Manual Zeus A5 LR

Z-Excursion Universal Sampler (ZEUS )
Integrator Manual
TABLE OF CONTENTS
Table of Contents
1 Introduction ................................................................................ 6
1.1 Intended Use of ZEUS ..................................................................... 6
1.2 About this Manual ........................................................................... 6
2 Safety Precautions and Hazards ............................................. 7

2.1 General Precautions ........................................................................ 7
2.1.1 ZEUS Pipetting Module ........................................................ 7
2.1.2 Operating ZEUS ................................................................... 7
2.2 Environmental Influence .................................................................. 8
2.3 Electrical Safety Precautions ........................................................... 8
2.4 Chemical, Radioactive or Biological Hazard Precautions ................ 9
3 Product Description ................................................................... 9
3.1 General Description ......................................................................... 9
3.2 Hardware Description ...................................................................... 9
3.2.1 General Overview ................................................................. 9
3.2.2 Pipetting Head Technology ................................................ 11
3.2.3 Unsurpassed Accuracy and Precision with CO-RE Tips...... 11
3.3 Automated Pipetting Process ........................................................ 12
3.3.1 Pipetting Process ............................................................... 12
3.3.2 Liquid Level Detection (LLD) .............................................. 12
3.3.3 Qualitative Pipetting Monitoring (QPM) .............................. 13
3.3.4 Anti-Droplet Control (ADC) ................................................. 14
4 Getting Started ......................................................................... 14
4.1 Unpacking ..................................................................................... 14
4.2 Hardware Installation ..................................................................... 15
4.3 Hamilton CAN Communication ..................................................... 16
4.3.1 General ............................................................................... 16
4.3.2 Example ............................................................................. 16
4.3.3 Identifier .............................................................................. 17
4.3.4 Handshake ......................................................................... 17
4.3.5 Data safety ......................................................................... 18
4.4 Power and CAN Connection ......................................................... 21
Z-Excursion Universal Sampler (ZEUS) Integrator Manual 3

TABLE OF CONTENTS TABLE OF CONTENTS
5 Programming Basic Functions ............................................... 22 8 ZEUS Module Qualification .................................................... 77

5.1 Data Transfer Format ..................................................................... 22 8.1 Module Qualification at Hamilton Factory ...................................... 77
5.2 Validating Connection and CAN Communication .......................... 23 8.2 Recommended Qualification Procedures ..................................... 77
5.3 Precautions prior to Operation....................................................... 24 8.3 Installation Qualification ................................................................. 78
5.4 Initialization Commands ................................................................ 24 8.4 Operation Qualification .................................................................. 78
5.5 Z-Drive Commands ....................................................................... 25 8.5 Performance Qualification ............................................................. 79
5.6 Tip Handling Commands .............................................................. 26
9 Troubleshooting ....................................................................... 80
5.7 Liquid Handling Commands .......................................................... 28
9.1 Getting Technical Support ............................................................. 80
5.8 Switch Off Commands................................................................... 30
9.2 Controlling the Functionality of pLLD and cLLD ............................ 80
5.9 Volume Check Commands ........................................................... 31
9.3 Controlling Aspiration and Dispensing ........................................... 81
5.10 Status Request Commands .......................................................... 32
9.4 Returning ZEUS for Repair ............................................................ 83
5.11 Special Commands ....................................................................... 36
5.12 Parameter Tables .......................................................................... 37 10 Technical Specifications ......................................................... 83
5.12.1 Container Geometry Table ................................................. 37
11 Ordering Information ............................................................... 86
5.12.2 Deck Geometry Table ........................................................ 40
11.1 ZEUS Pipetting Module ................................................................. 86
5.12.3 Tip Type Table .................................................................... 42
11.2 Disposable CO-RE Tips ................................................................ 86
5.12.4 Liquid Class Table .............................................................. 43
11.3 Accessories and Spare Parts ........................................................ 87
5.13 Run Error Messages ...................................................................... 44
5.14 Firmware download ....................................................................... 55 12 Appendices ............................................................................... 87
5.14.1 Typical Firmware Update Process ...................................... 55 12.1 Appendix A: ASCII Chart ............................................................... 87
5.14.2 Download Commands ....................................................... 55
5.14.3 Status Requests ................................................................. 56
5.14.4 Special Commands ............................................................ 57
5.14.5 Error Messages .................................................................. 57
6 Creating a Liquid Class ........................................................... 58
6.1 Concept of Liquid Classes ............................................................ 58
6.2 Setting the Liquid Class Parameters ............................................. 58
6.3 Gravimetric Calibration .................................................................. 64 Hamilton Warranty
6.4 Settings for Qualitative Pipetting Monitoring (QPM) ...................... 68 Please refer to the General Terms of Sale (GTS).
6.4.1 Successful Aspiration and Dispensing ............................... 68
6.4.2 Tip Clogging ....................................................................... 69 Important Notice
6.4.3 Aspiration of Air .................................................................. 69 This guide may not be used or reproduced in any way whatsoever without the express
6.4.4 Aspiration of Foam ............................................................. 70 written consent of Hamilton Bonaduz AG. Copyright © 2011 Hamilton Bonaduz AG,
7 Maintenance ............................................................................. 74 All Rights Reserved. Contents of this manual are subject to change without prior notice.
Technical modifications reserved. Greatest possible care was used on the correctness
7.1 Cleaning ZEUS .............................................................................. 74
of the information in this guide. If errors should be discovered nevertheless, Hamilton is
7.2 Recommended Maintenance ........................................................ 75
pleased to be informed about it. Regardless of this, Hamilton cannot assume a liability for
7.2.1 Daily Maintenance .............................................................. 75
any errors in this manual or for their consequences.
7.2.2 Weekly Maintenance .......................................................... 76
7.2.3 Yearly Maintenance ............................................................ 76

INTRODUCTION SAFETY PRECAUTIONS AND HAZARDS
1 Introduction 2 Safety Precautions and Hazards

1.1 Intended Use of ZEUS ATTENTION! Read the following safety notices carefully before installing
Hamilton Z-Excursion Universal Sampler (ZEUS) is a fully automated, self-contained, ready-to-go and operating the OEM Pipetting Module.
liquid handling module for integration in instruments requiring on-board pipetting. ZEUS is based
on Hamilton‘s revolutionary air-displacement pipetting technology and uses disposable tips to
avoid carry-over. The module is equipped with Qualitative Pipette Monitoring (QPM) to ensure 2.1 General Precautions
successful pipetting. ZEUS can pipette volumes in the range of 1 μL to 1000 μL.
ZEUS is a component for a liquid handling device and as a component cannot comply to in vitro 2.1.1 ZEUS Pipetting Module
diagnostic requirements or Title 21 Part 11. Only the complete liquid handling platform may be The operator of ZEUS must be familiar with this manual. The procedures contained within this
certified for in vitro diagnostic uses by the instrument manufacturer. manual have been tested by the manufacturer and are deemed to be fully functional. Any devia-
tion from the procedures given here may lead to malfunctions or even damages.
1.2 About this Manual Use adequate enclosure of ZEUS to ensure appropriate user protection.
This Manual is designed to support the integration engineer during integration, operation For safe and correct use of ZEUS, it is essential that both operating and service personnel follow
and qualification of ZEUS. You should read through the entire Manual before beginning to install generally accepted safety procedures as well as the safety instructions given in this document,
and operate the pipetting module. It describes the features of ZEUS and its integration in liquid the ZEUS Manual.
handling devices. Both the hardware and the communication between the pipetting module and Any collisions of the pipetting module with other
the liquid handling platform are detailed in this manual. After reading this manual the integration components have to be ruled out. ATTENTION! Teaching of
engineer should be capable of operating ZEUS. ZEUS and accurate definition
Cleaning, dismantling, and maintenance should only
of the Container Geometry and
Throughout this manual, following conventions are used to highlight various kinds of information: be performed by personnel trained in such work,
Deck Geometry parameters is
and who are aware of the possible hazards involved.
required prior operation.
Only certified technicians are authorized to perform
ATTENTION! Essential information for avoiding personal injury or damage mechanical maintenance on ZEUS.
to equipment. For repair or shipment, all mechanical parts must be put in their rest positions. Any ZEUS sent
away for repair must always be decontaminated (see Chapter 9.4). The pipetting module must
be sent back in the original reusable packaging box. There must not be any labware including
tip on the pipetting module during transportation.
NOTE: Important instructions or interesting information.
Only original ZEUS-approved parts, tools and accessories (e.g. pipetting tips) may be used with
the pipetting module (see Chapter 11). The use of any other parts, any alterations or modifica-
tions to the system may be dangerous and will void the warranty.
2.1.2 Operating ZEUS

When using the ZEUS, Good Laboratory Practices (GLP) must be observed. Suitable protective
clothing, safety glasses and protective gloves must be worn, particularly when dealing with a
malfunction of the instrument where the risk of contamination from spilled liquids exists.
Adequate protection including clothing and ventilation must be provided if dangerous liquids are

SAFETY PRECAUTIONS AND HAZARDS SAFETY PRECAUTIONS AND HAZARDS
used in the analytical work. In case of incidental spillage, carefully wipe with a dry cloth, taking 2.4 Chemical, Radioactive or Biological Hazard Precautions
into account the nature of the spilled liquid and the necessary safety precautions.
Selection of the appropriate safety level and implementation of the required safety measures for
During operations, stand clear of any moving parts or the working deck of the instrument. working with ZEUS is the sole responsibility of the user.
Do not attempt to disable any security measure.
If ZEUS becomes contaminated with biohazardous, radioactive or chemical material, it should
The instrument developer is responsible for the use of the appropriate probe, materials (e.g. pipet- be cleaned in accordance with the maintenance procedures given in the Chapter 6. Always de-
ting tips, containers), and parameters (e.g. liquid class, container geometry, tip type) consistent
contaminate your instrument and replace the samples on the instrument in case a tip detaches,
with the validated application. Ensure the use of tips of the appropriate size. Failure to do so may
to avoid cross-contamination and pipetting errors. Failure to observe and carry out the mainte-
lead to pipetting error, contamination or damages to ZEUS. Make sure that the pipetted samples
nance procedures may impair the reliability and correct functioning of the pipetting module.
are consistent with the samples used for performance validation. Generally, it is recommended to
centrifuge the samples to avoid foam, bubbles or clot formation. If working with hazardous samples observe and carry out the maintenance procedures, pay-
Pipetting accuracy and precision may not be ensured in case of process interruption. As a conse- ing particular attention to cleaning and decontamination. Use filter tips and do not reuse tips
quence it is recommended to discard the pipetted sample and repeat the required pipetting steps. to avoid cross-contamination. Design your waste container to avoid spillage during tip discard.
Wear gloves during the cleaning process. Any surfaces on which liquid is spilled must be
decontaminated.
2.2 Environmental Influence Do not use disinfecting materials which contain hypochlorite (Javelle water, Chlorox) or
The accuracy and the precision of pipetting with ZEUS are highly influenced by the laboratory envi- bleaching fluids.
ronmental conditions. Temperature, humidity and air pressure of the laboratory should be controlled
to achieve specified accuracy and precision. When working with samples, which will be used in
particularly sensitive tests, take the evaporation and condensation that may occur into account.
3 Product Description
During operation, ZEUS should be shielded from direct sunlight and intense artificial light.
3.1 General Description

ATTENTION! Hamilton will not take liability if damage arises from the
improper handling of liquids. ZEUS is a self-contained pipetting module designed for integration into instruments requiring
on-board liquid handling. It is based on Hamilton’s revolutionary air-displacement pipetting
technology and uses disposable tips to avoid any sample carry-over. The z-motion is integrated
in order to facilitate integration of the module. The pipetting module is also equipped with Quali-
2.3 Electrical Safety Precautions tative Pipetting Monitoring (QPM) to ensure successful pipetting. Both capacitive and pressure
Do not connect the pipetting module to a power source of any voltage beyond the range stated liquid level detections are integrated and may even be combined for demanding applications.
on the power rating Technical Specifications (see Chapter 10). Only use a cable which conforms
to the given specifications (see chapter 4.4). Make sure the cable is intact and properly plugged
to avoid any short circuit. Connect the power ground of the ZEUS module to the ground of the 3.2 Hardware Description
instrument housing. Failure to do so will impair the functionality of the capacitive LLD.
Keep ZEUS away from other equipment that emits electromagnetic radio frequency fields, and 3.2.1 General Overview
minimize static electricity in the immediate environment of the pipetting module. ZEUS is composed of two subunits: the pipetting drive subunit and the z-drive subunit. The
pipetting subunit contains the pipetting head that picks up tips, the pipetting drive that
moves the plunger, and the sensor board that controls the tip presence, the pipetting, and the
ATTENTION! Switch off the main power and unplug the FCC cable before
self-monitoring functions. The z-drive subunit consists of the z-drive and the main board and
dismounting ZEUS.
controls the movement of the pipetting module along the z-axis.

