); }
When all pumps are addressed, the Pumps.Keys property may be used directly as the list
of nodes. The following example of homing all pumps is equivalent to the previous
example.
private void buttonHome_Click(object sender, EventArgs e) {
// all pumps connection.Home(connection.Pumps.Keys,
HomingForce.ThreeQuarters); }
5.2.3 Set Valve Position
The valve position of the Smart Syringe Pump may be set at any time, even prior to
homing. The PumpControl.SetValvePosition function is described below:
public void SetValvePosition(SSPLib.ValvePosition newPosition, bool wait)
Summary:
Set valve position. If you do not wait for the valve delay after switching, you must
wait outside of this function before moving the plunger using ValveDelayMS
Parameters:
newPosition: new valve position
wait: wait for valve delay
The SSPLib.ValvePosition enumeration is described below:
public enum ValvePosition {
Reservoir, Output
}
The Reservoir port is near the syringe barrel and the Output port is at the end of the
Smart Syringe Pump.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 94
During normal operation, the wait parameter should be set to true, to allow time for the
valve to switch before performing any plunger movement.
An example of setting the valve of the pump at node address 2 to the reservoir position
using direct addressing is shown below:
private void radioButtonReservoir_CheckedChanged(object sender, EventArgs e)
{ connection.Pumps[2].SetValvePosition(
ValvePosition.Reservoir, true); }
An example of setting all pump valves to the output position using simultaneous
addressing through the PumpConnection.SetValvePosition function is shown below:
private void radioButtonOutput_CheckedChanged(object sender, EventArgs e)
{ connection.SetValvePosition(connection.Pumps.Keys,
ValvePosition.Output); }
5.2.4 Set Syringe Size
In order to aspirate and dispense using volume units, the size of the syringe barrel must
be set. The default syringe barrel size for a new Smart Syringe Pump is 100 µL. The
PumpControl.SetSyringeVolNL function is described below.
public string SetSyringeVolNL(uint value)
Summary:
Sets the full stroke syringe volume
Parameters:
value: syringe vol in nL
Returns:
error string if not successful
Setting the syringe barrel size will also set the calibration property
PumpControl.CalibrationPLPerRev to the nominal value.
An example of setting the syringe barrel size of the pump at node address 1 to 250 µL is
shown below:
private void buttonSetVolume_Click(object sender, EventArgs e)
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 95
{ connection.Pumps[1].SetSyringeVolNL(250000);
}
There is no function to set the syringe size of multiple pumps simultaneously.
5.2.5 Set Speed
The speed of the Smart Syringe Pump can be set using volume units µL/sec. The
PumpControl.SetSpeedULPerSec function is described below.
public string SetSpeedULPerSec(float value, bool uLErrorUnits)
Summary:
Set plunger speed
Parameters:
value: µl/sec
uLErrorUnits: true returns error msg in µL, false returns error msg in nL
Returns:
error string if unsuccessful
The uLErrorUnits will set the error string to return in µL units instead of nL units if the
value parameter is out of range.
An example of setting the speed of the pump at node address 1 to 100µL/sec is shown
below.
private void buttonSetSpeed_Click(object sender, EventArgs e) {
string error = connection.Pumps[1].SetSpeedULPerSec(100F, true);
if (error.Length > 0)
MessageBox.Show(error); }
An example of setting the speed of all pumps to 50µL/sec is shown below.
private void buttonSetSpeed_Click(object sender, EventArgs e) {
// all pumps string error =
connection.SetSpeedULPerSec(connection.Pumps.Keys, 50F); if (error.Length > 0)
MessageBox.Show(error); }
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 96
5.2.6 Aspirate
Before the Smart Syringe Pump can aspirate, it must be homed (see Section 5.2.2). In
order to aspirate with a volume parameter, the syringe barrel size must also be set (see
Section 5.2.4). The aspirate functions do not automatically set the valve position or set
the speed of the pump, so make sure to set these prior to aspirating if necessary (see
Section 5.2.3 and Section 5.2.5).
The PumpControl.AspirateVolNL function is described below:
public string AspirateVolNL(uint volNL, bool wait, bool uLErrorUnits)
Summary:
Aspirate relative volume
Parameters:
volNL: nL
wait: true returns after move is complete, false returns immediately
uLErrorUnits: true returns error msg in µL, false returns error msg in nL
Returns:
error string if unsuccessful
If the wait parameter is set to true, the thread will be held until the plunger movement
is complete. Normally, the wait parameter is set to false, and the status of the plunger
movement is polled using PumpControl.PumpReady property.
The uLErrorUnits will set the error string to return in µL units instead of nL units if the
volNL parameter is out of range.
An example of aspirating 25 µL from the output port of the pump at node address 2 is
shown below.
private void buttonAspirate_Click(object sender, EventArgs e) {
connection.Pumps[2].SetSpeedULPerSec(100F, true); connection.Pumps[2].SetValvePosition( ValvePosition.Output,
true); string error = connection.Pumps[2].AspirateVolNL( 25000,
false, true); if (error.Length > 0)
MessageBox.Show(error); }
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 97
An example of aspirating 10 µL from the reservoir ports of pumps at node addresses 1,
2, and 3 using simultaneous addressing through the PumpConnection.AspirateVolNL
function is shown below:
private void buttonAspirate_Click(object sender, EventArgs e) { List<ushort> nodes = new List<ushort>();
nodes.Add(1); nodes.Add(2); nodes.Add(3); connection.SetValvePosition(nodes, ValvePosition.Reservoir); connection.AspirateVolNL(nodes, 10000, false);
}
5.2.7 Dispense
Before the Smart Syringe Pump can dispense, it must be homed (see Section 5.2.2). In
order to dispense with a volume parameter, the syringe barrel size must also be set (see
Section 5.2.4). The dispense functions do not automatically set the valve position or set
the speed of the pump, so make sure to set these prior to aspirating if necessary (see
Section 5.2.3 and Section 5.2.5).
The PumpControl.DispenseVolNL function is described below:
public string DispenseVolNL(uint volNL, bool wait, bool uLErrorUnits)
Summary:
Dispense relative volume
Parameters:
volNL: nL
wait: true returns after move is complete, false returns immediately
uLErrorUnits: true returns error msg in µL, false returns error msg in nL
Returns:
error string if unsuccessful
If the wait parameter is set to true, the thread will be held until the plunger movement
is complete. Normally, the wait parameter is set to false, and the status of the plunger
movement is polled using PumpControl.PumpReady property.
The uLErrorUnits will set the error string to return in µL units instead of nL units if the
volNL parameter is out of range.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 98
An example of dispensing 25 µL to the output port of the pump at node address 2 is
shown below.
private void buttonDispense_Click(object sender, EventArgs e) {
connection.Pumps[2].SetValvePosition( ValvePosition.Output, true);
string error = connection.Pumps[2].DispenseVolNL( 25000,
false, true); if (error.Length > 0)
MessageBox.Show(error); }
An example of dispensing 10 µL to the output ports of pumps at node addresses 1, 2,
and 3 using simultaneous addressing through the PumpConnection.DispenseVolNL
function is shown below:
private void buttonDispense_Click(object sender, EventArgs e) { List<ushort> nodes = new List<ushort>();
nodes.Add(1); nodes.Add(2); nodes.Add(3); connection.SetValvePosition(nodes, ValvePosition.Output); connection.DispenseVolNL(nodes, 10000, false);
}
5.2.8 Unitialize
Before exiting an application that uses the Smart Syringe Pump library, the
PumpConnection instance must be uninitialized. The PumpConnection.Unitialize
function will terminate the polling thread and disconnect from the Smart Syringe
Pump(s). The PumpConnection.Unitialize function is shown in the following example
code:
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{ connection.Unitialize();
}
5.2.9 Changing the Pump Node Address
To change the node address using the Smart Syringe Pump library, use the
PumpConnection.ChangeNodeAddress function described in Section 5.5.1.2.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 99
Changes to the node address take effect only after restart. Therefore you must call
PumpConnection.Disconnect and power cycle the pump after changing the node
address. The new address will be detected on the next PumpConnection.Connect
sequence.
If the new node address is larger than the PumpConnection.TotalNodes property
(default 8), use the PumpConnection.SetTotalNodes function to change the number of
nodes to scan on connect. The PumpConnection.SetTotalNodes function is described in
Section 5.5.1.22.
5.2.10 Changing the Pump RS-232 Baud Rate
To change RS-232 baud rate the using the Smart Syringe Pump library, use the
PumpControl.SetPumpRS232BaudRate function described in Section 5.5.2.54.
Changes to the pump RS-232 baud rate take effect only after restart. Therefore you
must call PumpConnection.Disconnect and power cycle the pump after changing the
RS-232 baud rate. You must also change the PumpConnection.DriverRS232BaudRate
property to match the new pump RS-232 baud rate.
The pumps will be detected with the new RS-232 baud rate on the next
PumpConnection.Connect sequence.
5.2.11 Changing the Pump CAN Bit Rate
To change CAN bit rate the using the Smart Syringe Pump library, use the
PumpControl.SetPumpCANBitRate function described in Section 5.5.2.53.
Changes to the pump CAN bit rate take effect only after restart. Therefore you must call
PumpConnection.Disconnect and power cycle the pump after changing the CAN bit
rate. You must also change the PumpConnection.DriverCANBitRate property to match
the new pump CAN bit rate.
The pumps will be detected with the new CAN bit rate on the next
PumpConnection.Connect sequence.
5.3 Scripting Operation with the Smart Syringe Pump Library
The Smart Syringe Pump library can process many CAVRO® scripting commands as well as Smart
Syringe Pump specific commands. Scripting commands are sent through the
PumpConnection.QueueScript function described below:
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 100
public void QueueScript(ushort node, string cmd)
Summary:
Main function to submit script commands
Parameters:
node: 0 for synchronous operation, node address for asynchronous operation
cmd: script string
Script commands may be sent to individual pumps for asynchronous operation, or to pump
specified with the SMART SYRINGE PUMP ‘n’ command. The following example shows a
synchronous command to pumps 1 and 8 followed by the same asynchronous command to
pump 4:
private void buttonTestScripting_Click(object sender, EventArgs e) { // synchronous operation connection.QueueScript(0, "n1n8S1OA0IP1000OD1000R"); // asynchronous operation connection.QueueScript(4, "S1OA0IP1000OD1000R"); }
5.3.1 Scripting Response Handler
For scripting query commands, responses are given as a text string. You must subscribe
to the PumpConnection.OnScriptResponse event to receive responses to script queries.
An example of subscribing to the OnScriptResponse event after connection is shown
below:
public Form1() {
InitializeComponent(); connection = PumpConnection.Initialize(); connection.Connect();
PumpConnection.OnScriptResponse += PumpConnection_OnScriptResponse;
}
Note: The auto code generation may produce different syntax based on your version of
Visual Studio.
The function stub that is auto generated must be modified to handle the response
string. An example of the PumpConnection_OnScriptResponse function is shown in this
example:
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 101
void PumpConnection_OnScriptResponse(string response) { textBoxResponse.Text = response; }
5.4 Pump Status and Error Handling
5.4.1 Pump Connection
The PumpConnection.Connected property contains the current status of the
communications to the Smart Syringe Pump. The Connected property is an
SSPLib.ConnectionStatus enumeration which contains the following states described in
Table 5-2.
Table 5-2 SSPLib.ConnectionStatus Members
Name Description
Connected Smart Syringe Pump (SSP) Library is connected to
the SSP
Connecting SSP Library is currently connecting to the SSP
Disconnected SSP Library is not connected to the SSP
InvalidNode An invalid node address was detected and the SSP
must be power cycled
InvalidRegistry The SSP Library was not installed with the correct
registry entries
You may subscribe to the PumpConnection.OnConnectionChange event to receive
notifications when connection state changes.
5.4.2 Pump Status
The PumpControl.CurrentPumpState property contains the current status of the Smart
Syringe Pump. The CurrentPumpState property is an SSPLib.PumpState enumeration
and is described in Table 5-3.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 102
Table 5-3 SSPLib.PumpState Members
Name Value Description
NoError 0 Pump is homed and ready
InitializationError 1 Initialization error
InvalidCommand 2 Invalid scripting command
InvalidOperand 3 Invalid scripting operand
InvalidCommandSequence 4 Invalid scripting command
sequence with g/G repeat
command
NotInitialized 7 Not homed
PlungerOverload 9 Motor stall with plunger
overload
MoveNotAllowed 11 Aspirate or dispense move not
allowed
CommandOverflow 15 Software error from SSP
Firmware
NotConnected 17 SSP not connected to software
The Smart Syringe Pump library does not broadcast individual pump status. The client
software must poll PumpControl.CurrentPumpState for status updates.
5.4.3 Error Handling
The Smart Syringe Pump library does not broadcast hardware errors. The client
software must poll PumpConnection for error conditions.
The PumpConnection.ErrorDetected property is used to signify that an error has
occurred. This property must be set to false by the client after the error has been
handled so future errors may be detected. In the example below, a Timer component is
used to poll the Smart Syringe Pump library every 100 msec.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 103
private void timer1_Tick(object sender, EventArgs e) { if (connection.ErrorDetected) { ErrorData data = connection.Pumps[1].GetLastError(); MessageBox.Show(data.errorString); connection.Pumps[1].ResetController(); connection.ErrorDetected = false; } }
In this example, the PumpConnect.GetLastError function is used to retrieve the last
error of the pump at node address 1. If there are multiple errors, only the most recent
error is reported. The PumpConnect.GetLastError function is described below:
public Parker.SSPLib.ErrorData GetLastError()
Summary:
Get last new error reported and reset all newError flags
Returns:
ErrorData class, null if no errors
The PumpConnect.ErrorData class contains the properties listed in Table 5-7.
When a hardware error occurs, the Smart Syringe Pump LED will turn red. No further
commands can be sent to the pump until the error condition is cleared using the
PumpConnect.ResetController function. The Smart Syringe Pump LED turns green after
the controller has been reset.
5.4.4 Advanced Error Handling
The error handling example in Section 5.4.3 demonstrates simple error handling of one
pump. The following example demonstrates displaying a comprehensive list of all new
errors on all pumps on the communications bus in a ListBox.
private void timer1_Tick(object sender, EventArgs e) { if (connection.ErrorDetected) { foreach (PumpControl pump in connection.Pumps.Values) { List<ErrorData> errorList = pump.GetNewErrorList(); if (errorList.Count > 0) {
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 104
listBoxError.Items.Add(string.Format("Pump Address {0}:", pump.NodeID));
foreach (ErrorData data in errorList)
listBoxError.Items.Add(string.Format("\n{0}: {1}\n", data.timeStamp.ToString( PumpControl.SSPDateTimeFormat), data.errorString));
listBoxError.Items.Add(""); } connection.ResetAll(); connection.ErrorDetected = false; } } }
5.5 Library Functions and Properties
5.5.1 PumpConnection
Table 5-4 lists the public properties for the PumpConnection class.
Table 5-4 PumpConnection Properties
Name Data Type Description
CANInterface string Get/Set the CAN interface name, e.g.
"NI_CAN 0". Call Connect to connect to new
interface.
CANPort string Get/Set the CAN port name, e.g. "CAN0". Call
Connect to connect to new port.
ScriptNode ushort Get/Set the script node: 0 for synchronous
operation, node address for asynchronous
operation. This parameter is also set by the
QueueScript function.
PositionMode Parker.SSPLib.
ScriptPositionMode
Gets current script positioning Mode
(0=normal, 1=fine, 2=superfine). Use 'N'
scripting command to set.
ComProtocol Parker.SSPLib.
ComDevice
Get/Set the communications protocol. Call
Connect to connect to the new protocol.
Connected Parker.SSPLib.
ConnectionStatus
Get whether PumpConnection is connected
to the System Controller
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 105
Name Data Type Description
DriverCANBitRate Parker.SSPLib.
CANBitRate
Get/Set the CAN bit rate of the SSP driver.
Call Connect to connect with the new baud
rate.
DriverRS232BaudRate Parker.SSPLib.
RS232BaudRate
Get/Set the RS-232 baud rate of the SSP
driver. Call Connect to connect with the new
baud rate.
ErrorDetected bool Get/Set flag for new errors. Reset after error
is retrieved.
