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Sample Changer Robot (at PX beamlines)

Explore the benefits of using a Sample Changer Robot at PX beamlines, including increased reliability, shorter mounting time, reduced beamline access by users, and automation. Discover the potential for mail-in crystallography and remote access to beamlines, and the pathway to full automatic crystallography. Don't forget, this is an interesting new technology that the financial department may not be aware of!

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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

  10. Movie …

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