THORLABS PCS-6000 Series User manual

PCS-6000 Series
Motorized Patch-Clamp
Micromanipulator
User Guide

Table of Contents
Chapter 1 Warning Symbols 1
Chapter 2 Introduction 2
2.1. Overview 2
2.2. Major Components 3
2.2.1. Micromanipulator Assembly 3
2.2.2. Axis Control Unit 3
2.2.3. Joystick 3
2.2.4. Control Unit 3
Chapter 3 Description 4
3.1. Mechanisms of Motion 4
3.1.1. Coarse Motion 4
3.1.2. Fine Motion 4
3.2. Configurations 5
3.2.1. Axes of Motion 5
3.2.2. Right and Left Configurations 5
3.2.3. Manipulator Configurations 5
Chapter 4 Orientation 10
4.1. Control Unit 10
4.1.1. Front Panel 10
4.2. Motor Control Board 10
4.2.1. Servo Motor Control Memory Options 11
4.3. Piezo Control Board 11
4.4. Rear Panel 12
4.4.1. Operating Voltage 12
4.4.2. Chassis Ground 12
PCS-6000 Series Motorized Patch-Clamp Micromanipulator

4.4.3. Joystick and ACU Connections 12
4.5. Axis Control Unit 12
4.6. Joystick 13
Chapter 5 Installation 15
5.1. Unpacking the Unit 15
5.2. Removing the Shipping Clips 15
5.3. Mounting the Manipulator 15
5.4. Connecting the Cables 16
5.5. Mounting a Headstage and Pipette 17
Chapter 6 Operation 18
6.1. Powering Up and Checking for Motor Motion 18
6.2. Positioning Under the Microscope and Checking
for Piezo Motion 18
6.3. Adjusting the Approach Axis Angle 19
6.4. Setting the Adjustable Stop 20
6.5. Operational Hints 21
6.5.1. Joystick Control 21
6.5.2. Piezo Control 21
6.5.3. Single Stepping 21
6.5.4. Drift Problems 21
Chapter 7 Maintenance 22
7.1. Overview of Maintenance Required 22
7.1.1. Maintenance Schedule 22
7.1.2. Lubricating Motor Shafts 23
7.1.3. Electronic Maintenance 26
7.1.4. Replacing the Fuse(s) 27
PCS-6000 Series Motorized Patch-Clamp Micromanipulator

7.2. Adjusting the Friction of the ACU Knobs 27
7.3. Adjusting the Friction and Eliminating Lateral Play
in the Manual Adjustment Knobs 28
7.4. Troubleshooting 30
Chapter 8 Specifications 34
Chapter 9 Regulatory 36
9.1. Waste Treatment is Your Own Responsibility 36
9.2. Ecological Background 36
Chapter 10 Warranty 37
Chapter 11 Contacts 38
PCS-6000 Series Motorized Patch-Clamp Micromanipulator

Rev B,January 10, 2020 Page 1
Chapter 1 Warning Symbols
The following safety related symbols are used on this product and throughout
this manual.
Symbol Description
Safety Ground
Motor Direction Switch
Chassis Ground
Caution: Risk of Electric Shock. This unit contains high
voltage components. It is recommended that only qualified
technical personnel perform testing and repairs.
Caution: Risk of Danger. Should this equipment be used in a
manner not specified by Thorlabs, Inc., the protection
provided by the equipment may be impaired. Always follow
the operating instructions as indicated! IEC Class I Product:
Use only the 3-prong AC power cord supplied with this
equipment. Always insert the power cord into an electrical
outlet provided with a protective earth contact.
Caution: Indicates a potentially hazardous situation that, if
not avoided, may result in component damage. Do not
proceed unless you understand and meet the required
conditions.
Input/Output Control Signal
Fuses- User Replaceable
PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 1: Warning Symbols