LabviewClient bool True if UI client is Labview application to
prevent crash on disconnect (get/set)
Pumps System.Collections.
Generic.SortedList
<ushort,
PumpControl>
Get SortedList of individual Smart Syringe
Pumps with node address as key
RS232Port string Get/Set the RS-232 port name, e.g. "COM1"
or "COM3". Call Connect to connect to new
port.
TotalNodes ushort Get the maximum number of nodes to scan
during Connect. Use SetTotalNodes to set.
Note: Keep the total nodes to the minimum
required for the Smart Syringe Pumps on the
CAN network. The Connect function takes
one second per node address up to the total
nodes specified.
ValveCloseTimeMsec int Get the valve open closing in msec. Use
SetValveTimes to set.
ValveOpenTimeMsec int Get the valve opening delay in msec. Use
SetValveTimes to set.
The functions of the PumpConnection class are described below:
5.5.1.1 Aspirate Volume in Nanoliters
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 106
public string AspirateVolNL(System.Collections.Generic.IList<ushort> nodes, uint
vol, bool wait, bool uLErrorUnits)
Summary:
Aspirate relative volume
Parameters:
nodes: list of nodes to address
vol: nL
wait: true returns after move is complete, false returns immediately
uLErrorUnits: true returns error msg in µL, false returns error msg in nL
Returns:
error string if unsuccessful
5.5.1.2 Change Node Address
public string ChangeNodeAddress(byte oldNode, byte newNode)
Summary:
Change the node address of a pump
Parameters:
oldNode:
newNode:
Returns:
error string if unsuccessful
5.5.1.3 Connect
public void Connect()
Summary:
Connect to the System Controller and all pumps
5.5.1.4 Disconnect
public void Disconnect()
Summary:
Disconnect from System Controller and all pumps
5.5.1.5 Dispense Volume in Nanoliters
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 107
public string DispenseVolNL(System.Collections.Generic.IList<ushort> nodes,
uint vol, bool wait, bool uLErrorUnits)
Summary:
Dispense relative volume
Parameters:
nodes: list of nodes to address
vol: nL
wait: true returns after move is complete, false returns immediately
uLErrorUnits: true returns error msg in µL, false returns error msg in nL
Returns:
error string if unsuccessful
5.5.1.6 Get Available Can Ports
public string[] GetAvailableCanPorts(string canInterface)
Summary:
Queries and returns for all CAN Ports. If none are found the default or last used
entry is returned.
Parameters:
canInterface: CAN interface name, e.g. "NI_CAN 0". Use
GetAvailableCanInterfaceNames to retrieve names.
Returns:
string array
5.5.1.7 Get CAN Bit Rate Enum
public static Parker.SSPLib.CANBitRate GetCANBitRateEnum(uint
bitRateValue)
Summary:
Converts uint CAN bit rate value to the CANBitRate enum, returns Auto for 0
Parameters:
bitRateValue: bit rate in bits/sec
5.5.1.8 Get CAN Bit Rate From Enum
public static uint GetCANBitRateFromEnum(Parker.SSPLib.CANBitRate
enumValue)
Summary:
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 108
Converts the CANBitRate enum to uint bits/sec, returns 0 for Auto, 1Mbit for
invalid values
Parameters:
enumValue: CANBitRate
5.5.1.9 Get Can Interface Names
public string[] GetCanInterfaceNames()
Summary:
Queries and returns all CAN interface names. If none are found the default or last
used entry is returned.
Returns:
string array
5.5.1.10 Get Error History
public string GetErrorHistory(System.Collections.Generic.IList<ushort> nodes)
Summary:
Retrieve last eight errors from the nodes specified
Parameters:
nodes: list of node addresses
Returns:
formatted error string
5.5.1.11 Get RS232 Baud Rate Enum
public static Parker.SSPLib.RS232BaudRate GetRS232BaudRateEnum(uint
baudRateValue)
Summary:
Converts a uint RS-232 baud rate value to the RS232BaudRate enum, returns
115.2 kbaud for invalid values
Parameters:
baudRateValue: baud rate in bits/sec
5.5.1.12 Get RS232 Baud Rate From Enum
public static uint GetRS232BaudRateFromEnum
(Parker.SSPLib.RS232BaudRate enumValue)
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 109
Summary:
Converts the RS232BaudRate enum to uint bits/sec
Parameters:
enumValue: RS232BaudRate
5.5.1.13 Home
public void Home(System.Collections.Generic.IList<ushort> nodes,
Parker.SSPLib.HomingForce force)
Summary:
Seek and set home position Since pumps are homed asynchronously, there is no
wait for this function
Parameters:
nodes: list of nodes to address
force: Proportional homing force
5.5.1.14 Initialize
public static Parker.SSPLib.PumpConnection Initialize()
Summary:
Create PumpConnection singleton or return current Instance.
Returns:
Singleton instance of PumpConnection
5.5.1.15 Move Absolute Volume
public string MoveAbsoluteVolNL
(System.Collections.Generic.IList<ushort> nodes, uint vol, bool wait, bool
uLErrorUnits)
Summary:
Move to absolute volume position
Parameters:
nodes: list of nodes to address
vol: nL
wait: true returns after move is complete, false returns immediately
uLErrorUnits: true returns error msg in µL, false returns error msg in nL
Returns:
error string if unsuccessful
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 110
5.5.1.16 Move Home
public string MoveHome(System.Collections.Generic.IList<ushort>
nodes, bool wait)
Summary:
Move to home position at last used speed
Parameters:
nodes: list of nodes to address
wait: true returns after move is complete, false returns immediately
Returns:
error string if unsuccessful
5.5.1.17 Queue Script
public void QueueScript(ushort node, string cmd)
Summary:
Main function to submit script commands
Parameters:
node: 0 for synchronous operation, node address for asynchronous
operation
cmd: script string
5.5.1.18 Reset All
public void ResetAll()
Summary:
Reset all System Controller errors
5.5.1.19 Reset Valve Times
public void ResetValveTimes()
Summary:
Resets valve open and close times to default values for all pumps
5.5.1.20 Set Speed Rpm
public string SetSpeedRpm(System.Collections.Generic.IList<ushort>
nodes, uint speedRpm)
Summary:
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 111
Set plunger speed in motor rpm
Parameters:
nodes: list of nodes to address
speedRpm: speed in rpm
Returns:
error string if unsuccessful
5.5.1.21 Set Speed in Microliters per Second
public string SetSpeedULPerSec
(System.Collections.Generic.IList<ushort> nodes, float speed)
Summary:
Set plunger speed in µL/sec
Parameters:
nodes: list of nodes to address
speed: speed in µL/sec
Returns:
error string if unsuccessful
5.5.1.22 Set Total Nodes
public string SetTotalNodes(ushort nodes)
Summary:
Sets the total number of nodes to scan on Connect, range 1 to 127
Parameters:
nodes: number of nodes
Returns:
error string if unsuccessful
5.5.1.23 Set Valve Position
public void SetValvePosition (System.Collections.Generic.IList<ushort>
nodes, Parker.SSPLib.ValvePosition position)
Summary:
Set valve position
Parameters:
nodes: list of nodes to address
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 112
position: new valve position
5.5.1.24 Set Valve Times
public string SetValveTimes(int openTimeMsec, int closeTimeMsec)
Summary:
Sets the valve open and close times for all pumps and saves the setting
to the registry
Parameters:
openTimeMsec: valve open time in msec
closeTimeMsec: valve close time in msec
Returns:
error string if unsuccessful
5.5.1.25 Stop All
public void StopAll()
Summary:
Stop all pumps immediately
5.5.1.26 Unitialize
public void Unitialize()
Summary:
Unitialize
5.5.2 PumpControl
Table 5-5 lists the public properties for the PumpControl class.
Table 5-5 PumpControl Properties
Name Data Type Description
Accel uint Get current motor acceleration in rpm/sec.
Use SetAcceleration to set.
AccelerationFeedForward ushort Get acceleration feed forward gain
BacklashNL int Get backlash in nL. Use SetBacklashNL to
set.
BacklashQc int Get backlash in qc. Use SetBacklashQc to
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 113
Name Data Type Description
set.
CalibrationPLPerRev uint Get calibration in pL/rev. Use
SetCalibrationPLPerRev to set.
CalibrationQcPerUL uint Get calibration factor in qc/µL. Use
SetCalibrationPLPerRev (different units) to
set.
FullForceHomingCurrent ushort Get the full force homing current threshold
used for script and proportional homing
commands. Use
SetFullForceHomingCurrent to set.
PumpStatusByte byte Get error and status byte
CurrentPI Parker.SSPLib.PID Get current regulation PI gains, D is not
used.
CurrentPumpState Parker.SSPLib.
PumpState
Get/Set current pump state using error
code enumeration
CurrentValvePosition Parker.SSPLib.
ValvePosition
Get current valve position. Use
SetValvePosition to set.
Decel uint Get current motor deceleration in rpm/sec.
Use SetDeceleration to set.
DriveStrokes uint Get the syringe drive usage in strokes (2
strokes per cycle). Use SetDriveCycles
(different units) to set.
EncoderCounts uint Get motor encoder counts
ErrorHistory System.Collections.
Generic.List<ErrorData>
Get list of last eight errors
FollowingError uint Get motor following error in quadrature
counts
HomeAccel uint Get homing motor acceleration in rpm/sec.
Use Home(currentThreshold, speedRpm,
accel, offset, wait) to set.
HomeOffsetQc int Get home offset in quadrature counts. Use
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 114
Name Data Type Description
Home(currentThreshold, speedRpm, accel,
offset, wait) to set.
HomeSpeed uint Get homing speed in motor rpm. Use
Home(currentThreshold, speedRpm, accel,
offset, wait) to set.
HomingCurrent ushort Get the last homing current threshold used
MaxAcceleration uint Get maximum acceleration in rpm/sec
MaxBacklashNL int Get maximum allowable backlash in nL
MaxBacklashQc int Get maximum allowable backlash in
quadrature counts
MaxHomeOffsetQc int Get maximum allowable home offset in qc
MaxNominalCurrent ushort Get max nominal motor current limit
MaxonMotorType int Get Maxon motor type for
EposCmd.Net.EMotorType
MaxonMotorTypeName string Get Maxon motor type name from
EposCmd.Net.EMotorType
MaxonSensorType int Get Maxon sensor type for
EposCmd.Net.ESensorType
MaxonSensorTypeName string Get Maxon sensor type name from
EposCmd.Net.ESensorType
MaxPeakCurrent ushort Get max peak motor current limit
MaxQc int Get maximum quadrature counts for full
scale stroke
MaxSpeedRpm uint Get maximum allowable plunger speed in
motor rpm
MaxSpeedUlPerSec float Get maximum allowable plunger speed in
µL/sec
MaxValveTimeMsec int Get maximum allowable valve time in msec
MinAcceleration uint Get minimum acceleration in rpm/sec
MinHomeOffsetQc int Get minimum allowable home offset in qc
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 115
Name Data Type Description
MinHomeSpeedRpm uint Get minimum allowable homing speed in
motor rpm
MinSpeedRpm uint Get minimum allowable plunger speed in
motor rpm
MinSpeedUlPerSec float Get minimum allowable plunger speed in
µL/sec
MotorCurrent short Get instantaneous motor current in mA
MotorType Parker.SSPLib.
MotorType
Get current motor type. Use SetMotorType
to set.
NewError bool Get/Set flag for new errors. Reset after
error is retrieved. For internal use by
PumpConnection only.
NodeID byte Get current node address of this pump
instance. Use SetNodeAddress to change
(requires power cycle).
NominalCurrent ushort Get nominal motor current limit. Use
SetCurrentLimits to set.
PeakCurrent ushort Get peak motor current limit. Use
SetCurrentLimits to set.
PolePairs ushort Get motor pole pairs
PositionNL int Get current plunger position in nL
PositionPID Parker.SSPLib.PID Get position regulation PID gains
PositionQc int Get current plunger position in quadrature
counts
PositionRev float Get current plunger position in motor
revolutions
PumpCANBitRate Parker.SSPLib.
CANBitRate
Get the CAN bit rate of the pump. Use
SetPumpCANBitRate to set.
PumpMotionProfile Parker.SSPLib.
MotionProfile
Get current motion profile type
PumpReady bool Get whether pump is not currently moving
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 116
Name Data Type Description
PumpRS232BaudRate Parker.SSPLib.
RS232BaudRate
Get the RS232 baud rate of the pump. Use
SetPumpRS232BaudRate to set.
QcPerRev ushort Get quadrature counts per revolution for
motor type
SpeedRpm uint Get current plunger speed in motor rpm.
Use SetSpeedRPM to set.
SpeedULPerSec float Get current plunger speed in µL/sec. Use
SetSpeedULPerSec to set.
SyringeStrokes uint Get the syringe usage in strokes (2 strokes
per cycle). Use SetSyringeCycles (different
units) to set.
SyringeVolNL uint Get syringe volume in nL. Use
SetSyringeVolNL to set.
ThermalTimeConstant ushort Get motor thermal time constant
ValveCloseTimeMsec int Get/set the valve open closing in msec.
Setting this value only applies for this
instance. To save the value, use
PumpConnection.SetValveTimes.
ValveOpenTimeMsec int Get/set the valve opening delay in msec.
Setting this value only applies for this
instance. To save the value, use
PumpConnection.SetValveTimes.
ValvePolarity Parker.SSPLib.
ValvePosition
Get/Set de-energized valve position
VelocityFeedForward ushort Get velocity feed forward gain
The functions of the PumpControl class are described below:
5.5.2.1 Add Error to History
public void AddErrorToHistory(Parker.SSPLib.ErrorData errorData)
Summary:
Adds error entry to error log
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 117
Parameters:
errorData:
5.5.2.2 Add New Error To History
public void AddNewErrorToHistory(Parker.SSPLib.ErrorData errorData)
Summary:
Adds error entry to error history and system log
Parameters:
errorData: errorData class
5.5.2.3 Aspirate Steps
public string AspirateSteps(int steps, Parker.SSPLib.ScriptPositionMode mode,
bool wait)
Summary:
Aspirate relative steps
Parameters:
steps: steps
mode: script fine positioning mode
wait: true returns after move is complete, false returns immediately
Returns:
error string if unsuccessful
5.5.2.4 Aspirate Quadrature Counts
public string AspirateQc(int qc, bool wait)
Summary:
Aspirate relative move
Parameters:
qc: quadrature counts
wait: true returns after move is complete, false returns immediately
Returns:
error string if unsuccessful
5.5.2.5 Aspirate Revolutions
public string AspirateRev(float rev, bool wait)
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 118
Summary:
Aspirate relative move
Parameters:
rev: revolutions
wait: true returns after move is complete, false returns immediately
Returns:
error string if unsuccessful
5.5.2.6 Aspirate Volume in Nanoliters
public string AspirateVolNL(uint volNL, bool wait, bool uLErrorUnits)
Summary:
Aspirate relative volume
Parameters:
volNL: nL
wait: true returns after move is complete, false returns immediately
uLErrorUnits: true returns error msg in µL, false returns error msg in nL
Returns:
error string if unsuccessful
5.5.2.7 Connect
public bool Connect(EposCmd.Net.DeviceManager eposManager, byte node)
Summary:
Connect to node
Parameters:
eposManager: Maxon device manager, normally passed from PumpConnection
node: node from 1 to 127
5.5.2.8 Convert Nanoliters to Quadrature Counts
public int ConvertNLtoQc(int volNL)
Summary:
Convert volume in NL to quadrature counts
Parameters:
volNL: volume in nL
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 119
Returns:
quadrature counts
5.5.2.9 Convert Quadrature Counts To Nanoliters
public int ConvertQcToNL(int qc)
Summary:
Convert quadrature counts to volume according to syringe size
Parameters:
qc: quadrature counts
Returns:
volume in nL
5.5.2.10 DeEnergize Valve
public void DeEnergizeValve()
Summary:
Sets the valve to the de-energized state without waiting
5.5.2.11 Disconnect
public void Disconnect()
Summary:
Disconnects from node
5.5.2.12 Dispense Steps
public string DispenseSteps(int steps,
Parker.SSPLib.ScriptPositionMode mode, bool wait)
Summary:
Dispense relative steps
Parameters:
steps: steps
mode: script positioning mode
wait: true returns after move is complete, false returns immediately
Returns:
error string if unsuccessful
5.5.2.13 Dispense Quadrature Counts
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 120
public string DispenseQc(int qc, bool wait)
Summary:
Dispense relative move
Parameters:
qc: quadrature counts
wait: true returns after move is complete, false returns immediately
Returns:
error string if unsuccessful
5.5.2.14 Dispense Revolutions
public string DispenseRev(float rev, bool wait)
Summary:
Dispense relative move
Parameters:
rev: revolutions
wait: true returns after move is complete, false returns immediately
Returns:
error string if unsuccessful
5.5.2.15 Dispense Volume in Nanoliters
public string DispenseVolNL(uint volNL, bool wait, bool uLErrorUnits)
Summary:
Dispense relative volume
Parameters:
volNL: nL
wait: true returns after move is complete, false returns immediately
uLErrorUnits: true returns error msg in µL, false returns error msg in nL
Returns:
error string if unsuccessful
5.5.2.16 Get Backlash Steps
public int GetBacklashSteps(Parker.SSPLib.ScriptPositionMode mode)
Summary:
Get backlash in steps
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 121
Parameters:
mode: script positioning mode
Returns:
backlash in steps
5.5.2.17 Get Home Offset Steps
public int GetHomeOffsetSteps(Parker.SSPLib.ScriptPositionMode
mode)
Summary:
Get home offset in steps
Parameters:
mode: script positioning mode
Returns:
home offset in steps
5.5.2.18 Get Position Steps
public int GetPositionSteps(Parker.SSPLib.ScriptPositionMode mode)
Summary:
Get the current position in steps
Parameters:
mode: script positioning mode
Returns:
position in steps
5.5.2.19 Get Script Status
public string GetScriptStatus()
Summary:
Returns the script status byte and information
Returns:
information string
5.5.2.20 Get Firmware Version
public ushort GetFirmwareVersion()
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 122
Summary:
Queries and returns the EPOS2 firmware version
Returns:
firmware version
5.5.2.21 Get Last Error
public Parker.SSPLib.ErrorData GetLastError()
Summary:
Get last new error reported and reset all newError flags
Returns:
ErrorData class, null if no errors
5.5.2.22 Get New Error List
public System.Collections.Generic.List<ErrorData> GetNewErrorList()
Summary:
Get list of new errors and reset individual newError flags
5.5.2.23 Get Nominal Calibration Value
public float GetNominalCalibrationValue(float syringeVol)
Summary:
Returns the nominal calibration factor for a syringe size without setting it.
