PAL System User Manual

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Edition 11.0 April 2019

Quick Search Table of Content

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Table of Contents
1. Installation Quick Reference Guide

2. Hardware and Software Requirements

3. Establishing Communication with Computer

4. Start Screen Icons

5. Menu Screen Status Bar Symbols

6. Naming Conventions for Tray Types

7. Definition of Terms

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Installation
Quick Reference Guide

PAL Installation Quick Reference Guide

1 The Installation Quick Reference Guide summarizes the important points for the installation.
It is recommended to use this guide as a check list during the installation.

Warning: For your safety, and in compliance with international regulations, the physical handling of this CTC Analytics instrument requires a team
effort to lift and/or move the equipment. This instrument is too heavy and bulky for one person alone to handle safely.

2 PAL3 Firmware Version 3.1.X | PAL Sample Control Version 3.1.0 or higher.

Step Action Reference PAL3 User Manual

01 Prepare the working area and the GC System. n/a

02 Check if all components of the PAL3 System are Section 7.2 ‘Unpacking the Components’
delivered. Delivery Notes.

03 Install the PALrobot basic unit. Section 7.4 ‘Assembling the PAL System’

04 Connect all optional PALmodules, including Active Section 7.4 ‘Assembling the PAL System’ for
and Passive Modules, to complete the required Passive PALmodules;
PALsystem configuration. Section 4 ‘Active PAL Modules’ for the active
PALmodules.

05 Make all electrical connections, including for the Section 7.5 ‘Electrical Connections’ for
Active PALmodules standard PALmodules;
Section 4 ‘Active PAL Modules’ for the optional
active PALmodules.

06 Insert the required Syringe into the Syringe Adapter. Section 7.6 ‘PAL LSI Syringe Adapter (PAL LSI
(PAL LSI only) only)’

07 Prepare the PALtool(-s).

Section 6 ‘PAL Tools (only PAL RTC and PAL
Insert the required syringe(-s). (PAL RSI and PAL
RSI)
RTC only)
08 Prepare the Computer with the required software:
Follow the PAL Sample Control User Manual and
- MS.Net Framework 4.0 (or higher)
the corresponding User Manual for the
- PAL Sample Control software
Chromatography Data Handling System software
Version 2.4.X (or higher)
(CDS).
- Required CDS software

09 Connect the PALrobot to the Network environment. Section 2.6 ‘Establishing Communication with
LAN cable provided with PALsystem. Computer’

10 Power up the PALsystem. Section 9 ‘How to Start the PAL System’

11 When PALterminal is not part of the PALsystem: Default IP Addresses for peer-to-peer connection:
Establish LAN Communication and start the Virtual IP Address PALrobot: 192.168.99.230
Terminal software from the PAL Sample Control IP Address computer: 192.168.99.210
software. Subnet Mask: 255.255.255.0

12 Check the PAL3 Firmware version.

Path from the Start Screen: ‘Options | About. Section 8.6 ‘”About” Menu item’
If necessary perform an update.

For PAL3 Firmware ‘Update’ see

Section 10.4 ‘Updating the PAL Firmware’

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Installation
Quick Reference Guide

Step Action Reference PAL3 User Manual

13 Change the Access Level to ‘Extended User’ Section 2.11 ‘Access Level’

14 Press ‘Options’ and select in the pull-up menu the Section 8.1 ‘”Setup” Menu Item’
item ‘Setup’ | ‘PALmodules’. To use so-called ‘Presets’ Press ‘Options’ and
- Check availability of the Active PALmodules. select from the pull-up menu the item
- Add all required Passive PALmodules. ‘Maintenance’ | Reset Configuration’.
- Check or add if necessary in the following order:
-- Signals - Factory Setting 1-S: X-Axis length 850 mm
-- I/O Interface - Factory Settings 2-L: X-Axis length 1200 mm
-- Chromatograph System - Factory Settings 3 ITSP-S:
Specific configuration for ITSP technique.

Input and Output Signals are predefined as well.

TTL-contacts have the preconfigured setting of
‘Low Active’.

15 From the Start Screen select the required Tool, Explanations for the different settings:
press ‘Enter’ and select menu item
‘Needle Guide Type’. - Not Specified: Prohibits the execution of a run.

