TransferMan NK 2 - Meyer Instruments · 61 The Eppendorf TransferMan® NK 2 micromanipulator was...

TransferMan NK 2

Bedienungsanleitung · Operating Manual · Mode d’emploiIstruzioni d’impiego · Manual de Instrucciones

®

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Bedienungsanleitung. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Operating Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Mode d’emploi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Istruzioni d’impiego . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Manual de Instrucciones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

EG-Konformitätserklärung. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148EC Conformity DeclarationDéclaration de conformitéDichiarazione di conformità CEDeclaratión de conformidad CEE

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Nachdruck und Vervielfältigung – auch auszugsweise – nur mit Genehmigung.No part of this publication may be reproduced without the prior permission of the copyright owner.Toute reproduction, complète ou partielle et quel que soit le proèdè est interdiete, sauf autorisation expresse de notre partRistampa e riproduzione – anche di estratti – solo con autorizzazione.Reimpresión y copia – incluso parciales – sólo con autorización.

Copyright

©

2005 Eppendorf AG, Hamburgeppendorf is a registered trademark. Printed in Germany

Inhalt / Contents / Sommaire / Indice / Indice

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1 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

2 Safety precautions and application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622.1 Hazards when unpacking and other information and instructions . . . . . . . . . . . . . . 64

3 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 653.1 Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 653.2 Module unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 653.3 Control board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 663.3.1 Tool movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 673.3.2 Keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 673.3.3 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704.1 Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704.2 Assembling the module unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714.2.1 Components of the module unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714.2.2 Straight-line guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714.2.3 Assembling the X module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 724.2.4 Assembling the X head . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 734.2.5 Assembling the hinged bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 734.3 Mounting the module on the microscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 764.3.1 Right and left side mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 764.3.2 Assembling the capillary holder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 774.3.3 Angle adjuster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 784.3.4 Height adjustment of X module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 794.3.5 Position change in X direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 794.4 Connecting cables – Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

5 User control and mode of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 815.1 First steps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 815.2 More information on the mode of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 815.2.1 Setting up the capillary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 815.2.2 Custom adaptation of the working radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 845.2.3 Adaptation of the joystick position to the position of the tool . . . . . . . . . . . . . . . . . . 855.2.4 Storing and selecting positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 855.2.5 Capillary exchange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 865.3 Use of the keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 875.3.1 Coarse/Fine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 875.3.2 Setting the radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 885.3.3 Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 895.3.4 Pos 1 / Pos 2 / Pos 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 895.3.5 Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 905.3.6 Y off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 905.3.7 Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 905.3.8 Standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 905.3.9 Joystick button. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 915.3.10 Turn wheel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

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5.4 Parameter settings via menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 915.4.1 Meanings of parameters in menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 945.4.1.1 Main menu options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 945.4.2 Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 945.4.2.1 Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 945.4.2.2 Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 955.4.2.3 Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 955.4.2.4 Install . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 965.4.2.5 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 975.5 Parameter setting via keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 985.5.1 General-Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 985.5.2 Software version polling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 985.5.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

6 Cleaning and service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1006.1 Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1006.2 Disinfection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1006.3 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

7 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

8 Technical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

9 Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

9a Ordering information for North America . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

A Appendix – MultiUser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

B Appendix – PC interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111B.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111B.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111B.3 Parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116B.4 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Contents

Cont

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The Eppendorf TransferMan® NK 2 micromanipulator was designed specially for operations requiring proportional movement of the tool. The new kinetic features are particularly well suited to Intra-Cytoplasmatic Spermatozoa Injection (ICSI), the transfer of embryonic stem cells (ES cells) in blastocysts and for other techniques requiring intuitive movement control of the tool being used.

The Eppendorf TransferMan® NK 2 micromanipulator combines the classic benefits of a mechanical system (intuitive control of tool movements) with the advantages of a precise motorised system. Its automated operation and user-friendliness mean it can also handle difficult operations quickly and accurately.

User control of the TransferMan® NK 2 micromanipulator by way of the self-explanatory keys is extremely simple. Additional functions are available for the more experienced user. User actions are assisted by the on-screen displays.

The tool directly follows the motion of the joystick. A simple selector switches between coarse and fine manipulation. Also, three working points in all three spatial coordinates (X, Y, Z) can be stored and quickly and accurately selected independently of each other by way of the button on the joystick. This enables the user to keep his hand on the joystick and his eyes on the object. A limit function protects the tool against breaking off. This partial automation makes repetitive work operations quicker and easier.

The direct and sturdy adapter between the module unit and the microscope tripod (optionally positioned at the left or right) and the separate control board prevent oscillation and vibration. The system can be attached to all commonly used inverted microscopes. The tool can be attached to the module unit at any angle.

Tool changing is made much quicker and easier by the electronic HOME function.

The deployment of two TransferMan® NK 2 micromanipulators in conjunction with the two CellTram Air and CellTram Oil or CellTram vario precision pressure metering units turns the microscope into a perfect workstation for operations such as ICSI or blastocyst injection.

Summ

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1 Summary

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It is essential to observe the following safety precautions!

• For ICSI in US: CAUTION: Federal Law restrics this device to sale by or on order of a physician.

• The device must be commissioned and subsequently used in compliance with the instruc-tions set out in this Manual, in order to protect the user and prevent damage to the device!

• The device may only be used for the purpose for which it is intended!

• The device is only intended for use in the area of Intra-Cytoplasmatic Spermatozoa Injection (ICSI) or in the research laboratory!

• The device is to be used solely for micromanipulation in accordance with the appropriate legislative requirements!

• Do not operate the device if there is visible damage to the device itself and/or to its packaging.

• Before starting up the device, please compare your power supply with the voltage requirements on the identification plate!

• Take care when transporting the control board! Do not transport the device by carry the joystick!

• When installing and dismantling, make sure the weight of the motor module (1.4 kg) can be safely carried! Otherwise injury may be caused, or the device may be damaged!

• A weight of max. 100 g may be applied to the motor module.

• The motor modules must not be moved against a mechanical obstacle, as this may damage the drive units.

• Before transporting the micromanipulator, dismantle the module unit and, if possible, transport it in its original box. The delivered transport guards are to be mounted according to the red supplement sheet.

• Important!The mains plug must not be plugged into the socket outlet until all connectionsbetween the control console, power supply unit and motor module have beenmade.

• Caution – risk of trapping/crushing! Do not reach into areas of the motor modules in which your hand may becometrapped (the gap between the guide and the module or between the moduleand any obstacles), and do not insert any other objects into such gaps!

• Caution when mounting tools!Mounting must not be performed with pressure. Glass capillaries can bedamaged during mounting if they are not handled carefully. Wear eyeprotection to prevent the risk of injury from glass splinters!.

• Caution when mounting tools!When the tool is mounted, the motors are swung out forwards and the capillaries face the front. Handle with care!

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• Caution!If the work is not carried out properly, for example if glass capillaries contact a surface, they may smash and flying splinters may endanger eyes. You shouldtherefore always protect your eyes, such as by wearing goggles!

• Never point capillaries at persons!Capillaries can suddenly be loosened from their capillary grips under high pressure and become a missile.

• Electrical connections to devices not mentioned in this Manual are permitted only with the consent of the manufacturer!

• Repairs must be carried out only by authorised Service personnel!

• The Manual, or any part of it, may be reproduced only with the written consent of Eppendorf AG.

• Transfer If the device is passed on to someone else, please include the instruction manual.

• DisposalIn case the product is to be disposed of, the relevant legal regulations are to be observed.The disposal of electrical devices is regulated within the European Community by national regulations based on EU Directive 2002/96/EC on waste electrical and electronic equipment (WEEE).

According to these regulations, any devices supplied after 13.08.05 in the business-to-business sphere, to which this product is assigned, may no longer be disposed of in municipal or domestic waste.

They are marked with the following symbol to indicate this.

As disposal regulations within the EU may vary from country to country, please contact your supplier if necessary.

• Liability for the functioning of the device shall in all cases be transferred to the owners or operators if the device is serviced or repaired by persons not authorised by the Eppendorf approved Service or if any action is performed which is not in conformance with the designated use of the device. Eppendorf accepts no liability for damage arising from failure to comply with the instructions set out in the Manual. Guarantee and conditions of liability of the terms of sale and delivery of Eppendorf AG are not expanded by the above notes.

• Eppendorf AG reserves the right to make technical modifications to this device!


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Before checking that the device has been delivered complete and installing it, please read the following section thoroughly.

• The control board must not be carried or dragged by the joystick!The joystick is a highly sensitive control element which transmits movement commands in the 0.1 µm range! Always carry the unit by the housing only!

• Never place the control board upside down on the joystick

• Treat the motor modules with care!