Syringe size in µL will return calibration factor in nL/rev. Syringe size in
nL will return calibration factor in pL/rev
Parameters:
syringeVol: syringe size in µL or nL
Returns:
calibration factor in nL/rev or pL/rev
5.5.2.24 Home with Proportional Homing Force
public void Home(Parker.SSPLib.HomingForce force, bool wait)
Summary:
Seek and set home position
Parameters:
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 123
wait: true returns after move is complete, false returns immediately
force: proportional homing force
5.5.2.25 Home with Current Threshold
public string Home(ushort currentThreshold, uint speedRpm, uint accel,
int offset, bool wait)
Summary:
Seek and set home position Note: this command does not wait, must poll
on pumpReady
Parameters:
currentThreshold: mA
speedRpm: rpm
accel: rpm/s
offset: qc
wait: true returns after move is complete, false returns immediately
Returns:
error string if unsuccessful
5.5.2.26 Jog
public string Jog(bool dispense, int steps)
Summary:
Jog a small amount to move away from a hard stop. The pump does not
have to be homed. The current limits are temporarily increased to allow
this motion
Parameters:
dispense: direction of move
steps: number of jog steps to perform (1-10)
Returns:
error string if unsuccessful
5.5.2.27 Move Absolute Steps
public string MoveAbsoluteSteps(int steps,
Parker.SSPLib.ScriptPositionMode mode, bool wait)
Summary:
Move to absolute step position
Parameters:
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 124
steps: steps
mode: script positioning mode
wait: true returns after move is complete, false returns immediately
Returns:
error string if unsuccessful
5.5.2.28 Move Absolute Quadrature Counts
public string MoveAbsoluteQc(int qc, bool wait)
Summary:
Move to absolute motor position
Parameters:
qc: quadrature counts
wait: true returns after move is complete, false returns immediately
Returns:
error string if unsuccessful
5.5.2.29 Move Absolute Revolutions
public string MoveAbsoluteRev(float rev, bool wait)
Summary:
Move to absolute motor position
Parameters:
rev: revolutions
wait: true returns after move is complete, false returns immediately
Returns:
error string if unsuccessful
5.5.2.30 Move Absolute Volume in Nanoliters
public string MoveAbsoluteVolNL(uint volNL, bool wait, bool
uLErrorUnits)
Summary:
Move to absolute volume position
Parameters:
volNL: nL
wait: true returns after move is complete, false returns immediately
uLErrorUnits: true returns error msg in µL, false returns error msg in nL
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 125
Returns:
error string if unsuccessful
5.5.2.31 Move To Syringe Replacement Position
public string MoveToSyringeReplacementPosition()
Summary:
Set valve to reservoir, moves the plunger to full down at twice homing
speed, set valve to output
Returns:
error string if unsuccessful
5.5.2.32 Poll
public void Poll()
Summary:
Poll is called by PumpConnection polling thread
5.5.2.33 Pump Control Constructor
public PumpControl()
Summary:
Constructor
5.5.2.34 Reset Script Error Status
public void ResetScriptErrorStatus()
Summary:
Resets the Script Status to either Ready or Not Homed, used when
issuing a new command
5.5.2.35 Reset Controller
public void ResetController()
Summary:
Resets the motion controller
5.5.2.36 Reset Motor Current
public void ResetMotorCurrent()
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 126
Summary:
Sets the nominal, peak, homing and full force homing motor currents to
the default values
5.5.2.37 Reset Motor Parameters
public void ResetMotorParameters()
Summary:
Resets all motor parameters to default values
5.5.2.38 Reset PID Parameters
public void ResetPIDParameters()
Summary:
Resets all motor PID parameters to default values
5.5.2.39 Set Acceleration
public string SetAcceleration(uint value)
Summary:
Set motor acceleration
Parameters:
value: rpm/sec
Returns:
error string if unsuccessful
5.5.2.40 Set Backlash Steps
public string SetBacklashSteps(int steps,
Parker.SSPLib.ScriptPositionMode mode)
Summary:
Set backlash in steps
Parameters:
steps: steps
mode: script positioning mode
Returns:
error string if unsuccessful
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 127
5.5.2.41 Set Backlash in Nanoliters
public string SetBacklashNL(int backlashNL)
Summary:
Sets the backlash in nL
Parameters:
backlashNL: backlash in nL
Returns:
error string if unsuccessful
5.5.2.42 Set Backlash in Quadrature Counts
public string SetBacklashQc(int newBacklash)
Summary:
Sets the backlash in qc
Parameters:
newBacklash: backlash
Returns:
error string if unsuccessful
5.5.2.43 Set Calibration in Picoliters Per Rev
public string SetCalibrationPLPerRev(uint newCalib)
Summary:
Sets the calibration factor
Parameters:
newCalib: pL/rev
Returns:
error string if unsuccessful
5.5.2.44 Set Home Offset Steps
public string SetHomeOffsetSteps(int steps,
Parker.SSPLib.ScriptPositionMode mode)
Summary:
Set home offset in steps
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 128
Parameters:
steps: steps
mode: script positioning mode
Returns:
error string if unsuccessful
5.5.2.45 Set Full Force Homing Current
public string SetFullForceHomingCurrent(ushort maxCurrent)
Summary:
Sets the full force homing current threshold used for script and
proportional homing commands
Parameters:
maxCurrent: in mA
Returns:
error if unsuccessful
5.5.2.46 Set Current Limits
public string SetCurrentLimits(ushort nominal, ushort peak)
Summary:
Sets the nominal and peak current limits for the motor
Parameters:
nominal: nominal current in mA
peak: peak current in mA
Returns:
error string if not successful
5.5.2.47 Set Deceleration
public string SetDeceleration(uint value)
Summary:
Set motor deceleration
Parameters:
value: rpm/sec
Returns:
error string if unsuccessful
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 129
5.5.2.48 Set Drive Cycles
public string SetDriveCycles(uint value)
Summary:
Set the drive usage in cycles (2 strokes per cycle) - normally not reset
over the life of the pump
Parameters:
value: cycles
5.5.2.49 Set Home Offset
public string SetHomeOffset(int offsetQc)
Summary:
Set home offset
Parameters:
offsetQc: qc
Returns:
error string if unsuccessful
5.5.2.50 Set Homing Current
public string SetHomingCurrent(ushort currentThresholdMA)
Summary:
Set homing current threshold
Parameters:
currentThresholdMA: current threshold in mA
Returns:
error string if unsuccessful
5.5.2.51 Set Motor Type
public void SetMotorType(Parker.SSPLib.MotorType type)
Summary:
Overwrite all motor data with defaults for the motor type
5.5.2.52 Set Node Address
public string SetNodeAddress(byte address)
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 130
Summary:
Sets the node address, requires power cycle afterward
Parameters:
address: new address
Returns:
error string if not successful
5.5.2.53 Set Pump CAN Bit Rate
public void SetPumpCANBitRate(Parker.SSPLib.CANBitRate newRate)
Summary:
Set the CAN bit rate of the pump, requires power cycle afterward
Parameters:
newRate: CANBitRate
5.5.2.54 Set Pump RS232 Baud Rate
public void SetPumpRS232BaudRate(Parker.SSPLib.RS232BaudRate
newRate)
Summary:
Set the RS-232 baud rate of the pump, requires power cycle afterward
Parameters:
newRate: CANBitRate
5.5.2.55 Set Speed in Rpm
public string SetSpeedRpm(uint value)
Summary:
Set the motor speed
Parameters:
value: rpm
Returns:
error string if unsuccessful
5.5.2.56 Set Speed in Microliters per Second
public string SetSpeedULPerSec(float value, bool uLErrorUnits)
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 131
Summary:
Set plunger speed
Parameters:
value: µl/sec
uLErrorUnits: true returns error msg in µL, false returns error msg in nL
Returns:
error string if unsuccessful
5.5.2.57 Set Syringe Cycles
public string SetSyringeCycles(uint value)
Summary:
Set the syringe usage in cycles (2 strokes per cycle)
Parameters:
value: cycles
5.5.2.58 Set Syringe Volume in Nanoliters
public string SetSyringeVolNL(uint value)
Summary:
Sets the full stroke syringe volume
Parameters:
value: syringe vol in nL
Returns:
error string if not successful
5.5.2.59 Set Valve Position
public void SetValvePosition(Parker.SSPLib.ValvePosition
newPosition, bool wait)
Summary:
Set valve position. If you do not wait for the valve open or close time
after switching, you must use a separate call to WaitForValveTime
Parameters:
newPosition: new valve position
wait: wait for valve open or close time after switching
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 132
5.5.2.60 Set Valve Delay Times
public string SetValveTimes(int openTimeMsec, int closeTimeMsec)
Summary:
Sets the valve open and close times for this pump instance. Use
PumpConnection.SetValveTimes for all pumps and to save to the registry.
Parameters:
openTimeMsec: valve open time in msec
closeTimeMsec: valve close time in msec
Returns:
error string if unsuccessful
5.5.2.61 Stop
public void Stop()
Summary:
Stop motor immediately
5.5.2.62 Wait For Target Position
public void WaitForTargetPosition(bool forceWait)
Summary:
Holds thread until the syringe plunger motion completes. Timeout is
calculated according to current position and speed.
Parameters:
forceWait: true waits for device to start moving before waiting for target
reached
5.5.2.63 Wait For Valve Time
public void WaitForValveTime(Parker.SSPLib.ValvePosition position)
Summary:
Wait for the valve open or close time
Parameters:
position: valve position
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 133
5.5.3 LimitValues
Table 5-6 lists the public properties for the LimitValues class.
Table 5-6 LimitValues Properties
Name Data Type Description
AccelFeedForward ushort Default acceleration feed forward gain
(get)
CurrentMotorType Parker.SSPLib.
MotorType
Get/Set Motor type for limit values
Setting motor type will retrieve values
for specified motor type
DefaultAccel uint Default acceleration in rpm/sec (get)
DefaultBacklash int Default backlash in qc (get)
DefaultCurrentI ushort Default integral value for current PID
(get)
DefaultCurrentP ushort Default proportional value for current
PID (get)
DefaultDecel uint Default deceleration in rpm/sec (get)
DefaultFollowingError uint Default max following error in qc (get)
DefaultHomeOffset int Default home offset in qc (get)
DefaultHomingAccel uint Default homing acceleration in rpm/sec
(get)
DefaultHomingSpeedRp
m
uint Default homing speed in rpm (get)
DefaultNominalCurrent ushort Nominal current in mA (get)
DefaultPeakCurrent ushort Peak current in mA (get)
DefaultPositionD ushort Default derivative value for position PID
(get)
DefaultPositionI ushort Default integral value for position PID
(get)
DefaultPositionP ushort Default proportional value for position
PID (get)
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 134
Name Data Type Description
DefaultSyringeVolNL uint Default syringe vol in nL for newly
configured pumps (get/set)
EncoderCounts uint Motor encoder counts (get)
MaxAcceleration uint Max acceleration in rpm/sec (get)
MaxCurrentPI ushort Max proportional or integral value for
current PID (get)
MaxNominalCurrent ushort Max nominal current in mA (get)
MaxonMotorType int Maxon motor type for
EposCmd.Net.EMotorType (get)
MaxonSensorType int Maxon sensor type for
EposCmd.Net.ESensorType (get)
MaxPeakCurrent ushort Max peak current in mA (get)
MaxPositionPID ushort Max proportional, integral or derivative
value for position PID (get)
MaxSpeedRpm uint Max speed in rpm (rpm)
MaxSyringeNL uint Max syringe barrel size in nL (get)
MaxValveTimeMsec int Max valve delay time in msec (get/set)
MinAcceleration uint Min acceleration in rpm/sec (get)
MinHomeOffsetQc int Min home offset in qc (get)
MinHomeSpeedRpm uint Min homing speed in rpm (get)
MinSpeedRpm uint Min speed in rpm (get)
MinSyringeNL uint Min syringe barrel size in nL (get)
PolePairs ushort Number of motor pole pairs (get)
ThermalTimeConstant ushort Thermal time constant in 0.1 sec (get)
ValveCloseTimeMsec int Default valve close delay in msec
(get/set)
ValveOpenTimeMsec int Default valve open delay in msec
(get/set)
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 135
Name Data Type Description
VelocityFeedForward ushort Default velocity feed forward gain (get)
The functions of the LimitValues class are described below:
5.5.3.1 Get Limits
public bool GetLimits()
Summary:
Set CurrentMotorType before calling GetLimits to retrieve from registry motor
dependent limits true if successful
Returns:
true if successful
5.5.3.2 Limit Values Default Constructor
public bool GetLimits()
Summary:
Set CurrentMotorType before calling GetLimits to retrieve from registry motor
dependent limits true if successful
Returns:
true if successful
5.5.3.3 Limit Values Constructor with Motor Type
public LimitValues(Parker.SSPLib.MotorType type)
Summary:
Constructor retrieves all values from registry according to motor type
Parameters:
type: motor type
5.5.3.4 Limit Values Constructor with Motor Type
public static void LoadFactorySettingsIntoRegistry()
Summary:
Load FactorySettings.reg into the registry
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 136
5.5.4 Error Data
Table 5-7 lists the public properties for the Pump Connection class.