- Magnetic 2mL: Magnetic Transport for 2 mL

Note: The parameter ‘CapType’ in the class ‘Vial vials (large magnetic ring not
Type’ has to correspond with the Tool ‘Needle Guide installed).
Type’.
Example: - Magn. 10/20 mL: Magnetic transport of 10 or
Magnetic 10/20 | MagnetCap. 20 mL vials. Large magnetic ring
Magnetic 2mL | MagneticCap installed.
Foil Cutter | MTP Plates.
- Foil Cutter: Foil Cutter for Well Plate if
If ‘NeedleGuideType’ is defined as ‘Not Specified’ an sealing foils is installed.
execution of the run is prohibited even when the
‘CapType’ is set on ‘NoCap’ or ‘NonMagnitcCap’.
16 Press ‘Options’ and select in the pull-up menu the
item ‘Service’ | ‘Installation’. Section 8.4.2 ‘Service Menu Item "Installation"’
Follow step-by-step the installation wizard.

17 Make a Backup File Section 8.4 ‘Service Menu Item’ and 10.1
‘Creating a Backup File’

Note: References correspond to PAL System User Manual Edition 11.0.

Non-operating (Storage) Temperature Range
The non-operating or storage temperature range is defined with -25 to 65 °C (-13 to 149 °F)

Note: The non-operating conditions should be understood as the conditions for transport or storage of the PALsystem or parts of it over a short
time frame. For transport by air, the altitude limit can be exceeded. The precondition for storage and transport is that no liquids are
contained within any part of the entire system.

Caution: After storage at lower temperatures, it is mandatory to allow a warm-up time for the components to reach ambient temperature of
approximately 20 °C before the system is powered up and put into operation.
In circumstances where the PALsystem has been exposed to a temperature lower than -25 °C, it will be necessary
to clean the mechanical parts which have originally being greased, such as the Guide Rollers, the Rail or Guide Rod. After cleaning, re-
apply grease using the dedicated PAL Lub grease.

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Hardware and Software

Requirements

1.1. Hardware and Software Requirements

1.1.1. Computer Hardware Requirements
1 The computer hardware minimal requirements depends on the Microsoft Windows Operating System and
if applicable on the ‘MS .NET Framework software’ used. See recommendations from Microsoft.
It is also important to consider the minimum requirements for the operation of the Chromatography Data
System Software (CDS).

2 For operation of the PALrobot, an Ethernet (TCP/IP) is required. The computer in use has to be equipped
accordingly. LAN or Ethernet IEEE 802.3 Industry Standard 10/100 Base-T.
The network interface of the PALrobot supports the Auto-MDI(X) protocol.

The requirements for the networking setup are described in Section 2.6 ‘Establishing Communication with
Computer’.

3 The USB communication port of the PALrobot is currently not activated (USB Device/Client Type B).

1.1.2. PAL3 USB Stick (Memory Drive)

4 The USB stick is a commercially available standard USB memory stick with at least 100 MB memory size.
No special formatting of the drive (stick) is necessary; on the contrary, it is mandatory that only one partition
is defined. If two partitions are defined, subsequent errors will occur. Access to the PALsystem will be denied.

Note: Commercially available USB sticks with encrypting software installed, and secure
USB drives, have typically two partitions. This type of USB drive cannot be utilized
in combination with the PAL3 system.

The following software types of the USB memory drive are compatible with the PAL3 System:
 FAT
 FAT32
 The software ‘NTFS’ is NOT supported. If a USB Stick with this software is used, the stick will not be
recognized by the PAL3 Firmware.

 Starting with PAL3 Firmware version 1.5.0 a USB Stick with software version 3.0 can be operated.
With PAL3 Firmware versions lower than 1.5.0 USB sticks can be operated with software version 2.X.X
only.

 It is recommended to adjust the ‘Allocation Unit Size’ as large as possible. There is a dependency observed
between the ‘Capacity Size’ and the size of the ‘Allocation Unit’.
Examples: USB Stick Capacity 4 GB with 4 kB Allocation Unit or 16 GB Capacity with 64 kB Allocation
Units. These combinations are valid; however a 16 GB Capacity with 8 kB Allocation Units is not working.
The observed effect is that the USB Stick is not recognized within the 10 seconds time limit.

