OPERATION MANUAL
Rev. 1.11 ( 20071128)
MPC
MPC----325
MPCMPC
Micromanipulator
Micromanipulator
MicromanipulatorMicromanipulator
System
System
SystemSystem
325----2
325325
2
22
MP
MP----325
MPMP
325----2222
325325
Micromanipulator System
Operation Manual
(Rev. 1.11 (20071128))
Sutter Instrument Company
One Digital Drive
Novato, CA 94949
voice: 415-883-0128 web: www.sutter.com
fax: 415-883-0572 email: info@sutter.com
II
Copyright © 2007 Sutter Instrument Company. All Rights Reserved.
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
III
TABLE OF CONTENTS
TABLE OF CONTENTS
TABLE OF CONTENTSTABLE OF CONTENTS
1. INTRODUCTION .................................................................................................................................................................... 1
1.1 S
TRUCTURE OF THE
1.2 C
OMPONENTS OF THE
2. MPC-200 MULTI-MANIPULATOR CONTROLLER AND ROE-200 INPUT DEVICE OPERATIONS ............ 3
2.1 E
LECTRICAL CONNECTIONS AND INITIAL OPERATING INSTRUCTIONS
2.2 I
NITIAL OPERATING INSTRUCTIONS
2.3 M
AIN CONTROLS ON THE
2.3.1 White Buttons: ...............................................................................................................................................................5
2.3.2 Black Selector Switches: ...............................................................................................................................................6
2.3.3 Other Controls on the ROE-200................................................................................................................................... 7
2.4 C
ONTROLS ON THE
3. MP-225/M MANIPULATOR MECHANICAL MOUNTING INSTRUCTIONS......................................................13
3.1 M
OUNTING
3.2 S
ETTING HEADSTAGE/PIPETTE ANGLE AND PIPETTE EXCHANGE
3.3 H
EADSTAGE MOUNTING
3.4 M
ODULAR CONSTRUCTION
3.5 M
INIMIZING ELECTRICAL NOISE
3.6 I
NSTRUCTIONS FOR CHANGING HANDEDNESS
3.7 I
NSTRUCTIONS USED IN SPECIAL INSTALLATIONS ONLY
INDEX ..........................................................................................................................................................................................19
MP-225/M
MPC-325 D
MPC-325...........................................................................................................................................1
MPC-200...............................................................................................................................................9
TO A STAND OR PLATFORM
OCUMENTATION PACKAGE
......................................................................................................................................3
ROE-200.....................................................................................................................................5
..........................................................................................................13
.....................................................................................................................................................15
.................................................................................................................................................16
........................................................................................................................................16
...................................................................................................................16
..............................................................................................1
...............................................................................3
.....................................................................................14
..................................................................................................17
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
1
1.
1. IN TRO DUC TI ON
INT RODU CTI ON
1.1.
INT RODU CTI ONINT RODU CTI ON
1.1
1.1 Structure of the MPC
Structure of the MPC----325 Documentatio
1.11.1
Structure of the MPCStructure of the MPC
The MPC-325-2 is a manipulator system comprised of the MPC-200 controller, the ROE-200
input device and two MP-225/M stepper motor manipulators. The manual consists of two
parts, “Operations” that describes the functions of the MPC-200 controller and ROE input
device and “Setup” that describes how to install the MP-225/M mechanicals.
1.2
1.2 Components of the MPC
Components of the MPC----325
1.21.2
Components of the MPCComponents of the MPC
Carefully remove all components from the shipping container. In addition to this manual,
the following should be included:
• MPC-200 controller
• ROE-200 Rotary Optical Encoder input device
• Two MP-225/M manipulator mechanicals
• Two MP-225 Adapter boxes (adapts 3 wire MP-225/M mechanical to DB-25 cable)
• Two DB-25 cables (connect adapter boxes to the controller).
• RJ-45 cable (8 conductor) connects the ROE to the controller
• RJ-12 cable (6 conductor) daisy-chains two MPC-200 controllers
• USB cable for computer control of the MPC-325-2 system
• Power cable appropriate for your location
• Two X285210 mounting adapter plates and hardware to attach mechanicals to their
mounting surfaces
• Two X285204 four inch dovetail extensions for mounting headstages
• Two dovetail rod clamps
• 2.5mm hex wrench(s) for removing the shipping screws
• 1.5mm hex wrench(s) for adjusting pipette angle
325 Documentation Package
325 Documentatio325 Documentatio
325
325 325
n Package
n Package n Package
IMPORTA
IMPORTANT
IMPORTAIMPORTA
Once you have unpacked your MPC
Once you have unpacked your MPC----325
Once you have unpacked your MPCOnce you have unpacked your MPC
warning tags, from each MP
warning tags, from each MP----225/M. You must remove these screws before operating the
warning tags, from each MPwarning tags, from each MP
manipulators. Save the screws, warning tags, and hex wrench in the event you nee
manipulators. Save the screws, warning tags, and hex wrench in the event you need to
manipulators. Save the screws, warning tags, and hex wrench in the event you neemanipulators. Save the screws, warning tags, and hex wrench in the event you nee
transport either manipulator in the future. Once these screws have been removed, handle
transport either manipulator in the future. Once these screws have been removed, handle
transport either manipulator in the future. Once these screws have been removed, handle transport either manipulator in the future. Once these screws have been removed, handle
the micromanipulators with care. The mechanisms can be damaged if the axes are moved
the micromanipulators with care. The mechanisms can be damaged if the axes are moved
the micromanipulators with care. The mechanisms can be damaged if the axes are moved the micromanipulators with care. The mechanisms can be damaged if the axes are moved
without the screws in place.
without the screws in place.
without the screws in place.without the screws in place.
