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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

©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.


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


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


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


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


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


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


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


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


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


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


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


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)


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.


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


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)




IEC 61000-4-8:2009 Power Frequency

Magnetic Field

Immunity

30 A/m (50 Hz, 60 Hz)


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.


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%


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


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.



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.


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.


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


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


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).


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


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).


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


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


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.


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


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


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


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.


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


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


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


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


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.


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.


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).


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


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)


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


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.


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

http://www.ni.com/can

http://www.ixxat.de/

http://www.vector-informatik.de/

http://www.beckoff.de/

http://www.siemens.com/index.asp

http://www.helmholz.de/

http://www.vipa.de/


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.


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).


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).


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.


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).


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).


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.


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:


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.


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


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).


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


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).


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).


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.


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).


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.


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.


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.


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.


Figure 4.20 Smart Syringe Pump Queries

4.8 Diagnostics

The Diagnostics tab of the Smart Syringe Software is shown in Figure 4.21.


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



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.


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


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.


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


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.


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.


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


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.


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


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).


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.


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.


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.


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.


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.


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



Figure 4.38 RS-232 Baud Rate Power Cycle Prompt Window


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.


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.




Figure 4.40 CAN Bit Rate Power Cycle Prompt Window


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


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.


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.


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


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


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).


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


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.


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.


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.


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)


{ 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)



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



Returns:


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.


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)



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



Returns:


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.


volNL parameter is out of range.


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)


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.


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:


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:


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.


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.


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) {


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



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


public string AspirateVolNL(System.Collections.Generic.IList<ushort> nodes, uint

vol, bool wait, bool uLErrorUnits)

Summary:


Parameters:


vol: nL



Returns:


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:


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


public string DispenseVolNL(System.Collections.Generic.IList<ushort> nodes,

uint vol, bool wait, bool uLErrorUnits)

Summary:


Parameters:


vol: nL



Returns:


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:


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)


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:


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:


vol: nL



Returns:



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:



Returns:


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:


Set plunger speed in motor rpm

Parameters:


speedRpm: speed in rpm

Returns:


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:


speed: speed in µL/sec

Returns:


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:


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:



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:


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


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



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



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



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



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


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


Returns:


5.5.2.4 Aspirate Quadrature Counts

public string AspirateQc(int qc, bool wait)

Summary:

Aspirate relative move

Parameters:

qc: quadrature counts


Returns:


5.5.2.5 Aspirate Revolutions

public string AspirateRev(float rev, bool wait)


Summary:

Aspirate relative move

Parameters:

rev: revolutions


Returns:


5.5.2.6 Aspirate Volume in Nanoliters

public string AspirateVolNL(uint volNL, bool wait, bool uLErrorUnits)

Summary:


Parameters:

volNL: nL



Returns:


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


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:


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


Returns:


5.5.2.13 Dispense Quadrature Counts


public string DispenseQc(int qc, bool wait)

Summary:

Dispense relative move

Parameters:



Returns:


5.5.2.14 Dispense Revolutions

public string DispenseRev(float rev, bool wait)

Summary:

Dispense relative move

Parameters:

rev: revolutions


Returns:


5.5.2.15 Dispense Volume in Nanoliters

public string DispenseVolNL(uint volNL, bool wait, bool uLErrorUnits)

Summary:


Parameters:

volNL: nL



Returns:


5.5.2.16 Get Backlash Steps

public int GetBacklashSteps(Parker.SSPLib.ScriptPositionMode mode)

Summary:

Get backlash in steps


Parameters:


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:


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:


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()


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:



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


Returns:


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:


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:


steps: steps



Returns:


5.5.2.28 Move Absolute Quadrature Counts

public string MoveAbsoluteQc(int qc, bool wait)

Summary:

Move to absolute motor position

Parameters:



Returns:


5.5.2.29 Move Absolute Revolutions

public string MoveAbsoluteRev(float rev, bool wait)

Summary:

Move to absolute motor position

Parameters:

rev: revolutions


Returns:


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




Returns:


