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{"sheet":"Original State","index":0,"n_rows":65,"n_cols":23,"rows_kept":65,"cut":false,"hidden":false,"merged":[]}
["Instrument State table"]
["ESP-Sampler"]
[]
[]
["Version 6"]
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[null,null,"At START of sampling event:"]
[null,null,"Power is off"]
[null,null,"Arm is held in clamp at decon position"]
[null,null,"fluidic lines upstream from [bleach to intake valve] are filled with bleach solution"]
[null,null,"all valves closed"]
[]
[]
[]
[]
[null,null,null,"Motor number"]
[null,null,null,"Valve number",3,2,null,1,null,null,null,null,5,null,4,8,9,null,null,7,6]
[null,null,null,"Ext Sample Pump","Intake Valve","Air Valve","RNAL-pump","RNAL-valve","Carousel motor","Clamp motor","Clamp Force Sensor","Bleach pump","Bleach valve","Flow meter","Waste valve","Suction cup valve","Cup break valve","Arm motor","Vacuum pump","Vacuum valve","Exhaust Valve","Vacuum Sensor"]
[null,"STEP","ACTION","On/Off","Open/Closed","Open/Closed","Pumping/Off","Open/Closed","Moving/Holding/Off","Moving/Holding/Off","Read/Ignore","Pumping/Off","Open/Closed","Read/ignore","Open/Closed","Open/Closed","Open/Closed","Moving/Holding/Off","On/Off","Open/Closed","Open/Closed","Read/Ignore","STEP"]
[null,1,"Machine Start State.  Clamp full closed in Decon position; bleach in lines","off","closed","closed","off","closed","off","off","ignore","off","closed","ignore","closed","closed","closed","off","off","closed","closed","ignore",{"$f":"B36","v":1}]
[null,2,"Use enviro water to purge quiescent bleach","on","open","closed","off","closed","off","holding","ignore","off","closed","read","closed","open","open","off","off","closed","open","read",{"$f":"B37","v":2}]
[null,3,"Use Air to clean lines of enviro water","off","closed","open","off","closed","off","holding","ignore","off","closed","read","closed","closed","closed","off","off","closed","open","open",{"$f":"B38","v":3}]
[null,4,"Release clamped arm","off","closed","closed","off","closed","off","moving","read","off","closed","ignore","closed","closed","closed","off","off","closed","closed","closed",4]
[null,5,"Rotate cylinder to next puck","off","closed","closed","off","closed","moving","off","ignore","off","closed","ignore","closed","closed","closed","off","off","closed","closed","closed",5]
[null,6,"Arm moves from clamp to puck","off","closed","closed","off","closed","holding","off","ignore","off","closed","ignore","closed","closed","closed","moving","on","closed","closed","closed",6]
[null,7,"Arm grabs puck","off","closed","closed","off","closed","off","off","ignore","off","closed","ignore","closed","closed","closed","holding","on","closed","closed","closed",7]
[null,8,"Arm moves puck to clamp","off","closed","closed","off","closed","off","off","ignore","off","closed","ignore","closed","closed","closed","moving","on","closed","closed","closed",8]
[null,9,"Clamp puck","off","closed","closed","off","closed","off","moving","read","off","closed","ignore","closed","closed","closed","holding","on","closed","closed","closed",9]
[null,10,"Stop clamp at threshold clamp force","off","closed","closed","off","closed","off","holding","ignore","off","closed","ignore","closed","closed","closed","holding","on","closed","closed","closed",10]
[null,11,"Prepare to filter; draw vacuum beneath puck","off","closed","closed","off","closed","off","holding","ignore","off","closed","ignore","closed","closed","closed","holding","on","open","closed","closed",11]
[null,12,"filter water","on","open","closed","off","closed","off","holding","ignore","off","closed","read","closed","closed","closed","holding","off","closed","open","open",12]
[null,13,"stop filtering","off","closed","closed","off","closed","off","holding","ignore","off","closed","ignore","open","closed","closed","holding","off","closed","closed","closed",13]
[null,14,"Clear enviro water from puck with air","off","closed","open","off","closed","off","holding","ignore","off","closed","ignore","open","closed","closed","holding","off","closed","closed","closed",14]
[null,15,"introduce RNALater to puck","off","closed","closed","pumping","open","off","holding","ignore","off","closed","read","open","closed","closed","holding","off","closed","closed","closed",15]
[null,16,"clear RNALater from puck","off","closed","open","off","closed","off","holding","ignore","off","closed","ignore","open","closed","closed","holding","off","closed","closed","closed",16]
[null,17,"arm re-grabs puck in clamp","off","closed","closed","off","closed","off","holding","ignore","off","closed","ignore","closed","closed","closed","holding","on","closed","closed","closed",17]
