SOLO User Manual Version 6.
Index Introduction....................................................................................................................... 3 Section 1 - Hardware ........................................................................................................ 4 1-Unpacking the SOLO .............................................................................................. 4 2 – SOLO Setup ..............................................................................................................
Introduction The SOLO Robotic Pipettor is designed to easily automate complex pipetting tasks that would otherwise prove tedious or error-prone for researchers to perform manually. The SOLO can be controlled as a stand-alone instrument using its easy-to-learn user software, called SOLOSoft. Or, it can be integrated into larger automated systems using its own Active X control. Hudson’s SoftLinx scheduling and workcell control software offers such an integrated interface.
Section 1 - Hardware 1-Unpacking the SOLO Remove all material from inside the crate except for the SOLO itself. Open the Black nylon strapping that secures the SOLO to the shipping form. Shipping Straps Once the straps are set aside, lift the SOLO by the aluminum bracket that the nest plate holders are secured to. DO NOT LIFT BY THE ARM as this will damage the unit.
Lifting Points on Solo Once the unit is out of the crate remove all the plastic wrapping that secures the arm to the SOLO.
Once the plastic wrap is removed install the nest plates on the deck of the SOLO. Align the holes in the bottom of the nest plate with the metal dowel pins on the deck assembly and push the nest plates onto the deck. Remove the Power cable and communication cable from their shipping packages and plug them into the correct locations on the SOLO’s rear panel. Install the SOLOSoft on the computer you are going to use with the SOLO. The unit is now ready to startup.
2 – SOLO Setup Depending on the version of SOLO that you purchased, there will be different hardware setups before you start using your instrument. We currently carry three types of SOLOs: 1-Ivek Pump (125ul or 250ul) 2-Hamilton Pump (syringe size optional) 3-MultiChannel (8 or 12 Channel configuration) 2.1 – Ivek Pump Setup The Ivek Pump SOLO comes ready to run from the factory. The Mandrel is shipped on the unit, so there is no need to setup anything on the unit. (See Figure 2.
2.2 – Hamilton Pump The Hamilton pump SOLO is disassembled during shipping to prevent damage. The glass syringe from the pump is removed before shipping. The mandrel for a disposable tip, or the fixed cannula tip, is also removed before shipping. You may need to home the unit first before you can reinstall the Glass syringe. The cannula tip mandrel is installed by pulling out the plunger that locks the mandrel into the Z-axis assembly. (See Figure 2.2) Plunger for mandrel Figure 2.
2.3 – Multichannel The Multichannel SOLO is disassembled during shipping to prevent damage. The Multichannel head is removed for shipping. To set up; the Multichannel head is pressed into the SOLO’s z-axis. Align the Multichannel head assembly with the Pipettor Drive assembly locking stud. (See Figure 2.3) You will then press the Pipettor head firmly into place until you hear the locking mechanism snap in place. (See Figure 2.4) Lock Engaged Figure 2.3 Figure 2.
The multichannel SOLO has two deck configurations. For the 12 channel the deck will be placed all the way forward towards the operator (Figure 2.5). For the 8 channel head the deck will be placed back in the furthest position away from the operator (Figure 2.6). Figure 2.5 Figure 2.
3 – Accessories The SOLO has several options that can be purchased in additional to the SOLO they are the following: 1- Heating/Cooling Nest 2- Shaker Nest 3- SOLOPlus (SOLO w/attached Micro10x) Section 3.1 – Heating/Cooling Nest The Heating/Cooling Nest requires the SOLO Accessory Platform. Your SOLO will arrive with the SAP already attached. Unpack the H/C nest and place in the desired location deck location (See Figure 3.1). Attach provided cables. Section 3.2 – Shaker Nest Figure 3.
the communication cable into an available comport on the USB to serial converter. Figure 3.2 Section 3.3 – SOLOPlus The SOLOPlus option is the addition of a Hudson Robotics, Inc. Micro10x reagent dispenser that is attached to the side of the SOLO (See Figure3.3). The SOLO is equipped with an alignment bracket that is attaches the Micro10x to the SOLO chassis.
MC10X Plastic Deck with Alignment holes SoloPlus Alignment Bracket Figure 3.
Figure 3.