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Hardware and Software

Requirements

Note: PAL Control Software = PAL3 Firmware

 Recognition Time of the USB Stick.

PAL3 Firmware version < 1.5.0 : Time-out after 10 s.
PAL3 Firmware version ≥ 1.5.0 : Time-out after 30 s.
After the time-out has occurred an error message is displayed: ‘InternalStorageCard not found.’

(Definition of Recognition Time:

The time used from the moment the stick is connected to the PAL3 System until the USB symbol is displayed on the PALterminal.)

1.1.3. PC Software Requirements

5 All the software functionalities such as Backup (Restore) or Update for the PAL3 Firmware are
performed directly via USB interface using the PAL USB Stick. For these purposes, no specific
software on a PC is required.

For the operation of the PALrobot with a CDS (Chromatography Data System), e.g. PAL Sample Control
software or Xcalibur, a software driver is used. The specific requirements for operation of the integrated PAL
System in the CDS are outlined by the supplier of the CDS software.

For the operation of the PALrobot in combination with PAL Sample Control, the software from Microsoft
MS.net framework version 4.0 (or higher) is required.

1.1.4. Configuring Windows for PAL3 Firmware and for the CDS
6 When configuring the Windows Operating software for the PAL3 System, it is important to note that the CDS
to be used in conjunction with the PALsystem may require specific settings as well. These settings have to be
matched for reliable operation of the analytical system. See the corresponding sections in the installation
manual of the specific CDS.

Firewall or Virus Scanner Settings

7 In order to reliably operate the PALsystem and the selected Chromatography Data System (CDS), it is
necessary to turn OFF any third party Firewall or Virus Scanner software.

If for any reason a firewall has to be activated, the TCP Ports 80, 64000, 64001, and 8194 have to be
unlocked. For more details see Section 2.6.3 ‘Corporate Network Setup’.

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Hardware and Software

Requirements

Screen Savers
8 It is highly recommended NOT to use any Screen Savers.

Disabling Power Management

9 Depending on the Windows Operating System version and the default settings, the computer may enter
standby mode automatically after a specified time if no mouse or keyboard activity is detected. Using this
‘Power Save’ mode in a laboratory environment where unattended instrument operation is expected day and
night will likely result in loss of data and/or interruptions of specific functions or whole operations.

To disable Windows power management follow the steps below.

1. Select the Windows ‘Control Panel’;

2. Select ‘System and Security’;
3. Select ‘Power Options’;
4. Select from ‘Power Plan’ the menu item ‘Put the Computer to sleep: Never’.

Note: Depending on the Windows version, the path or wording may differ slightly. The example
given above is based on Windows7.

1.1.5. PAL System Software Description

10 The various Active PALmodules and PALdevices have to be compatible with the PCB configuration of the
PALcontrol. Any changes or backwards compatibility restrictions are published in the PALsystem Release
History.

The PAL3 Firmware is the product name for all software and persistent data, which are located in the
PALcontrol or on the PALdevices. It consists mainly of:

 Operating System (OS)

 PAL3 Application Software
 PAL3 Configuration (Persistent Data, Data Base)
 PALdevice Firmware
 Presets (Starting with software version 1.4.0 the ‘Presets’ have been introduced.)

The file extension for the PAL3 Firmware is ‘*.cont’.

Note: PAL Control Software has been the official description of the software until
software version 1.6.0.
Starting with ‘software’ version 2.0 the software package has been renamed
to ‘PAL3 Firmware’.
PAL Control Software = PAL3 Firmware.

Note: For detailed information see Section 10 ‘PAL3 Firmware’.

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Establishing Communication

1. Establishing Communication with Computer

1.1. Installing the PALrobot with Factory Settings
1 In order to select the required network setup best suited to the user’s laboratory setting, the following
possibilities are available:

• Peer-to-Peer connection
The PALrobot is directly connected to the computer via the LAN cable. There is no corporate network or
router connection.
IP Address PALrobot: 192.168.99.230
IP Address computer: 192.168.99.210
Subnet Mask: 255.255.255.0
Default Gateway: not required, leave the field empty (if an address is entered, it will not be used)

• Corporate Network with DHCP Protocol

Ask the network administrator to verify and integrate the setup within the corporate network.
Select the DHCP Protocol; the network will assign an IP Address and a Subnet Mask to the PALrobot.

