X-Y-stage unit; S_II
For
technicians and sales managers
UNDDER CONSTRUCTION
This section describes the
components, functionality, handling, installation and checking instructions of
the X-Y-stage unit for the scanner Pannoramic
MIDI_II.
Modifications since summer 2016
Watch video: X-Y-Stage; SCAN II
Contents
Maximal hysteresis in
Y-direction
The X-Y-stage unit is used to
position the slide at loading or unloading action. It also moves the slide in
X- and Y-direction during the scan process.
Allowed slide dimensions can
be found here.
The movements are realized by
stepper motors. The principle of the slide insertion and specimen holding is
nearly the same in the scanners, so only small deviations are found in the
construction of the specimen holders and these will be discussed separately.
The X-Y-stage unit mounting is
modified, so a remove and remount of the unit may require excessive
adjustments.
The exchange of the X-Y-stage unit is possible
Requirements
Warning! Do not mix the versions of “SlideScanner.exe” and “SlideScannerService.exe”.
Always use these
programs with the same version number, otherwise the “SlideScannerService.exe” program can produce unwanted results, and
the “SlideScanner.exe” will not
work correctly or can freeze.
Configuring the X-Y-stage unit
Since the software version 1.15, the scanner units are configured in the
“MicroscopeConfiguration.ini” file, in the [Microscope] section.
For more information about the software version, see the User's Guide.
The actual version of the X-Y-stage unit in the M_II scanner is “ObjectGuideXYZType=OGXYZ_1.2mm”. Adjustment procedures are
based on this version, except declared otherwise.
[Microscope]
BarcodeReaderLibrary=MIL
SerialNumber = PMIDI-04xxxx
MicroscopeType = 3DMic10
ScanCameraType =
PreviewCameraType = CVrmc_m8_pPro
BarcodeReaderType = PreviewCamera
LoaderType =
SL_1Mag_12Slide_Sensor_Horizontal3
CameraChangerType = CC_none
ReflectorTurretType =
RT_3DH_10Pos_Belt
BrightfieldLightSourceType = RGBLedLight
ObjectiveChangerType = OC_2pos
ObjectGuideXYZType = OGXYZ_1.2mm
FlashUnitType = NoFlashUnit
NDFilterType = ND_None
PreviewLightType =
PreviewLightUnitType_Type3
PowerSwitchBoardType = PowerSwitchBoard_None
[HardwareLimits]
Remark
ObjectGuideXYZType=OGXYZ_1.2mm; the
Y-direction is 23 rotor revolutions long; the specimen holder can hold slides
with a thickness of 0.95-1.20mm nominal.
More information about parameters and values
Handling the ini-files, Section
microscope
The X-Y-stage consists of the following components
·
X-unit with X-motor, X-rail,
X-spindle and X-carriage
·
Y-unit with Y-motor, Y-rail, Y-spindle, and Y-carriage
·
X-carriage, consists of the
entire Y-unit
·
Y-carriage, holds the parallelogram
and the specimen holder
·
Unit mounting plate with
mountings to the scanner plate
Specimen holder
The specimen
holder is designed to hold and secure the slide during movements and scanning operation.
It allows an automatic insertion and removal of the slide. This part is nearly equal in SMD_II
scanners; small differences are given in the slide loading mechanics..
On one side of the
parallelogram the Y-carriage is mounted; on the other side the parallelogram
holds the specimen holder.
The mounting bolts of the
parallelogram and the X-direction adjustment bolt are adjusted, do not drive
them. The parallelogram and the
specimen holder are very sensitive components, because these guarantee the
perpendicularity of the X-Y-stage in relation to the optical axis (objective).
Remark Do not adjust the parallelogram in the field, if
possible.
Watch slide show: Parallelogram
How to adjust the parallelogram
X-Y-carriage
The rotor drives the transport
nut through the spindle. The transport nut is mounted to the carriage that is
moving on the rails. The X-carriage contains the entire Y-unit. The Y-carriage
moves the parallelogram with the specimen holder.