PRODUCT DESCRIPTION PRODUCT DESCRIPTION
3.2.2 Pipetting Head Technology

Pressure
ZEUS is based on an innovative air-displace- sensor
ment technology. Air displacement means that
Plunger
the liquid is aspirated into and dispensed from a
disposable tip by the movement of a plunger,
Pipetting drive Seal
similar to the functioning of hand pipettes. Air
displacement enables the use of consumable
Z-drive
pipetting tips which limits cross-contamination
and sample carry-over. The plunger seal is
Power
positioned at the lowest possible position to
and CAN limit the size of the air cushion above the liquid
connector (Figure 2). This feature limits the influence of Air
the environment and of the liquid properties for
improved accuracy and precision.
Disposable tip
Liquid
Sensor board
Sample tube
Figure 2:
Innovative pipetting head technology.
Main board
3.2.3 Unsurpassed Accuracy and Precision with CO-RE Tips

Hamilton CO-RE tips are the highest quality
Ejection
sleeve
tips available for precise and accurate pipet-
Tip ejection sleeve
ting. They have been designed to solve the
problems of sealing and alignment plagued
Air tight by press-fit pickup techniques. ZEUS
Attachment seal has a spring loaded attachment lip which
lip
compresses and expands at low force to fit
Disposable tip
the symmetrical circular attachment groove
of the CO-RE tip. This mechanism ensures
straight alignment between the tip and the
Attachment pipetting channel. At the same time the
groove spring expands the elastomer seal radially
which provides air-tight sealing of the tip.
Figure 1: Hardware overview. Figure 3:

Precise attachment of CO-RE tips on ZEUS.

PRODUCT DESCRIPTION PRODUCT DESCRIPTION
3.3 Automated Pipetting Process LLD only works with new and empty tips during the aspiration phase. This process is slightly
slower than capacitive LLD but is the only way to detect non-conductive liquids. The sensitivity of
both cLLD and pLLD may be adjusted to the vessel size, tip type and the physical properties of
3.3.1 Pipetting Process the liquid to be detected.
The automated pipetting with the ZEUS follows five successive steps (Figure 4).
3.3.3 Qualitative Pipetting Monitoring (QPM)
1 Zeus picks up a pipetting tip and ZEUS is equipped with a process monitoring system called Qualitative Pipette Monitoring (QPM),
automatically verifies its presence. which ensures proper pipetting. If QPM is activated, the air pressure in the pipette tip is monitored
1
pick-up during the entire aspiration and dispensing cycle and is instantly compared to predefined
tip 2 Zeus supports two modes of Liquid Level Detection (LLD), capacitance thresholds. When ZEUS aspirates or dispenses foam, clots, or air due to insufficient reagent, the
LLD for conductive liquids and pressure LLD for non-conductive liquids. system immediately identifies the error. Adequate error-handling procedures may be associated
2 The integrated z-motion is used to detect the liquid level and to follow the to these errors and automatically performed to ensure proper pipetting. The foam detection is
Detect liquid liquid during aspiration and dispense. application dependent.
level
The working principle of QPM is illustrated in Figure 5 for the case of tip clogging during aspira-
3 ZEUS aspirates the volume of liquid defined by the user in the range of
tion. The pressure is monitored during the whole pipetting cycle. Normal behavior is shown in
3 1 μl - 1000 μl into the pipetting tip. The complete pipetting cycle is
Aspirate red. If the tip clogs, e.g. during clot aspiration (blue), the pressure drops below a predefined
automatically verified with the Qualitative Pipette Monitoring (QPM).
liquid threshold (dashed line). The system identifies an error. A more detailed description of all error
QPM detects the aspiration of foam, clots or air and follows predefined error
cases is provided in Chapter 6.
handling procedures to ensure precise and accurate pipetting.
4
Dispense
4 The liquid is dispensed in one or more aliquots and the process is
monitored by QPM.
5
Discard 5 Zeus discharges the used pipetting tip.
tip Successful
Aspiration
Pressure
Figure 4: ZEUS automated pipetting process.
Clot Threshold
3.3.2 Liquid Level Detection Tip Clogged
ZEUS contains both capacitive and pressure liquid level detection (LLD). Capacitive LLD (cLLD)
may only be used with conductive liquids and requires conductive tips. The pipetting channel
Time
modulates the tip with a high frequency AC signal. As soon as the tip touches the surface of the
liquid, the capacitance of the system changes, which causes a change in the AC signal: the liquid
level is detected. Figure 5: The working principle of QPM, illustrated for tip clogging during aspiration.
The pressure LLD (pLLD) can be used with both conductive and non-conductive liquids. The z-
drive moves down slowly while the plunger aspirates (i.e. moves up). When the tip hits the surface
of the liquid the pressure sensor measures a change in pressure indicating that the surface has
been found. This detection method cannot be used if liquid is inside the tip. Therefore, pressure

PRODUCT DESCRIPTION GETTING STARTED
3.3.4 Anti-Droplet Control (ADC)

The ZEUS process monitoring also includes Anti-Droplet Control (ADC). ADC works by con-
tinuously monitoring the pressure in the channel. ADC is used to pipette volatile liquids like acetone
or methanol. Such liquids tend to evaporate inside the tip increasing the vapor pressure. Without
ADC, the pressure is released by droplet formation which results in the loss of liquid and may
lead to contamination of other samples (Figure 6, left). With ADC on, pressure differences are
detected by the pressure sensor and compensated in real time by plunger movements: droplet
formation is prevented (Figure 6, right).
Figure 7: Unpacking ZEUS.
4.2 Hardware Installation

ZEUS needs to be mounted on the holder of your instrument using M4 screws. For this pur-
pose M4 threads have been foreseen at the bottom of the module. Please refer to the hard-
ware specifications for exact mechanical requirements. The spindle should remain accessible.
Make sure to secure at least the four external mounting points and consider the reference
surfaces for alignment.
x-y positioning of ZEUS must occur with an accuracy of 0.5 mm and z-positioning with an
accuracy of 1 mm for proper tip pick-up. Make sure that ZEUS is built in your instrument to
achieve these requirements.
Figure 6: Working principle of

the Anti-Droplet Control (ADC). ATTENTION! Make sure to secure at least the four external mounting points
for proper fixation of ZEUS. The tip pick-up process may generate forces up to 50 N.
The consequent deformation of the x-y axis carrying ZEUS may not exceed 2 mm.
4 Getting Started
4.1 Unpacking
Remove the transportation strap and pull the foam packaging carefully out of the cardboard
box. Enclosed you will find the ZEUS pipetting module and a Declaration of Quality with the Spindle
results of the final inspection (Figure 7). Please take the pipetting module carefully out of the box
and inspect it for shipping damages or missing parts.
Reference surfaces
M4 threads (6 pieces)
ATTENTION! Keep the original packing material in case the module has to
be returned to Hamilton. Observe standard handling precautions to avoid Figure 8: Position of the seven M4 threads required for proper mounting of ZEUS.
electrostatic discharge.

GETTING STARTED GETTING STARTED
4.3 Hamilton CAN Communication 4.3.3 Identifier

The Hamilton-CAN-protocol uses an 11-bit identifier. It is used to define the CAN node of the
sender and receiver. It also defines if the object is a Kick or Data. The bit assignment of an
identifier is shown in the following picture:
4.3.1 General
ZEUS uses modified Controller Area Network (CAN) protocols and not CANopen. To successfully
control ZEUS, your master control unit needs to support CAN communication. ATTENTION! 29 ID Bits (CAN2.0B) is not supported.
4.3.2 Example
Below is a sample of the protocol. This example is for requesting of the firmware-version.
10 9 8 7 6 5 4 3 2 1 0
0-Data CAN node of sender CAN node of receiver

1-Kick
ID (hex) Data (hex) Identifier Data Control Byte

401 Node 00 sends Kick to
node 01
Examples
Node 01 sends Remote
1 Remote Frame (DLC=8)
Frame to node 00 CAN node 00 is sending a Kick to CAN node 01 - 10000000001b -> 401h
1 52 46 69 64 31 31 39 A1 Node 00 sends Data to RF (id119 A1 > End of message = yes
Node 01 is rest in number of data bytes = 2 CAN node 00 is sending a Kick to CAN node 13 - 10000001101b -> 40Dh
buffer) counter = 1
CAN node 05 is sending data to CAN node 00 - 00010100000b -> A0
420 Node 01 sends Kick to
node 00
20 Node 00 sends Remote
Remote Frame (DLC=1)
Frame to node 01
20 52 46 69 64 31 31 39 71 Node 01 sends Data to RFid119 71 > End of message = no
4.3.4 Handshake
node 00 number of data bytes = 7 The handshake is realized with a CAN Remote-Frame.
counter =1

Frame to node 01 Receiver
20 39 72 66 31 2E 33 45 72 Node 01 sends Data to 9rf1.3E 72 > End of message = no • Receiver gets kick-object > send Remote-Frame to sender
node 00 number of data bytes = 7
counter = 2 • Receiver gets first data-object > send Remote-Frame to sender
Remote Frame (DLC=3) • Receiver gets second data-object > send Remote-Frame to sender
Frame to node 01
20 20 32 30 30 39 2D 30 73 Node 01 sends Data to 2009-0 73 > End of message = no
• …
counter =3
• Receiver gets xth data-object, but the content is not plausible > don’t send Remote-Frame,

Frame to node 01
wait, sender will repeat sending the object once more
20 36 2D 32 34 35 30 6B C4 Node 01 sends Data to 6-24 C4 > End of message = yes • End of Message = 1 > ready
counter =4

Sender End of Message (Control Byte 8)

• Sends kick-object > wait for Remote-Frame, if Remote-Frame isn’t acknowleged, send This bit shows if it is the last message.
kick-object again, after sending several times (for example 10) stop sending > Error
• Sends first data-object > wait for Remote-Frame Bit 7
• Sends second data-object > wait for Remote-Frame End of message = no 0
End of message = yes 1
• Sends xth data-object > wait for Remote-Frame, if this is not responded, send data-object
once more, after sending several times (for example 10) stop sending > Error
• Last package > send End of message
Number of Data bytes (Control Byte 8)
These three bits show the number of data bytes in the frame. If all 7 bytes belong to the frame,
4.3.5 Data safety all bits are 111b. If 4 bytes belong to the frame, the bits are 100b.
Control byte
Number of bytes Bit 6 Bit 5 Bit 4
0 0 0 0
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
1 0 0 1
Byte 1 > data
2 0 1 0
Byte 2 > data
3 0 1 1
Byte 3 > data
4 1 0 0
Byte 4 > data
5 1 0 1
Byte 5 > data
6 1 1 0
Byte 6 > data
7 1 1 1
Byte 7 > data
EOM Number of data bytes counter Byte 8 > control
Counter (Control Byte 8)
Data (Byte 1…7) These 4 bits are used as a counter for the different messages. As one message can consist of
more than 7 data bytes, this counter is used to index the frames. The counter always starts on
In the Hamilton CAN protocol 7 bytes of data can be transmitted in one frame. The 8th byte is 0001b with every new frame. If 1111b is reached in one message, it must be started over at 0001b.
used for protocol information (EOM, number of data bytes, counter). If the message is longer
than 7 bytes, it must be sent in more than one CAN frame. The data field contains the com- To detect duplicate objects, the counter should always be checked. This it can be decided if
mand string to ZEUS or the response string from ZEUS. The possible commands and respons- the object should be used or ignored.
es are detailed in the following chapter.

counter Bit 3 Bit 2 Bit 1 Bit 0

4.4 Power and CAN Connection
0 0 0 0 0 Power connection and CAN communication are provided by a Flexible Flat Cable (FFC) with
1 0 0 0 1 16 pins and a 1.0 mm pitch (Figure 9 and 10). The FFC is connected to the plug on the top of
ZEUS behind the z-drive (Figure 1).
2 0 0 1 0
3 0 0 1 1
4 0 1 0 0 Cable type FFC cable
5 0 1 0 1 Number of pins 16 Pin 16
6 0 1 1 0 Pitch 1.0 mm Pin 1
7 0 1 1 1 Cable connection ZIF / Right angle
8 1 0 0 0 Contact Top Figure 9: Specifications of the cable
providing power connection and
9 1 0 0 1 CAN communication with ZEUS.
10 1 0 1 0
11 1 0 1 1
12 1 1 0 0 The table below describes the pin assignment required for the cable appropriate configuration.
13 1 1 0 1
14 1 1 1 0
Pin ATTENTION!
15 1 1 1 1 Connect the power
CAN 1 CAN_H
2 CAN_L ground of the Zeus
3 GND_CAN module to the ground
of the instrument
Power Supply 1 4 +48V
Example housing. Failure to
5 +48V
do so will impair the
6 GND_48V
functionality of the
7 GND_48V
capacitive LLD.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Power Supply 2 8 +24V GND_48V and
0 1 0 1 0 0 1 0 R > 52h (only if the digital 9 +24V GND_24V must also
0 1 0 0 0 1 1 0 F > 46h outputs are used) 10 GND_24V be connected.
0 1 1 0 1 0 0 1 i > 69h (rest in buffer) 11 GND_24V
0 1 1 0 0 1 0 0 d > 64h (rest in buffer) Digital Output 12 DIGITAL_OUTPUT_1

13 DIGITAL_OUTPUT_2
0 0 1 1 0 0 0 1 1 > 31h (rest in buffer)
Power Ground 14 POWER GROUND
0 0 1 1 0 0 0 1 1 > 31h (rest in buffer)
15 POWER GROUND
0 1 1 1 0 0 0 1 9 > 71h (rest in buffer)
16 POWER GROUND
1 0 1 0 0 0 0 1 A1 > EOM = 1, number
Figure 10: FFC cable pin assignment.
of data bytes = 2,
counter = 1
The CAN node and the Baud Rate must be assigned using the DIP-switches on the Main
Board (Figure 11). The address of ZEUS is already preset (default: 1 ON). It must be adjusted if
additional units are used.

