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TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

APPENDIX B.

ACCESSORIES

W621 150

Ground cable

285204

4-inch dovetail extension

285210

Mounting adapter plate

225RBI

Rotating base

221165

Z-axis vertical extension

BR-AW

Rod holding clamp for XenoWorks® injectors (for rod OD 2-4mm)

MP-ROD

Rod holder (for rod OD 6.25 mm or larger

MP-RISER-0.5

½-inch riser

MP-RISER-1.0

1-inch riser

MT-78-FS

Large fixed-stage platform

MT-78-FS/M6

Large fixed-stage platform with M6 tapped holes

MT-75

Standard gantry-stand 8.7 to 13.4 in (22.1 (22.098) to 33.9 (34.036) cm)

MT-75S

Short gantry-stand 6.7 to 9.6 in (16.9 (17.018) to 24.4 (24.384) cm)

MT-75T

Tall gantry-stand 10.7 to 15.4 in (27.2 (27.178) to 39.1 (39.116) cm)

MT-75XT

Extra tall gantry-stand 14.7 to 18.5 in (37.3 (37.338) to 47 (46.99) cm)

Risers can be combined to achieve desired height

Summary of Contents for TRIO MPC-165 Series

Page 1: ...oice 415 883 0128 Web www sutter com Fax 415 883 0572 Email info sutter com TRIO MPC 165 Series Dual 3 Axis Motorized Narrow Format Micromanipulator System With Synthetic Fourth Diagonal Axis Operation Manual Rev 2 67k2 20201130 FW v2 62 ...

Page 2: ...100 ROE controller and two TRIO MP 865M micromanipulators one right handed and the other left handed The Sutter Instrument dPatch Headstages shown mounted on the micromanipulators are not included in the TRIO MPC 165 Series system Copyright 2020 Sutter Instrument Company All Rights Reserved TRIO is a trademark of Sutter Instrument Company ...

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Page 5: ... has low electrical noise and mechanical vibration Surge suppression is always recommended NOTE There are no user replaceable fuses in the TRIO MPC 100 system The TRIO MPC 100 system s power supply consists of an external AC to DC switching power adapter If the external power adapter is damaged due to a mains over or under voltage it must be replaced GROUNDING EARTHING Proper grounding protects th...

Page 6: ...y result in damage to the motors Never touch any part of the micromanipulator electromechanical device while it is in operation and moving Doing so can result in physical injury e g fingers can be caught and pinched between the moving parts of the micromanipulator If the TRIO MPC 100 system is used in a microinjection environment please observe the following As with most micromanipulation devices ...

Page 7: ...adstage Mounting 15 2 4 Instructions Used in Special Installations Only 16 2 4 1 Instructions for Changing Handedness 16 2 5 Other Accessories 16 2 6 Electrical Connections and Initial Operating Instructions 16 2 7 ROE Controller Rear Panel Controls and Configuration 17 2 7 1 Power Switch 17 2 7 2 Configuration Switches 18 2 7 2 1 Switches 1 2 3 and 4 18 2 7 2 2 Switch 5 Y Axis Lockout during Homi...

Page 8: ...ice Firmware Version K Command 30 4 9 2 Change Active Device I Command 30 4 9 3 Get Current Position and Angle c or C Command 31 4 9 4 Move to Controller Defined HOME Position h Command 32 4 9 5 Move to Controller Defined WORK Position w Command 32 4 9 6 Move to Specified Home Position H Command 32 4 9 7 Move to Specified Work Position W Command 32 4 9 8 Move in Straight Line to Specified Position...

Page 9: ... B factory default startup Home position after calibration 22 Figure 3 5 Maximum positive values 22 Figure 3 6 Moving to Home position screen is amber while moving 23 Figure 3 7 Factory default Home position 23 Figure 3 8 Example Home position defined and saved 23 Figure 3 9 Example Work position 24 Figure 3 10 Relative mode 24 Figure 3 11 Relative mode 24 Figure 3 12 Absolute mode 24 Figure 3 13 ...

