Rev. 3.07 - UCSD Department of Physics
Contents
1. place MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 observe movement of the manipulator do following 1 Turn the power ON front panel switch up Observe the startup screen 5 51 MP 285 Controller gt 1 Press MOVE PRGM or select mag with 4 Press the lt MOVE gt key on the MP 285 controller keypad Observe the movement screen 10789 20 um X 10778 24 um Y 10750 40 um 7 0 20 um Res Assuming this was the initial power on from the unit after unpacking you should have coordinates similar to those above 10 000um to 12 000um These coordinates correspond to the locations of the shipping screws Turn a knob on the ROE You should see one of the axes on the manipulator move and the coordinates on the screen of the controller change The coordinates indicate how far you have moved in micrometers along each of the three axes Before the unit was shipped from Sutter its absolute origin location 0 0 0 was set at the center of travel of each axis This same location was also defined as Home This means that you can make the manipulator move to the center of travel by a simple move to Home as follows 1 Make sure you are still in the movement screen coordinates displayed 2 Press the button on the marked lt gt Observe the rapid movement of the manipulator to the center of travel of each axis The controller display will read2. Going home during the move and will display coordinates close to 0 0 0 after the move is complete The MP 285 controller front panel is configured with three colored LEDs When lit these LEDs indicate that a signal is being received from the input device Each LED yellow red and green indicates input originating from one of the three knobs on the ROE top left and right respectively MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 2 3 Installation of the MP 285 Micromanipulator on your Microscope 2 3 1 General Considerations In most applications it is best to try to mount the MP 285 in a location that allows for the widest range of movement Usually this means mounting so that the device is in the center of travel when it is in its normal operating position To facilitate this procedure move the manipulator to its center of travel before determining where it should be mounted The base of the MP 285 manipulator is also the mounting surface for the bearing ways of the X axis When the base plate is pressed firmly against most mounting surfaces torsional stress can be transmitted to the base and thus misaligns the bearing ways A supply of four precision thickness washers is included with your MP 285 manipulator To limit misalignment you should use one on each of the four mounting screws between the MP 285 manipulator base and your mounting surface When mounting the MP 285 there should be no physic
3. Mounting the headstage on the manipulator s Z axis 2 5 Adjusting the Rotating Dovetail Base The rotating dovetail base allows the pipette holder or headstage to be rotated and firmly fixed at any angle desired by the experimenter as required for access to a particular microscope Loosen then a 4 gt retighten Rotate Headstage lt p Figure 2 8 Adjusting the headstage angle To adjust the rotary dovetail to your desired angle 1 Loosen the brake set screw to rotate the headstage or pipette holder Failure to loosen the screw may lead to rapid deterioration of the brake and rotating disk thereby reducing the ability to firmly secure the rotating dovetail 2 Once you have determined the proper angle firmly tighten the brake set screw to assure stable positioning of the rotating dovetail It is not recommended that you use this rotational joint as a means of pipette replacement Repeated repositioning of the rotary disk and brake will lead to rapid deterioration of the joint which may then not tighten properly to allow stable positioning of a pipette MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 2 6 Minimizing Electrical Noise We aware of two potential noise sources for users coupling their MP 285 with high gain high input impedance electrophysiological recording amplifiers The first is