GETTING STARTED PROGRAMMING BASIC FUNCTIONS
DIP SWITCH After execution of a command, or in the event of an error, the module returns a confirmation of
CAN
node the command (symbolized by  in the command tables below). This consists of the command
6 5 4 3 2 1
itself, the returned id parameter and the error parameter (er) which contains the error number. If
0 0 0 0 1 1 no id parameter is sent along with the command string, the id parameter last sent or the default
Baud Rate 0 0 0 1 0 2 value is used for the response. The possible errors are listed in the error table (Chapter 5.5).
(0 = 500 kBaud,
... ... ... ... ... ... An example command string is shown in Figure 12.
1 = 125 kBaud)
1 1 1 1 1 31
Figure 11: Assignment of CAN node and baud rate. Command string sent
<GA><ai10000ge01go01lq01gq0lb0cf1000> -- Command
-- Associated parameters
NOTE: the address 00 is reserved to the master and not recommended for the
ZEUS module.
Response
<GA><id0001><er00> -- Command
-- Default id value
-- response
5 Programming Basic Functions Figure 12: Example command string and the associated response.
5.1 Data Transfer Format

Commands sent to ZEUS begin with two capital letters followed by the relevant parameters.
The parameters usually consist of two lower-case letters with the value following. Liquid class
parameters described in Chapter 6 have a different format: a space followed by the parameter
5.2 Validating Connection and CAN Communication
value. An identification parameter (id) may be defined to allocate the command sent and the A good way to validate proper connection and functional CAN communication with ZEUS is to
response. This may be particularly useful when communicating with several ZEUS modules. An send a status request for the firmware version.
identification parameter (id) may be defined to allocate the command sent and the response.
This may be particularly useful when communicating with several ZEUS modules.
Command string sent
<RF> -- Command
NOTE: Only one command can be sent per message. Parameters are not sent to
a defined address as in standard open CAN protocols. Request commands may be Example response
sent anytime. <RF><id0001><rf><1.00.000(xx)> -- Command
-- Default id value
-- Parameter name
Parameters are initialized with default values after power on and software reset. These values re- -- response firmware version
main valid until new values are defined. All required parameters must be sent with a command.
If a parameter is missing the value last sent or the default value will be used. Figure 13: Command string required to request a firmware version and example response.
Parameter tables have been created in order to define and store the values of certain pre-defined
parameters, such as the tip parameters, the geometry of the container, the geometry of the
instrument or the liquid class of the solutions.

PROGRAMMING BASIC FUNCTIONS PROGRAMMING BASIC FUNCTIONS
5.3 Precautions prior to Operation 5.5 Z-Drive Commands

Proper teaching of ZEUS and accurate definition of the Container Geometry and Deck Geometry The position of the z-drive is defined either by the cone of ZEUS if no tip is mounted or by
parameters is required prior to operation. the point of the pipetting tip if a tip has been picked up (Figure 14). It is relative to the preset
z-origin, which is the highest possible z-position of the cone of ZEUS (Figure 15). ZEUS maximal
z-excursion is 180 mm. If a tip has been picked up, the length of the tip need to be added to
5.4 Initialization Commands the z-excursion to define the current z-position of ZEUS.
Before sending commands that controls ZEUS it is necessary to initialize both the z-drive and
the pipetting drive. The z-drive should be initialized first to avoid crashes with objects on the
deck. Afterwards, move ZEUS to the waste prior to initializing the pipetting drive. If a pipetting tip State Definition of the z-position Minimal z-position Maximal z-position
is mounted it will be emptied and discarded during initialization of the pipetting drive.
No tip mounted Position of the cone of ZEUS 0 1800
Tip mounted Position of the point of Length of the tip 1800 + length
the pipetting tip (in 0.1 mm) of the tip
Command Parameter Parameter Default Name and Description
values value
Figure 14: Minimal and maximal z-position of ZEUS with or without a tip mounted.
DI Initialize Dosing Drive
Following steps are performed:
1) The Zeus plunger drives down to
empty any tip that may be present.
Z-Position without Tip Z-Position with Tip
2) Zeus discards the tip.
3) The plunger drives to the manufacturer
preset dosing zero position.
id#### 0000..9999 0 Identification Number
0 Current z-position 0
This parameter allocates the command
sent and the response. It may be
particularly useful when communicating
with several Zeus modules.
 DIid####er## See Error Messages
Tip length Current z-position
ZI Initialize z-Drive
This command moves Zeus to the
manufacturer preset z-origin, which gy
corresponds to the highest possible
position.
 ZIid####er## See Error Messages gy
2800 mm 2800 mm
Figure 15: Definition of the z-position of ZEUS with and without tip.

Command Parameter Parameter Default Name and Description Command Parameter Parameter Default Name and Description
values value values value
GZ Move z-Drive GT Pick-up Tip
This command moves Zeus along the Following steps are performed:
z-axis to a defined position relative to the 1) Zeus drives up to the Minimal Start
preset z-origin and at the choosen speed. Traverse Height defined in the Deck
Geometry Table (th), only if currently
at a lower position.
gy# 0000..2800 0 Position of the z-Drive 2) Zeus drives to the Beginning of Tip
The position of the z-drive is set in Picking Position defined in the Deck
increments of 0.1 mm and is relative to Geometry Table (tm).
the preset z-origin. 3) Zeus drives further down until a tip
gw 0..1 0 Speed of the z-Drive has been picked up, as recognized
Two speeds can be set: by the sensor detecting tip presence.
0=slow, 1=normal. 4) Zeus drives up to the End Traverse
Standard pipetting applications require Height (te) defined in the Deck
the normal speed. The slow speed is Geometry Table.
essentially used when teaching the drive. id#### 0000..9999 0 Identification Number
 GZid####er## See Error Messages tt## 0..30 0 Tip Type Table Index
See Tip Type Table (Chapter 5.12.3)
go## 00..99 0 Deck Geometry Table Index
See Deck Geometry Table (Chapter 5.12.2)
 GTid####er## See Error Messages
5.6 Tip Handling Commands GU Discard Tip

1) Zeus drives down to the tip discard
The tip handling commands control tip picking and tip discarding. Parameters describing the
(tr) position defined in the Deck
type of tip and the deck geometry are required to run these commands properly. Geometry Table
2) The plunger drives down to empty
the tip
ATTENTION! Make sure to send the right Tip Type Table Index with the 3) The tip is discarded
tip handling commands. Failure to do so may lead to pipetting errors or 4) Zeus drives up to the minimum
damages of ZEUS. traverse height at the end of the
command (te) defined in the Deck
Geometry Table
go## 00..99 0 Deck Geometry Table Index
See Deck Geometry Table (Chapter 5.12.2)
 GUid####er## See Error Messages

5.7 Liquid Handling Commands

The liquid handling commands control aspiration and dispensing with ZEUS. values value
The aspiration height may be either fixed when the LLD mode is off or automatically detected
zp#### 0000..2800 0 LLD Search Position
if the LLD is activated. The aspiration volume is also sent with this command. If the LLD mode is on, this is the z-position
(in increments of 0.1 mm) from which the
LLD detection will start looking for liquid.
zp must always be higher than the real
NOTE: In order to pipette correctly the Liquid Class parameters need to be liquid level.
accurately defined in the Liquid Class Table.
cf#### 0000..2800 0 Liquid Surface
If the LLD mode is off, this is the z-position
(in increments of 0.1 mm) at which the
liquid will be aspirated. It should be
defined with a tolerance of ± 0.5 mm.
values value ma##### 00000..10000 0 Mix Volume
This is the volume (set in increments of
GA Aspiration 0.1 µL) required to mix the probe.
The aspiration position is either fixed if
mb##### 00000..25000 0 Mix Flow Rate
the LLD mode is off or automatically
This is the flow rate (set in increments
detected if the LLD mode is on. of 0.1 µL/s) at which the probe is mixed.
If the LLD mode is on (lb1): dn## 00..99 0 Mix Cycles
1) Zeus drives to the LLD Search Number of mixing cycles.
Position (zp).
2) Zeus drives further down until the  GAid####yl####er## See Error Messages
yl#### is the position of the liquid
liquid level is detected.
surface after the command in 0.1 mm
3) The set volume (ai) is aspirated. (values between 0000-2800). The values
4) Zeus drives out of the liquid and up will not be updated if an error occurred.
to End Minimum Traverse Height (te)
If the LLD mode us off (lb0): GD Dispensing
1) Zeus drives down to the defined
liquid surface (cf).
2) Aspirate set volume (ai). di##### 0000..10000 0 Dispensing Volume
3) Zeus drives out of the liquid and up The volume dispensed is set in
to End Minimum Traverse Height (te) increments of 0.1 µl.
id#### 0000..9999 0 Identification Number ge## 00..99 0 Container Geometry Table Index
ai##### 0000..10000 0 Aspiration Volume go## 00..99 0 Deck Geometry Table Index
The volume aspirated is set in gq# 0..1 0 QPM on/off, 0=off;1=on
increments of 0.1 μL lq## 00..99 0 Liquid Class Table Index
ge## 00..99 0 Container Geometry Table Index lb# 0..1 0 LLD on/off, 0=off;1=on
go## 00..99 0 Deck Geometry Table Index Pressure LLD is not available during
dispensing.
lq## 00..99 0 Liquid Class Table Index
gq# 0..1 0 QPM on/off If the LLD mode is on, this is the
0=off;1=on z-position (in increments of 0.1 mm)
from which the LLD detection will start
lb# 0..1 0 LLD on/off
looking for liquid. zp must always be
0=off;1=on higher than the real liquid level.

cf#### 0000..2800 0 Liquid Surface AV Switch Off Command
If both the LLD mode and the Search Must be used before switching off the
Bottom Mode are off, this is the z- position
unit. Lifetime counter and cycle
liquid will be dispensed. It should be counters are saved on eeprom prior
defined with a tolerance of ± 0.5 mm. to switching off.
zm# 0..1 0 Search Bottom Mode id#### 0000..9999 0 Identification Number
This mode is not possible with 50 µL  AVid####er## See Error Messages
and 25 µL Axygen tips.
0=off, 1=on
ma##### 00000..10000 0 Mix Volume

This is the volume (set in increments of
0.1 µL) required to mix the probe.
5.9 Volume Check Commands
mb##### 00000..25000 0 Mix Flow Rate The Volume Check commands are used to calculate the volume present in the container before
This is the flow rate (set in increments or after pipetting. The calculation relies on the accurate definition of the container geometry and
of 0.1 µL/s) at which the probe is mixed. the use of the proper container geometry table.
dn## 00..99 0 Mix Cycles
Number of mixing cycles.
 GDid####yl####er## See Error Messages Command Parameter Parameter Default Name and Description
yl#### is the position of the liquid values value
surface after the command in 0.1 mm
(values between 0000-2800). The values GJ Calculate Container Volume
will not be updated if an error occurred. Calculate the volume present in the
container based on the container
geometry and the liquid level. The liquid
level is detected by LLD if the LLD mode
is on or defined.
5.8 Switch Off Commands ge## 00..99 0 Container Geometry Table Index
It is recommended to perform the following procedure prior to switching off the instrument: go## 00..99 0 Deck Geometry Table Index
1. Discard the tip lq## 00..99 0 Liquid Class Table Index

2. Send Switch Off command lb# 0..1 0 LLD on/off; 0=off; 1=on
If the LLD mode is on, this is the z-position
ATTENTION! It is essential to use the Switch Off command before powering (in increments of 0.1 mm) from which the
off your instrument. This enables saving of the Lifetime and Cycle counters to the LLD detection will start looking for liquid.
eeprom. Failure to do so may result in pipetting error or cross-contamination due cf#### 0000..2800 0 Liquid Surface
to incorrect Lifetime Counter. If the LLD mode if off, this is the z-position
liquid will be aspirated. It should be
defined with a tolerance of ± 0.5 mm.

 GJid####yl####aw######er## See Error Messages RE Request error code
yl#### is the position of the liquid The last saved error messages can be
surface after the command in 0.1 mm retrieved. The error buffer is automatically
(values between 0000-2800). The values voided when a new command is started.
will not be updated if an error occurred.
aw###### is the calculated volume in
the container in 0.1 µL.  REid####er## See Error Messages
RF Request Firmware Version

GN Calculate Container Volume
after Pipetting
Calculate the volume present in the 
RFid#### rf#.#& ####-##-## is the returned
container after pipetting and uses the firmware version, for example
parameters defined in GA or GD. It may rf1.00.000.(XX)
be used after GA error 71 not enough
liquid present. RA Request Parameter Value
id#### 0000..9999 0 Identification Number id#### 0000..9999 0 Identification Number

GNid####yl####aw######er## See Error Messages ra&& Parameter Name
yl#### is the position of the liquid The parameter name consists of two
surface after the command in 0.1 mm lower case letters. For example, the
(values between 0000-2800). The values command string to request the value of
will not be updated if an error occurred. the aspiration volume is RAraai.
aw###### is the calculated volume in
the container in 0.1 µL.
 RAid####&&‘..‘ &&’..’ is the returned paramater value.
For example the response to the
request for the value of the aspiration
volume is RAid0001ai01000.
QW Request Instrument Initialization Status

5.10 Status Request Commands id#### 0000..9999 0 Identification Number
The status request commands are used to request the current value of a specific parameter, 
QWid####qw# qw# is the returned initialization status
and various other statuses. 0 = the z-drive or / and the dosing
drive is not initialized
1 = both the z-drive and the dosing
drive are initialized
values value
VP Request Name of Last Faulty Parameter
RE Request error code
The last saved error messages can
be retrieved. The error buffer is  VPid####vp‘..‘ vp’..’ is the returned syntax error. This
automatically voided when a new command is especially usefull to identify
command is started. a parameter that is out of range.