• Never transport the motor modules while they are still assembled!

• Whenever possible, transport the motor modules in their original packaging!

• Do not tilt the assembled motor modules!

• After the warm-up phase (at least half an hour) the device is virtually drift-free.

• After switching on, wait for the initialisation process to complete before operating the joy-stick. Completion of initialisation is indicated by an acoustic signal or by the LED returning to its standby condition.

2.1 Hazards when unpacking and other information and instructions


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The Eppendorf TransferMan® NK 2 micromanipulator is made up of three components:

– Control board– Module unit– Mains power supply unit

Fig. 1: TransferMan® NK 2 micromanipulator, without mains power supply unit, module unit for right side mounting

The module unit can be mounted at the left or right on any commonly used microscopes by way of an adapter.

The module unit is composed of a motor unit for Y and Z axis movement (Y/Z module) and the motor unit for X axis movement. The height of the X axis is adjusted by way of the straight-line guide. The injection angle is set manually by way of the X head with the angle graduations.

On the X module is the tool mount for the probe holder, the X head. Tools with a diameter, or width, of 4 mm and weighing max. 100 g can be inserted, e.g. capillary holders for cell transfer.

3.1 Components

Pos 2

Pos 1

Pos 3

TransferMan NK 2

CoarseFine

Home

Menu

Standby

Y off

Limit

0

40°

40°

20°

20°

3.2 Module unit

Description

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Fig. 2: Module unit (here right side mounted)

1 Motor unit for Y and Z axis movement (Y/Z module)2 X module straight-line guide3 Motor unit for X axis movement (X module)4 X head with angle adjuster

The control board accommodates the keypad, the display and the joystick with integral button, as well as the turn wheel on the side. The movements performed on the joystick are transmitted to the module unit. The movement modes, directions and speeds, as well as movement sequences, are pre-set and triggered by way of the keypad, the turn wheel and the joystick.

UndersideThe bay underneath the control board accommodates the connector sockets for the module unit and the mains power supply as well as the serial port and the connection for an optional foot switch.

Note: Do not place the control board down resting on the joystick! When connecting cables (section 4.4), place the control board on its side on an even surface and secure it against toppling over!

0

40°

40°

20°

20°

1

2

3

4

3.3 Control board

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3.3.1 Tool movement

The joystick can be used to execute horizontal (X and Y axis) and vertical (Z axis) movements.

Overlaid movements in all three directions are possible.

Moving the joystick causes the tool to be positioned directly at the desired location. The position of the tool is proportional to the position of the joystick in the chosen working radius. The tool's speed is determined by the speed at which the joystick is moved, dependent on the selected Fine or Coarse setting.

The vertical movements are triggered by turning the top part of the joystick:Clockwise rotation: Downward movementCounterclockwise rotation: Upward movement

The speed of the movement corresponds to the speed of the rotation.

Overlaid movements in all three directions are possible.

The joystick is disabled by pressing and holding down the joystick button. This means the joystick can be moved around with the button held down without moving the tool. In this way the position of the joystick relative to the tool can be changed.

Press the joystick twice in quick succession to select one of the three stored positions.

Note: When the Reset function is triggered, the joystick must not be moved until the reset is complete. Completion of the reset is indicated by an acoustic signal or by the LED returning to standby mode.

3.3.2 Keypad

The keypad can be used to make settings or initiate movements directly. Frequently used settings can be entered by means of key combinations. The LEDs indicate the active condition of a function. The display shows the current settings and assists user control with visual aids.

Description

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KeysTo understand the key functions, users must have read the detailed Manual.

Some of the key functions are triggered when the keys are released.

Coarse/Fine Radius selector key: Toggle between FINE and COARSE manipulation. The selected mode is indicated by the LED associated with the key and by the selected working radius on the on-screen display.

HomeMove out of working radius and return to the precise same spot.

Pos 1 / Pos 2 / Pos 3Approach a stored position.Store current position by pressing and holding down the key.Clear approached position by pressing and holding down the key.

LimitSet/cancel limit.

Y offDeactivate/activate movement in Y direction.

MenuToggle between menu and back. Parameters can be selected or changed in the menu using the joystick.

StandbySwitches the device off or on. The function is used as a reset function.

Pos 1

Pos 2

Pos 3

Limit

Y off

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Joystick buttonPress and hold down.Move to one of the three stored positions by pressing the button twice.

Turn wheelSet radius in current mode. Display indicates working radius.

3.3.3 Display

In normal operation the display shows the coordinates of the three axes (X, Y, Z; Cartesian) and the pre-set mode with the selected working radius for maximum joystick deflection. Additional functions are displayed in the active condition.

Parameter settings can be made and changed in the on-screen menu using the joystick.

Display with all display options.

Defining the operating parameters and functions, and how to program and change them, is described in section 5.

fine X: –1200µmY: 300µmZ: –21323µm

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– The packaging and the transport guards should be kept for use if the device is transported again later!

– The control board must not be carried or dragged by the joystick!

– The joystick is a highly sensitive control element which transmits movement commands in the 0.1 µm range. Always carry the unit by the housing only!

– Never place the control board upside down on the joystick!

– Treat the motor modules with care!

– Only remove the motor modules from their packaging together! Never tug on the module connecting cable!

– Never transport the motor modules while they are still assembled!

– Whenever possible, transport the motor modules with the transport guards in their original packaging!

– Do not tilt the assembled motor modules!

The packaging comprises two levels. The first level contains the accessories. The bottom level contains the module unit and the control board.

Check that the standard accessories are present and complete.

The standard accessories are:1 Control board1 Motor module1 Mains power supply unit1 Mains power cable1 X head with angle adjuster, incl. 1 screw M3x121 Hinged bracket1 Set of Allen keys (metric)2 Screws M5x16, 1 Screw M4x102 Positioning aids for universal capillary holders1 Operating manual1 Set of spare screws (2 x M5x16, 2 x M4x10, 2 x M3x16, 2 x M3x12)

Carefully lift the control board and the motor modules out of the packaging using both hands.

4.1 Unpacking

1. Loosen the screws and remove the transport guard (yellow).

2. Remove the colored transport guard only after completely mounting the device on the microscope!

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4.2.1 Components of the module unit

Fig. 3: Module unit, assembled (here right side mounted)

1 Motor unit for Y and Z axis movement (Y/Z module)2 X module straight-line guide3 Motor unit for X axis movement (X module)4 X head with angle adjustment

4.2.2 Straight-line guide

The X module is assembled by bolting the straight-line guide onto the Y/Z module.The height of the X module can be adjusted to the mounting point of the straight-line guide.

For the sake of clarity, the X module is not shown.

Example:The straight-line guide is bolted to the Y/Z module through the bottom hole. The X module can be height adjusted by turning the spindle.

4.2 Assembling the module unit

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Moving the mounting point of the straight-line guide upwards changes the adjustable height.

Moving the straight-line guide downwards allows less steeply inclined angles to be set for the tool.

4.2.3 Assembling the X module

Note: The orange fixing screw on the narrow front face of the X module must be slackened prior to adjusting the height and must then be re-tightened in order to ensure reliable operation.

The straight-line guide is already bolted to the X module. Turn the spindle as far as necessary to make the desired mounting point accessible.

Set the straight-line guide with the free hole (2) at the mount (1) of the X/Y unit. The fitting pins must be fitted into the holes provided. Fix the straight-line guide to the Z/Y module by the M4x10 cheese head screw.

Note: Make sure you do not mount the X module too low! If you do, the motor module may come to rest on the microscope table as it moves down. This may damage the drives!

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4.2.4 Assembling the X head

Set the X head with the hole (2) at the tool mount (1) of the X module. The fitting pin must be fitted into the hole provided. Fix the X head to the X module by the M3x12 cheese head screw.

Set up the hinged bracket according to the side on which the module unit is to be mounted. Example of left side mounting: The hinge (2) is positioned at the left outer, aligned upwards and to the rear.

For right side mounting, the hinge must be at the right outer (not visible here, on the rear).

The module unit is mounted from the front onto the hinged bracket (1).

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Opening the hinged bracket

To open the hinged bracket beyond its normal opening angle between 0° and 45° for mounting purposes, push the pin on the hinge side up. The slider is purposely hard to move. The unit is usually only mounted once. The pin can be moved with the 4 mm Allen key.

The hinged bracket can then be opened to 90°. The mounting holes on the module are then accessible.

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Example: Motor module for left side mounting, rear.

The hinged bracket is opened up and joined to the motor module by its inner inclined surface by means of the M5x16 screw.

Note: The X module is not shown.

Close the hinged bracket.

Side view:The module unit for right side mounting is mounted on the hinge bracket. The hinge is not visible.