4. understanding of most of the features necessary for microscopic manipulation using your MP 285 The controller makes two changes to implement fine movement The number of microsteps commanded per revolution of is reduced e The size of the microsteps produced by the stepping motor minimal resolution is reduced from 0 2mm to 0 04mm These two changes give you a wide range of control over the amount of movement commanded by a single turn of an ROE knob In the gross movement mode you are commanding slightly over 700mm turn In the precise movement mode you can command as few as 20mm turn As with the other portions of this User s Manual it is hoped that enough information has been provided to get the average user micromanipulating with a minimum of time spent covering unnecessary detail If you find yourself needing additional detail on any of the items covered please consult the appropriate topic in the Reference Manual 3 2 SETUP Selection In order for the MP 285 to make precise movements and have a greater amount of control over the movement you instruct the controller to produce fewer microsteps the minimal increment of manipulator movement per rotation of the knobs Using simple commands you choose one of four different Setups that vary the number of microsteps per turn ofthe ROE knob over a range of 512 to 5120 per turn The following steps outline how to use your MP 285 to manipulate a pipet
5. OPERATION MANUAL REV 3 07 20080204 MP 285 MICROMANIPULATOR SYSTEM ROE BASIC OPERATIONS INSTRUMENT 285 MICROMANIPULATOR SYSTEM OPERATION MANUAL ROE BASIC OPERATIONS REV 3 07 20080204 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 Copyright 2008 Sutter Instrument Company Rights Reserved MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 TABLE OF CONTENTS 1 GENERAE INFORMATION 1 1 STRUCTUREOFTHEMP 285 DOCUMENTATION PACKAGE ssscssssscscsseescssesecsseseesscssesecessacsecssesecssesescassacsecsacsecaeesecatsaecaseaeeecnaeeeeaes 1 1 2 TECHNICAL SUPPORT asadas 1 SETUP a TE 3 PAI TINTA CAN GA 3 2 2 INILIAT SETUP AND GROSS diia 4 2 3 INSTALLATION OF THE MP 285 MICROMANIPULATOR ON YOUR 6 2 3 1 General Considerations 2 3 2 PEC A Deere 6 24 MOUNTING HEADST GES diia 7 2 5 ADJUSTING THE ROTATING DOVETAIL BASE ccccsccscssesscssesscscessessccessee
6. al impediments to the full excursion of the three axes Pay particular attention to the screws or clamps used to secure the base of the micromanipulator to make certain that the X axis slide can move to the end of its travel without obstruction Additional mounting considerations as well as instructions pertaining to specific mounting accessories can be found in the Reference Manual 2 3 2 Specifics The base of the MP 285 manipulator has four mounting holes on 2 5 centers A template drawn to scale and based on the footprint shown below can be used to drill holes in a suitable mounting surface 2 75 2 5 3 8125 2 25 2 5 Figure 2 5 Manipulator base dimensions MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 This four hole pattern is also compatible with the MP 285 rotary base part 285RBI and mounting adapter plate 285210 see the Reference Manual for further instructions While it is possible to insert and tighten all four mounting screws with the MP 285 in one position you may find it convenient to connect and power up the manipulator and position the X axis for the best access to the screw holes 2 4 Mounting Headstages The most stable way to mount a headstage is to fasten it directly to the Z axis slide The mounting hardware included with the MP 285 is designed to eliminate the need for custom machining of headstage and pipette holders For example Axon Instru
7. approximately the same length MP 285 OPERATION MANUAL ROE BASIC OPERATIONS REV 3 07 20080204 18 e Try to fabricate concentric pipettes e Try to install your pipettes in the holder such that they always extend the same amount e Ifyou use a rotating device to position the manipulator try to install it such that rotation is up against a hard stop when the manipulator is in the operating location Note that you accepted the factory set speed and resolution for the move back to home If you wish you can define both for example you can make the move to home even faster Details on how to specify speed and resolution are given in the MP 285 Reference Manual MP 285 OPERATION MANUAL ROE BASIC OPERATIONS REV 3 07 20080204 19 6 GENERALIZED ROBOTIC MOVEMENTS In addition to a simple movement like Go Home the MP 285 is also capable of learning and remembering a complex series of Robotic movements A series of recorded movements can be executed once or many times in a loop The series of moves can also be executed in the reverse order in which they were recorded The following section teaches you how to record and execute a series of robotic movements by demonstration You will find it easy to use robotic movements to remove your pipette from the field of view to a location where you can easily switch in a new pipette Such a function provides a complement to Go Home used in the proceeding section to robotica