[null,18,"unclamp puck","off","closed","closed","off","closed","off","moving","read","off","closed","ignore","closed","closed","closed","holding","on","closed","closed","closed",18]
[null,19,"move puck to 'bucket'","off","closed","closed","off","closed","off","off","ignore","off","closed","ignore","closed","closed","closed","moving","on","closed","closed","closed",19]
[null,20,"drop puck","off","closed","closed","off","closed","off","off","ignore","off","closed","ignore","closed","closed","closed","holding","off","closed","closed","closed",20]
[null,21,"prepare for decon--move arm into decon position","off","closed","closed","off","closed","off","off","ignore","off","closed","ignore","closed","closed","closed","moving","off","closed","closed","closed",21]
[null,22,"Clamp arm in flush position","off","closed","closed","off","closed","off","moving","read","off","closed","ignore","closed","closed","closed","off","off","closed","closed","closed",22]
[null,23,"flush intake line with bleach","off","open","closed","off","closed","off","holding","ignore","pumping","open","ignore","closed","closed","closed","off","off","closed","closed","closed",23]
[null,24,"shut down for storage until next sample","off","closed","closed","off","closed","off","off","ignore","off","closed","ignore","closed","closed","closed","off","off","closed","closed","closed",24]
[]
[]
[]
[]
[]
[null,null,null,null,null," "]

{"sheet":"State w Errors (15Nov 2023)","index":1,"n_rows":109,"n_cols":10,"rows_kept":109,"cut":false,"hidden":false,"merged":[]}
["Start to Identify Error States"]
[]
["Presumed instrument starting state:",null,null,null,"arm positions:","clamp positions:"]
[null,"Power is off",null,null,"0 = at cylinder","0 = closed together"]
[null,"Clamp top/bottom are together (i.e., closed) w/ no puck",null,null,"1 = at clamp","1 = closed on puck"]
[null,"Fluidic lines upstream from bleach to intake valve are filled with bleach solution",null,null,"2 = just off clamp","2 = slight open over puck"]
[null,"All valves are closed",null,null,"3 = at drop","3 = complete open"]
[]
[null,null,null,null,"arm states:","cylinder states:"]
[null,null,null,null,"0 = engaged with puck","0 = at pickup"]
[null,null,null,null,"1 = puck-free","1 = moving/unknown"]
[]
[null,null,"Steps",null,"Only Valves OPEN:","Normal Exit","At Normal Exit go to","On Error go to",null,"Scott Notes"]
["PROTOCOL/COMMAND:  Initialize",null,null,null,"(blank box = all valves CLOSED)"]
[null,null,1,"Determine position of clamp, arm, & cylinder",null,"Arm at drop, cylinder at tube,","idleUntilCommand",2]
[null,null,null,null,null,"clamp at #3, all valves closed"]
[null,null,2,"Clamp to position #3",null,"report clamp position",3,"repeat 2"]
[null,null,3,"Arm to position #3",null,"report arm position",4,"repeat 3"]
[null,null,4,"cylinder at tube 1",null,"report tube",5,"repeat 4",null,"Cylinder should read state and then move to that tube, not always #1"]
[null,null,5,"Clamp to position #0",null,null,"idleUntilCommand",null,null,"I think this should stay open since it was not purged"]
[]
["PROTOCOL:  Take a Sample"]
[]
["Prepare","Purge bleach using environmental water",6,"open exhaust valve","exhaust","all motors energized  ",{"$f":"C25","v":7},null,null,"confirm clamp is at closed (0), confirm or set all valve states"]
[null,null,7,"open intake valve","exhaust, intake","intake open",{"$f":"C26","v":8}]
[null,null,8,"power external sample pump","exhaust, intake","read flow meter until complete",{"$f":"C27","v":9},"Call Home--HELP",null,"start sample pump before opening valves, allow time to purge of air"]
[null,null,9,"close intake valve","exhaust","intake closed",10]
[null,null,10,"de-power external sample pump","exhaust",null,11]
[null,null,11,"close exhaust valve",null,"exhaust closed",12]
[null,"Clean lines of enviro water",12,"open air valve","air","system pressurized",13,null,null,"timed operation"]
[null,null,13,"close air valve",null,null,14]
[null,null,14,"open exhaust valve","exhaust","pressure released out exhaust valve",15,null,null,"timed operation"]
[null,null,15,"close exhaust valve",null,null,16]
[null,null,16,"Clamp to position #3",null,"read force sensor",17,"repeat 16",null,"vacuum pump to clean off all water"]
[null,null,17,"Move cylinder to appropriate tube",null,"cylinder presenting correct tube",18,null,null,"arm to drop or maybe clear which means it is reading a state value of X"]
[null,"Load puck",18,"Arm to position #0",null,"arm at selected puck",19]
[null,null,19,"power vacuum pump on",null,null,20]