Page 10: ... Move S Command Speeds for MP 285 M based configuration 34 Table 4 15 Interrupt a straight line move in progress C command 35 Table 4 16 Move to specified X axis position x or X command 35 Table 4 17 Move to specified Y axis position y or Y command 36 Table 4 18 Move to specified Z axis position z command 36 Table 4 19 Set the angle A command 36 Table 4 20 Recalibrate R command 37 Table 4 21 Strai...

Page 11: ...controller Chapter 4 External Control describes how to control the system by computer Chapter 5 Maintenance describes how to perform routine and other maintenance and Chapter 6 Reconfiguration describes the reconfiguration possibilities of the TRIO MPC 100 ROE controller 1 2 Components of the TRIO MPC 165 System Carefully remove all components from the shipping container In addition to this manual...

Page 12: ...re 1 1 The TRIO MPC 165 system Figure 1 2 The TRIO MPC 165 2 system TRIO MPC 100 ROE CONTROLLER MP 865 M ELECTROMECHANICAL MICROMANIPULATOR E G A RIGHT HANDED MP 865 M ELECTROMECHANICAL MICROMANIPULATOR E G B LEFT HANDED TRIO MPC 100 ROE CONTROLLER MP 865 M ELECTROMECHANICAL MICRO MANIPULATOR E G A RIGHT HANDED ...

Page 13: ... 50 mm travel in X 12 5 mm in Y and 25 mm in Z Carries up to a kilogram Suited for in vitro and in vivo electrophysiological recording Universal mounting system for headstage or pipette holder Optional MT 73 narrow stand with linear slide and built in rotating base 1 4 3 Description Based on the original Sutter Instrument TRIO motorized 3 axis micromanipulator the TRIO MPC 100 expands the TRIO s c...

Page 14: ...set so that X Z coaxial diagonal movement is made at the correct angle All the electronics except for a small power supply are housed within the TRIO MPC 100 ROE and no separate controller or computer is required External computer control of the TRIO MPC 100 is possible via the USB connector mounted on the controller ROE s rear panel The controller s internal software is programmed with a defined ...

Page 15: ...e has been removed handle the MP 865 M with care The mechanisms can be damaged if any of the axes are inadvertently moved without the tape in place 2 1 Mounting Instructions This chapter describes how to mount the MP 865 M to a stand normally the top plate of an MT 73 how to change pipettes and adjust pipette angle and finally the modular nature of the mechanical Figure 2 1 Angled view of the MP 8...

Page 16: ...n take the manipulator off and fix the adapter plate securely to the stand with the 20 or 10 32 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 2 2 Setting Headstage Pipette Angle and Pipette Exchange Mounted on the front of the Z axis ...

Page 17: ...ve an integral dovetail that slides directly into the rotary dovetail on the MP 865 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 2 4 Headstage mounting Older Axon and Heka headstages mount using the 4 inc...

Page 18: ...edness for you We will charge for shipping only 2 5 Other Accessories One or more accessories may have been ordered and received for mounting the MP 865 M and or modifying the headstage mount to the manipulator i e rotating base microscope stage mount gantry dovetail extension etc Setup of these accessories is normally covered in documentation accompanying the accessory 2 6 Electrical Connections ...

Page 19: ...ee cautionary note below 4 Verify that the ten switches associated with the appropriate MANIPULATOR A or B on the rear of the ROE are set as desired 5 Power up the system by moving the power switch on the rear of the ROE to the 1 position CAUTION NEVER CONNECT OR DISCONNECT THE ROE CONTROLLER FROM EITHER ELECTROMECHANICAL MANIPULATOR STAGE WHILE THE POWER IS ON 2 7 ROE Controller Rear Panel Contro...

Page 20: ...irectionality for Forward Movement Clockwise OFF UP Counterclockwise ON DOWN 2 Y Axis Knob Directionality for Forward Movement Clockwise OFF UP Counterclockwise ON DOWN 3 Z Axis Knob Directionality for Forward Movement Clockwise OFF UP Counterclockwise ON DOWN 4 D Axis Knob Directionality for Forward Movement Clockwise OFF UP Counterclockwise ON DOWN Factory default typical setting for right hand ...

