Sartorius rLine 5-200ul LS User manual

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Sartorius rLine
Technical User Manual
Includes rLine models:
rLine 1-ch 5-200ul LS
rLine 1-ch 50-1000ul LS
rLine 1-ch 100-5000ul

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Version history
Version
Date / Author
Reason
1.0
14.12.2017 / Mhe
Approved first version
1.1
04.04.2018 / Mhe
Added RBxxx command for new
firmwares

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1Contents
2INTRODUCTION........................................................................................................................... 5
3BASICS OF LIQUID HANDLING ...................................................................................................... 6
4RLINE TERMINOLOGY .................................................................................................................. 8
Step........................................................................................................................................8
Address...................................................................................................................................8
Position ..................................................................................................................................8
Drive cycle..............................................................................................................................9
Level sensing, LS.....................................................................................................................9
5TECHNICAL SPECIFICATIONS ...................................................................................................... 10
Liquid handling specifications..............................................................................................10
Aspirating and dispensing speeds ........................................................................................10
Repeatability ........................................................................................................................11
Mechanical...........................................................................................................................12
Electrical specifications........................................................................................................14
Serial communication ..........................................................................................................14
Cable connector ...................................................................................................................14
Liquid level detection (LS models only)................................................................................15
6MESSAGING AND INITIALIZATION.............................................................................................. 16
Non configurable settings....................................................................................................16
Messaging ............................................................................................................................17
Communicating with the module ........................................................................................18
Configuration commands.....................................................................................................19
Initialization commands.......................................................................................................20
Drive commands...................................................................................................................21
Status commands.................................................................................................................22
7ERROR HANDLING..................................................................................................................... 24
8MAINTENANCE ......................................................................................................................... 25
9TROUBLESHOOTING .................................................................................................................. 25

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10 PC SOFTWARE........................................................................................................................... 26
11 ORDER INFORMATION .............................................................................................................. 27

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2Introduction
Sartorius rLine is a unique liquid handling dispenser module designed for various liquid handling
automation applications.
All rLine models are extremely small and lightweight. They use disposable tips for zero carry-over and
thanks to novel electronic tip ejector the tip can be disposed anywhere –or even returned back for
reuse. The modules are fixed with 2 screws and require only the power supply and interface
connections for use.
The control of the operation is performed with ASCII-commands which contain both built-in pipetting
and dispensing commands as well as open piston movement control for special applications. The basic
software is common for all models with only the differing volumes requiring model-specific
parameters.
This manual is for the single channel rLine models 5-200ul LS, 50-1000ul LS and 100-5000ul.
Figure 1. rLine 1-ch 50-1000ul LS with tip

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3Basics of liquid handling
The liquid handling of the rLine module is based on the air displacement technique where a piston
movement creates a vacuum in the air chamber between the piston and the disposable tip thus
aspirating the fluid. Due to that air cushion certain standard procedures should be followed in order
to secure good performance.
Below are the descriptions of some general terms used in liquid handling. The lengths of the piston
movement, i.e. the number of steps run, for each operation varies from model to model.
Pipetting
The sample is drawn into the tip and dispensed out, optionally with a blow-out.
Multiple dispensing
An amount of fluid is drawn into the tip and several smaller aliquots of identical size are dispensed.
Due to the air cushion and mechanical characteristics of the pipette, typically a small amount of fluid
is also dispensed prior (Reset) and after (Residual) the actual aliquot dispensing.
Blow-out
The amount of air dispensed after the sample dispensing to ensure that all sample get out of the tip.
Optimally the travel between the Home and Zero position.
Lowest position
When resetting the module, it drives the piston all the way down to a mechanical stop of the
movement. This position is called lowest position. This is an internal position only, and can only be
used through RZ and RE commands.
Zero position
Zero position is the lowest point for all liquid handling operations. It is located just above the start of
the tip eject movement. Zero position is the reference point for all movement definitions; steps below
are marked as negative values and steps above it as positive values.
Tip eject movement
All rLine modules are provided with a unique electronic tip ejection. As the piston is driven downwards
from the Zero position to the lowest position, the tip ejector is activated thus removing the tip. After
the tip eject the piston is automatically returned to Zero position.
Home position
The aspiration of the fluid starts (usually) from the home position. Different modes and models have
different defined home positions for optimal performance.
Reset
A small amount of fluid is dispensed (Reset) in order to eliminate the mechanical play of the linear
actuator.