• Corporate Network with Fixed IP Address

Ask the network administrator to provide the ‘IP Address’, ‘Subnet Mask’ and ‘Default Gateway’ to
configure the PALrobot within the corporate network.

Note: The description below in point 2 ‘Peer-to-Peer Connections’ assumes that an Ethernet
cable is connected directly from the PALrobot to a computer, and that the PALrobot is not
integrated within a corporate (customer) network.

If the PALrobot is connected to a network or the DHCP Mode is activated, consult your
System Administrator for support. See Section 2.6.3 ‘Corporate Network Setup’ in the
User Manual.

This description is also valid for use with the Virtual Terminal.

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Establishing Communication

1.2. Peer–to–Peer Connections

2 The PAL3 System is pre-configured to use a static IP address. To set the initial Ethernet settings, a network
computer in the same IP Subnet needs to be prepared:

1.
If the computer is already part of your network, record its TCP/IP configuration settings;

2.
Configure the computer with a static IP address of 192.168.99.210 and 255.255.255.0 for the Subnet Mask.
Do not enter a ‘Default Gateway’ address;

Figure S001.
Setting IP Properties in Computer.

Note: For the IP Address use the proposed number as shown in Figure S001. If for any reason
a deviation is required, do not use following numbers of the previous address package:

192.168.99.0 Reserved for Net address

192.168.99.255 Reserved for broadcast address
192.168.99.230 Reserved for PALrobot

3.
Connect the Ethernet cable from the PALcontrol to the computer and verify that the LAN light of the
PALcontrol LED is lit when connected to a powered-on computer. See Figure S002.

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Establishing Communication

Note: If no communication can be established, use the Cross Adapter for the LAN cable.
The adapter can be connected on either side.

Figure S002.
LAN Cable Connection to PC

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Establishing Communication

1.3. Setting up the Network Interface for the PALsystem

3 Configure the Ethernet port of the computer for LAN access:

1.
Establish a LAN connection from the computer to the PALrobot by opening a browser and entering

http://192.168.99.230
…………………………..…in the address field

Figure S003.
LAN Communication Settings

2.
Configure the IP Address settings as shown above in Figure S003 Click ‘Apply’ to confirm the changes and
activate the new network settings;

3.
When you have completed the setup steps, you can deploy the PALrobot in your network. If needed, you can
now reconfigure your computer back to its original TCP/IP settings.

4.
If your computer is connected to a factory network, configure the IP Address settings appropriate for your
network. Consult your System Administrator for the correct settings.

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Establishing Communication

1.4. Setting up the Network Interface using

the PALterminal
4 For setting up the network using the PALterminal, follow the instructions as described in
the User Manual Section 8.4.2 ‘Service Menu Item “Installation”’.

The computer settings as described above in have to be met.

The PALrobot Network default settings are displayed in Figure S005 below.

Figure S004. Figure S005.

Installation Wizard Items. PALrobot Network Settings.

Note: Do not activate the DHCP mode and do not make an entry in the Default Gateway field.

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Establishing Communication

1.5. Restoring Factory Default Network Settings

5 It is sometimes necessary to restore the PALrobot factory default network settings in case you move
the PALrobot to a new network or lose the IP address of the robot.

To restore the factory default settings without knowing the IP address, you must use the Reset Button
on the rear panel (PALcontrol board) (blue colored button).

Figure S006.
Reset Button

Perform the following steps to achieve a reset:

1.
Power OFF the PALsystem;

2.
Use an appropriate tool in order to press the Reset Button;

3.
Power ON the PALrobot, with the Reset Button pressed, and hold the Button for at least 10 to 15 seconds.
LED color: Red steady on. After approx. 6 to 8 seconds the LED will start to blink for a short time. Keep the
button pressed for another 5 seconds.

3.
The LED will start blinking eight times within one or two seconds. A second rush of blinking of the LED after
this indicates that the system has been reset to factory default settings.

