In Vivo Micromanipulator

Transcription

1 In Vivo Micromanipulator

2 Packing list The Scientifica Single Axis In Vivo Micromanipulator (IVM) is a piece of scientific equipment and as such requires care when handling. If the outside of the shipping packaging is damaged, notify your shipping department immediately. The shipping department may wish to notify the carrier at this point. If the shipping carton is not damaged, carefully remove and identify all of the components as listed below. The IVM system includes: Single axis in vivo micromanipulator (IVM-1000) Ultra low noise 1U controller rack PatchPad user interface and connecting cable 25 Way to 25 Way Parallel Cable Breakout box Mains power cable LinLab Configuration software CD USB Cable Additional accessories (if specified at time of order) Operating manual If any of these items are missing, contact, Scientifica Ltd. Please retain the packaging for future storage or transportation of the system. System Components: IVM Micromanipulator The Scientifica In Vivo Micromanipulator is a highly stable micromanipulator system designed for ultra precise positioning of stimulating and recording electrodes during in vivo experiments. The micromanipulator uses high precision stepper motors and anti-backlash lead screw to achieve extremely fine control of movement. The single axis stage provides 70 mm travel with 20 nm electronic resolution and 0.1 micron minimum step sizes. Complete with ultra low electrical noise control rack and PatchPad user interface, the IVM incorporates a dovetail clamp to attach pre-amplifier headstages or other user defined tools. Ultra-low noise controller rack The Ultra-low noise controller rack provides a sophisticated means of driving the Scientifica range of stepper motor actuated products. This 1

3 can be driven via any of Scientifica s user interfaces or directly from a PC using LinLab software. PatchPad The PatchPad user interface provides a convenient method of controlling the IVM with switchable slow and fast speed settings, rotary controls for fine movement control, step control button for user defined steps, continuous forward and reverse drive buttons and memory positions. Setting Up Attaching the IVM to your stereotaxic manipulators The IVM can be mounted onto a range of commonly used stereotaxic manipulators using the right-angled Kopf mount accessory (IVM , IVM ). To attach the bar remove any existing devices eg. rod holders from the stereotaxic manipulator and locate the bar within the v-shaped groove of the manipulator. Align the two threaded holes and then secure the adapter bar using the screw provided. The IVM is then attached to the mounting adapter bar by means of the dovetail clamp and held in position by tightening the screws on the aluminium fastening strip. 2

4 Attaching the mounting adapter bar Securing the IVM to the mounting bar Attaching the dove tail probe holder accessory Dove tail mounted headstages and other devices can be attached directly to the dove tail slide on the IVM. The dove tail probe holder accessory (PH-1000) is used to attach rod-mounted devices to the IVM via the dove tail clamp. The dove tail probe holder should be inserted into the dove tail clamp of the IVM and then secured by tightening the four screws on the aluminium fastening strip. The rod-mounted device is 3

5 then placed between the jaws of the probe holder accessory and held firmly in place by tightening the thumb screw that clamps the probe holder down onto the rod as shown in the photograph below. Rod held in place using the dove tail probe holder accessory Attaching the extended probe holder accessory The extended probe holder accessory (IVM ) attached directly to the end of the IVM as show in the photograph below. Extended probe holder accessory attached directly to the end of the IVM Connecting the IVM to the controller and PatchPad user interface Caution: Never plug or unplug any connections with the controller rack power switched on. 4

6 1) Connect the IVM manipulator RJ45 connector (red) to the breakout box provided ensuring that the colour of the connector corresponds with the colour of the with the reference dot on the breakout box. 2) Connect the breakout box to the 1U controller rack using the 25 way parallel cable provided. 3) Connect the PatchPad to the 1U controller rack using the cable provided. 4) Connect the mains power cord to the rack and mains power outlet. 5) Turn the controller rack on using the power switch located on the front of the rack. The Scientifica logo should now be illuminated to indicate power on status. By setting up the manipulator as described in steps 1-5 above, it is possible to operate the manipulator directly using the supplied user interface. Should your instrument fail to operate following setup please contact Scientifica Ltd. for further advice. Driving the Manipulator Using the PatchPad User Interface PatchPad User Interface The PatchPad user interface is used to operate the in vivo manipulator without the need for connection to a PC. The manipulator is primarily driven using the rotary control on the PatchPad interface. By default, rotating the rotary control clockwise will drive the manipulator forwards whilst anti-clockwise rotation of the rotary control will drive the manipulator in the reverse direction. Should the end user desire to change the direction of the manipulator relative to the rotary control, this can be altered within the Linlab software. The manipulator can be driven in two speed ranges - fast (+) for course positioning or slow (-) speed for fine control. The speed range is selected using the toggle switch on the top right-hand corner of the PatchPad user interface. Both fast (+) and slow (-) speed settings can be programmed by the user within the LinLab software application. 5

