Ludl Electronic Products MAC 6000 Instruction sheet

MAC 6000 Configuration
Manual
Ludl Electronic Products, Ltd. Revision D
p/n: 90M039 6/1/2011

1
Contents
Contents.......................................................................................................................... 1
Preface............................................................................................................................ 3
Product Compliance ........................................................................................................ 4
MAC 6000 System .......................................................................................................... 5
Introduction ............................................................................................................. 5
Architecture ............................................................................................................. 5
Explanation of Symbols used in this Manual: .............................................................. 5
System Power Supply.................................................................................................. 6
Fuses ............................................................................................................. 7
Input Power Requirement and Ratings ........................................................................ 7
Installing and Removing Modules................................................................................ 8
System Setup................................................................................................................ 10
Rear Panel Connectors ............................................................................................. 11
Line Cord ........................................................................................................... 11
Host Computer Interface Cables................................................................................ 11
RS232 ........................................................................................................... 11
USB............................................................................................................... 11
ETHERNET................................................................................................... 11
MAC6000 Device Configuration ................................................................................ 13
MAC6000 Joysticks ................................................................................................... 14
BioPrecision 2 XY Stage............................................................................................ 16
BioPoint 2 XY Stage .................................................................................................. 17
Focus Control ........................................................................................................... 18
Filter wheels ........................................................................................................... 19
MAC 6000 Module Configuration .................................................................................. 20
73006042 ...................................................................................................................... 21
RS-232/USB/ETH Interface ....................................................................................... 21
General Description ...................................................................................... 21
Module Configuration .................................................................................... 22
73006050 & 73006056 .................................................................................................. 23
Single MicroStep Motor Module................................................................................. 23
General Description ...................................................................................... 23
Module Configuration .................................................................................... 24
Rear Panel Pin Out ....................................................................................... 25
73006054 ...................................................................................................................... 26
Dual MicroStep Motor Module ................................................................................... 26
General Description ...................................................................................... 26
Module Configuration .................................................................................... 27
Rear Panel Pin Out ....................................................................................... 28
73006055 ...................................................................................................................... 29
Dual DC Servo Motor Module.................................................................................... 29
General Description ...................................................................................... 29
Module Configuration .................................................................................... 30
Rear Panel Pin Out ....................................................................................... 31
73006057 ...................................................................................................................... 32
Focus Motor Module .................................................................................................. 32
General Description ...................................................................................... 32
Module Configuration .................................................................................... 33

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Absolute Encoder Setup................................................................................ 34
Rear Panel Pin Out ....................................................................................... 36
73006060 ...................................................................................................................... 37
Digital/Analog Module................................................................................................ 37
General Description ...................................................................................... 37
Module Configuration .................................................................................... 38
Rear Panel Pin Out ....................................................................................... 39
73006063 ...................................................................................................................... 40
Piezo Module ........................................................................................................... 40
General Description ...................................................................................... 40
Module Configuration .................................................................................... 41
Rear Panel Pin Out ....................................................................................... 42
73006068 ...................................................................................................................... 43
4-Shutter Controller Module....................................................................................... 43
General Description ...................................................................................... 43
Module Configuration .................................................................................... 44
Rear Panel Pin Out ....................................................................................... 45
73006080 ...................................................................................................................... 46
Stepper Motor Filter/Shutter Module.......................................................................... 46
General Description ...................................................................................... 46
Module Configuration .................................................................................... 47
Triggering Options......................................................................................... 48
Front Panel Control Functions....................................................................... 48
Rear Panel Connections ............................................................................... 48
73006081 ...................................................................................................................... 49
DC Motor Filter/Shutter Module ................................................................................. 49
General Description ...................................................................................... 49
Module Configuration .................................................................................... 50
Triggering Options......................................................................................... 51
Front Panel Control Functions....................................................................... 51
Rear Panel Connections ............................................................................... 51
Rear Panel Pin Out ....................................................................................... 51
Warranty Information..................................................................................................... 52
Warranty Time Period and Limitations....................................................................... 52
Warranty Repair Coverage ........................................................................................ 52
Application Support.................................................................................................... 52
How to Obtain Service ............................................................................................... 52
Disclaimer ........................................................................................................... 53

