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Sample Changer Robot (at PX beamlines)

Elke Zimoch EPICS Workshop 2008. Sample Changer Robot (at PX beamlines). Reliability Shorter mounting time (than average user) Never tired Reduced beamline access by users Automation Mail-in crystallography and remote access to beamlines On the way to full automatic crystallography

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Sample Changer Robot (at PX beamlines)

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  1. Elke Zimoch EPICS Workshop 2008 Sample Changer Robot(at PX beamlines)

  2. Reliability Shorter mounting time (than average user) Never tired Reduced beamline access by users Automation Mail-in crystallography and remote access to beamlines On the way to full automatic crystallography … interesting new technology … … do not tell this to the financial department Why using a Sample Changer Robot?

  3. IOC Console Robot Controller TCP/IP Robot Tcl/Tk StreamDevice from Stäubli company Robot Setup - Schema as complete system available from IRELEC Sample Dewar User GUI EPICS VAL3 – Robot Language

  4. Robot Beamline Sample Mount Position Sample Dewar Controller Robot Setup – Real World Beam

  5. Where to put the details of movement? Into the IOC: Flexibility: the robot can perform any movement remotely (do you want this?) Feedback needed over network Into the Robot Controller: Language optimized for six axis robot (all this vector and matrix algorithms) Programmer defines what the user can do (pre-defined movements) Programming Details

  6. pre-defined robot commands Environment settings Start pre-defined movements Medm Screen (for experts) => Too complicated for beamline users

  7. Click here • Select a cassette 2. Select a sample (from this cassette) Click here Click here 3. Mount this sample (previous mounted samples will be unmounted first) User GUI

  8. 1. Hardware: Stable repeatable environment needed (absolute coordinates) Beamline State Machine ESCAPE (in testing) in the meantime: Scripts to move to „Robot Mount Position“ Laser Distance Sensor 2. Users: Robot included into Radiation Protection System (no user access during Robot movement) Beamline Environment

  9. 3 robot systems from IRELEC for PX beamlines installed (1 in Operation, 2 in Test Phase) Main Problems in hardware (icing) not in software Stäubli Robots provide an easy way to interface to external control systems like EPICS 2 more Stäubli Robots installed at other beamlines (Tomography and Material Science) Next step: no sample holder any more, the robot puts the sample into the beam for measurement (“Plate Screening” already tested at SLS) Conclusion

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