Left side mountingThe hinge is visible, the mounting point of the X module faces downwards.

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4.3.1 Right and left side mounting

The module unit mounting is dependent on the chosen side of the microscope.

The module unit can be mounted on the most commonly used microscopes (usually inverted microscopes). The unit is mounted on the microscope tripod by way of a separately ordered microscope-specific adapter. Mounting of the adapter is described in the relevant mounting instructions. If a different type of mounting is required, special adapters will be needed.

The hinged bracket is mounted on the adapter by one of the two longer rollers as shown in illustration (here right side mounting; for the sake of clarity the mounted X module is not shown).

The M5x16 screw is supplied as part of the TransferMan® NK 2 accessory set; the roller is a component of the microscope-specific adapter. The rollers are adapter-specific.

The module unit (here on the right) is joined to the adapter by way of the roller with two M5x16 screws. The TransferMan® NK 2 is mounted at the last but one position.

The screws are component parts of the microscope-specific adapter.

Note: In the "Install" menu (section 5.4, subsection 5.4.2.6) the parameters Side = RIGHT

Direction = UPAngle = 0°, mounting angle of X module

are set in the given sequence according to the mode of mounting.

4.3 Mounting the module on the microscope

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According to the mounting mode on the left side of the adapter.

Note: In the "Install" menu (section 5.4, subsection 5.4.2.6) the parameterSide = LEFTDirection = UPAngle = 0°, mounting angle of X moduleare set in the given sequence according to the mode of mounting.

4.3.2 Assembling the capillary holder

On the X module is the X head (1) for tool mounting.

It is attached to the X module by one M3x12 screw as shown in the illustration.

The X head can accommodate tools witha diameter of 4 mm, such as the universal capillary holder (accessory FemtoJet® or CellTram).

The universal capillary holder is inserted into the head after the knurled screw has been slackened, and then fixed in place by re-tightening the knurled screw.

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To avoid having to reposition every time a capillary is changed, the positioning aid can be mounted on the universal capillary holder so it fits in the centre recess in the X head.

Alternatively, the universal capillary holder can also be inserted in the lower mount on the X head.

4.3.3 Angle adjuster

The desired angle can be set by turning one of the two knurled screws on the X head.


Depending on the angle, it may be necessary to adjust the height of the X module and/or adjust the position in X direction.

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4.3.4 Height adjustment of X module


The desired X module height can be set by turning one of the two knurled screws on the straight-line guide. This height adjustment is applied in connection with the angle adjustment and the capillary position. (See sections 4.3.2 and 4.3.3).

4.3.5 Position change in X direction

Depending on the desired angle and/or the length of the tool, it may be necessary to remove the motor module further away from the working point.

This change of position in X direction can be effected in two ways:

1. Change by way of mounting point at hinged bracket:

The hinged bracket can be mounted such that the motor module is positioned further out or further in relative to the microscope.

Example: The hinged bracket is mounted such that the left side mounting is further out in this case.

2. Rotate X head on X module:

Dismantle X head and mount it at front hole as shown in illustration.

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Note: The connections between the control board, the mains power supply unit and the motor module must only be plugged and unplugged with the device switched off.

Note: Do not place the control board down resting on the joystick! When connecting cables, place the control board on its side on an even surface and secure it against toppling over!

– The connection to the motor module is made via the corresponding connectors, as shown in Figure 4.

– Check the voltage and frequency against the rating plate before connecting the mains power!

– Use only the mains power supply unit supplied by Eppendorf!

– The cable is plugged into the mains power supply unit before being connected to the mains. Important: The main power connection is the last one to be connected.

– Check that the connectors are firmly attached.

Fig. 4: Underside of control board

1 Connection for optional foot switch (position change) (SER2; SubD9, male)2 Connection (SER1; SubD9, male) (not used on the TransferMan® NK 2)3 Mains power supply connection (Important: Connect only when all the other components have been connected.)4 Connection for motor module (SubD25, female)5 Serial port (SER0; SubD9, male) for computer (RS 232)

4.4 Connecting cables – Startup

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Section 5.1 provides a brief summary of how the commands can be used for the injection procedure. Section 5.2 provides additional information on the device's mode of operation. Sections 5.3 and 5.4 set out detailed descriptions of all the commands.

PreconditionPrior to performing the first steps, it is assumed that there is a capillary in the correctly positioned capillary holder (see section 5.2.1). Other requirements: The device is properly initialised (mounting side defined, etc.).

The TransferMan® NK 2 micromanipulator is switched on and in the following "start mode": The capillary is at the top position and to the side of the sample. The LED of the "Radius" key is lit in FINE mode. The display shows only the speed setting for FINE and the coordinates for the X, Y and Z axes.On the microscope table is a focussed sample, e.g. cells in a petri dish, coated with medium.

Movement towards sampleToggle "Radius" key to COARSE mode.

The capillary is moved to the surface of the medium by pushing/rotating the joystick in the direction of the sample. Visual monitoring of the movement.Redefine the working point as necessary by pressing and holding down the joystick button and centering the joystick.

The working radius, and the resultant speed, can be increased by turning the wheel on the right hand side of the control board. The change of working radius is indicated on the display.

5.1 First steps

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The new working radius is shown on the display as a modified block diagram.

If the capillary touches the medium surface for example (visually monitored), switch to FINE mode.

The capillary is moved into the beam path of the microscope by moving the joystick in one plane. Carefully lowering the capillary by rotating the joystick to the

right brings the tip of the capillary into the focal plane (microscopic control). Adjust the working radius as necessary by way of the turn wheel.

The focal plane is adjusted carefully to the cells. The capillary tip is brought into the focal plane.

Protection of the capillary against unintentional break-off:The limit function protects the capillary against breaking on the bottom of the petri dish.

Limit definitionLower the capillary carefully to set it down on the bottom of the petri dish. When it reaches the bottom, or just above it,

press the "Limit" key.

The display shows the pre-set limit. The capillary cannot be moved any lower. Press the "Limit" key again to cancel the limit.

Move the capillary up by rotating the joystick to the left.

Injection procedures are performed manually by moving the joystick. An injection in X direction only is assisted by the "Y off" key.

The Y axis movement is disabled. Moving the joystick to the side allows only movement on the X axis. The height of the capillary can be corrected by rotating the joystick.


CoarseFine

Limitfine X: –3200µm

Y: 300µmZ: –21455µm

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Y: 300µmZ: –21323µm

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By storing one or more positions, recurring operations at the same positions can be made easier.To do this, move the capillary to the desired position and store the position by pressing and holding down a position key (e.g. "pos 2").Press and hold it down again to clear the position.

HomeTo change capillaries, the Home function can be used. Move the capillary up slightly by rotating the joystick to the left. Press and hold down the "Home"key.

Caution when mounting the tools!When the tool is mounted the motors aremoved forward and the capillaries protrude. Injury may result if care is not taken!

Caution!If the work is not carried out properly, for example if glass capillaries contact a surface, they may smash and flying splinters may endanger eyes. You should therefore always protect your eyes, such as by wearing goggles!

Swivel out the motor module and change the capillary. Swivel the motor module back into place and press the "Home" key. If it is the same length and in the same mounting mode, the capillary is returned to its home position.

If necessary, the capillary can also be moved manually to the sample by moving the joystick in the desired direction.

StandbyWhen the operation is complete, the TransferMan® NK 2 micromanipulator can be switched off by the “Standby“ key. The display illumination is switched off and STANDBY is displayed.

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5.2.1 Setting up the capillary

– Move the motor module to its top, outermost position.

– Mount the capillary with the capillary holder such that the tip of the capillary is approximately 20 mm above and 20 mm outside the working point.

– Adjust the height or the position in X direction as necessary.

By means of the positioning aid (section 4.2.3) the universal capillary holder can be dismantled and refitted in the tool mount as necessary. This does not affect the alignment.

5.2.2 Custom adaptation of the working radius

(Radius: Coarse, Fine)To adapt to the necessary resolution of the movement, and thus of the speed, the working radius can be reduced. For this, the radius is selected as either Coarse or Fine as required. Set the desired radius by turning the turn wheel or by pressing and holding down the "Radius" key. Each short acoustic signal indicates a halving of the previous selected radius; the long acoustic signal indicates a switch back to the maximum radius. Starting from the maximum radius, there are eight graduations. It is also possible to adapt the radius by way of the menu.

The example shows changing the radius for the Fine setting:

LED of "Radius" key lit in Fine mode. The radius is within the inner circle. The tool moves a relatively large distance per degree of deflection of the joystick. The effective speed of the tool is relatively high.

