SUTTER INSTRUMENT MPC-365 User Manual

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OPERATION MANUAL

Rev. 1.01 ( 20071128)

MPC

MPC----365

MPCMPC

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Micromanipulator

MicromanipulatorMicromanipulator

System

SystemSystem

365

365365

Format

FormatFormat

MP----365

MPMP

365

365365

Narrow-Format

Micromanipulator System

Operation Manual

(Rev. 1.01 (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



MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

III

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: ...............................................................................................................................................................4

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-265/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 O

THER ACCESSORIES

3.5 M

INIMIZING ELECTRICAL NOISE

3.6 I

NSTRUCTIONS USED IN SPECIAL INSTALLATIONS ONLY

3.6.1 Installing and Using the Right-Angle Adapter (285300)...........................................................................................17

3.6.2 Instructions for Changing Handedness......................................................................................................................18

APPENDIX A. FUSE REPLACEMENT ...............................................................................................................................19

APPENDIX B. TECHNICAL SPECIFICATIONS..............................................................................................................21

MP-265/M

MPC-365 D

MPC-365...........................................................................................................................................1

MPC-200...............................................................................................................................................9

TO THE

..........................................................................................................................................................17

OCUMENTATION PACKAGE

......................................................................................................................................3

ROE-200.....................................................................................................................................4

MT-72 LS........................................................................................................................13

.....................................................................................................................................................16

........................................................................................................................................17

..............................................................................................1

...............................................................................3

.....................................................................................16

..................................................................................................17

MP-265 M MPC-200 C ROE-200 I

INDEX ..........................................................................................................................................................................................23

ICROMANIPULATOR MECHANICAL

ONTROLLER

NPUT DEVICE

...........................................................................................................................................................21

.........................................................................................................................21

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

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----365 Documentation Package

1.11.1

Structure of the MPCStructure of the MPC

The MPC-365 is a manipulator system comprised of the MPC-200 controller, the ROE-200 input device and the MP-265/M narrow format stepper motor manipulator. 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-265/M mechanical micromanipulator.

1.2

1.2 Components of the MPC

Components of the MPC----365

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

• MP-265/M narrow format manipulator mechanical

• Compact DB 26 to DB-25 cable (connects MP-265/M to the controller).

• RJ-45 cable (8 conductor) connects the ROE to the controller

• USB cable for computer control of the MPC-365 system

• Power cable (for the MPC-200 controller) appropriate for your location

• 2.5mm hex wrench for removing the shipping screws

• 1.5mm hex wrench for adjusting pipette angle

• MT-72 LS long slide on tower gantry for mounting the MP-265/M. Included is an MT-

7004 levered clamp for locking the MP-265/M’s mounting mechanism at any point along the horizontal slide that is mounted atop the vertical tower gantry.

365 Documentation Package

365 Documentation Package 365 Documentation Package

365

365365

IMPORTANT

IMPORTANT IMPORTANT

Once you have unpacked your MPC

Once you have unpacked your MPC----365, remove the two shipping screws, indicated by

Once you have unpacked your MPCOnce you have unpacked your MPC red warning tags, from the MP

red warning tags, from the MP----265/M. You must remove these screws before operating the

red warning tags, from the MPred warning tags, from the MP manipulator. Save the screws, warning tags, and hex wrench in the event you need to

manipulator. Save the screws, warning tags, and hex wrench in the event you need to

manipulator. Save the screws, warning tags, and hex wrench in the event you need to manipulator. Save the screws, warning tags, and hex wrench in the event you need to transport your manipulator in the future. Once these screws have been removed, ha

transport your manipulator in the future. Once these screws have been removed, handle the

transport your manipulator in the future. Once these screws have been removed, hatransport your manipulator in the future. Once these screws have been removed, ha micromanipulator with care. The mechanism can be damaged if the axes are moved with the

micromanipulator with care. The mechanism can be damaged if the axes are moved with the

micromanipulator with care. The mechanism can be damaged if the axes are moved with the micromanipulator with care. The mechanism can be damaged if the axes are moved with the screws in place.

screws in place.

screws in place.screws in place.

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

365, remove the two shipping screws, indicated by the

365, remove the two shipping screws, indicated by 365, remove the two shipping screws, indicated by

265/M. You must remove these screws before operating the

265/M. You must remove these screws before operating the 265/M. You must remove these screws before operating the

the

the the

ndle the

ndle the ndle the

MANIPULATORS

CONTROLLER

FUSE HOLDER

2. M PC

MPC ----2 00 M ULTI

2.2.

