Sutter Instrument MPC-385 Series Operation Manual
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Sutter Instrument MPC-385 Series Operation Manual

Multi motorized-micromanipulator control system
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MPC-385
Series
Multi Motorized-Micromanipulator
Control System
Operation Manual
Rev. 3.21k (20201120)
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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  • Page 1 MPC-385 Series Multi Motorized-Micromanipulator Control System Operation Manual Rev. 3.21k (20201120) One Digital Drive Novato, CA 94949 Voice: 415-883-0128 Web: www.sutter.com Fax: 415-883-0572 Email: info@sutter.com...
  • Page 2 Copyright © 2020 Sutter Instrument Company. All Rights Reserved. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 5: Disclaimer

    Do not allow 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

    Always wear safety glasses when using sharp glass micropipettes with pressure microinjectors. Do not handle the manipulator mechanical while the power is on and take care to  ensure no cables pass close to the mechanical manipulator. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 7: Other

    Some applications, such as piezo-impact microinjection call for the use of mercury in the micropipette tip. The use of any hazardous materials with any Sutter Instrument’s instrument is not recommended and if undertaken is done so at the users’ own risk.
  • Page 8 (This page intentionally left blank.) MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 9: Table Of Contents

    Handling Micropipettes .......................... 5 1. INTRODUCTION ........................... 11 1.1 Structure of the MPC-385-Series Documentation Package ............11 1.2 Components of the MPC-385 Series ..................... 11 2. MPC-200 MULTI-MANIPULATOR CONTROLLER AND ROE-200 INPUT DEVICE OPERATIONS ............................ 13 2.1 Electrical Connections and Initial Operating Instructions ............13 2.2 Initial Operating Instructions .......................
  • Page 10 Figure 2-1. Rear of MPC-200 controller cabinet................... 13 Figure 2-2. Top view of ROE-200......................15 Figure 2-3. Side view of ROE-200......................17 Figure 2-4. Configuration switches on rear of MPC-200 controller cabinet........19 MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 11 Table 5-18. Command to disable current-position streaming data during an ‘S’-command-initiated move............................41 Table 5-19. Command to disable current-position streaming data during an ‘S’-command-initiated move............................42 Table 5-20. Set ROE MODE (‘L’) command..................42 MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 12 Table E-6. Microns/microsteps conversion factors (multipliers)............61 Table E-7. Ranges and bounds........................ 61 Table E-8. Travel speeds.......................... 62 Table E-9. MPC-200 external-control commands................. 62 Table E-10. Straight-line move ‘S’ command speeds................66 MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 13: Introduction

     Two X285204 four-inch dovetail extensions for mounting headstages  Two dovetail rod clamps 3. MPC-385-3 (a three-manipulator system). Same as for the MPC-385-2, with the following exceptions:  Two MPC-200 controllers MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 14 Once these screws have been removed, handle the micromanipulator with care. The mechanism can be damaged if the axes are moved with the screws in place. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 15: Mpc-200 Multi-Manipulator Controller And Roe-200 Input Device Operations

    As the power switch is the only control you will need to access on the MPC-200, the controller can ultimately be placed in an out of the way location (e.g., under your bench). MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 16 Conversely, when you make prolonged, rapid turns of the ROE knob, the controller/ROE automatically accelerates to maximum speed to allow for prolonged, long distance movements. This would be most useful for manual pipette exchange. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 17: Main Controls On The Roe-200

    Z-axis, maximal right on the X-axis (maximal left on a left- handed manipulator) and maximal front on the Y-axis. The stereotypic path of the movement MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 18: Black Selector Switches

    MODE 5 or 6 will provide the necessary dexterity of movement for the final approach to a cell. The current MODE setting is displayed in the upper right of the ROE-200 display. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 19: Other Controls On The Roe-200

    (12500 (X), 12500 (Y), 12500 (Z)), the center of travel of each axis. If the unit is turned off or STOP/SET is pressed during the running of CENTER, the unit will MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 20: Controls On The Mpc-200