· The achieved
resolution in X- and Y-direction is: 1μm/rotor
step
· The guaranteed
movement range of the X-carriage is 28600 rotor steps (it means 28.6mm); see
also 'HW-Limits'
· The guaranteed
movement range of the Y-carriage is 73600 rotor steps (it means 73.6mm); see
also 'HW-Limits'
· The parts and
units of the carriages do not need maintenance.
Watch video: X-Y-carriage; M II
Stepper motor
All stepper motors in the Pannoramic scanners
are driven in micro stepping mode. One revolution of rotor axle is divided into
3200µ-steps. The forward direction of the motor axle is counter clockwise
(CCW). The construction of the mechanical X- and Y-drive together with the
resolution of the rotor movement allows a very precise movement of the
specimen.
· The address of the
X-motor is 03.
· The address of the
Y-motor is 04.
'Stepper motor',
'Addresses' and 'Cabling of addressable
units'.
Important
In MIDI_II the X-Y-Stage unit
is not designed for easily removing and reassembling.
·
Never drive the spring pressure adjustment nuts
A, B and C for
unit dismounting or mounting procedures!
Spring pressure adjustment
The pressure of the springs is adjusted by the position of the nuts A,B
and C, so an effective vibration and resonance removal is ensured and this
improves high quality of the scanned tissue. To reach this, the pressure spring
force is adjusted with special tools.
Furthermore, the position of the spring pressure nuts affects also the
inclination of the X-Y-stage unit in relation to the optical axis!
· This
is a special adjustment of 2 values with
only 1 possibility!
· Please
do not drive these nuts; except adjustments!
Unit mounting bolts
If the unit should be dismounted, please remove only the bolts, shown as
1, 2 and 3.
Exchange the X-Y-stage unit
Remove the X-Y-stage unit
In MIDI_II the X-Y-unit is
not designed for easily removing and reassembling.
Please do the following
procedure only, if the remove of the X-Y-stage unit is unavoidable!
·
Never drive the spring pressure adjustment nuts A, B and C (see
mounting, above)!
1.
Move the X-stage
to Home1,2.
2.
Move the X-motor by +28000 steps.
3.
Move the Y-stage to Home1,2.
4.
Move the Y-motor by +70000 steps.
5.
Loosen the focus unit fixing bolt by turning it
clockwise.
6.
Disconnect the cables of the focus motor and the X-Y-stage unit.
7.
Remove the focus unit.
8.
Remove the bolts 1,2 and 3 and remove the X-Y-stage
unit.
9.
To remove the X-Y-stage unit upward, the L-shaped
mounting elements may be rotated by 90°.
10.
Remove the X-Y-stage unit upward.
X-Y-unit mounting above
1.
Insert the X-Y-stage unit into the cutout of the
scanner plate and rotate the L-shaped mounting elements into the mounting
position.
2.
Drive in the mounting bolts and tighten these.
3.
Connect the cables of the X-Y-stage unit..
4.
Insert the focus unit until it stops.
5.
Tighten the fixing bolt by turning it counter
clockwise.
6.
Connect the cable.
The carriages are used to
move the specimen holder and so the slide in X- and Y-directions.
The unit mounting plate is mounted
to the scanner plate from beneath. This ensures the proper mounting and fixing
of the X-Y-stage unit.
The static part of the
X-stage consists of:
The moveable part of the
X-stage consists of:
The static part of the
Y-stage consists of
The Y-motor is mounted to the
mounting plate.
The moveable part
of the Y-stage consists of
The transport nut is mounted
to the Y-carriage.
The carriages are
mounted and lead with rails for each direction.
The X- and Y-rails ensures a
slippage-free movement of the carriages in X- and Y-direction. The X-carriage
contains the entire Y-part. When the motor starts rotating, the spindle drives
the carriage in the direction, defined by the rotating direction of the rotor.
The mechanical dimensioning of the X-Y-stage allows reaching nearly each part
of the slide by the objective, except the barcode area (restrictions are given
by the slide holding mechanics of the specimen holder; see
also the scan area).
The spindle
(together with the transport nut) is used to transform rotation of the rotor into
slippage-free longitudinal movements. The four threads on the spindle guarantee
a precise movement, increase the torque of the mechanical drive and help to
reduce or eliminate slippage and hysteresis.