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Residual (Empty)
When the aliquots of the dispensing or reverse pipetting operations have been dispensed a small
amount of fluid is left in the tip (in order to ensure accurate dispensing of the last aliquot). The
removal of the fluid with a blowout is called Residual. Note: when using residual, it is recommended
to use a starting point below standard home position equal to the amount used as residual.
Air gap
When performing dilutions (both the sample and the diluents are aspirated into the tip and dispensed
together) a small air gap is recommended between the two samples in order to minimize the carryover.
Pull back
A short piston movement upwards in order to create a small air gap at the end of the tip. This is
recommended if rLine module is subjected to relatively high accelerations to avoid accidental dripping
of the fluid.

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4rLine terminology
Step
Piston movements are defined in steps for all rLine family modules. Positional control of the piston is
handled by detecting the angular movement of a 7-segment wheel (Figure 2). The number of steps is
converted to linear movement by the screw pitch. Table 1 illustrates the conversion between step and
volume in each rLine models.
Figure 2. 7-segment wheel
Address
The term address refers to the absolute position of the piston in steps as shown in Figure 3. Any
address within the operating range is reached with the command RP nnn , where nnn is the desired
position as an integer.
Position
Position is either a relative placement of the piston or a preprogrammed address. Table 1 illustrates
the home, max and tip eject positions of each rLine models.
Figure 3. Base addresses and positions for rLine 50-1000ul LS

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Table 1. Resolution and positions of each rLine models
Model
Volume / step
Home position
Max
position
Tip eject
position
rLine 1-ch 5-200ul LS
0,5 ul
30
443
-40
rLine 1-ch 50-1000ul LS
2,5 ul
30
443
-40
rLine 1-ch 100-5000ul
10 ul
30
580
-55
Drive cycle
Each end of a drive movement marks one drive cycle (from drive on to drive off). A tip eject counts
as one drive cycle also. Drive cycles are stored in permanent memory in rLine modules and can only
be reset during maintenance.
Level sensing, LS
Sartorius rLine models 5-200ul LS and 50-1000ul LS integrates capacitive liquid level detection
(cLLD) or another word, level sensing (LS). To use that feature, conductive tips must be used to
generate detection circuit capacitance change when tip is connected and tip is in touch with liquid.
Feature can be used in automation systems to automatically recognize tip presence and liquid levels
in specific applications.

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5Technical Specifications
Liquid handling specifications
Sartorius rLine liquid handling performance is defined using gravimetric testing with distilled water
performed in accordance with ISO 8655. Table 2 illustrates the performance of each rLine models.
Table 2. rLine performance in different test volumes
Model
Test
mode
Test
volume
Test
steps
Systematic Error
Random Error
(ul)
(%)
(ul)
(%)
(ul)
rLine 1-ch 5-200ul LS
P
200
400
1,00
2,00
0,25
0,50
P
100
200
0,80
0,80
0,25
0,25
P
20
40
2,00
0,40
1,00
0,20
P
5
10
4,00
0,20
2,00
0,10
d
10 x 20
40
2,00
0,40
2,00
0,40
rLine 1-ch 50-1000ul
LS
P
1000
401
0,45
4,50
0,15
1,50
P
500
201
0,60
3,00
0,20
1,00
P
100
41
2,00
2,00
0,50
0,50
P
50
21
4,00
2,00
1,00
0,50
d
10 x 100
40
2,50
2,50
2,00
2,00
rLine 1-ch 100-5000ul
P
5000
502
0,50
25,0
0,15
7,50
P
2500
252
0,70
17,5
0,20
5,00
P
500
52
1,60
8,00
0,40
2,00
P
100
11
8,00
8,00
2,00
2,00
d
10 x 500
50
2,40
12,00
2,40
12,00
Aspirating and dispensing speeds
There are 6 level aspiration and dispensing speed settings in rLine models. Table 3 shows the nominal
speeds of each rLine models using distilled water.
Table 3. rLine nominal dispensing and aspiration speeds
Speed setting
Speed steps / s
rLine 5-200 (ul/s)
rLine 50-1000 (ul/s)
rLine 100-5000 (ul/s)
1
60
31
150
550
2
106
52
265
1000
3
164
80
410
1500
4
260
115
650
2500
5
378
150
945
3650
6
448
190
1120
4350