MPCMPC

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

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 your 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

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

2. 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. **** Use the CONTROLLER output on the back of the ROE and the COMMAND INPUT on the back of the controller.

3. With the power OFF, run a DB-25-to-DB26 HD cable from each of the two MP-265/M mechanicals to the DB-25 connectors marked “MANIPULATOR A” and “MANIPULATOR B” on the back of the controller. ****

*NOTE: Never connect or dis

*NOTE: Never connect or disconnect the ROE or the MP

*NOTE: Never connect or dis*NOTE: Never connect or dis controller while the power is on!

controller while the power is on!

controller while the power is on!controller while the power is on!

2.2

2.2 Initial Operating Instructions

Initial Operating Instructions

2.22.2

Initial Operating InstructionsInitial Operating Instructions

CONNECT ROE-200

Figure 2-1. Rear of MPC-200 controller cabinet..

connect the ROE or the MP----265/M to and from the MPC

connect the ROE or the MPconnect the ROE or the MP

265/M to and from the MPC----200

265/M to and from the MPC265/M to and from the MPC

200

200 200

After all electrical connections have been made, you can power up the MPC-365 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).

Once the start-up sequence has finished, you will see a display that gives the coordinates of the connected manipulator. The LED marked 1 will light if you connected the MP-265/M to

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

the connector marked MANIPULATOR A. Confirm that you get a coordinate display and have removed the shipping screws. 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 six shipping screws, turn the power back off and remove the six screws.

All functions necessary during normal operation are provided by four 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 three ROE knobs control the three axes of the manipulator (right knob X, left knob Y, and top knob Z, see Page 5). Turn any one of the three knobs and notice that the corresponding axis moves and the coordinate for that axis changes.

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 the MP-265/M manipulator is 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”. 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 and Z, and 6250 for Y.

From this location, you can move 12500 microns in each direction on the X- and Z-axis, and 6250 on the Y-axis. The unit will stop automatically at each end of travel (00000 or 25000 microns for X and Z, and 00000 or 12500 for Y). These ends are determined by firmware. Each axis also have 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.

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 the ROE knob is turned slowly, a relatively slow movement is achieved 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.

The remaining functions of the ROE are explained in the next section.

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 through10). When using MODE 9

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

(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 Y-axis (maximal left on a lefthanded manipulator) and maximal front on the X-axis. The stereotypic path of the movement is first along the currently set diagonal until either the X-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 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.

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

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’s 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 would 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.

Note that like HOME, the Y axis movement can be disabled when WORK POS is pressed, as set via DIP switch 8 on the back of the MPC-200 controller (see Controller DIP switch setting instructions on Page 11).

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!

Think of this as your panic button

Think of this as your panic button Think of this as your panic button

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: 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 near 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-365, 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 connected to "MANIPULATOR B", LED 2 will be lit. If you connect an additional MP-265/M manipulator in the future, the controller will automatically detect the second manipulator, the MANIPULATOR toggle will become active and the display will indicate which manipulator is active with the words "Drive A" or "Drive B"

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

Figure 2-3. Side view of ROE-200..

2.3.3

2.3.3 Other Controls on the RO

Other Controls on the ROEEEE----200

2.3.32.3.3

Other Controls on the ROOther Controls on the RO

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. To CENTER, press and release the white

robotic movements to its extreme ranges of motion. robotic movements to its extreme ranges of motion. 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 (X), 6250 (Y), 12500 (Z)), 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, all modes on the MODE selector, except Mode 0 and 5, are disabled.

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, relative coordinates during Diagonal Mode are disabled. The factory

Switch 2: Switch 2: default is ON (display of relative coordinates 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-numerated manipulator, a further push of MANIPULATOR cycles the user back to the lowest-numerated 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. NOTE: Must be kept ON for proper functioning!

Switch 4:Switch 4:

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

NOTE: Must be kept ON for proper functioning!

NOTE: Must be kept ON for proper functioning!NOTE: Must be kept ON for proper functioning!

NOTES

NOTESNOTES

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

2.4

2.4 Controls on the MPC

Controls on the MPC----200

2.42.4

Controls on the MPCControls on the MPC

Power Switch:

Power Switch: The power switch for the MPC-200 is located on the front panel of the

Power Switch: Power 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, MP225/M, or MP-265/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 eight 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 table on the next page gives 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.

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

Table 2-1. Configuration switch settings for different angles of steepness.

