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.
PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 2: Introduction

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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
PCS-6000 Series Motorized Patch-Clamp Micromanipulator Chapter 3: Description

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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