Thermo Scientific Cytomat 2 User manual

Automatic Incubator Cytomat®2
Software-Documentation
Valid: 02.2007 / 50069763

2Software-Documentation Automatic Incubator Cytomat®2 Thermo Scientific
© 2007 Thermo Fisher Scientific Inc. All rights reserved.
Trademarks
Cytomat®, Plate Shuttle™System (PSS) and Heraeus are registered trademarks
of Thermo Electron Corporation. All other trademarks mentioned in the working in-
structions are the exclusive property of the respective manufacturers.
The following are the addresses of the international Thermo Sales
Organisations.
Postal address Germany
Thermo Electron LED GmbH
Robert-Bosch-Strasse 1
D - 63505 Langenselbold
Enquiries from Germany
Phone
Sales 0800 1 536376
Service 0800 1 112110
Fax [phone]
Enquiries from other countries
Phone + 49 (0) 6184 / 90-6940
Fax + 49 (0) 6184 / 90-7474
www.thermo.com

Thermo Scientific Software-Documentation Automatic Incubator Cytomat®2 3
Contents
1. General notes .....................................................................................5
1.1 General notes for adjustment work .............................................5
1.2 Warranty...................................................................................6
1.3 Explanation of symbols..............................................................6
2. Description of the software ................................................................7
2.1 Software specifications ..............................................................7
2.1.1 Versions ................................................................................7
2.1.2 Applications...........................................................................7
2.2 Interface specifications ..............................................................7
2.3 Delivery of the software .............................................................7
3. Device status queries.........................................................................8
3.1 Query and command categories ................................................8
3.2 Examples of queries and commands ..........................................8
3.2.1 Querying the overview register status ......................................8
3.2.2 Unloading microplates............................................................9
3.3 Querying the status of the Plate Shuttle™System (PSS) ..........10
3.3.1 Status check bytes ...............................................................10
3.3.2 Overview register.................................................................10
3.4 Error codes .............................................................................12
3.5 Warning register......................................................................13
3.6 Error register...........................................................................14
3.7 Action register.........................................................................16
3.8 SWAP station register..............................................................18
4. Process commands..........................................................................19
4.1 Process command structure ....................................................19
4.2 Complex commands / High-level commands ............................20
4.2.1 Overview of high-level commands.........................................20
4.2.2 Example: Transporting a microplate into the device................22
4.2.3 Example: Transporting a microplate out of the device.............22
4.3 Simple commands / Low-level commands ................................24
4.3.1 Overview of low-level commands ..........................................25
4.3.2 Example: Transporting a microplate from the stacker
to the wait position ...............................................................26
4.4 Location scan..........................................................................30
4.5 Location scan with barcode reader (optional) ............................31
4.5.1 Starting the location scan test routine ....................................31
4.5.2 Querying the most recently transported microtest plate
(high-level commands).........................................................32
4.5.3 Identifying location positions (low-level commands)................33
4.6 Device configuration with customer service commands .............33
4.7 Communication with heating system control and CO2supply .....35
5. Error processing...............................................................................37
5.1 Checking the process system commands .................................37
5.2 Process control .......................................................................38
5.2.1 Example: Microplate not stored in the device.........................39
5.2.2 Example: MIcroplate not unloaded from the device ................43

4Software-Documentation Automatic Incubator Cytomat®2 Thermo Scientific
Contents
6. Bedienung 48
6. Communication with telegram structure ..........................................45
6.1 Example of a telegram structure...............................................45
7. Description of the service program .................................................. 46
7.1 Recommended system requirements ........................................46
7.2 Overview of menus and submenus .............................................47
7.3 motor parameter [Parameter menu] ...........................................49
7.4 basic parameter [Parameter menu] ...........................................50
7.5 Free running [Testing menu] .....................................................51
7.6 init motors + system [Init menu] ..............................................53
7.7 adjustment transfer station [Adjustment menu] ..........................54
7.8 stacker pitch configuration [Adjustment menu] ...........................56
7.9 read error [Error menu] .............................................................57
7.10 password [Password menu] ......................................................57
7.11 logfile on/off [Logfile menu] .......................................................58
7.12 set protocol [Protocol menu] .....................................................58
8. Annex A , Bar code scanner (optional)............................................. 59
A.1 RS 232 interface bar code scanner............................................59
A.2 Positioning of the scanner ........................................................59
A.3 Bar code decoding programs ....................................................59
A.4 Technical data bar code scanner ...............................................60
9. Annex B, Overview of the registers.................................................. 61
10. Annex C, Overview of the commands .............................................. 64