Angle

DIP switch number

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

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 21 0 1 0 0 14 1 0 0 0 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, movement toward the rear of your setup in the Y axis and movement producing pipette advancement in the X axis.

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

The factory default is 1,1,1 for switches 5,6 and 7.

Switch number 5 6 7 Corresponding axis X Y Z

NOTE: Any channel that uses a left

NOTE: Any channel that uses a left----side MP

NOTE: Any channel that uses a leftNOTE: Any channel that uses a left This is because a left

This is because a left----handed MP

This is because a leftThis is because a left counterpart, and thus it is usually desirable to have the manipulator move back on its Y axis

counterpart, and thus it is usually desirable to have the manipulator move back on its Y axis

counterpart, and thus it is usually desirable to have the manipulator move back on its Y axis counterpart, and thus it is usually desirable to have the manipulator move back on its Y axis with a counterclockwise turn of the ROE’s Y axis knob.

with a counterclockwise turn of the ROE’s Y axis knob.

with a counterclockwise turn of the ROE’s Y axis knob.with a counterclockwise turn of the ROE’s Y axis knob.

Switch 8

Switch 8 determines whether or not the Y-axis is included in HOME and WORK POS. robotic

Switch 8Switch 8

handed MP----265/M has

handed MPhanded MP

side MP----265/M, Switch 6 must be changed from 1 to 0.

side MPside MP

265/M has its Y

265/M has265/M has

265/M, Switch 6 must be changed from 1 to 0.

265/M, Switch 6 must be changed from 1 to 0. 265/M, Switch 6 must be changed from 1 to 0.

its Y----axis rotated 180° from its right

axis rotated 180° from its right----handed

its Y its Y

axis rotated 180° from its rightaxis rotated 180° from its right

handed

handed handed

moves. If switch 8 is set to 0, the Y axis is moved to a location where the pipette is towards the user in a 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. In the MPC factory default for switch 8 is 1 (the Y axis is not moved (Y position ignored) during the

factory default for switch 8 is 1 (the Y axis is not moved (Y position ignored) during the

factory default for switch 8 is 1 (the Y axis is not moved (Y position ignored) during the factory default for switch 8 is 1 (the Y axis is not moved (Y position ignored) during the HOME or WORK POS. moves).

HOME or WORK POS. moves).

HOME or WORK POS. moves).HOME or WORK POS. moves).

In the MPC----365 system, the

In the MPCIn the MPC

365 system, the

365 system, the 365 system, the

Figure 2-5. Configuration switches (rear of MPC-200 controller).

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

3. M P

MP ----2 65/M MAN IPU LATO R

3.3.

This chapter describes how to mount the MP-265/M to a stand (normally, the top plate of an MT-72 LS), how to change pipettes and adjust pipette angle, and finally, the modular nature of the mechanical.

3.1

3.13.1

The MP-265/M mounts to the top mounting plate of the MT-72 LS. Gently place the MP265/M onto the four mounting posts that are part of the mounting plate. Once placed evenly on the mounting plate, tighten the miniature hex screws (two on each side) of the MP265/M’s X-axis slide using the supplied hex wrench.

265 /M M ANI PULA TOR MEC HANICAL MOU NTIN G

MPMP

265 /M M ANI PULA TOR265 /M M ANI PULA TOR

INS TRU CTIO NS

INS TRU CTIO NSINS TRU CTIO NS

Mounting MP

Mounting MP----265/M to the MT

Mounting MPMounting MP

265/M to the MT----72 LS

265/M to the MT265/M to the MT

ME CHAN ICAL MOU NTI NG

ME CHAN ICAL MOU NTI NG ME CHAN ICAL MOU NTI NG

72 LS

72 LS72 LS

Figure 3-1. Angled side view of MP-265/M mounted on an MT-72 LS.

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

Figure 3-2. Angled view of MP-265/M showing pipette holder and angle control and directions of all three axis.

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

Figure 3-3. MT-72 LS controls and adjustments.

Only the front pair of screws is visible in this figure. The adapter plate is normally shipped in a small plastic bag also containing the necessary hardware.

in a small plastic bag also containing the necessary hardware.

in a small plastic bag also containing the necessary hardware.in a small plastic bag also containing the necessary hardware.