NT
NT NT
325----2, remove 6 shipping screws, indicated by the red
2, remove 6 shipping screws, indicated by the red
325325
2, remove 6 shipping screws, indicated by the red 2, remove 6 shipping screws, indicated by the red
225/M. You must remove these screws before operating the
225/M. You must remove these screws before operating the 225/M. You must remove these screws before operating the
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
d to
d to d to
3
MANIPULATORS
CONTROLLER
FUSE HOLDER
2.
2. M PC
MPC ----2 00 M ULTI
2.2.
MPCMPC
2.1
2.1 Electrical Connections and Initial Operating Instructions
Electrical Connections and Initial Operating Instructions
2.12.1
Electrical Connections and Initial Operating InstructionsElectrical Connections and Initial Operating Instructions
Initially, you may want to simply connect the two manipulators, the controller, and the ROE
together and try some gross movements in order to get a feel for the controls and how to
make simple movements. It is perfectly acceptable to set the manipulators in the middle of a
bench top, make all electrical connections and then observe each unit’s movement by eye.
Even if you wish to directly install the manipulators in your rig, it is useful to follow the
initial setup procedure to learn how to move the units to allow easy access to the mounting
screws.
1. Connect the power cord to the power entry module on the back of the MPC-200
controller.
200 MUL TI----M ANIP U
200 MUL TI200 MUL TI
INP UT D EVI CE O PERA TI
INP UT D EVI CE O PERA TIO NS
INP UT D EVI CE O PERA TIINP UT D EVI CE O PERA TI
POWER CORD
MAN IPU LAT OR C ONTR OLLE R A ND
MAN IPUMAN IPU
LAT OR C ONT RO LLE R AN D R OE
LAT OR C ONT RO LLE R AN DLAT OR C ONT RO LLE R AN D
ONS
ONSONS
RO E----2 00
RO E RO E
200
200 200
CONNECT
DAISY CHAIN SECOND
1. With the power OFF (front panel switch in the “0” position), connect the ROE-200 input
box to the MPC-200 controller using the RJ-45 8-conductor cable. *
CONTROLLER output on the back of the ROE and the COMMAND INPUT on the back
of the controller.
2. With the power OFF, run a DB-25 cable from each of the two MP-285/M mechanicals to
the DB-25 connectors marked “MANIPULATOR A” and “MANIPULATOR B” on the
back of the controller.****
• NOTE: Never connect or disconnect the ROE or the MP
NOTE: Never connect or disconnect the ROE or the MP----285/M while the power is on!
NOTE: Never connect or disconnect the ROE or the MPNOTE: Never connect or disconnect the ROE or the MP
2.2
2.2 Initial Operating Instructions
Initial Operating Instructions
2.22.2
Initial Operating Instructions Initial Operating Instructions
After all connections are made, power up the MPC-325-2 using the 0/I switch on the front of
the controller. As it initializes, you will see a start up screen on the ROE-200 that briefly
displays the name of the device and the version of the installed firmware. As the power
switch is the only control you will need to access on the MPC-200, the controller can
ultimately be placed in an out of the way location (e.g. under your bench).
CONNECT ROE-200
Figure 2-1. Rear of MPC-200 controller cabinet..
285/M while the power is on!
285/M while the power is on!285/M while the power is on!
* Use the
* *
Once the start-up sequence has finished, you will see a display that gives the coordinates of
the manipulator. The LED marked 1 will light and the left hand corner of the display shows
“Drive A” to indicate that the ROE is ready to operate the MP-225/M connected at the
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
4
MANIPULATOR A output. Confirm that you get a coordinate display and that you have
removed the shipping screws from both manipulators. If you do not get a coordinate display,
go to the trouble shooting section at the back of the manual. If you have not yet removed the
shipping screws, turn the power off again and remove all shipping screws from both
manipulators.
All functions necessary during normal operation are provided by 4 push buttons and two
rocker switches on the top of the ROE-200. Other setup functions are done via buttons and
DIP switches located on the back of the ROE-200 and DIP switches on the back of the MPC200 controller.
The MPC-200 controller and ROE-200 have a built in Centering function. This is activated
by pressing the white “CENTER” button on the back of the ROE. If both MP-225/M
manipulators are sitting in a wide-open area, and the shipping screws are removed, press the
CENTER button. The ROE-200 display will display the message “PLEASE WAIT MOVE IN
PROGRESS” and the first manipulator will center. After the CENTER operation is
complete, the manipulator axes will each be at the center of travel and the display will read
12500 for X, Y and Z.
From this location, you can move 12500 microns in each direction on each axis. The unit will
stop automatically at each end of travel (00000 or 25000 microns). These ends are
determined by firmware. Each axis also has magnetic end of travel switches that are not
activated in normal operation. If the magnetic switches are activated, you will see the
message EOT (for End Of Travel) on one of the displayed axes.
If you wish, you can easily switch to the second manipulator (connected to the
MANIPULATOR B output on the back of the controller). This is done by pressing the
Manipulator toggle once. The LED marked 2 will light and the left hand corner of the
display will change to “Drive B”. While you are controlling the second manipulator, press
CENTER to make sure that this manipulator’s coordinate system is initialized. After
centering, you can demonstrate that the manual knobs are now moving this manipulator.