7 Step Momentarily pressing the Step button causes the manipulator to advance by a user-defined step size. The Step button is most useful when recording devices are connected to a visual display or audible signal to indicate proximity to firing cells or changes in activity. To define the step size use the Set Step Size After Home In setting within the LinLab software. This value can be set from ±1µm to 10mm in 1µm steps. Drive Buttons The drive buttons are used to provide a convenient means of driving the manipulator forwards/backwards over long distances when approaching or withdrawing away from the experimental preparation. Holding either drive button will cause the manipulator to move along its axis continuously until the drive button is released. By default, manipulator control by drive buttons is restricted to the fast speed setting. The drive buttons are located immediately above the rotary control wheels on the PatchPad user interface. Drive buttons 6

8 Speed Settings The manipulator can be driven in two speed ranges: fast (+) for course positioning or slow (-) speed for fine control. The speed range is selected using the toggle switch on the top right-hand corner of the PatchPad user interface. Both fast and slow speed settings are userdefinable within the LinLab software. M+ Momentarily depressing the M+ button will store the current position of the manipulator as a memory position. Moving the manipulator and pressing M+ again will store another position. Up to 50 memory positions can be stored. MR Momentarily depressing the MR button will recall the first memory position. If more than one position is stored, repeated button presses allow you to cycle through all of the memory positions. Clearing Memory Positions In order to clear stored memory positions, simultaneously depress the M+ and the MR buttons. Home In The Home In feature can work in two different modes. As standard the system is shipped in Mode1, referred to within the LinLab software as Dynamic Mode. If you wish to use to Mode 2 which uses fixed Home In positions, move to the desired Home In position and hold down the Home In button for 3 seconds. To switch back to Dynamic Mode, simultaneously hold down the Home In and Home Out buttons for 3 seconds. Mode 1: (Dynamic Mode) Home In becomes active only after the manipulator has been driven to a Home Out position. From the Home Out position, pressing the Home In button will cause the manipulator to return its original position prior to Home Out, minus any safety offset that has been set in the Set Home In Offset setting within the LinLab software. Mode 2: (Fixed Home In Position) This allows the user to set a specific position as the Home In point. Move the manipulator to the desired Home In position, and then depress the Home In button and hold down for 3 seconds. This stores the current position as the Home In point. Home Out Press and hold down this button for approx. 3 seconds to store the 7

9 current manipulator position as the home out location. This will be permanently stored until an alternative Home Out position is stored. Momentary pressing of this button will cause the manipulator to drive out to the stored Home Out position. Note: If the Home Out and Home In buttons are held down simultaneously, the Home Out and Home In positions will be cleared and the Home In will be set back to Mode 1. Approach (I/O) Some Scientifica multi-axis micromanipulator devices have the ability to be driven in a virtual 4 th approach axis as opposed to 3 orthogonal axes. The PatchPad Approach (I/O) toggle switch is designed for use with such devices but is not enabled when the user interface is connected to a single axis in vivo micromanipulator. LinLab - Motorized Device Configuration and Control Software Whilst the single axis in vivo micromanipulator can be driven independently of software/pc control, the LinLab software utility allows the user to change the configuration of the controller to optimise the settings to suit their specific application. Parameters such as direction of travel can be adjusted along with speed of acceleration, movement etc. LinLab also allows the user to control the motion of motorized devices through a Graphical User Interface if required. The software can be used to control a single device or up to 12 devices using a tab selection menu. Installing the LinLab software The software utility will run on the Windows XP operating system. 1. Insert the supplied CD into your drive (PC only) 2. Run the LinLabsetup XX_XX-XX.exe file 3. Follow the instructions on the screen to complete the installation. Connecting the system Connecting The Controller Rack to PC via USB Cable 8

