Automounter Technical Documents
protein
crystallography
research resource

  Check Alignment of Dewar and Cap Wells on Vertical Gripper Axis
Purpose
Indications 		For reliable robot operation each crystal cap must be aligned to within 0.2 mm of the vertical gripper axis. This alignment can be checked by docking a Hampton ALS-style cap held in the lowered gripper against a special alignment token fitted into any well of a puck lid. The test is indicated if caps on crystal dismounting scrape against the taper and the walls of the puck lid wells in a way that can not be remedied by proper puck loading procedures. A perfect dewar-to-gripper alignment is show in the image at the bottom. When misalignment is apparent, the dewar needs to be repositioned by trained staff.

Requirements
 -   This alignment check is carried out on a warm and dry dewar, lid removed.
-   Puck lids should be seated according to the Puck Loading Procedure.
-   It is best to set up a laptop next to the robot. See Robot Computer Setup.
-   At least an hour is required for setup and testing.

Procedure
  1. Execute a 'Standby' protocol:
    devprotocol -start Standby
  2. Load a Hampton ALS-cap into gripper
    devwago -output Grip grip
  3. Load alignment token (shown at right) into
    selected puck lid well. Token fits tightly with
    larger diameter end into well. Consult the
    Puck Lid Key for details.
  4. Move dewar to bring alignment token under
    gripper (i.e. A11, see figure)
    devgalil -moveto 11
  5. Lower gripper using the 'UpDown' and
    'Small move' primitives
    devwago -output UpDown down
    devwago -output "Small move" extended
  6. With fingernail or edge of plastic ruler test if
    gripper aligns well with token. See image at right
  7. Return gripper to Standby position
    devwago -output "Small move" retracted
    devwago -output UpDown up
  8. Remove alignment token from well
    and retrieve (catch) ALS-cap
    devwago -output Grip release
  9. Repeat this alignment test on a second puck lid position as needed

See annotated full size image

Updated 27 Sep 2005 Security Notice   Webteam   Site Map   Bio   PXRR   NSLS   BNL