8. associated with the manipulator and its connecting cable from the controller Under certain circumstances these may act as an antenna concentrating electric field noise that originates from nearby electrical equipment computer monitors and fluorescent lights are the most notorious offenders and bringing it into close proximity with recording apparatus Grounding the manipulator will largely eliminate this noise source Ground tabs are located on each motor housing for this purpose 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 The second potential source of noise is associated with the magnetic field radiated from the power supply transformer in the controller Certain electrophysiological amplifiers are more susceptible to generating noise when exposed to this magnetic field This noise can be minimized or eliminated by allowing a maximal distance between your MP 285 controller and your amplifier It may be possible to decrease this noise source further by placing a soft steel plate or a piece of high permeability metal between the controller and the amplifier MP 285 OPERATION MANUAL ROE BASIC OPERATIONS REV 3 07 20080204 11 3 MICROSCOPIC MANIPULATION 3 1 Some Basic Information Assuming you have already tried gross movement of the MP 285 as outlined above Initial Setup and Gross Movement then you have an
9. ccnsesecssesscasssesecssesecssesscasssecessaesecasesecaseneceseaeseenaesecaee 8 2 6 MINIMIZING ELECTRICAL NOBE 2 un nn tareas 9 3 4 1 3 1 5 BASIC INFORMATION tai dit its WE AS terre 3 2 SETUP SELECTION sisi 3 3 CHANGING MINIMAL RESOLUTION 4 PUESEMOVEMENT 555 nennen rennen 15 5 HOME FUNCTION nn in in ts Etes 17 5 1 HOW TO DEFINE A NEW 2 2 2 22 inserer 17 5 2 MOVING TO THE NEW HOME cccssssssssescescssescssesscssesececssesecssesecassaecsessssecsscsecsssassacsaesecsscsecssesecacsaeseesacsecasesecaeeaececsaeeecaaens 17 5 3 PRACTICAL USE OF THE HOME FUNCTION inner 17 6 GENERALIZED ROBOTIC MOVEMENTS scccscccsssssscsessscessscsessocsecsessscssssesessccsecsessecesessessccsessessecsessesesssesessessscsess 19 0 SETTING ABSOLUTE ZERO Fe rt net RAR RE RS RE DE A eased aoa 19 0 2 REDEFINING HOME 2 19 6 3 CLEARING PROGRAM LOCATION 1 FOR RECORDING NEW ROBOTIC SERIES 19 6 4 TEACHING THE MP 285 CONTROLLER NEW ROBOTIC 20 6 5 EXECUTING THE NEWLY ENTERED PROGRAM eine
10. crostep resolutions MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 16 Table 4 1 Microsteps and microns per Pulse settings Setup Microsteps Microns per Pulse at Number per Pulse The speed of pulse movement is 5000 microsteps second for all Setups As there are two different resolutions this translates to the same two different speeds for each setup 1 mm second at coarse resolution and 200 mm second at fine resolution You may find that no SETUP delivers the size and or speed pulses that you desire The reference manual gives complete instructions for defining pulse size and speed and saving defined values to a new setup MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 5 HOME FUNCTION Go home is simplest of the programmable robotic functions available on MP 285 Using the home function you can establish a point in space to which you can command the micromanipulator to return You may have used the home function to quickly move the manipulator to the center of travel during the Initial Setup procedure At the factory the center of travel for all three axes is established as both the absolute zero and the location of Home but any location can be designated as Home Once a new location is defined as Home the MP 285 controller will automatically move back to that location by a simple press of the lt HOME g
11. er right corner If no word is displayed the unit is in continuous mode Pulse movement can be most easily observed under a microscope If you have already configured your microscope for micromanipulation as detailed in section Microscopic Manipulation then simply follow these steps 1 From the main menu press lt 3 gt to access a Setup with medium size pulses Note that each Setup defines a Pulse size The size of the pulses is given in the table below 2 Press lt gt to enter the movement screen 3 Depress the lt CONT PULSE gt button on the ROE so that it is in the down position 4 Make sure the controller is set for coarse resolution microsteps 0 2 mm ROE lt COARSE FINE gt button up 5 Now turn the ROE knob while observing pipette movement under the microscope You should see movement in pulses of 10mm The ROE produces eight pulses per turn when in pulse mode Thus each full turn will produce a total movement of 80mm in eight 10mm pulses The speed of the movement is Imm second While only four factory installed Setups were described above there are actually six five and six are identical to four with respect to the number of microsteps per ROE turn in continuous mode movement described above They do differ in the size of pulses used in Pulse movement mode The following table lists the sizes of pulses for the six factory installed setups in microsteps and micrometers as calculated for the two different mi