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:


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()


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:


5.5.2.40 Set Backlash Steps

public string SetBacklashSteps(int steps,

Parker.SSPLib.ScriptPositionMode mode)

Summary:

Set backlash in steps

Parameters:

steps: steps


Returns:



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:


5.5.2.42 Set Backlash in Quadrature Counts

public string SetBacklashQc(int newBacklash)

Summary:

Sets the backlash in qc

Parameters:

newBacklash: backlash

Returns:


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:


5.5.2.44 Set Home Offset Steps

public string SetHomeOffsetSteps(int steps,

Parker.SSPLib.ScriptPositionMode mode)

Summary:

Set home offset in steps


Parameters:

steps: steps


Returns:


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:


5.5.2.47 Set Deceleration

public string SetDeceleration(uint value)

Summary:

Set motor deceleration

Parameters:

value: rpm/sec

Returns:



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:


5.5.2.50 Set Homing Current

public string SetHomingCurrent(ushort currentThresholdMA)

Summary:

Set homing current threshold

Parameters:

currentThresholdMA: current threshold in mA

Returns:


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)


Summary:

Sets the node address, requires power cycle afterward

Parameters:

address: new address

Returns:


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:


5.5.2.56 Set Speed in Microliters per Second

public string SetSpeedULPerSec(float value, bool uLErrorUnits)


Summary:

Set plunger speed

Parameters:

value: µl/sec


Returns:


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:


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


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:


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


5.5.3 LimitValues

Table 5-6 lists the public properties for the LimitValues class.

Table 5-6 LimitValues Properties


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)



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)



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


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


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


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


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


Command

Syntax

Command

Style

Function


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


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).


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,


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,


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


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



Seconds / Stroke


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



Seconds / Stroke


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


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


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.


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


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.



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 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


SSP.



?18 or % Report number of Valve

movements since last report


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


?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


c <n> Cutoff Speed in pulses/sec The SSP ramps smoothly down to

stop. Cutoff speed normally only




d <n> Relative dispense not busy Same as D command, except that




between multiple dispense (D)

moves.

E Move valve to extra position Hardware not applicable

e <n> Execute non-volatile memory

program string


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




between multiple aspirate (P)

moves.

s <n> Load program string into non-

volatile memory


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



z Simulate plunger initiation This command sets the home

position wherever the plunger is and

is NOT recommended to use with

the SSP.


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


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.


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


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


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.


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


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.


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


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.


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.


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).


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


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)



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.


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


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





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






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





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


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.


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”.


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.


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)



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


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)


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


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.


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


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.


Phillips Head Screwdriver.



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


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.


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


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.


Phillips Head Screwdriver.



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



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


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).


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.


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.



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).


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).


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)



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.



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).



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



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








or loose.

Re-mount syringe properly (see Section

2.2.5).






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










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.



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).




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.



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


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.



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


Some syringe plunger

materials increase in frictional

characteristics over time/use.

Replace syringe (see Section 2.2.5).



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


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.


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.



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



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



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



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



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



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


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

mailto:[email protected]

http://www.parker.com/precisionfluidics


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





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


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


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


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)


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


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.


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)


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


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


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


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:


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


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

pressure controllers, manifolds, and sub-systems. We deliver fluidic solutions that

enhance the performance of our customers’ products, decreasing their time to

market while lowering overall costs. Parker achieves this by collaborating directly

with its customers to engineer reliable high -performance solutions optimized for

each specific application. When you partner with the Precision Fluidics Division of

Parker Hannifin, you gain the benefit of a single solution provider that can design,

prototype, and manufacture solutions. Parker Hannifin is the world’s leading

diversified manufacturer of motion and control technologies. This helps shorten

design and production cycles and provides the highest level of customer support.

Together, we can create more innovative medical devices so people get more out

of life. If you require the most efficient design, production, and delivery of

enabling technologies for medical devices, the answer is simple: Partner with

Parker. Parker provides complete solutions comprised of a broad range of

components.

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

http://www.parker.com/precisionfluidics

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