RT Request Tip Presence Status RQ Request Instrument status

RTid####rt# rt# is the tip presence status  RQid####rq&&&& qq&&&& is the returned instrument status
(0 = no tip, 1 = tip present).
1st character
QT Request Technical Status Bit 3 Bit 2 Bit 1 Bit 0


QTid####qt‘..‘ qt’..’ is the returned technical status 2nd character
(part number / revision number / serial
number, xxxxxx – xxxx / xx / xxxxxx). Bit 3 Bit 2 Bit 1 Bit 0
3rd character
RZ Request Absolute z Position
id#### 0000..9999 0 Identification Number Bit 3 Bit 2 Bit 1 Bit 0

RZid####gy#### gy#### is the returned height of the
z-drive in increments of 0.1 mm. 4th character
Bit 3 Bit 2 Bit 1 Bit 0

RV Request Cycle Counter
id#### 0000..9999 0 Identification Number 1st character: 2nd character:
 RVid####na’..’nb’..’nc’..’nd’..’ na’..’ indicates the number of tip Bit 0 : Bit 0 :
pickup cycles (10 char) Bit 1 : Bit 1 :
nb’..’ indicates the number of tip Bit 2 : Test mode Bit 2 :
discard cycles (10 char) Bit 3 : Bit 3 : Download mode
nc’..’ indicates the number of aspiration
cycles (10 char) 3rd character: 4th character:
nd’..’ indicates the number of dispense Bit 0 : Bit 0 :
cycles (10 char) Bit 1 : Bit 1 :
Bit 2 : Bit 2 :
Bit 3 : Bit 3 :
RY Request Lifetime Counter
XB Request Liquid Class Revision

RYid####ry’..’ ry’..’ indicates the lifetime of the plunger
seal (11 char). It is measured as the
cumulated distance run in 0.01 mm by 
XBid####xa‘..‘ xa’..’ is the returned revision of the
the plunger seal during aspiration, liquid class (#.##.##)
dispensing and mixing.

5.11 Special Commands

values value
Command Parameter Parameter Default Name and Description AT Test Mode Command
values value
AB Emergency Stop ON
at# 0..1 0 Test Mode Status
The Emergency stop is only
0 = off, 1 = on
software-based. It may be used to
If the test mode is switched on,
stop ZEUS to avoid user injuries. For
commands are acknowledged but not
example if coupled to a cover closing.
carried out (except the status requests).
 ATid####er## See Error Messages
 ABid####er## See Error Messages
GX Set Dosing Drive in Cleaning Position

AW Emergency Stop OFF This command drives the plunger to the
id#### 0000..9999 0 Identification Number cleaning position for maintenance.
 AWid####er## See Error Messages id#### 0000..9999 0 Identification Number

 GXid####er## See Error Messages
OU Switch Digital Output (24V, 300mA)

ou# 0..1 0 Digital Output 1 Status
0=off;1=on
oy# 0..1 0 Digital Output 2 Status
0=off;1=on
5.12 Parameter Tables
 OUid####er## See Error Messages Parameter tables have been created in order to define and store the values of certain pre-
defined parameters, such as the tip parameters, the geometry of the container, the geometry
of the instrument, or the liquid class of the solutions. The parameter tables are saved on a
SL Switch the Status LED Manually non-volatile memory with a limited number of writing cycles. As a consequence, the parameter
Per default, the LED is blue during
tables should not be sent to ZEUS per default during initialization and parameter comparison
aspiration and dispensing and red in
case of an error. This default setting should be performed by the controlling software.
cannot be overwritten but it is possible
to define additional status.
5.12.1 Container Geometry Table
All parameters required to describe the geometry of a vessel (Figures 16 and 17) used are sum-
sl# 0..1 0 Status Blue LED
marized in the Container Geometry Table. It includes the type of vessel bottom and the vessel
0=off;1=on
dimensions. Each vessel is described in its respective table, which is identified by Container
sk# 0..1 0 Status Red LED
Geometry Table Index.
0=off;1=on
 SLid####er## See Error Messages

General container model: “cb”

dl [mm] values value
“gx” = x 100000
cb [0.1mm] gx##### 00000..10000 0 Section of the Container Bottom
This parameter describes the geometry
“bg” of the tube bottom (Figure 12).
“ce”
gx = 10’000 for a flat bottom
dl gx = 0 for a conical bottom
Example containers: gx = 6’180 for a round bottom
ce#### 0000..2800 0 Position of the Container Bottom
This parameter defines the z-position
“bg” “bg” (in increments of 0.1 mm) of the container
“ce” “ce”
bottom. It corresponds to the maximal
“bg” = 0 “gx” = 0 “gx” = 6180
immersion position. If the LLD mode is
“gx” = 10000 (approximation)
active the liquid level will be search until
Flat bottom Conical bottom Round bottom this position.
ie#### 0000..1800 0 Immersion Depth
Figure 16: Container parameter Depth (in increments of 0.1 mm) of
required for aspirating. penetration of the tip below the liquid
surface cf.
yq#### 0000..1800 0 Leaving Height
Height (in increments of 0.1 mm) above
the liquid surface cf during which ZEUS
drives slowly to penetrate in or exit from
the liquid.
“ch” yr#### 0000..1800 0 Jet Height
“ci”
Figure 17: Container parameters Height (in increments of 0.1 mm) above
“ce” required for dispensing if the Search the liquid surface cf at which the liquid
Bottom mode is activated. will be dispensed in the jet mode, ie.
whithout liquid contact.
ch#### 0000..1800 0 Start of Height Bottom Search
This is the distance (in increments of in
0.1 mm) above the container bottom
Command Parameter Parameter Default Name and Description ce from which the container bottom will
values value be automatically detected if the search
bottom mode is activated.
GC Set Container Geometry Parameters
ci#### 0000..1800 0 Dispense Height after Bottom Search
If the Search Bottom Mode is on, this is
ge## 00..99 0 Index of the Container Geometry Table the height above the container bottom
cb### 000..999 0 Diameter for Round Container ce at which dispensing starts in
In increments of 0.1 mm. increments of 0.1 mm.
bg#### 0000..1800 0 Height of the Container Bottom  GCid####er## See Error Messages
Measured from “ce” in 0.1mm.

GB Request Container Geometry GO Set Deck Geometry Parameters
Parameters id#### 0000..9999 0 Identification Number
id#### 0000..9999 0 Identification Number go## 00..99 0 Index of the Deck Geometry Table
ge## 00..99 0 Index of the Container Geometry Table te#### 0000..2800 0 End Traverse Position
 GBid####ge##ca#cb###cc###cd###bg####gx#####ce####ch####ci#### Traverse Position at the end of
a command in increments of 0.1 mm.
This is also the traverse height at
which the x- and y-movements will be
performed.
tm#### 0000..1800 0 Beginning of Tip Picking Position
This is the z-position (in increments of
0.1 mm) at which the tip picking process
5.12.2 Deck Geometry Table

starts. A control is implemented to
detect whether a tip is already present
All parameters required to describe the geometry of the instrument deck (Figure 18) on which or not. This position should be set at
ZEUS is integrated are summarized in the Deck Geometry Table. The deck geometry table least 5 mm above the tip.
includes the traverse height, the tip pick up, and the discard height. Several Deck Geometry tr#### 0000..2800 0 Position of Tip Deposit Process
Tables may be defined within one application, for example if different Traverse Heights are This z-position (in increments of 0.1mm)
should be set to limit splashes of
required with or without tips, if different tubes heights are used or several tip storage positions. remaining liquid and cross
Each deck is described in its respective table, which is identified by the Index of the Deck contamination on your instrument.
Geometry Table.  GOid####er## See Error Messages
GR Request Deck Geometry

Tip picking parameters Tip deposit parameters Parameters
ZEUS
Current go## 00..99 0 Index of the Deck Geometry Table
height te
 GRid####go##te####tm####tr####
Current
height
tm
5 mm
End of tip
picking
Disposable tip
te
tr
Waste
Figure 18: Description of the Deck Geometry parameters during tip picking and deposit.

5.12.3 Tip Type Table 5.12.4 Liquid Class Table

The different types of pipetting tips are described in the Tip Type Table. It includes the volume and The different types of Liquid Classes are described in the Liquid Class Table. A liquid class
the type of pipetting tip used. Please contact Hamilton if you required any additional type of tips. contains all parameters required for accurate pipetting, including QPM parameters. These
parameters are set based on gravimetric measurements obtained for dispensing of a specified
liquid in defined conditions. Several predefined liquid classes are provided with your ZEUS
ATTENTION! ZEUS does not include an automatic recognition of the tip type. as shown in the table below. If your application is not covered by one of the predefined
Make sure to use the Tip Type Index of the tip which is actually picked up. liquid classes, please contact Hamilton for a custom-made solution. Alternatively, you can
create a new liquid class following the instructions described in Chapter 6.
Tip Type Table for ZEUS with CO-RE tip attachment:

Index (lq) Medium Dispensing Mode Tip LLD mode
Index (tt) Tip Description Tip Part Number 00 Water (Hamilton Verification Water) Jet empty 50 µL cLLD
00 10 µL CO-RE tip, conductive, non-filtered 235900-ZEUS 01 Water (Hamilton Verification Water) Jet empty 300 µL cLLD
01 10 µL CO-RE tip, conductive, filtered 235901-ZEUS 02 Water (Hamilton Verification Water) Jet empty 1000 µL cLLD
02 50 µL CO-RE tip, conductive, non-filtered 235966-ZEUS 03 Water (Hamilton Verification Water) Jet part 50 µL cLLD
03 50 µL CO-RE tip, conductive, filtered 235948-ZEUS 04 Water (Hamilton Verification Water) Jet part 300 µL cLLD
04 300 µL CO-RE tip, conductive, non-filtered 235902-ZEUS 05 Water (Hamilton Verification Water) Jet part 1000 µL cLLD
05 300 µL CO-RE tip, conductive, filtered 235903-ZEUS 06 Serum Jet empty 50 µL cLLD
06 1000 µL CO-RE tip, conductive, non-filtered 235904-ZEUS 07 Serum Jet empty 300 µL cLLD
07 1000 µL CO-RE tip, conductive, filtered 235905-ZEUS 08 Serum Jet empty 1000 µL cLLD
08 300 µL CO-RE slim tip, conductive, non-filtered 235806-ZEUS 09 Serum Jet part 50 µL cLLD
09 300 µL CO-RE slim tip, conductive, filtered 235647-ZEUS 10 Serum Jet part 300 µL cLLD
11 Serum Jet part 1000 µL cLLD
12 Ethanol (100%) Jet empty 50 µL pLLD
13 Ethanol (100%) Jet empty 300 µL pLLD
The choice of tip should be adjusted to the type of container (Figure 19). 14 Ethanol (100%) Jet empty 1000 µL pLLD
15 Glycerin (80%) Jet empty 50 µL cLLD
Container Diameter Example of Container Required x-y- Type of Tip 16 Glycerin (80%) Jet empty 300 µL cLLD
Positioning Accuracy 17 Glycerin (80%) Jet empty 1000 µL cLLD
d ≥ 5.5 mm 96-well microtiter plate 0.5 mm All
3.0 mm ≤ d ≤ 5.5 mm 384-well microtiter plate 0.5 mm 10, 50 and 300 µL tips
d ≤ 1.5 mm 1536-well microtiter plate 0.1 mm 10 µL tips
need to be teached
Figure 19: Recommended tips for standard container diameter.

5.13 Run Error Messages

Command
Error Description Possible Action
Command 36 Emergency stop is active or
was sent during action. Switch off the emergency stop.
40 Parallel processes not permited Send only one command at a time.
61 z-Drive is not initialized Initialize the z-drive.
DI
62 Movement error on the z-drive Hardware is not working. Please contact Hamilton.
00 No error during the command
64 z-position not possible The z-drive could not reach gy. Check parameters.
30 Undefined command Command unknown. Refer to the command tables.
35 Voltage outside of the Make sure that the voltage is 48V+-5%.
GT
permitted range
36 Emergency stop is active or Switch off the emergency stop.
was sent during action. 30 Undefined command Command unknown. Refer to the command tables.
40 Parallel processes not permited Send only one command at a time. 31 Undefined parameter Unknown parameter. Refer to the command tables.
50 Initialization failed Hardware is not working. Please contact Hamilton. 32 Parameter out of range A value of a sent parameter is out of range.
Refer to the command tables.
52 Movement error on pipetting drive Hardware is not working. Please contact Hamilton.
35 Voltage outside of the Make sure that the voltage is 48V+-5%.
permitted range
ZI
00 No error during the command was sent during action.
30 Undefined command Command unknown. Refer to the command tables. 40 Parallel processes not permited Send only one command at a time.
35 Voltage outside of the Make sure that the voltage is 48V+-5%. 51 Pipetting drive not initialized Initialize the pipetting drive.
permitted range
was sent during action.
65 z-position not possible The z-drive could not reach te. Check parameters.
60 Initialization failed Hardware is not working. Please contact Hamilton.
75 No tip picked up There was no tip present at the x-y-position.
Hardware not working
76 Tip already picked up There is already a tip on the cone.
GZ Please discard tip first.
GU
31 Undefined parameter Unknown parameter. Refer to the command tables.
32 Parameter out of range A value of a sent parameter is out of range.
Refer to the command tables. 31 Undefined parameter Unknown parameter. Refer to the command tables.
35 Voltage outside of the Make sure that the voltage is 48V+-5%. 32 Parameter out of range A value of a sent parameter is out of range.
permitted range Refer to the command tables.