Table 5-7 Pump Connect Error Data Properties
Name Data Type Description
errorString string Error description
maxonErrorCode uint Error code received from SSP
firmware
newError bool Temporary flag the signifies a
new error
pumpState Parker.SSPLib.PumpState Pump state error code (see -
Table 5-3)
timeStamp System.DateTime Time stamp of the error
The functions of the ErrorData class are described below:
5.5.4.1 Error Data Constructor for Device Errors
public ErrorData(Parker.SSPLib.PumpState state, uint maxonCode, string txt)
Summary:
Constructor for new device or device exception errors
Parameters:
state: Pump state
maxonCode: Maxon error code
txt: Error string
5.5.4.2 Error Data Constructor for Pump State Errors
public ErrorData(Parker.SSPLib.PumpState state, string txt, bool displayError)
Summary:
Constructor for new errors using PumpState only
Parameters:
state: Pump state
txt: Error string
displayError: true if generated from device error, false if generated from script
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 137
5.5.4.3 Error Data Constructor from Log Files
public ErrorData(System.DateTime time, uint code, Parker.SSPLib.PumpState
state, string text)
Summary:
Constructor for reading errors from log file
Parameters:
time: DateTime format
code: Maxon error code
state: Pump state
text: Error string
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 138
Chapter 6 Scripting Commands
The Smart Syringe Pump supports scripting with the Smart Syringe Pump software or Smart Syringe
Pump library.
Note: The Smart Syringe Pump does not support RS-232 data terminal operation. You must use
the Smart Syringe Pump software (see Section 4.7) or Smart Syringe Pump library (see Section
5.3) for scripting commands.
6.1 Command Syntax
All commands involving parameters must be written without white space between the
command and parameter to follow standard CAVRO® conventions, except where noted. All
commands are case sensitive.
Note: See Section 4.7 for information on submitting scripting commands through the Smart
Syringe Pump User Interface Software. See Section 5.3 for information on submitting scripting
commands through the Smart Syringe Pump Library.
6.2 Pump Control
Table 6-1 lists the scripting commands that control the operation of the pump. Where ever
possible, a command that mimics the standard style command is used. Additional Smart Syringe
Pump (SSP) style commands have been provided as an alternative standard command.
Table 6-1 Scripting Pump Control
Command
Syntax
Command
Style
Function
A <n> Standard Moves the syringe plunger to an Absolute Position in steps,
where n = 0-3000, 0-24000 or 0-228495 steps of full scale
depending on the positioning mode defined by the “N”
command. Using the parameter of ‘0’ (A0) will send the plunger
to the home position.
AV <n> SSP Moves the syringe plunger to an absolute position, where n = 0 –
max volume of syringe in nL. “SV” must be set prior to issuing
this command.
D <n> Standard Moves the syringe plunger to dispense a relative number of
steps, where n = 0-3000, 0-24000 or 0-228495 steps of full scale
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 139
Command
Syntax
Command
Style
Function
depending on the positioning mode defined by the “N”
command.
DV <n> SSP Moves the syringe plunger to dispense a relative volume, where
n = 0-max volume of syringe in nL. “SV” must be set prior to
issuing this command.
I Standard Switches the valve to allow aspirate/dispense from the Reservoir
(input) port.
L <n> Standard Adjusts the Acceleration of the syringe plunger speed, where n =
1 to 20, corresponding to 1,000 to 500,000 rpm/sec (see Table
6-2).
l <n> SSP Adjusts the deceleration of the syringe plunger speed, where n =
1 to 20, corresponding to 1,000 to 500,000 rpm/sec (see Table
6-2).
N <n> Standard Sets the resolution of fine position mode the “A”, “P” and “D”
move commands, where n = 0 (normal), 1 (fine) or 2 (super fine).
This sets the resolution of the position commands to 0-3000
steps per full stroke, 0-24000 steps per full stroke or 0-228495
steps per full stroke.
n <n> SSP Node address of the syringe that subsequent commands are sent
for synchronous operation. Multiple node addresses may be
listed sequentially.
O Standard Switches the valve to allow aspirate/dispense from the Output
(probe) port.
P <n> Standard Moves the syringe plunger to aspirate a relative number of
steps, where n = 0-3000, 0-24000 or 0-228495 steps of full scale
depending on the positioning mode defined by the “N”
command.
PV <n> SSP Moves the syringe plunger to aspirate a relative volume, where
n = 0 – max volume of syringe in nL.
S <n> Standard Adjusts the speed (in rpm) of the syringe plunger, where n = 0 to
50, corresponds to the range of 6694 to 1 rpm respectively (see
Table 6-3).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 140
Command
Syntax
Command
Style
Function
SV <n> SSP Adjust plunger speed where n = speed in nL/sec.
SZ <n> SSP Adjust syringe size setting in nL where n = 50,000 to 1,000,000.
When SV is issued, the volume calibration factor (VC) is
automatically set to the nominal value for the syringe size.
VC <n> SSP Adjust volume calibration factor where n is in nL/Rev. The range
depends on the syringe size and is 80% - 120% of the nominal
value.
W <n> Standard Moves and sets the syringe plunger to the Home position with
no change in the valve position, where n = 0, 1, 2, 3, 4
corresponds to homing force of full, three quarters, half,
quarter, eighth respectively.
Y <n> Standard Moves and sets the syringe plunger to the Home position while
the valve is switched to the Output (probe) port, where n = 0, 1,
2, 3, 4 corresponds to homing force = full, three quarters, half,
quarter, eighth respectively.
Z <n> Standard Moves and sets the syringe plunger to the Home position while
the valve is switched to the Reservoir (input) port, where n = 0,
1, 2, 3, 4 corresponds to homing force = full, three quarters, half,
quarter, eighth respectively.
The corresponding acceleration and deceleration values in rpm/sec for the “L” and “l” scripting commands are listed in Table 6-2.
Table 6-2 Scripting Acceleration Codes
Slope Code Acceleration or
Deceleration (rpm/sec)
1 1000
2 5000
3 10000
4 20000
5 30000
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 141
6 40000
7 50000
8 60000
9 70000
10 80000
11 90000
12 100000
13 150000
14 200000
15 250000
16 300000
17 350000
18 400000
19 450000
20 500000
The corresponding speed values in rpm, seconds/stroke and µL/sec (100 µL syringe) for the “S”
scripting command are listed in Table 6-3. The seconds/stroke value is based on instantaneous
acceleration and deceleration. The actual stroke time would depend on the actual acceleration
and deceleration values. See Section 12.3.2 for move time calculations.
Table 6-3 Scripting Speed Codes
Speed Code Speed (rpm) Speed in
Seconds / Stroke
Speed in µL / sec for
100µL syringe
0 6694 1 100.0
1 6086 1.1 90.9
2 5578 1.2 83.3
3 4782 1.4 71.4
4 4184 1.6 62.5
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 142
Speed Code Speed (rpm) Speed in
Seconds / Stroke
Speed in µL / sec for
100µL syringe
5 3719 1.8 55.6
6 3347 2 50.0
7 3043 2.2 45.5
8 2789 2.4 41.7
9 2479 2.7 37.0
10 2231 3 33.3
11 1674 4 25.0
12 1339 5 20.0
13 1116 6 16.7
14 956 7 14.3
15 837 8 12.5
16 744 9 11.1
17 669 10 10.0
18 446 15 6.67
19 335 20 5.00
20 268 25 4.00
21 223 30 3.33
22 191 35 2.86
23 167 40 2.50
24 149 45 2.22
25 134 50 2.00
26 122 55 1.82
27 112 60 1.67
28 101 66 1.52
29 89 75 1.33
30 79 85 1.18
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 143
Speed Code Speed (rpm) Speed in
Seconds / Stroke
Speed in µL / sec for
100µL syringe
31 67 100 1.00
32 56 120 0.83
33 45 150 0.67
34 33 200 0.50
35 22 300 0.33
36 20 333 0.30
37 18 375 0.27
38 16 425 0.24
39 13 500 0.20
40 11 600 0.167
41 10 669 0.149
42 9 744 0.134
43 8 837 0.120
44 7 956 0.105
45 6 1116 0.090
46 5 1339 0.075
47 4 1674 0.060
48 3 2231 0.045
49 2 3347 0.030
50 1 6694 0.015
6.3 Program Flow Control
Table 6-4 lists the scripting commands that control the program flow of the commands.
Table 6-4 Scripting Program Flow Control
Command Syntax Command
Style
Function
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 144
g Standard Mark the start of a repeat sequence and used in
conjunction with the “G” command.
G <n> Standard Repeat command or program string n times, where n =
1-30000.
M <n> Standard Delay execution of a command in millisecond, where n
= 0-30000.
R Standard Executes the command(s) on the command string.
T Standard Stops execution of all Pump Control (Tables 5.1 and
5.2) and Program Control (Table 5.3 and 5.4)
commands. Do not issue this command with other
scripting commands.
X Standard Repeats the execution of the last command on the
command string. Do not issue this command with
other scripting commands.
6.4 Pump Configuration
Table 6-5 lists the scripting commands that adjust and set the configuration and operational
parameters associated with the pump. Where ever possible, a command that mimics the
standard style command is used. Additional Smart Syringe Pump (SSP) style commands have
been provided as an alternative to the standard command.
Table 6-5 Scripting Pump Configuration
Command Syntax Command
Style
Function
K <n> Standard Adjust backlash in steps, as defined by the “N”
command, where n = 0-90, 0-720 or 0-6855.
k <n> Standard Adjust home offset in steps, as defined by the “N”
command, where n = 3-90, 22-720 or 200-6855.
t <n> Standard Adjust maximum homing current threshold in mA
where, n is 50% to 100% of nominal current.
u <n> SSP Adjust syringe barrel usage, where n is 0-1,000.000.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 145
6.5 Reporting Commands
Table 6-6 lists the scripting commands that report the status or information about the pump.
Where ever possible, a command that mimics the standard style command is used. Additional
Smart Syringe Pump (SSP) style commands have been provided as an alternative to the standard
command.
Table 6-6 Scripting Reporting Commands
Command Syntax Command
Style
Function
& or ?23 Standard Provide syringe drive firmware version.
? Standard Provide absolute plunger position. Reports 0-3000, 0-
24000 or 0-120945 depending on positioning mode as
defined by the “N” command.
?2 Standard Provide speed setting in rpm.
?4 Standard Provide actual plunger position in qc.
?6 Standard Provide valve position.
?12 Standard Provide backlash in steps, as defined by the “N”
command.
?16 Standard Provide the number of syringe drive plunger moves.
?23 or & Standard Provide syringe drive firmware version.
?24 Standard Provide home offset in steps.
?29 or Q Standard Provide current status and current error bytes. (See
Table 6-7)
?SV SSP Provide speed setting in nL/sec.
?SZ SSP Provide syringe size setting in nL.
?t SSP Provide maximum homing current threshold in mA.
?u or ?u0 SSP Provide syringe barrel usage in cycles.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 146
Command Syntax Command
Style
Function
?u1 SSP Provide syringe drive usage in cycles.
?V SSP Provide absolute plunger position in nL. “SV” must be
set prior to issuing this command.
?VC SSP Provide volume calibration factor setting in nL/rev.
Q or ?29 Standard Provide current status and current error bytes. (See
Table 6-7)
Q8 SSP Provide last eight error codes including time stamp.
This information is saved on the PC.
6.6 Error Codes and Status Byte
Table 6-7 lists the Status Byte error codes. Bit 5 (X) of the Status Byte is defined as follows:
X = 1 pump is ready to accept new commands.
X = 0 pump is busy and will only accept report and terminate commands.
Table 6-7 Status Byte Error Codes
Status Byte Code
Style
Hex # if
Bit 5 =
Dec # if
Bit 5 =
Error Code
7 6 5 4 3 2 1 0 0 1 0 1 Number Error
0 1 X 0 0 0 0 0 Standard 40h 60h 64 96 0 No error
0 1 X 0 0 0 0 1 Standard 41h 61h 65 97 1 Unused
0 1 X 0 0 0 1 0 Standard 42h 62h 66 98 2 Invalid command
0 1 X 0 0 0 1 1 Standard 43h 63h 67 99 3 Invalid operand
0 1 X 0 0 1 0 0 Standard 44h 64h 68 100 4 Invalid command sequence
0 1 X 0 0 1 0 1 Standard 45h 65h 69 101 5 Unused
0 1 X 0 0 1 1 0 Standard 46h 66h 70 102 6 Unused
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 147
0 1 X 0 0 1 1 1 Standard 47h 67h 71 103 7 Device not initialized
0 1 X 0 1 0 0 1 Standard 49h 69h 73 105 9 Plunger overload
0 1 X 0 1 0 1 0 Standard 4Ah 6Ah 74 106 10 Unused
0 1 X 0 1 0 1 1 Standard 4Bh 6Bh 75 107 11 Plunger move not allowed
0 1 X 0 1 1 1 1 Standard 4Fh 6Fh 79 111 15 Command overflow
0 1 X 1 0 0 0 0 SSP 51h 71h 81 113 17 No communication
Note: Error codes above 15 are Smart Syringe Pump specific codes.
6.7 Unsupported Standard Commands
Table 6-8 lists the standard scripting commands that are not supported by the Smart Syringe
Pump library. These commands may be hardware specific or not recommended for use with the
Smart Syringe Pump.
Table 6-8 Unsupported Standard Scripting Commands
Command Description Reason and Alternative Action
?1 Report Start Speed The SSP ramps smoothly from a stop
to operating speed using a DC servo
motor. Start speed is normally only
used with stepper motors.
?10 or F Report Command Buffer Status Not implemented.
?13 Report Status of Auxiliary Input #1 No auxiliary inputs on SSP.
?14 Report Status of Auxiliary Input #2 No auxiliary inputs on SSP.
?15 Report Number of Pump
Initializations
This information is not stored on the
SSP.
?17 Report number of Valve
movements
This information is not stored on the
SSP.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 148
Command Description Reason and Alternative Action
?18 or % Report number of Valve
movements since last report
This information is not stored on the
SSP.
?20 or # Report Firmware Checksum Not applicable to SSP firmware.
?22 or * Report Current Value from valve
fluid sensor
Hardware not applicable.
?3 Report Cutoff Speed The SSP ramps smoothly down to a
stop and does not require a cutoff
speed. Cutoff speed is normally only
used with stepper motors.
?76 Report Pump Configuration Not implemented.
^ <n> Set threshold value for fluid
detection
No liquid sensor for SSP.
a <n> Absolute position not busy Same as A command, except that
the pump is not busy, useful for on-
the-fly speed changes. The SSP can
perform speed changes quickly
between multiple absolute (A)
moves.
B Move valve to bypass Hardware not applicable.
b Clear run from non-volatile
memory
No option to store commands on
SSP Firmware.
C <n> Cutoff Speed in Increments The SSP ramps smoothly down to
stop. Cutoff speed normally only
used with stepper motors.
c <n> Cutoff Speed in pulses/sec The SSP ramps smoothly down to
stop. Cutoff speed normally only
used with stepper motors.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 149
Command Description Reason and Alternative Action
d <n> Relative dispense not busy Same as D command, except that
the pump is not busy, useful for on-
the-fly speed changes. The SSP can
perform speed changes quickly
between multiple dispense (D)
moves.
E Move valve to extra position Hardware not applicable
e <n> Execute non-volatile memory
program string
No option to store commands on
SSP Firmware.
H <n> Halt command execution, wait for
TTL signal
No TTL inputs on SSP. This
command also works with the 'R'
command to resume, but is not
implemented. Use ‘T’ to stop the
pump.
J <n> Auxiliary Outputs No auxiliary outputs on SSP.
p <n> Relative pickup not busy Same as P command, except that
the pump is not busy, useful for on-
the-fly speed changes. The SSP can
perform speed changes quickly
between multiple aspirate (P)
moves.
s <n> Load program string into non-
volatile memory
No option to store commands on
SSP firmware.
U <n> Write pump configuration to non-
volatile memory
All configuration commands are
saved immediately.
v <n> Set Start Speed The SSP ramps smoothly from a stop
to operating speed. Start speed
normally only used with stepper
motors.
w <n> Initialize valve drive The SSP Valve does not need to be
initialized
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 150
Command Description Reason and Alternative Action
z Simulate plunger initiation This command sets the home
position wherever the plunger is and
is NOT recommended to use with
the SSP.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 151
Chapter 7 System Integration Using a Direct
Connection
7.1 Overview
The Smart Syringe Pump uses the Maxon Motor EPOS2™ Module 36/2 motion controller. For
detailed programming instructions, please refer to the following documents that are installed
with the Smart Syringe Software. These documents can be found in “C:\Program
Files\Parker\Smart Syringe Pump” or “C:\Program Files(x86)\Parker\Smart Syringe Pump” if the
software was installed to the default location.
EPOS2 Communication Guide.pdf: Contains communications interface details for RS-
232 and CAN.
EPOS2 Application Notes Collection.pdf: Contains information on device programming
and CAN communication examples.