The X- and Y-spindle are
connected directly to the stepper motors.
On the thread of the
spindle the transport nut is situated and the transport nuts are mounted
onto the X- respective Y-carriage. To eliminate slippage in the connection
between rotor axle and spindle, the spindles are fixed with
glue and secured by a bolt.
The construction of the
carriage transport nuts ensures a slippage-free movement of the carriages. The
early used transport nut solution with transport nut, spring and counter nut is
now replaced by an integrated module solution. Adjustments, regarding the
counter nut position are now done by rotating the spindle separated from the
motor axle (e.g. if the motor axle stays in Home 1,2). This way, the hardware
limits may be adjusted easily and more precise.
The use of the stepper motors
micro stepping mode, combined with the accuracy of the mechanics allows
achieving a resolution of 1µm longitudinal movement per rotor step.
The movement range of each
carriage is limited by two limiters, the limit pins -max and -min, one for the
upper and one for the lower limit. Limiters are used for both the X- and
Y-directions. With the limiters the mechanical construction gets a start and an
end position for movements.
When the mechanical limiter
is reached by the carriage, the carriage movement stops. If more steps have to
go (e.g. defined with the service program), these steps are lost; this behavior
creates “lost steps”.
During the detection of the
hardware limits the creation of lost steps is used to find and determine the
lower hardware limit. The first number of steps that do not create lost steps
is used as hardware limit; the accuracy is 100 steps (0.1mm).
Example:
· If the step number
of 1200 steps in negative direction after Home1 and Home2 does create lost
steps (more than +-2 steps) and
· The step number of
1100 steps in negative direction after Home1 and Home2 does not create lost
steps (not more than +-2 steps) the negative hardware limit will be -1100
steps.
To define the upper limit,
the same principle is used. First we create lost steps then we decrease the
number of steps to go by 100 steps until no steps are lost during the movement.
During slide insertion or removal actions and the sample scan process
lost rotor steps are unwanted, because the counting and reporting of steps
mismatches the real number of steps gone. Therefore, the limits are defined by
using the last possible number of steps without lost steps and an accuracy of
100 steps (=0.1mm).
The home position does not
define the mechanical limit. Either in -X and also in -Y-direction there are several
hundred more steps possible. The absolute limits are defined as shown in the
figures “Movement range”.
IMPORTANT
The unit is faulty,
if there are more than 1600 steps possible in negative direction from Home 1,2.
The unit is
faulty, if there are more than 1600 steps possible in positive direction after
28800 steps in +X-direction or 73600 steps in +Y-direction without stoppage.
“Adjustment
procedures”, “How to
define the hardware limits”
Y-Carriage
The rotor drives the
transport nut through the spindle. The transport nut is mounted to the carriage
that is moving on the rails. The X-carriage contains the entire Y-unit. The
Y-carriage moves the parallelogram with the specimen holder.
· The achieved
resolution in X- and Y-direction is: 1μm/rotor
step
· The guaranteed
movement range of the X-carriage is 28800 rotor steps (it means 28.8mm)
· The guaranteed
movement range of the Y-carriage is 73600 rotor steps (it means 73.6mm)
· The parts and
units of the carriages need neither maintenance nor mechanical adjustments.
Stepper motor
All stepper motors
in the Pannoramic scanners are driven in micro
stepping mode. One revolution of rotor axle is divided into 3200 steps. The
forward direction of the motor axle is counter clockwise (CCW). The
construction of the mechanical X- and Y-drive together with the resolution of
the rotor movement allows a very precise movement of the specimen.
· The address of the
X-motor is 03.
· The address of the
Y-motor is 04.
“Stepper motor”, “Addresses” and “Cabling of addressable
units”
Length: 75.00 to
Width: 25.00 to
Thickness: 00.95 to
Since January
Important
Check the slide dimensions before
filling the tray.
Slide holding and scan
area;
SCAN
The slide is hold by the specimen holder on the longer,
lower edge and with a slide clamp on its upper edge, on the barcode area; see
the red lines on the right. As you can see, the definition of the limits X-min
and Y-max are critical. X-max and Y-min are given by the maximal usable slide
size and are not critical; they could be the slide edge.