10 Install the LinLab software as described above then connect the controller rack to the PC using the USB cable provided. As before, ensure that all leads are correctly attached before switching on the system and do not remove or plug in any leads while the controller is switched on. Ensure that your PC is running the appropriate operating system and turn the controller rack on using the power switch located on the front of the rack. The Scientifica logo should now be illuminated to indicate power on status. Installing the USB Drivers In order to control the PatchStar via the USB connection the relevant drivers must first be installed. When running the system on Windows XP, the operating system should detect a new USB device when the device is connected. When connected and powered up for the first time the following screen will appear. Select No, not this time and click on Next to continue. When the next screen appears choose to install from a specific location and click Next to continue. Browse to the location of the USB Driver which will be on the CD supplied with the system and click Next. 9

11 Windows should now install the first of the drivers required. Once Windows has finished installing the first driver a second device will be detected and should be installed as before. Users with a second device connected to the same controller rack should install the USB driver a second time following the same procedure as before then proceed to USB Port Assignment. USB Port Assignment In order to communicate using the USB you may need to know the communications port that Windows has assigned to the USB port. To do this, open Control Panel from the Start Menu, select System, Hardware, Device Manger and then expand Ports (COM & LPT) your USB serial Port will be displayed as below; in this case as COM8. 10

12 When LinLab is first run it will default to communicate with multiple devices. In order to set the correct port, select Yes to run in demo mode. The purpose of the software is to give you complete control over the set-up parameters of your motorised device. The features described below are in place to optimise the usage of the IVM. Running the software Ensure the controller rack is turned on. To start running the software, double-click the LinLab software icon on the desktop or select Linlab for the Scientifica Program group from within the Program Manager. Linlab.lnk When you run the software you will open a window like the one shown below. When used in conjunction with a single axis device such as the in vivo manipulator, only the Z-axis current position display will be active. 11

13 Zero Current Position The user can set the current position as a zero reference in all 3 axis (as determined by the linear motion card) by pressing the Zero Current Position button. The position shown is calculated by counting the number of steps each motor moves and is stored within non-volatile memory on the linear motion card. Therefore if the rack controller is switched off and then switched back on again the current position will remain as it was prior to switching off. Step Control This function enables the user to drive each axis by a specific amount. The user can enter any step size between and 50 mm. Each click of a directional button will then drive the device by the specified step size. With the single axis in vivo manipulator device connected only the Z-axis step control functionality is active. Virtual Joystick 12

14 Devices can be controlled through a virtual Joystick graphical user interface within the LinLab software. For devices with X and Y axs motion control, click on the pink circle and drag in X and or Y to move the device laterally. Dragging the pink oval up or down moves the vertical (Z) axis up or down ad can be used to control the movement of the single axis in vivo manipulator. Clicking on the X1, 10 or 100 buttons adjusts the rate of change. Creeper Function The Creeper function is designed primarily for use with the single axis in vivo manipulator. This function allows the user to specify both speed and distance parameters for a single movement of the manipulator. Two speed ranges are available (microns/second & tenths of microns/second) and are accessed by clicking the Speed Scale button to change between scales. Once a speed scale has been selected, use the slider control to set the desired speed. In the examples shown below, speeds have been set at 10 microns/second and 1 micron/second respectively. The distance travelled (in microns) should be entered into the box and movement initiated by clicking the Start button. The manipulator will now automatically advance forwards the set distance at the selected speed. 13

15 Whilst the Creeper function is active, the distance moved will display in the window. To cease movement of the manipulator simply click on the Stop button or press the stop button on the PatchPad. If the Stop button is clicked before the Creeper function has moved the entire set distance, the user is given option to start again (Start button), continue with the current scheduled Creeper movement (Resume button) or change speed scales (Speed Scale). Home Out, Home In and Step In If a Home Out position has been set, clicking on the Home Out button will cause the device to record its current position (as its Home In value) and then move to the Home Out position as defined by the Set Home Out Position function within the Manipulator menu (described below). Clicking on the Home In button (after Homing Out) will return the device to its original position prior to Homing Out less any safety offset which may have been applied using the Set Home In Offset function within the Manipulator menu (described below). Following a Home In command, the Step In function allows the user to move forward in the approach axis (either virtual or Z) by the amount 14

