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Sutter Instrument TRIO MPC-165 Series Operation Manual

Dual 3-axis motorized narrow-format micromanipulator system with synthetic fourth diagonal axis
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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)
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-165 Series

  • Page 1 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) 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-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.

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

  • Page 7: Table Of Contents

    3.3.3 Setting Position for HOME or WORK ................... 22 3.3.4 Setting the Angle of the Pipette/Headstage Holder ............. 22 3.3.5 Operating the Virtual D Axis ....................23 3.3.6 Moving to the Home Position ....................23 TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 8 APPENDIX C. TECHNICAL SPECIFICATIONS ................45 APPENDIX D. QUICK REFERENCE ....................47 D.1. Manual Operation ......................... 47 D.2. Configuration..........................47 D.3. External Control ........................... 48 INDEX ..............................55 TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 9 Table 2-6. Configuration Switch 10: Linear/nonlinear manual movement........19 Table 3-1. Maximum positive position value of each axis ..............22 Table 3-2. Screen colors and modes ......................25 TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 10 Table D-6. TRIO MPC-100 external control commands ..............50 Table D-7. Straight-Line Move ‘S’ Command Speeds for MP-865/M-based configuration....54 Table D-8. Straight-Line Move ‘S’ Command Speeds for MP-285/M-based configuration....54 TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 11: Introduction

    This chapter, Introduction, which provides an overview and general description of the TRIO MPC-165 series system; Chapter 2, Installation, which describes how to install, set up, and configure all components of the system; Chapter 3, Operations, which describes how to operate the TRIO MPC-100 ROE/controller;...

  • Page 12: Overview

    Figure 1-1. The TRIO MPC-165 system MP-865/M ELECTROMECHANICAL TRIO MPC-100 MP-865/M ELECTROMECHANICAL MICROMANIPULATOR (E.G., B, ROE/CONTROLLER MICRO-MANIPULATOR (E.G., A, LEFT-HANDED) RIGHT-HANDED) Figure 1-2. The TRIO MPC-165-2 system TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 13: Features: Trio Mpc-100 Controller

    TRIO MPC-100 allowing one to move the electrode coaxially using X and Z at the exact desired angle of approach using a separate “D” control knob. TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 14 MP-865/M is ideal for applications that require 2 pipettes in one setup or for setups where space is limited. TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 15: Installation

    TRIO MPC-100/E ROE/Controller. IMPORTANT Once the TRIO MPC-165 series system has been unpacked, remove the shipping tape from the various locations on each MP-865/M series electromechanical micromanipulator. The shipping tape must be removed before operating the TRIO MPC-100 system. If you need to transport the MP-865/M series in the future, reapply 2 to 3-inch pieces of masking tape to the same locations.

  • Page 16: Setting Headstage/Pipette Angle And Pipette Exchange

    The stand can be any flat surface carrying ¼-20 or 10-32 holes on one-inch centers (such as a Sutter Instrument’s MT-series 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.

  • Page 17: Headstage Mounting

    A typical headstage of this type is shown mounted in a right-handed MP-865/M (right panel). The plastic plate used with the 4-inch dovetail is shown in the left panel of the figure TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 18: Instructions Used In Special Installations Only

    2.4.1 Instructions for Changing Handedness It is possible to change handedness of the MP-865/M 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.

  • Page 19: Roe/Controller Rear Panel Controls And Configuration

    ROE/controller. At power up, the microprocessor in the ROE/controller scans the attached equipment and configures the system accordingly. CAUTION: When changing the configuration switches described in the following paragraphs, make sure that controller’s power switch is turned off. TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 20: Configuration Switches

    (no movement while X & Z are homing) during homing (pressing HOME or Disabled: Not locked DOWN* WORK) (Y moves along with X & Z when homing) * Factory default (recommended normal operation setting) TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 21: Switch 6: Calibration Homing On Power On

    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-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 22 (This page intentionally left blank.) TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (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-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (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-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (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-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (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-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (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-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 28: Figure 3-13. Changing The Mp-865/M Micropipette/Headstage Mount And Angle

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

  • Page 29: External Control

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

  • Page 30: Command Sequence Formatting

    Little- Endian enforcement may be needed if running on a Big-Endian system. Some processors (e.g., ARM) can be configured for specific endianess. TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 31: Microsteps And Microns (Micrometers)

    Physical Positions: BOT (Beginning Of Travel), COT (Center Of Travel), & EOT (End Of Travel). In the TRIO MPC-100, the Origin is fixed at BOT. NOTE: Travel length of each axis is automatically determined by end-of-travel sensor. TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 32: Travel Speed

    1 (for Device A) or 2 (for Device B). Two bytes are returned: The first contains the device specified as confirmation, followed by the completion indicator. TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 33: Get Current Position And Angle ('C' Or 'C') Command