4 – Hardware Specifications Hardware features Arm configuration Tip configuration Tip variety Positioning Precision: X-axis Y-axis Z-axis Motion Range X-axis Y-axis Z-axis Liquid handling features Pipetting Bulk Dispensing No of fluid sources Syringe size Wash Pump Safety features Password protection Emergency Stop Dimensions Weight Power requirements Operating conditions Regulatory compliance Computer requirements SOLO Pipettor SOLO Pipettor/Dispenser One liquid handling arm 1 disposable tip 1disposab
Hardware features Arm configuration Tip configuration Tip variety SOLO Multichannel Multiple liquid handling arm 12 or 8 Channel Disposable tip Disposable tips with or without filters (20 or 200 µL) Positioning Precision: X-axis ± 0.025mm Y-axis ± 0.025mm Z-axis ± 0.
Section 2 – Software 1-Installation 1.1 – Installation CD Place the SOLOSoft Installation CD in your CD drive. It will automatically begin the Installation process. It will create a folder “C:\Program Files\ SOLOSoft” where the SOLOSoft executable files, the SOLOSoft Active X control, plate definition Access database and support files are loaded. This folder is also the default folder for all SOLOSoft methods, which have the file extension “.hso”. Several sample methods are loaded from the CD as well. 1.
2 – SOLOSoft: Main Screen 2.1 - Overview Upon Startup, SOLOSoft presents the ‘Log In’ display, which shows the current Version and a “Log In” button. Click on the button, then enter your name and password. On initial usage, the default User Name is “User” with a blank password. Under the “Tools Menu” discussion below are instructions about setting up actual user names and their passwords.
Save – This will save the currently active method only, using the path and name shown along the title bar of that method. Save As… This allows the user to select a different path and/or name for the currently active method. This new path.name will then appear in its title bar. Print – This will send the currently active method to the user’s printer in a text format. Exit – This selection will close SOLOSoft. 2.
2.4 – Tools Menu Simulated Configuration – This option is only active when the communications port (see Communications…, below) is set to , forcing SOLOSoft into Simulate Mode. This allows the user to try out different SOLO configurations, such as switching between ‘P’, ‘D’, ‘P8’ and ‘P12’ syringe configurations, changing syringe volume, and switching from Landscape to Portrait layout: System Liquid (not applicable to simulation mode) a.
b. ‘D’ Syringe Type (Side-mounted valved syringes) – This option allow the user to move liquid from any of the systems fluid reservoir vessels to or from the tip.
Calibrate Deck… – This option allows the user to create, teach, save or delete robot positions within the working area of the SOLO’s 3-axis robot arm, as well as to jog the arm within that work area.
TipDisposal – located where the syringe tip is within the tip-stripping fixture, with the forks of the fixture surrounding the syringe tip mandrel, and just above the top of a disposable tip so that an upward movement of the robot will strip off the disposable tip. The coordinates of any position selected from the list along the left will be shown in the box entitled “Position Coordinates(steps)”. The user can directly modify these coordinates, then move to the modified coordinates.
Define Plate Types… This enables the user to define the properties of the various microplates that will be used in the SOLO. The following screen is displayed: The user creates a new plate by placing the mouse cursor in the last row of the “Name” column, then typing in the name of the new plate.
Communications… This enables the user to select the serial port to be used by the computer to control the SOLO. A drop-down list of available serial ports will be displayed by clicking on the down arrow in the list box shown below: The ‘Terminal Window’ button provides a HyperTerminal window which will use the Serial port selected in the ‘Communications Port’ list box to enable the user to use the SOLO’s ASCII Command Set (see Appendix A).
Accessory Devices: If the SOLO has the Shaker Nest, Micro10, Hot/Cold Nest, 10-Way or 4-Way Valve Accessories, the user would setup a serial port to control each accessory in the same manner as for the SOLO itself, by clicking on the appropriate tab in the form shown above and selecting the desired COM port. Each device also has its own ‘Terminal Window’ to allow the user to issue individual commands to it using its own ASCII command set.
2.5 – Window / Help Menus The Window menu enables the user to manipulate the window display patterns familiar to users of MicroSoft Windows products. The Help menu’s ‘About’ option will show the current version of SOLOSoft.