LED of "Radius" key lit in Fine mode. The radius is reduced one level by pressing and holding down the "Radius" key. The radius is now within the small circle. The tool moves a shorter distance per degree deflection of the joystick. The effective speed of the tool is lower now.

5.2 More information on the mode of operation


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5.2.3 Adaptation of the joystick position to the position of the tool

Press and hold down the joystick button to disable the joystick control so it can be moved at will. This means the joystick can be set to a mid position, for example, if the tool is already in the correct working position.

Step Microscopic image Joystick movement

The tool was moved into the microscopic image in Coarse mode, for example. The tool is in the middle of the working radius. The setting is switched to Fine. The joystick needs to be brought to a mid position. To do so, press and hold down the joystick button and move the joystick to the mid position. The tool does not move.

The same applies when the joystick reaches one of its limit positions: Again, press the joystick button and return the joystick to the middle. The tool can then be moved on in the desired direction until the motor limit position is reached.

5.2.4 Storing and selecting positions

The "Pos 1", "Pos 2" and "Pos 3" keys can be used to store and select tool positions. Storing and selecting two positions makes relocating the tool much easier. Firstly, a working position and a park position can be selected to secure the tool while the petri dish is being moved and then move it back quickly and easily to the working position. Secondly, three working points can be selected for working at multiple locations on the petri dish.

To store the current tool position, press and hold down the relevant key for 1 second. Any existing stored position is overwritten. The store operation is confirmed by an acoustic signal and indicated on the display. Only one position can be stored on each key.

Tapping the "Pos 1", "Pos 2" or "Pos 3" key causes the tool to move to the stored position. The default speed of this movement is 1,500 µm/s. If no position is stored a short acoustic warning signal is delivered.

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Alternatively, press the key twice within a short space of time to move to a position. Where there are two or three stored positions, as an aid to the user they are approached one after the other. If only one position is stored, only it is moved to.

To clear stored positions, move to the position and press and hold down the relevant position key. Alternatively, the positions can also be cleared by means of the reset function or via the "Position" menu.

If the capillary is not at the stored position, press and hold down the key to overwrite the position. Only then can it be cleared.

If a position is under the subsequently set limit, it is approached only as far as the limit.

Remark: When a radius is set to ExtraFine (Xfine) and double-clicking sets the Fine/Xfine changeover, the double-click will not result in a change of positions.

5.2.5 Capillary exchange

Before swivelling it out, make sure the capillary cannot be impeded by any obstacles! Wear goggles to protect against possible glass splinters! Swivel out module unit on Y/Z module!

Swivel module unit for capillary exchange out of working radius. The capillary swivels out forwards and upwards with the module unit.

– Before changing the capillary, bring the capillary to a position over the petri dish either manually or by way of the Home function.

– Grip module unit at rear motor unit (Y/Z module) and swivel out.

– Do not use the X module!

– Exchange capillaries and swivel module unit back into place.

– Bring the new capillary back into the focal plane.

Fig. 5: Module unit in working position and swivelled out (here without capillary holder)

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The keypad can be used to make settings or initiate movements directly. Frequently used settings can be entered by means of key combinations. The LEDs indicate the active condition of a function. The display shows the current settings and assists user control with visual aids.

Some of the key functions are triggered when the keys are released.

5.3.1 Coarse/Fine

Selector key Radius: Toggle between FINE and COARSE manipulation.

When a value is set at the menu level for the parameter Xfine, the button also switches to the third mode (ExtraFine).

Thus, by changing between Fine andExtraFine it is possible to use the currently set radii for different work routines.If the Xfine parameter is set to a value > 0, then the key switches Fine, Coarse, Xfine, Fine, etc. one after the other. In Xfine neither of the two LEDs light up on the key. Xfine is indicated on the display.

The selected mode is indicated by the LEDassociated with the key and by the selected working radius on the on-screen display ( ).

5.3 Use of the keypad

Pos 2Pos 1 Pos 3

TransferMan NK 2Coarse

Fine Home

Menu Standby

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5.3.2 Setting the radius

The working radius can be set in three ways:Directly using the turn wheel, by pressing and holding down the key, or by way of the menu.

Turn wheelThe turn wheel can be used to make radius settings directly.

Turn wheel towards rear: Enlarge radius to maximum possible setting

Turn wheel towards front: Reduce radius to minimum possible setting

The setting is made in stages. Finer settings can be made by way of the menu.

The turn wheel can also be used to navigate round the menu.

Press and hold down "Radius" keyPressing and holding down the "Radius" key in the selected mode (Coarse/Fine/Xfine) activates the setting, which is then also indicated on the display. The working radius is reduced in stages.

Each stage is also indicated acoustically. If you switch directly from the minimum to the maximum radius a long acoustic signal sounds.

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5.3.3 Home

The tools moves axially out of the working radius.The function is intended for changing capillaries, or for quick removal of capillaries out of the working radius.

HOME: Press (and hold down as necessary) to move out as far as motors' end position. The red LED flashes during the movement, and is then lit steadily when the end position is reached. Press the key again to move the tool back to its starting point. To return the tool manually the joystick can be moved directly. This terminates the Home function.

Clean moves the capillary out of the medium. In the process, cell particles adhering to the medium boundary layer are removed from the capillary.

When Clean is active: CLEAN: Tap to move out an adjustable distance. The red LED flashes during the movement and at the end point.Press the key again to move the tool back precisely to its starting position, or move the tool manually.

If the parameter BackMan in the "Home" menu is set to "off", it is then not possible to terminate the Home or Clean function by moving the joystick (see figure under notice text).Interruption of the function is possible only by a Reset ("Standby" button).

5.3.4 Pos 1 / Pos 2 / Pos 3

Approach a stored position.

Store current position by pressing and holding down the key (acoustic acknowledgement).

Clear current position by pressing and holding down the key again (acoustic acknowledgement).

The stored position is shown on the display. Reaching of the position is also indicated on the display (here position 2, for example).

The current position of the tool is stored in the three spatial coordinates. Storing new positions overwrites existing ones. Positions can also be cleared by performing a reset ("Standby" key) or via the "Position" menu.

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To move back use HOME or joystick

HOME

–3200 300 –21455

To move back use HOME or joystick

CLEAN

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To move back use HOME

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5.3.5 Limit

Set/cancel limits.

The display indicates, adjacent to the "Limit" key, whether the limit is set.

5.3.6 Y off

Deactivates movement on the Y axis (forward and back). When active, the LED is lit. The display indicates, adjacent to the "Y off" key, whether the Y axis is disabled.

Switching off enables the axis once again. The LED goes out and the display readout disappears.

5.3.7 Menu

Toggles between menu and back. Parameters can be selected or changed in the menu using the joystick or buttons. For a detailed description see section 5.4.

The left hand column of the display lists the main menu options. The current selected option is indicated by arrows.

The right hand column, under "Submenu", lists the parameters associated with the selected main menu option.

Note

: The joystick should be in the mid position before the "Menu" key is pressed.

5.3.8 Standby

Switches the device off or on. When the device is off, the unlit display shows STANDBY.

To switch on, press the "Standby" key again. The device runs through the power-up routine.

This functionality is also used as a reset function.

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Speed –Submenu –Home CoarsePosition FineInstall XfineFunction PosSpeed

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5.3.9 Joystick button

Press and hold down to disable the joystick. The middle of the working radius can be defined by moving the joystick. See section 5.2.3.

Press the key twice in quick succession to select one of the stored positions (see section 5.2.4) or switching from Fine to Extrafine (see section 5.4.2.1).

5.3.10 Turn wheel

Set radius in current mode. Display indicates selected working radius.

The turn wheel can be used to navigate round the menu and select options.

Note

: The joystick should be in the mid position before the "Menu" key is pressed.

When the "Menu" key is pressed the main menu options are listed on the display at the left. The selected option is framed by two arrows (cursor).

The right hand column lists the submenu parameters associated with the option. When a new main menu option is selected the left hand column changes accordingly.

The main menu options are selectedby rotating the joystick left or right as appropriate.

Alternatively, the turn wheel can be used.

Menu control by joystick can be switched on and off.

5.4 Parameter settings via menu


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Moving joystick to the right moves the cursor into the submenu.

The left hand column shows the possible parameters, the right hand column the associated values or setting options.

Alternatively, the key can be used.

From here on they are only visible by scrolling.

→

The parameter to be modified is selected by rotating the cursor (top part of joystick).



→

Moving the joystick to the right moves the cursor to the parameter value.



→

The desired setting is made by rotating the joystick.