When the MPC-200 controller is first turned on, the speed of movement is at its fastest,
coarsest Mode. Movement mode can be finer and slower by changing the black “Mode”
toggle switch. As MODE increases from 0, smaller movements are commanded by the same
turn of the ROE knob. MODE 5 or 6 is probably what you will use for the final approach to a
cell. MODE 0, or “Accelerated Mode” is used for fast movements to move the pipette large
distances. In MODE 0, when you turn the ROE knobs slowly, you get relatively slow
movement that is useful for final moves to place a pipette near a cell. Conversely, when you
make prolonged, rapid turns of the ROE knob, the controller/ROE automatically accelerates
to maximum speed to allow for prolonged, long distance movements. This would be most
useful for manual pipette exchange.
If you toggle from Drive A to Drive B and back again you will see that the display coordinates
and Mode settings are maintained for Drive A while you are using Drive B and vice versa.
The remaining functions of the ROE are explained in the next section.
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
5
2.3
2.3 Main Controls on the ROE
Main Controls on the ROE----200
2.32.3
Main Controls on the ROEMain Controls on the ROE
2.3.1
2.3.1 White Buttons:
White Buttons:
2.3.12.3.1
White Buttons: White Buttons:
DIAG/NORM:
DIAG/NORM: Pressing the DIAG/NORM button will cause the green LED near the button to
DIAG/NORM: DIAG/NORM:
200
200200
light, indicating the MPC-200/ROE-200 is in Diagonal mode. In this mode, rotation of the Zaxis knob produces diagonal movement. A second press will put the manipulator back into
Normal mode. When in diagonal mode, the X and Y knobs remain active, allowing you to
readjust the X and Y positioning of the pipette as you approach a cell in diagonal mode. Angle
of diagonal mode movement is set via DIP switches on the back of the MPC-200 controller.
(See Controller DIP switch setting instructions on Pages 9-10). When using MODE 9 (MODE
toggle set to 9), Diagonal mode produces short, quick, impulse-like movement that may be
useful in sharp pipette impalements.
When you switch to Diagonal mode, the ROE-200 display is changed from absolute to relative
coordinates and the current location is set to 0,0,0. This allows users to invoke relative
measurements using the display as a measuring device. A fourth coordinate that gives
movement along the diagonal is also added for users who wish to measure the movement of
along the axis coaxial with a pipette. When you return to Normal mode, the absolute
coordinate system is recovered. The relative coordinate feature can be disabled via DIP
switch 2 on back of the ROE-200.
Figure 2-2. Top view of ROE-200..
HOME:
HOME: When pressed, the manipulator will make a move along a stereotypic path to the
HOME: HOME:
location 0,0,0 or "home”. Home is the location where you would most likely exchange your
pipette and is maximal up on the Z-axis, maximal right on the X-axis (maximal left on a lefthanded manipulator) and maximal front on the Y-axis. The stereotypic path of the movement
is first along the currently set diagonal until either the X-axis or Z-axis reaches its origin (0).
Which one of these occurs first is a function of the diagonal angle and the location at the time
HOME is pressed. Once the first limit is reached, the unit will move the two remaining axes
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
6
simultaneously to their origins (0). The only allowed change in this stereotyped move is that
the Y-axis move can be eliminated. This is done via DIP switch 8 on the back of the MPC-200
controller. (See Controller DIP switch setting instructions on Page 11).
WORK POS.
WORK POS.: This button has three functions:
WORK POS.WORK POS.
1. With the STOP/SET button is held down, a momentary press of WORK POS. makes the
current location the "Work Position". A beeper will sound to indicate that the operation is
complete and the location has been saved. Typically, this is a location where the pipette
tip is under the microscope objective and near the cells or tissue of interest.
2. Once you have defined a Work Position, a momentary press of WORK POS. will cause the
manipulator to move to the defined Work Position, providing the manipulator last move
was to Home. The move will occur along the predefined path that the manipulator moved
to get to Home (described above) but in the opposite direction. This is the reason why
Work Position moves must
must follow Home moves; the move to Home defines the return
mustmust
trip. In either case, the movement along the diagonal as you come in and out of the
preparation/dish/bath should assure that the pipette tip will not hit anything on the way
in or out.
3. When WORK POS. is held down for longer than 2 seconds, the current manipulator is
locked so that none of the buttons or the ROE knobs will cause it to move. The lock is
released by holding WORK POS. down again. A beep will indicate that the lock is enabled
or disabled and the display will indicate the locked state.
STOP/SET:
STOP/SET: This button has two functions:
STOP/SET: STOP/SET:
1. When held down, STOP/SET" performs a "Set" function in combination with the "WORK
POS." key. Think of it as a shift key when held down.
2. A momentary press of STOP/SET during a robotic move (see HOME, WORK POS. and
CENTER) will immediately "Stop" the movement. Think of this as your panic button
when you see your pipette headed somewhere that you don't want it to go!
when you see your pipette headed somewhere that you don't want it to go!
when you see your pipette headed somewhere that you don't want it to go!when you see your pipette headed somewhere that you don't want it to go!
2.3.2
2.3.2 Black Selector Switches:
Black Selector Switches:
2.3.22.3.2
Black Selector Switches: Black Selector Switches:
MODE:
MODE: The MODE Selector controls the speed and the relative fineness of movement of the
MODE: MODE:
Think of this as your panic button
Think of this as your panic button Think of this as your panic button
manipulator produced by rotating the ROE knobs. As MODE increases from 0 to 9,
movement gets finer and slower. As explained in "INITIAL OPERATING INSTRUCTIONS",
MODE 0 is Accelerated Mode. In MODE 0, slow turns of the ROE knob produce medium
course moves for moving a pipette under a microscope in the vicinity of a cell. Prolonged, fast
turns of the ROE knobs cause the controller to accelerate to top speed for long, imprecise
movements for rapid manual positioning of the pipette. The remaining MODES (1-9) produce
moves of increasing sensitivity and decreasing speed. In practice, most users will find that
MODE 5 or 6 will provide the necessary dexterity of movement for the final approach to a
cell. The current MODE setting is displayed in the upper right of the ROE-200 display.
