Sartorius rLine 5-200ul LS User manual

1 APPROVED April 18
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

2 APPROVED April 18
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

3 APPROVED April 18
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

4 APPROVED April 18
10 PC SOFTWARE........................................................................................................................... 26
11 ORDER INFORMATION .............................................................................................................. 27

5 APPROVED April 18
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

6 APPROVED April 18
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.

7 APPROVED April 18
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.

8 APPROVED April 18
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

9 APPROVED April 18
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.

10 APPROVED April 18
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

11 APPROVED April 18
Repeatability
Mechanical and physical variables of the rLine module, air, liquid, tip used and environment will
cause small variations in both the amount of liquid aspirated and time taken. Illustrated typical
drive profiles are shown in Figure 4.
Figure 4. Typical drive profiles in rLine 1-ch 5-200ul LS
Aspirate acceleration
Speed 6 aspirate braking
Dispense acceleration
Speed 6 dispense braking
1
2
3
4
5
6

12 APPROVED April 18
Mechanical
Mounting
The housing has two holes for two 4 mm mounting screws. Figures 5-6 illustrates the key
mechanical dimensions of the rLine models. The weight of the modules is approx. 140 g.
Figure 5. rLine models dimensions without tips
Figure 6. rLine models dimensions with tips

13 APPROVED April 18
Locating
There are two positioning holes (ø 2,01 ± 0,01 tolerance) as indicated in Figure 7. Another option for
locating is the precision machined groove at the bottom of the aluminum base.
Figure 7. rLine location guide dimensions
Tip pick up force
For the rLine models, it is recommended to use specific force to pick up a tip from the tray. The pickup
force must be directed along the module axis to avoid permanent damage to the module’s lower parts.
Table 4 shows the recommended tip pick up forces of each rLine models.
Table 4. Recommended tip pick up forces of each rLine models
Model
Tip pick up force (N)
rLine 1-ch 5-200ul LS
12-25
rLine 1-ch 50-1000ul LS
18-25
rLine 1-ch 100-5000ul
15-45
Maximum acceleration
Installed module can be subjected to accelerations up to 3 g .

14 APPROVED April 18
Electrical specifications
Operating voltage 9 -12 VDC
Required power supply min. 10 VA
Current consumption, idle < 100 mA
Average current consumption < 500 mA
Current consumption, peak 2 A
Communication protocols RS232
Connector Tyco 609-1427
Serial communication 9600-115200 kbps, 8, 1, none
Please notice following:
Electronics ground is not in contact with the housing. Both digital as well as analog parts share the
same common ground.
Serial communication
The rLine module is equipped with serial interface RS232. The interface is composed of Receive data
(RxD), Transmit Data (TxD) and signal ground (GND). A host, like a PC with RS232 interface (COM-
port) is communicating via these lines. The baud rate can be configured to any of the six options. 9.6
kbps, 19.2 kbps, 28.8 kbps, 38.4 kbps, 57.6 kbps and 115.2 kbps.
The data bits, stop bits and parity are fixed to 8, 1, none, respectively.
Cable connector
rLine top connector is a male, 14-pin, dual row, low profile with 2,54mm pitch. The connector type is
Tyco 609-1427. Compatible female connector is e.g. FAS1401-21012OAF. Figure 8 illustrates the rLine
connector and pin descriptions.
Figure 8. rLine connector pin descriptions
1
2
1-4 GND Supply ground
5 RxD RS232 Receive data
6 TxD RS232 Send data
7 LS Level sensing output
8 NOP Reserved
9 NOP Reserved
10 NOP Reserved
11-14 VDC Supply voltage

15 APPROVED April 18
Liquid level detection (LS models only)
Liquid level detection is based on a capacitance change. The detection signal is created using an
oscillator with a nominal frequency at approx. 50 kHz.
From the change in frequency it is possible to detect if the tip is in liquid. However, the sensor is
sensitive to all changes in the environment, including the type of the of tip rack, attachment fixtures
etc. Typical frequency values are between 3 kHz –55 kHz.
Level detection signal is routed to the connector pin 7 (LS output). Signal is frequency modulated
square wave according to the capacitive change.
Level detection value can be queried also with software using specific command (DN). Typical value
without the tip is 240-300, with an increase with tip attached and in liquid. Values will be application
specific with a typical range of 160 –400.

16 APPROVED April 18
6Messaging and initialization
rLine uses custom, proprietary real-time firmware. Most user-configurable settings must be set after
each power-up (such as speed if not default) but some settings can be stored in permanent memory.
Firmware upgrade cannot be performed without removing the module and requires special
programming tools.
Non configurable settings
Minimum and maximum positions
Minimum and maximum positions are determined by mechanical limits and are showed in table 1.
Minimum number of steps
Two (2) steps is the minimum allowed travel. Recommended minimum for typical liquid operations is
10 steps.
Speeds
Users have six preset speeds (1-6) at their disposal, selected with the SI/SO commands. The actual
speeds of these presets cannot be altered by user programming. The selected preset speed cannot be
changed during a single drive operation - the drive must be stopped to change the speed.
Acceleration/deceleration
All drive movements start with rapid acceleration and end with similar but not identical rapid
deceleration. The actual speed varies very slightly during drive due to changes in e.g. friction. Typical
acceleration and deceleration times are a few tens of milliseconds and less than 10 steps.
Module reaction time
Using default values for communication the module will enable the drive within approx. 50
milliseconds from receiving the drive command. Physical position and tolerances will cause a further
and variable delay of a few milliseconds before the piston moves.
Repeatability
Mechanical and physical variables of the rLine modules, air, liquid, tip used and environment will cause
small variations in both the amount of liquid aspirated and time taken.