·
Never touch the specimen holder with the
objective or the focus pin!
“Areas of the slide”, “Define the scan area” and “Construction of specimen holders”
Adjustments for the X-Y-carriage unit
The following procedures are
described for PMIDI_II especially.
·
This procedure must be done
if the scanner unit or the X-Y-stage was changed; the parallelogram was
adjusted, the specimen holder mounting was altered or the drive unit was
manipulated.
· Insert a medium
large slide and set the focus motor to 500 steps.
'How to define the hardware limits'.
Find the negative limit
in -X-direction
1. With the service program set the
Y-carriage to Home1,2.
2. Set the X-carriage to
Home1,2.
3. With the service program go
forward to the X-motor position -1200 steps.
4. Go backward +1200 steps.
5. Press Home1 (only). There should
be not more then +-2 steps difference to Home1. If there are more steps lost,
decrease the actual absolute number of steps by 100 and repeat from step
6. If there are not more then 2
steps difference to Home1, increase the number of steps by 100 and repeat from
step
7. The negative limit is found
correctly if the motor movement has no steps lost and the actual absolute
number of steps, increased by 100 would produce lost steps. The found negative
limit can differ by more 100 steps from unit to unit. The reason is the
tolerance of the components.
8. Update the value of the
parameter 'ObjectGuideXMin' with the found number of
the actual steps in the file 'MicroscopeConfiguration.ini' section [HardwareLimits] and save the file.
Find the positive limit
in +X-direction
With the service
program set the X-carriage unit to Home1,2.
9. Go forward to the X-motor
position +29700 steps.
10. Go backward 29700 steps.
11. Press Home1 (only). There should be not more
then +-2 steps difference to Home1. If there are more steps lost, decrease the actual
number of steps by 100 and repeat from step
12. If there are not more then 2 steps difference to
Home1, increase the number of steps by 100 and repeat from step
13. The positive limit is found correctly if the
motor movement has no steps lost (max. 2 steps) and the actual number of steps,
increased by 100 would produce lost steps. The found positive limit can differ
by more 100 steps from unit to unit. The reason is the spindle mounting
position and the start position of the transport nut in relation to the
threads.
14. Update the value of the parameter 'ObjectGuideXMax' with the found value in the file
'MicroscopeConfiguration.ini' section [HardwareLimits]
and save the file.
·
Check the found limits by using the number of steps,
used as parameter value in the file 'MicroscopeConfiguration.ini' section [HardwareLimits]. Lost steps must not occur.
Find the hardware limits for the Y-carriage
For SCAN: Move the X-carriage
+29000 steps from Home1,2; this way, the slide tightener
can not collide with the magazine unit and the focus pin does not collide with
the lower edge of the specimen holder.
For
For DESK: Move the X-carriage
+6400 steps from Home1,2; this way, the focus pin does not collide with the
slide stud or the slide rails of the specimen holder.
Find the negative limit
in -Y-direction
Repeat the steps,
described in the procedure above 'To find the negative limit in -X-direction'
logically with the Y-carriage.
15.
Update
the value of the parameter 'ObjectGuideYMin' with the
found number of the actual steps in the file 'MicroscopeConfiguration.ini'
section [HardwareLimits] and save the file.
Find the positive limit
in +Y-direction; DESK_II
Repeat the steps,
described in the procedure above 'To find the positive limit in +X-direction'
logically with the Y-carriage. The positive limit is found correctly even
before the +Y-limit is reached or before the specimen holder will be touched.
16. Update the value of the parameter 'ObjectGuideYMax' with the found value in the file
'MicroscopeConfiguration.ini' section [HardwareLimits]
and save the file.
Further
information can be found in: 'How to define the hardware limits'.
The software divides the sample to
be scanned, seen by the preview camera into fields of views; the size of the
FOV depends on the resolution of the scan camera and the magnification of the
camera adapter. Each field of view contains a small part of the neighbor FOV.
