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Sutter Instrument TRIO MPC-145 Series Operation Manual

Dual 3-axis motorized micromanipulator system with synthetic fourth diagonal axis
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TRIO
MPC-145
™
Series
Dual 3-Axis Motorized
Micromanipulator System
With Synthetic Fourth Diagonal Axis
Operation Manual
Rev. 2.62c (20191001) (FW v2.62)
One Digital Drive
Novato, CA 94949
Voice: 415-883-0128 Web: www.sutter.com
Fax:
415-883-0572 Email: info@sutter.com

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Summary of Contents for Sutter Instrument TRIO MPC-145 Series

  • Page 1 TRIO MPC-145 ™ Series Dual 3-Axis Motorized Micromanipulator System With Synthetic Fourth Diagonal Axis Operation Manual Rev. 2.62c (20191001) (FW v2.62) One Digital Drive Novato, CA 94949 Voice: 415-883-0128 Web: www.sutter.com Fax: 415-883-0572 Email: info@sutter.com...
  • Page 2 (The picture on the cover page shows a TRIO MPC-100 ROE/controller and two TRIO MP-845M micromanipulators (one right-handed and the other left-handed). The Sutter Instrument dPatch Headstage shown mounted on each micromanipulator are not included in the TRIO MPC-145 Series system.) Copyright © 2019 Sutter Instrument Company. All Rights Reserved.

  • Page 5: Disclaimer

    Do not allow an unauthorized and/or untrained operative to use this device. Any misuse will be the sole responsibility of the user/owner and Sutter Instrument Company assumes no implied or inferred liability for direct or consequential damages from this instrument if it is operated or used in any way other than for which it is designed.

  • Page 6: Operational

    The micropipettes used with this instrument are very sharp and relatively fragile. Avoid contact with micropipette tips to prevent accidentally impaling oneself.  Always dispose of micropipettes by placing them into a well-marked, spill-proof “sharps” container. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 7: Table Of Contents

    3.3.1 Manipulator Select ........................22 3.3.2 Maximum Positive Position Values: ..................22 3.3.3 Setting Position for HOME or WORK ................... 22 3.3.4 Setting the Angle of the Pipette/Headstage Holder ............. 22 TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 8 APPENDIX C. TECHNICAL SPECIFICATIONS ................43 APPENDIX D. QUICK REFERENCE ....................45 D.1. Manual Operation ......................... 45 D.2. Configuration..........................45 D.3. External Control ........................... 46 INDEX ..............................53 TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 9 Table 2-5. Configuration Switch 9: Electromechanical device compatibility........19 Table 2-6. Configuration Switch 10: Linear/nonlinear manual movement........20 Table 3-1. Maximum positive position value of each axis ..............22 TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 10 Table D-3. Microns/microsteps conversion.................... 47 Table D-4. Ranges and bounds........................ 47 Table D-5. TRIO MPC-100 external control commands ..............48 Table D-6. Straight-Line Move ‘S’ Command Speeds................51 TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 11: Introduction

    (aluminum) or MP-845S/M (stainless steel) stepper-motor-based electromechanical micromanipulators. This manual consists of five parts: This chapter, Introduction, which provides an overview and general description of the TRIO MPC-145 series system; Chapter 2, Installation, which describes how to install, set up, and configure all components of the system;...

  • Page 12: Overview

    Figure 1-1. The TRIO MPC-145 system TRIO MPC-100 MP-845 SERIES ELECTROMECHANICAL MP-845 SERIES ELECTROMECHANICAL ROE/CONTROLLER MICROMANIPULATOR (E.G., B, LEFT- MICROMANIPULATOR (E.G., A, RIGHT- HANDED) HANDED) Figure 1-2. The TRIO MPC-145-2 system TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 13: Features: Trio Mpc-100 Controller

    ROE dials for each axis determines the speed of travel. The finest step size is less than 100nm. Five conveniently located buttons on the ROE provide control of all the basic TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 14 Based on a lead-screw design with a smaller overall size and footprint than most manipulators, the MP-845 is ideal for applications that require 2 pipettes in one setup or for setups where space is limited. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 15: Stainless-Steel Mp-845 (Mp-845S)