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PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 2: Introduction
Chapter 2 Introduction
Thank you for purchasing the PCS-6000 Series Motorized Patch-Clamp Micro-
manipulator. This manual intends to provide in-depth information on the oper-
ation and use of the PCS-6000.
2.1. Overview
Burleigh PCS-6000 Series Motorized Patch-Clamp Micromanipulators from
Thorlabs, Inc. are ultra-stable, high-resolution positioning systems designed for
patch clamp recording. Thorlabs, Inc. has incorporated more than 20 years of
experience and knowledge in piezoelectric actuators, precision mechanics, and
electronic control to create a system that maximizes your research productivity.
The Burleigh Micromanipulator Assembly will be mounted on or next to your
microscope. Your headstage and pipette should be mounted to the Burleigh
micromanipulator assembly such that the end of the pipette is in the field of view
of the microscope. The Burleigh PCS-6000 provides rapid motorized pos-
itioning, with a travel range of about 250 mm and steps as small as 5 µm. After
preliminary positioning with the motors, fine positioning is obtained by using
piezo actuators, with 150 µm or 300 µm of travel, Special rotational adjustments
are incorporated to allow optimum pipette working angles and easy pipette
exchange. The Burleigh PCS-6000 is modular and allows numerous con-
figurations so that it can be customized for each user.
The motor is controlled by a joystick that is separate and distinct from the fine
motion control. The farther the joystick is moved from its rest position, the faster
the stage moves. The fastest speed attainable is 2 mm/second. The fine motion
of the piezo is controlled by the position of a large knob on the axis control unit
(ACU). The knobs can be turned through 1080° (three revolutions) to sweep the
entire range of the piezo movement, either 150 or 300 μm. When the knob is left
in a specific position, motion stops.
While the Burleigh PCS-6000 was designed for patch clamp recording, the char-
acteristics of the instrument are useful for many other applications requiring
high-precision positioning capabilities.
Figure 2–1 PCS-6000 Series Motorized Patch-Clamp Micromanipulator

Rev B,January 10, 2020 Page 3
2.2. Major Components
2.2.1. Micromanipulator Assembly
The micromanipulator assembly consists of up to four linear stages and
two rotary pivot stages assembled with a 90° bracket. Depending on the
configuration, the linear stages can have no piezo, a 150 μm piezo or a
300 μm piezo, no long-travel adjustment mechanism, a manual long
travel adjustment screw or a motor.
2.2.2. Axis Control Unit
The Axis Control Unit (ACU) is a rectangular box with large rotary knobs
that control the position of the piezo actuators. Normally, it is placed next
to the microscope.
2.2.3. Joystick
The joystick controls the speed and direction of the servo motors. The
joystick assembly also includes switches to activate specific functions.
2.2.4. Control Unit
The control unit contains the electronics that drive the piezo and the
servo motors.
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PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 3: Description
Chapter 3 Description
3.1. Mechanisms of Motion
PCS-6000 linear stages integrate piezo-flexure assemblies inside crossed roller
bearing linear stages with a stepping motor for coarse motion. The joystick is
used to control the coarse motion. A large knob on the Axis Control Unit ( ACU)
controls the fine positioning obtained by use of a piezo. Two rotary pivot stages
are incorporated into the manipulator to allow optimum adjustment of the pipette
working angle and easy pipette exchange.
3.1.1. Coarse Motion
Coarse motion is provided by a stepping (servo) motor attached to the linear
translation stage. The motor is controlled by a joystick that has a “dead zone” in
the rest position. This is a safety feature so that a small accidental touch does
not cause motion. The farther away from the neutral position the joystick is
moved, the faster the motor moves the stages. The direction of motion of the
motor is controlled by the direction of the joystick motion. It is possible to move
along a diagonal line if the joystick is moved along a diagonal.
With practice, an operator can learn to position the pipette within ~15 μm of the
target with the coarse motion provided by the motor.
3.1.2. Fine Motion
The piezo-flexure stages integrated into the linear stage provide fine motion.
These stages contain a piezoelectric ceramic element that expands when a
voltage is applied across it. The piezoelectric element is mounted in a specially
machined metal body that provides amplification of the motion.
Figure 3–1 Section View of Stage and Piezo Showing the Additive Nature
The voltage applied to the piezoelectric ceramic element is controlled by the
position of the large knob on the ACU. The large knob is connected to a three-
turn potentiometer (variable resistor). The expansion of the piezoelectric ele-
ment is determined solely by the position of the knob. Thus, the motion of the
stage follows the position of the knob. The motion is instantaneous and stops as
soon as the knob is left in a single position.

