The Sample Automatic Mounting (SAM) system at SSRL has made the transition from prototype to production, offering general users a robust and reliable system for automatically screening up to 288 samples without entering the hutch. With less than an hour of training, new beam line support staff are ready to perform all tasks associated with enabling and maintaining a SAM system for a user group. These tasks include cassette loading into the dewar, robot initialization, and if necessary, calibration. Staff interaction with the robot is performed through an intuitive GUI with embedded workflow, all from within the familiar Blu-Ice application. The low level robot control software employs a force sensor to check for mis-calibration, occupied sample ports, and to perform automatic calibration of the robotís toolset and the goniometer position. The force sensor software includes automatic measurement compensation, noise reduction, and error isolation. Additionally, mounting and dismounting features are fully integrated with the DCS control system, allowing automatic detector repositioning during mounting and goniometer position tracking with table movement. This system was operated successfully by over 30 different user groups during the SSRL 2003/2004 user run.
Abstract File: abstract00108.txt
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