Page 21: ...h Definition Setting Position 7 Reserved OFF UP 8 Reserved OFF UP Factory default recommended normal operation setting 2 7 2 5 Switch 9 Electromechanical Device Compatibility Table 2 5 Configuration Switch 9 Electromechanical device compatibility Switch Definition State Setting Position 9 Electromechanical device compatibility MP 865 M MP 845 S M MP 245 M micromanipulators OFF UP MP 285 M microman...

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Page 23: ...TRIO MPC 100 system for the first time or if the HOME position has not yet been defined saved the values of all four axes will be 1 000 micrometers microns Figure 3 2 Startup screen Figure 3 3 Device A factory default startup Home position after calibration SUTTER INSTRUMENT CORP Text in Green TRIO MPC 100 REV 2 62 Text in Green Text in Green X 1000 Y 1000 Z 1000 Speed 0 DISPLAY Y AXIS CONTROL Z A...

Page 24: ...ble lists the maximum position value in microns for each axis with an MP 865 M connected Table 3 1 Maximum positive position value of each axis Axis Maximum Position Value in microns X 50 000 Y 12 500 Z 25 000 Figure 3 5 Maximum positive values 3 3 3 Setting Position for HOME or WORK To set position hold down HOME or WORK button for 3 seconds until beep sounds 3 3 4 Setting the Angle of the Pipett...

Page 25: ...on has not yet been defined and saved the Home position values for all axes will default to 1 000 microns as shown in the following figure Figure 3 7 Factory default Home position If the Home position has been previously defined saved pressing HOME will make a move to the defined home position see example in the following figure Figure 3 8 Example Home position defined and saved To move to the Hom...

Page 26: ...ELATIVE button toggles between Relative and Absolute coordinate systems The default coordinate system on power up is Absolute with the coordinates on the screen shown in green To switch to relative coordinates press the RELATIVE button once To reset the current position to all zeroes depress the RELATIVE button for 3 seconds or until a beep is heard and then release the button This resets the curr...

Page 27: ...knobs are disabled during movements to Home Work or while in Lock Mode display is in red 3 3 12 Pausing Home Movements HOME while moving to Home After Move to Home has been initiated and while the move is in progress pressing HOME a second time pauses the manipulator Pressing HOME again resumes movement 3 3 13 Pausing Work Movements WORK while moving to Work After Move to Work has been initiated a...

Page 28: ...screw in the center of the rotary dovetail clamp Slide the headstage upward out of the dovetail groove Make any adjustments needed of the headstage and then tighten down but do not over tighten the lock screw in the center of the holding bracket Normal position Partially swung Fully swung Rotary dovetail angle lock set screw Rotary dovetail clamp screw Rotary micropipette headstage exchange swing ...

Page 29: ... controller over USB can be conducted 1 USB Direct D2XX mode or 2 Serial RS 232 asynchronous via the VCP device driver VCP mode The first method requires that the VCP device driver not be installed or if installed that it be disabled The second method requires that the VCP be installed and enabled 4 2 Virtual COM Port VCP Serial Port Settings The following table lists the required RS 232 serial se...

Page 30: ...n microsteps and microns micrometers is the responsibility of the software running on the host computer see Microns microsteps conversion table for conversion factors Microsteps are stored as positive 32 bit values unsigned long for C C uint32 for MATLAB U32 for LabVIEW etc Unsigned means the value is always positive negative values are not allowed The positive only values can also be stored in si...

Page 31: ...TLAB or U32 LabVIEW integer positive only value When converting to microns type the result as a double C C MATLAB or DBL LabVIEW 64 bit double precision floating point value 4 7 Travel Ranges and Bounds The following table shows the travel ranges and bounds for supported devices Table 4 3 Ranges and bounds Device Axis Len mm Origin Microns Micrometers µm Microsteps µsteps MP 865 M micromanipulator...