    NOTE: See Microns/microsteps conversion table for conversion from µsteps to µm (microns). NOTE: All positions are in microsteps (µsteps): 32-bit (4 bytes) positive (unsigned) integer values, in Little Endian bit order (see Notes). TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 34: Move To Controller-Defined Home Position ('H') Command

    This command instructs the controller to move all 3 axes to specified position, moving Y first, Ranges and X & Z last (angle determines order/simultaneity) (see table). TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 35: Move In Straight Line To Specified Position At Specified Speed ('S') Command

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

  • Page 36: Table 4-13. Straight-Line Move 'S' Command Speeds For Mp-865/M-Based Configuration

    0.184547244 93.75% 4.3750 4375.0 4375000 0.172244094 87.50% 4.0625 4062.5 4062500 0.159940945 81.25% 3.7500 3750.0 3750000 0.147637795 75.00% 3.4375 3437.5 3437500 0.135334646 68.75% 3.1250 3125.0 3125000 0.123031496 62.50% TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 37: Interrupt Straight-Line Move ('^C') Command

    Little Endian bit order (see Notes). 4.9.11 Move to Specified Y-Axis Position (‘y’ or ‘Y’) Command This command moves to a specified position for only the Y-axis. TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 38: Move To Specified Z-Axis Position ('Z' Or 'Z') Command

    90. See 0101 1010 0090 ‘z’ Movement note 0000 1101 <CR> Completion indicator 4.9.14 Recalibrate (‘R’) Command Recalibrates the connected micromanipulator/stage to 1,000 microns in each axis. TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 39: Command Notes

    All move commands must include positive values only for positions – negative positions must never be TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 40 If out of bounds, resetting relative position to 0 allow the remaining conversions and movement to resolve without error. /* check to make sure that relative X is within bounds */ TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 41 (difference between current and target positions) and rate of travel. This delay is not needed if polling for return data. In either case, however, an appropriate TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 42: Table 4-21. Straight-Line Move 'S' Command Speeds For Mp-865/M Based Configuration

    1.8750 1875.0 1875000 0.073818898 37.50% 1.5625 1562.5 1562500 0.061515748 31.25% 1.2500 1250.0 1250000 0.049212598 25.00% 0.9375 0937.5 937500 0.036909449 18.75% 0.6250 0625.0 625000 0.024606299 12.50% 0.3125 312.50 312500 0.012303150 6.25% TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 43: Maintenance

    Wipe all exterior surfaces with a dry, soft, cotton cloth. Periodically inspect all cables and connections to make sure that all connections are made well and that all connectors are well and evenly seated. TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 44: Reconfiguration

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

  • Page 45: 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 46: Appendix B. Accessories

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

  • Page 47: 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-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 48: 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-865/M micromanipulator 3.5 lbs. | 1.6 kg TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 49: Appendix D. Quick Reference

    *** Switch 9 OFF (up) for MP-865/M, MP-845[S]M & MP-245/M; ON (down) for MP-285/M & related devices (3DMS, MT-78, MOM/SOM objective movers; MP-265/M). **** Contact Sutter Instrument tech. support for more information. TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 50: External Control

    (“Intel”) (most significant byte (MSB) in the first controller completes the task associated with a byte and least significant (LSB) in the last byte). If command, it sends ASCII CR back to the host TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 51: Table D-3. Microns/Microsteps Conversion

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

  • Page 52: Table D-6. 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-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 53 Target absolute position of X axis, in microsteps, consisting of 4 contiguous Ranges bytes representing a single 32-bit unsigned (positive) integer value (see and bounds table) in Little-Endian bit order. 0000 1101 <CR> Completion indicator TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 54 /* converting X axis current position */ microsteps */ cp_x_um = cp_x_us * us2umCF; /* microsteps to double cp_x_um, cp_y_um, cp_z_um; microns */ microns */ TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 55 /* check to make sure that relative X is within set for the reception of data so that the I/O does not time out bounds */ before the move is made and/or the delay expires. TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 56: Table D-7. Straight-Line Move 'S' Command Speeds For Mp-865/M-Based Configuration

    Complete version as a floating-point number (e.g., 2.62): 2.8125 2812.5 2812500 0.110728346 56.25% version = majminver * .01; 2.5000 2500.0 2500000 0.098425197 50.00% 2.1875 2187.5 2187500 0.086122047 43.75% 1.8750 1875.0 1875000 0.073818898 37.50% NOTES: TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

  • Page 57: Index

    Exchange ..........28 protocol and handshaking......29, 52 HOME button (while moving to Home) ..... 27 ranges and bounds ........40, 57 Recalibrate (‘R’) command ......39 TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 58 (to controller) ........ 49 maximum positive position values ....24 system power consumption ......49 micropipette exchange ......... 28 resolution ............49 mode indications ........... 27 speed ..............49 TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 59 ..............49 mains ..............49 weight ..............50 warranty ..............47 voltage WORK button (while moving to Work) ....27 input ..............49 NOTES TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
  • Page 60 NOTES TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)

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