Rev B,January 10, 2020 Page 5
3.2. Configurations
The PCS-6000 is a modular system. Different configurations are available for
the linear stages. Stages normally are configured with a motor and either 150 or
300 µm piezos. Alternatives to the normal configurations are those that have
coarse motion provided by a manual adjusting screw or no coarse motion at all.
It is possible to get coarse motion only with no fine piezo motion.
3.2.1. Axes of Motion
The four axes correspond to the following motions:
Axis Number Axis Name Motion Type
1 X Front to back from operator's perspective
2 Y Left and right from operator's perspective
3 Z Vertical (up and down)
4 Approach Angled (adjustable) axis that the headstage attaches to
Figure 3–2 Graphic Representation of Axes
3.2.2. Right and Left Configurations
A right-hand configuration is used when the manipulator is placed on the right of
the microscope. The manipulator is assembled such that the approach axis pro-
jects to the left and the rotary stage locking knobs are conveniently located on
the outboard (right) side of the manipulator. The left-hand configuration is essen-
tially a mirror image of the right hand.
3.2.3. Manipulator Configurations
PCS-6100
This configuration has three orthogonal axes:
●Axis 1: Front to back
●Axis 2: Left to right
●Axis 3: Vertical
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PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 3: Description
Axis 1 and Axis 2 have manual knobs only with no piezo elements and no
motors. Axis 3 has a motor and a 150 μm piezo. It is available in both right and
left handed configurations. In addition, there are two rotary stages – one that
rotates in the horizontal plane and one in the vertical plane.
Figure 3–3 PCS-6100
PCS-6200
This configuration has three axes:
●Axis 1: Front to back
●Axis 3: Vertical
●Axis 4: Approach
All three axes have motorized linear stages with 150 μm piezo elements. In addi-
tion, there are two rotary stages- one that rotates in the horizontal plane and one
in the vertical plane.
Figure 3–4 PCS-6200

Rev B,January 10, 2020 Page 7
PCS-6300
This configuration has three axes:
●Axis 1: Front to back
●Axis 3: Vertical
●Axis 4: Approach
All three axes have motorized linear stages. Axis 1 and Axis 3 have 150 μm
piezo elements while Axis 4 has 300 μm piezo elements. In addition, there are
two rotary stages- one that rotates in the horizontal plane and on in the vertical
plane.
Figure 3–5 PCS-6300
PCS-6400
This configuration has three axes:
●Axis 1: Front to back
●Axis 3: Vertical
●Axis 4: Approach
All three axes have motorized linear stages with 300 μm piezo elements. In addi-
tion, there are two rotary stages- one that rotates in the horizontal plane and one
in the vertical plane.
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PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 3: Description
Figure 3–6 PCS-6400
PCS-6500
This configuration has four axes:
●Axis 1: Front to back
●Axis 2: Left to right
●Axis 3: Vertical
●Axis 4: Approach
Axis 1 and Axis 2 have motorized linear stages only. Axis 3 has a motor and a
150 μm piezo element. Axis 4 has a 150 μm piezo element with no coarse
motion.
Figure 3–7 PCS-6500

