Sample Robot

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

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

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.