17 APPROVED April 18
Messaging
The protocol is intended foremost to be simple with a reasonable measure of reliability. It is based on
a synchronous master/slave model in which all communication occurs between the master and a single
rLine. Messages from the master to the rLine are categorized as either a command to do something,
or a query for data.
Message structure
The message structure for all messages between the master and rLine response messages are similar
in that they always have a preamble, rLine address, a message code, possibly some message data, a
checksum value, and is terminated by a postamble. As much as possible, 7-bit ASCII characters are
used to construct human-readable/printable message strings. The message format is as follows:
<PRE><ADR><CODE><DATA><LRC><POST>
The optional LRC (Longitudinal Redundancy Check) <LRC> value is used to validate the integrity of a
message packet. This value is formed from the exclusive OR all characters following the preamble
character and up to the LRC byte. Then, to avoid contention with the 7-bit ASCII character set, the
most significant bit is set, yielding a value in the range from 0x80 to 0xFF. Shown below is an example
LRC calculation for Run Zero (RZ) sent to a unit with address 1. Message string without pre- and
postamble: "1RZ"
LRC = '1' XOR 'R' XOR 'Z' OR 0x80
= 0x31 XOR 0x52 XOR 0x5A OR 0x80
= 0xB9
Unless excessive noise or other communication problems require its use, it is recommended to not
enable LRC. rLine will always calculate and include the LRC value for it’s replies.
The preamble byte <PRE> is the start-of-header character (^A, 0x01, SOH). It is a wakeup call to the rLine that the
character to follow is a device address. rLine reply preamble is always a tab character ( ^I, 0x09, HT).
The slave address character <ADR> is a single lowercase alphanumeric character, (1-9).
All message codes <CODE> will be 2 upper-case characters.
Optional message data <DATA> string of up to Ncharacters.
LRC calculated value. Always included in rLine reply.
The message’s post amble character <POST> is a carriage return
(^M, 0x0D, CR).

18 APPROVED April 18
Communicating with the module
Communicating with rLine is based on commands and queries. Commands will be acknowledged when
received but not on completion. Queries will be answered. Therefore the completion of a command
must be checked with a query. Response message structure is identical to send messages.
General
rLine will respond to every message it receives and recognizes as addressed to it. Unrecognized
messages, e.g. typically without a correct address will be discarded. An incoming message will be
placed into a buffer (only one message, further messages will be disregarded).
All messages must be sent using upper case and all responses will be lowercase. Otherwise rLine will
respond with an error message“er1”.
Immediate general error responses
For all messages there are four possible immediate error responses er1-4. These are detailed in 7. Error
handling.
Typical command procedure
-send command
-wait for “ok” or “er n ” response
-if no response is received after 400 ms, resend the command or check module status
-check command result with query “DS”
-wait for response up to 400ms. If no response is received, resend the query.
-if status is “ds0” (no errors), send next command. Otherwise, analyze error using the
-parameter in “ds n ” or through error query “DE”
Attempting messaging before response
rLine communication is built on the principle that a response from the module must always be
received and read. If attempting to send messages before the module has responded it must be noted
that
- messages will be responded to in the order received
- two or more consecutive commands will most like result in an “er4”, drive is busy immediate
error
- queries and command-query series will be generate responses at the same order the messages
have been received
- most likely result is serial line communication corruption

19 APPROVED April 18
Configuration commands
The following sets of commands are used to configure each module and are usually carried out before
installing the module.
*A n Set rLine slave address (default: 1)
n=1-9
Example: *A2
Response: “ok” or “er1-4”
*B n Set RS232 baud rate (default 0)
n=0: 9600 bps
n=1: 19.2 kbps
n=2: 28.8 kbps
n=3: 38.4 kbps
n=4: 57.6 kbps
n=5: 115.2 kbps
Example: *B1
Response: “ok” or “er1-4”
NOTE! The new baud rate will become active after resetting the module.
*C n Enable LRC check for incoming messages (default 0)
n=0: LRC disabled
n=1: LRC enabled
Example: *C1
Response: “ok” or “er1-4”

20 APPROVED April 18
Initialization commands
After every power-up, each module must be initialized.
RZ Run to the Zero position
RZ initializes the piston and parameters (position = 0).
Response: “ok” or “er1-4”
Locates the mechanical lower limit of piston travel and returns the piston to the pre-
programmed zero position. The tip should not be attached when executing the command,
either the tip will be ejected or an incorrect zero position located.
RZ command can be issued at any time also during operation and it can be used periodically
to confirm the zero position during extremely prolonged module use. However, it must be
remembered that issuing RZ with tip attached will result in tip eject and may result in
inaccurate zero position. Its use without a power on-off cycle is normally not needed nor
recommended.
On error: if module is unable to determine the lowest position, it will try up to three (3) times.
If this fails, module will respond with "er1" and stop. In this case the module most likely
requires maintenance .