[null,null,20,"open suction cup valve","suctionCup",null,21,null,null,"delay before reading"]
[null,null,21,"read vacuum sensor","suctionCup","arm now attached to puck",22,"report no vacuum"]
[null,null,22,"Arm to position #1","suctionCup","puck moved to clamp ",23]
[null,null,23,"Clamp to position #2","suctionCup","read force sensor",24,"repeat 23"]
[null,null,24,"close suction cup valve",null,null,25]
[null,null,25,"Power vacuum pump off",null,null,26]
[null,null,26,"open cup break valve","cupBreak","arm releases puck",27,null,null,"delay before reading"]
[null,null,27,"read vacuum sensor","cupBreak","should be zero vacuum",28]
[null,null,28,"Arm to position #2","cupBreak","arm clear of clamp",29]
[null,null,29,"Clamp to position #1","cupBreak","read force sensor",30]
[null,null,30,"close cup break valve",null,null,31]
["Filter water","Filter water",31,"open vacuum valve","vacuum",null,32]
[null,null,32,"run vacuum pump","vacuum","empties line under puck",33,null,null,"timed operation"]
[null,null,33,"close vacuum valve",null,"lock in the vacuum",34,null,null,"need to verify that puck and clamp holds vacuum"]
[null,null,34,"power external sample pump",null,null,35,null,null,"should be running from the beginning"]
[null,null,35,"open intake valve","intake",null,36]
[null,null,36,"open exhaust valve","intake, exhaust",null,37]
[null,null,37,"read flowmeter","intake, exhaust","until filtering is complete",38]
[null,null,38,"close intake valve","exhaust",null,39]
[null,null,39,"de-power external pump","exhaust",null,40]
[null,null,40,"close exhaust valve",null,null,41]
["ADD/Clear RNALater","Add Preservative",41,"open air valve","air","system pressurized",42,null,null,"envro water is not removd with air, instead displaced with RNALater (steps 41-42)"]
[null,null,42,"close air valve",null,null,43]
[null,null,43,"open waste valve","waste","enviro water spit into waste",44]
[null,null,44,"open RNALater valve","waste, RNALater",null,45]
[null,null,45,"power RNALater pump","waste, RNALater","read flow meter until complete",46,null,null,"volume delivered"]
[null,null,46,"de-power RNALater pump","waste, RNALater",null,47,null,null,"RNA.release()"]
[null,null,47,"close RNALater valve","waste",null,48]
[null,"Clear Preservative",48,"close waste valve",null,"closes system",49]
[null,null,49,"open air valve ","air","system pressurized",50,null,null,"air neds path to waste, timed operation"]
[null,null,50,"close air valve",null,null,51]
[null,null,51,"open waste valve","waste","RNALater spit into waste",52,null,null,"this needs to before 49-50"]
[null,null,52,"close waste valve",null,null,53]
[null,null,53,"Arm to position #1",null,"arm at puck / clamp",54,null,null,"clamp to #2 before this, with vacuum to clear any water"]
[null,null,54,"power vacuum pump",null,"attach to puck",55]
[null,null,55,"open suction cup valve","suctionCup","read vacuum sensor",56,null,null,"time delay then confirm vaccum present"]
[null,null,56,"close suction cup valve",null,null,57]
[null,null,57,"Clamp to position #2",null,"clamp just opens",58]
[null,null,58,"open vacuum valve","vacuum","suck up any fluid",59]
[null,null,59,"close vacuum valve",null,null,60]
[null,null,60,"Arm to position #3",null,null,61]
[null,null,61,"open cup break valve","cupBreak","read vacuum sensor; drops puck",62,null,null,"time delay, confirm vacuum released"]
["Start DECON","Decon",62,"Clamp to position #0",null,"closes clamp",63]
[null,null,63,"read force sensor",null,null,64]
[null,null,64,"open bleach valve","bleach",null,65]
[null,null,65,"open intake port","bleach, intake",null,66]
[null,null,66,"power bleach pump","bleach, intake",null,67,null,null,"flush.deliver then flush.sleep()"]
[null,null,67,"close intake port",null,null,68]
[null,null,68,"close bleach valve"]
[]
[]
["PROTOCOL:  Cancel Sample"]
["will cancel sampling at any stage of taking a sample"]
[null,"Must ascertain all valve and pump states, motor positions"]
[null,"Mark current sample as VOID and dispose of puck"]
[null,"Ready instrument for next sample"]
[]
["PROTOCOL:  Truncate Sample"]
["will stop sampling at any stage of taking a sample and finish preserving"]
[null,"Immediately stop sampling"]
[null,"Mark current sample as TRUNCATED and continue processing"]
[null,"Ready instrument for next sample"]
[]
["PROTOCOL:  Decontaminate Instrument"]
["Will decon all instrument lines; ready for sampling"]
[null,"bleach everything"]
[null,"Ready instrument for next sample"]
[]
["PROTOCOL:  Re-load Reagents"]
["Prepare inst for puck unload, puck reload, new reagents"]
[null,"place instrument in safe state"]
[null,"prime lines after replacement"]