MANIPULATOR:
MANIPULATOR: The MANIPULATOR Selector toggles the active manipulator. In the
MANIPULATOR:MANIPULATOR:
MPC-325, there is only one active manipulator; therefore, the MANIPULATOR Selector has
no function. You can toggle the switch, but no change will occur. With only one manipulator
attached, the words "ROE-200" are displayed. If the manipulator is connected to the
"MANIPULATOR A" output on the back of the MPC-200 controller LED 1 will be lit. If the
manipulator is connected to the "MANIPULATOR B" output on the back of the MPC-200
controller LED 2 will be lit. If you connect an additional MP-225/M or MP-285/M
manipulator in the future, the controller will automatically detect the second manipulator,
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
7
the MANIPULATOR toggle will become active and the display will indicate which
manipulator is active with the words "Drive A" or "Drive B".
Figure 2-3. Side view of ROE-200..
2.3.3
2.3.3 Other Controls on the ROE
Other Controls on the ROE----200
2.3.32.3.3
Other Controls on the ROEOther Controls on the ROE
CENTER (round push button on the back of ROE
CENTER (round push button on the back of ROE----200)
CENTER (round push button on the back of ROECENTER (round push button on the back of ROE
200
200 200
200): CENTER is an initialization
200)200)
function that is used when the unit is first set up and occasionally during normal operation.
CENTER should only be done in the absence of a pipette as the manipulator makes large
CENTER should only be done in the absence of a pipette as the manipulator makes large
CENTER should only be done in the absence of a pipette as the manipulator makes large CENTER should only be done in the absence of a pipette as the manipulator makes large
robotic movements to its extreme ranges of motion
robotic movements to its extreme ranges of motion.
robotic movements to its extreme ranges of motionrobotic movements to its extreme ranges of motion
. To CENTER, press and release the white
. .
button on the back of the ROE-200. This will cause a prolonged movement in each axis to the
end of travel (EOT) sensors beyond the origin (0,0,0). Once the sensors are found, a short
move in the opposite direction is made and this location is defined as (0,0,0). Finally, the unit
moves to the location (12500, 12500, 12500), the center of travel of each axis. If the unit is
turned off, or STOP/SET is pressed during the running of CENTER, the unit will not be
correctly initialized. In this case, it is necessary to cycle the power off and on and run
CENTER again to its completion.
DIP Switches (on back of ROE
DIP Switches (on back of ROE----200):
DIP Switches (on back of ROEDIP Switches (on back of ROE
200): There are four DIP switches on the back of the ROE-
200): 200):
200 which govern global and/or ROE settings.
Switch 1:
Switch 1: When ON disables all MODES on the MODE Selector except for MODE 0 and 5.
Switch 1:Switch 1:
Some users may find that they only need Accelerated MODE and a single fine MODE. This
will allow them to more easily switch between the two. Factory default is OFF, enabling all
MODES.
Switch 2:
Switch 2: When OFF, disables relative coordinates during Diagonal Mode. Factory default is
Switch 2: Switch 2:
ON, relative display enabled during Diagonal Mode.
Switch 3:
Switch 3: When OFF, the MANIPULATOR Selector functions in a cyclical fashion. After
Switch 3: Switch 3:
reaching the highest number manipulator, a further push of MANIPULATOR cycles the user
back to the lowest number manipulator. When DIP switch 3 is set to ON, the selector does
not cycle back to the first manipulator. Factory default is OFF, allowing cycling back.
Switch 4:
Switch 4: Reserved for future use. Must be kept ON for proper functioning!
Switch 4:Switch 4:
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
Must be kept ON for proper functioning!
Must be kept ON for proper functioning!Must be kept ON for proper functioning!
8
NOTES
NOTES
NOTESNOTES
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
9
2.4
2.4 Controls on the MPC
Controls on the MPC----200
2.42.4
Controls on the MPCControls on the MPC
Power
Power Switch:
PowerPower
Switch: The power switch for the MPC-200 is located on the front panel of the
Switch: Switch:
200
200 200
controller. At power up, the microprocessor in the ROE-200 scans the attached equipment
and configures the system accordingly. Among the checks/configurations that are made:
1. Determines the number and type of manipulators that are attached. The MPC-200/ROE-
200 system is able determine how many and what type of manipulators (MP-285/M or
MP-225/M) are connected and to what outputs they are connected. It then sets the
current for each output to the correct value for the mechanicals found. If no
manipulators are found, the controller will return the message “NO MANIPULATOR
DETECTED, PLEASE TURN OFF CONTROLLER AND ATTACH MANIPULATOR”
2. The ROE-200 is capable of connecting to more than one MPC-200 controller. On power
up the ROE makes a determination of how many controllers are attached and configures
properly. If the power is off on the second controller, the ROE-200 displays a message
“PLEASE TURN ON ALL CONTROLLERS, THEN PRESS SET TO START”.
DIP Switches:
DIP Switches: Two banks of 8 DIP switches are located on the back of the MPC-200
DIP Switches:DIP Switches:
controller. Each bank is assigned to, and configures, one of the two manipulator outputs on
the back of the controller (MANIPULATOR A or B). Users familiar with the Sutter
Instrument MP-225 controller will find that they have the same function as the
configuration DIP switches on the MP-225 ROE. The switches are numbered 1 through 8.