    Switch 1. For any new switch settings to take effect, the controller must be powered off and on. The figure below shows the two banks of switches on the back of the MPC-200 controller. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 21: Figure 2-4. Configuration Switches On Rear Of Mpc-200 Controller Cabinet

    1, 2, 3 and 4. As indicated in the inset to the left of the table, the angles fall into two different quadrants according to whether the angles are more or less steep than 45 degrees. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 22: Table 2-1. Configuration Switch Settings For Different Angles Of Steepness

    1, a clockwise turn of the knob produces an increment in the display. An increment in the display coincides with movement downward in the Z axis, MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 23: Figure 2-5. Configuration Switches (Rear Of Mpc-200 Controller)

    Figure 2-5. Configuration switches (rear of MPC-200 controller). MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 24 (This page intentionally blank.) MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 25: Mp-285/M Manipulator Mechanical Mounting Instructions

    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. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 26: Setting Headstage/Pipette Angle And Pipette Exchange

    MP-285/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. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 27: Figure 3-3. Headstage Mounting

    Rod mounted headstages and micro tools are accommodated by use of a rod clamp that fits into the dovetail (not shown). All the headstage adapters and mounting hardware are included with the manipulator and are shipped in a zip lock plastic bag. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 28: Other Accessories

    It is possible to change handedness of the MP-285 mechanical. If you wish to do this, please contact Sutter Instruments for details. If you wish, Sutter can change the handedness for you. We will charge for shipping only. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 29: Operations

    4.2 Make It Go Turn on the power using the ON/OFF switch on the front panel of the MPC-200 controller cabinet. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 30: Basic Operation

    4.3.1 Standard Screen ROE-200 MODE:0 Z=00000 X=00000 Y=00000 4.3.2 No Manipulator Connected Screen NO MANIPULATOR DETECTED, PLEASE TURN OFF CONTROLLER ATTACH MANIPULATOR 4.3.3 Diagonal-Mode Screen (DIAGONAL) ROE-200 MODE:0 Z=00000 X=00000 Y=00000 D=00000 MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 31: Move In Progress Screen

    4.3.4 Move in progress screen: PLEASE WAIT MOVE IN PROGRESS 4.3.5 Setting Work Position (WORK POS) ROE-200 DEVICE LOCKED (HOLD WORK POS. FOR 2s TO UNLOCK DEVICE) MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 32 (This page intentionally blank.) MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 33: External Control

    MPC-200 controller over the USB interface between the computer and the USB connector on the rear of the ROE-200 that’s connected to the MPC-200 controller. The USB device driver for Windows is downloadable from Sutter Instrument’s web site (www.sutter.com). The MPC-385 (MPC-200) requires USB CDM (Combined Driver Model) Version 2.10.00 or higher.

  • Page 34: 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. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 35: Microsteps And Microns (Micrometers)

    MOM objective mover (firmware v3.13 or 3.16, and device Port A only): 21.5mm in all three • axes. 5.7 Travel Speed The following table shows the travel speeds for single-, double-, and triple-axis movements for supported devices using orthogonal move commands. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 36: Commands

    1 byte for the number of devices connected followed four bytes containing connected status for Port 1 through 4, and completion indicator (1 byte). MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 37: Get Active Device & Firmware Version ('K') Command

    = 1; lower nibble = 5)) Major version number coded in BCD (e.g., if ver. = 3.15, then byte = 0x03 (upper nibble = 0; lower nibble = 3)) 0000 1101 <CR> Completion indicator MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 38: Get Current Position ('C') Command

    The data returned consists of 14 bytes: The first contains the currently-active device number 1 – 4 (1 byte), followed by 12 bytes containing X, Y, & Z position values in microsteps (4 bytes each), and ends with the completion indicator (1 byte). MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 39: Change Active Device ('I') Command

    0000 1101 <CR> Completion indicator 5.8.6 Move to Controller-Defined HOME Position (‘H’) Command This command moves to the position last defined by the HOME key. Movement is equivalent to pressing the HOME key. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 40: Move To Controller-Defined Work Position ('Y') Command