3
Preface
Summary
This user guide introduces you to the LEP MAC6000 Modular Automation Controller. It
will orient you to the many features and how to configure your system.
Copyright
© 2009 Ludl Electronic Products Ltd. All rights reserved.
Ludl on the internet
For further information on LEP products, please visit www.ludl.com
Safety Information
This manual contains sections on setting up the controller and installing mechanical
systems. Where applicable throughout this manual, cautions and warnings are used to
draw your attention to safety precautions that should be taken.
Customer Service
If service should be required, contact your equipment dealer or Ludl Electronic Products,
171 Brady Avenue, Hawthorne, NY 10532-2201 [phone].
By email or through our website: www.ludl.com, [email protected] or [email protected]
Responsibilities
Users and service personnel should be aware of possible hazards associated with any
mechanical system. Safety awareness and training should be provided.

4
Product Compliance
Listings and Conformance Data
The MAC 6000 system is ETL listed #3153061NYM and tested to the following standards:
EU Low Voltage Directive – Safety
CENELEC EN 61010-1
Issued:2001/03/01 Safety Requirements for Electrical Equipment for Measurement, Control, and Laboratory
Use Part 1: General Requirements -Construction Review, Testing and Report Issuance
* ETL listing - if performed concurrently with EN 61010-1
* cETL - Canada - if performed concurrently with UL 61010-1
CE EMC Directive:
BSI BS EN 61326-1 (RF Emissions and Immunity),
BSI BS EN 61000-4-2 Issue:1995/09/15 Electromagnetic Compatibility (EMC) Part 4: Testing and
Measurement Techniques Section 4.2: Electrostatic Discharge Immunity Test - Basic EMC Publication IEC
1000-4-2: 1995 -
CENELEC EN61000-4-3
Issued:2002/04/01 Electromagnetic Compatibility (EMC) Part 4-3:Testing and Measurement Techniques -
Radiated, Radio-Frequency, Electromagnetic Field Immunity Test IEC 61000-4-3: 2002 -
CENELEC EN61000-4-4
Issue:1995/01/01 Electromagnetic Compatibility (EMC) Part 4: Testing and Measurement Techniques
Section 4: Elec. Fast Transient/Burs Immunity Test Basic EMC Publication (IEC 1000-4-4 : 1995) -
CENELEC EN61000-4-5
Issue:1995/01/01 Electromagnetic Compatibility (EMC) Part 4: Testing and Measurement Techniques
Section 5: Surge Immunity Test (IEC1000-4-5 : 1995) -
CENELEC EN61000-4-6
Issue:1996/07/01 Electromagnetic Compatibility (EMC) Part 4: Testing and Measurement Techniques
Section 6: Immunity to Conducted Disturbances, Induced by Radio-Frequency Fields IEC 1000-4-6: 1996 –
CENELEC EN61000-4-8
Issue:1993/01/01 Electromagnetic Compatibility (EMC) Part 4: Testing and Measurement Techniques
Section 8: Power Frequency Magnetic Field Immunity Test - Basic EMC Publication (IEC 1000-4-8 :1993) –
CENELEC EN61000-4-11
Issue:1994/01/01 Electromagnetic Compatibility (EMC) Part 4: Testing and Measurement Techniques Section
11: Voltage Dips, Short Interruptions and Voltage Variations Immunity Tests (IEC1000-4-11:1994) -
CENELEC EN61000-3-3
Issue:1995/01/01 A1(2001) (EMC) Part 3: Limits Section 3: Limitation of Voltage Fluctuations and Flicker in
Low-Voltage Supply Systems for Equipment with Rated Current Less Than or Equal to 16 A -
* Flicker - applicable only if rated below 16amps per phase
The system is also CE compliant and has been tested extensively for compliance with
international standards for mechanical and electrical safety as well as emission and
susceptibility to EMI (electro-magnetic interference). To maintain compliance with these
standards use only LEP supplied components.