Command Command
Error Description Possible Action Error Description Possible Action
35 Voltage outside of the Make sure that the voltage is 48V+-5%. 55 Volume check failed ai > tip size
permitted range ai < 1st base point of the correction curve
36 Emergency stop is active or Switch off the emergency stop. ai > 8th base point of the correction curve
was sent during action. tip size < 8th base point of the correction curve
ma > tip size
56 Conductivity check failed The choosen liquid class requires the use of
51 Pipetting drive not initialized Initialize the pipetting drive. conductive tips. Make sure that the liquid class and
52 Movement error on pipetting drive Hardware is not working. Please contact Hamilton. the tip type index parameters are consistent.
61 z-Drive is not initialized Initialize the z-drive. 57 Filter check failed Make sure that the liquid class and the tip type
index are consistent.
69 z-position not possible The z-drive could not reach tr. Check parameters.
75 No tip present
66 z-position not possible The z-drive could not reach ce. Check parameters.
77 Tip not discarded
67 z-position not possible The z-drive could not reach cf. Check parameters.
68 z-position not possible The z-drive could not reach zp. Check parameters.
GA
70 Liquid level not detected The liquid level was not detected between zp and
00 No error during the command ce (pLLD and cLLD). Check paramaters.
30 Undefined command Command unknown. Refer to the command tables. 71 Not enough liquid present ZEUS calculated that the desired volume ai is
31 Undefined parameter Unknown parameter. Refer to the command tables. not available between ce and the found LLD position
with the defined container geometry. Check
32 Parameter out of range A value of a sent parameter is out of range. parameters.
72 Auto calibration of the Hardware is not working. Please contact Hamilton.
35 Voltage outside of the Make sure that the voltage is 48V+-5%. pressure sensor not possible
permitted range
74 Early liquid level detection The liquid level was there before reaching zp.
36 Emergency stop is active or Switch off the emergency stop. Check parameters.
75 No tip picked up There is not tip on the cone. Pick up tip first.
38 Empty liquid class The liquid class defined in the parameter lq
was empty. Choose another one. 80 Clot detected during aspiration The pressure curve reached the clot-threshold.
Error handling to empty the tip may be defined.
81 Empty tube detected The tube was empty or has been emptied during
51 Pipetting drive not initialized Initialize the pipetting drive. during aspiration aspiration.
52 Movement error on pipetting drive Hardware is not working. Please contact Hamilton. 82 Foam detected during aspiration Foam has been detected. Centrifuge tubes prior
53 Maximum volume of the There is not enough space in the tip for pipetting to avoid foam formation.
tip reached desired volume ai. Correct ai or change tip. 85 No communication to the Hardware is not working. Please contact Hamilton.
54 Maximum volume in pipetting digital potentiometer
drive reached

Command Command
70 Liquid level not detected The liquid level was not detected between zp and
ce (pLLD and cLLD). Check paramaters.
GD
72 Auto calibration of the pressure Hardware is not working. Please contact Hamilton.
sensor not possible
74 Early liquid level detection The liquid level was there before reaching zp.
31 Undefined parameter Unknown parameter. Refer to the command tables. Check parameters.
32 Parameter out of range A value of a sent parameter is out of range. 75 No tip picked up There is not tip on the cone. Pick up tip first.
83 Clot detected during dispensing The pressure curve reached the clot-threshold.
35 Voltage outside of the Make sure that the voltage is 48V+-5%. Error handling to empty the tip may be defined.
permitted range
84 Foam detected during Foam has been detected. Centrifuge tubes prior
36 Emergency stop is active or Switch off the emergency stop. dispensing pipetting to avoid foam formation.
85 No communication to the Hardware is not working. Please contact Hamilton.
38 Empty liquid class The liquid class defined in the parameter lq digital potentiometer
was empty. Choose another one.
GJ
51 Pipetting drive not initialized Initialize the pipetting drive.
54 Maximum volume in pipetting
drive reached
55 Volume check failed di < 1st base point of the correction curve
ai > 8tht base point of the correction curve
ma > tip size 35 Voltage outside of the Make sure that the voltage is 48V+-5%.
permitted range
57 Filter check failed Make sure that the liquid class and the tip type
index are consistent. 36 Emergency stop is active or Switch off the emergency stop.
38 Empty liquid class The liquid class defined in the paremeter lq
was empty. Choose another one.
63 Container bottom search failed No resistance on the z-drive detected between
ch and ce. Check parameters.
51 Pipetting drive not initialized Initialize the pipetting drive.
56 Conductivity check failed The choosen liquid class requires the use of
67 z-position not possible The z-drive could not reach cf. Check parameters.
conductive tips. Make sure that the liquid class and
68 z-position not possible The z-drive could not reach zp. Check parameters. the tip type index parameters are consistent.

Command Command
57 Filter check failed Make sure that the liquid class and the tip type
index are consistent.
GK
67 z-position not possible The z-drive could not reach cf. Check parameters. Refer to the command tables.
68 z-position not possible The z-drive could not reach zp. Check parameters. 35 Voltage outside of the Make sure that the voltage is 48V+-5%.
70 Liquid level not detected The liquid level was not detected between zp and permitted range
ce (pLLD and cLLD). Check paramaters. 51 Pipetting drive not initialized Initialize the pipetting drive.
72 Auto calibration of the pressure Hardware is not working. Please contact Hamilton. 52 Movement error on pipetting drive Hardware is not working. Please contact Hamilton.
sensor not possible
54 Maximum volume in pipetting
74 Early liquid level detection The liquid level was there before reaching zp. drive reached
Check parameters.
85 No communication to the Hardware is not working. Please contact Hamilton.
GC
digital potentiometer
20 No communication to EEPROM Hardware is not working. Please contact Hamilton.
AB
AW
GO
XA
GB

Command Command
30 Undefined command Command unknown. Refer to the command tables. 30 Undefined command Command unknown. Refer to the command tables.
31 Undefined parameter Unknown parameter. Refer to the command tables. 31 Undefined parameter Unknown parameter. Refer to the command tables.
32 Parameter out of range A value of a sent parameter is out of range. 32 Parameter out of range A value of a sent parameter is out of range.
Refer to the command tables. Refer to the command tables.
GR GS
00 No error during the command 00 No error during the command
20 No communication to EEPROM Hardware is not working. Please contact Hamilton. 20 No communication to EEPROM Hardware is not working. Please contact Hamilton.
GL GV
00 No error during the command 00 No error during the command
20 No communication to EEPROM Hardware is not working. Please contact Hamilton. 20 No communication to EEPROM Hardware is not working. Please contact Hamilton.
39 Liquid class write protected Index 00-20 can only be saved by Hamilton.
GW
GM 00 No error during the command
00 No error during the command 20 No communication to EEPROM Hardware is not working. Please contact Hamilton.
20 No communication to EEPROM Hardware is not working. Please contact Hamilton. 30 Undefined command Command unknown. Refer to the command tables.
30 Undefined command Command unknown. Refer to the command tables. 31 Undefined parameter Unknown parameter. Refer to the command tables.
31 Undefined parameter Unknown parameter. Refer to the command tables. 32 Parameter out of range A value of a sent parameter is out of range.
GG
GQ 00 No error during the command
00 No error during the command 20 No communication to EEPROM Hardware is not working. Please contact Hamilton.

5.14 Firmware Download

Command
5.14.1 Typical Firmware Update Process
It is possible to upload new firmware update on Zeus according to the typical process
described below.
Command Answer Description
GE AP Switch over to download mode, if the module is not yet in that mode.
No command response follows.
RQ RQrq**** Check that the module is in download mode.
20 No communication to EEPROM Hardware is not working. Please contact Hamilton. The download mode bit must be set in instrument status.
30 Undefined command Command unknown. Refer to the command tables. DE DEer’...’ Delete Flash EPROM
31 Undefined parameter Unknown parameter. Refer to the command tables. DPdp’........’ DPer’...’ Import new firmware line after line. Each line is described by
32 Parameter out of range A value of a sent parameter is out of range. the parameter dp.
Refer to the command tables. DPdp’.......’ DPer’...’ This step is repeated until the entire program has been loaded
DC DCer’...’ Calculate check sums to verify that the program has been correctly loaded.
GH AP Switch to loaded program. No command response follows.
00 No error during the command RQ RQrq**** Check whether the module has switched to the actual firmware.
The download mode bit must be reset.
32 Parameter out of range A value of a sent parameter is out of range. 5.14.2 Download Commands
GI Command Parameter Parameter Default Name and Description

values value
DE Clear Flash EPROM
DP Import Line
31 Undefined parameter Unknown parameter. Refer to the command tables. Import the new firmware line after line.
32 Parameter out of range A value of a sent parameter is out of range. dp’...’ 76 char Line to be imported.
DC Control Download
Calculate the check sums and verify
that the program has been correctly
loaded.

5.14.3 Status Requests 5.14.4 Special Commands
RQ Request Instrument status AP Switch to loaded Program
After successful download this command
switches to the new program. This
 RQid####rq&&&& rq&&&& is the returned instrument status command is not acknowledged.
1st character
2nd character
5.14.5 Error Messages

Error Description Trigger Possible Action
20 No communication I2C bus driver I2C Bus or EEPROM is not working.
3rd character
to EEPROM

30 Undefined command Syntax check Unknown command.
Refer to the command table.
31 Undefined parameter Syntax check Unknown parameter.
4th character Refer to the command table.
32 Parameter out of range Syntax check A value of a set parameter is out of
Bit 3 Bit 2 Bit 1 Bit 0 range. Refer to the command table.
40 Command sent while Status function Do not sent two commands in parallel.
1st character: 2nd character: another one was active
Bit 0 : Bit 0 :
50 Data in Intel hex line sent Download function Verify if the Intel hex check sum
Bit 1 : Bit 1 :
are wrong. yielded data error.
Bit 2 : Bit 2 :
Bit 3 : Bit 3 : Download mode 51 Flash EPROM cannot Download function Flash EPROM or processor card
be programmed not working
3rd character: 4th character: 52 Flash EPROM cannot Download function Flash EPROM or processor card
Bit 0 : Bit 0 : be cleared not working
Bit 1 : Bit 1 : 53 Flash EPROM check Flash EPROM test Check sums stored in Flash EPROM
Bit 2 : Bit 2 : sum error do not match those calculated
Bit 3 : Bit 3 :
54 Programming voltage Interruption of power supply, badly
outside range permitted soldered joint

CREATING A LIQUID CLASS CREATING A LIQUID CLASS
6 Creating a Liquid Class
6.1 Concept of Liquid Classes

A liquid class (LC) is a set of parameters determining the aspiration and dispensing behavior
of the pipetting module for a specific liquid. The LC depends on the physical properties of the
liquid (e.g. viscosity or vapor pressure), the tip type and the selected pipetting mode. It is also
influenced by environmental effects such as temperature, pressure, and humidity. An individual
liquid class is required for each type of liquid, tip type and pipetting mode. Liquid classes ensure
accurate and precise pipetting.
Several predefined liquid classes are provided with your ZEUS (see Chapter 5.12.4). If your
application is not covered by one of the predefined liquid classes, please contact Hamilton for
a custom-made solution. Alternatively, you can create a new liquid class following three steps
described below: Figure 20: Schematics of possible aspiration modes. Each mode activates a different set of parameters.
1) Set the LC parameters for your specific application (either based on a predefined LC or by
creating a new set of parameters). The right choice of parameters ensures high precision. “Jet empty” dispense mode is used for dispensing all the liquid in a jet without touching the
2) Perform gravimetric calibration for the new LC. This step ensures high accuracy. surface to avoid cross-contamination. “Jet part” mode dispenses only a part of the liquid in a
jet. If “Surface empty” mode is active, the tip touches the surface and dispenses all the liquid.
3) Specify the associated settings for Qualitative Pipetting Monitoring (QPM). “Surface part” mode leaves a residual volume in the tip. Surface modes are recommended for
dispensing small volumes (<20µl).
NOTE: If LC parameters have been changed (step 1), then the gravimetric
calibration and QPM parameters have to be adjusted as well to ensure proper
pipetting (steps 2 and 3).
6.2 Setting the Liquid Class Parameters

As a first step, the pipetting mode should be selected. The choice of the pipetting mode strongly
influences the intrument’s behavior. Three different modes are available for aspiration (as illus-
trated in Figure 20) and four modes for dispensing (Figure 21).
“Simple” aspiration is used for most of the standard cases. Activate “Empty Cup” mode to
aspirate all the volume in the container (specify a volume larger than what is expected to be in
the container). In this case, the tip will follow the falling liquid level to the bottom of the container,
staying there for the rest of the aspiration. Use “Consecutive” mode if the tip has already aspi-
rated liquid before (e.g. 3 different aspirations before the dispensing step).
Figure 21: Schematics of possible dispensing modes. Each mode activates a different set of parameters.