EPOS2 Firmware Specification.pdf: Contains detailed information about architecture,
device states, operation modes, error handling and object dictionary.
In both communications protocols, the Smart Syringe Pump acts as a slave device. Data is only
sent as an answer to a request. The master always must start the communication by sending a
data request.
7.2 Initialization
The Smart Syringe Pump is initialized at the factory, so it is not required to set the following
parameters prior to operation according to the EPOS2 Application Notes Collection, Section 8.2:
CAN Bit Rate: 0 (1,000,000 bits/sec)
RS-232 Baud Rate: 5 (115,200 baud)
Motor type: 10 (MtEcSinusCommutatedMotor)
Continuous Current Limit: 800 mA
Pole Pair Number: 1
Thermal Time Constant Winding: 10 (0.1 sec)
Encoder Pulse Number: 512
Position Sensor Type: 1 (StIncEncoder3Channel)
Current Regulator P-Gain: 800
Current Regulator I-Gain: 1000
Speed Regulator P-Gain: 0
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 152
Speed Regulator I-Gain: 0
Position Regulator P-Gain: 80
Position Regulator I-Gain: 800
Position Regulator D-Gain: 60
With the exception of the CAN bit rate, RS-232 baud rate and continuous current limit, none of
these parameters should be changed. The default CAN node address is set to 1 and can be
changed through software only.
In addition to these parameters, the following homing parameters and profile position mode
parameters are also set at the factory:
Max Following Error: 2560 qc
Min Position Limit: -2147483648 (Default)
Max Position Limit: 2147483647 (Default)
Max Profile Velocity: 7000 rpm
Motion Profile Type: 0 (Trapezoid)
Homing Method: -1 (Current Threshold Positive Speed & Index)
These parameters should not be changed.
7.3 RS-232 Protocol
The RS-232 protocol is described in EPOS2 Communication Guide Chapter 5. Information on
flow control, frame structure, data format, and error control as well as a command instruction
are detailed in this document.
7.4 CAN Protocol
The CAN interface follows the CiA CANopen specifications and is described in EPOS2
Communication Guide Chapter 5 and EPOS2 Application Notes Collection Chapter 10. When
the Smart Syringe Pump is powered on, it enters a pre-operative state where only Service Data
Object (SDO) Communications is allowed. SDO is the easiest method for controlling the Smart
Syringe Pump using the CAN interface.
7.5 Operating Commands
7.5.1 Homing
The steps and objects required for homing are shown in Table 7-1.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 153
Table 7-1 Homing Steps and Objects
Step Object Name Object Address
(Address-
Subaddress)
Value
Set Operation Mode Modes of Operation 0x6060-00 0x06 (Homing mode)
Set Parameter* Home Offset 0x607C-00 2294 qc
Speed for Switch
Search
0x6099-01 500 rpm
Speed for Zero
Search
0x6099-02 500 rpm
Homing Acceleration 0x609A-00 2000 rpm/sec
Current Threshold
Homing Mode
0x2080-00 800 mA (Syringe
dependent)
Home Position 0x2081-00 0 qc
Set Homing Method* Homing Method 0x6098-00 -1 or 0xFFFF (Current
Threshold Positive
Speed & Index)
Enable Device Controlword 0x6040-00 0x000F (Enable)
Start Homing Controlword 0x6040-00 0x001F (Start homing)
*Default values are set for these parameters, setting these values are optional.
To determine the status of the homing operation, read the Statusword object at address
0x6041-00. The home position is reached when bit 10 and bit 12 are set to 1. For more
information on the Statusword object, see Section 7.6.1. Typical values of the
Statusword object during various stage of homing are shown in Table 7-2.
Table 7-2 Typical Statusword Values during Homing
Step Statusword Value
Power Up 0x0540
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 154
Set Operation Mode to Homing 0x0140
Enable Device 0x0537
Start Homing 0x0137
Homing Complete 0x9537
To stop homing, send one of the following values to the Controlword object at address
0x6040-00:
0x011F (Halt homing)
0x000B (Quick stop)
For more information on the Controlword object, see EPOS2 Firmware Specification
Section 8.2.85.
7.5.2 Aspirate and Dispense
The Smart Syringe Pump motion controller operates in Profile Position Mode. Plunger
motion is performed by sending absolute or relative positioning commands. The home
position (plunger fully dispensed) is at 0 qc. The full stroke position is at -228,495 qc.
Relative moves with a negative value will aspirate fluid, and relative moves with a
positive value will dispense fluid. The instantaneous speed at 1 full stroke/sec is 6694
rpm. Actual position and speed values should be interpolated from these limits.
See Table 8-3 for the full list of Smart Syringe Pump limits and constants.
The steps and objects required for aspirate and dispense are shown in Table 7-3.
Table 7-3 Steps and Objects for Aspirate and Dispense
Step Object Name Object Address
(Address-
Subaddress)
Value
Set Operation Mode Modes of Operation 0x6060-00 0x01 (Profile position
mode)
Set Parameter Profile Velocity 0x6081-00 1-6694 rpm
Profile Acceleration* 0x6083-00 1,000 – 500,000 rpm/sec
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 155
Profile Deceleration* 0x6084-00 1,000 – 500,000 rpm/sec
Enable Device Controlword 0x6040-00 0x000F (Enable)
Set Target Position Target Position 0x607A-00 Absolute position:
-288,495 to 0 qc
Relative position:
-288,495 to 228,495 qc
Start Positioning Controlword 0x6040-00 0x003F (Absolute)
0x007F (Relative)
*Default values are set for these parameters, setting these values are optional.
To determine the status of the positioning operation, read the Statusword object at
address 0x6041-00. The target position is reached when bit 10 is set to 1. For more
information on the Statusword object, Section 7.6.1.
To stop motion, send one of the following values to the Controlword object at address
0x6040-00:
0x010F (Stop positioning)
0x000B (Quick stop)
For more information on the Controlword object, see EPOS2 Firmware Specification
Section 8.2.85.
7.5.3 Valve Position
The integrated 3-way valve is controlled by Digital Output 1, General Purpose A. At the
factory, the Polarity at address 0x2078-01 is set to High Active and Mask at address
0x2078-02 is set to Enabled for this output. To change the state of the valve, toggle bit
15 of the Digital Output State object at address 0x2078-01.
Setting bit 15 to 1 will set the valve to the Reservoir port.
Setting bit 15 to 0 will set the valve to the Output port.
For more information on digital outputs, see EPOS2 Application Notes Collection
Section 2.2.2.
7.5.4 Shutdown
During shutdown, the valve and motor should be disabled.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 156
To disable the valve, set bit 15 of the Digital Output State object at address
0x2078-01 to 0.
To shut down the motor, send the value 0x0006 to the Controlword object at
address 0x6040-00.
For more information on digital outputs, see EPOS2 Application Notes Collection
Section 2.2.2. For more information on the Controlword object, see EPOS2 Firmware
Specification Section 8.2.85.
7.6 Pump Status and Error Handling
7.6.1 Pump Status
The Statusword object at address 0x6041-00 contains status and fault condition
information. See Table 7-4 for an overview of the Statusword object bits.
Table 7-4 Statusword Object Bits
Statusword
Bit
Description Profile Position
Mode
Homing Mode
15 Position referenced to
home position
14 Refresh cycle of power
stage
13 Operating mode-specific Following error Homing error
12 Operating mode-specific Setpoint ack Homing attained
11 Internal limit active
10 Operating mode-specific Target reached Target reached
9 Remote NMT Slave State
8 Offset current measured
7 Warning
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6 Switch on disable
5 Quickstop
4 Voltage enabled (power
stage on)
3 Fault
2 Operation enable
1 Switched on
0 Ready to switch on
For more information on the Statusword object, see EPOS2 Firmware Specification
Section 3.2.1 and Section 8.2.86.
7.6.2 Error Handling
If a hardware fault occurs, bit 3 of the Statusword object at address 0x6041-00 is set to
1. When using CAN communications, the EPOS2 will also transmit emergency message
frames when hardware errors occur. See EPOS2 Firmware Specification Section 4.1 for
more information on emergency message frames.
To retrieve the error code for a fault condition, read the error history at address 0x1003.
The last five error codes are saved in the subaddresses. For detailed information on the
error history object, see EPOS2 Firmware Specification Section 8.2.3.
For a complete list of Device Errors, see EPOS2 Firmware Specification Section 4.2. For a
complete list of Communications Errors, see EPOS2 Firmware Specification Section 4.3.
To reset a fault condition, send 0x0080 to Controlword at address 0x6040-00.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 158
Chapter 8 Syringe Pump Parameters
8.1 Motor Parameters
There are several adjustable motor settings for pump performance optimization for unique
applications listed in Table 8-1.
Table 8-1 Motor Parameters
Motor Parameters Factory Default Range
Motor Acceleration 50,000 rpm/sec 1,000 – 500,000 rpm/sec
Motor Deceleration 50,000 rpm/sec 1,000 – 500,000 rpm/sec
Backlash 2294 qc 0 – 6855 qc
0% - 3% Full Scale
Homing Speed 500 rpm 100 – 7000 rpm
Homing Acceleration 2000 rpm/sec 1000 – 500,000 rpm/sec
Home Offset 2294 qc 200 – 6855 qc
Homing Current Threshold 600 mA 0 – Nominal Current Limit
Nominal Current Limit 800 mA 0 – 2000 mA
Peak Current Limit 1000 mA Nominal Current Limit –
4000 mA
8.1.1 Acceleration and Deceleration
The Smart Syringe Pump uses a DC servo motor for motion control. The velocity profile
for the motion uses a trapezoidal shape starting at 0 rpm. The motor acceleration and
deceleration parameters control the slope of the velocity profile.
Motor Acceleration: The motor acceleration can be increased or decreased by
adjusting the acceleration revolutions per minute per second (rpm/sec)
parameter. Increasing this variable will increase the motor acceleration. The
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acceleration may be decreased if more viscous solutions are used with the
Smart Syringe Pump.
Motor Deceleration: The motor deceleration can be increased or decreased by
adjusting the deceleration revolutions per minute per second (rpm/sec)
variable. Increasing this variable will increase the motor deceleration. The
deceleration may be decreased if viscous solutions are used with the Smart
Syringe Pump. The deceleration may be increased for non-contact dispense
operations to assist with fluid cut off.
See Section 4.8 for changing the acceleration and deceleration through the Smart
Syringe Pump Software. See Section 6.2 for changing the acceleration and deceleration
through the scripting commands ‘L’ and ‘l’.
See Section 12.3.2 for information on calculating the move time of a plunger stroke.
8.1.2 Backlash
When the Smart Syringe Pump actuator reverses direction, the plunger rod will not
move until the backlash due to mechanical play within the system is offset. There are
many factors which contribute to backlash, including the pump actuator and compliance
within the plunger tip. A default backlash parameter is provided for use with standard
XP3000 compatible 30mm syringe barrels. The backlash parameter is stored in
quadrature counts (qc) can be adjusted to optimize accuracy performance.
Backlash is removed only during an aspiration move. At the end of aspiration, the
plunger continues to move for the backlash amount, and then reverses direction to
remove the backlash amount. This ensures that the plunger is in the correct position to
begin the dispense move. If the backlash value is set greater than the actual mechanical
backlash, a small volume of fluid may flow back during this operation.
8.1.2.1 Measuring Backlash
To determine the backlash of a specific syringe with the Smart Syringe Pump, the
following procedure may be used.
1. Measure the ambient temperature in Celsius for the density calculation.
2. Fully prime the pump and syringe barrel with de-ionized water for at least
30 cycles. If the pump is not fully primed, the backlash value measured may
be erroneous.
3. Plumb the Smart Syringe Pump to aspirate and dispense into a container on
a gravimetric balance from the output (probe) port. The container should
contain enough de-ionized water to aspirate several full stroke volumes.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 160
4. In the Smart Syringe Software, set the Backlash parameter to 0 qc (see
Section 4.8.3). This removes backlash compensation.
5. Aspirate the full stroke volume from the output port.
6. Tare the balance.
7. Dispense half stroke volume to the output port, do not change the valve
position.
8. Record the first balance reading.
9. Tare the balance.
10. Dispense the half stroke volume to the output port again.
11. Record the second balance reading.
12. Repeat the process from step 5 three times.
The backlash of the system is represented by the difference between the first and
second balance reading. Take the maximum difference between the three sets of
readings and convert the result into nanoliters.
The backlash in nanoliters is calculated with the following formula below, where W
is the difference in balance readings in milligrams and is the density in milligram
per microliters (mg/µL):
The gravimetric mass readings are converted to volume according to the following
density factor formula in milligram per microliters:
( ) ( )
For example, the first and second balance readings with a 100 µL syringe are 49.61
mg and 49.94 mg at 24°C. The density factor and backlash are calculated as follows:
( ) ( )
The calculated backlash value may be entered in nanoliter units in the Smart Syringe
Pump software Diagnostics tab (see Section 4.8.3).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 161
See Section 6.4 for changing the backlash through the scripting command “K”.
When using the scripting command, the backlash value must be converted to steps.
This is performed by dividing the backlash volume by the full stroke syringe volume
and multiplying by the full scale steps according to the positioning mode.
For the normal stepping mode (N0) the backlash steps are calculated as follows:
( )
For the fine positioning (N1) and super fine positioning (N2) modes, the backlash
steps are:
( )
( )
Note: Syringe backlash varies across manufacturers and within the same
manufacturer's barrels. It is good practice to remove extra backlash to
accommodate barrel to barrel variation.
8.1.3 Homing Parameters
The Smart Syringe Pump must be homed before performing aspirate and dispense
operations upon power up and replacing a syringe barrel. The homing parameters that
control the homing sequence are described below.
Homing Speed: The motor speed which the syringe barrel plunger seeks the
home position. The default speed of 500 rpm should be used for most
applications.
Homing Acceleration: The motor acceleration used in the homing sequence.
The default acceleration of 2000 should be used for most applications.
Homing Current Threshold: The settable current level for homing of the syringe
plunger. This parameter is directly proportional to the homing force used during
homing. Select the appropriate homing current threshold to prevent plunger tip
damage.
Home Offset: After finding the home position, the motor reverses direction for
the quadrature counts specified in the Home Offset parameter. This relieves
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the force on the plunger tip while the syringe is in the home position. Larger
home offset values will present a small gap at the end of the plunger tip.
Note: If the Home Offset value is too low, the plunger will contact at the end of
stroke and may decrease expected dispense volumes.
Proportional Homing Force: The scripting commands “Y<n>”, “Z<n>” or
“W<n>” will home the syringe pump, where n = 0, 1, 2, 3, 4, corresponding to
homing force = full, three-quarter, half, quarter and eighth. “Y” homes with the
valve to the output (probe) side,” Z” homes with the valve to the input
(reservoir) side and “W” will not change the valve position.
Table 8-2 shows the recommended homing current threshold and homing force
parameter values.
Table 8-2 Recommended Homing Force Parameters
Syringe Type Homing Current Scripting
Command “Y<n>”,
“Z<n>” or “W<n>”
1000 µL Syringes with PTFE plunger tips 800 mA n = 0 (Full force)
500 µL Syringes with PTFE plunger tips 800 mA n = 0 (Full force)
250 µL Syringes with PTFE plunger tips 800 mA n = 0 (Full force)
100 µL Syringes with PTFE plunger tips 600 mA n = 1 (3/4 force)
50 µL Syringes with PTFE plunger tips 400 mA n = 2 (1/2 force)
See Section 4.9 for information on changing the Homing Speed, Homing Acceleration,
Home Offset, Homing Current Threshold and Full Force Homing Current Threshold.
8.1.4 Current Limits
The default current limits for the Smart Syringe Pump are chosen to accommodate
various syringe plunger tip materials and the specified viscosity range of 0.38 cP to 2.5
cP. The current limits may be changed with caution. If the limits are set too low,
following errors (stall condition) may occur. If the limits are set too high, overpressure
could occur.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 163
The allowable values of the nominal and peak current may change as the parameters
are relative to each other as well as having absolute minimum and maximum limits. The
nominal current must be greater than zero and less than the motion controller limit of
2000mA. The nominal current must also be less than the peak current. The peak
current must be greater than the nominal current and less than the motion controller
limit of 4000 mA.