12. ess lt gt then lt TAB gt to New Home Press lt ENTR gt to access New Home Press lt ENTR gt to accept the default speed and resolution You will be back in the movement screen 6 3 Clearing Program Location 1 for Recording a New Robotic Series Robotic movements are initially stored in program location 1 Ifthere is another series already stored in this location that you wish to retain you must move it to another location first When shipped program location 1 is occupied by a test routine While you probably MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 20 have no reason to save this routine you may wish to save it to another location simply to learn the procedure for later reference To move program 1 to a new location and free up location 1 follow these steps from the movement screen 1 Press lt gt to enter the Robotics menu lt TAB gt 5X to Select program and press lt ENTR gt Press lt ENTR gt to accept Save Clear lt TAB gt to a free location for e g 7 and press lt ENTR gt lt ESC gt back to the movement screen Note that original copy of program 1 is still in location 1 and will overwritten when new robotic moves are entered 6 4 Teaching the MP 285 Controller aNew Robotic Series You are ready to teach the controller a series of movements to robotically move the manipulator to a location where pipette
13. ette and then a precise setup 4 fine for micromanipulation under the microscope You may find that none of these SETUPS delivers the type of responsiveness that you desire from the MP 285 The MP 285 Reference Manual provides complete instructions for defining and saving your own Setup MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 15 4 PULSE So far all movements you have made whether gross movement that can be easily seen by eye or precise micro moves which can only be observed with the aid of a microscope have been in Continuous movement mode The MP 285 controller is also capable of commanding the micromanipulator to move in pulses where both the length and speed of the individual pulse is controlled You might wish to use pulse movement mode in order to move a pipette towards a target in quantized steps Pulse mode has also been used as a means of final approach to a cell membrane during giga seal formation Intracellular electrophysiologists may find that a pulse approach at maximal speed about 2 9mm sec may provide sufficient impulse to impale some types of cells To change from continuous to pulse movement mode when using an ROE is quite simple Just locate and press the lt CONT PULSE gt button on the ROE The controller is in Pulse mode when the button is depressed The movement screen will also indicate Pulse mode movement by display of the word Pulses in the upp
14. exchange is possible 1 Press lt ESC gt to reach the main menu and press lt 1 gt to put the manipulator in Setup 1 for coarse movement press lt MOVE gt to return to the movement screen 2 Press lt gt to enter the Robotics menu lt TAB gt 3X to Learn and press lt ENTR gt to gain access to Learn functions You will be issued the following warning WARNING Program 1 contains vectors Press ESC to quit or another to continue 3 If you have already saved Program 1 or if you do not need to then press any key other than lt ESC gt to continue to the following screen gt Program 1 Add vectors after 6 or gt Start new program 1 with vector no 1 4 lt TAB gt to Start new and press lt ENTR gt to access the main Learn mode menu gt Add vector after 0 gt End program gt Insert pause gt Go home gt Delete 5 Press lt ENTR gt to add the first vector actually the end point of the first move You will enter screen that lt gt asks for the desired speed for the move 5 Accept new home gt spd 2000 um s TAB to edit gt res 20 um Step 6 lt TAB gt to spd press lt ENTR gt and press lt 6550 gt to put in a speed of 6550mm sec This will make the manipulator move as fast as possible during robotic movement MP 285 OPERATION MANUAL ROE BASIC OPERATIONS REV 3 07 20080204 21 Now you should see a screen similar to movement screen but with one exceptio
15. f microsteps per ROE turn are as follows Table 3 1 Microsteps per ROE turn settings Setup Microsteps per Number ROE turn 3 Press lt MOVE gt to return to the movement screen and begin moving at the precision specified by the selected Setup The selected setup is maintained when the MP 285 controller is turned off you only need to select a different setup when you wish to change precision of movement 3 3 Changing Minimal Resolution In addition to controlling the number of microsteps per turn you can also set the microstep size to one of two values coarse 0 2um or fine 0 04um You then have two different amounts of movement ultimately two different precisions for each selected Setup MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 13 change resolution from one value to other simply press the lt COARSE FINE gt button on the top of the ROE coarse is up fine is down The movement screen also displays the resolution in the lower right corner 0 2 or 0 04 um Res Given a resolution in microns we can now re specify the amount of movement per ROE turn in microns for Setups 1 through 4 Table 3 2 Microns per ROE turn settings Microns per turn at Thus you have a relatively wide range of precision of movement In practice many users end up only using a very non precise fast moving setup 1 or 2 coarse for quickly positioning the pip