Thermo Scientific Software-Documentation Automatic Incubator Cytomat®2 5
1. General notes
1.1 General notes for adjustment work
This sofware documentation describes the control of the Plate Shuttle System™
(PSS) for the Automatic Incubator Cytomat®2.For tests and adjustments to be
carried out on the basis of the software documentation, a profound knowledge
of the functions and of the operation of the device is indispensable. Therefore,
the following must be observed to prevent accidents and physical damage:
•The automatic incubator must only be operated by trained and authorized
personnel.
•Adjustments to the Plate Shuttle System™ (PSS) must be carried out only
by persons with a profound basic knowledge of computer science and of the
device control who have read and fully understood the operating instructions.
•The contents of this software documentation are subject to change without
further notice.
•Concerning translations into foreign languages, the German version of this
software documentation is binding.
•Keep this software documentation in the vicinity of the device so that safe-
ty instructions and important information for checking and adjusting the Plate
Shuttle System™ (PSS) are always accessible.

6Software-Documentation Automatic Incubator Cytomat®2 Thermo Scientific
1. General notes
1.2 Warranty
Thermo Electron Corporation warrant the operational safety and the operativeness
of the automatic incubator Cytomat®2only under the condition that:
•the device is operated and serviced exclusively in accordance with its intended
purpose and as described in these operating instructions,
•tests of and adjustments to the Plate Shuttle System™ (PSS) are carried
out only on the basis of this software documentation,
•the device is not modified,
•only original spare parts and accessories that have been approved by Thermo
Electron Corporation are used,
•inspections and maintenance works are carried out at the specified intervals.
The warranty is valid from the date of delivery of the device to the operator.
1.3 Explanation of symbols
CAUTION!
is used if non-observance may cause medium
to minor injuries or damage.
NOTE
is used for applicational hints and useful infor-
mation.

Thermo Scientific Software-Documentation Automatic Incubator Cytomat®2 7
2. Description of the software
2.1 Software specifications
2.1.1 Versions
This software documentation describes:
•the software of the Plate Shuttle™System (PSS) (ID No. 50061482),
•the service software for the Cytomat®2 (ID No. 50083010).
2.1.2 Applications
Upon delivery of the device, the software of the Plate Shuttle™System (PSS)
has been implemented as firmware. The software documentation decribes the
command structure for the communication between the Plate Shuttle™System
(PSS) and a software that must be programmed by the operator of the device:
•Test procedures
•Integration into an existing on-site process system
•Error recognition and error correction
The service software is used for testing and adjusting the device-integral mo-
vements of the Plate Shuttle™System (PSS) to the transfer position for the on-
site process system:
•Reading and altering the parameters that are relevant for the movements
•Configuration of storage locations
•Adjustment of movements in accordance with the mechanical components
of the device (mechanical adjustments are described in the service instruc-
tions)
2.2 Interface specifications
•RS 232 interface
•No hardware handshake
•9600 Baud, 8 bits, no parity, 1 stop bit
•ASCII data format
•Telegram structure including check sum that can be activated
2.3 Delivery of the software
The software is delivered on CD with the device and can also be ordered se-
parately (ID No. 50083010).

8Software-Documentation Automatic Incubator Cytomat®2 Thermo Scientific
3. Devicestatusqueries
3.1 Query and command categories
All actions and movements of the Plate Shuttle™System (PSS) can be initia-
ted and monitored by queries and commands. Individual motors can be activated
and complex, time-optimized movements can be started. Using special status
queries, the device status can be read from defined registers and analyzed at
any time.
All query responses are generated directly by the Plate Shuttle™ System (PSS).
Commands are checked prior to the response in order to prevent the Cytomat
2 from performing an illegal action.
Queries and commands are divided into various categories:
•Queries of the current status, of errors, and of the current movement;
•Commands for complex movements (high-level commands);
•Commands for simple movements (low-level commands)
NOTE – Command syntax
Use small letters for entering queries and com-
mands.
3.2 Examples of queries and commands
3.2.1 Querying the overview register status
The process system can query the current status of the Plate Shuttle™ System
(PSS) overview register at any time. This status describes the most important
system states:
•Device in operation (busy) or finished (ready);
•The registers for current warnings or errors contain information;
•A plate is located on the handler or transfer station;
•The automatic gate or device door is open
Process system query:
In order to read the contents of the overview register, the process system [1]
must send the command ch:bs<CR> to the Plate Shuttle™System (PSS) [2].
The Plate Shuttle™System (PSS) responds immediately with a telegram with
the identifier bs and a status byte.
ch:bs
bs 51
1
2