→

--Submenu Install --Side RightDirction UpAngle 45°LCDLight ONBeeper ONMenuJoy ONMultUser 1----------------------Z Factor 100Invert Y OFF

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--Submenu Install --Side RightDirction FlatAngle 45°LCDLight ONBeeper ONMenuJoy ONMultUser 1----------------------Z Factor 100Invert Y OFF

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--Submenu Install --Side RightDirction FlatAngle 45°LCDLight ONBeeper ONMenuJoy ONMultUser 1----------------------Z Factor 100Invert Y OFF

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To save the setting, press the joystick button. The cursor jumps back into the parameters column.

Other parameters can be changed as necessary.


From here on they are only visible by scrolling.→

To switch to other main menu options press the joystick button again or move the joystick to the left.

Alternatively, the or key

can be used.

To switch to working mode press the joystick button again or quit the menu by pressing the "Menu" key.

You can quit the menu at any time by pressing the "Menu" key.

Cursor movement using keys

Menu navigation using keys.


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Speed –Submenu –Home SidePosition DirctionInstall AngleFunction LCDLight

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5.4.1 Meanings of parameters in menu

5.4.1.1 Main menu options

Speed: Includes all radius/speed parameters.

Home: Includes all the parameters relevant to the Home and Clean functions.

Position: Includes all the parameters associated with the Position function.

Install: Includes all the parameters required for basic setup, such as during installation.

Function: Includes specific functions required for tests or special setups.

5.4.2 Parameter

5.4.2.1 Speed

Also includes the working radii.

Coarse: Radius for coarse manipulation. Adjustable from 12,500 to 5 µm in 5-µm increments.

Fine: Radius for fine manipulation. Adjustable from 2,000 to 5 µm in 5-µm increments.

ExtraFine: 2. Working range for fine manipulation.Setting range 600 to 1 µm in 1 µm steps.Setting 0 µm = ExtraFine working range not activated.

PosSpeed: Speed of movement to stored position. Adjustable from 7,500 to 5 µm/s in 5-µm/s increments.

HomSpeed: Speed of Home and Clean movement. Adjustable from 7,500 to 5 µm/s in 5-µm/s increments.

2x click: Double-click onPosition: Double-click the joystick key to change between the positionsFine/Xfine: Double-click the joystick key to change between the Fine and ExtraFine work radii.The currently set value for Fine or ExtraFine is used. The Fine/Xfine parameter can only be activated if Xfine is set to a value > 0 µm. If Fine/Xfine = 0 µm, then the system automatically does 2x click = position.

Parameters are user-dependent.

Note: The 2x click parameter can also be activated in the Position submenu. Here too, connection to the Xfine parameter should be heeded.


HomSpeed2x click

▲

▲

--Submenu Speed --Coarse 12500µm Fine 500µmXfine 0µm PosSpeed 1500µm/ sHomSpeed 7500µm/ s2x click Position

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5.4.2.2 Home

HomSpeed: Sets the speed for the Home and Clean movement.Adjustable from 7,500 to 5 µm/s in 5-µm/s increments.

Offset: Sets the height of the position to which the tool is to move on completion of the Home movement.Adjustable from 0 to 2,000 µm in 5-µm increments.

Home: Switches the Home function on or off. Setting options: ON / OFF

Clean: Switches the Clean function on or off. Setting options: ON / OFF

Distance: Sets the distance to be used for the Clean function. Only operative when Clean is activated.Adjustable from 0 to 15,000 µm in 5-µm increments.

BackMan: ON: The home position can be left bymoving the joystick.OFF: The home position can be left by pressing the Home key again. All other operations are not possible, except for Reset/Standby.


5.4.2.3 Position

PosSpeed: Sets the speed at which the stored position is approached.Adjustable from 7,500 to 5 µm/s in 5-µm/s increments.

ClearAll: When the function is run (Execute) all stored positions are cleared.

2x click: Double-click onPosition: Double-click the joystick key to change between the positionsFine/Xfine: Double-click the joystick key to change between the Fine and ExtraFine work radii. The currently set value for Fine or ExtraFine is used. The Fine/Xfine parameter can only be activated if Xfine is set to a value > 0 µm. If Fine/Xfine = 0 µm, then the system automatically does 2x click = position.


--Submenu Home --HomSpeed 7500µm/sOffset 2000µmHome ONClean OFFDistance 3000µmBackMan ON

▲

▲

--Submenu Position-- PosSpeed 5000µm/sClearAll Execute2x click Position

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5.4.2.4 Install

The default setting of the TransferMan® NK 2 installation parameters is right, upright and 0°.

Side: Indication of which side of microscope the module unit is mounted on.Adjustable: Right or Left

From here on they are only visible by scrolling.→

Dirction: Indicates how the large motor module (Y/Z module) is mounted.Adjustable: vertical (Up) or horizontal (Flat). The setting automatically changes the value for the Angle parameter. Check both parameters! For horizontal (Flat) different components are required, as well as a different mode of mounting. See ordering information, "Non-standard accessories".

Angle: Indication of the angle at which the X module is mounted relative to the plane of the microscope table. Changing the Dirction parameter changes the value of the Angle parameter. Check both parameters! No setting other than 0° can be stored for vertical mounting (Up).

LCDLight: Switches the display illumination on or off.Setting options: ON / OFF

Beeper: Switches the speaker on or off.Setting options: ON / OFF

MenuJoy: ON: Navigation using the joystick and the keysOFF: Navigation using the keys

Parameter is user-dependent.

MultUser: Indicates the number of possible users potentially working with differing parameters.Setting options: 1 – 4By way of the MultUser function, parameters can be stored separately specific to the application and retrieved as needed. Installation parameters are stored globally.

Z factor: The tuning between the movement of the joystick (deflection in the X and Y directions) and the rotation of the upper part of the joystick (movement in the Z direction) can be adjusted as required.50 - 500 %, in 50 % steps. The working range is smaller at 50 % and greater atvalues > 100 %. The speed in the Z direction gets faster.

--Submenu Install --Side RIGHTDirction UpAngle 0°LCDLight ONBeeper ONMenuJoy ONMultiUser 1----------------------Z Factor 100Invert Y OFF

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Invert Y: The Invert Y parameter can be used to invert the direction of movement of the Y axis. This is useful for microscopes that show a mirrored image, e.g. upright microscopes.OFF: The movement of the tool follows the joystick movement.ON: The movement of the tool is in the opposite direction to the joystick movement.

Parameters are independent of user.

5.4.2.5 Function

ZeroCord: This function sets the coordinates of the X, Y and Z axes to zero.

CentrMot: This function sets the motors to a mid position. Can be used to assist capillary alignment.

Before executing the function,remove the probe holder andcapillary!

Remove objects from the travel range of the micromanipulator! Avoid collisions! If the function is nonetheless executed with a capillary present, make sure it is not destroyed! Wear goggles as a precaution!

If you do not want to execute the function, press the "Menu" key. The current function can be aborted by pressing the "Standby" key.

Selftest: This function triggers a self-test.Before executing the function remove the probe holder and capillary!Remove objects from the travel range of the micromanipulator!Avoid collisions!

All motor axes are moved. In case of error an error message is delivered. If you do not want to execute the function or want to stop it, press the "Menu" key.

MotorOff: This function switches off the motor currents. The motors can no longer be operated. The tool may move to a preferred position.

UsrDeflt: This function resets the user parameters to defaults (User Default). If you do not want to execute the function, press the "Menu" key.

--Submenu Function-- ZeroCord ExecuteCentrMot ExecuteSelftest ExecuteMotorOff ExecuteUsrDeflt Execute

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In addition to the radius setting (press and hold down "Radius" key) and position storage key functions, there are also other special functions operated via the keypad.

5.5.1 General-Reset

The general reset resets the device to its delivery defaults. All the parameters, including the installation parameters and the number of users, are reset to the defaults set at the factory.

Execution:– Switch device to Standby.– Press "Standby" to switch device on again and then immediately press and release "Home"

key.

The device runs through a lengthy initialisation phase.

5.5.2 Software version polling

As an additional software version polling facility (also visible during the power-up routine on the display) the version number can be indicated acoustically.The version number is given in three signal sequences, with the digit 0 represented as 10.

Execution:– Switch device to Standby– Press "Standby" to switch device on again and then immediately press and release "Y off"

key.

The device runs through the initialisation phase and the acoustic output begins.

5.5 Parameter setting via keys


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5.5.3 Installation

As an alternative to the Install menu option, the installation can also be performed by way of the keypad.

Execution:– Device is on.

– Press "Radius" (Coarse/Fine) and "Y off" keys simultaneously.

The Installation subfunction is activated and is indicated on the display and by the two LEDs on the "Radius" key being lit.

– The "Home" key is used to enter right or left side mounting. In addition, a RIGHT setting is indicated by a short acoustic signal and a LEFT setting by a long one.As shown on the display, pressing the Home key would activate left side mounting. (Home =>LEFT)

– Press the "Coarse/Fine" key to terminate installation and save the parameters directly. The display switches to the routine display and only the LED of the selected speed range is lit.