5
MAC 6000 System
The purpose of this manual is to describe the system and outline the configuration options. It
should be used in conjunction with the LEP Interface BASIC Interpreter manual and the LEP
MAC6000 Command Manual
Introduction
The MAC 6000 system is the sixth generation automation controller from LEP. Intended for use
in microscope automation systems, the system has flexible communication ports and supports a
wide variety of motor drives and I/O control devices. System configuration is simplified and more
flexible than previously possible with the earlier versions of LEP controllers. By eliminating the
limitations imposed by a fixed chassis design, the MAC 6000 controller can easily be configured
with different combinations of modules to suit various application requirements. Up to twenty
interlocking stackable MAC 6000 modules can be used with only a small sacrifice in workspace
due to the MAC6000’s compact footprint. The modular nature of the system facilitates
troubleshooting and minimizes down time since a malfunctioning module may be easily swapped
with a replacement module by the user. The system uses flash memory, which enables the
firmware to be field upgradeable.
Architecture
Each MAC 6000 controller incorporates the main power supply base module and a RS-
232/USB/Ethernet interface module. Additional MAC 6000 modules are stacked above this base
system interlocking both electrically and mechanically to the prior module. This unique
architecture allows for greater system flexibility and provides a simple user serviceable upgrade
path as application requirements vary.
Explanation of Symbols used in this Manual:
WARNING: - Refers to a hazardous condition explained later in this manual.
PINCH POINT: - Refers to locations where user should use caution to avoid personal injury

6
System Power Supply
The system power supply, P/N: 73006001, provides the power to the MAC 6000 bus. The
MAC 6000 system uses +24V main system power supply. Regulators on the system
interface P/N: 73006042 generate +7V, +5v, ±15v and +3.3v.
The following table is a reference for which supplies are most commonly used internally
and for what function:
VOLTAGE WHERE USED
+5v Microprocessors, TTL logic
+3.3v Microprocessors and support devices
+7v Stepper motor standby (at rest) power
±15v Analog electronics
+24v Motor drive power & System Power
The front panel of the system interface module has green indicating LEDs showing the
presence of the 24v and 5v. These LEDs provide a trouble-shooting aid as there is no
normal condition where any of the LEDs should not be lit.

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Fuses
There are no user serviceable components in the 73006001. Refer all service to LEP
if a fault is determined.
WARNING: Main voltage is present inside this module.
The MAC 6000 has a single fuse integrated into the switching power supply within the
base module. This is not a user serviceable component. In the unlikely event of a
switching power supply failure, the base module would need to be serviced by LEP.
Fuses used in application modules
Warning – All replaceable fuses must be replaced with same type as given in following
table. Individual modules are safety fused as follows:
Module # Module Name Fuse qty Fuse type Location Fuse Mfr. Function
73006050 Stepper Motor Drive 1 452
003.MRL
F2 Littlefuse Nano
series 3 Amp
Motor drive
protection
73006054 Dual Microstepping Motor Drive 2 452
003.MRL
F2,3 Littlefuse Nano
series 3 Amp
Motor drive
protection
73006055 Dual DC Motor Drive 2 452
005.MRL
F2,3 Littlefuse Nano
series 5 Amp
Motor drive
protection
73006056 Focus Motor Drive 1 452
003.MRL
F2 Littlefuse Nano
series 3 Amp
Motor drive
protection
73006057 Absolute Focus Motor Drive 1 452
003.MRL
F2 Littlefuse Nano
series 3 Amp
Motor drive
protection
73006068 Shutter Drive 4 452
001.MRL
F1,2,3,4 Littlefuse Nano
series 1 Amp
Shutter drive
protection
73006080 Stepper Filter wheel Drive 2 452
003.MRL
F2,3 Littlefuse Nano
series 3 Amp
Motor drive
protection
73006080 Stepper Filter wheel Drive 3 452
001.MRL
F4,5,6 Littlefuse Nano
series 1 Amp
Shutter drive
protection
73006081 DC Filter wheel Drive 2 452
005.MRL
F2,3 Littlefuse Nano
series 5 Amp
Motor drive
protection
73006081 DC Filter wheel Drive 3 452
001.MRL
F4,5,6 Littlefuse Nano
series 1 Amp
Shutter drive
protection
Input Power Requirement and Ratings
The MAC 6000 controller automatically switches to accommodate any of the international
supply voltages. Simply connect the proper line cord to the rear-panel receptacle and
switch it on. Allowable range is 90-260 Volts AC, 50-60 Hz. Internal fusing is 3.15 Amp,
time delay. Rated input power is 200Watts maximum.
Mounting considerations:
This system is intended for indoor/laboratory use in a dry environment.
The controller, as provided, is for tabletop use. It must be placed such that there is at
least 2” of clearance on sides and rear for unrestricted cooling airflow. If mounted within a
cabinet, ambient air available for cooling controller should be below 25C.
If equipment is used in a manner not specified by the manufacturer, the protection
provided by the equipment may be impaired.