Rev B,January 10, 2020 Page 9
Additional Configurations
Non-standard configurations are available by special order from the factory.
Their product designation is PCS6000 – (XXXX). Special order configurations
permit the combination of options to suit the exact experiment. Coarse and fine
positioning options are listed in the table below.
Coarse Positioning Options Fine Positioning Options
Motorized 300 µm
Manual 150 µm
Fixed at Center No Fine Positioning
Rotary Pivot Stage
Each PCS-6000 manipulator comes with two rotary pivot stages with adjustable
stop mechanisms (Figure 3-8). One is on the very bottom of the manipulator and
allows for rotation in the X – Y plane (parallel to Z axis). The other is mounted to
the moving portion of the vertical axis and allows for rotation in the Y – Z plane
(parallel to the X axis). The rotary pivot stages enable the operator to rotate
away to perform a task such as replace a pipette and then return very close to
the original set point.
Figure 3–8 Rotary Pivot Stage with Adjustable Stop Mechanism
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PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 4: Orientation
Chapter 4 Orientation
4.1. Control Unit
The control unit supplies the drive signal to both the piezo actuators and the
drive motors. The drive board for the motors is on the top layer. The drive board
for the piezo actuators is on the bottom.
4.1.1. Front Panel
Figure 4–1 Front Panel of Control Unit
4.2. Motor Control Board
There are four receptacles on the motor control board. The motor drive circuits
are identical in all four channels. The motors should be plugged into their cor-
responding receptacle. The motors are stepping motors with a base micro-step
of 1.6 μm. The direction of the motor travel can be reversed by the small toggle
switch next to the receptacle.
The motor control board has two lights. The green "Power" light indicates that
the power to the board is on and that the board has completed its power on
routine. The yellow "Move" light is lit only when one or more motors are being
moved.
When the joystick is displaced from its rest position, the microprocessor on the
motor board provides the proper current drive waveforms to the motor causing it
to move in the direction indicated by the joystick deflection. Within about ½ a
second after the joystick is returned to its rest position, the current to the motor
shuts down to a very minute holding current. This prevents the loss of position.
If an axis is commanded to move beyond its physical limits in either direction,
the axis motion stops but the motor continues to turn. This is called a “stall” con-
dition and does not harm the motor as long as the motor does not remain in the
stalled condition for a significant period of time (>15 seconds). Stall can be
detected when the "Move" light is on but no motion is produced. The motor gen-
erates a clicking sound while in stall.

Rev B,January 10, 2020 Page 11
Several configurations of the PCS-6000 have less than four motors. In these
instances, there are unused motor receptacles that may be left untouched as
they are inactive without the presence of a motor.
4.2.1. Servo Motor Control Memory Options
The control unit is available with two different memory options:
1. The "T" type configuration provides two memory presets which are
functional on the manipulator stage connected to "Motor 2" input on the
controller front panel. This is typically used on the manipulator for the
Approach axis. This controller setting can be verified by two audible
beeps when the controller is powered up.
2. The "C" type configuration provides 2 memory presets which are
functional on the manipulator stage connected to “Motor 3” input on the
controller front panel. This is typically used on the manipulator for the Z
(vertical) axis. This controller setting can be verified by hearing three
audible beeps when the controller is powered up.
CAUTION
Never connect or disconnect the cable when the unit is on.
This could cause an arc and damage to the control unit.
4.3. Piezo Control Board
The piezo control board is the lower board in the PCS-6000 control chassis. It
has four receptacles for piezo units. Depending on the position of the knob on
the ACU box, a voltage between 0 and 60 V DC is applied to the piezo unit.
Several configurations of the PCS-6000 have less than four piezo units. In these
instances, there are unused piezo receptacles.
WARNING
Dangerous voltage may be present. Do not plug anything into the piezo
receptacle when the unit is turned on. Ensure the unit is turned off before
connecting any piezo cables.
PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 4: Orientation

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PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 4: Orientation
4.4. Rear Panel
Figure 4–2 Rear Panel of Control Unit
4.4.1. Operating Voltage
The unit contains a universal power supply. No changes are needed to switch
from 110V AC 60 Hz to another allowed voltage and frequency (For details see
Chapter 8: Specifications).
The power switch uses the IEC standard symbols to indicate power condition - |
is ON, and O is off. (See Chapter 7, Maintenance).
4.4.2. Chassis Ground
The three-way binding post is part of the chassis ground to the PCS-6000. The
chassis of the PCS-6000 is connected to the safety ground in the line cord.
4.4.3. Joystick and ACU Connections
The joystick and the ACU plug into their respective connections on the back of
the unit.
4.5. Axis Control Unit
The Axis Control Unit (ACU) allows you to adjust the piezo elements for fine pos-
itioning. The ACU connects to the rear of the PCS-6000 control unit via a nine-
pin connector. Depending on the model, it can have as many as four control
knobs. Each knob is attached to a three-turn potentiometer.
The resolution of each potentiometer is approximately 0.04% (one part in 2500).
The position resolution of each axis is the maximum travel of the piezo motion
divided by 2500. Therefore, a 300 µm, stage has a 120 nm of resolution, and a
150 µm stage has 60 nm of resolution.