Page 32: ...mber minor version number and the completion indicator Table 4 5 Get Active Device Firmware Version K command Tx Delay Rx Ver Total Bytes Byte Offset Len Value Alt key pad Ctrl char ASCII def char Description Dec Hex Binary Tx All 1 0 75 4B 0100 1011 0075 K Command Rx All 4 0 1 2 01 02 0000 0001 0000 0010 A B SOH STX Currently active device 1 2 A B 1 Major version number e g if ver 2 62 then byte ...

Page 33: ...used to obtain the current position X Y Z coordinates of the manipulator or stage and the current angle setting The command sequence consists of one byte as shown in the following table The data received consists of fourteen bytes containing X Y Z position 32 bit values in microsteps 4 bytes each the angle in degrees 1 byte and the completion indicator 1 byte Table 4 7 Get Current Position and Ang...

Page 34: ...er Total Bytes Byte Offset Len Value Alt key pad Ctrl char ASCII def char Description Dec Hex Binary Tx 1 0 119 77 0111 0111 0119 w Command Rx 1 0 13 0D 0000 1101 CR Completion indicator 4 9 6 Move to Specified Home Position H Command This command instructs the controller to move all 3 axes to specified position moving X Z angle determines order simultaneity and Y last see Ranges table Table 4 10 ...

Page 35: ... The command sequence consists of fourteen bytes Table 4 12 Straight line move to specified position S command Tx Delay Rx Ver Total Bytes Byte Offset Len Value Alt key pad Ctrl char ASCII def char Description Dec Hex Binary Tx All 14 0 83 53 0101 0011 0083 S Command 1 1 15 0 0F 00 0000 1111 0000 0000 0015 0000 O Speed 15 0 fastest through slowest 2 4 X µsteps 6 4 Y µsteps 10 4 Z µsteps Rx All 1 0...

Page 36: ... 1 5000 1500 0 1500000 0 059055118 50 00 6 1 3125 1312 5 1312500 0 051673228 43 75 5 1 1250 1125 0 1125000 0 044291339 37 50 4 0 9375 937 5 937500 0 036909449 31 25 3 0 7500 750 0 750000 0 029527559 25 00 2 0 5625 562 5 562500 0 022145669 18 75 1 0 3750 375 0 375000 0 014763780 12 50 0 0 1875 187 5 187500 0 007381890 6 25 Table 4 14 Straight Line Move S Command Speeds for MP 285 M based configurat...

Page 37: ...ts of one byte Table 4 15 Interrupt a straight line move in progress C command Tx Delay Rx Ver Total Bytes Byte Offset Len Value Alt key pad Ctrl char ASCII def char Description Dec Hex Binary Tx All 1 0 3 03 0000 0011 0003 C ETX Command Rx 1 0 13 0D 0000 1101 CR Completion indicator 4 9 10 Move to Specified X Axis Position x or X Command This command moves to a specified position for only the X a...

Page 38: ...es Byte Offset Len Value Alt key pad Ctrl char ASCII def char Description Dec Hex Binary Tx All 5 0 122 or 92 7A or 5C 0111 1010 or 0101 1100 0122 or 0092 z or Z Command 1 4 Z µsteps Rx 1 0 13 0D 0000 1101 CR Completion indicator NOTE All positions are in microsteps µsteps 32 bit 4 bytes positive unsigned integer values in Little Endian bit order see Notes 4 9 13 Setting the Angle A Command Sets t...

Page 39: ...ontroller are in microsteps µsteps See Microns microsteps conversion table for conversion between µsteps and microns micrometers µm Declaring position variables in C C current position for X Y Z unsigned long cp_x_us cp_y_us cp_z_us microsteps double cp_x_um cp_y_um cp_z_um microns specified move to position for X Y Z unsigned long sp_x_us sp_y_us sp_z_us microsteps double sp_x_um sp_y_um sp_z_um ...

Page 40: ...of travel EOT are positive values there are no lower positions and therefore no negative values are allowed 7 Absolute vs Relative Positioning Current position c and move commands always use absolute positions All positions can be considered relative to the Origin Position 0 but all are in fact absolute positions Any position that is considered to be relative to the current position whatever that ...