Additional user control options which should only be utilised under certain preconditions by way of the subfunction:

– The "Pos 1" key is used to enter horizontal or upright mounting of the Y/Z module. In addition, an UP (upright) setting is indicated by a short acoustic signal and a FLAT (horizontal) setting by a long one.

– Pressing and holding down the "Menu" key initiates loading of a software update. To be undertaken only by Service!

Y off

CoarseFine

Installation

Home => LEFTPOS1 => UPMenu(long) => LOAD

Press COARSE to quit

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Before cleaning the TransferMan® NK 2, disconnect the plug.

Ensure that no fluids enter into the inside of the micromanipulator in order to avoid short-circuits in the electrical installation as well as corrosion.

Wipe painted parts and aluminum surfaces using a cloth and mild detergent and then with a dry cloth.

Warning: Do not use any corrosive, solvent or abrasive detergents or polishes.

Clean the TransferMan® NK 2 before disinfecting.

Wipe every part of the TransferMan® NK 2, including accessories and connector cables, with an alcohol-based disinfectant (Isopropanol, Alcohol).

Spray disinfection is not advisable, as disinfectants can enter into the micromanipulator.

The disinfection method used must comply with current disinfection regulations and guidelines.

If the device is to be inspected or repaired by the service partners of the Eppendorf AG, it must be free of hazardous substances and clean!

A decontamination certificate must accompany the TransferMan® NK 2.

A printed form ("Decontamination certificate for return of goods" and general instructions for decontamination are available at our www.eppendorf.com homepage.

The serial number of the device must be entered in the decontamination certificate.

The dealer is responsible for warranty and service.

6.1 Cleaning

6.2 Disinfection

6.3 Decontamination prior to shipping

6.4 Service

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The following error situations are conceivable:

The following warnings or error messages may be displayed:

Remedy

– Motor axes move in wrong direction or do not match joystick movement.

– Check installation parameters match motor module setup, e.g. left side mounting etc.

– Parameters for certain user actions are not accessible.

– Enter parameters again or perform a general reset and then reset the machine.

– Machine not responding to key presses, Home function still active.

– Move joystick or press "Home" key again, tool moves downwards.

– Tool does not move far enough down. – Cancel limit functionor re-adjust tool

– Tool does not move forwards or back (in Y direction) when joystick is moved, only to side.

– Disable "Y off" function.

– When connected, machine has no display and will not switch on

– Check mains cable and plug. If mains power supply unit defective: Service

Remedy

– Warning 004Connect motor module: Occurs in self-test. The reason for this warning is most likely that the motor module is not connected to the control board.

– Connect motor module.

– Error 010 – 020Certain hardware components of the control board are missing.

– Service

– Error 021 – 023Joystick hardware fault.

– Service

– Error 024Wrong internal joystick parameters.

– Reset, general reset. If recurring: Service

Troubleshooting

7 Troubleshooting

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– Error 025For specific joystick axes wrong values are defined. Reason may be an incorrect joystick setting on power-up or in a general reset.

– General reset with joystick at mid position. If recurring: Service

– Error 030 – 033Internal software errors.

– Reset, general reset. If recurring: Service

– Error 034 – 039Internal hardware faults.

– If recurring: Service

– Error 040 – 041Internal software errors.

– Reset, general reset.If error recurs: Service

– Error 042 – 043Hardware faults

– If recurring: Service

– Error 044 – 046In self-test wrong values defined for displayed axis.

– Repeat self-test, reset, general reset. If error recurs: Service

– Error 060 – 062False data has been imported via the serial ports. There may be errors in the external PC software.

– Transfer correct data.

– Error 098Unable to write to EEPROM:No internal data can be written to the machine's EEPROM.

– General reset or Service (new software download or hardware).

– Error 099Internal Error: Internal error

– Reset, general reset. If error recurs: Service

Remedy

7 Troubleshooting

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Power supplyInput: 120 – 240 V AC; 50 – 60 Hz; < 50 WOutput: 15 – 18 V DC; 25 W

Control board 15 – 18 V DC; 25 WContamination level: IIOvervoltage category: II (IEC 61010-1)Pollution degree: 2 (IEC 664)Ambient temperature: max. 40 °C Ambient relative humidity: max. 80 %

WeightsControl board with power supply: 2.7 kgModule unit: 1.4 kg, incl. guide

DimensionsY/Z module: 120 x 100 x 68 mmX module: 120 x 60 x 50 mmControl board: 270 x 205 x 160 mm

Max. travel: > 18 mm (each axis)

Resolution per microstep: approx. 40 nm

Max. tool travel speed: 7,500 µm/s

The device carries the mark.

Technical specifications subject to change!

Technical data

8 Technical data

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Order no.TransferMan® NK 2, Europe 5188 000.012TransferMan® NK 2, USA and Canada 5188 000.020TransferMan® NK 2, UK/Hongkong 5188 000.039TransferMan® NK 2, Japan 5188 000.047TransferMan® NK 2, Australia 5188 000.071TransferMan® NK 2, China 5188 000.080

Delivery package1 Control board1 Motor module1 Mains power supply unit1 Mains power cable1 X head with angle adjuster, incl. 1 screw M3x121 Hinged bracket1 Set of Allen keys (metric)2 Screws M5x16, 1 Screw M4x102 Positioning aids for universal capillary holders 5171 130.0011 Operating manual 5188 900.0131 Set of spare screws 2 x M5x16, 2 x M4x10, 2 x M3x16, 2 x M3x12

AdaptersAdapter for Leica DMIL 5181 201.004Adapter for Leica DMIRE2 5181 202.000Adapter for Leica DMI 6000 5181 203.007Adapter for Nikon TMD 5181 210.003Adapter for Nikon TS-100 5181 212.006Adapter for Nikon TE-200/300 5181 213.002Adapter for Nikon TE 200/300/2000 5181 214.009Adapter for Olympus IX 50/70 IX 51/71/81 5181 220.009Adapter for Olympus IMT-2 5181 221.005Adapter for Olympus CK 30/40 / CKX 31/41 5181 222.001Adapter for Zeiss 100/135/100 S 5181 230.004Adapter for Zeiss 10/35 5181 233.003Adapter für Zeiss 200, incl. CO2 chamber 5181 235.006Adapter for Zeiss 25/25C 5181 232.007Adapter for Zeiss 25/25C / 40C/40CFL 5181 237.009Universal stand 5181 250.005Spacer for usage of Universal Stand on stereo microscopes with extended dimensions

5181 255.007

Extension plate 5181 236.002

9 Ordering information

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Accessories

(non-standard)

Order no.

Universal capillary holder for accommodating Femtotips

®

, Femtotips

®

II or grip heads5176 190.002

Grip head 0 for universal capillary holderfor microcapillaries with an outer diameter of 1.0 to 1.1 mm

5176 210.003


5176 212.006


5176 214.009


5176 207.002

O-Ring Setfür grip heads 0 – 3 with removal tool

5176 196.000

Service kit for grip heads and capillary holder,consisting of O-Ring Set, adapter for Femtotips

®

5176 195.004

20 Femtotips

®

5242 952.008

20 Femtotips

®

II 5242 957.000

200 Microloader 5242 956.003

Filling stand for Femtotips

®

5242 009.012

Foot control 5181 5181 150.051

Arc guide 5181 150.019

"A" head (used with arc guide) 5181 150.027

PC cable update 5181 150.094

Service kit (Screws M3x8, M3x16, M4x10, M4x14, M5x16 and war. M4, M5, M8)

5181 150.310

Straight-line guide to connect X module to Y/Z module 5181 150.035

"X" head with angle adjuster 5181 150.043

TwinTip-Holder for TransferMan

®

NK 2 5181 200.011

10° adapter for very shallow injection angles (used with "A" head) 5188 110.004

Cell transfer

CellTram Oilmanual piston pump for transferring cells (sperms, ES cells) and as manual injector with universal capillary holder for capillaries with an outer diameter of 1 mm

5176 000.025

CellTram variomanual piston pump with variable transmission (1:1, 1:10)to transfer cells (sperms, ES cells) and as manual injector with universal capillary holder for capillaries with an outer diameter of 1 mm

5176 000.033

Ordering inform

ation


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Order no.