16 set using the Set Step Size after Home In function within the Manipulator menu (described below). The Step In function within LinLab is analogous to the function of the Step button on the PatchPad user interface. To set the desired step size select Set Step Size After Home In for the Manipulators drop down menu and enter the desired step size (in mm) then press OK. The same step size will apply to steps activated within the LinLab software or via the PatchPad user interface. Step sizes can be set between 1 micron and 10 mm. Set Home Out Position This allows the user to select the current position as the home out position. After selecting this option a message will appear asking if you are sure that you want to do this. Once selected, the current position is stored as the Home Out position. 15

17 Offset After Home In This allows you to apply an offset of between -10mm and +10mm (in micron steps). This is useful for instance; when controlling a manipulator, having changed a pipette and wanting to return close to the sample position without colliding into the sample. The manipulator will return to the position prior to Home Out less the Offset distance. 16

18 Reverse Z Rotary Motion Select Reverse Z Rotary Motion from the Manipulators drop down menu to change the direction of the manipulator s motion relative to the clockwise/anticlockwise operation of the rotary control on the PatchPad Lite user interface. Reverse Z Direction Units This allows you to reverse how the numbers are displayed within the LinLab application window. For example, if you feel that you are moving the manipulator in a positive direction but the numbers are displayed as increasingly negative, select Position Units option from the Manipulators drop down menu and click on Reverse Z Direction Units to display numbers as increasingly positive. View View allows you to select which windows are shown on the screen from the LinLab application. The standard view is shown below. Show Stored Points Show Stored Points allows the user to drive the manipulator to a position, store the coordinates of that position, edit the name of the position, assign a grade/descriptor to the position, and then return to the stored positions at a later point in time. 17

19 In order to store a point within LinLab, drive the in vivo manipulator to the required location and select AddPoint from the stored points form. This will cause the following screen to be displayed. The name of the stored point automatically defaults to the coordinates of the point. If you wish to edit the name of the stored point highlight the point information and type the required name. If you wish to grade the point then select the required grade eg. 1 = high, 5 = low. 18

20 Once you are satisfied with the name and grade of the point click OK. The Stored points form will be updated with the input information and the user can continue to add points. 19

21 To return to a stored point, double click on the point s name. You can filter the stored points by grade by selecting the drop down menu. If you want to cycle through the points select Start Auto Run. This will go from one point to the next in a sequential fashion pausing for the time set in the Delay field (default delay value is 1000 ms). 20

22 Some users may wish to store the points without grading them or editing their names. In this case either select Do Not Show This Form Again in the point information screen or disable Enable Point Information from within the View menu. Approach The approach function is generally only used with a Scientifica PatchStar manipulator and is not a function that is used with the single axis in vivo manipulator. Speed This enables the user to adjust the Maximum speed and the rate of acceleration for computerised Point to Point moves, ie between Home In/ Home Out or Memory positions. Changes to the acceleration setting also apply to the deceleration value. If the user experiences resonance etc then the system can be optimized by adjusting these settings. If the acceleration value is increased, the rate of response will increase. The Joystick / Rotary Speed scaling slider changes the ratio of user interface wheel rotation (or joystick deflection) to the distance moved by the manipulator eg. with a Fast Speed Scaling of 100 a manipulator stage would move 1.6mm per revolution of the rotary wheel in high speed. At a scaling of 200, the manipulator would move 3.2mm per revolution of the rotary wheel. The user may also adjust the slow speed scaling to increase or decrease the rate of motion relative to the user interface rotary wheel rotation (or joystick deflection). Acceleration / Deceleration is used to adjust the rate of acceleration and deceleration that is applied when initiating or ceasing motion using the user interface. Reducing the value means that the device will respond more rapidly, increasing the number induces lag. 21

23 Z Speed Scaling is used to adjust the rate of motion for the Z axis of the selected device. This is most often used for the Microscope focus module. At standard settings, the focus can be disproportionate compared to the lateral axis. By increasing the Z Speed Scaling the user can adjust the Z-axis independently for a faster response. Changes will not be saved until the OK or Apply button is selected. If the user wants to return to the default settings, select default and Apply or OK. 22