3.
Release the button and follow the steps in the section ‘Connecting the PAL3 with factory settings’
to set up the Ethernet port with the factory settings. At the moment when the PALsystem does power up, the
software booting process changes the LED color to green (blinking).

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Establishing Communication

1.6. Corporate Network Setup

6 Setup within a corporate network requires the support of the system administrator who has local
administrator privileges for Windows and network setup.

Installing the PALrobot as part of an analytical system into a corporate network does not require any special
precautions. Use the state-of-the-art technique available.

For operation of the PALrobot, an Ethernet (TCP/IP) is required. The computer in use has to be equipped
accordingly. LAN or Ethernet IEEE 802.3 Industry Standard 10/100 Base-T.
The network interface of the PALrobot supports network connections Auto-MDI(X) of a switch which follows
the protocol 1000Base-T standard.

The PAL3 Firmware has been designed to accept a moderate latency time, however if the latency time in a
network clearly exceeds 500 msec it should be inspected closely.

For following network ports has to be access provided:

Port Description
64000 PALrobot Communication
64001 Integration Driver Routing Port
8194 PALrobot Data Subscription with CDS
80 Web Interface

For further details see also Section 7.1 ‘Hardware and Software Requirements’.

For troubleshooting the LAN communication, see Section 11 ‘Troubleshooting’, and

11.1.6 ‘PAL3 Firmware Related Points’.

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Start Screen Icons

1. Start Screen Icons

Start Screen Icon PALmodule Description
PALtool and Tool Change Station
LS Tool, Syringe Tool for liquid injections
HS Tool; Headspace Tool (only PAL RSI and PAL RTC)
SPME Tool; Tool for SPME Holder (only PAL RSI and PAL RTC)
Dilutor Tool, Tool for Dilutor Module (only PAL RSI and PAL RTC)

LCMS-P Tool, Tool for LCMS-P Module (only PAL RSI and PAL RTC)

ITEX Tool (only PAL RSI and PAL RTC)

COC Tool (only PAL RSI and PAL RTC)

SPME Arrow Tool (only PAL RSI and PAL RTC)
Pipette Tool (only PAL RTC)
Gripper Tool (only PAL RSI)
Park Station; Active PALmodule for automated PALtool change.
(only PAL RTC)
Active PALmodule
Agitator
Vortex Mixer
Heatex Stirrer Module
Barcode Reader
Peltier Stack 2DW
Peltier Stack 6DW
Stack 2DW

Stack 6DW

Stack 12MT

Valve Drive

Fast Wash Module

Extension Module

SPME Fiber Conditioning Module (only PAL RSI and PAL RTC)
OC Injector (On-column Injector) (only PAL RSI and PAL RTC)

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Start Screen Icons

Start Screen Icon PALmodule Description

LCMS Wash Module (only PAL RSI and PAL RTC)

Dilutor Syringe Module (only PAL RSI and PAL RTC)

DeCapper Module

Centrifuge Module 2 mL

Centrifuge Module Combi

Passive PALmodule
Tray Holder (rectangular) or Tray Plate

Liquid Cooled Tray Holder (Traycooler)

Standard Wash Module (5x10 mL Vials)

Large Wash Module (2 x 100 mL bottles and 1 Waste Position)

Solvent Module (Solvent reservoir Module for 3 x 100 mL bottles)

Rack, rectangular (Rack to hold vials with volume from 1 to 40 mL)

Vials, set of vials

Vial, single vial (Vial Type CV)
Solvent Reservoir Bottle (Vial Type SR)
Injector (GC Injector)
MHE Module (only PAL RSI and PAL RTC)
Tool Adapter Station
Synchronization and Signals
Input and Output Signals

Input Signal (GC Ready)

Output Signal (Injected)
Chromatographic System (GC) or (LC)
Specified synchronization of Input and Output Signals, Cryo Trap, and Delay Time for
‘Fake Injection’ for an analytical system (GC or LC).
General Icons
Logo for PAL System
PALrobot or PALsystem (RobotArmLeft)

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Start Screen Icons

Start Screen Icon PALmodule Description

PALhead (Injection Unit) (only PAL LSI and PAL RSI)

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Menu Screen
Status Bar Symbols

1. Menu Screen Status Bar Symbols

1 The following symbols may be displayed in the Menu Screen Status Bar:

Symbol Description
Green status light, blinking: PALrobot is working (moving), Execution mode.
PALterminal is partially blocked to specific actions.