CellTram Airmanual piston pump for holding cells (e.g. oocytes) withuniversal capillary holder for capillaries with an outer diameter of 1 mm

5176 000.017

25 VacuTipssterile glass capillaries for holding cells, inner diameter 15 µm, outer diameter 100 µm, 35° angle

5175 108.000

25 TransferTips®-F (ICSI)sterile glass capillaries for transferring sperm in the ICSI technique,inner diameter 4 µm, outer diameter 7 µm, with spike, 35° angle, flexible flange

5175 106.008

25 TransferTips®-R (ICSI)sterile glass capillaries for transferring sperm, inner diameter 4 µm, outer diameter 7 µm, with spike, 35° angle, rigid flange

5175 113.004

25 TransferTips®-RP (ICSI)sterile glass capillaries for transferring sperm, inner diameter 4 µm, outer diameter 7 µm, with spike, 35° angle, rigid, parallel flange

5175 114.007

25 TransferTips® (ES)sterile glass capillaries for transferring ES cells, inner diameter 15 µm, outer diameter 20 µm, with spike, 20° angle

5175 107.004

Microinjection

FemtoJet® Programmable microinjector with integrated pressure supply

Version Europe 5247 000.013

Version USA and Canada 5247 000.056

Version UK 5247 000.030

Version Japan 100 V, 50 – 60 Hz 5247 000.048

Version Australia 5247 000.072

Version China 5247 000.080

FemtoJet® expressProgrammable microinjector incl. connection for external pressure supply


Version USA and Canada 5248 000.050

Version UK/Hongkong 5248 000.033

Version Japan 5248 000.041




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Order no.TransferMan® NK 2, USA and Canada 920000011TransferMan® NK 2, Europe 5188 000.012TransferMan® NK 2, UK/Hongkong 5188 000.039TransferMan® NK 2, Japan 5188 000.047TransferMan® NK 2, Australia 5188 000.071TransferMan® NK 2, China 5188 000.080

Delivery package1 Control board1 Motor module1 Mains power supply unit1 Mains power cable1 X head with angle adjuster, incl. 1 screw M3x121 Hinged bracket1 Set of Allen keys (metric)2 Screws M5x16, 1 Screw M4x102 Positioning aids for universal capillary holders 9200058291 Operating manual 5188 900.0131 Set of spare screws 2 x M5x16, 2 x M4x10, 2 x M3x16, 2 x M3x12

AdaptersAdapter for Leica DMIL 920008500Adapter for Leica DMIRE2 920008526Adapter for Leica DMI 6000 920008496Adapter for Nikon TMD 920008534Adapter for Nikon TS-100 920008551Adapter for Nikon TE 200/300 920008542Adapter for Nikon TE 200/300/2000 920008658Adapter for Olympus IX 50/70 IX 51/71/81 920008585Adapter for Olympus IMT-2 920008577Adapter for Olympus CK 30/40 / CKX 31/41 920008569Adapter for Zeiss 100/135/100 S 920008607Adapter for Zeiss 10/35 920008593Adapter für Zeiss 200, incl. CO2 chamber 920008615Adapter for Zeiss 25/25C 920008623Adapter for Zeiss 25/25C / 40C/40CFL 920008666Universal stand 920008631Spacer for usage of Universal Stand on stereo microscopes with extended dimensions

920008666

Extension plate 920008674

Ordering inform

ation for USA

and Canada

9a Ordering information for North America

9a

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Accessories

(non-standard)

Order no.

Universal capillary holder for accommodating Femtotips

®

, Femtotips

®

II or grip heads920007392


920007414


910012509


910012517


920007406

O-Ring Setfür grip heads 0 – 3 with removal tool

920005870

Service kit for grip heads and capillary holder,consisting of O-Ring Set, adapter for Femtotips

®

920005888

20 Femtotips

®

930000035

20 Femtotips

®

II 930000043

200 Microloader 930001007

Filling stand for Femtotips

®

930000051

Foot control 5181 920005799

Curved guide 920005802

"A" head (used with curved guide) 920005748

PC cable update 920005837

Service kit (Screws M3x8, M3x16, M4x10, M4x14, M5x16 and war. M4, M5, M8)

920005781

Straight-line guide to connect X module to Y/Z module 920005756

"X" head with angle adjuster 920005764

TwinTip-Holder for TransferMan

®

NK 2 920000010

10° adapter for very shallow injection angles (used with "A" head) 920005900

Cell transfer

CellTram Oilmanual piston pump for transferring cells (sperms, ES cells) and as manual injector with universal capillary holder for capillaries with an outer diameter of 1 mm

920002030

CellTram variomanual piston pump with variable transmission (1:1, 1:10)to transfer cells (sperms, ES cells) and as manual injector with universal capillary holder for capillaries with an outer diameter of 1 mm

920002111


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Order no.

CellTram Airmanual piston pump for holding cells (e.g. oocytes) withuniversal capillary holder for capillaries with an outer diameter of 1 mm

920002021

25 VacuTipssterile glass capillaries for holding cells, inner diameter 15 µm, outer diameter 100 µm, 35° angle

930001015

25 TransferTips®-F (ICSI)sterile glass capillaries for transferring sperm in the ICSI technique,inner diameter 4 µm, outer diameter 7 µm, with spike, 35° angle, flexible flange

930001031

25 TransferTips®-R (ICSI)sterile glass capillaries for transferring sperm, inner diameter 4 µm, outer diameter 7 µm, with spike, 35° angle, rigid flange

930001066

25 TransferTips®-RP (ICSI)sterile glass capillaries for transferring sperm, inner diameter 4 µm, outer diameter 7 µm, with spike, 35° angle, rigid, parallel flange

930001074

25 TransferTips® (ES)sterile glass capillaries for transferring ES cells, inner diameter 15 µm, outer diameter 20 µm, with spike, 20° angle

930001040

Microinjection

FemtoJet® Programmable microinjector with integrated pressure supply

Version USA and Canada 920010504


Version UK 5247 000.030

Version Japan 100 V, 50 – 60 Hz 5247 000.048



FemtoJet® expressProgrammable microinjector incl. connection for external pressure supply

Version USA and Canada 920010521


Version UK/Hongkong 5248 000.033

Version Japan 5248 000.041



Ordering inform

ation for USA

and Canada


9a

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From the Install submenu up to 4 Users (users/applications) can be activated. The Users can be assigned dedicated parameters for radius, speed of position changing, etc. Non-User-specific parameters such as installation parameters apply globally, and when changed the changes apply to all Users.

MultUserIndicates the number of possible users potentially working with differing parameters.

Setting options: 1 – 4

By way of the MultUser function, parameters can be stored separately specific to the application and retrieved as needed. Installation parameters are stored globally.

From here on they are only visible by scrolling.→When MultUser = 1 is set the part in the display is blank.Where there are multiple Users, the routine display indicates the relevant User, e.g. User 2.

Users can only be changed by switching to Standby and restarting.

Display after power-up if 2 or more Users are activated:

The User value for the desired application or user is set by means of the turn wheel at the side.

After setting the desired User press the "Home" key.

The routine display now additionally indicates the User you have set:

Note: The number of Users can only be reset to 1 by way of User 1.

The specific parameters of the individual users are retained even when the MultUser parameter is set to 1. When an additional user, such as User 2, is reactivated the parameters are then available once again.

The Multiuser parameters can be deleted and reset by way of a general reset, though this will also reset all global parameters, such as installation parameters, to their factory defaults.

--Submenu Install --Side RightDirction UpAngle 0°LCDLight ONBeeper ONMenuJoy ONMultiUser

▲

2 ▲

----------------------Z Factor 100Invert Y OFF

Select User

User:2

Turn speed toselect

Press Home to cont.


user 2

Mul

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ser

A Appendix – MultiUser

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It is easy to control the TransferMan NK 2 from a Windows®* computer if the following points are observed:

• Connection of the RS232 interfaces on the PC and the control panel using a zero modem cable.

• The RS 232 data port must only be connected to devices conforming to the IEC 950/EN 60950 (UL1950) standards.

• Serial communication with the following parameters

Data rate: 19,200 Bits/s,ASCII asynchronous, 8 data bits, 1 stop bit,No parity Local echo on

External control is possible from any program that can send ASCII characters to an interface configured in this way. The "Hyper Terminal" program supplied with Windows®* can be used for this purpose.* Windows® (registered trademark of Microsoft Corporation)

2.1 Hardware and cables

An RS232 interface is used to connect a PC. There a 9-pin SUBMIN D plug on the manipulator. The PC can be connected with any zero modem cable. Mechanically, the best cable is a cable with an angle plug housing, e.g. Eppendorf cable 5181 150.094 or 5325 620.007. At least the TXD, RXD and GND wires must be connected. TXD and RXD (pin 2 and pin 3) are reversed in the cable. The handshake wires are not connected in the manipulator and can therefore be wired in any manner in the cable.