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Installing and Removing Modules
Note: An anti-static work surface is recommended. Uninstalled modules
should be kept in anti-static bags until mounted.
The modular nature of the MAC6000 controller makes it easy to add or remove modules
to configure for a particular task. Only the Philips screws should be used for this
operation. The Torx screws are part of the module assembly and should not be touched.
To Remove a Module- Make sure that main power switch is OFF. Loosen the two Philips
head screws on the rear panel immediately below the module to be removed. Lift the rear
of the module away from the module below it (a slot is provided for a pry tool if needed).
The module should now be able to be removed.
WARNING: If removing the system interface PN:73006042 from the power base
previously described, note the two cables between the ‘6042 and ‘6001. The fan
connector on the underside of the ‘6042 is keyed and the +24V power connector is offset
2 pins from the end of the switching power supply. Note positions and re-install in similar
manner. Ensure that wires stay clear of cooling fan and are not pinched between modules
when modules are locked back into place.
To Install a Module- Make sure that the main power switch is OFF & power cable is
disconnected. Ensure that the Philips locking screws are loosened to allow for insertion.
Place module to be inserted on top of existing modules. Keep the rear of the new module
slightly elevated and slide the front side forward (starting from about ½” behind front panel
of bottom module. This will engage the dovetail joint that holds the front panels locked
against one another. Next, firmly push down the rear panel to engage the bus connector.
Verify the module is seated properly. Tighten the rear panel Philips screws and verify that
there is no vertical movement if the front panels are pulled.
Note: The system will not meet RF and ESD standards if the locking screws are not
tightened.

9

10
System Setup
As this is a modular system, setup varies with purchased options. In general though, the system
includes the MAC6000 controller, joystick, microscope stage and/or filter wheel.
Cable connections are made to the rear of the controller unit. ‘Quick-lock’ connector latches are
used on all of the 15 circuit D-subminiature connectors. In order to mate a Quick-lock connector,
press firmly into place. You should hear clicks as they snap into place. A tug on the connector
shell will confirm that the locks are snapped into place. To remove connector, squeeze the two
releases on the sides of the shell and pull.
Mount stage and/or filter wheel to user system as required.
Users and/or service personnel must be properly trained in safe installation of motorized
devices.
PINCH POINT: - Please note any locations where user should use caution to avoid.
Most commonly these are between the stage and microscope column. Users and service
personnel should be advised of these locations.
Attach joystick, stage and filter wheel cables as marked
Attach one or more communication interface cables as required [RS-232, USB or Ethernet]
Default RS-232 communication is 9600, N, 8, 2
Attach power cord to mains power and turn on power switch on front panel.
Front panel LEDs for 24v and 5v should come on and airflow should be felt from the rear
mounted cooling fan.
Any stepper motors attached should attempt to calibrate. Stages will first make a small jog to
determine whether an encoder is present or not and if so, determine a ratio. Filter wheels will
rotate to the #1 position.
When system is idle, all BUSY LEDs will be off.
Basic operation can be verified with joystick to move the stage. A button on top of the joystick
stalk is normally released for fine control and pressed for high speed movement. Limit switches
at the ends of travel will light corresponding LEDs on the Motor Drive module.
Operation of the filter wheel can be confirmed by pressing the front panel toggle switches on the
filter wheel control module in the controller. Movement of one position up or down is done with
the ‘wheel’ toggle (momentary up/down). Shutters, if installed in a filter wheel or external can be
activated by ‘shutter’ switches. A corresponding RED LED will show that the shutter is activated
(open).

