SSRL Crystal Mounting System

Sample Storage Cassette

Stores 96 samples mounted on standard Hampton pins

NdFeB ring magnet

Teflon washer

Hampton pin

Sample Storage Cassette

The Dispensing Dewar

Vertically Opening Gripper Arms

The Robot and Gripper Arms

Z

U

θ1

θ2

Fingers to HoldDumbell Magnet Tool

Cryo-tong Cavity

Epson ES553 Robot

How do I transport my cassette?

Mount 3 cassettes at the beam lineup to 288 samples

Ship 2 cassettes inside a Taylor Wharton or MVE dry shipper

Store 20 cassettes inside a Taylor Wharton HC35 storage device

Cassette transfer handle

Robot Demonstration

(A) Sample Cassette and Hampton pins

(B) Guide Tool – to aid mounting pins into cassettes

(C) Transfer Handle – for handling cold cassettes

(D) Magnetic Tool – to mount pins in cassette & to test pin size

(E) Dewar Canister – replaces stock canister in dry shipping dewars

(F) Styrofoam Spacer – keeps single cassette in place when shipping

(G) Teflon Ring – to support the canister in the shipping dewar

Styrofoam box holds liquid nitrogen for loading cassettes

How do I put crystals into cassettes?

How do I put crystals into cassettes?

Is It Easy to Use?

Standard Pins → Cross Compatibility

What pins work with the system?

How do I get the cassettes and tools?

www.hamptonresearch.com www.QMPmachine.com

Manufacturing directions are available online at smb.slac.stanford.edu/hardware

Can the robot be used remotely?

Blu-Ice for beam line control

• Can run locally or remotely.• Multiple copies may run simultaneously.• Security features prevent unsafe actions.

Beam line video system• Monitor sample in beam,

experimental hardware, and crystals under microscope.

• Video streams may be viewed via Blu-Ice or through a web browser.

Archive System

• Back up data to multi-terabyte robot tape system at SDSC over network.

• Simple web interface for data archival and retrieval.

• No need to use backup tapes.Remote Unix desktop

• Fully functional Unix desktop environment.• Blu-Ice and all data processing software may be run remotely.• Free ICA client from Citrix.

Remote Access Requirements:

Remote Access Requirements:

Sorry - I cannot make it to work today.

1. Reliability 2. Feedback

A collision has occurred!

Ouch!

How Reliable is the System?

In operation for more than a year JCSG screened > 3000 crystals in < 6 months Capable of mounting 100s of samples without problems

Learn as much as we can from any problems

What Problems Have Occurred?

Pass

Failures

Pin Tester

Excess glue or grease spilled on pins

How Reliable is the System?

Routine Preventative CareMaintenance / Inspection Schedules

Feedback for sample and hardware protectionLaser Displacement Sensors

pin on/off the goniometersample position check

Force Sensor collision detectiontoolset calibration checkscassette insertion checks

Feedback

Sensor

ATI Industrial Automation force/torque sensor

Automated Calibration

Speedy Recovery Time

Tongs are easily replacedSpare robot and parts readily availableMenu driven automated recalibrationEasy for all support staff to repair and maintain

The Macromolecular Crystallography Group

SSRL Director: Keith HodgsonSMB Leader: Britt HedmanMC Leader: Mike Soltis

Günter Wolf, Scott McPhillips, Paul Ellis, Aina Cohen, Jinhu Song, Zepu Zhang, Henry Van dem Bedem, Ashley Deacon, Amanda Prado, Jessica Chiu, John Kovarik, Ana Gonzalez, John Mitchell, Panjat Kanjanarat , Mike Soltis, Hillary Yu, Ron Reyes, Lisa Dunn, Tim McPhillips, Dan Harrington, Mike Hollenbeck, Irimpan Mathews, Joseph Chang, Irina Tsyba, Ken Sharp, Paul Phizackerley

http://smb.slac.stanford.edu

Thanks For Your AttentionThanks For Your Attention