If the nomimal and peak current limits are set with the Smart Syringe Pump software or
library, the homing current threshold may automatically be adjusted. If the new
nominal current is less than the homing current or full force homing current, the homing
current will be reduced to the nominal current. If the nominal current is increased, the
homing current will remain the same.
Note: If the nominal and peak current limits are set outside of the Smart Syringe Pump
software or library, you must also adjust the homing current threshold if necessary.
See Section 4.11.4 for information on changing the Nominal and Peak Current Limits
with the Smart Syringe Pump software.
8.2 Smart Syringe Pump Limits and Constants
In addition to the motor parameter limits listed in Table 8-1, the following Smart Syringe Pump
limits and constants are listed in Table 8-3.
Table 8-3 Smart Syringe Pump Limits and Constants
Parameter Value
Full Stroke Distance 30 mm
Full Stroke Quadrature Counts (qc) 228,495 qc
Full Stroke Scripting Steps in Normal Positioning Mode 3000 steps
Full Stroke Scripting Steps in Fine Positioning Mode 24,000 steps
Full Stroke Scripting Steps in Super Fine Positioning Mode 228,495 steps
Full Stroke Motor Revolutions 111.57 rev
Quadrature Counts per Motor Revolution 2048 qc/rev
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Maximum Speed in Motor rpm 7000 rpm
Instantaneous Speed at 1 Full Stroke/sec 6694 rpm
Minimum Speed in Motor rpm 1 rpm
Minimum Speed in Seconds/Full Stroke 6694 sec/FS
Minimum Speed in Minutes/Full Stroke 111.57 min/FS
Table 8-4 lists the recommended maximum speed for use with each syringe barrel size.
Table 8-4 Maximum Syringe Speeds
Syringe Size Maximum Speed
(µL/sec)
Maximum Speed
(rpm)
1000 µL Syringe Barrel 1000 6694
500 µL Syringe Barrel 500 6694
250 µL Syringe Barrel 250 6694
100 µL Syringe Barrel 100 6694
50 µL Syringe Barrel 50 6694
Note: The speeds are the maximum ratings for syringe barrels, but may need to be reduced
depending on the application backpressure.
Table 8-5 lists the minimum speed for each syringe barrel size. The minimum speed is also the
settable flow rate resolution.
Table 8-5 Minimum Syringe Speeds
Syringe Size Minimum Speed
(µL/sec)
Minimum Speed
(rpm)
1000 µL Syringe Barrel 0.149 1
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 165
500 µL Syringe Barrel 0.0747 1
250 µL Syringe Barrel 0.0374 1
100 µL Syringe Barrel 0.0149 1
50 µL Syringe Barrel 0.00747 1
8.3 Syringe Calibration
Default calibration parameters are provided for use with standard XP type 30mm syringe
barrels. However, calibration can be optimized for special applications. Table 8-6 lists the default
calibration parameter values.
Table 8-6 Default Calibration Parameters
Syringe Type Calibration (nL/rev)
1000 µL XP Type Syringe Barrels 8963
500 µL XP Type Syringe Barrels 4482
250 µL XP Type Syringe Barrels 2241
100 µL XP Type Syringe Barrels 896
50 µL XP Type Syringe Barrels 448
8.3.1 Determining Calibration Value
To determine the calibration value of a specific syringe with Smart Syringe Pump, the
following procedure may be used.
1. Measure the ambient temperature in Celsius for the density calculation.
2. Fully prime the pump and syringe barrel with de-ionized water for at least 30 cycles.
If the pump is not fully primed, the calibration value determined may be erroneous.
3. Determine and set the backlash value for the syringe (see Section 8.1.2). If the
backlash is not set, the default value of 2294 qc may be used.
4. Plumb the Smart Syringe Pump to dispense into a container on a gravimetric
balance from the output (probe) port. For syringe sizes equal to or larger than 500
µL, a non-contact dispense with deceleration of 100,000 rpm/sec may be used. For
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syringe sizes less than 500 µL, the probe should be immersed in a small container
containing deionized water. A thin layer of oil over the water may help with
evaporative effects.
5. Aspirate the full stroke volume from the reservoir port for non-contact dispense or
output port for immersed dispense.
6. Tare the balance.
7. Dispense the full stroke volume to the output port.
8. Record the balance reading.
9. Repeat the process from step 5 three times.
The syringe calibration is calculated by multiplying the default calibration factor by the ratio
of the desired dispense volume by the average of the measured dispense volume.
For example, the average balance reading with a 100 µL syringe is 100.51 mg at 24°C.
The gravimetric mass readings are converted to volume according to the following density
factor formula in milligram per microliters:
( ) ( )
For example, at 24°C, the density and calibration factor are calculated as follows:
( ) ( )
The new calibration value may be set in in the Smart Syringe Pump software Diagnostics tab
(see Section 4.8.2). See Section 6.2 for changing the calibration value through the scripting
command “VC”.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 167
Chapter 9 Maintenance and Cleaning
9.1 Preventative Maintenance and Cleaning
Warning: The Smart Syringe Pump is to be maintained only by qualified persons familiar with
the operation of the pump and the hazards involved. Maintenance performed by unqualified
persons may result in personal injury, impair the safety precautions of the pump and void all
certifications and warranties.
The Smart Syringe Pump should always be used in a clean environment to limit or prevent
internal and or external contamination.
Warning: Use personal protective equipment such as gloves and safety glasses when performing
any kind of maintenance on the Smart Syringe Pump.
Preventative Maintenance - Every 8 to 10 operating hours.
To ensure the Smart Syringe Pump is operating at peak performance, complete the following
after every 8 to 10 hours of operation:
Inspect the pump or pumps for any internal or external leaking or contamination.
Clean up any fluid media on or around the pump or pumps.
Preventative Maintenance – Every 40 to 60 operating hours (application dependent).
To ensure the Smart Syringe Pump continues to operate at peak performance, complete the
following after every 40 to 60 hours of operation:
Perform a thorough cleaning of the fluid path by flushing the syringe barrel, manifold
and valve with deionized water water or 50% isopropyl alcohol.
If at any time the Smart Syringe Pump becomes in-operable because of contamination or any
other issue related to cleaning or servicing, please contact the Parker Precision Fluidics Division
for further instruction. See Section 11.1 for contact information.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 168
9.2 Manifold and Valve Replacement
To replace the Manifold and/or Valve, follow the procedure below:
Note: It is recommended that the following procedure be performed in a clean environment and
that the person performing the procedure wear clean, lint or dust free gloves to minimize the
possibility of contamination to the flow paths inside the manifold and valve.
Tools needed for this procedure:
Phillips Head Screwdriver, size 0.
Hex Head Driver, size 5/64 inch.
Torque Driver, up to 20 ounce-inch (recommended)
Caution: Electrostatic protection should be used when handling the Smart Syringe Pump to
avoid damage to the product and electronics.
Step 1: Remove the syringe barrel if installed (see Section 2.2.6).
Step 2: Using the Philips screwdriver, remove the seven (7) screws from the pump cover with
the Parker branding as shown in Figure 9.1.
Figure 9.1 Cover Screw Removal
Step 3: Remove the cover from the pump as shown in Figure 9.2.
Remove these screws (7 places) Cover
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Figure 9.2 Cover Removal
Step 4: Using the Hex driver, remove the four (4) screws and four (4) lock washers holding the
manifold to the pump as shown in Figure 9.3.
Figure 9.3 Manifold Screw Removal
Remove screws and washers (4 places)
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Step 5: Remove the electrical connector from the PCB and the foil disk from the wire
management channel as shown in Figure 9.4 and Figure 9.5.
Figure 9.4 Valve Electrical Connector
Figure 9.5 Connector Removal
Valve
Connector
Foil Disk
Socket
Connector
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 171
Step 6: Pull or slide the manifold/valve assembly completely from the pump body as shown in
Figure 9.6.
Figure 9.6 Manifold Removed from Pump
Step 7: Using the Phillips head screwdriver un-screw and remove the two (2) screws and
washers that hold the valve to the manifold as shown in Figure 9.7.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 172
Figure 9.7 Valve Screw Removal
Step 8: Replace the old manifold and/or valve with the new valve and reassemble by following
this procedure in reverse order. Make sure to correctly orientate the valve before
attaching it back to the manifold as shown in Figure 9.8.
Note: A torque driver (set to recommended 20 ounce-inch) should be used when
assembling the valve to the manifold and the manifold to the pump.
Screw and Washer
(2 Places)
Valve
Manifold
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 173
Figure 9.8 Valve Orientation
9.3 EPOS2 Motion Controller and Interface PCB Replacement
To replace the EPOS2 motion controller and/or the Interface PCB, follow the procedures in the
following sections.
9.3.1 Replacing the EPOS2 Motion Controller
Note: It is recommended that the following procedure be performed in a clean
environment and that the person performing the procedure is properly grounded for
ESD protection.
Tools needed for this procedure:
Phillips Head Screwdriver.
Caution: Electrostatic protection should be used when handling the Smart Syringe Pump
to avoid damage to the product and electronics.
Step 1: Using the Philips screwdriver, remove the seven (7) screws from the pump cover
with the Parker branding as shown in Figure 9.2.
Place the valve into
the manifold so that
the valve lead wires
are on the same side
as ports 1 and 2 of
the manifold
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Step 2: Remove the four Philips head screws and washers that hold the EPOS2 motion
controller PCB and the Interface PCB as shown in Figure 9.9.
Note: Two of the screws are nylon and two are metal.
Figure 9.9 PCB Screw Removal
Step 3: Gently lift the Interface PCB until it clears the top of the drive body.
Note: You do not have to disconnect the motor cables or the valve cable to replace the
EPOS2 Motion Controller PCB.
Step 4: Slide the EPOS2 Motion Controller PCB out of the connector base on the
Interface PCB as shown in Figure 9.10.
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Figure 9.10 Removing the EPOS2 Motion Controller PCB
Step 5: Insert the new EPOS2 board into the connector base on the Interface PCB.
Note: Make sure the Stand-off Washer is in place between the EPOS2 Motion
Controller PCB and the Interface PCB as shown in Figure 9.10.
Step 6: Lower the Interface PCB into the drive body.
Step 7: Replace the screws.
Note: The nylon screws attach to the EPOS2 board and the Interface PCB near the user
connector J1.
Step 8: Replace the cover.
Step 9: Connect the Smart Syringe Pump to the Smart Syringe Pump software. This will
initialize the EPOS2 with the correct parameters for use with the Smart Syringe
Pump.
EPOS2 Motion
Controller PCB
Connector Base
on Interface PCB Stand Off
Washer
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Caution: You must connect the Smart Syringe Pump with a new EPOS2 board to the
Smart Syringe Pump software or library for initialization. Failure to initialize the EPOS2
will result in damage to the product.
9.3.2 Replacing the Interface PCB
Note: It is recommended that the following procedure be performed in a clean
environment and that the person performing the procedure is properly grounded for
ESD protection.
Tools needed for this procedure:
Phillips Head Screwdriver.
Caution: Electrostatic protection should be used when handling the Smart Syringe Pump
to avoid damage to the product and electronics.
Step 1: Using the Philips screwdriver, remove the seven (7) screws from the pump cover
with the Parker branding as shown in Figure 9.2.
Step 2: Remove the four Philips head screws and washers that hold the EPOS2 motion
controller PCB and the Interface PCB as shown in Figure 9.9.
Step 3: Disconnect the motor cables and the valve cable from the Interface PCB as
shown in Figure 9.11.
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Figure 9.11 Motor and Valve Cable Location on Interface PCB
Step 4: Gently lift the Interface PCB out of the drive body.
Step 5: Slide the EPOS2 Motion Controller PCB out of the connector base as shown in
Figure 9.10.
Step 6: Insert the EPOS2 Motion Controller PCB into the new Interface PCB.
Note: Make sure the Stand Off washer is in place between the EPOS2 Motion Controller
PCB and Interface PCB as shown in Figure 9.10.
Step 7: Lower the Interface PCB into the drive body.
Step 8: Replace the screws.
Note: The nylon screws attach to the EPOS2 Motion Controller PCB and the Interface
PCB near the user connector J1.
Step 9: Reconnect the motor cables and the valve cable.
Step 10: Replace the cover.
Disconnect Valve
Cable from this
location
Disconnect Motor
Cables from these
locations
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Chapter 10 Troubleshooting
10.1 Troubleshooting Guide
Table 10-1 Troubleshooting
Problem Cause Solution
Unable to communicate
with RS-232
Baud rate is incorrect The default baud rate for the Smart
Syringe Pump is 115,200 kbaud. The
baud rate for the software must match
the baud rate set in the pump firmware.
COM port is incorrect The available Windows COM ports are
shown in the Configuration tab (see
Section 4.6.1).
COM port is not listed If a USB to RS-232 adapter is inserted
while the software is running, restart
the software after the driver has
initialized.
Node address exceeds the
Total Nodes
Increase the Total Nodes to include the
node addresses of all pumps (see
Section 4.6.1).
Unable to communicate
with CAN
Bit rate is incorrect The default bit rate for the Smart
Syringe Pump is 1,000,000 bit/sec. The
CAN bit rate for the software must
match the bit rate set in the pump
firmware.
National Instruments CAN
adapter is not supported for
Windows 7 64-bit.
See Section 3.3.2 for supported
Windows 7 64-bit CAN adapters.
Unable to communicate
with daisy-chained pumps
CAN Bit Rate is set to Auto. Set the CAN Bit Rate of all pumps to the
same rate other than Auto.
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Problem Cause Solution
CAN Bit Rate of pumps are
different.
Set the CAN Bit Rate of all pumps to the
same rate other than Auto.
Node address matches
existing pump or device on
the CAN network.
The node address for each pump must
be unique. Connect the pump to the
software by itself and change the node
address (see Section 4.11.6).
Node address exceeds the
Total Nodes
Increase the Total Nodes to include all
Node addresses of daisy-chained pumps
(see Section 4.6.1).
Unable to save RS-232 COM
Port
Not running as Windows
administrator. The default
COM port for startup is saved
in the registry and requires
administrator privileges to
save.
Run as an administrator and set the
COM port. After exiting the software,
the COM port will be saved. You may
resume running as a non-administrator.
Communications Error Nodes not properly set. Set each pump’s node addresses
individually to different values (see
Section 4.11.6).
Node address matches
existing pump or device on
the CAN network.
The node address for each pump must
be unique. Connect the pump to the
software by itself and change the node
address (see Section 4.11.6).
Node address exceeds the
Total Nodes
Increase the Total Nodes to include all
Node addresses of daisy-chained pumps
(see Section 4.6.1).
CAN terminating resistors not
removed from daisy chained
pumps, or CAN terminating
resistors not installed in end
of chain pumps.
Remove and place CAN terminating
resistors in appropriate pumps (See
Section 2.3.1)
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 180
Problem Cause Solution
Intermittent operation Corruption of firmware
memory after connecting
pumps with the same node
address.
See Section 4.11.3 to reset pump
parameters after memory corruption.
Error history is not saved Security privileges on the
C:\SSP folder are set to read-
only for non-administrative
user.
Run as an administrator and change the
security privileges on the C:\SSP folder.
You may resume running as a non-
administrator.
System Log does not
update
Security privileges on the
C:\SSP folder are set to read-
only for non-administrative
user.
Run as an administrator and change the
security privileges on the C:\SSP folder.
You may resume running as a non-
administrator.
Unable to Home Syringe homing force set too
low.
Set the syringe homing force
appropriately (see Section 4.5.1).
Syringe not mounted
properly.
The syringe plunger end not seated
properly with mounting screw. Align
the plunger groove with the plunger
mounting screw (see Section 2.2.5).
Syringe length not compatible
with pump preventing the
plunger to physically home
completely.
Utilize a recommended syringe barrel
type (see Section 11.3.2) or add a
sealing/spacing washer to the barrel
sealing surface.
Clog in fluidics system. Follow preventive maintenance
guidelines (see Section 9.2). Remove
any clogs from tubing or syringe.
Back-flush the syringe pump valve
manually with a syringe connected to
the N/C port. Make sure the Common
and N/O ports are open for flushing.
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Problem Cause Solution
Home offset set too high and
preventing plunger from
reaching desired physical
home position.