The adapter plate is normally shipped

The adapter plate is normally shipped The adapter plate is normally shipped

The figure above shows the plate removed from the X-axis. Before attaching the adapter plate to the MP-265/M, you need to decide where to position the manipulator on your stand. The stand can be any flat surface carrying ¼-20 or 10-32 holes on one-inch centers (such as a Sutter MT-stands or MD series platforms). A good technique is to set the manipulator on top of the adapter plate and slide it around on your stand until it is in a good location. Then take the manipulator off and fix the adapter plate securely to the stand with the ¼-20 or 1032 hardware. Finally, align the holes on the bottom corners of the manipulator with the four threaded holes on the corners of the adapter plate and attach the manipulator using the 4 supplied M3X0.5 metric cap screws.

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

3.2

Setting Headstage/Pipette Angle and Pip

Setting Headstage/Pipette Angle and Pipette Exchange

3.23.2

Setting Headstage/Pipette Angle and PipSetting Headstage/Pipette Angle and Pip

Mounted on the front of the Z-axis of the manipulator is the rotary dovetail. The rotary dovetail is used to hold various electrophysiological headstages and/or micro tools at defined angles.

The angle of the rotary dovetail is adjusted by loosening the hex set screw located on the hinge side of the rotary dovetail (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, retighten the screw to fix the angle.

Figure 3-4. Location of screw to loosen for changing pipette angle.

ette Exchange

ette Exchangeette Exchange

To change pipettes, squeeze the linear slide cantilever and pull the MP-265M back along the slide mounted on the MT-75/LS gantry to a position that works best for removing and replacing pipettes and/or rods.

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-265/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 3-5. Headstage mounting.

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-265/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.

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

Connection to 4 inch dovetail:

EPC7,8 & 9: 1-1/16" x 2-7/32"

D D

(2 holes, A & B)

CV-4: 1-1/8" x 1-15/16"

(4 holes, B & C)

( 3 holes, D)

Figure 3-6. 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 Other Accessories

Other Accessories

3.43.4

Other Accessories Other Accessories

You may have received one or more accessories for mounting your MP-265/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-265/M in order to rotate the manipulator 90 degrees, please see “Instructions used in Special Installations Only” below.

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-365 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 Instructions

Instructions Used in Special Installations Only

3.63.6

Instructions Instructions

Used in Special Installations Only

Used in Special Installations OnlyUsed in Special Installations Only

3.6.1

3.6.1 Installing and Using the Right

Installing and Using the Right----Angle Adapter (285300)

3.6.13.6.1

Installing and Using the RightInstalling and Using the Right

Open the swing-out gate and remove it from the front of the MP-265/M by removing the four Phillips-head screws. Next, install the right angle adapter on the front of the MP-265/M

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

Angle Adapter (285300)

Angle Adapter (285300)Angle Adapter (285300)

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 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 all the manual aspects of the manipulator will work normally. If you wish to use the automated features and diagonal movement mode of the MP-265/M you will need to change the configuration of the controller. To learn how to do this, please call Sutter at 415-883-0128 or email info@sutter.com.

3.6.2

3.6.2 Instructions for Changing Handedness

Instructions for Changing Handedness

3.6.23.6.2

Instructions for Changing HandednessInstructions for Changing Handedness

It is possible to change handedness of the MP-265 mechanical. If you wish to do this, please contact Sutter Instrument for details. If you wish, Sutter can change the handedness for you. We will charge for shipping only.

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

AP PE NDI X A.

AP PE NDI X A. F USE REPLA CEM ENT

AP PE NDI X A.AP PE NDI X A.

FUS E RE PLA CEME NT

FUS E RE PLA CEME NTFUSE RE PL ACE MENT

In the event that the controller fails to power up when the power switch is turned on, check the line power fuses to see if either or both have blown. The fuses are located in the fuse holder on the power entry module on the back of the controller. To remove the fuse holder first unplug the power cord from the power entry module. Press down on the lever that is located just above the fuse holder and below the power receptacle, and pry the holder straight out of the power entry module.

The fuse holder holds two fuses. Both fuses are of the same type and rating. If either fuse is blown, it is recommended that both fuses be replaced.

The type and rating of both fuses are as follows:

5 x 20 mm glass tube

5 x 20 mm glass tube5 x 20 mm glass tube Time Delay, IEC 60127

Time Delay, IEC 60127----2, Sheet III

Time Delay, IEC 60127Time Delay, IEC 60127 T2.00A, 250V

T2.00A, 250V

T2.00A, 250V T2.00A, 250V (Examples: Bussmann GDC

(Examples: Bussmann GDC----2A or Littelfuse 218 002)

(Examples: Bussmann GDC(Examples: Bussmann GDC

2, Sheet III

2, Sheet III2, Sheet III

2A or Littelfuse 218 002)

2A or Littelfuse 218 002)2A or Littelfuse 218 002)

Figure 3-7. Rear view of the MPC-200 controller showing the power entry module and fuse location.