11
The LEP IDE software tool (or any suitable terminal emulator) can be used to verify
communications. Once started, it will try to open the default serial port. If no communication is
detected, communication setup from the pull-down menu should be run. Once communication is
established, type VER*<enter> and a list of installed modules with their firmware version is listed
to screen.
Rear Panel Connectors
All connections to the MAC 6000 are made at the rear of each module. Each connector is
clearly labeled as to its designated function. Cable connections should be completed prior to
power-up of the controller. To ensure proper connections, always tighten screw lock connectors
and snap the Quick-lock connectors into locked position.
Line Cord
The line cord connection is a standard IEC receptacle. The MAC 6000 switches automatically to
accommodate any standard international line voltage and frequency.
Host Computer Interface Cables
Every MAC 6000 system is supplied with a standard RS232, USB and Ethernet cable, which
interconnects from the rear panel of the controller to an available host computer.
RS232
The RS232 cable (p/n: 73A00031) is can be connected from the 9-pin female connector, labeled
RS232, to the host serial port. No hardware handshaking is provided.
USB
A USB 2.0 Type A/B cable (p/n: 73A00056) can be connected from the USB port, labeled USB,
on the rear of the controller to the host computer USB port. Provided on the MAC6000
Application CD (p/n: 99P015) are the necessary USB drivers.
ETHERNET
A crossover Ethernet cable (p/n: 73A00067) can be connected from the Ethernet port, labeled
ETHERNET, on the rear of the controller to the host computer Ethernet port. Connect to the
controller via a web browser from the address, http://192.168.100.1
The following screen will be displayed.

12

13
MAC6000 Device Configuration
Each module can be configured via the Ethernet port for user specific configuration, by simply
clicking the DEVICE CONFIGURE or CFG button.
See specific modules for device configuration.

14
MAC6000 Joysticks
The joystick provides manual control of a motor for either an XY stage or focus control.
The standard LEP joystick, p/n 73006362, features an XY analog joystick with a rotary
digipot on the side for digital control of a third axis. There are several other joysticks that
may be specified with your system. The following table describes the joysticks available
for the MAC 6000 system.
Part Number Description
73006360 XY joystick
73006361 XYZ joystick
73006362 XY with integrated digipot
73006365 Digipot only
73006366 XYZ joystick with integrated digipot
73006367 XY joystick with 4 user configurable buttons
73006369 XYZ joystick with 4 user configurable buttons

15
Upon power-up, the MAC 6000 system performs an automatic calibration. of the joystick.
First the system checks for the presence of the joystick. If a joystick is connected, it reads
the current position and assigns it the zero position, any deflection from this angle will
cause an axis to move. A common problem is that the joystick is slightly deflected on
power-up and then released. This makes the stage drift slowly on its own and may cause
asymmetrical speed response based on equal deflection of the joystick.
Pushing the XY stick will cause the stage to move in the desired direction. The stage
movement velocity is exponential with deflection angle of the joystick. This gives very fine
accurate control with small deflections, but also provides for higher speeds during larger
movements. The actual direction of movement can be configured on the motor controller
module. Default joystick speeds are set to be usable in all configurations of resolution;
however, the joystick speed can be changed by host software if desired.
High Speed Slew Button
Pressing the button located on the top of the XY stick forces a higher speed and allows
quicker long distance moves.
Digipot
The digipot is a digital input device that is similar to a single axis trackball or mouse. The
input is incremental. This means that the movement is directly coupled to the input. For
example, if one turn of the knob turns the motor a half turn, then the motor will always turn
in this ratio whenever the knob is turned regardless of the speed at which the knob is
turned.
Digipot Gain
The digipot gain is set by the three position toggle switch mounted on the back of the
joystick housing. This is used for fine, medium or coarse type movements of the focus
drive.
User Buttons
There are two (four on the 73006367 or 73006369) user defined buttons available on the
LEP joystick. The buttons have no direct function on the MAC6000 system other than the
fact that host software can read them via the interface port. A typical application would be
the host software executing some type of subroutine based on the switch status.
Centering Spring Control
The two sliders arranged in line with the X and Y axis of the joystick control the self-
centering function of the joystick. Normally these sliders should be left in the engaged
position. If they become loose, the stage may creep along slowly and it may appear that
there is something wrong.