Thermo Scientific Software-Documentation Automatic Incubator Cytomat®2 9
3. Devicestatusqueries
Response of the Plate Shuttle™System (PSS):
The response of the answer from the Plate Shuttle™System (PSS) is decoded
in accordance with the overview register (see Section 3.3.2).
Example:
bs 51 àStatus 0x51 à0101 0001
Transfer station occupied
Device door open
Gate open
Handler occupied
Error register set
Warning register set
Ready set
Busy set
Evaluation of the response:
•The device door is open,
•there is a microtiter plate on the handler,
•the device is operating (busy).
As all registers can be queried at any time, the process system can continuously
monitor the status of the Plate Shuttle™System (PSS).
3.2.2 Unloading microplates
The process system [1] issues a command to retrieve a microtiter plate from
storage location 25 in the stacker and place it onto the transfer station. The Plate
Shuttle™System (PSS) [1] receives this command, checks it, and immediate-
ly returns a corresponding response to the process system.
If the command is executable, the Plate Shuttle™System (PSS) confirms it with
a response telegram. In this telegram, an ok is returned, followed by a status
byte. This byte contains the current contents of the overview register. In the ex-
ample, 0x01 is transmitted. The process system thus receives the confirmati-
on that the command was accepted and has already been initiated, as can be
recognized by the set busy bit.
If the Plate Shuttle™System (PSS) rejects the command, it returns a telegram
containing er and an error code to the process system. This error code can be
used to determine the reason for the rejection. In this example, the error code
returned to the process system is 0x32. According to Section 3.2, this code re-
presents a transfer station busy error message.
mv:st 025
2
1
ok 01
er 32

10 Software-Documentation Automatic Incubator Cytomat®2 Thermo Scientific
3. Devicestatusqueries
When checking the command, the Plate Shuttle™System (PSS) recognizedthat
there is still a microtiter plate on the transfer station and that an attempt to re-
move a microtiter plate from storage location 25 and place it on the transfer station
would result in an accident. The command is therefore rejected during the in-
itial examination stage.
3.3 Querying the status of the Plate Shuttle™System (PSS)
3.3.1 Status check bytes
A total of six bytes are available for checking the state of the Plate Shuttle™
System (PSS). Five of these bytes are located in registers and can be read at
any time by means of various queries. However, the error code is only created
temporarily and is automatically included in the rejection response to a command.
3.3.2 Overview register
The overview register provides an overview of the eight most important status
bits in a single byte. These bits are continuously updated and can be individually
set. By continuously reading this overview register, the current status of the Plate
Shuttle™System (PSS)can be checked at any time and the progress of the current
action can be monitored.
Register Query command Section
Overview register ch:bs 3.3.2
Error code / rejected commands -- 3.4
Warning register ch:bw 3.5
Error register ch:be 3.6
Action register ch:ba 3.7
SWAP station register ch:sw 3.8
Bit Definition Bit not set Bit set
0Busy Device idling Command is executed,
device active
1Ready Command not
concluded
Last command
processed although
PSS still busy
2Warning No warning Warning register written
to
3Error No error Error register written to
4Handler Empty Microplate present
5Automatic lift
door Closed Open
6Device door Closed Open
7Transfer station Empty Microplate present

Thermo Scientific Software-Documentation Automatic Incubator Cytomat®2 11
3. Devicestatusqueries
Query from process system [1]:
ch:bs<CR>
Response of Plate Shuttle™System (PSS) [2]:
bs **<CR>
**Overview byte in two ASCII characters
The following illustration shows how this overview register decodes the system
information.
Example:
bs c5 àStatus 0xc5 à1100 0101
Transfer station occupied
Device door open
Gate open
Handler not occupied
Error register not set
Warning register set
Ready set
Busy set
Evaluation of the response:
In this example, there is a microtiter plate on the transfer station, the device door
is open, there is a warning, and the device is operating (busy). To determine
why the device has set the warning bit, read the warning register (Section 3.5)
and the action register (Section 3.7). Alternately, the process system can simply
wait until the busy bit is reset, then test whether the command was executed
(ready bit set) or whether the command was concluded with an error (error bit
set).
The busy bit and the ready bit are the two most important indicators within this
byte. They indicate to the process system the Plate Shuttle™System (PSS)activity
or its readiness to accept a new command.If the busy bit is set, the Plate Shuttle™
System (PSS) is performing an action that must not be interrupted. If this bit is
not set, the Plate Shuttle™System (PSS) is in the standby mode, waiting for new
commands.
The ready bit indicates whether the command was successfully concluded. This
must not occur simultaneously with the busy bit. For example, in the high-level
command, mv:st ***<CR>, when moving a microtiter plate from the stacker to
the transfer station, the Plate Shuttle™ System (PSS) sets the ready bit befor-
2
ch:bs
bs c5
1