In all cases, the 0 or OFF position is opposite the direction of the switch number and the 1 or
ON position is in the direction of the switch number and is also indicated by an arrow and
the word “ON” next to Switch 1. In order for any new switch settings to take effect, the
controller must be powered off and on.
The figure below shows the two banks of switches on the back of the MPC-200 controller.
Figure 2-4. Configuration switches on rear of MPC-200 controller cabinet.
Switches 1,2,3 and 4
Switches 1,2,3 and 4 set the angle of the Diagonal mode movement.
Switches 1,2,3 and 4Switches 1,2,3 and 4
The following table provides the angles that can be used and the DIP switch settings of
switches 1,2,3 and 4. As indicated in the inset to the left of the table, the angles fall into two
different quadrants according to whether the angles are more or less steep than 45 degrees.
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
10
steep
45º
Table 2-1. Configuration switch settings for different angles of steepness.
DIP switch number
Angle
1 2 3 4
7 1 1 1 1
11 0 1 1 1
14 1 0 1 1
21 0 0 1 1
27 1 1 0 1
29 * 0 1 0 1
35 1 0 0 1
39 0 0 0 1
Less
steep
than 45º
45 1 1 1 0
DIP switch number
Angle
1 2 3 4
39 0 1 1 0
35 1 0 1 0
29 0 0 1 0
27 1 1 0 0
More
21 0 1 0 0
14 1 0 0 0
than
11 0 0 0 0
*Factory default near 30
degrees
Switches 5, 6 and 7
Switches 5, 6 and 7 set the direction of the movement produced by a clockwise turn
Switches 5, 6 and 7Switches 5, 6 and 7
(advancing right hand screw) of the ROE knob for each axis.
With the switch set to 0, a clockwise turn of the knob produces a decrement in the display;
when the switch is set to 1, a clockwise turn of the knob produces an increment in the
display. An increment in the display coincides with movement downward in the Z axis,
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
11
movement toward the rear of your setup in the Y axis and movement producing pipette
advancement in the X axis.
The factory default is 1,1,1 for switches 5,6 and 7.
Switch number
Corresponding axis
Switch 8
Switch 8 determines whether or not the Y-axis is included in HOME and WORK POS. robotic
Switch 8Switch 8
5 6 7
X
Y Z
moves. If switch 8 is set to 0, the Y axis is moved to a location where the pipette is towards
the user in HOME move and is moved back to whatever Y coordinate was recorded during
SET-WORK POS. in the WORK POS. move. If switch 8 is set to 1, the Y axis is not moved (Y
position ignored) during the HOME or WORK POS. moves. The factory default for switch 8
is 0; the Y axis will move during HOME and WORK POS. moves.
Remember that the settings on the A switches apply to the MANIPULATOR A output and
the settings on the B switches apply to the MANIPULATOR B output. Thus, you can have,
for example, different angles of approach on your two manipulators or a different direction of
turning to advance the pipette on a left versus a right-handed manipulator.
Figure 2-5. Configuration switches (rear of MPC-200 controller).
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
13
TAPERED PEG (TYP)
MOUNTING ADAPTER PLATE
3.
3. M P
MP ----2 25/M MAN IPU LATO R
3.3.
The following sections describe how to mount your MP-225/M to a stand using the mounting
adapter plate, how to adjust pipette angle and change pipettes, how to mount different
headstages and finally, the modular nature of the mechanical. It is assumed that if you are
setting up an MPC-325-2, that you will repeat the setup instructions for two mechanicals.
The figure below shows a right-handed MP-225/M. You may have a left-handed unit,
especially if you have a two-manipulator system, but the setup is identical.
3.1
3.1
3.13.1
The MP-225/M mounts to the mounting adapter plate (X285210) using four tapered pegs
with locking screws. The figure below shows the location of the front locking setscrews:
225 /M M ANI PULA TOR MEC HANICAL MOU NTIN G
MPMP
225 /M M ANI PULA TOR225 /M M ANI PULA TOR
INS TRU CTIO NS
INS TRU CTIO NS
INS TRU CTIO NSINS TRU CTIO NS
Mo
Mounting MP
unting MP----225/M to a Stand or Platform
MoMo
unting MPunting MP
225/M to a Stand or Platform
225/M to a Stand or Platform225/M to a Stand or Platform
ME CHAN ICAL MOU NTI NG
ME CHAN ICAL MOU NTI NG ME CHAN ICAL MOU NTI NG
THUMB SCREW
Z
PHILLIPS HEAD
SCREW (TYP)
SWING GATE
LOCKING SCREWS
Figure 3-1. Angled side view of MP-225/M showing swing gate and mounting adapter plate.
The rear pair of screws is in a similar location in the back of the manipulator. The
manipulator is shipped
manipulator is shipped with the adapter plate in place; it must be removed to mount the
manipulator is shippedmanipulator is shipped
manipulator!
manipulator!
manipulator!manipulator!
with the adapter plate in place; it must be removed to mount the
with the adapter plate in place; it must be removed to mount the with the adapter plate in place; it must be removed to mount the
X
Y
The
The The
To remove the plate, first loosen the locking screws and then pull the mounting plate
straight down. The figure above shows the plate removed from the X axis. Once removed,
the mounting adapter plate can be secured to any flat surface carrying ¼-20 or 10-32 holes
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
14
on one-inch centers (such as a Sutter MT-stand or MD series platform) using the supplied
hardware. After mounting the adapter plate on your stand or platform, align the pegs on top
of the plate with the holes in the manipulator, push the X-axis firmly onto the plate, and
retighten the locking hex set screws.