In this way, stitching becomes possible. Because the capturing of the FOV’s is done on a meandering course, the Y-direction is
often changed. If the hysteresis in Y-direction is too much, stitching will not
work correctly; therefore, we have to check the hysteresis in Y-direction. The
maximal allowed hysteresis is 4μm (=4 motor steps). We comment that this
hysteresis decreases itself by some motor steps after some sample scan
procedures, even if the X-Y-stage is brand new.
Because the X-direction is
never changed during a sample scan process, the X-hysteresis is not critical
and can be some steps more (max: 8 steps).
Watch video: 'Tissue scan
process' (P250)
Check the maximal
hysteresis in Y-direction
Start the program 'SlideScanner.exe'
with the service password. In the tab 'Focus' produce a sharp live view.
In the tab 'Service' select
'Microscope control' and check the option 'Cross line on image'. In the part of
the X-Y-control select a step size of two steps and go upward, until the tissue
moves.
Now go in opposite direction
and count the clicks until the tissue moves. If more then 3 clicks are
required, the hysteresis is too much.
'Stitching' and 'Exchange the Y-drive
unit'
The following adjustments are done only, if the motor has to be exchanged,
the X-Y-carriage drive unit was removed.
The resolution of the stepper motor by 3200 steps/revolution and
the construction of the spindle together with the transport nut allow a
resolution of 1μm longitudinal movement per motor step; the transport nut
eliminates the slippage if the rotation direction changes.
The only difference between the Y-carriage drive unit and the X-
carriage drive unit is the length of the transport spindle; the spindle of the
X-unit is shorter.
Transport
spindle; Multi (4) thread spindle
The spindle (together with the transport nut) is used to transform
rotation into slippage free longitudinal movements. The four threads on the
spindle guarantee a precise movement, increase the torque of the mechanical
drive and help to reduce or eliminate slippage and hysteresis.
The spindle is mounted to the rotor axle by a pressure connection
solution.
·
Set the appropriate motor to Home1,2.
·
Move the rotor by about +16000steps (5 revolutions).
·
Loosen the spindle mounting bolts and move the spindle
mounting from the rotor shaft.
·
Set the appropriate motor to Home1,2.
·
Move the rotor by about +16000steps (5 revolutions).
·
Move the spindle mounting onto the rotor shaft and
tighten the bolts.
·
Check the hardware limits for the
carriage.
·
By loosening the spindle mounting and rotating the
motor shaft with the service program, the movement range of the carriage can be
adjusted.
1.
Loosen the spindle mounting bolts.
2.
Rotate the motor's rotor some revolutions or some
100steps forward or backward as desired and tighten the mounting bolts.
3.
Check the hardware limits.
·
Repeat the procedure until the requirements of the
hardware limits are fulfilled.
Limiters and define
hardware limits
The transport nut moves the Y-carriage (or any other, connected
peripheral) to the desired position; the thread of the spindle and the nut
moves the peripheral by 3.2mm if the rotor (and the spindle) have done one
revolution.
To reach the appropriate limits of the mechanical drive, the rotation of
the spindle in relation to the Home1,2 position of the rotor can be adjusted
with the spindle mounting.
The limits have to be less then 1600 steps in negative direction counted
from Home1,2 and less then 1600 steps after 23revolutions of the spindle (if
Y-carriage); see also 'The
hardware limits' and 'Find the hardware
limits for the Y-carriage.
Watch video: Y-Drive unit; D II
Rotor slippage is defined as the longitudinal movement of the rotor axle
in its bearing. If the rotor direction has changed this slippage may increase
the longitudinal position fault drastically, even if we try to reach a
longitudinal movement resolution of 1µm /rotor step. To eliminate this
slippage, the adjustment bolt with counter nut 'Eliminate slippage' can be
used.
Important
This adjustment is already done during the component implementing
procedure; please do not drive the bolt or the nut!
Dismount the carriage drive unit
·
Set the appropriate motor to Home1,2.
·
Move the rotor by
about +16000steps (5 revolutions).
·
Remove the mounting bolts of the appropriate transport nut and pull it out of
its holder.
·
Remove the motor
mounting bolts from the rear.
·
Remove the motor mounting
bolts from top.
Pull the motor together with the entire carriage drive unit away from
the carriage.
Watch video: D_II_Dismount_Y-Drive
unit