Green status light, steady on: PALrobot is ready in Standby. Idle Mode.

Yellow status light, blinking:

- PAL Control Software is booting.
- Configuration error during operation.

Yellow status light, steady on: A problem has been detected which cannot be resolved by
the robotic system.
Examples: Bent needle, collision, etc. (mechanical problem), missing PALtool, etc. detected at
the moment of sample execution.
A software run-time error can also cause a status light change to ‘steady-on yellow.

Blue status light, blinking: The PALrobot is in the process of software ‘Update’ or ‘Backup’.
(For the processes ‘Copy Backup’ and ‘Restore’ the Status light remains on ‘Green’.)
Blue status light, steady on: The PALrobot is in a safe state (power reduced to a minimum)
and requires e.g. a manual movement of the PALhead to the ‘Teach Point’.
Note: If an error is detected at the same time that an action is required according to the status
defined by the ‘Blue Status Light’, then by default the yellow status light will dominate.
USB Symbol:
A USB device is connected to PALcontrol. (PCB on backside of PALrobot.)

Message (Envelope) blinking:

Pending Message:
Examples: Error message after software upgrade or if a PALdevice has not been taught yet.
Service Issue:
Examples: PALdevice not detected on the PALbus, defective or missing.

In the ‘User’ Access Level only the message symbol is displayed.

To view and process the system message(-s) the operator has
to change the access level to ‘Extended User’.
Key:
Indicator for Access Level ‘Extended User’

Flat Wrench:
Indicator for Access Level ‘Service’

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Naming Conventions for

Tray Types

1. Naming Conventions for Tray Types

1 Following Tray Types are currently supported:

Tray Type Tray Description

Rack with same footprint as Well Plate; 12 positions (3 x 4); Pattern: Staggered+
VT12
for 40 mL vials with OD 27 mm and height 100 mm.
Rack with same footprint as Well Plate; 15 positions (3 x 5); Pattern: Regular
VT15
for 10 and 20 mL vials with OD 23 mm and height 47/78 mm.
Rack with same footprint as Well Plate; 54 positions (6 x 9); Pattern: Regular
VT54
for 2 mL vials with OD 12 mm and height 34 mm.
Rack with same footprint as Well Plate; 70 positions (7 x 10); Pattern: Regular
VT70 for 1 mL vials with OD 7.5 mm and height 45 mm.
Viewing window in position 68 (for needle penetration check).
Rack with footprint for entire Tray Holder (passive Tray Holder with 3 Slots);
60 positions (6 x 10); Pattern Staggered+;
R60 for 10 and 20 mL vials with OD 23 and height 47/78 mm;
Viewing window in position 60 (for needle penetration check).
Rack with footprint for LiqCooled Tray Holder;
R32 LiqCooled 32 positions (4 x 8); Pattern Regular;
for 20 mL vials with OD 23 and height 78 mm.
Well Plate Type. Deep Well Plate DW96. 96 positions (8 x 12); Pattern: Regular.
DWP96 Plate Height: 43.0 mm; Well Cavity Depth: 39.0 mm;
Well Cavity Diameter: 7.0 mm.
Well Plate Type. Microtiter Plate MT96. 96 positions (8 x 12); Pattern: Regular.
MTP96 Plate Height: 14.6 mm; Well Cavity Depth: 10.9 mm;
Well Cavity Diameter: 7.0 mm.
Well Plate Type. Microtiter Plate MT384. 384 positions (24 x 16); Pattern: Regular.
MTP384 Plate Height: 14.4 mm; Well Cavity Depth: 11.5 mm;
Well Cavity Diameter: 3.7 mm.

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Definition of Terms

1. Definition of Terms
1 The common terms and PALsystem specific terms are defined.

PAL System
PAL System is the brand name for the entire PAL System product family.
The product family includes not only the PAL instruments but also the various optional PALmodules.