3 – Developing SOLOSoft Methods 3.1 – Overview SOLOSoft enables the user to create, save and run pipettor processes called ‘methods’. A method consists of a series of sequential actions, called ‘steps’ that the SOLO will execute when that method is run. Methods are created and modified using a “drag and drop” editor that is started when the user opens a new method or an existing one, using the File Menu described above.
3.2 – Aspirate Step This step will move the pipettor to a selected aspirate position, then aspirate the indicated volume of fluid.
Increment Order – (applies only to aspirating from a plate position for SOLO equipped with single tip pipettor head or multi-tip pipettor head used in ‘Single Tip Mode’) Row Order (disabled for multi-tip option of ‘P8’type syringe) : If a multiple number of wells per execution is entered, or if this step is within a Loop, each aspiration will increment in the order “A1, A2, …. , A12, B1,…, B12, etc.”. Column Order(disabled for multi-tip option of ‘P12’type syringe): “A1, B1, … , H1, A2, …, H2, etc.”.
Syringe Speed – Scroll up or down to accelerate or slow the syringe piston’s movement. Pre-Aspirate – Enter this volume to aspirate air before each aspiration event in this step. This allows air pockets to separate each individual aspirated sample, and also allows the dispense volume to “blowoff” with an air pocket to forcibly expel tip droplets at the end. Backlash – Enter the number (the default is 0) of uL that you wish to have the syringe piston move in reverse at the end of its stroke.
The file for a 384-well plate would have 16 rows of 24 values each. For multi-tip operation only values for wells addressed by first tip of multi-tip head are taking in consideration. Tips on the head are counted from left to right.
Aspirate Shift – This enables the user to adjust the actual aspiration location from the taught position selected for aspiration. This enables the user to go to a ‘non-standard’ location, or to move in other than well-spacing increments. For plates, the “Z Shift” value is the distance above the well bottom that aspiration will occur, with a maximum value of the plate’s well depth. For named points, it is the distance above or below that taught point’s height.
upper rim of the well or vessel, below which it will not proceed if no liquid is detected. If aspirating from a defined microplate, and the entered “Max. Depth” value exceeds the Plate Depth value, that plate’s Plate Depth value will be used, so as not to drive the tip beyond the bottom of the well.
3.3 – Dispense Step This step will move the pipettor to a selected dispense position, then dispense the indicated volume of fluid.
3.4 – Get Tip Step This step, whose GUI is shown in the next figure, will start by shucking any tip that may have been left on the mandrel from a prior activity, then move to the next tip position in a tip box located at, in this example, Position1: The location of the tip box is selected by clicking on the appropriate nest position in the displayed deck image. At the start of this step, the SOLO will attempt to shuck the tip (or tips), in case the tips were left on the mandrel from a prior operation.
The tip box will be reset to “full” if the type of box at that location is changed, if the identity of that tip box is changed (e.g., if operated using Hudson’s SoftLinx scheduling software and a new tip box is moved into that position), or if the tip box is reset in the “Change Plate Types” utility (see that subsection below). In the step’s graphic plate image, available tips are shown in GREEN.
3.6 – Loop / End Loop Steps These steps, shown in the next figure at the top and bottom of the method flow diagram, allow the user to repeat sequences of steps the number of times indicated in the “Enter NUMBER of Loops to Perform” box. After repeating every step between these two loop steps, the method will continue with the next step after the ‘End Loop’ step. Loops can be nested within other loops.
a message to the operator. It also allows the user to permit the operator to end the method at the time of the pause (if, for instance, no liquid was aspirated). The user types the desired message into the “Enter pause message” box, and allows the operator to end the method by checking the “Allow user to end run at this step?” box. The user may also simply set a timer (in seconds) to pause the method here, then automatically resume after the time has elapsed. 3.
As an option, by checking the “Move ‘Z’ Axis…” box, the tip will move up to its normal travel height prior to moving laterally to the selected destination position. 3.9 – Set Speed Step The default robot arm speed is 100% of full speed. This step, shown in the next figure, allows the user to set the movement speed for subsequent steps at the percentage of full speed depicted in the “XYZ Speed” box. This will be overridden by the value set in any “Move Arm” step that may follow.