3.2
3.2
Setting Headstage/Pipette Angle and Pipette Exchange
Setting Headstage/Pipette Angle and Pipette Exchange
3.23.2
Setting Headstage/Pipette Angle and Pipette ExchangeSetting Headstage/Pipette Angle and Pipette Exchange
Mounted on the front of the Z-axis of the manipulator is the “swing-out gate”. The swingout gate is the mounting surface for the rotary dovetail that holds various
electrophysiological headstages and/or micro tools at defined angles. The swing-out gate is
also provides for easy exchange of pipettes during an experiment.
The angle of the rotary dovetail is adjusted by loosening the hex set screw located on the
hinge side of the swing-out gate (see figure below). You can set a particular angle using the
knife-edge on the dovetail and the scale on the faceplate. After choosing an angle, press the
rotary dovetail firmly into the pocket in the swing gate and retighten the screw to fix the
angle.
THUMB SCREW:
LOOSEN TO OPEN
SWING GATE
HEX SET SCREW:
LOOSEN TO CHANGE
PIPETTE ANGLE
Figure 3-2. Locations of screws used to open swing gate and changing pipette angle.
To change pipettes, loosen the thumbscrew on the swing-out gate (above left). The gate will
open allowing the headstage and holder to rotate almost 90 degrees. After replacing your
pipette, make sure to close the gate tightly and tighten the thumbscrew securely while
holding the gate closed. The thumbscrew is designed to pull the gate closed with tightening.
Tightening with thumb and finger is sufficient.
The height of the swing-out gate on the front of the Z-axis is adjustable. To change the
position, open the gate and loosen the 4 Phillips-head screws that mount the swing gate (see
figure, Page 13). As shipped from the factory, the gate is positioned to allow access to the Z-
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
15
Heka EPC
-
10 or
Axon 203B
Phillips
-
head
Head stage
Connection to 4 inch dovetail:
EPC7,8 & 9: 1-1/16" x 2-7/32"
axis shipping screw holes. You may find it beneficial to move the gate up before you start
using your MP-225/M.
3.3
3.3 Headstage Mounting
Headstage Mounting
3.33.3
Headstage MountingHeadstage Mounting
Axon headstages 203B or CV-7 and the Heka EPC-10 headstage have an integral dovetail
that slides directly into the rotary dovetail on the MP-225/M. The figure below shows an
example of this type of headstage mounted in a left-handed manipulator and in profile (on
the right), the location of the Phillips-head screw that secures the headstage dovetail in its
mate on the manipulator.
Figure 3-3. Headstage mounting.
screw
Older Axon and Heka headstages mount using the 4-inch dovetail (X285204) and a plastic
plate. A typical headstage of this type is shown mounted in a right-handed MP-225/M (right
panel). The plastic plate used with the 4-inch dovetail is shown in the left panel of the figure
and the holes are indicated to mount common headstages. Additional holes could be easily
added to accommodate less common headstage footprints.
C
A
D
D D
C
(2 holes, A & B)
CV-4: 1-1/8" x 1-15/16"
(4 holes, B & C)
( 3 holes, D)
C
B
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
16
Figure 3-4. Using a dovetail for headstage mounting.
Rod mounted headstages and micro tools are accommodated by use of a rod clamp that fits
into the dovetail (not shown). All the headstage adapters and mounting hardware are
included with the manipulator and are shipped in a zip lock plastic bag.
3.4
3.4 Modular Construction
Modular Construction
3.43.4
Modular ConstructionModular Construction
The three axes of the MP-225/M are identical. They are connected to each other with
tapered pegs and hex locking screws, four between each axis. The peg and locking screw
attachment is identical to the attachment of the mounting adapter plate to the bottom of the
manipulator. The manipulators are shipped pre-assembled in either the right or the lefthanded configuration. Because of the modular construction, handedness can be easily
switched. If you wish to change one of your mechanicals from right handed to left handed or
vice versa see “Instructions for Changing Handedness” included later in this section.
The modular construction of the MP-225/M mechanical allows for some flexibility in the
connections between axes. In the standard configuration, the axes are stacked X, Y, and Z
from bottom to top (see figure on Page 13). However, the 3 axes can be used separately or
assembled in non-standard configurations. If you assemble the manipulator in other
configurations, make sur
configurations, make sure that the axes do not interfere with one another!
configurations, make surconfigurations, make sur
the Z-axis is mounted in a lower location on the right angle that connects it to the Y-axis, it
may interfere with the full travel of the Y-axis.
e that the axes do not interfere with one another! For example, if
e that the axes do not interfere with one another!e that the axes do not interfere with one another!
If you assemble the manipulator in other
If you assemble the manipulator in other If you assemble the manipulator in other
You may have also received one or more accessories for mounting your MP-225/M and/or
modifying the headstage mount to the manipulator (i.e. rotating base, microscope stage
mount, gantry stand, dovetail extension). Setup of these accessories is normally covered in
documentation accompanying the accessory.
If you intend to use the right angle adapter (285300) with your MP-225/M in order to rotate
the manipulator 90 degrees, please see “Instructions used in Special Installations Only” near
the end of this manual.
3.5
3.5 Minimizing Electrical Noise
Minimizing Electrical Noise
3.53.5
Minimizing Electrical NoiseMinimizing Electrical Noise
We are aware of one potential noise source that users coupling their MP-325 with high-gain,
high-input impedance, electrophysiological recording amplifiers may experience. Under
certain circumstances, the manipulator and/or the drive cable coming from the controller
may act as an antenna picking up electric field noise from nearby electrical equipment and
bringing it into your setup. Grounding the manipulator will largely eliminate this noise
source. Try to attach to one of the silver Phillips-head screws on the side of one or more of
the axes. It should be noted that the manipulator produces negligible electrical noise when it
is not moving because it is powered by a linear power supply with no AC current present.