16. hese steps are in many ways identical to the steps performed any time one sets up an MP 285 for use at a microscope Many users will find that no other manual is necessary The second part Reference Manual provides in depth coverage of the MP 285 It documents the precise keystrokes menu navigation necessary to access each MP 285 function The Reference Manual also describes in detail how to alter MP 285 performance via add on accessories perform microcontroller robotic programming and how to use the serial computer interface 1 2 Technical Support Unlimited technical support is provided by Sutter Instrument Company at no charge to our customers Our technical support staff is available between the hours of 8 00 AM and 5 00 PM Pacific Time at 415 883 0128 You may also E mail your queries to info sutter com MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 2 2 1 Unpacking Carefully remove all components from shipping container One of each of the following should be included MP 285 controller MP 285 micromanipulator and D25 cable for connection to controller Rotary Optical Encoder ROE and D15 cable for connection to controller Controller power cord Serial port cable DB9 connectors Metal dovetail headstage mounting plate with plastic isolation plate Metal dovetail rod clamp 2 5mm hex wrench for removing the shipping screws 7 64 hex wrench for adjusting the rota
17. lly move a pipette from a distant location to the field of view It is assumed that you have installed your micromanipulator at your microscope and are capable of bringing your pipette into focus in your field of view If you have not yet done so you may wish to proceed through the previous sections of this manual 6 1 Setting Absolute Zero With your pipette centered at a location in the middle of the field of view of your microscope you may find it advantageous to define this location as the absolute zero 0 0 0 for the MP 285 controller Once this is done it is straightforward to know where you are when you are looking at the coordinate display on the controller It is probably a good idea to define the zero as a location slightly above the surface of your preparation and or specimen dish This way you will be less likely to smash pipettes into your work To set the absolute zero do the following from the movement screen lt ESC gt to main menu and press lt PRGM gt lt TAB gt 2X to SETUP and press lt ENTR gt lt ENTR gt to access AXES menu lt ENTR gt to access New Origin lt ENTR gt 2X more to complete the reset lt ESC gt 3X back to main menu and press lt MOVE gt en You should be back in the movement screen and the coordinates on the display should read 0 00mm 6 2 Redefining Home If you also wish to set this location as your home location you must redefine it as such 1 Pr
18. ments new 203B headstage mounts directly to the rotating dovetail on the MP 285 Z axis Other headstages require use of the dovetail mounting plate dovetail mounting plate 2 middle D holes EPC 1 1 16 x 2 7 32 2 holes A amp B CV 4 1 1 8 x 1 15 16 4 holes B amp C Figure 2 6 Headstage mounting plate The plastic portion of the plate provides electrical isolation while allowing for a direct mount of Axon Instruments CV 4 headstage or Heka Electronics EPC 7 8 or 9 headstages The user can drill additional holes to allow the plate mount installation of other headstages Headstage mounting instructions can be found in the Reference Manual Whether using the Axon 203B Headstage or another headstage mounted on the dovetail mounting plate the respective male dovetail is inserted into the female dovetail on the MP 285 Z axis Slide the dovetail mounting plate headstage assembly into the rotating dovetail base and secure it by tightening the dovetail clamp set screw with a Phillips head screwdriver MP 285 OPERATION MANUAL ROE BASIC OPERATIONS REV 3 07 20080204 Dovetail set Dovetail mounting Plastic isolation Headstag gt Rotating dovetail Figure 2 7