24 Programming Linear Motion Cards Scientifica are happy to provide a summary of commands should users wish to control the LinLab cards through their own software. This is a summary of the commands the cards accept. All commands and responses are terminated using Carriage return. In multi-card systems where the commands are sent through a master control card, the number that you are writing to should prefix the command. e.g. 3 REL <CR> would move the Z axis of the 3 rd card by 1000 µm. Command Title Description POS Report Pos This reports the position for all three Axis separated by tabs. It can also be used to enter new positions. P Report Pos As Above PX Report Pos X This reports the position for the X Axis. It can also be used to enter a new position. PY Report Pos Y This reports the position for the Y Axis. It can also be used to enter a new position. PZ Report Pos Z This reports the position for the Z Axis. It can also be used to enter a new position. VJ Virtual Joy This starts the manipulator moving at the velocity specified for each axis. ABS Move Absolute This moves to a new Absolute position for the three axis. Tabs, commas or spaces separate the arguments. ABS X Y Z where X, Y, and Z are positions. 23

25 Command Title Description REL Move Relative This moves to a new Relative position for the three axis i.e. it moves to the current position plus the values entered.. Tabs, commas or spaces separate the arguments. REL X Y Z where X, Y, and Z are positions. LIMITS Limits This reports the status of the limit switches in hexadecimal notation. The order is as below. Z+Z-Y+Y-X+X- so 1 would mean the X- limit is hit. TOP Move Top Speed This reads/sets the top speed of the manipulator. ACC Move Acceleration This read/sets the acceleration for the manipulator. FIRST Move Start Speed This sets the speed that the motion will start at. CURRENT Current This sets the current for the controller in motion and at standby. CURRENT Motion Standby the values are in the range RESET Restart with defaults. This restores default values for speed, current, and position and restarts the controller. UUX Move Set User Units X This sets a multiplier, which will make the controller, move effectively larger steps for each step requested. The reported positions are also scaled accordingly. The command can also be used to reverse the direction of travel for software moves. UUY Move Set User Units Y As Above UUZ Move Set User Units Z As Above DATE Make Date and version This reports the Firmware Version, compile date and compile time. PROG Enter Program mode This puts the unit into programming mode, ready for Firmware updates. JDX Reverse Joystick X Dir This reverses the direction the joystick makes the axis go. 24

26 Command Title Description JDY Reverse Joystick Y Dir This reverses the direction the joystick makes the axis go. JDZ Reverse Joystick Z Dir This reverses the direction the joystick makes the axis go. S Report Status This reports the status of the axis so host software can tell if anything is moving. ZERO Zero Pos This sets the current position to 0,0,0. RESAVE REGOTO IN Re-map the SAVE button Re-map the GOTO button Go to the home in pos. This command is used to change the function when the save command is sent from the joystick or control software. It may be followed by any of the commands and that command will replace the existing function. As RESAVE but for the go to button. This command can only be used if the last action was OUT, it will move the axis to the position it was before the OUT command was issued less the was set by OFFSET OUT Move to Home Out This will move to the home out position, which must have been set by SET OFFSET Set Home in offset This sets the home in Offset for use by the IN command. SET Set Home Out position. This sets the position the manipulator will go to when OUT is sent to the current position. SETSTEP Set Step Size This sets the step which the Step button will do after a home in. JS Joystick speed This adjusts the speed the Rotary Knob move the manipulator. If no argument is sent the current setting is returned. ANGLE Approach Angle This sets the approach angle for the manipulators x, and z-axis. The approach is enabled after an angle is sent. APROACH Enable approach This enables or disables the approach, an argument of 1 enables, while 0 disables. 25

27 General Specifications Number of axes 1 Travel Step size Speed 70 mm 20 nm (minimum) 0.1 µm per second (maximum) 4 mm per second Mechanical Resolution <1 µm Load Capacity Temperature range >0.2Kg Operation 15 to +40ºC Storage 0 to +60ºC Warranty All Scientifica instruments are sold with a two year warranty to give you complete peace of mind. This covers all defects in manufacturing and materials, providing the system is registered with us within 30 days of delivery. An extended warranty can be purchased if desired after this two year period. - 26

28 Further Information - if you have any questions about the software or the Scientifica single axis in vivo manipulator, please contact us at the address shown below. Scientifica Ltd., Kingfisher Court, Brambleside, Bellbrook Industrial Estate, Uckfield, East Sussex. TN22 1QQ Tel: +44 (0) info@scientifica.uk.com - 27