2.2 Command structure

Every command consists of the actual command itself and any necessary parameters. (See Operating Manual, Appendix B or A: PC interface)

Examples:C001 = version request → response from the micro-manipulator: A001 5181 V1.08

C007 = GOTO position in micrometers, The parameters for the x = 100, y = -200, z = +300 positions and for the speeds (with reference to the axis) are thus added: C007 100-200+300 1000 1000 1000

Note on coordinate directions:X to the right = positive, Y: backwards = positive, Z: downwards = positive

B1 Overview

B2 Installation

PC interface

B Appendix – PC interface

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The command and the parameters must be separated by separators. These can be either spaces or signs. Commas, etc. are not permissible as separators. If a space is used as a separator, the subsequent number is regarded as positive.

With the exception of the block end marks, only displayable ASCII characters are used.The block end marks can be received as CR or LF or CR/LF. CR is always sent.All command/response codes (e.g. C010) consist of a string without any internal space.

Typing errors should be avoided in the command. If typing errors are corrected during typing, these corrections are also transmitted, thus triggering an error message.

2.3 Communication using Hyper Terminal from Windows®*

Settings for parameters in Hyper Terminal:19200 bits/sDatabits: 8Parity: None.Stop bits: 1Set flow control to "none"

ASCII set-up: Activate line feed and local echoLine delay: Can remain set to 0 for manual input of single commands To process stack files, enter appropriate value (e.g. 2500 milliseconds)Activate "Append line feeds"

Communication can be tested once the PC and the manipulator have been connected as described above and the Hyper Terminal has been appropriately configured.

Type "C001"<CR>(Enter key) to test data transfer. Response from the micro-manipulator: A001 5181 V1.04<CR>. This response comes immediately. There is no change in the routine display of the micro-manipulator.

Further commands can be entered using the keyboard. For external control, remote control should first be switched on using C004.Command sequences can also be combined using a text editor. To ensure that the manipulator has enough time to process one command before the next one is received, a "line delay" should be set in Hyper Terminal.

2.4 Command list

All axis specifications relate directly to the three drive motors, regardless of the drive's mounting form. Coordinate transformations based on differing modes of mounting are not listed here.

C0xx: Command to TransferMan® NK 2A0xx: Checkback from TransferMan® NK 2

C001 Version polling Parameter: NoneA001 Version reply Parameter: Version


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The control board device type and the version number of the software installed in the control board are returned as the reply. This command can be executed at any time.

C002 General reset Parameter: NoneA002 Reset about to be performed Parameter: NoneThe command is acknowledged and 100 ms later a general reset is performed.This command can only be executed when the remote control is operative.

C003 Reset motor control Parameter: NoneA003 Reset motor control executed Parameter: NoneThe motor control is reset to its default condition. This aborts the motor movement and resets the current coordinates to 0,0,0. Each drive may have an offset of up to 10 µm. This command can be executed at any time.

C004 Switch to remote control Parameter: NoneA004 Ready for remote control commands Parameter: NoneAll current movements are stopped and local joystick and keypad operation is disabled. The checkback is sent as soon as all motors are stopped and positioning is possible via the serial port. This command can be executed at any time.

C005 Switch to manual control Parameter: NoneA005 Ready for manual control Parameter: NoneAll current movements are stopped and local joystick and keypad operation is enabled. The checkback is sent as soon as all motors are stopped and positioning is possible via the joystick. This command can be executed at any time.

C006 GOTO position in microsteps Parameter: px py pz vx vy vzA006 All motors stopped Parameter: End positionThe manipulator moves on all three axes at the pre-set speed to the pre-set position. To specify no movement on one axis, the speed 0 is transmitted. The checkback is sent as soon as all motors are stopped because either the target position has been reached or a limit switch has been tripped. The reply indicates the status of the limit switches. If the positioning was successful this value is 0. All entries are in microsteps. This command can only be executed when the remote control is operative.

C007 GOTO position in micrometres Parameter: Px Py Pz Vx Vy VzA007 All motors stopped Parameter: End positionThe manipulator moves on all three axes at the pre-set speed to the pre-set position. To specify no movement on one axis, the speed 0 is transmitted. The checkback is sent as soon as all motors are stopped because either the destination position has been reached or a limit switch has been tripped. The reply indicates the status of the limit switches. If the positioning was successful this value is 0. All entries are in micrometres.This command can only be executed when the remote control is operative.

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C008 STOP Parameter: NoneA008 All motors stopped Parameter: NoneA current movement is stopped. The checkback is sent as soon as all motors are stopped.This command can only be executed when the remote control is operative.

C009 Position polling in microsteps Parameter: NoneA009 Position reply in microsteps with limit switches Parameter: px py pz End positionRegardless of any current movement, the current position on all three axes in microsteps is returned in the reply, as is the position of the six limit switches. A current movement is not stopped.This command can be executed at any time.

C010 Position polling in micrometres Parameter: NoneA010 Position reply in micrometres with limit switches Parameter: Px Py Pz End positionRegardless of any current movement, the current position on all three axes in micrometres is returned in the reply, as is the position of the six limit switches. A current movement is not stopped.This command can be executed at any time.

C011 GOTO position in micro-steps without reached message Parameters: px py pz vx vy vz

A011 Ready for next command Parameters: None.

The manipulator moves in all three axes at the specified speed to the specified position. If no movement is required in one of the axes, then its speed is sent as 0. An acknowledgement is sent as soon as the command has been fully evaluated and the next one can be sent. The end position has however not yet been reached. All information is given in micro-steps.This command can only be executed when remote control is active.

C012 GOTO position in micrometers without reached message

Parameters: Px Py Pz Vx Vy Vz


The manipulator moves in all three axes at the specified speed to the specified position. If no movement is required in one of the axes, then its speed is sent as 0. An acknowledgement is sent as soon as the command has been fully evaluated and the next one can be sent. The end position has however not yet been reached. All information is given in micrometers.This command can only be executed when remote control is active.

C013 Wait until all motors stop Parameters: None.

A013 All motors stop Parameters: None.

The manipulator waits with its response until all motors stop, i.e. until the last final position has been reached. If this command is sent when the motors have already stopped, the response is sent immediately.

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All command/reply names (e.g. C010) are composed of a string with no internal spaces.

C014 Trigger short beep tones Parameters: Number of beep tones

A014 All beep tones have been produced Parameters: None.

The number of short (100 ms) beep tones that has been set in the parameter is produced.

C015 Trigger long beep tones Parameters: Number of beep tones

A015 All beep tones have been produced Parameters: None.

The number of long (1 second) beep tones that has been set in the parameter is produced.

C016 STORE memory position Parameters: Memory position


The current position of the manipulator is stored under the memory position number stated in the parameter. This storage is lost when the device is switched off or set to standby. Memory positions 1, 2 and 3 correspond to the memory positions that can be accessed from the key-board.

C017 GOTO memory position Parameters: Memory position

A017 Ready for next command Parameters: Px Py Pz end position

The manipulator moves in all three axes at the GOTO speed stored internally to the first position stored at this memory position. Acknowledgement is sent as soon as all motors stop because either the final position has been reached or because a limit switch has been activated. The sta-tus of the limit switches is included in the response. If positioning was successful the value is 0.

This command can only be executed when remote control is active.


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A micrometer is equivalent to 25.6 micro-steps. One micro-step is equivalent to approx. 40 nanometers.

px py pz Position of the x/y/z axes in micro-steps "–640000" ... "+640000"

Px Py Pz Position of the x/y/z axes in micrometers "–25000" ... "+25000"

vx vy vz Speed of the x/y/z axes in micro-steps per second "0" ... "192000"

Vx Vy Vz Speed of the x/y/z axes in micrometers per second "0" ... "7500"

Version String with model/version e.g.: "5181 V1.00"

End position

Position of the limit switch in bit code "0" ... "64" 0 = all switches opened 1 = lower stop on X axis 2 = upper stop on X axis 4 = lower stop on Y axis 8 = upper stop on Y axis16 = lower stop on Z axis32 = upper stop on Z axis64 = no position stored

Memory position

Number under which a position is stored "1" ... "50"

E070 Wrong number of parameters

E071 Parameter 1 is not within the permissible range






E077 The first character is not c or C

E078 The 2nd to 4th characters are not numbers

E079 The Opcode is unknown

E086 Remote control via the serial interface is not switched on

E087 The device is not in the routine state

B3 List of parameters

B4 Error messages

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Note: Error messages for software 1.00 – 1.04

E060 The first character is not a c or CE061 The 2nd to 4th characters are not digitsE062 The 5th character is not =E064 The command is not knownE065 The command contains a wrong number of parametersE066 A parameter has an inadmissible valueE070 The remote control is not operative


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04_Zertifikat.fm Seite 148 Mittwoch, 4. Juli 2007 6:01 18

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