Next, the relevant background parameters for a pipetting cycle have to be set. All liquid class
parameters are described in the table below. To start with, choose a predefined liquid class Command Parameter Parameter Default Name and Description
which is similar to the liquid you would like to handle. After that, run a test and visually inspect range value
the quality of the pipetting process (e.g. using a high-speed camera). If the pipetting behavior is #### 0000..9999 0 Over-Aspirated Volume in 0.1 µL
fine, volume calibration can be done as described in the next section. Otherwise you might ad- After aspirating the required volume,
just some of the liquid class parameters to optimize the pipetting properties. Several examples this additional volume is aspirated and
of situations and possible solutions are listed below. dispensed again immediately to pre-wet
the tip (in simple mode). The effect is
that the meniscus is balanced. It is
Situation Possible solution used for accurate pipetting of small
volumes (<10 µL).
Unwanted air inside the tip after aspiration Reduce flow rate; increase settling time
Drop formation at the tip orifice Pre-wet tip by adding over-aspirate volume; ##### 00000..10000 0 Transport Volume in 0.1 µL
add transport volume; add stop back volume; Air is aspirated at the end of the
activate ADC aspiration or dispensing and is
automatically dispensed again as an
Liquid sticks to the outside of the tip Reduce swap speed
extra volume during the following
Residual liquid volume inside the tip Reduce flow rate; add blowout volume; dispense step. It is influenced by tip
after dispensing reduce stop flow rate geometry and liquid vapor pressure.
Liquid splashes during dispensing Reduce flow rate Prevents droplet formation during
transport. This parameter is helpful
when pipetting volatile substances.
##### 00000..10000 0 Blowout Air Volume in 0.1 µL
Command Parameter Parameter Default Name and Description This air volume is taken up first during
range value aspiration. It is blown out at the end
of dispensing (empty mode only). It is
GL Set Liquid Class Parameter influenced by liquid viscosity and vapor
id#### 0000..9999 0 Identification Number pressure. The blowout volume helps to
completely empty the tip.
lq## 00..99 0 Liquid Class Table Index
#### 0000..3000 0 Swap Speed in 0.1 mm/s
uu# 0..1 0 Liquid Class for Filter Tips?
Determines how fast the tip is
(0 = no, 1 = yes)
withdrawn from the liquid after
Aspiration aspiration or dispense. This parameter
# 0..2 0 Aspiration mode (0 = simple; is chosen based on the liquid viscosity
1 = empty cup; 2 = consecutive) and vapor pressure. Using a slow speed
prevents a viscous liquid from sticking
##### 00000..25000 0 Flow Rate in 0.1 µl/s to the outside of the tip.
This parameter corresponds to the
plunger speed during aspiration or
dispense. The flow rate is the most
critical parameter, influenced by tip
geometry, liquid viscosity, density and
vapor pressure:
small tip opening -> slow flow rate,
high viscosity -> slow flow rate,
high density -> slow flow rate,
high vapor pressure -> fast flow rate

range value range value
### 000..999 0 Settling Time in 0.1 s ##### 00000..25000 0 Flow Rate in 0.1 µL/s
This parameter sets how long the tip Dispensing speed of the plunger. See
remains in liquid after aspiration or description of aspiration Flow Rate.
dispense before moving out of the ##### 00000..25000 0 Stop Flow Rate in 0.1 µL/s
liquid. The tip geometry and liquid Dispensing speed of the plunger at
viscosity are considered when setting which the dispense stops. If equal
this parameter. If settling time is too to “Flow Rate”, then the plunger stops
short the liquid has not enough time to abruptly without slowing down. If set to
fill the tip and unwanted air is aspirated minimum, the plunger movement slows
as soon as the tip is lifted out of the liquid. down gradually until it stops. When
# 0..1 0 Liquid Level Detection (LLD) mode pipetting a viscous liquid such as
(0 = cLLD, 1 = pLLD) glycerin, it is recommended to have a
Use pressure LLD (pLLD) with gradual stop (slow Stop Flow Rate) for
non-conductive liquids and tips. pLLD complete dispensing.
only works with new and empty tips ### 000..325 0 Stop Back Volume in 0.1 µL
during aspiration. For conductive This air volume is aspirated again
liquids, choose capacitive LLD (cLLD) in immediately after dispensing to have an
combination with conductive tips. abrupt cut-off of the liquid flow (jet part
# 1..4 1 cLLD Sensitivity (1 = very high, 2 = high, mode only). Prevents droplet formation
3 = medium, 4 = low) when pipetting volatile liquids such as
The sensitivity may be adjusted to the ethanol.
vessel size and the liquid volume to be ##### 00000..10000 0 Transport Volume in 0.1 µL. See
detected (small volume -> high sensitivity). description of aspiration Transport Volume.
# 1..4 1 pLLD Sensitivity (1 = very high, 2 = high, ### 000..200 0 Acceleration in 0.1 µL/s 2
3 = medium, 4 = low) Sets the acceleration of the plunger
Mainly determined by tip geometry. Use during dispensing. Required for
high sensitivity with large tip orifices. controlled flow cut-off. Prevents droplet
# 0..1 0 Anti-Droplet Control (ADC; 0 = off, 1 = on) formation at the tip orifice.
Use ADC when pipetting liquids having Recommended value is 40.
low viscosity and high vapor pressure, #### 0000..3000 0 Swap Speed in 0.1 mm/s. Surface
such as ethanol. If the pressure reaches dispensing modes only. See description
a critical value where dripping is likely of aspiration Swap Speed.
to occur, the plunger is withdrawn as
much as needed to reduce the pressure ### 000..999 0 Settling Time in 0.1 s. Surface
and to prevent droplet formation. dispensing modes only. See description
of aspiration Settling Time.
Dispensing
##### 00000..25000 0 Flow Rate Transport Volume in 0.1 µL/s
# 0..3 0 Dispensing mode Plunger speed during aspiration of
(0 = jet empty, 1 = jet part, transport volume. Should be
2 = surface empty, 3 = surface part) synchronized with the movement of
z-drive. Recommended value is 325.

2) For each calibration point, dispense a

Command Parameter Parameter Default Name and Description total of n samples (n=10 is recommen- Target volume range Balance precision
range value ded) into a weighing vessel, and 1-10 µL 0.001 mg
 GLid####er## See Error Messages weigh each sample after delivery.
10-100 µL 0.01 mg
The balance should meet or exceed
100-1000 µL 0.1 mg
the following requirements:
GM Request Liquid Class Parameter
Aspiration
id#### 0000..9999 0 Identification Number 3) Record the measured mass and calculate the volume of each dispense (Vi, where i =1 to n)
lq## 00..99 0 Liquid Class Table Index (Aspiration) by dividing each mass value by the density of the liquid.
 GMid####lq##uu# # ##### #### ##### ##### #### ### # # # # # #####
##### ### ##### ### #### ### #####
NOTE: The density depends on the temperature of the liquid. Please measure the
temperature of the dispensed liquid and take the density value at the measured
temperature.
4) Calculate the average dispensed

6.3 Gravimetric Calibration volume from the individual dispensed volumes:
The second step in configuring a liquid class is gravimetric calibration which ensures the best
possible pipetting accuracy. The calibration of a liquid class is performed by weighing eight 5) Calculate the accuracy: 100%. V0 is the target volume (entered in the settings).
reference points within that liquid class. The test procedure is as follows:
6) Calculate the standard deviation s of the calculated volumes:
1) Define a meaningful measurement range for each tip size. Eight calibration points have to
be taken covering the entire volume range of a tip. The density of points should be higher 7) Determine the coefficient of variation: The CV value is a measure for precision.
for smaller target volumes. Examples of four different tips are listed below (recommended
values in 0.1 µL): 8) Create a calibration curve using the average values Vi (“dispensed volume”). The commands
and parameters for the volume calibration curves are shown in the tables below. Typically, the
dispensed volume is a linear function of the target volume (see Figure 22). If a value between
Calibration point 10 µL tip 50 µL tip 300 µL tip 1000 µL tip two calibration points is to be pipetted (e.g. 300 µL for the 1000 µL tip), the required volume
1 5 5 50 100 is interpolated using two nearest calibration points (i.e. 200 and 500 µL).
2 10 10 100 200
3 20 20 250 500
4 30 50 500 1000
5 40 100 750 2000
6 60 200 1250 5000
7 80 300 2000 7500
8 100 500 3000 10000 Figure 22: Average dispensed volume (Vi ) vs. target volume
(V0 ) for a 1000 µL tip (“calibration curve”). “Target volume”
is the volume to be pipetted (entered in the settings). Each
measurement point (square) is an average over 10 dispensing
cycles (“dispensed volume”). The dashed line shows the
situation when target volume equals the dispensed volume.

GG Set Calibration Curve for Aspiration GH Set Calibration Curve for Dispensing
gg## 00..99 0 Calibration Curve Table Index gh## 00..99 0 Calibration Curve Table Index
ck##### 00000..11000 0 1. Target Volume (in units of 0.1 µL) cl##### 00000..11000 0 1. Target Volume (in units of 0.1 µL)
##### 00000..11000 0 1. Average Aspirated Volume ##### 00000..11000 0 1. Average Dispensed Volume
(in units of 0.1 µL) (in units of 0.1 µL)
##### 00000..11000 0 2. Target Volume ##### 00000..11000 0 2. Target Volume
 GGid####er## See error messages  GHid####er## See error messages
GE Request Calibration Curve GI Request Calibration Curve

for Aspiration for Dispensing
gg## 00..99 0 Calibration Curve Table Index gh## 00..99 0 Calibration Curve Table Index
 GEid####gg##ck##### ##### ##### ##### ##### ##### ##### #####  GIid####gh##cl##### ##### ##### ##### ##### ##### ##### #####
##### ##### ##### ##### ##### ##### ##### ##### ##### ##### ##### ##### ##### ##### ##### #####

6.4 Settings for Qualitative Pipetting Monitoring (QPM)

The last step in setting up a new liquid class is to define the threshold parameters for the
Qualitative Pipetting Monitoring (QPM) – the on-board process monitoring system. Hamilton Successful
has identified three types of undesired events that can occasionally occur during pipetting: Aspiration
aspiration of clots, air and foam. The Qualitative Pipetting Monitoring has been developed
Pressure
to separate these events by continuously monitoring the pressure. If the measured pressure
exceeds predefined threshold values, the system identifies an error. This section explains how
to set these thresholds. The commands and parameters for QPM are listed in the tables at the Clot Threshold
end of this section (aspiration and dispense). Specific thresholds have to be defined for each Tip Clogged Figure 24: Schematics of a typical pres-
of the 8 calibration points (see previous section). sure curve for successful aspiration (red)
and a clogged tip (blue). The threshold
Time for clot detection is set to a value larger
than pmax (e.g. 2pmax ).
6.4.1 Successful Aspiration and Dispensing
A successful pipetting cycle is sketched in Figure 23. The pressure in the tip has a certain value 6.4.2 Tip Clogging
at the beginning, and decreases below atmospheric when the plunger starts to move up. The
liquid enters the tip to compensate for the pressure difference. The pressure increases again Some samples can contain solid objects such as blood clots. If these are aspirated they might
when the plunger movement stops. However, the pressure at the end of the aspiration cycle (partially) clog the tip resulting in an inaccurate pipetting volume. In Figure 24, a successful aspi-
is lower than the initial value, because gravity acts on the liquid inside the tip. During dispense ration cycle (red) is compared to a clogged tip (blue). The pressure drops rapidly if a blood clot
the pressure increases above atmospheric while the plunger moves down. If such pressure is aspirated clogging the tip. The clot threshold (black dashed line) is set, for example, to twice
curve shape is measured, no error message is generated indicating a successful aspiration and the maximum pressure difference of a successful cycle 2pmax.
dispense. Deviations from this curve shape are recognized by the QPM and discussed in the
following for the aspiration cycle.
6.4.3 Aspiration of Air
Air can be aspirated if not enough liquid is present in the container, as illustrated in Figure 25
(empty tube, blue). If air enters the tip, the pressure increases and saturates at a certain level close
to the initial value. The empty tube threshold is set to half of the pressure difference between start
and end value of a successful cycle p/2. In the case of dispensing, the empty tube threshold is
not defined, because this situation is already recognized and handled during aspiration.
Pressure
Successful Successful
Aspiration Dispense
Empty Tube
Empty Tube
Time Pressure Threshold
Figure 23: A successful pipetting cycle.

Successful
Aspiration
Figure 25: Undesired aspiration of air

Time (blue). The empty tube threshold is set
to p/2 (black dashed line).