12 Software-Documentation Automatic Incubator Cytomat®2 Thermo Scientific
3. Devicestatusqueries
re the busy bit is reset. In this case, the Plate Shuttle™System (PSS) will set
the ready bit once the microtiter plate has been placed on the transfer station
and is ready to be retrieved from the transfer station by the process system.
However, because the Plate Shuttle™System (PSS) must still return the handler
to the wait position and then close the automatic gate, the busy bit remains set
for some time.
This function of setting the ready bit in advance is carried out for all commands
involving the placement of the microtiter plate on the transfer station.
3.4 Error codes
The error code is the only one of the five bytes describing the device status that
is not queried by a command. It represents the response to a command that was
not executable.
This byte specifies precisely why the most recent command could not be ac-
cepted. The following table lists the meanings of the individual error codes.
Der Netzanschluss Heizung des Gerätes versorgt das komplette Heizsystem mit Strom
und wird durch einen Schutzkontaktstecker an einer ordnungsgemäß abgesicherten
Steckdose angeschlossen.
Value Error message
0x01 Device still busy, new command not accepted
0x02 Unknown command
0x03 Telegram structure error
0x04 Incorrect parameters in telegram
0x05 Unknown location number specified
0x11 Incorrect handler position
0x12 Command not executable as shovel is extended
0x21 Handler already occupied
0x22 Handler empty
0x31 Transfer station empty
0x32 Transfer station occupied
0x33 Transfer station not in position
0x41 No automatic lift door configured
0x42 Automatic lift door not open
0x51 Error while accessing internal memory
0x52 Incorrect password / unauthorized access

Thermo Scientific Software-Documentation Automatic Incubator Cytomat®2 13
3. Devicestatusqueries
The example illustrates the evaluation of the error code.
The process system [1] has requested a command for transporting a microplate
from the transfer station to location 53 in stacker 2. When the Plate Shuttle™Sy-
stem (PSS) [2] checks the command, it recognizes that only 42 locations have
been configured. Location 53 is therefore unknown and cannot be accessed.
The Plate Shuttle™System (PSS) thus rejected the command and returned an
error code 0x05 to the process system.
3.5 Warning register
The warning register is only written to if the warning bit has also been set in the
overview register. When error processing is active, this register contains the
error currently being processed by the built-in error correction function.Once the
error has been corrected, this register is deleted.
Query from process system:
ch:bw<CR>
Response of Plate Shuttle™System (PSS):
bw **<CR>
**Register Warnung in zwei ASCII-Zeichen
Value Definition
0x01 Communication with motor controllers interrupted
0x02 No MTP loaded on handler/shovel
0x03 No MTP unloaded from handler/shovel
0x04 Shovel not extended/handler movement error
0x05 Process timeout
0x06 Automatic lift door not open
0x07 Automatic lift door not closed
0x08 Shovel not retracted
0x09 Initialization due to open device door
0x0C Transfer station did not rotate

14 Software-Documentation Automatic Incubator Cytomat®2 Thermo Scientific
3. Devicestatusqueries
The following example illustrates how this register is queried and evaluated:
After evaluating the overview register, the process system [1] determined that
the warning bit has been set and therefore the warning register has also been
written to. After querying the register with the command ch:bw<CR>, the Pla-
te Shuttle™System (PSS) [2] returns the response bw 07<CR>. In the table,
the value 0x07 can be allocated to an error message:
Automatic gate not closed.
Since this message represents the current warning, the Plate Shuttle™System
(PSS) will automatically attempt to correct the error if the error routines have
been activated (in this case, the automatic gate must be closed). If the attempt
is successful, the warning is deleted, otherwise the error bit is set and the er-
ror register is written to.
3.6 Error register
The error register is only written to if the error bit has also been set in the overview
register. When error processing is active, this register contains the current er-
ror that the built-in error correction function failed to correct. If error processing
is inactive, a recognized error is written directly to the error register.
2
ch:bw
bw 07
1
Value Definition
0x01 Communication with motor controllers interrupted
0x02 No microplate loaded on handler/shovel
0x03 No microplate unloaded from handler/shovel
0x04 Shovel not extended/Automatic unit position error
0x05 Process timeout
0x06 Automatic lift door not open
0x07 Automatic lift door not closed
0x08 Shovel not retracted
0x0A Stepper motor controller temperature too high
0x0B Communication with heating controllers and CO2-supply
0x0C Transfer station not rotated
0xFF Fatal error occurred during error routine

Thermo Scientific Software-Documentation Automatic Incubator Cytomat®2 15
3. Devicestatusqueries
Query from process system [1]:
ch:be<CR>
Response of Plate Shuttle™System (PSS) [2]:
be **<CR>
**Error register in two ASCII characters
The Plate Shuttle™System (PSS) responded to the error register query with byte
0x07. The table shows that the error allocated to this value is Automatic gate
not closed.
If the error routine is active, the system has already unsuccessfully attempted
to correct the error. Otherwise, the error was written directly to the register and
the Plate Shuttle™System (PSS) stopped.
The process system [1] must reset the error register and the error bit in the over-
view register via the interface. The following command is used for this:
rs:be<CR>
Response of Plate Shuttle™System (PSS):
ok **<CR>
**Overview register in two ASCII characters
After resetting the error bit, the Plate Shuttle™System (PSS) [2] responds to the
command with an ok telegram together with the contents of the overview register
in which the error bit was reset before.
2
ch:be
be 07
1
2
rs:be
ok 00
1

16 Software-Documentation Automatic Incubator Cytomat®2 Thermo Scientific
3. Devicestatusqueries
3.7 Action register
The current movement step is always entered into the action register. This al-
lows all partial steps made by the Plate Shuttle™System (PSS) to be monito-
red. If an error occurs and the warning bit or the error bit are set, no new register
entries are made so that the last command for which the error occurred can be
read out. A new entry is only written to the register after the warning or error bit
has been reset.
The byte in the register always contains two pieces of information: the target of
the movement and the current state of the movement. To achieve this, the eight
bits that make up the byte were subdivided into two parts. The three high-level
bits indicate the target, while the five low-level bits indicate the type of move-
ment.
High- level bits:
Low-level bits:
Value Bit 5-7 Movement target
0x01 Movement target: Init position
0x02 Movement target: Wait position
0x03 Movement target: Stacker
0x04 Movement target: Transfer station
Value Bit 0-4 Current movement or control command
0x01 Movement, height motor to storage position (minus offset)
0x02 Query whether height position reached (minus offset)
0x03 Movement, height motor to storage position (plus offset)
0x04 Query whether height position reached (plus offset)
0x05 Movement, rotation motor to storage location
0x06 Query whether height position reached (plus offset)
0x07 Movement, extend shovel
0x08 Query whether shovel is extended
0x09 Query, shovel extension limit switch
0x0a Movement, retract shovel
0x0b Query whether shovel is retracted
0x0c Close automatic lift door
0x0d
Query whether automatic lift door is closed
0x0e Open automatic lift door
0x0f Query whether automatic lift door is open
0x10 Transfer station in position 1
0x11 Query whether transfer station is in position 1
0x12 Transfer station in position 2
0x13 Query whether transfer station is in position 2
0x14 Check mitcroplate on shovel
0x15 Check microplate on transfer station
0x16 Movement to barcode reader position
0x17 Test barcode reader position
0x18 Read barcode

Thermo Scientific Software-Documentation Automatic Incubator Cytomat®2 17
3. Devicestatusqueries
Query from process system [1]:
ch:ba<CR>
Response of Plate Shuttle™System (PSS) [2]:
ba **<CR>
**RegisterAktion inzwei ASCII-Zeichen
The Plate Shuttle™ System (PSS) provides the value 0x74 as the contents of
the action register. Breaking down and analyzing this byte leads to the following
result:
Status 0x74 à011 1 0100
Target position à0x03 Target: Stacker
Movement à0x14 Check Microtiter plate on shovel
2
ch:ba
ba 74
1
In this example, the Plate Shuttle™System (PSS) handler moves to the stacker and checks whether there
is currently a microtiter plate on the shovel.