    This coating will ensure that the stainless trio will resist corrosion caused by exposure to salt solutions in a lab environment. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 16 (This page intentionally left blank.) TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 17: Installation

    TRIO MPC-100/E ROE/Controller. IMPORTANT Once the TRIO MPC-145 series system has been unpacked, remove the shipping tape from the various locations on each MP-845 series electromechanical micromanipulator. The shipping tape must be removed before operating the TRIO MPC-100 system. If you need to transport the MP-845 series in the future, reapply 2 to 3-inch pieces of masking tape to the same locations.

  • Page 18: Headstage Mounting

    Before attaching the adapter plate to the MP-845, you need to decide where to position the manipulator on your stand/platform. The stand can be any flat surface carrying ¼-20, 10-32, or M6 holes on one-inch centers (such as a Sutter Instrument MT-series stand or MD series platform).

  • Page 19: Electrical Connections And Initial Operating Instructions

    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! TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 20: Roe/Controller Rear Panel Controls And Configuration

    Z-Axis Knob Directionality for Forward (+) Movement Counterclockwise DOWN Clockwise OFF* D-Axis Knob Directionality for Forward (+) Movement Counterclockwise DOWN * Factory default (typical setting for right-hand-mounted manipulator). TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 21: Switch 5: Y-Axis Lockout During Homing

    Setting Position MP-845[S]/M, MP-245/M micromanipulators OFF* Electromechanical device compatibility MP-285/M micromanipulator; 3DMS & MT-78 DOWN stages; MOM & SOM objective movers * Factory default (recommended normal operation setting). TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 22: Switch 10 Linear/Nonlinear Manual Movement

    Contact Sutter Instrument technical support for more information. Table 2-6. Configuration Switch 10: Linear/nonlinear manual movement. Switch # Definition Setting Position Linear/nonlinear manual movement OFF* * Factory default (recommended normal operation setting). TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 23: Operations

    Green) Figure 3-2. Startup screen X= 1000 Y= 1000 (Text in Z= 1000 Speed 0 Green) Figure 3-3. Device A factory default startup (Home) position after calibration TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 24: Control Operations

    Measure the angle of the holder. (Tip: Many smart phones have an app with a level that can assist the user.) TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 25: Operating The Virtual D Axis

    2. Movement then continues along the Y axis toward the Home position (towards the operator and away from the microscope). NOTE: Step 2 occurs only if “Y-Lockout” is disabled. Otherwise, no movement along the Y- axis occurs. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 26: Moving To The Work Position

    Pressing RELATIVE briefly while in Relative mode, returns displayed coordinates back to Absolute mode X=- 893 Y= 1524 Z= 1686 Speed 0 (Text in Green) Figure 3-12. Absolute mode TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 27: Mode Indications

    3.4 Micropipette/Headstage Exchange Mounted on the front of the Z-axis of the manipulator is the angle-control plate for the headstage mount. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 28: Figure 3-13. Angled Side View Of Mp-845 To Change Headstage Mount

    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. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 29: External Control

    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 TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 30: Axis Position Command Parameters

    4.5 Microsteps and Microns (Micrometers) All coordinates sent to and received from the controller are in microsteps. To convert between microsteps and microns (micrometers), use the following conversion factors (multipliers): TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 31: Commands

    (1 (MANIPULATOR A) or 2 (MANIPULATOR B), followed by the major version number, minor version number, and the completion indicator. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 32: Change Active Device ('I') Command

    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). TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 33: Move To Controller-Defined Home Position ('H') Command

    4.6.6 Move to Specified “Home” Position (‘H’) Command This command instructs the controller to move all 3 axes to specified position, moving X & Z Ranges (angle determines order/simultaneity), and Y last (see table). TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 34: Move To Specified "Work" Position ('W') Command

    1 (1) 15 0000 1111 0015 Speed (15 – 0 (fastest through slowest)) 0000 0000 0000 2 (4) X µsteps 6 (4) Y µsteps 10(4) Z µsteps TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 35: Interrupt Straight-Line Move ('^C') Command