6.4.4 Aspiration of Foam

Some samples have foam on their surface. If the liquid level detection mistakenly sees the foam
range value
as the surface of the liquid then the channel starts to pipette with the tip still above the surface.
GQ Set QPM Parameter for Aspiration
Mostly foam will be aspirated. This case is depicted in Figure 26. Aspiration of foam causes
strong pressure fluctuations during the cycle (blue curve in part a). These pressure variations id#### 0000..9999 0 Identification Number
are even more pronounced if the pressure derivative is plotted vs. time (b). Steep slopes of the gv## 00..99 0 QPM Parameter Table Index
pressure curve in (a) are converted to sharp peaks of the pressure derivative in (b). The foam vv#### 0000..1023 0000 1. Clot detection threshold
threshold is set for the derivative (black dashed line). Note that the pressure is only monitored (for 1st calibrated volume). Absolute value;
during the plunger movement. The peak beyond the vertical line (plunger movement stops) will depends on pressure measurement range.
not generate an error message. Hamilton recommends setting the foam threshold value to 15 #### 0000..1023 0000 1. Empty tube detection threshold.
(normal sensitivity). Lower values might be used if very high sensitivity is required (should be >4). Value is set relative to the initial pressure.
#### 0000..1023 0000 1. Foam detection threshold.
Note that this threshold is set for the
A time derivative of the pressure curve.
# 0..1 0 1. Pressure measurement range
(0 = 0-20 mbar, 1 = 0-200 mbar).
Successful #### 0000..1023 0000 2. Clot detection threshold
Pressure
Aspiration (for 2nd calibrated volume)

#### 0000..1023 0000 2. Empty tube detection threshold
Foam Plunger #### 0000..1023 0000 2. Foam detection threshold

Aspiration Movement # 0..1 0 2. Pressure measurement range
Stops
#### 0000..1023 0000 3. Clot detection threshold
Time Figure 26: (A) If foam is aspirated (blue), strong (for 3rd calibrated volume)
pressure fluctuations occur. These are even more
pronounced in the pressure derivative (sharp
blue peaks in (B)). The foam detection threshold #### 0000..1023 0000 3. Foam detection threshold
is defined for the pressure derivative and not for
Foam
B the pressure. # 0..1 0 3. Pressure measurement range
Threshold #### 0000..1023 0000 4. Clot detection threshold

Pressure Derivative
#### 0000..1023 0000 4. Foam detection threshold

Successful
Aspiration #### 0000..1023 0000 5. Clot detection threshold
Foam Plunger #### 0000..1023 0000 5. Empty tube detection threshold

Aspiration Movement
Stops #### 0000..1023 0000 5. Foam detection threshold
Time

#### 00º00..1023 0000 6. Foam detection threshold #### 0000..1023 1023 2. Clot detection threshold
# 0..1 0 6. Pressure measurement range #### 0000..1023 0000 2. Foam detection threshold
#### 0000..1023 0000 7. Clot detection threshold # 0..1 0 2. Pressure measurement range
#### 0000..1023 0000 7. Empty tube detection threshold #### 0000..1023 1023 3. Clot detection threshold
#### 0000..1023 0000 7. Foam detection threshold #### 0000..1023 0000 3. Foam detection threshold
# 0..1 0 7. Pressure measurement range # 0..1 0 3. Pressure measurement range
#### 0000..1023 0000 8. Clot detection threshold #### 0000..1023 1023 4. Clot detection threshold
#### 0000..1023 0000 8. Empty tube detection threshold #### 0000..1023 0000 4. Foam detection threshold
#### 0000..1023 0000 8. Foam detection threshold # 0..1 0 4. Pressure measurement range
# 0..1 0 8. Pressure measurement range #### 0000..1023 1023 5. Clot detection threshold
#### 0000..1023 0000 0. Clot detection threshold. If the #### 0000..1023 0000 5. Foam detection threshold
pressure measurement range is
switched, then the pressure curve
at the switching value is measured #### 0000..1023 1023 6. Clot detection threshold
twice, using both ranges. This is the #### 0000..1023 0000 6. Foam detection threshold
first threshold value set for the range “1”.
 GQid####er## See error messages
GS Request QPM Parameter for Aspiration
id#### 0000..9999 0
gv## 00..99 0
 GSid####gv##vv#### #### #### # #### #### #### # #### #### #### #
(cf. table for aspiration)
#### #### #### # #### #### #### # #### #### #### # #### #### #### #
#### #### #### # #### #### #### #### 0000..1023 0000 0. Foam detection threshold
 GVid####er## See error messages
GV Set QPM Parameter for Dispensing
id#### 0..9999 0 Identification Number GW Request QPM Parameter for Dispensing
gp## 00..99 0 QPM Parameter Table Index id#### 0..9999 0
ww#### 0000..1023 1023 1. Clot detection threshold gp## 00..99 0
#### 0000..1023 0000 1. Foam detection threshold => GWid####gp##ww#### #### # #### #### # #### #### # #### #### # ####
#### # #### #### # #### #### # #### #### # #### ####
(0=0-20 mbar, 1=0-200 mbar).

MAINTENANCE MAINTENANCE
7 Maintenance 5) Verify that the tip ejection sleeve is clean. Change the tip ejection sleeve if this is not the case.
6) Clean the naked barrel of the ZEUS pipetting module using a lint-free cloth soaked with
Microlab™ Detergent & Disinfectant (Figure 27).
Periodic maintenance routines need to be run in order to ensure safe and reliable operation of
the ZEUS pipetting module.
ATTENTION! Take care that no liquid gets inside the pipetting barrel.
ATTENTION! Always wear suitable protective clothing, safety glasses and

disposable gloves during maintenance. 7) After cleaning remount the ejector sleeve. You will need to initialize ZEUS before using.
Do not clean the instrument in the vicinity of naked flames or devices which
could create sparks. Do not use hot air blowers to dry the instrument. The liquids
used for cleaning are flammable.
7.2 Recommended Maintenance
Use cleaning, disinfecting and decontaminating fluids in accordance with
We recommend that you maintain the ZEUS pipetting module at the following intervals:
Hamilton’s instructions. Do not use disinfecting materials which contain
hypochlorite or bleaching fluids. Daily The Daily maintenance is recommended before using the instrument.
Weekly The Weekly maintenance is recommended at the end of the week before the
instrument will be shut-down.
Yearly The yearly maintenance is recommended every year after one year of usage.
7.1 Cleaning ZEUS
Perform the cleaning procedure if the ZEUS pipetting module is soaked accidentally in any
liquid, if any spillage is noticed and if a contamination occurred. 7.2.1 Daily Maintenance
1) Verify that no pipetting tip is mounted on the module. Empty and discard any pipetting tip.
2) Move ZEUS to the maintenance position on your instrument and set the pipetting drive in the
ATTENTION! Use cleaning, disinfecting and decontaminating fluids in
cleaning position (see chapter 5.11). accordance with Hamilton’s instructions. Do not use disinfecting materials which
3) Power off the ZEUS pipetting module. contain hypochlorite (Javelle water, Chlorox) or bleaching fluids.
4) Remove the tip ejection sleeve. To do so loosen the fixation clip carefully, and strip down
the tip ejection sleeve (Figure 27).
Perform the daily maintenance at the beginning of each working day. The following tasks belong
to the daily maintenance:
1) Perform visual check of the pipetting module to identify spillage and damages.
Fixation clip 2) If the pipetting head needs to be cleaned, perform the cleaning procedure (see Chapter 7.1)
Barrel
Tip ejection
sleeve
Figure 27: Removing the

tip ejection sleeve.

MAINTENANCE ZEUS MODULE QUALIFICATION
7.2.2 Weekly Maintenance 8 ZEUS Module Qualification

Perform the weekly maintenance at the end of the working week. The following tasks are carried
during the weekly maintenance.
This Chapter contains general recommendations to ensure that the ZEUS module integrated in
1) Perform visual check of the pipetting module to identify spillage and damages. your instrument is installed and functioning correctly.
2) Perform the cleaning procedure (see Chapter 7.1).
8.1 Module Qualification at Hamilton Factory
Each individual ZEUS module undergoes final testing in our production. CAN communica-
7.2.3 Yearly Maintenance tion, movements of the z-drive and of the pipetting drive, sensors functionality, and pipetting
performance are verified during final testing at Hamilton factory. This enables you to integrate
Perform the yearly maintenance after one year of usage. The following tasks are carried out
high quality validated modules in your instrument and simplifies your manufacturing process.
during the yearly maintenance.
As a consequence no functional validation of the ZEUS component is required as part of your
incoming goods inspection.
NOTE: The Lifetime Counter indicates the lifetime of the plunger seal. It is mea-
sured as the distance run by the seal. It is recommended to change the plunger 8.2 Recommended Qualification Procedures
seal before the Lifetime Counter reaches 12’000’000’000. This value is equivalent to Qualification of the ZEUS module in your instrument may be required for:
1 million full stroke pipetting cycles (aspiration and dispensation).
• Factory testing after instrument production
• Installation and operation qualification at the customer site
1) Perform visual check of the pipetting channel to identify spillage and damages. • Instrument verification during yearly maintenance
• Functional validation after service
2) Perform the cleaning procedure (see Chapter 7.1). • The table below describes the recommended qualification procedures.
3) Change the tip ejection sleeve.
4) Change the CO-RE tip adaptor after 500’000 tip picking cycles.
5) Control the lifetime counter. Return the ZEUS module to Hamilton before it exceeds Installation Operation Performance
Qualification Qualification Qualification
12’000’000’000 for replacement of the plunger seal.
Incoming goods
n.a. n.a. n.a.
6) Perform installation and operation qualification (Chapter 8). inspection
Factory testing Recommended Recommended The instrument manufacturer carries
(see Chapter 8.3) (see Chapter 8.4) the responsibility for the particular
process. This exact procedure will
strongly depend on the specific
applications that ZEUS as a
component is used for. Hamilton
can offer support related to the
liquid handling.

ZEUS MODULE QUALIFICATION ZEUS MODULE QUALIFICATION
Verify that the environmental conditions are within the specifications. The operation qualifi-
Installation Operation Performance cation has to be performed with a well-defined solution such as Hamilton Verification Solution
Qualification Qualification Qualification (Chapter 11).
Installation at Recommended Recommended The instrument manufacturer carries
customer site (see Chapter 8.3) (see Chapter 8.4) the responsibility for the particular 1) Install and calibrate the balance according to the manufacturer’s instructions.
process. This exact procedure will
2) Pick up the disposable tip (Chapter 5.6).
applications that ZEUS as a 3) Aspirate the test volume (Chapter 5.7).
component is used for. Hamilton
can offer support related to the 4) Read weight.
liquid handling.
Yearly Recommended Recommended The instrument manufacturer carries 5) Dispense in jet mode the test volume into a weighing vessel (Chapter 5.7).
Maintenance (see Chapter 8.3) (see Chapter 8.4) the responsibility for the particular
process. This exact procedure will 6) Measure the dispensed weight (stable balance value).
7) Eject tip to waste (Chapter 5.6).
component is used for. Hamilton 8) Repeat steps 1) – 6) ten times per volume and channel. Use new tip for each pipetting.
can offer support related to the
liquid handling. 9) Calculate the average volumes using the corresponding liquid density (Chapter 6.3).
Service Recommended Recommended The instrument manufacturer carries
(see Chapter 8.3) (see Chapter 8.4) the responsibility for the particular 10) Calculate the accuracy R and precision CV (Chapter 6.3) and compare with field
process. This exact procedure will verification specifications (Figure 28). The verification is passed if the obtained values
strongly depend on the specific are lower than the specified. The field verification specifications are broader than the design
component is used for. Hamilton specifications. They allow the use of a transportable balance and measurements under
can offer support related to liquid broader environmental conditions, typically found in laboratories.
handling.
Tip volume(µL) Tested volume(µL) Accuracy R (%) Precision CV (%)

8.3 Installation Qualification
1000 1000 ≤ 2.0 ≤ 1.5
The purpose of the installation validation is to verify that the ZEUS module has been properly 1000 50 ≤ 5 ≤ 2.5
mounted and connected.
Figure 28: Field verification specifications.
1) Verify that the ZEUS module has been properly mounted according to the instructions
in Chapter 4.
2) Validate proper connection and CAN communication (Chapter 5.2). 8.5 Performance Qualification
3) Initialize pipetting drive and z-drive (Chapter 5.4). The performance qualification aims to verify the instrument performance in a specific application.
It relates to a specific application and lies under the responsibility of the instrument manufacturer.
Hamilton can offer support related to liquid handling.
8.4 Operation Qualification
The operation qualification aims to provide a general qualification of the pipetting performance
of the ZEUS module. It differs from the performance qualification which is specific to your
application (Chapter 8.5). The recommended operation qualification for the ZEUS module
consists of a two-point volume verification.

TROUBLESHOOTING TROUBLESHOOTING
9 Troubleshooting Example:

RBlc0 RBid0000rb4920 0200 0200 Request the index where data record
9.1 Getting Technical Support

0768 0000 0000 0292 started and the number of data recorded.
In the example the starting index is 4708 and
If a problem persists even after you have attempted to correct it, contact Hamilton’s 292 data points have been recorded.
Customer Support: Please refer to the contact information at the back of this Manual. RLli4708ln50lc0 RLid0000rl0768 0767 0768 Download 50 data points starting from index
0768 0767 0769 0770 0769 4708 and ending at index 4757.
0769 0770 0767 0768 0768
0768 0767 0769 …
9.2 Controlling the Functionality of pLLD and cLLD RLli4758ln50lc0

RLid0000rl0768 0767 0768
0768 0767 0770 0770 0769
Download 50 data points starting from index
4758 and ending at index 4807.
It is possible to download the AD values of the last liquid level detection in order to troubleshoot 0769 0771 0768 0767 0768
0768 0767 0769 …
proper functioning of pLLD and cLLD. The LLD values are recorded every 2 ms.
Repeat until the last recorded data points
may be downloaded.
RLli4958ln42lc0 RLid0000rl0768 0767 0768 Download the last 42 data points starting
Command Parameter Parameter Default Name and Description 0768 0767 0770 0770 0769 from index 4958 and ending at index 4999.
values value 0769 0771 0768 0767 0768
0768 0767 0769 …
RB Request Number of LLD Data
Recorded
lc# 0..1 0 Liquid level detection channel
0 = capacitive LLD 9.3 Controlling Aspiration and Dispensing
1 = pressure LLD
It is possible to download the pressure curves measured during the last pipetting.