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

AP PE NDI X B.

AP PE NDI X B. T ECHN ICAL SPEC IFI CA T

AP PE NDI X B.AP PEND IX B .

TEC HNI CA L S PECI FICA TIO NS

TEC HNI CA L S PECI FICA TTEC HNI CA L S PECI FICA T

ION S

ION SION S

MP----265

265 MMMMicromanipulator

MPMP

265 265

MPC

MPC----200 Controller

MPCMPC

icromanipulator MMMMechanical

icromanipulator icromanipulator

Resolution: Minimal microstep size is 62.5

Maximum Speed: 3mm/sec.

Drift: < 1 micron/hr drive mechanism

200 Controller

200 Controller200 Controller

Dimensions (H x W x D): 4” H x 15.94” W x 11” D

Weight: 25 lb

Electrical:

Input voltage (Mains ) 115 V, 60 Hz

Mains fuses (rear of cabinet) 5 x 20 mm glass tube,

echanical

echanicalechanical



nanometers per microstep. Display has single micron resolution.

10.16 cm H x 40.49 cm W x 27.94 cm D

11 kg.

230 V, 50 Hz

T2.00A, 250V, IEC 60127-2, Sheet III (such as a Bussmann GDC-2A or Littelfuse 218 002)

Fuse holder contains two fuses. If a

Power cord 10A, 250V, with safety ground plug

ROE

ROE----200 Input Device

200 Input Device

ROEROE

200 Input Device200 Input Device

Dimensions (H x W x D): 4” H x 10” W x 6” D

Weight: 3.5 lb

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

fuse is blown, both fuses should be replaced.

10.16 cm H x 25 cm W x 15 cm D

1.6 kg.

DB26 (HD)

MPC

MPC----200 to MP

200 to MP----265/M

MPCMPC

200 to MP200 to MP

ROE

ROE----200 to MPC

200 to MPC----200

ROEROE

200 to MPC200 to MPC

265/M

265/M265/M

200

200200

Table B-1. Controller Cables.

Connector

ConnectorConnector

Type

TypeType

DB25 to

Minimum of 26 awg stranded wire with 500 Volt.

RJ45 to

RJ45

Cable Type

Cable Type Cable

Cable TypeCable Type

Cable

CableCable

Max. Length

Max. LengthMax. Length

10 feet

(approx. 3

meters)

USB (computer to ROE

USB (computer to ROE----200)

USB (computer to ROEUSB (computer to ROE

200) A to B

200)200)

Dielectric separation of circuits. Foil shielding.

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

IND EX

IND EXIN DEX

Components.......................................................................1

controller

cable specs.................................................................. 22

controller dimensions..................................................... 21

controller weight............................................................. 21

Controls....................................................................... 4, 10

MPC-200.................................................................... 10

DIP Switches ......................................................... 10

Power switch.......................................................... 10

ROE-200........................................................................4

black selector switches .............................................6

other

DIP switches.........................................................7

other...........................................................................7

CENTER ..............................................................7

white buttons.............................................................4

DIAG/NORM ......................................................4

HOME..................................................................5

STOP/SET............................................................6

WORK POS.........................................................6

DIP switches on ROE-200................................................7

Electrical Connections.......................................................3

fuse

holder.......................................................................... 19

location ....................................................................... 19

replacement ................................................................ 19

spare............................................................................ 19

fuses, replacement

mains........................................................................... 21

Initial Operating Instructions ............................................3

mains

fuses.............................................................................21

power cord ..................................................................21

voltage.........................................................................21

Minimizing Electrical Noise ..........................................17

Mounting

headstage.....................................................................16

MP-265/M Manipulator Mechanical.........................13

MP-265/M to a Stand or Platform.............................13

Pipette Exchange.............................................................16

power cord

mains...........................................................................21

power entry module........................................................19

ROE dimensions.............................................................22

ROE weight.....................................................................22

Setting Headstage/Pipette Angle....................................16

Special installations

Installing and using right angle adapter.....................18

Instructions for changing handedness........................18

technical specifications...............................................21

controller dimensions.................................................21

controller weight.........................................................21

electrical......................................................................21

ROE dimensions.........................................................22

ROE weight ................................................................22

voltage

mains...........................................................................21

MPC365 NARROW-FORMAT MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 1.01 (20071128)

Addendum

AddendumAddendum

ToTo

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 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

SUTTER INSTRUMENT MPC-365 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual