Moving on robot arm

Detailed instructions for moving the robot arm currently holding the epix10k2M

LUCY

you might need access to PCDS confluence to see pages

You will likely want the reference laser 

  1. make sure space is clear
    1. Rayonix is all the way back
    2. Rayonix has the cover plate on it
    3. tubing and cabling are properly cinched to beampipes
    4. no people
  2. bring detector into safe X and Z above the chamber; slowly and manually, so the only motion left to do will be down in Y with a cleared path.
    1. DO NOT GO TO A SAVED POSITION FROM HERE AS WE'RE NOT SURE THE PATH IT MIGHT TAKE
  3. bring down in Y  
  4. rotate about Y (yaw) to remove the cover plate
    1. DO NOT INSERT DETECTOR TUBE YET
  5. rotate back to about parallel to the faceplate
  6. place a spirit level on top of the small flat surface on top the detector 
  7. optimize the rotation about Z (roll), and rotation about X (pitch)
  8. remove spirit level
  9. place a piece of fluorescent tape behind the detector
    1. ideally the Rayonix is there, with cover plate, so add the tape to the plate centered about the reference laser
  10. with reference laser on ideally (can be done with X-rays but why be so dangerous) optimize the X and Y position
  11. then adjust the rotation about Y (yaw)
  12. then insert the detector tube and optimize again with the smaller hole.
  13. SAVE THIS POSITION ON THE PENDANT
  14. slow the speed down and move the detector in -Z
  15. SLOW IT ODWN FURTHER
  16. and find the closest support BE AWARE that the faceplate and the detector face might not be perfectly parallel, so look closely for collisions away from you
  17. SAVE THAT POSITION and perhaps note it as closest approach
  18. with X-rays on do the same tuning in REMOTE MODE (typically just X and Y positions but maybe Yaw again) 
    1. If the detector tube is close enough to the interaction region you can see it on the on-axis camera, visually center it about your crosshairs and then tune is with the x-ray scatter on the detector face

Turning on detector

Make sure chiller is on.

  • in mfxhome, go to Detector tab
  • find the "epix10k2M" button
  • ENABLE ALL
  • IDLE ALL
  • wait for voltages to go to 20 V
  • ALL ON
  • voltages go to 120 V
  • wait about 30 minutes for thermal equilibrium for a proper pedestal

Pedestals

MULTI step process:

In terminal:

  • takepeds
    • ###(similar to daqcontrol dark of CXI days)
  • WAIT until done
  • makepeds -r <RUN NUMBER where you took peds> -u <UNIX ACCOUNT> -e <EXPERIMENT NAME> -q psfehhiprioq
    • ###use the -l option to do things "locally" on the fast feedback nodes instead of moving the calculation to other servers
    • can take ~10 minutes
  • Then shutdown and reallocate the daq
  • No labels