RBlc#rb’...’ rb contains seven 4 digits values:
7th value : number of data recorded

RL Request LLD Data values value
id#### 0000..9999 0 Identification Number QH Request Number of Pressure
li#### 0000..4999 0 Starting index for data request Data Recorded
ln## 00..50 0 Number of values requested id#### 0000..9999 0 Identification Number
lc# 0..1 0 Liquid level detection channel 
QHid#qh’...’ qh contains six 4 digits values:
0 = capacitive LLD 1st value: Clot threshold
1 = pressure LLD 2nd value: Number of data recorded
3rd value: Pressure value before aspiration

RLid####rl’...’ rl contains 4 digits LLD values
4th value: Pressure value after aspiration
(AD values) separated by blanks.
5th value: Empty tube threshold
6th value: Foam threshold

TROUBLESHOOTING TROUBLESHOOTING
9.4 Returning ZEUS for Repair

Before returning a ZEUS to Hamilton for repair, contact our Customer Service (see Chapter 9.1)
values value
and request: a Returned Goods Authorization (RGA) number.
QI Request Pressure Data
Do not return a ZEUS pipetting module to Hamilton without an RGA number. This number
assures proper tracking of your components. Pipetting modules that are returned without an
li#### 0000..4999 0 Starting index for data request
RGA number will be sent back to the customer without being repaired.
ln## 00..50 0 Number of values requested
Decontaminate the ZEUS pipetting module and remove health hazards, such as radiation,

QIid####qi’...’ qi contains 4 digits pressure values
infectious diseases, corrosive agents etc. Provide complete description of any hazardous
(AD values) separated by blanks.
materials that have been used in the instrument.
Example: ATTENTION! Hamilton reserves the right to refuse a return shipment of any
Hamilton product that could be hazardous to Hamilton employees.

QH QHid0000qh0600 0689 0901 Request the number of data recorded.
0879 0010 0015 In the example 689 data points have been
recorded. As a consequence data record
start at index 4999-689+1=4311 10 Technical Specifications
QIid0000li4311ln50 QIid0000qi0901 0901 0901 Download 50 data points starting from index
0901 0901 0901 0901 0901 4311 and ending at index 4361.
0901 0901 0901 0901 0901
0901 0901 ... Dimensions*
QIid0000li4361ln50 QIid0000qi0881 0879 0878 Download 50 data points starting from index Width x Depth x Height Straight Configuration:
0876 0875 0872 0871 0869 4361 and ending at index 4411. 25 x 205 x 337 mm
0867 0866 0863 0861 0859
0857 0855 ...
Repeat until the last recorded data points Folded Configuration:
may be downloaded. 45 x 118 x 337 mm
QIid0000li4961ln39 QIid0000qi0879 0879 0880 Download the last 39 data points starting
0880 0880 0880 0880 0880 from index 4961 and ending at index 4999.
0880 0880 0880 0880 0880
0880 0880 ... Right Angle Configuration:
161 x 102 x 337 mm
*For detailed dimensions please request the Technical Specifications Drawings.

TECHNICAL SPECIFICATIONS TECHNICAL SPECIFICATIONS
Weight 1100 g Pipetting Performance* Disposable Pipetting Accuracy Precision

Tip Size Volume
z-Drive Maximum z-Excursion 180 mm
10 μL 1 μL 5.0% 4.0%
Resolution z-Axis 0.1 mm
10 μL 5 μL 2.5% 1.5%
Maximum Speed 350 mm/s
10 μL 10 μL 1.5% 1.0%
Pipetting Drive Volume Range 1 μL – 1’000 μL
50 μL 1 μL 5.0% 4.0%
Resolution 0.1 μL
50 μL 5 μL 2.5% 1.5%
Maximum Speed 150 mm/s corresponding to 2’500 μL/s
50 μL 50 μL 2.0% 0.75%
Pipetting Mode Single and aliquot dispensing
300 μL 10 μL 5.0% 2.0%
Process Security Tip presence sensor
300 μL 50 μL 2.0% 0.75%
Pressure-based and capacitive Liquid Level Detection
(cLLD and pLLD) 300 μL 300 μL 1.0% 0.75%
On board Qualitative Pipeting Monitoring (QPM) 1000 μL 10 μL 7.5% 3.5%
Anti-Droplet Control (ADC) 1000 μL 100 μL 2.0% 0.75%
Operating Data Power requirement 48 VDC ± 5%, 1 A 1000 μL 1000 μL 1.0% 0.75%
Temperature range 18°C – 32°C
Relative humidity 40% – 80% (non-condensing)
Noise level < 60 dBA
In door use only
* Pipetting specifications were determined gravimetrically using a high precision balance and
Storage and Transportation Temperature range -25°C – +70°C
strictly controlled environmental conditions: test temperature: 20 ± 2°C, relative humidity:
Relative humidity 40% – 80% (non-condensing, indoors) 50% ± 5%, test liquid temperature range: ≤± 0.5°C of room temperature, balance used:
Communication CAN (Hamilton protocol) Mettler Toledo MX5. The measurements were done with Hamilton Verification Solution
FFC connector (deionized water with 0.1% NaCl and 0.01% Tween detergent) using standard CORE conductive
Selectable baud rates 125, 500 kBaud (others on request)
tips. A new tip was used for each pipetting cycle (aspiration and dispense). At least 10 points
were taken for each volume and pipetting module. Volumes > 20 μL were dispensed in jet
Device addressing up to 31 modules on a single CAN bus
mode. Volumes ≤ 20 μL were dispensed in surface mode. Results may vary using other liquid
or environmental conditions.

ORDERING INFORMATION ORDERING INFORMATION
11 Ordering Information 11.3 Accessories and Spare Parts
Part Number Description

800336 Holder for CO-RE tip rack
11.1 ZEUS Pipetting Module
800337 Tip ejection sleeve CO-RE (1/pk)
800339 CO-RE adapter (1/pk)
173229 Hamilton Verification Solution
800700 ZEUS CO-RE module
281243 MICROLAB Disinfectant Spray Kit
202977-0020 Test platform containing ZEUS holder, communication box and demo software
202977-0021 Holder for mounting a ZEUS test module
202977-0022 Communication box containing power supply and Hamilton CAN-USB converter
12 Appendices
11.2 Disposable CO-RE Tips* 12.1 Appendix A: ASCII Chart

235904-ZEUS 1000 µL tip non-filtered conductive 40 racks of 96 Binary Decimal Hex ASCII
235905-ZEUS 1000 µL tip filtered conductive 40 racks of 96 00000000 0 00 <NUL>
235902-ZEUS 300 µL tip non-filtered conductive 60 racks of 96 00000001 1 01 <SOH>
235903-ZEUS 300 µL tip filtered conductive 60 racks of 96 00000010 2 02 <STX>
235806-ZEUS 300 µL slim tip non-filtered conductive 40 racks of 96
00000011 3 03 <ETX>
235647-ZEUS 300 µL slim tip filtered conductive 40 racks of 96
00000100 4 04 <EOT>
235966-ZEUS 50 µL tip non-filtered conductive 60 racks of 96
00000101 5 05 <ENQ>
235948-ZEUS 50 µL tip filtered conductive 60 racks of 96
00000110 6 06 <ACK>
235900-ZEUS 10 µL tip non-filtered conductive 60 racks of 96
00000111 7 07 <BEL>
235901-ZEUS 10 µL tip filtered conductive 60 racks of 96
00001000 8 08 <BS>
00001001 9 09 <HT>
*other tips available on demand
00001010 10 0A <LF>
00001011 11 0B <VT>
00001100 12 0C <FF>
00001101 13 0D <CR>
00001110 14 0E <SO>

APPENDICES APPENDICES
Binary Decimal Hex ASCII Binary Decimal Hex ASCII

00001111 15 0F <SI> 00101110 46 2E .
00010000 16 10 <DLE> 00101111 47 2F /
00010001 17 11 <DC1> 00110000 48 30 0
00010010 18 12 <DC2> 00110001 49 31 1
00010011 19 13 <DC3> 00110010 50 32 2
00010100 20 14 <DC4> 00110011 51 33 3
00010101 21 15 <NAK> 00110100 52 34 4
00010110 22 16 <SYN> 00110101 53 35 5
00010111 23 17 <ETB> 00110110 54 36 6
00011000 24 18 <CAN> 00110111 55 37 7
00011001 25 19 <EM> 00111000 56 38 8
00011010 26 1A <SUB> 00111001 57 39 9
00011011 27 1B <ESC> 00111010 58 3A :
00011100 28 1C <FS> 00111011 59 3B ;
00011101 29 1D <GS> 00111100 60 3C <
00011110 30 1E <RS> 00111101 61 3D =
00011111 31 1F <US> 00111110 62 3E >
00100000 32 20 00111111 63 3F ?
00100001 33 21 ! 01000000 64 40 @
00100010 34 22 “ 01000001 65 41 A
00100011 35 23 # 01000010 66 42 B
00100100 36 24 $ 01000011 67 43 C
00100101 37 25 % 01000100 68 44 D
00100110 38 26 & 01000101 69 45 E
00100111 39 27 ‘ 01000110 70 46 F
00101000 40 28 ( 01000111 71 47 G
00101001 41 29 ) 01001000 72 48 H
00101010 42 2A * 01001001 73 49 I
00101011 43 2B + 01001010 74 4A J
00101100 44 2C , 01001011 75 4B K
00101101 45 2D - 01001100 76 4C L

APPENDICES APPENDICES
Binary Decimal Hex ASCII Binary Decimal Hex ASCII

01001101 77 4D M 01101100 108 6C l
01001110 78 4E N 01101101 109 6D m
01001111 79 4F O 01101110 110 6E n
01010000 80 50 P 01101111 111 6F o
01010001 81 51 Q 01110000 112 70 p
01010010 82 52 R 01110001 113 71 q
01010011 83 53 S 01110010 114 72 r
01010100 84 54 T 01110011 115 73 s
01010101 85 55 U 01110100 116 74 t
01010110 86 56 V 01110101 117 75 u
01010111 87 57 W 01110110 118 76 v
01011000 88 58 X 01110111 119 77 w
01011001 89 59 Y 01111000 120 78 x
01011010 90 5A Z 01111001 121 79 y
01011011 91 5B [ 01111010 122 7A z
01011100 92 5C \ 01111011 123 7B {
01011101 93 5D ] 01111100 124 7C |
01011110 94 5E ^ 01111101 125 7D }
01011111 95 5F _ 01111110 126 7E ~
01100000 96 60 ` 01111111 127 7F
01100001 97 61 A
01100010 98 62 b
01100011 99 63 c
01100100 100 64 d
01100101 101 65 e
01100110 102 66 f
01100111 103 67 g
01101000 104 68 h
01101001 105 69 i
01101010 106 6A j
01101011 107 6B k

© 2016 Hamilton Bonaduz AG. All rights reserved.
624482/04 — 02/2016
Hamilton Americas & Pacific Rim Hamilton Europe, Asia & Africa
4970 Energy Way Via Crusch 8
Reno, Nevada 89502 USA CH-7402 Bonaduz, Switzerland
Tel: +1-775-858-3000 Tel: +41-58-610-10-10
Fax: +1-775-856-7259 Fax: +41-58-610-00-10
Web: www.hamiltoncompany.com sales@hamiltoncompany.com contact.pa.ch@hamilton.ch
USA: 800-648-5950
Europe: +41-58-610-10-10 To find a representative in your area, please visit www.hamiltoncompany.com.

Manual Zeus A5 LR

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Manual Zeus A5 LR

Uploaded by

Copyright:

Available Formats

Z-Excursion Universal Sampler (ZEUS )

2 Safety Precautions and Hazards ............................................. 7

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 3

5 Programming Basic Functions ............................................... 22 8 ZEUS Module Qualification .................................................... 77

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 5

1 Introduction 2 Safety Precautions and Hazards

2.1.2 Operating ZEUS

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 7

3.1 General Description

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 9

3.2.2 Pipetting Head Technology

3.2.3 Unsurpassed Accuracy and Precision with CO-RE Tips

Figure 1: Hardware overview. Figure 3:

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 11

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 13

3.3.4 Anti-Droplet Control (ADC)

4.2 Hardware Installation

Figure 6: Working principle of

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 15

4.3 Hamilton CAN Communication 4.3.3 Identifier

ID (hex) Data (hex) Identifier Data Control Byte

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 17

Sender End of Message (Control Byte 8)

Counter (Control Byte 8)

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 19

counter Bit 3 Bit 2 Bit 1 Bit 0

0 1 1 0 0 1 0 0 d > 64h (rest in buffer) Digital Output 12 DIGITAL_OUTPUT_1

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 21

5.1 Data Transfer Format

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 23

5.3 Precautions prior to Operation 5.5 Z-Drive Commands

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 25

5.6 Tip Handling Commands GU Discard Tip

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 27

5.7 Liquid Handling Commands

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 29

1. Discard the tip lq## 00..99 0 Liquid Class Table Index

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 31

RF Request Firmware Version

QW Request Instrument Initialization Status

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 33

QT Request Technical Status Bit 3 Bit 2 Bit 1 Bit 0

id#### 0000..9999 0 Identification Number

Bit 3 Bit 2 Bit 1 Bit 0

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 35

5.11 Special Commands

GX Set Dosing Drive in Cleaning Position

 AWid####er## See Error Messages id#### 0000..9999 0 Identification Number

OU Switch Digital Output (24V, 300mA)

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 37

General container model: “cb”

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 39

GR Request Deck Geometry

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 41

5.12.3 Tip Type Table 5.12.4 Liquid Class Table

Tip Type Table for ZEUS with CO-RE tip attachment:

Figure 19: Recommended tips for standard container diameter.

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 43

5.13 Run Error Messages

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 45

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 47

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 49

Z-Excursion Universal Sampler (ZEUS) Integrator Manual 51