    This command moves to the Beginning Of Travel (BOT) position. It has the same functionality as pressing the momentary “CALIBRATE” switch on back of the ROE-200. The “Home Position” is defined manually on the ROE-200. The “Work Position” is defined manually on the ROE-200. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 41: Move To Specified Position Orthogonally At Full Speed ('M') Command

    Move to Specified Position in a Straight Line at Specified Speed (‘S’)CommandThis command instructs the controller to move all three axes to the position specified, in straight line at the specified speed (Speed Level 0 – 15). The command sequence consists of fourteen bytes. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 42: Table 5-15. Move To Specified Position In A Straight Line At Specified Speed ('S') Command

    0.65000 650.00 650000 50.00% 0.56875 568.75 568750 43.75% 0.48750 487.50 487500 37.50% 0.40625 406.25 406250 31.25% 0.32500 325.00 325000 25.00% 0.24375 243.75 243750 18.75% 0.16250 162.50 162500 12.50% 0.08125 81.25 81250 6.25% MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 43: Interrupt Move ('^C') Command

    ‘S’ command initiated move is in progress. Command sequence consists of one byte and returns one byte (completion indicator) and must be sent before the ‘S’ command in order to enable the return of streaming data to be effective. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 44: Set Roe Mode ('L') Command

    /* microns */ /* specified (move-to) position for X, Y, & Z */ unsigned long sp_x_us, sp_y_us, sp_z_us; /* microsteps */ Use the same convention for other position variables the application might need. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 45 = 25000; max_y_um = 25000; max_z_um = 25000; /* MP-865/M */ max_x_um = 50000; max_y_um = 12500; max_z_um = 25000; /* MP-265/M */ max_x_um = 25000; max_y_um = 12500; max_z_um = 25000; MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 46 (4) contiguous bytes, for computer application computational and storage purposes each should be typed as an unsigned 32-bit integer (“unsigned long” in C/C++, “uint32” in MATLAB, “U32” in LabVIEW, etc.). MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 47: Table 5-21. Straight-Line Move 'S' Command Speeds

    % of Setting Max. µm/ms nm/ms mil/ms 1.30000 1300.00 1300000 0.051181102 100.00% 1.21875 1218.75 1218750 0.047982283 93.75% 1.13750 1137.50 1137500 0.044783465 87.50% 1.05625 1056.25 1056250 0.041584646 81.25% 0.97500 975.00 975000 0.038385827 75.00% MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 48 ((verbyte >>4 & 0x0F) * 10); Complete (thousands) version as an integer (e.g., 315): majminver = majver * 100 + minver; Complete version as a floating-point number (e.g., 3.15): version = majminver * .01; MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 49 Array for a streamed 12-byte block of data containing current position unsigned char pos[12]; 32-bit variables for current position in microsteps, all initialized to 0 to ensure MSB allows only positive values MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 50 Endian bit/byte order, while MPC-200 multibyte values are always transcieved in Little-Endian bit/byte order. A single completion indicator byte (ASCII CR) is returned when streaming ends and target position has been reached. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 51: Maintenance

    As such, it DOES NOT REQUIRE LUBRICATION. Attempting to lubricate any part of the electromechanical assembly will void the warranty and may harm one or more of the motors. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 52 (This page intentionally blank.) MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 53: 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 54 (This page intentionally blank.) MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 55: Appendix B. Accessories

    X285310 Z-axis horizontal extension BR-AW Rod holding clamp for XenoWorks injectors MP-ROD Rod holder 285HEA Hinged headstage mount For use with MT- or MD-series stands/platforms, or any surface with 1-inch centered holes. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 56 (This page intentionally blank.) MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 57: Appendix C. Fuse Replacement

    (Examples: Bussmann GDC-2A. GMC-2A or S506-2-R (RoHS); or Littelfuse 218 200 or 218 200P (RoHS)) Figure C-1. Rear view of the MPC-200 controller cabinet showing the power entry module and fuse location. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 58 (This page intentionally blank.) MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 59: Appendix D. Technical Specifications

