Difference between revisions of "Sample Robot"

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The 11-BM Diffractometer has an industrial Mitsubishi robot for automated sample changing with compatible sample environments.  It is disabled for non-compatible setups.   
The 11-BM Diffractometer has an industrial Mitsubishi robot for automated sample changing with compatible sample environments.  It is disabled for non-compatible setups.   


It can access 56 samples mounted on individual posts plus 6 magazines of 16 samples each (152 total samples).


=== Sample Position Number Diagrams  ===
=== Sample Position Number Diagrams  ===
One can mount 56 samples individual posts plus 6 magazines of 16 samples each (152 total samples).


Diagrams showing the numbering are here:
Diagrams showing the numbering is below (click to enlarge):
[mage:11-BM_Robot_Magazine_Diagram_2011.png here].


=== Robot Operator Functions ===
[[Image:RobotSampleTray.png|frameless|400px|RobotSampleTray.png]]


Special training is required to operate the robot from inside the 11-BM-B hutch.
See [[the list of approved robot operators]] for name of individuals with this training.
Also see [[robot operator information]] for documentation on activities that to be
performed only with appropriate training.


=== Hardware Documentation ===  
=== Robot Control ===
A set of hard-copy Mitsubishi manuals were included with the robot, but the
 
translations in the newest set of manuals tends to be more clear. The manuals can be found
Users control the robot (when using compatible sample environments) with the custom 11BM UserControl scripting software.
[http://www.meau.com/eprise/main/sites/public/DOWNLOADS/-search_results?SType=3&DocType=010&Division=00015&Opt1=Yes&submit1=Search&Family=0001520035&Series=&ManualType here].
 
Of these, the most important are:
# RV-1A/RV-2AJ Robot Arm Setup and Maintenance manual, [http://www.meau.com/functions/dms/getfile.asp?ID=010000000000000001000000539100000 BFP-A8052]: This manual covers the basic installation, jog operation, and maintenance for the RV-1A robot arm.
# CR1 Controller manual, [http://www.meau.com/functions/dms/getfile.asp?ID=010000000000000001000000538201000 BFP-A8054]: This manual covers the basic installation, setup, and maintenance of the robot controller, including descriptions of the Teaching Pendant buttons.
# RV-1A/RV-2AJ Series Standard Specifications Manual, [http://www.meau.com/functions/dms/getfile.asp?ID=010000000000000001000000539000000 BFP-A8050]: This manual covers many details of the controller and robot arm. Many important items are found in this manual, such as the location of fuses, range of motion diagram, and load capacity specifications. This is a good manual to peruse.


=== Safety Interlock ===
=== Safety Interlock ===
Line 28: Line 19:
Humans are prevented from injury through contact by the robot when moving via a combination of an engineered control (the Robot-Human Safety System, RHSS) and an associated procedural control policy. Both are described in a  
Humans are prevented from injury through contact by the robot when moving via a combination of an engineered control (the Robot-Human Safety System, RHSS) and an associated procedural control policy. Both are described in a  
[https://icmsdocs.aps.anl.gov/new_docs/idcplg?IdcService=DISPLAY_URL&dDocName=APS_1280854 memo on robot safety].
[https://icmsdocs.aps.anl.gov/new_docs/idcplg?IdcService=DISPLAY_URL&dDocName=APS_1280854 memo on robot safety].
=== Servicing ===
The robot needs periodic servicing for lubrication and for replacement of backup batteries.
A schedule for this has not been established.

Latest revision as of 22:55, 14 September 2011

The 11-BM Diffractometer has an industrial Mitsubishi robot for automated sample changing with compatible sample environments. It is disabled for non-compatible setups.


Sample Position Number Diagrams

One can mount 56 samples individual posts plus 6 magazines of 16 samples each (152 total samples).

Diagrams showing the numbering is below (click to enlarge):

RobotSampleTray.png


Robot Control

Users control the robot (when using compatible sample environments) with the custom 11BM UserControl scripting software.


Safety Interlock

Humans are prevented from injury through contact by the robot when moving via a combination of an engineered control (the Robot-Human Safety System, RHSS) and an associated procedural control policy. Both are described in a memo on robot safety.

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