19. n lt L gt in the lower right corner indicates that you are in Learn mode You cannot leave this mode properly without formally ending your learned series of movements 7 Now move your manipulator to a location where you can most easily exchange your pipette This will most likely but not necessarily involve moving the Z axis to its maximal upward extension and the X axis to its maximal rightward extension for a right side mount manipulator You may also want to move the y axis 8 Press lt gt then press lt ENTR gt to add new vector 9 Press lt gt then lt TAB gt 1X to End program and press lt ENTR gt You may have a dish that requires a circuitous route for entry and exit If this is true you can easily define a multiple step route out ofthe dish by multiple cycles of steps one and two above to make a move and then record it by entering the new vector and then finally using step three to end the program To store your newly entered routine in a location other than program location 1 follow the steps detailed in the section Clear Program Location 1 for recording a new Robotic Series 6 5 Executing the Newly Entered Program Presumably you have just entered the Robotic Series described above It can now be used to move your pipette effortlessly from your working location to a position where you can exchange for a new pipette Note that if you have not just entered the new series in program locati
20. n esse 21 6 6 LOADING A SAVED PROGRAM sunshine ann te need ie 22 7 DIAGONAL 4TH AXIS MOVEMENT ccccccsssssssssssccessscsesssssecscssssesssesssccsessessscesssessscssssnsessscsessesencssssnsesssesesses 23 8 ROE RESPONSE CHARACTERISTICS cccscsssscsscsescsssessssecsesssssssssesscsscesessssesssesessscsessesesescsscsessscsessessncsesensesssesesses 25 8 1 CONTROLLING ROE KNOB TO MANIPULATOR STEPPER MOTOR AXIS ASSIGNMENT 25 8 2 CONTROLLING MOVEMENT AMOUNT PER ROE TURN 25 INDEX ne a D 27 MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 1 GENERAL INFORMATION 1 1 Structure of the MP 285 Documentation Package The MP 285 is a highly versatile stepper motor driven micromanipulator Because of this versatility the documentation necessary to cover various functions has rapidly grown to a size best described as unwieldy and thus has generally not been useful to most operators In order to produce a more useful set of instructions we have split the manual into two parts The first part Basic Operations has been kept short and covers major functions with the aim of quickly guiding the first time user through the setup and use of the MP 285 for micromanipulation with emphasis on using the ROE Rotary Optical Encoder for user control T
21. of 2000mm sec home speed can be changed whenever you enter a new home If you programmed a multiple step withdrawal pattern to move your pipette out through a circuitous route you may want to use a similar pattern to move your pipette into the working area This can be accomplished simply by executing the above robotic movement in reverse 1 From the move screen press lt gt to enter the Robotics menu 2 lt TAB gt 2X to Execute and press lt ENTR gt 3 lt gt 2X to Reverse and press lt ENTR gt to accept The manipulator will position the pipette in the center of your field of view in the reverse order of the steps you used to move it out when you taught the controller this routine above 6 6 Loading a Saved Program If the program you wish to run has been saved but is not currently loaded perform the following steps Press lt gt to enter the Robotics menu lt TAB gt 5X to Select program and press lt ENTR gt lt TAB gt to Load and press lt ENTR gt to accept lt TAB gt to a desired program and press lt ENTR gt lt ESC gt back to the movement screen Seo MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 23 7 DIAGONAL OR 4TH AXIS MOVEMENTS By simultaneous movement of two axes the MP 285 is able to produce movement ina synthetic fourth axis or diagonal This feature allows for axial micropipette movement along an axis at an angle with respect
22. on 1 you must first load the program location that contains the series To do this follow the instructions below under Loading a Saved Program In order to observe the robotic movement you must first bring the pipette back into the working location by the following command from the move screen Press the lt HOME gt button on the The controller screen will display the words Going home and the manipulator will methodically move the pipette back to your field of view If you did not change the pipette while you recorded the robotic series then the pipette tip should come back exactly to the location you defined as Home earlier To use the Robotic series to move the pipette out for exchange follow these steps 1 From the move screen press lt gt to enter the Robotics menu 2 lt TAB gt 2X to Execute and press lt ENTR gt to access the Execute menu gt Do once gt Loop gt Reverse gt Abs Rel Now Absolute Program 1 3 Press lt ENTR gt again to accept Do once The screen will display the words Executing To stop press key amp hold until end of move As the robotic moves were entered at the fastest possible speed 6550mm sec setting the move should appear significantly faster than the move to home above If you wish you can MP 285 OPERATION MANUAL ROE BASIC OPERATIONS REV 3 07 20080204 22 change your move to home to speed of 6550mm sec from default value