    Length  3-pin power standard (female) 10A, 250V, with 3 meters MPC-200: (Power entry) Mains power source. safety ground (approx. 3-pin male  3-pin male connector plug 10 feet) (Geographical region dependent) MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 60: Roe-200

    (approx. circuits. Foil B connector  receptacle (full-sized) sized) 10 feet) shielding. D.3. ROE-200 Dimensions: 10 x 6 x 4 in (25.4 x 15.24 x 10.16 cm) Weight: 3.5 lbs. (1.6 kg) MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 61: Appendix E. Quick Reference

    Table E-2. MPC-200 rear-panel config. Switches 1 – 4 (angle setting) for Device, A or B. Switch Steepness Relative Angle (Value) to 45° More None Less 0 = OFF (Up); 1 = ON (Down) MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 62: External Control

    If a command returns data, the last byte or if installed, that it be disabled. The second method returned is the task-completed indicator. requires that the VCP be installed and enabled. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 63: Table E-6. Microns/Microsteps Conversion Factors (Multipliers)

    Travel Speed: The following table shows the travel these 32-bit position values must have their bytes speeds for single-, double-, and triple-axis reverse-ordered after receiving from, or before sending to, the controller. Examples of Big-Endian MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 64: Table E-8. Travel Speeds

    2: No 0000 0001 <SOH> 2: Yes 0000 0000 <NUL> 3: No 0000 0001 <SOH> 3: Yes 0000 0000 <NUL> 4: No 0000 0001 <SOH> 4: Yes 0000 1101 <CR> Completion indicator MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 65 Calibrate (‘N’) Command: Calibrates the active (FW >1.03) device. 0000 1101 <CR> Completion indicator The “Home Position” is defined manually on the ROE-200. The “Work Position” is defined manually on the ROE-200. MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 66 0000 1101 <CR> Completion indicator 0100 0110 Turn OFF Command (see ‘S’ Command’s Streaming Return Data for Current S-Move Position note) command streaming data (‘F’) 0000 1101 <CR> Completion indicator MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 67 = 21.333333333; /* microns to 6. Absolute Positioning System Origin: The Origin is set to a microsteps */ physical position of travel to define absolute position 0. The /* conversion factors for MT-800 config. */ MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 68: Table E-10. Straight-Line Move 'S' Command Speeds

    0.16250 162.50 162500 0.006397638 12.50% 9. Position Value Bit Ordering: All 32-bit position values 0.08125 81.25 81250 0.003198819 6.25% transmitted to, and received from, the controller must be MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 69 32-bit longs will require bit-order reversal (byte microsteps conversion” table for appropriate factor) swapping) for Big-Endian platforms (e.g., LabVIEW). The double us2umCF = 0.0625; appropriate microstep-to-microns conversion factor is needed MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 70 For LabVIEW, a 3-byte positional value for an axis can be transferred into a byte array, and then into a U32 data type via a byte-swap function to ensure 24-bit to 32-bit conversion NOTES: MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)

  • Page 71: Index

    ........46, 67 multi axis movement speed increase ..46, 67 orthogonal move speed ....... 45, 66 mains..............27 position value bit ordering ......45, 66 fuses ............... 3, 57 MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 72 Setting Headstage/Pipette Angle ......24 weight .............. 57, 58 Special installations MPC-200 controller .......... 57 Installing and using right angle adapter ..26 ROE-200 ............58 Instructions for changing handedness ... 26 NOTES MPC-385 SERIES OPERATION MANUAL – REV. 3.21K (20201120)
  • Page 73 Addendum All Operation Manuals of MPC-200/ROE-200-Based MPC-Series Systems Rev. 1.00 – November 28, 2007 As of Version 3.11 (November 12, 2007) of the firmware for the MPC-200 micromanipulator controller and ROE-200 input device, the CENTER routine associated with the white button on the rear of the ROE-200 has been replaced with a CALIBRATE routine that is less likely to break a pipette.

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