16
BioPrecision 2 XY Stage
BioPrecision 2 stages utilize zero-backlash ballscrews and ground crossed-roller bearing
ways to meet the demanding requirements of high precision microscopy. The resolution
of each stage is dependent on two factors: the pitch of the ballscrew divided by the
microstepping resolution or encoder resolution. Unless otherwise specified, upright
BioPrecision 2(4x3 and 4x4.) stages have a default resolution equal to .1 microns/step
whereas inverted BioPrecision stages have a default resolution of .2 microns/step. The
BioPrecision 2 linear encoded stage resolution is dependent on the type of scale installed.
The suffix on the p/n: denotes the scales resolution (-LE is 100nm; -LE2 is 50nm). The X
and Y axis on the stage are electrically equivalent which makes a valuable
troubleshooting aid since the user may swap cables from one axis to the other to discern
if a malfunction is specific to the stage axis or the
controller. This simple test can point one in the
right direction in the event of problems. The
universal design of the BioPrecision 2 stage
allows simple integration with most microscopes
using interchangeable stage adapters; however,
some microscope configurations cause
interference with the full travel of the stage. One
of the most critical steps during installation of the
stage is adjustment of the stage travel limits.
Depending on the microscope model,
adjustment of the limits is required to
avoid interference from either the
microscope stand or expensive optics.
The technique to accomplish this is
summarized in this simple procedure:
Mount the specimen to the stage and
focus the optics near the center of stage
travel.
Slowly move the stage with the joystick
to a point where interference occurs,
either with the optics or the microscope stand.
Adjust the stage limits for the direction of travel.
Repeat for the other axes and directions of travel.
Once the limits are properly set, the stage insert plate should be leveled to maintain focus
over the travel range. The leveling is accomplished using the set screws located at the
edge of the insert plate. It is nearly impossible to maintain perfect focus over the entire
travel (particularly with high power objectives), however, a good rule of thumb is there
should be no need for more adjustment than a quarter turn of the fine focus knob.

17
BioPoint 2 XY Stage
All LEP BioPoint 2 motorized XY stages consist of an X and Y axis stepper motor driving
a Teflon coated leadscrew drive system (default resolution is .05 microns/step). The
BioPoint 2 stage is controlled with a dual axis drive module and interconnected to the XY
stage with a single 15-pin cable. All stages have electronic and mechanical limits on
travel. The limit switches are an electronic protection to prevent the system from
encountering the mechanical limits which would cause
the stage to stall, lose position and perhaps cause
damage to expensive optics. The limit switches can also
be used for location of the home position of the stage
provided the software does not allow the stage to strike
the switches at a high rate of speed. The universal
design of the BioPoint 2 stage allows simple integration
with most microscopes using interchangeable adapters;
however, some microscope configurations cause
interference with the full travel of the stage.
Therefore, the Y axis of the BioPoint 2 upright stage is shipped with removable travel limiters. To
enable the full 50mm Y axis travel it is necessary to remove the limiters using a #1 Phillips head
screwdriver. Figure 6 shows the two locations for the 25mm and 50mm travel limiters. Remove
the two travel limiter and relocate them to the two outer locations.
PINCH POINT: - Please note any locations where user should use caution to avoid.
Most commonly these are between the stage and microscope column. Users and service
personnel should be advised of these locations.

18
Focus Control
LEP’s standard motorized focus control adds another added layer of automation to a microscope
by simply attaching a supplied adapter ring (adapter ring microscope make and model
dependant) to the course knob of the microscope. The microscope fine focus is then coupled to
the LEP focus motor shaft. Default resolution is equal to the distance traveled by 1 revolution of
the fine focus divided by the microstepping resolution (default is 10,000 microsteps).
A red button on the focus motor
also allows the user to disable
the focus motor power, which
allows for manual movement.
For added resolution and
repeatability a 50nm linear
encoder can be added to the
system to provide an even
higher resolution feedback.
A LEP Piezo Z-Stage Insert can
also added to inverted stages.
The Piezo insert allow rapid,
precise focus control. The
MAC6000 provides full 16-bit
resolution with digital positional
feedback.
The piezo insert can controller
via software, external sync
input or through a manual input
device.

19
Filter wheels
LEP’s filter wheels are DC motor driven with encoder feedback. The excitation filter wheels
have the versatility to use either 25mm or 32mm filters, 6 or 10 position options, single or dual
format and an integrated electronic shutter. Emission filter wheels come with a 6 position 25mm
straight or at a 5tilt. All filter wheels have the same mounting patterns, so wheels can be
moved from microscope to microscope with the simple change of a mounting flange.
The MAC6000 controller can control up to two filter wheel and three shutters. A shutter
controller module is also available to control up to four 30mm electronic shutters.