3.6
3.6 Instructi
Instructions for Changing Handedness
3.63.6
InstructiInstructi
ons for Changing Handedness
ons for Changing Handednessons for Changing Handedness
To switch from Right-handed to Left-handed:
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
17
RIGHT HAND
LEFT HAND
X-AXIS ROTATING
LOCKING SCREWS FOR
CHANGING HANDEDNESS
LOCKING SCREWS FOR
CHANGING HANDEDNESS
SWING GATE ROTATED
AND TUMB SCREW MOVED
1. Loosen four hex set screws, two on each side of the Y axis, that lock four tapered pins on
the top of the X-axis in the holes in the bottom of the Y-axis (the four screws are
indicated in the left and right panels below).
2. Pull the X-axis straight down (left panel).
3. Rotate the X-axis 180 degrees in the X-Y plane so that the motor and wire of the X axis
are on the left side of the manipulator (middle panel).
4. Reinsert the pins into the holes in the bottom of the Y axis (right panel).
5. Retighten the hex set screws in the sides of the Y-axis.
6. Open the swing gate and remove the four screws that attach it to the Z-axis (swing gate
shown open on Page 13).
7. Rotate the swing gate 180 degrees in the Z-X plane and reattach to the front of the Z-axis.
8. Remove the thumbscrew from the bottom of the swing gate and install in the similar hole
in the top of the swing gate (rotated swing gate shown in right panel).
To switch from left to right, simply reverse these directions.
3.7
3.7 Instructions Used in Special In
Instructions Used in Special Installations Only
3.73.7
Instructions Used in Special InInstructions Used in Special In
TO INSTALL AND USE THE RIGHT ANGLE ADAPTER (285300)
Open the swing-out gate and remove it from the front of the MP-225/M by removing the four
Phillips-head screws. Next, install the right angle adapter on the front of the MP-225/M
using the supplied M3-0.5 hex head screws. Finally, install the swing out gate on the right
angle adapter using the four Phillips-head screws. With the right angle in place, the
Figure 3-5. Rotating the MP-225/M for right and left handedness.
stallations Only
stallations Onlystallations Only
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
18
manipulator (right handed) can be turned 90 degrees clockwise so that its bulk faces to the
right instead of the back of your microscope.
Having made the 90-degree rotation, if you wish to use the automated features and diagonal
movement mode of the MP-225/M, two other minor changes must be made:
First, as the X and Y-axes have interchanged with the 90-degree rotation, the wires
controlling these two axes must be switched at the connector box.
Second, in order to have the Y axis movement be in the forward direction during the home
move, you need to rotate the Y axis 180 degrees with respect to the rest of the manipulator.
To reverse the Y (bottom axis in the rotated configuration), locate and loosen the 4 set screws
that attach the Y to the X. These are on the sides of the X or middle axis in the stack. When
the set screws are loose, you can move the Y off the X, rotate it 180 degrees and reinsert its
mounting posts into the correct holes in the X (the holes with set screws). Finally, press the
two axes firmly together and retighten the setscrews. Now the Y-axis will move forward
during the home move and back during the work position move.
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
19
IND EX
IND EX
IND EXIN DEX
C
Changing Handedness.................................................... 17
Components.......................................................................1
Controls....................................................................... 5, 10
MPC-200.................................................................... 10
DIP Switches ......................................................... 10
Power switch.......................................................... 10
ROE-200........................................................................5
black selector switches ........................................ 6, 7
other
DIP switches.........................................................7
other...........................................................................7
CENTER ..............................................................7
white buttons.............................................................5
DIAG/NORM ......................................................5
HOME..................................................................5
STOP/SET............................................................6
WORK POS.........................................................6
E
Electrical Connections......................................................3
I
Initial Operating Instructions............................................3
Installing and using right angle adapter .........................18
M
Minimizing Electrical Noise ..........................................17
Mounting
headstage.....................................................................15
MP-225/M Manipulator Mechanical.........................13
MP-225/M to a Stand or Platform.............................13
P
Pipette Exchange.............................................................14
S
Setting Headstage/Pipette Angle....................................14
Special installations.........................................................18
MPC-325-2 OPERATION MANUAL – REV. 1.11 (20071128)
Addendum
Addendum
AddendumAddendum
To
To
ToTo
All Operation Manuals of
All Operation Manuals of
All Operation Manuals ofAll Operation Manuals of
MPC
MPC----200/ROE
MPCMPC
200/ROE----200
200/ROE200/ROE
MPC
MPC----Series Systems
MPCMPC
Series Systems
Series SystemsSeries Systems
200----Equipped
200200
Equipped
EquippedEquipped
Rev. 1.00 – November 28, 2007
As of Version 3.11 (November 12, 2007) of the firmware for the MPC
As of Version 3.11 (November 12, 2007) of the firmware for the MPC----200 micromanipulator
As of Version 3.11 (November 12, 2007) of the firmware for the MPCAs of Version 3.11 (November 12, 2007) of the firmware for the MPC
controller and ROE
controller and ROE----200 input device, the CENTER routine associated with the white button on the
controller and ROEcontroller and ROE
rear of the ROE
rear of the ROE----200 has been replaced with a C
rear of the ROErear of the ROE
pipette. Thus, it can be used in the middle of an experiment when you see the message EOT (end of
pipette. Thus, it can be used in the middle of an experiment when you see the message EOT (end of
pipette. Thus, it can be used in the middle of an experiment when you see the message EOT (end of pipette. Thus, it can be used in the middle of an experiment when you see the message EOT (end of
travel) displayed on the ROE
travel) displayed on the ROE----200. Please note that all references to CENTER in the current
travel) displayed on the ROEtravel) displayed on the ROE
manual should be
manual should be replaced with CALIBRATE. Furthermore, the detailed instructions regarding the
manual should bemanual should be
centering routine in section 2.3.3 should be replaced with the CALIBRATE instructions below.
centering routine in section 2.3.3 should be replaced with the CALIBRATE instructions below.
centering routine in section 2.3.3 should be replaced with the CALIBRATE instructions below.centering routine in section 2.3.3 should be replaced with the CALIBRATE instructions below.