Page 41: ...t byte ordered in Little Endian format This means that the least significant bit byte is last last to send and last to receive Byte order reversal may be required on some platforms Microsoft Windows Intel based Apple Macintosh systems running Mac OS X and most Intel AMD processor based Linux distributions handle byte storage in Little Endian byte order so byte reordering is not necessary before co...

Page 42: ...11 2 2500 2250 0 2250000 0 088582677 75 00 10 2 0625 2062 5 2062500 0 081200787 68 75 9 1 8750 1875 0 1875000 0 073818898 62 50 8 1 6875 1687 5 1687500 0 066437008 56 25 7 1 5000 1500 0 1500000 0 059055118 50 00 6 1 3125 1312 5 1312500 0 051673228 43 75 5 1 1250 1125 0 1125000 0 044291339 37 50 4 0 9375 937 5 937500 0 036909449 31 25 3 0 7500 750 0 750000 0 029527559 25 00 2 0 5625 562 50 562500 0...

Page 43: ...by the K command is encoded in two bytes with major version byte first followed by minor version byte For example if the complete version is 2 62 then the bytes at offsets 1 and 2 will show in hexadecimal as 0x02 0x3E ret 1 and ret 2 as shown in the following code snippets The following code shows how to extract and convert the version into usable forms for later comparison without altering the or...

Page 44: ...Changing the Rotary Knob Functions on the ROE Controller The axis motor assignment of each axis control knob on the ROE can be changed by opening the ROE Controller cabinet as seen in the figure below and changing cables to appropriate connectors Figure 6 1 Locations of the axis connectors inside the ROE Controller ...

Page 45: ... Abuse misuse or unauthorized repairs will void this warranty Warranty work will be performed only at the factory The cost of shipment both ways is paid for by Sutter Instrument during the first three months this warranty is in effect after which the cost is the responsibility of the customer The limited warranty is as stated above and no implied or inferred liability for direct or consequential d...

Page 46: ...D Rod holder for rod OD 6 25 mm or larger MP RISER 0 5 inch riser MP RISER 1 0 1 inch riser1 MT 78 FS Large fixed stage platform MT 78 FS M6 Large fixed stage platform with M6 tapped holes MT 75 Standard gantry stand 8 7 to 13 4 in 22 1 22 098 to 33 9 34 036 cm MT 75S Short gantry stand 6 7 to 9 6 in 16 9 17 018 to 24 4 24 384 cm MT 75T Tall gantry stand 10 7 to 15 4 in 27 2 27 178 to 39 1 39 116 ...

Page 47: ...y has single micron resolution Speed 3 mm sec Long Term Stability 1 micron hour drive mechanism Electrical Power Adapter Meanwell GS60A24 P1J Input mains 100 240 VAC 50 60 Hz 1 4A Output to controller 24V DC 2 5A 60W Max see following table for cable specs System Power consumption 60 Watts maximum Mains fuses None replaceable power protection built into the Power Adapter Cables Refer to the follow...

Page 48: ... Straight through MP 865 M MP 845 S M MP 245 M MP 285 M or MP 265 M Minimum of 26 awg stranded wire with 500 Volt 3 meters approx 10 feet Power Adapter fixed ID 2 1 x OD 5 5 mm Barrel Plug male ROE Controller Cabinet POWER receptacle center pin positive UL1185 18AWG 1 8 meters approx 6 feet ROE Controller Cabinet GROUND 1 pin Banana style female receptacle Banana male Alligator clip hooded a groun...

Page 49: ...B manipulator HOME Move to defined home position Press again to pause resume WORK Move to defined work position Press again to pause resume PULSE ANGLE SET Advances diagonal axis in 2 85 µm steps Hold 3 sec for angle set mode active for 10 sec use Knob D to change angle 0 90 degrees RELATIVE Toggles between Relative and Absolute position moves Hold 3 sec for setting relative mode origin to current...