    Ctrl- ASCII Description Delay/- Bytes Offset pad # char def./- Dec. Hex. Binary (Len.) char. 03 0000 0011 0003 <ETX> Command 0D 0000 1101 <CR> Completion indicator TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 36: Move To Specified X-Axis Position ('X' Or 'X') Command

    Z µsteps 0000 1101 <CR> Completion indicator NOTE: All positions are in microsteps (µsteps): 32-bit (4 bytes) positive (unsigned) values, in Little Endian bit order (see Notes). TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 37: Setting The Angle ('A') Command

    (>= 0 and <= max.) to ensure that a negative absolute position is never sent to the controller and that end of travel is not exceeded. All computational relative positioning must always resolve to accurate absolute positions. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 38 Movement Speeds: All move commands cause movement to occur at a rate of 5,000 microns/second, except for the “Straight-Line Move ‘S’ command which can be specified TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 39: Table 4-19. Straight-Line Move 'S' Command Speeds

    X axis fails to move, causing single- and multi-axis movement commands to fail. The ideal range for smooth movement is 10° to 80°. Factory default is 30°. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 40 (This page intentionally left blank.) TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 41: Maintenance

    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 TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 42 (This page intentionally left blank.) TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 43: Appendix A. Limited 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.
  • Page 44 (This page intentionally left blank.) TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 45: Appendix C. Technical Specifications

    System Power consumption 60-Watts maximum Mains fuses None replaceable (power protection built into the Power Adapter) Cables (Refer to the following tables for a description of all possible cables.) TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 46: Table C-1. Trio Mpc-100 Cables And Receptacles/Connectors

    6.25 x 8 x 5.9 in | 15.9 x 20.3 x 14.986 cm Weight: MPC-100 ROE/controller 2.3 lbs. | 1.04 kg MP-845 micromanipulator 3.5 lbs. | 1.6 kg MP-845S micromanipulator 7.7 lbs. | 3.5 kg TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 47: Appendix D. Quick Reference

    *** Switch 9 OFF (up) for MP-845[S]M & MP-245/M; ON (down) for MP- 285/M & related devices (3DMS, MT-78, MOM/SOM objective movers). **** Contact Sutter Instrument tech. support for more information. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 48: External Control

    (LSB) in the last byte). If controller completes the task associated with a the platform on which your application is running is command, it sends ASCII CR back to the host TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 49: Table D-3. Microns/Microsteps Conversion

    ; 3DMS or MT-78 X, Y, BOT 0 – 25,000 0 – 200,000 stage; MOM or SOM objective mover * DB25 to DB26HD adapter required for MP-245/M. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 50: Table D-5. Trio Mpc-100 External Control Commands

    Command. Moves to the position WORK saved by the controller’s WORK Position (‘w’) button. Y moves first, and X & Z last (angle determines order/- simultaneity). 0000 1101 <CR> Completion indicator TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 51 Command. Move Y axis to specified Ranges specified Y position (see table). 0101 1011 0091 ‘Y’ axis Position 1 (4) Y µsteps (‘y’ or ‘Y’) 0000 1101 <CR> Completion indicator TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 52 All simplifying coding and adding positioning accuracy to the computational relative positioning must always resolve to application. accurate absolute positions. TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 53: Table D-6. Straight-Line Move 'S' Command Speeds

    (5000 / 16) * (sp +1), where 5,000 is the maximum speed in microns/second and “sp” is the speed level 0 (slowest) through 15 (fastest). For mm/second or microns/millisecond, multiply result by 0.001. NOTES: TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 54 NOTES: TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

  • Page 55: Index

    ........38, 54 HOME button (while moving to Home) ..... 27 Recalibrate (‘R’) command ......38 Setting the angle (‘A’) command..... 37 task-complete indicator ......38, 54 input TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 56 ......... 28 voltage mode indications ........... 27 input ..............47 mains ..............47 movement knobs disabling and LOCK Mode ..............27 moving to the Home Position ...... 25 TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 57 WORK button (while moving to Work) ....27 warranty ..............45 NOTES TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
  • Page 58 NOTES TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)

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