23. onnections and then observe the unit s movement by eye Even if you wish to directly install your manipulator in your rig it is useful to follow the initial setup procedure in order to learn how to move the unit and allow easy access to the mounting screws if subjected to unnecessary strain 1 Connect the power cord to the MP 285 controller Make certain that the voltage selector next to the power cord socket on the back of MP 285 controller has been set to the appropriate voltage 110 or 220 SERIAL PORT VOLTAGE LINE POWER CABLE 9 pin SELECTOR FUSE KE LABEL DANGER HIGH FUSE INPUT DEVICE MANIPULATOR CABLE 15 pin CABLE 25 pin Figure 2 4 MP 285 controller rear connections 2 With the power OFF front panel switch in the down position use the D15 cable and connect the ROE to the connection labeled COMMAND INPUT on the back of the MP 285 controller CAUTION Never connect or disconnect the ROE while the power is on 3 With the power OFF use the D25 cable and connect the MP 285 micromanipulator to the DB 25 connector labeled MANIPULATOR on the back of the controller CAUTION Never connect or disconnect the micromanipulator while the power is on CAUTION Important Check to make sure that you have removed all six shipping screws The unit can be severely damaged if you try to move one of the axes with the shipping screws
24. t button on the ROE 5 1 How to Define aNew Home 1 Press lt gt to access the movement screen 2 Move the manipulator to the desired home location 3 Press lt gt The Robotics Menu will appear gt Home gt New Home gt Execute Learn gt Show home gt Select Program 4 Press lt TAB gt to move the cursor indicated by the arrow to New Home Press lt ENTR gt the New Home menu will appear ED Accept new home gt spd 2000 um s TAB to edit gt res 20 um Step 5 Press lt ENTR gt to accept the default speed and resolution You will be back in movement screen 5 2 Moving to the New Home The location you just selected is now the new home 1 Use the ROE knobs to move away from the new home 2 Press lt HOME gt button the ROE 3 The controller will move back to the new home 5 3 Practical Use of the Home Function Many users find the ability to move to a specified location useful for bringing a pipette back into the general area of the microscope s field of view after installing a new pipette Note that the accuracy of repositioning is very dependent on exactness of pipette length and installation into a holder If you use the home function to reposition after pipette exchange you may want to follow these guidelines e Define your home position as a location above the plane of focus of your preparation e Mark your pipette puller in such a way as to make pipettes of
25. t commanded by a given input Axes assignment is covered in the manual under Controller Configuration and is adjusted using the menu command PRGM Setup Axes 8 2 Controlling Movement Amount Per ROE Turn How much and how fast MP 285 manipulator moves in response to a single turn of the ROE knob is controlled by a single parameter for continuous movement and two parameters for pulse movement These parameters are described in detail in the MP 285 Reference Manual under Controller Configuration and are adjusted using the menu command PRGM Continuous for continuous movement and the command PRGM Pulse Mode for pulse movement A subset of these parameters can also be adjusted during movement using the menu command MOVE 1 2 4 or 5 as described in the Movement Screen section of the MP 285 Reference Manual MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 27 INDEX D amount ROE 25 control 25 diagonal or 4th axis movements 224424 23 pulse movement 15 general information 1 generalized robotic movements 111 19 H ROE response characteristics 25 S home functions nesnese eka enh 17 M Setup AAR A EIS ANRO 3 microscopic MmanipulatiON 11 movement 5 at 1 MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204