Page 50: ... a command it sends ASCII CR back to the host computer indicating that it is ready to receive a new command If a command returns data the last byte returned is the task completed indicator Command Sequence Formatting Each command sequence consists of at least one byte the first of which is the command byte Those commands that have parameters or arguments require a sequence of bytes that follow the...

Page 51: ...or discontinued For accuracy in your application type these conversion factors as double avoid using the float type as it lacks precision with large values When converting to microsteps type the result as a 32 bit unsigned long C C uint32 MATLAB or U32 LabVIEW integer positive only value When converting to microns type the result as a double C C MATLAB or DBL LabVIEW 64 bit double precision floati...

Page 52: ...SOH STX Manipulator value specified 1 13 0D 0000 1101 M CR Completion indicator Get Current Position and Angle c or C Tx All 1 0 99 or 67 63 or 43 0110 0011 or 0100 0011 0099 or 0043 c or C Command Returns the current positions µsteps of X Y Z axes and angle setting degrees Rx All 14 Current absolute positions of the X Y Z axes in microsteps each consisting of 4 contiguous bytes representing a sin...

Page 53: ...X µsteps 5 4 Y µsteps 9 4 Z µsteps Rx All 1 0 13 0D 0000 1101 M CR Completion indicator Move in Straight Line to Specified Position at Specified Speed S Tx All 14 0 83 53 0101 0011 0083 S Command Move all three axes simultaneously in a straight line to specified position see Ranges table 1 1 15 0 0F 00 0000 1111 0000 0000 0015 0000 O Speed 15 0 fastest through slowest Target absolute positions of ...

Page 54: ...2 6 3 0 0 00 0000 0000 NUL Device 1 Not moving 1 01 0000 0001 A SOH Device 1 Movement in progress 1 0 00 0000 0000 NUL Device 2 Not moving 1 01 0000 0001 A SOH Device 2 Movement in progress 2 13 0D 0000 1101 CR Completion indicator NOTES 1 Task Complete Indicator All commands will send back to the computer the Task Complete Indicator to signal the command and its associated function in controller ...

Page 55: ... of the remaining axes For each axis calculate new absolute position in microns and then convert to microsteps before issuing a move command convert X relative position to absolute position sp_x_um cp_x_um rp_x_um add relative pos to current pos convert new absolute X position in microns to microsteps sp_x_us sp_x_um um2usCF Repeat for each of the remaining axes as required before issuing a move c...

Page 56: ...6122047 43 75 5 1 8750 1875 0 1875000 0 073818898 37 50 Speed Setting mm sec or µm ms µm sec or nm ms nm sec in sec or mil ms of Max 4 1 5625 1562 5 1562500 0 061515748 31 25 3 1 2500 1250 0 1250000 0 049212598 25 00 2 0 9375 0937 5 937500 0 036909449 18 75 1 0 6250 0625 0 625000 0 024606299 12 50 0 0 3125 312 50 312500 0 012303150 6 25 12 Move Interruption and Concurrent Dual Manipulator Movement...

Page 57: ...d Y axis position command 38 Move to specified Z axis position command 38 movement speeds 43 58 position value bit ordering 42 57 position value typing 42 57 positions in microsteps and microns 40 56 protocol and handshaking 29 52 ranges and bounds 40 57 Recalibrate R command 39 Setting the angle A command 39 task complete indicator 40 56 travel lengths and durations 42 57 Virtual COM Port VCP ser...

Page 58: ...adstage exchange 28 maximum positive position values 24 micropipette exchange 28 mode indications 27 movement knobs disabling and LOCK Mode 27 moving to the Home Position 25 moving to the Work Position 26 pausing Home movements 27 pausing Work movements 27 Pulse Mode and diagonal movement 28 ROE axis knob movement speed control 27 setting Absolute Relative coordinates mode 26 setting position for ...

Page 59: ...TRIO MPC 165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL REV 2 67K2 20201130 FW V2 62 57 travel 49 weight 50 V voltage input 49 mains 49 W warranty 47 WORK button while moving to Work 27 NOTES ...

Page 60: ...TRIO MPC 165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL REV 2 67K2 20201130 FW V2 62 58 NOTES ...

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