PALsystem
Refers specifically to the PAL3 System. This term encompasses the complete system, including all optional
PALmodules, such an Agitator, a Peltier Stack, etc. The term PALsystem applies to the entire system that is
tailored for a specific application, such as for liquid injection, headspace or SPME technique.

PALrobot
The term PALrobot is a generic term referring to the PAL3 System. PALrobot is most often used to refer to
the basic unit, meaning the X-,Y-,Axes, PALhead, and installed PALpower.

PALbase
PALbase is the combination of the X- and Y-Axes, with or without the electronics installed.

PALhead
Refers to the entire injection unit consisting of Z-Axis, the Needle Guide Drive and the Plunger Drive. The
cover (PALhead Cover) is also considered as part of the entire unit.

PALmodule
PALmodule is a generic term. It can refer to both ‘active’ and ‘passive’ PALmodules.

Active PALmodule
A PALmodule which is controlled by the PALbus via active control is defined as an ‘active PALmodule’.
An active PALmodule requires a PALdevice Firmware which is part of the PAL3 Firmware. An active
PALmodule is recognized when connected to the PALbus; it can be de-activated but not deleted.

Passive PALModule
A static PALmodule, e.g. a non-temperature programmable Tray Holder; does not require any control or
checks through the PALbus.
A passive PALmodule requires an object template which is part of the PALcontrol Software. A specific
PALdevice Firmware is not required. A passive PALmodule cannot be deactivated but it can be deleted.

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Definition of Terms

Composite PALmodule
An active PALmodule consisting of one or more PALdevices which also communicate with the PALbus, but in
slave functionality. A typical example is the PALhead.

PALdevice
A PALdevice is a single active PALmodule communicating with the PALbus but in slave functionality. Each
PALdevice requires a device firmware which is part of the PAL3 Firmware.

PALdrive
A ‘PALdrive’ is a generic term for the new generation of ‘motors’ used for the axes. The PALdrive uses the
logic of a servo drive with electronic and software control.
The various PALdrives are specified using the suffix of where the drive is located, such as PALdrive-X or
PALdrive-Z.

PALtool
PALtool is a generic term for the holder of a syringe or SPME Fiber. Three different PALtools are used:
Syringe Tool for liquid sample syringes; Headspace Tool for gaseous sample syringes (Headspace
technique) and the SPME Tool for the SPME Fiber technique.
A PALtool consists of the lower and upper needle guides, the electronic identification, heating and purge gas
connections if required, the coupling pivots for the tool itself and the needle guide. A PALtool is designed for
a specific syringe type tailored for the application (liquid, headspace or SPME), with a specific glass barrel
outer diameter and needle length.
The concept of the ‘PALtool’ is used with the PAL3 System design-dependent subclasses PAL RTC and PAL
RSI. The PAL LSI uses a fixed syringe Adapter instead.

PAL Control Software

The PAL Control software is the entire software package of the ‘Operating System’: PAL3 Application
Software, PAL3 Configuration and various PALdevice Firmware’s. File extension: *.pack.

PAL3 Firmware
Starting with software version 2.0 was the ‘PAL Control Software’ renamed to ‘PAL3 Firmware’.
The definition is identical as described above with ‘PAL Control Software’.

PALdevice Firmware
The PALdevice Firmware is the software for an active PALmodule.
The Device Firmware is part of the PAL3 Firmware.

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Definition of Terms

Activity
An ‘Activity’ is the lowest level of command available with the PAL3 Firmware. ‘Activities’ are dependent on
the PAL3 Firmware (PAL3 Application Software) version and are downloaded to the program from the
PALrobot when the initial PAL connection is made (these are updated during the run time on a regular basis).

Activities are grouped in various classes:

- Public: These Activities are available for the user to build a custom -defined script.
- Private: These Activities are not available for the user to build a script. They are necessary for internal
control and the integration of the PALrobot into another CDS system (Chromatography Data Handling
Software).

Script
A ‘Script’ is created by building a sequence of PALrobot operations, which are linked by a series of PAL3
‘Activities’.
A ‘Script’ is an executable procedure.

Method
A Method is an executable procedure defined by the PAL Sample Control software. For the operator, certain
parameters can be modified in order to define how the samples are processed.