Rev B,January 10, 2020 Page 13
Figure 4–3 Front View of Axis Control Unit
There is a number on each face of the ACU that corresponds to the axis that the
knob controls. The piezo cables from the manipulator should be plugged into
the corresponding receptacle. If desired, the cables can be interchanged when
connecting them to the control unit so that a specific knob can control any stage.
It is also possible to adjust the resistance to turning of the large knob to enhance
the tactile feedback (refer to Section 7.2: Adjusting the Friction of the ACU
Knobs).
4.6. Joystick
Figure 4–4 Joystick-Servo Mode Control
PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 4: Orientation

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PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 4: Orientation
The joystick is used to control the servo motors to provide coarse positioning
and has three axes of motion: front to back (X-axis), left to right (Y-axis) and rotat-
ing the knob right to left (Z or approach axis).
The joystick controller consists of a three axis control, a speed control selector,
and two separate memory position buttons to control position on either the Z or
approach axes. An additional push button on the end of the joystick control knob
toggles between high and low speed. Speed change is accomplished by press-
ing and holding down the button. One beep indicates low speed has been selec-
ted, and two beeps indicate that high speed has been selected. The vertical or
approach axis is controlled by rotating the large knob on the joystick to the right
or left.
Moving the joystick results in “velocity control.” The farther from the rest position
the joystick moves, the faster the motor runs. There is an intentional dead zone
when the joystick is left alone. This dead zone serves as a buffer in which a
slight bump of the joystick does not result in unwanted movement. The direction
of travel of any axis can be reversed with respect to the joystick motion by chan-
ging the position of the mini toggle switch (marked with the double arrow) next
to each motor cable connection on the front panel of the controller.

Rev B,January 10, 2020 Page 15
Chapter 5 Installation
5.1. Unpacking the Unit
Carefully unpack the unit and inspect for shipping damage. Severe damage to
the packaging may indicate component damage. Notify your shipping/receiving
department immediately.
5.2. Removing the Shipping Clips
To prevent damage to the stages and piezo during shipment, the stage top and
bottom are displaced from their normal positions with shipping clips. Due to ten-
sions, these shipping clips must be removed carefully in order to prevent dam-
age. Follow the steps below to remove the clips:
1. Use the 5/64" hex driver (red handle) to remove the screw going through
the thicker portion of the clip.
Figure 5–1 Removing the Bottom Screw
2. Gently push the moveable portion of the stage to create a ~1 mm gap
between the thicker portion of the clip and the stationary stage member.
Figure 5–2 Creating the Gap
3. Remove the top screw and gently allow the stage to slide into its rest
position.
4. Repeat steps 1-3 for the remaining shipping clips.
5.3. Mounting the Manipulator
1. Locate the rotation plate adapter and determine the approximate
location where it is to be mounted.
PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 5: Installation

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PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 5: Installation
2. If the mounting surface has a grid of 1/4-20 tapped holes, use the
hardware provided to mount the rotation plate adapter to the mounting
surface.
3. If the mounting surface has a grid of through holes or if a through hole
needs to be made, anchor the rotation plate adapter with a 1/4-20 screw
coming up through the mounting surface and into the center tapped hole
of the rotation plate adapter.
4. Loosen the two set screws on the locking ring of both the rotary pivot
stages.
Figure 5–3 Rotary Pivot Stage
5. Fasten the manipulator to the rotation plate adapter using 1/4" 4-40
socket headcap screw through the corners of the bottom plate of the
rotary pivot stage.
5.4. Connecting the Cables
1. Verify that the PCS-6000 control unit is turned off and unplugged.
2. Position the control unit in the appropriate location (usually on the
outside of the Faraday cage and separate from the vibration isolation
table). Do not plug in yet.
3. Plug the cables from the manipulator into the front panel of the control
unit. Cables are labeled with numerals that correspond to the location in
the front panel (note that one or more positions may be empty).
CAUTION
Anchor the manipulator cables to the vibration
isolation table so that disruption to the cables does not
couple directly to the manipulator. Avoid over-
tightening cables to prevent tension on the stages
when they are moved or when the manipulator rotates.
4. If desired, connect ground wires to the binding posts provided (back of
the control unit and the support gusset of the manipulator).
5. Adjust the stops on the rotary stage that is attached to the vertical stage
(Axis 3). See instructions above for details.