200 input device, the CENTER routine associated with the white button on the
200 input device, the CENTER routine associated with the white button on the 200 input device, the CENTER routine associated with the white button on the
200 has been replaced with a CALIBRATE routine that is less likely to break a
200 has been replaced with a C200 has been replaced with a C
200. Please note that all references to CENTER in the current
200. Please note that all references to CENTER in the current 200. Please note that all references to CENTER in the current
replaced with CALIBRATE. Furthermore, the detailed instructions regarding the
replaced with CALIBRATE. Furthermore, the detailed instructions regarding the replaced with CALIBRATE. Furthermore, the detailed instructions regarding the
ALIBRATE routine that is less likely to break a
ALIBRATE routine that is less likely to break a ALIBRATE routine that is less likely to break a
200 micromanipulator
200 micromanipulator 200 micromanipulator
Figure 1. Location of the CALIBRATE button on the ROE-200.
CALIBRATE is used in t
CALIBRATE is used in two ways. When the unit is first set up, CALIBRATE is used to establish
CALIBRATE is used in tCALIBRATE is used in t
the zero location. Then, occasionally, during normal operation, CALIBRATE is used to reestablish
the zero location. Then, occasionally, during normal operation, CALIBRATE is used to reestablish
the zero location. Then, occasionally, during normal operation, CALIBRATE is used to reestablish the zero location. Then, occasionally, during normal operation, CALIBRATE is used to reestablish
the zero location. CALIBRATE follows a more conservative path than CENTER, and can gen
the zero location. CALIBRATE follows a more conservative path than CENTER, and can generally
the zero location. CALIBRATE follows a more conservative path than CENTER, and can genthe zero location. CALIBRATE follows a more conservative path than CENTER, and can gen
be used in the presence of a pipette.
be used in the presence of a pipette.
be used in the presence of a pipette.be used in the presence of a pipette.
To CALIBRATE, press and release the white button on the back of the ROE
To CALIBRATE, press and release the white button on the back of the ROE----200. The manipulator
To CALIBRATE, press and release the white button on the back of the ROETo CALIBRATE, press and release the white button on the back of the ROE
will back away from the current location along the established diagonal (like a HOME move), and
will back away from the current location along the established diagonal (like a HOME move), and
will back away from the current location along the established diagonal (like a HOME move), and will back away from the current location along the established diagonal (like a HOME move), and
ultimately move to th
ultimately move to the end of travel (EOT) sensors, beyond the origin (0,0,0). Once the sensors are
ultimately move to thultimately move to th
found, a short move in the opposite direction is made and this location is defined as (0,0,0). The
found, a short move in the opposite direction is made and this location is defined as (0,0,0). The
found, a short move in the opposite direction is made and this location is defined as (0,0,0). The found, a short move in the opposite direction is made and this location is defined as (0,0,0). The
purpose of CALIBRATE is to allow 0,0,0 or HOME to be safely reestablished du
purpose of CALIBRATE is to allow 0,0,0 or HOME to be safely reestablished during the course of an
purpose of CALIBRATE is to allow 0,0,0 or HOME to be safely reestablished dupurpose of CALIBRATE is to allow 0,0,0 or HOME to be safely reestablished du
experiment without risking damage to the pipette.
experiment without risking damage to the pipette.
experiment without risking damage to the pipette.experiment without risking damage to the pipette.
If the unit is turned off, or STOP/SET is pressed during the running of CALIBRATE, the unit will
If the unit is turned off, or STOP/SET is pressed during the running of CALIBRATE, the unit will
If the unit is turned off, or STOP/SET is pressed during the running of CALIBRATE, the unit will If the unit is turned off, or STOP/SET is pressed during the running of CALIBRATE, the unit will
not be correctly initialized. In this case, it is necessary to cycle the power off and
not be correctly initialized. In this case, it is necessary to cycle the power off and on, and then run
not be correctly initialized. In this case, it is necessary to cycle the power off andnot be correctly initialized. In this case, it is necessary to cycle the power off and
CALIBRATE again to its completion.
CALIBRATE again to its completion.
CALIBRATE again to its completion.CALIBRATE again to its completion.
ADDENDUM TO ALL OPERATION MANUALS OF MPC-200/ROE-200-EQUIPPED MPC-SERIES SYSTEMS – REV. 1.00
wo ways. When the unit is first set up, CALIBRATE is used to establish
wo ways. When the unit is first set up, CALIBRATE is used to establish wo ways. When the unit is first set up, CALIBRATE is used to establish
erally
erally erally
200. The manipulator
200. The manipulator 200. The manipulator
e end of travel (EOT) sensors, beyond the origin (0,0,0). Once the sensors are
e end of travel (EOT) sensors, beyond the origin (0,0,0). Once the sensors are e end of travel (EOT) sensors, beyond the origin (0,0,0). Once the sensors are
ring the course of an
ring the course of an ring the course of an
on, and then run
on, and then run on, and then run
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