26. te into position in the field of view of your microscope In doing so you will learn how to switch from one setup to another The same procedure can also be used as the final steps of manipulator setup and installation assuming the MP 285 is mounted on or near your microscope 1 Turn on the manipulator power while still in the main menu press lt 1 gt This selects Setup 1 and allows for rapid positioning of the pipette in your microscopic field of view The upper left hand corner of the display should now read S1 2 Press lt gt to allow movement remember that you cannot make movements unless you see the movement screen displayed 3 Focus the microscope to a height slightly above your preparation 4 Using the X and Y axes move the pipette tip to a position above the middle of your field of view In most cases the first indication that the pipette is in the correct approximate location is an out of focus shadow You may need to work at a lower microscopic power to visualize the tip 5 Once you can see the shadow of the tip above your preparation use the Z axis control top ROE knob to move the pipette down into focus If you focused above your preparation you should not crash the pipette into your dish and or preparation MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 12 If these operations are part of your initial installation your manipulator may not be mounted in a position to allow
27. ting dovetail base MP 285 documentation MP 285 RESET O POWER SUTTER INSTRUMENT CO Figure 2 1 MP 285 Controller front panel gt 1 7 _ A Y X axis motor Figure 2 2 Manipulator Figure 2 3 Rotary Optical Encoder ROE You may have also received one or more accessories for mounting your MP 285 and or modifying the headstage mount to the manipulator i e rotating base microscope stage MP 285 OPERATION MANUAL ROE BASIC OPERATIONS REV 3 07 20080204 mount gantry stand dovetail extension Setup of these accessories is covered either in documentation accompanying the accessory or in the MP 285 Reference Manual Remove all six shipping screws from the MP 285 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 handle the micromanipulator with care The drive cables can be damaged 2 2 Initial Setup and Gross Movement Initially you may want to simply connect your manipulator controller and 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 manipulator in the middle of a bench top make all electrical c
28. to the coordinate system defined by the three axes x y and z ofthe manipulator To make diagonal movements while in the movement screen 1 Press the remote NORM DIAG button on the encoder down and lit diagonal mode 2 The movement screen should now indicate that the controller is in diagonal mode as evidenced by the word Diagonal in the lower middle of the screen 3 Diagonal movement is accomplished by turning the Z axis knob on the ROE The controller is factory programmed to produce fourth axis movement in the X Z plane at a 45 degree angle Establishment of fourth axis movement at other angles or in other planes is covered in detail in the MP 285 Reference Manual MP 285 OPERATION MANUAL BASIC OPERATIONS REV 3 07 20080204 25 8 RESPONSE CHARACTERISTICS The response characteristics of the ROE are fully adjustable For purposes of simplicity this manual indicates limited adjustment to the values preprogrammed in factory installed Setups It is possible to further tailor ROE response to your usage The following list outlines the part of the controller menu and the corresponding part of the MP 285 Reference Manual which deals with each adjustment 8 1 Controlling ROE Knob to Manipulator Stepper Motor Axis Assignment The MP 285 software allows full control over which ROE knob is connected to each of the three physical axes of the manipulator Furthermore one can control the direction of movemen
29. you to center the pipette tip in the microscope field of view If this is true you will have to stop and adjust the mounting location of the manipulator and or the angle of approach of the pipette and or the mounting of the headstage in the rotary dovetail After repositioning you will be able to bring the pipette to the correct working location See the MP 285 Reference Manual for additional information on pipette positioning and Sutter accessories to aid in pipette access to different microscopes NOTE Once you can see the pipette in your field of view you are ready for micromanipulation 1 Press lt ESC gt to get to the main menu 2 Press lt 4 gt to select Setup 4 the upper left hand corner of the display should now read S gt 4 3 Press lt MOVE gt to return to the movement screen 4 Rotate the knobs on and observe the precise control you have over the movement of the pipette If you wish to have even better control press the lt COARSE FINE gt button on see below Four factory installed Setups are selected from the main menu by pressing the corresponding number 1 through 4 from the MP 285 keypad Assuming you are in the movement screen and you want to change the current Setup the key sequence is as follows 1 From the movement screen press lt ESC gt to access the main menu 2 Press the number key lt 1 gt through lt 4 gt corresponding to the Setup you wish to use The actual values for number o
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