18 Software-Documentation Automatic Incubator Cytomat®2 Thermo Scientific
2
ch:sw
sw 201
1
3. Device status queries
3.8 SWAP station register
The SWAP station register can only be queried if a SWAP station has actually
been configured. This command allows the user to check the position of the
SWAP station and the load status of the two plates.
Query from process system [1]:
ch:sw<CR>
Response of Plate Shuttle™System (PSS) [2]:
sw ***<CR>
*** Status in three ASCII characters
The three ASCII characters have the following significance:
Character 1 SWAP station position:
1 = Plate 1 immediately in front of automatic gate
2 = Plate 2 immediately in front of automatic gate
Character 2 Load status of plate in front of automatic gate
0 = Empty
1 = Occupied (microtiter plate loaded)
Character 3 Load status of plate at processor system
0 = Empty
1 = Occupied (microtiter plate loaded)
The Plate Shuttle™System (PSS) responded to the SWAP station status que-
ry with the character string 201. Based on the definition above, the following status
can be read:
2 0 1
Character 1 2 = Plate 2 of SWAP station immediately in front of
automatic gate
Character 2 0 = No microtiter plate on plate 2
Character 3 1 = Microtiter plate on plate 1, facing the on-site pro-
cess system

Thermo Scientific Software-Documentation Automatic Incubator Cytomat®2 19
4. Process commands
4.1 Process command structure
The Plate Shuttle™System (PSS) is activated by process commands. A diffe-
rentiation is made between two types of commands:
•The complex or high-level commands initiate a fully automated process whe-
reby, for example, a microtiter plate is transported from the stacker to the
transfer station. Process movements and processing times are optimized and
cannot be influenced.
•The simple or low-level commands are used to activate individual movements
of a specific motor. This command set can be used by the process system
to generate its own processes.
Upon receipt, the Plate Shuttle™System (PSS) immediately checks and con-
firms both high-level as well as low-level commands. Further, all movement pro-
cesses are examined by an error monitoring function and can be corrected by
an error routine which can be optionally activated.
NOTE – Storage locations
The storage locations are numbered in both
stackers.
The numbering starts with 001 in the lowest
pitch of stacker 1 and ends in the uppermost
pitch of stacker 2 with number ### (depending
on the configuration of the applied stackers).
The illustration shows two stackers with a
pitch of 23 and a storage capacity of 21 mic-
roplates each.

20 Software-Documentation Automatic Incubator Cytomat®2 Thermo Scientific
4. Process commands
4.2 Complex commands / High-level commands
Complex commands initiate a fully automated movement process in which all
motors are activated in a predefined, time-optimized manner. During this type
of process, no further commands can be transferred via the interface, while there
are no restrictions for querying the current status. This status allows the process
to be tracked and monitored at any time.
Immediately upon the receipt of commands, the Plate Shuttle™System (PSS)
controller checks whether they can be executed without error. If error-free pro-
cessing is not assured, the Plate Shuttle™ System (PSS) immediately rejects
the command, otherwise it immediately confirms the command with an ok (see
also Section 3.3.2).
If these commands involve the movement of microtiter plates into or out of a
stacker, the command contains the storage location in the form of a three-di-
git number in ASCII format. The exact X, Y, and Z parameters for the motors are
configured in the electronic unit and do not need to be transferred by the pro-
cess system. The illustration (Section 4.1) shows the allocation of the individual
numbers to the storage locations in the stackers.
Several error correction routines which can be deactivated are also provided
for these complex commands (see Section 5).
4.2.1 Overview of high-level commands
Command Immediate response Description
mv:ts ###<CR> ok **<CR>,
er **<CR>
• Open automatic lift door
• Retrieve microplate from transfer station
• Close automatic lift door
• Place microplate at indicated storage location
Condition: microplate on transfer station, handler empty
mv:st ###<CR> ok **<CR>,
er **<CR>
• Retrieve microplate from indicated storage location
• Open automatic lift door
• Move microplate to transfer station
• Close automatic lift door
Condition: Transfer station and handler empty
mv:sw ###<CR> ok **<CR>,
er **<CR>
• Retrieve microplate from indicated storage location
• Move microplate to wait position in front of automatic lift
door
Condition: Handler empty
mv:ws ###<CR> ok **<CR>,
er **<CR>
• Move from wait position to indicated storage location
• Unload microplate there and return to wait position
Condition: microplate on handler
mv:wt<CR> ok **<CR>,
er **<CR>
• Open automatic lift door and place microplate on transfer
station
• Return to wait position
• Close automatic lift door
Condition: microplate on handler, transfer station empty