Method Parameters
Method Parameters are associated with the Script operations. The operator can assign specific parameter
values in order to define how a processing operation should be performed.

PALobjects
PALobjects are data structures describing the properties of physical modules, such as Tray Holders,
Agitators, PALdrives, etc.

PALmodule Type
Unique identification of a PALmodule, defines the MachineObject description of the device in the context of
the entire PALsystem.

PALmodule ID
Unique identification of a PALmodule.

Tray Holder
A Tray Holder can hold one or more trays. Each Tray Holder has a reference position (X-, Y-, Z-coordinates)
that defines its location. A Tray Holder is a passive PALmodule. The type ‘Tray Holder’ can accept a large
Rack which spans all three slots, such as the Tray Type ‘R60’.

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Definition of Terms

Tray Plate
A Tray Plate can hold one or more trays. Each Tray Holder has a reference position (X-, Y-, Z-coordinates)
that defines its location. A Tray Plate is a passive PALmodule. The type ‘Tray Plate cannot accept a large
Rack which spans all three slots, such as the Tray Type ‘R60’. The Tray Plate only accepts all Trays (Racks)
which have the same footprint as a Well Plate. Well Plates are also accepted.

Slot
A Slot is the physical place where a Tray can be positioned in the Tray Holder.

Tray
A tray is generic term. A tray can be a ‘Rack’ for holding vials or a Well Plate for holding Deepwell plates or
Microtiter plates. A Tray holds multiple samples. Trays are defined by designating the Tray Type (see below)
and the Tray Holder. Tray names are used to identify the sample source within a PAL Job.

Rack
A Tray which holds vials is called ‘Rack’.
A Rack with the same footprint as a Well Plate has the abbreviation ‘VT’ (example: VT15) and a Rack with
the size to cover all three slots of a Tray Holder has the abbreviation ‘R’ (example: R60).

Rack Item
The physical dimensions of Vials that are handled within racks and the parameters required for automation,
such as ‘Needle Penetration Depth’ or ‘Penetration Speed’, are described by the various item parameters of
the Rack Item.

Well Plate
The term ‘Well Plate’ is a generic term used for all types of Well Plates. The most common Well Plates are
‘Deepwell Plates’ (example DW96 or DW384) or ‘Microtiter Plates’ (example: MT96 or MT384).
The Well Plates have a standardized footprint. The Stack Module drawers are designed to accept Well
Plates. Passive Tray Holders for the PALrobot have three slots, each one designed with the footprint
dimensions of a Well Plate.

Tray Type
A Tray Type is a generic term. A Tray Type can be a ‘Rack Type’ (for vials) or a ‘Well Plate Type’ (for Well
plates).
The Tray Type defines the pattern and sampling sequence of sample locations within a Tray.

Vial Type
The physical dimensions of Wash Vials and Waste Vials and the parameters required for automation, such
as ‘Needle Penetration Depth’ or ‘Penetration Speed’, are described by the various item parameters of the
Vial Type.

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Definition of Terms

Cap Type
The ‘Cap Type’ describes the material of the vial cap, which in turn determines whether or not a vial can be
transported.

Sealing Foil
Specifying that a Well Plate is sealed with a foil allows the option of selecting the Foil Cutter under ‘Needle
Guide Type’.

Needle Guide Type

The ‘Needle Guide Type is a selectable parameter in the software class ‘Tools’. This parameter allows the
user to select the required tool that is mounted to the Lower Needle Guide of the PALtool or of the Syringe
Adapter as used for the PAL LSI model. For example, the user can select the large magnetic ring for
transporting 10/20 mL vials or the Foil Cutter for use with sealed Well Plates.

Stack Module
A Stack Module is a generic term. It can be a ‘Stack’ or a ‘Peltier Stack’.
A Stack is a type of Tray Holder that is designed to hold microplates or racks with the same footprint. A six-
drawer Stack holds 12 standard micro-plates, two in each drawer.
A three-drawer Stack holds six deep-well micro-plates, two in each drawer.

Stack
A ‘Stack’ is a passive PALmodule, a Tray Holder with a drawer system. It is not temperature controllable.

Peltier Stack
A ‘Peltier Stack’ is an active PALmodule, a Tray Holder with a drawer system. It is temperature controllable.