Adjust the home offset to appropriate
amount (see Section 4.9.1). This can be
done by reducing the home offset
incrementally until the desired physical
home offset is obtained.
Pump does not home in
correct position
Home offset set too high and
preventing plunger from
reaching desired physical
home position.
Adjust the home offset to appropriate
amount (see Section 4.9.1). This can be
done by reducing the home offset
incrementally until the desired physical
home offset is obtained.
Syringe length not compatible
with pump preventing the
plunger to physically home
completely.
Utilize a recommended syringe barrel
type (see Section 11.3.2) or add a
sealing/spacing washer to the barrel
sealing surface.
Syringe homing force set too
low.
Set the syringe homing force
appropriately (see Section 4.5.1).
Following error Syringe plunger material
exhibits higher frictional
force.
With some plunger materials, the
plunger tip may need to be cleaned with
Isopropyl alcohol after a number of
cycles. Some plunger materials wear to
excessive friction levels and must be
replaced. If the syringe plunger is not
worn, the current limits may be
increased (see Section 4.11.2).
Syringe mounted improperly
or loose.
If the syringe is improperly mounted,
irregular drive forces will result in
Following Errors. Re-mount syringe
properly (see Section 2.2.4).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 182
Problem Cause Solution
Overpressure due to
application
Syringe speed set too high for the
application. Flow generating excessive
backpressure (see Section 2.2.9).
Reduce flow rate or increase application
tubing bore size, or reduce application
fluid viscosity if possible.
Pump Binding Pump is homed in the wrong
position.
See section 4.9.3 to unbind the pump
using the Smart Syringe Pump software.
See section 5.5.2.26 to unbind the
pump using the Smart Syringe Pump
library.
Plunger moved beyond the
end of travel.
Valve clog High particulate in application
chemicals
Adequately filter solutions (see Section
2.2.8) and/or clean pump at a higher
frequency (see Section 9.1)
Follow preventive maintenance
guidelines (see Section 9.2). Remove
any clogs from tubing or syringe.
Replace valve and/or manifold if clog
persists (see Section 9.2).
Fluid leak from syringe Syringe barrel use in excess of
expected life or is defective.
Replace syringe barrel (see Section
2.2.5).
Overpressure due to
application
Syringe speed set too high for the
application. Flow generating excessive
backpressure (see Section 2.2.9).
Reduce flow rate or increase application
tubing bore size, or reduce application
fluid viscosity if possible.
Syringe mounted improperly
or loose.
Re-mount syringe properly (see Section
2.2.5).
Clog in fluidics system. Follow preventive maintenance
guidelines (see Section 9.1). Remove
any clogs from tubing or syringe.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 183
Problem Cause Solution
Back-flush the syringe pump valve
manually with a syringe connected to
the N/C port. Make sure the Common
and N/O ports are open for flushing.
Fluid leak from manifold Overpressure due to
application
Syringe speed set too high for the
application. Flow generating excessive
backpressure (see Section 2.2.9).
Reduce flow rate or increase application
tubing bore size, or reduce application
fluid viscosity if possible.
Clog in fluidics system. Follow preventive maintenance
guidelines (see Section 9.1). Remove
any clogs from tubing or syringe.
Application fluids being
processed below freezing
point causing fluid path
occlusion.
Increase fluid temperatures to normal
operating condition specification (see
Section 12.1.6).
Fittings and or fitting ferrules
not installed properly.
Install ferrule properly and confirm
fitting is tight (see Section 2.2.7).
Replace ferrule. For applications
utilizing flanged tubing, check flange
quality or replace tubing.
Does not prime Application operating beyond
pump specification.
Application vacuum level too high or
input tubing too restrictive (see Section
12.1.1).
Inadequate priming cycles.
Increase the number of priming cycles.
Priming optimization can be done
through the SSP software (see Section
4.5.5).
Inadequate priming speed. Increase priming cycle syringe plunger
speed and acceleration/deceleration
speeds.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 184
Problem Cause Solution
Loose syringe or fittings. Tighten syringe seal and fittings.
Damaged seal at syringe
and/or fitting manifold
interface.
Replace syringe and/or fittings and
tubing.
Damaged manifold fitting
port seals.
Replace manifold (see Section 9.2).
Clog in fluidics system. Follow preventive maintenance
guidelines (see Section 9.1). Remove
any clogs from tubing or syringe.
In-line filter used If in-line filter is utilized, the mesh
size/surface area could challenge
priming and should be increased if
possible. In-line filtration on the inlet
side of the SSP may present natural
priming challenges due to restriction
and intermittent bubble release into the
syringe and application fluidics.
Supply reservoir is sealed and
not vented properly. As fluid
is evacuated, excessive
vacuum is generated.
Vent the supply reservoir.
Air in syringe barrel Syringe selected is naturally
difficult to prime from a dry
state.
Manually prime the syringe prior to
installation. Pre-fill the syringe barrel
with the plunger removed and installing
the plunger in a fully filled barrel.
Inadequate priming cycles. Increase the number of priming cycles.
Priming optimization can be done
through the SSP software (see Section
4.5.5).
Inadequate priming speed. Increase priming cycle syringe plunger
speed and acceleration/deceleration
speeds.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 185
Problem Cause Solution
Excessive application vacuum
levels during priming
aspiration.
Decrease vacuum levels if possible by
increasing input tubing bore size or
decreasing length. Assure tubing is not
occluded or pinched.
Air propagates in syringe or
application tubing over time
due to naturally gaseous fluid
use.
Degas fluids and/or incorporate an
automatic periodic prime cycle to keep
fluids moving to reduce air propagation.
Fluid system leaks. Check all system fittings and seals and
correct any leaks.
Syringe barrel use in excess of
expected life or is defective.
Replace syringe barrel (see Section
2.2.5).
Does not dispense
accurately or precisely
Inadequate dwell time
between aspirate and
dispense due to restrictive
tubing or high viscosity.
Increase the tubing inner diameter if
possible. Decrease the aspiration speed.
Increase the dwell time between
aspirate and dispense strokes.
Calibration factor incorrect
causing accuracy issues.
Reset calibration the default value (see
Section 8.3).
Air in syringe barrel. Refer to “Air in syringe barrel” problem
above.
System not primed
adequately.
Refer to “Does not prime” problem
above.
Home Offset set too low. If
the Home Offset value is too
low, the plunger will contact
at the end of stroke and
decrease expected dispense
volumes.
Increase the home offset in the Homing
tab (see Section 8.1.3).
Fluid leaks. Refer to fluid leak from syringe and
manifold problems above.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 186
Problem Cause Solution
Syringe not installed properly. Re-mount syringe properly (see Section
2.2.5). Make sure the Syringe Plunger is
placed and locked securely in the
Plunger Button Saddle (see Figure 2.10)
Supply reservoir position. Reposition the supply reservoir closer to
a level position with reference to the
syringe pump fluidics.
Supply reservoir is sealed and
not vented properly. As fluid
is evacuated, excessive
vacuum is generated.
Vent the supply reservoir.
Retaining screw locking nut
missing or not used properly.
Make sure to loosen the locking nut
completely prior to tightening the
plunger retaining screw (see Figure 2.9).
After tightening the retaining screw,
tighten the locking nut onto the plunger
clasp.
Pump squeaks during
actuation
Actuator requires servicing. Contact Parker Applications Engineering
(see Section 11.1).
Current levels higher than
normal
Overpressure due to
application tubing pinched
clogged.
Service tubing.
Syringe use in excess of
expected life or is defective.
Some syringe plunger
materials increase in frictional
characteristics over time/use.
Replace syringe (see Section 2.2.5).
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 187
Problem Cause Solution
Dry/new syringe. Some
syringe barrel plungers
require being “wetted” prior
to installing into the syringe
barrel to prevent damage and
decrease friction.
Manually prime the syringe prior to
installation. Wet the plunger tip and
pre-fill the syringe barrel with the
plunger removed and installing the
wetted plunger in a fully filled barrel.
Manually cycle the new barrel a few
times for initial break-in to reduce
friction.
Fluid viscosity increased or
application tubing bore
decreased.
Confirm pressure via fluid pressure
calculator (see Section 4.10).
Backlash higher than
normal
Syringe mounted improperly
or loose.
Re-mount syringe properly (see Section
2.2.5).
Defective syringe plunger tip. Replace syringe.
Retaining screw locking nut
missing or not used properly.
Make sure to loosen the locking nut
completely prior to tightening the
plunger retaining screw (see Figure 2.9).
After tightening the retaining screw,
tighten the locking nut onto the plunger
clasp.
10.2 Pump Status Indicator LED
The Smart Syringe Pump state can be monitored by the LED on the front surface of the drive
body (see Figure 1.1). When the Smart Syringe Pump is powered, the LED will always be lit.
Table 10-2 lists the LED indicator states.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 188
Table 10-2 LED Indicator states
LED Color LED State Smart Syringe Pump State
Green Blinking The Smart Syringe Pump is in a disabled state
with no hardware errors. This state occurs
when the Smart Syringe Pump software or
library is not connected to the pump.
Green Solid The Smart Syringe Pump is in an enabled state
with no hardware errors. This state occurs
when the Smart Syringe Pump software or
library is connected to the pump during normal
operation.
Red Solid The Smart Syringe Pump is in a disabled state
with hardware errors. The error must be
cleared before resuming operation. See
Section 5.4.3 for information on Error Handling.
When the Smart Syringe Pump is first powered
on, the LED may be red due to CAN passive
mode error if the pump is not attached to a
CAN network. This is a normal condition and is
cleared once the Smart Syringe Pump software
or library connects to the pump.
10.3 Smart Syringe Pump Error Messages
Table 10-3 lists the error messages generated by the Smart Syringe Pump software and library.
See Section 5.4.3 for information on Error Handling.
Table 10-3 Smart Syringe Pump Software Error Messages
Error Code Name Cause
0x1000 Generic Error Unspecified error occurred.
0x2310 Overcurrent Error Short circuit in motor winding.
Controller gains too high and/or deceleration too high. Damaged power stage.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 189
Error Code Name Cause
0x3210 Overvoltage In most cases this error occurs at deceleration, where the motor works as a generator and the energy flows from motor to power supply (resulting in an increased voltage).
0x3220 Undervoltage Supply voltage is too low for operation.
Power supply cannot supply required acceleration current.
0x4210 Overtemperature Temperature at device’s power stage too high.
0x5113 Supply Voltage (+5V) Too Low Overload on internally generated 5 V supply at Hall sensor connector or encoder connector.
0x5114 Supply Voltage Output Stage Too Low
Power supply of power stage too low.
Power stage enable input is not activated while device is enabled.
0x6100 Internal Software Error Internal software error occurred.
0x6320 Software Parameter Error Target Position too high with Profile Velocity too low.
0x7320 Sensor Position Error Detected position of position sensor is no longer valid due to:
changed Position Sensor Parameters
wrong Position Sensor Parameters
other errors that influence the absolute position detection (such as Hall Sensor Error, Encoder Index Error)
0x8110 CAN Overrun Error (Objects lost) One of the CAN mail boxes experienced an overflow caused by too high communication rate.
0x8111 CAN Overrun Error Execution of CAN communication had an overrun caused by too high communication rate.
0x8120 CAN Passive Mode Error Device changed to CAN passive Mode due to…
CAN baud rate of one CAN node in network wrong
CAN network not connected
hardware wiring of CAN bus not correct
This error is normal on startup when there are no other CAN devices on the network.
0x8130 CAN Life Guard Error CANopen Life Guarding Procedure has failed. Life
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 190
Error Code Name Cause
Guarding will be disabled if Guard Time = 0.
0x8150 CAN Transmit COB-ID Collision Possibly, another CAN node has configured the same transmit PDO COB-ID. Device has received a bad transmit PDO request (valid COB-ID without RTR bit set).
0x81FD CAN Bus Off CAN Controller has entered CAN bus off state.
0x81FE CAN Rx Queue Overrun One of the CAN receive queues had an overrun caused by too high communication rate.
0x81FF CAN Tx Queue Overrun One of the CAN transmit queues had an overrun caused by too high
communication rate due to
load on CAN bus too high
event-triggered PDOs defined with too small inhibit time
PDO communication configured too high (synchronous) for actual cycle
time
CAN bus inactive but heartbeat producer enabled
0x8210 CAN PDO Length Error Received PDO was not processed due to length error (too short).
0x8611 Following Error Difference between Position Demand Value and Position Actual Value higher then Maximal Following Error.
The pump is unable to get to the target position. Often caused by clogs, overpressure or high friction syringe barrels.
0xFF01 Hall Sensor Error Motor Hall sensors report an impossible signal combination due to:
incorrect wiring of Hall sensors
incorrect wiring of Hall sensor supply voltage
damaged Hall sensors
big Hall sensor signal noise
0xFF02 Index Processing Error Encoder index signal was not found within two turns at start-up due to:
incorrect wiring of encoder cables
encoder without or with none working index
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 191
Error Code Name Cause
channel
wrong sensor type
setting for encoder resolution too low
Too many encoder index pulses were detected at unexpected positions due to:
big encoder signal noise
input frequency of encoder signals too high
0xFF03 Encoder Resolution Error Encoder pulses counted between the first two index pulses does not fit to resolution. Setting of encoder resolution is wrong.
0xFF04 Hall Sensor not Found Error No Hall sensor 3 edge found within first motor turn due to:
wrong wiring of Hall sensors
defective Hall sensors
setting for encoder resolution too low
0xFF06 Negative Limit Error Negative limit switch was/is active.
Wrong configuration of limit switch function in Digital Input Functionalities.
0xFF07 Positive Limit Error Positive limit switch was/is active.
Wrong configuration of limit switch function in Digital Input Functionalities.
0xFF08 Hall Angle Detection Error Angle difference measured between encoder and Hall sensors is too high due to:
wrong wiring of Hall sensors
defective Hall sensors
wrong wiring of encoder
defective encoder
wrong setting of encoder resolution or pole pairs
0xFF09 Software Position Limit Error Movement commanded or actual position runs out of software position limit.
0xFF0A Position Sensor Breach Position sensor supervision has detected a bad working condition due to:
wrong/broken wiring of encoder
defective encoder
regulation parameter are not well tuned
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 192
Error Code Name Cause
0xFF0B System Overloaded Device has not enough free resources to process new target value.
0xFF0C Interpolated Position Mode Error Fatal error during IPM execution. For detailed error cause see Interpolation Buffer.
0xFF0D Auto Tuning Identification Error Error during identification process of Auto Tuning.
0xFF0F Gear Scaling Factor Error Product of gear ratio and sensor resolutions ratio is out of range.
0xFF10 Controller Gain Error Control function not possible due to controller gains of zero.