3.10 – Prime Step The Prime step allows a user to prime or evacuate “D” type syringe liquid lines, or to position a “P” type syringe piston at a desired position, at the start of a method, or even at intermediate places in a method. The display for a SOLO equipped with a “D” type syringe appears as follows: A SOLO can have multiple “D” type syringe pumps (up to 10), and this step allows any individual syringe pump to be exrcised, or all at once.
The user make elect to position the syringe piston at the very top of its stroke (FILL) or position it at the bottom of its stroke (EMPTY). Alternatively, the syringe may be moved by a selected amount (in uL), either up (Aspirate) or down (Dispense). 3.11 – HitPick Step (available ONLY for single-tip operation modes) The HitPick Step provides the user with a convenient way to consolidate the contents of selected wells from one or more source plates into one or more target plates.
“ABC123”, then the file’s name would be “ABC123.csv”. The file contents are simply the well name of each source well, followed by a comma then the amount (uL) to be transferred into each target well. The format would looks as follows: A01,50 C09,75 H11,55 (each well,volume entry is on a separate line) The user can use a header line, if desired, of “Source,Well” for clarity. This line is ignored by SOLOSoft if present.
target wells and dispense equal amounts in each until they receive the full amount required. In order to reduce any effect from pipetting residual volumes at the very lowest end of the pipette tip’s range, the next-to-last aspiration step will be limited to 50% of the total remaining aspiration volume so that the last aspiration is also at least 50% of the Max. Volume setting.
3.12 – GetLevel Step The GetLevel step allows the user to detect and record, in a file, the liquid level inside selected wells in a microplate located at one of the SOLO’s six plate nests. The user begins by selecting the plate nest (and its type of plate) where the microplate being measured will be located. Next, using the “Browse…” button depicted in this step’s display (below), the user selects the location and name of the file where the liquid level data will be saved.
select the number of wells to search (entering “-1” to select all unblocked wells), the depth to which the probe should travel before stopping (that plate’s well depth, as listed in its definition – see Define Plate Types… above - is the limit for this setting), and the distance above the plate to begin the actual search.
3.13 – GetBottom Step The GetBottom step allows the user to detect and record, in a file, the level of the bottoms of selected wells in a microplate located at one of the SOLO’s six plate nests. The user begins by selecting the plate nest (and its type of plate) where the microplate being measured will be located. Next, using the “Browse…” button depicted in this step’s display (below), the user selects the location and name of the file where the well bottom data will be saved.
The user should also confirm the “Search Params” (as percents of full speed and force) at which the probe tip will descend to the surface being measured. The user must then select the number of wells to search (entering “-1” to select all unblocked wells), and the distance above the plate to begin the actual search.
3.14 – Change Plate Types This utility allows the user to select the type of microplate (or tip box, omni tray, etc.) that is located in any of the 4 plate-nest positions. It also allows the operator to reset any used tip box count to zero, which would have the SOLO start retrieving tips at the ‘A1’ tip position.
3.15 – Operate Accessory This utility allows the user to operate any of several optional accessories that are available for the SOLO. Drag down the ‘Operate Accessory’ button to select this type of step.
3.15.1 – Micro10x Selecting the Micro10x action for this step will change this step’s display to appear as follows: This option allows a SOLOPlus to perform rapid dispensing from an attached Micro10x. The user can select to run a dispense or prime program, or to empty the fluid back into its source. Dispense and prime programs are configured ahead of time in the Micro10x itself. Consult the Micro10x manual for more information on creating and editing dispense and prime programs. 3.15.
3.15.3 – Shaker Nest Selecting the Shaker Nest for this step will change this step’s display to appear as follows: This enables the user to set the speed, duration, acceleration and mode of shaking action for up to 4 nests in one step, if it is so-equipped. 3.15.
3.15.4 – Write To Output Selecting the Write To Output action for this step will change this step’s display to appear as follows: This option allows a suitably configured SOLO to set a digital output signal to the “Target Value” (1 or 0) to provide a signal to device, such as a robot or a mechanical system. 3.15.
The user would enter the desired temperature to be achieved (the SetPoint) in the appropriate box. The range is -10.0 to 110.0 Deg.C. When a Method is running, the “Actual:” box will display the actual temperature of the Nest. The user has several optional ways to execute this step: Turn Nest OFF at End of Method: un-checking this will allow the user to keep the heating/cooling action running after the running Method ends. If this remains checked, it will turn OFF at the end of a run.