0xFF11 Main Sensor Direction Error Position sensor supervision has detected a turn away of the motor in the opposite direction due to:
wrong setting of sensor polarity
wrong position sensor wiring
wrong motor wiring
0xFF12 Auxiliary Sensor Direction Error Position sensor supervision has detected a turn away of the motor in the opposite direction due to:
wrong setting of auxiliary sensor polarity
wrong position auxiliary sensor wiring
wrong motor wiring
0x05030000 Toggle Error Toggle bit not alternated
0x05040000 SDO Time Out SDO protocol timed out
0x05040001 Client / Server Specifier Error Client/server command specifier not valid or unknown
0x05040005 Out of Memory Error Out of memory
0x06010000 Access Error Unsupported access to an object
0x06010001 Write Only Read command to a write only object
0x06010002 Read Only Write command to a read only object
0x06020000 Object Does not Exist Error Last read or write command had wrong object index or subindex
0x06040041 PDO Mapping Error Object is not mappable to the PDO
0x06040042 PDO Length Error Number and length of objects to be mapped would exceed PDO length
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 193
Error Code Name Cause
0x06040043 General Parameter Error General parameter incompatibility
0x06040047 General Intern Incompatibility Error
General internal incompatibility in device
0x06060000 Hardware Error Access failed due to hardware error
0x06070010 Service Parameter Error Data type does not match, length of service parameter does not match
0x06070012 Service Parameter Too Long Error Data type does not match, length of service parameter too high
0x06070013 Service Parameter Too Short Error
Data type does not match, length of service parameter too low
0x06090011 Object Sub-Index Error Last read or write command had wrong object subindex
0x06090030 Value Range Error Value range of parameter exceeded
0x06090031 Value too high Error Value of parameter written too high
0x06090032 Value too low Error Value of parameter written too low
0x06090036 Maximum less Minimum Error Maximum value is less than minimum value
0x08000000 General Error General error
0x08000020 Transfer or store Error Data cannot be transferred or stored
0x08000021 Local Control Error Data cannot be transferred or stored to application because of local control
0x08000022 Wrong Device State Data cannot be transferred or stored to application because of present device state
0x0F00FFC0 Wrong NMT State Error Device is in wrong NMT state
0x0F00FFBF Illegal Command Error RS232 command is illegal (does not exist)
0x0F00FFBE Password Error Password is incorrect
0x0F00FFBC Error Service Mode Device is not in service mode
0x0F00FFB0 Error CAN ID Wrong CAN ID
0x10000001 Internal Error Internal Error
0x10000002 Null Pointer Null Pointer passed to function
0x10000003 Handle not Valid Handle passed to function is not valid
0x10000004 Bad Virtual Device Name Virtual Device name is not valid
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 194
Error Code Name Cause
0x10000005 Bad Device Name Device name is not valid
0x10000006 Bad ProtocolStack Name ProtocolStack name is not valid
0x10000007 Bad Interface Name Interface name is not valid
0x10000008 Bad Port Name Port is not valid
0x10000009 Library not Loaded Could not load external library
0x1000000A Executing Command Command failed
0x1000000B Timeout Timeout occurred during execution
0x1000000C Bad Parameter Bad parameter passed to function
0x1000000D Command Aborted by User Command aborted by user
0x20000001 Opening Interface Error opening interface
0x20000002 Closing Interface Error closing interface
0x20000003 Interface not Open Interface is not open
0x20000004 Opening Port Error opening port
0x20000005 Closing Port Error closing port
0x20000006 Port not Open Port is not open
0x20000007 Reset Port Error resetting port
0x20000008 Set Port Settings Error configuring port settings
0x20000009 Set Port Mode Error configuring port mode
0x21000001 Write Data RS232 Error writing data
0x21000002 Read Data RS232 Error reading data
0x22000001 Receive CAN Frame Error receiving CAN frame
0x22000002 Transmit CAN Frame Error transmitting CAN frame
0x31000001 NegAckReceived RS232 Negative acknowledgment received
0x31000002 BadCrcReceived RS232 Bad checksum received – Often received before communications is lost.
0x31000003 BadDataSizeReceived RS232 Bad data size received – Often received before communications is lost.
0x32000001 SdoReceiveFrameNotReceived CAN frame of SDO protocol not received
0x32000002 RequestedCanFrameNotReceived Requested CAN frame not received
0x32000003 CanFrameNotReceived CAN frame not received
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 195
Chapter 11 Ordering Information
11.1 Contact Information
The Parker Precision Fluidics Division is committed to providing premier customer service.
For ordering the Smart Syringe Pump or replacement parts and/or accessories, please contact
Parker Precision Fluidics Division, Customer Service Department.
Parker Hannifin Corporation Precision Fluidics Division 26 Clinton Drive Unit 103 Hollis, NH 03049 USA
Phone: 603-595-1500 Toll Free: 800-525-2857 Facsimile: 603-595-8080 or 603-880-7961
For technical assistance or support please contact the Applications Engineering Department.
Phone: 603-595-1500 Toll Free: 800-525-2857 Facsimile: 603-595-8080 or 603-880-7961 [email protected] www.parker.com/precisionfluidics
11.2 Available Configurations
Table 11-1 Available Configurations
Part Number Description
401-101111-000 Smart Syringe Pump with ULTEM® Manifold and 3 Way, Kalrez®
Chemical Isolation Valve
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 196
11.3 Accessories
Warning: Do not use accessories that are not supplied or recommended by Parker Precision
Fluidics Division. Accessories that are not supplied or recommended in this guide may result in
personal injury or affect the performance of the Smart Syringe Pump.
11.3.1 Syringe Barrels
The syringe barrels provided by Parker Precision Fluidics Division are listed in Table 11-2.
Table 11-2 Syringe Barrel Accessories
Part Number Syringe Barrel
990-000452-001 50 µL PTFE
990-000452-002 100 µL PTFE
990-000452-003 250 µL PTFE
990-000452-004 500 µL PTFE
990-000452-005 1 mL PTFE
11.3.2 Compatible Syringe Barrels
The syringe barrels compatible with the Smart Syringe Pump are listed in Table 11-3.
Table 11-3 Compatible Syringe Barrels
Syringe Barrel TriContinent™
Part Number
CAVRO®
Part Number
50 µL PTFE 10080 20725676
100 µL PTFE 10081 20725682
250 µL PTFE 10082 20725589
500 µL PTFE 10083 30045438
1 mL PTFE 10084 20725591
50 µL UHMWPE 10070 N/A
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 197
100 µL UHMWPE 10071 N/A
250 µL UHMWPE 10072 N/A
500 µL UHMWPE 10073 N/A
1 mL UHMWPE 10074 N/A
11.3.3 Accessories and Replacement Parts List
Table 11-4 Accessories and Replacement Parts and List
Part Number Type Description
590-000111-001 Accessory Cable, Smart Syringe Pump
190-006055-004 &
191-000115-001
Accessory P Clamp with Screw for Tubing
890-001099-001 Accessory Probe Tip, Sized for 100µL Syringe Barrel
790-007025-001 Accessory Smart Syringe Pump Software
290-004098-001 Replacement Part Valve, 3-way, Kalrez®, Chemical Isolation
191-000264-001 &
193-000029-001
Replacement Part Clasp Screw with Locking Nut
890-001087-001 Replacement Part Manifold, ULTEM®
694-000204-001 Replacement Part EPOS2™ PCB
694-000209-001 Replacement Part Smart Syringe Pump PCB
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 198
Chapter 12 Appendix
12.1 Performance Specifications
12.1.1 Fluidic
Syringe volumes: 50 L, 100 L, 250 L, 500 L and 1000 L Accuracy: ± 1% at 100% full stroke volume ± 2% at 10% full stroke volume Precision (CV%): ≤ 0.1% at 100% full stroke volume ≤ 0.5% at 10% full stroke volume Pressure Limit: 29 psig Vacuum Limit: 8 Inches of Mercury
Internal Volume: Common to normally open flow path 46 µL
Common to normally closed flow path 43 µL Un-swept Volume: 6 µL
Priming Capability: The system is capable of priming (dry to wet) from a vertical 3
foot head height using 0.062” ID tubing
Viscosity Range: 0.33 cP to 2.5 cP
12.1.2 Mechanical
Travel (Stroke): 30 mm Actuator Speeds: Max Speed: Equivalent to 1000 µL/sec (based on a 1000µl
syringe size and deionized water)
Min Speed: Equivalent to 7.5 nL/sec (based on a 50µl syringe size and deionized water)
Settable position resolution: 228,495 increments per 30 mm of travel
Settable flow rate resolution: 7.5 nL/second with a 50 µL Syringe Actuator Backlash: <1% per 30 mm of travel
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 199
Valve Response Time: <50 msec (energize) <75 msec (de-energize) Port Interfaces: Common Port: ¼”x28 Flat-Bottom
Normally Open Port: ¼”x28 Flat-Bottom
Normally Closed Port: ¼”x28 Flat-Bottom
12.1.3 Reliability
Ambient Temperature & Humidity Reliability 0.85 for 5,000,000 cycles with 80%
Confidence Level.
Low Temperature (15° C, 28% RH) Reliability 0.85 for 500,000 cycles with 80%
Confidence Level
High Temperature (40 °C, 90% RH) Reliability 0.85 for 500,000 cycles with 80%
Confidence Level
Pierce (45 N) 5,000,000 cycles
Syringe Barrel (100 µL PTFE) Reliability 0.99 for 140,000 cycles with 80%
Confidence Level
12.1.4 Electrical
Power Supply: 24VDC ± 5%
1 Amp minimum, 4 Amps maximum
Nominal Current: < 0.5 Amp
12.1.5 Communications
Protocols: RS-232 or CAN Bus Baud/Bit Rates: 9,600, 14,400, 19,200, 38,400, 57,600 and 115,200
(RS232) 20K, 50K, 125K, 250K, 500K, 800K and 1M bits per second (CAN)
Latency: < 100 msec for 1 pump
< 500 msec for up to 8 pumps (synchronous commands) Format: Data Bits: 8 Parity: None
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 200
Stop Bits: 1, Half Duplex Addressing (Daisy Chain) Up to 127 individually addressable pumps (CAN) Cable Length (Max): 2.1 m (RS232) 2.1 m (CAN) Programming Language: Standard and Smart Syringe Pump Scripting Language
.NET Smart Syringe Pump Library Maxon Motor EPOS2™ Programming Protocol
12.1.6 Environmental
Altitude: Operating: Up to 2000 meters Transport and Storage: Up to 15000 meters
Temperature: Operating: 15⁰ C to 40⁰ C
Transport and Storage: -20⁰ C to 70⁰ C
Humidity: Operating: 28% to 90% Relative Humidity (non-condensing)
Transport and Storage: 30% to 95% Relative Humidity (non-condensing)
Ingress Protection: IP00 Environmental conditions: Indoor use only
12.1.7 Operating Shock and Vibration
Shock: 20 G peak, 11 msec pulse, 6 directions
Vibration: 0.1 G, 5 to 500 Hz swept-sine
12.1.8 Physical Characteristics
Size: Length: 6.35” (161.3 mm) Width: 0.69” (17.5 mm) Height: 4.08” (103.6 mm) Weight: 367 grams (without syringe barrel/plunger installed)
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 201
12.1.9 Regulatory Compliance
EMC: FCC Part 15 Subpart B, Class B EMC Directive (2004/108/EC)
EN 61326-1:2006
Safety: IEC 61010-2-101 (design review only) Hazardous Materials RoHS Directive (2002/95/EC)
12.1.10 Chemical Compatibility
The wetted components of the Smart Syringe Pump are listed below:
Valve Diaphragm: Perfluoroelastomer (FFKM Kalrez®)
Valve Body: Polyether ether ketone (PEEK)
Valve Manifold Gasket: Perfluoroelastomer (FFKM Kalrez®)
Manifold: Polyetherimide (ULTEM® 1000)
The wetted components of the Smart Syringe Pump are compatible with chemicals in
Table 12-1.
Table 12-1 Chemical Compatibility
Valve Diaphragm Other Wetted Materials
Chemical Kalrez® PEEK Ultem®
DI Water 1 1 1
Methanol 1 1 1
Isopropanol 1 1 1
Ethanol 1 1 1
Acetonitrile 1 1 4
Tetrahydrofuran 1 1 1
Formic Acid 0.15% v/v
1 2 1
Acetic Acid 3% pH 3.6
1 1 1
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 202
Bases - Dilute 1 1 1
Buffer solutions 100 to 300 mMolar with pH range of 3 to 9
1 1 1
Saline 1-2 1 1
Bleach 12% 2 1-2 4
Sodium Hydroxide 20% 1 1 4
Rating Scale:
1 Excellent Minimal or no effect
2 Good Possible swelling and/or loss of physical properties
3 Doubtful Moderate or severe swelling and loss of physical properties
4 Not Recommended Severe effect and should not be considered
Warning: Do not use flammable, corrosive or poisonous substances with the Smart
Syringe Pump.
Warning: Chemicals listed may pose an explosive or fire hazard. Use suitable guards
and/or personal protective equipment when handling chemicals.
Warning: Chemicals listed may be toxic. Use suitable guards and/or personal
protective equipment when handling chemicals.
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 203
12.2 Outline Drawing
Figure 12.1 Outline Drawing
12.3 Calculations
12.3.1 Pressure Calculation
The following formula can be used to calculate the pressure drop in tubing for a given
flow rate, tubing length and bore size, and viscosity. This calculation should be used as a
guide for tubing selection to limit pressure at the Smart Syringe Pump.
Where:
is the pressure drop in psi
is Flow Rate in µL/sec
is Length of tubing in inches
is Viscosity in cP (enter 1 for water)
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 204
is inner diameter of tubing in inches
For example, water at 500 µL/sec with 36” of 0.030” ID tubing produces a backpressure
of 8 psi.
= 500 µL/sec
= 36 inch
= .030 inch
However, if the tubing ID is 0.020”, the backpressure produced is 40.57 psi, which
exceeds the pressure rating of the Smart Syringe Pump.
See Section 4.10 for information on using the Pressure Calculator provided with the
Smart Syringe Pump Software.
12.3.2 Move Time Calculations
To determine the move time of a plunger stroke, the acceleration and deceleration
values must be used in conjunction with the speed setting. The speed set in the Smart
Syringe Software is the maximum speed used during the stroke. The following constant
is used to calculate the travel time according to the maximum speed, acceleration and
deceleration selected.
Speed of full volume stroke in 1 sec = 6694 rpm
The following symbols are used to calculate the move time:
A = Acceleration in rpm/second
AV = Acceleration in microliter/second squared (µL/sec2)
D = Deceleration in rpm/second
DV = Deceleration in microliter/second squared (µL/sec2)
S = Max speed in rpm
SV = Max speed in microliters per second
T = Total Move time in seconds
TA = Acceleration time in seconds
TD = Deceleration time in seconds
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 205
TS = Max speed time in seconds
V = Dispense volume in microliters
VA = Acceleration volume in microliters
VD = Deceleration volume in microliters
VS = Max speed volume in microliters
Move Time Example with Max Speed:
In this example, the Smart Syringe Pump using a 100 µL syringe is set to the following
volume, speed, acceleration and deceleration values:
Dispense volume (V) = 100 µL
Max Speed (SV) = 90 µL/sec
Max Speed (S) = 90 µL/sec * (6694 rpm / 100 µL/sec) = 6025 rpm
Acceleration (A) = 20,000 rpm/sec
Deceleration (D) = 40,000 rpm/sec
The speed profile for these settings is shown in Figure 12.2.
Figure 12.2 Speed Profile Example with Max Speed
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 206
To calculate the total time of a stroke (T), you must first determine the times for
acceleration and deceleration (sections VA and VD of the speed profile).
The area under the Speed Profile curve represents the volume dispensed. The sum of all
the section areas VA, VD, and VS equals the dispense volume (V). To calculate the time
that pump operates at full speed, the volumes dispensed during acceleration and
deceleration are first calculated.
The volume dispensed at max speed (VS) can be calculated by subtracting the volumes
dispensed during acceleration and deceleration from the total dispense volume (V).
VS = V – VA – VD
VS = 100 µL – 13.5 µL – 6.80 µL = 79.7 µL
The time at max speed (TS) and total move time (T) can now be calculated.
T = TA + TD + TS
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 207
T = 0.301 sec + 0.151 sec + 0.886 sec = 1.338 sec
Move Time Example without Max Speed:
In this example, the Smart Syringe Pump using a 100 µL syringe is set to the following
volume, speed, acceleration and deceleration values:
Dispense volume (V) = 100 µL
Max Speed (SV) = 50 µL/sec
Acceleration (A) = 1,000 rpm/sec
Deceleration (D) = 2,000 rpm/sec
The speed profile for these settings is shown in Figure 12.3.
Figure 12.3 Speed Profile Example without Max Speed
The acceleration and deceleration in volume units (µL/sec2) are converted below:
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 208
In this case, the acceleration and deceleration values are set below the level needed for
the pump to reach max speed. The actual max speed must be calculated to determine
the move time.
(
)
√
√
The acceleration time (TA), deceleration time (TD) and total move time (T) can now be
calculated.
T = TA + TD
Smart Syringe Pump User’s Manual, Doc. # MAN-000008-001, Rev. A Page 209
T = 2.98 sec + 1.49 sec = 4.47 sec
About Parker Precision Fluidics Division
The Precision Fluidics Division of Parker Hannifin is a leading supplier of miniature
fluidic components and system solutions integral to the world’s medical and
analytical instrumentation. Product technologies include pneumatic and
chemically inert isolation valves, diaphragm pumps, syringe pumps, electronic
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For more information, visit http://www.parker.com/precisionfluidics
Parker Hannifin Corporation
Precision Fluidics Division
26 Clinton Drive
Hollis, NH 03049
Phone: 603 595 1500
Fax: 603 595 8080
E-mail: [email protected]
www.parker.com/precisionfluidics