Troubleshooting Robot Problems

My sample moved a few minutes after it was mounted.

Sample shift is the result of ice build up on the base. When the ice between the base and the goniometer melts, the sample will shift. To minimize sample shift, make sure that bases are completely dry prior to loading the samples into cryopucks.

The Robot script displays an error when I start it up.

Have you started the Comwrapper? The comwrapper must be started on the MD2 computer prior to starting the Robot script.

The Robot failed to mount my sample.

Is the gripper cold? The Robot will not mount a sample if the gripper is not cold. Click Cool Gripper to cool the gripper.
Is the gripper missing the goniometer? If the gripper is mis-aligned, you can manually align by clicking ALIGN X and ALIGN Y.
Have you recently re-started the Robot server? When the Robot server has been re-started, the connection to the server also must be re-established on the beamline auxilliary computer.
Is the Robot responsive to some commands but not others? Restart the Robot server.
Is the Robot Unresponsive to all commands? See further troubleshooting tips under "The Robot is Unresponsive".

The Robot moves but does not cool the gripper.

Re-start the Robot Server.

The dewar lid is icing up.

Is the Fan turned off? Turn the fan back on by toggling the switch up.

My sample is icy and a lot of ice is in the Robot storage dewar.

Is the Fan turned off? Turn the fan back on by toggling the switch up.

The gripper is warm.

Is the robot script running in Cold Mode? Check to see if the Cold Mode light is lit. The LED is lit when Cold Mode is active.

The Robot is responding to some commands, but not others

Re-start the Robot Server

The Robot is Unresponsive.

Is the light next to the STAGE label in the upper right hand corner blinking on and off? If the light is off, then the robot script has lost connection to the server. Re-establish connection by clicking the ROBOT SERVER button.
How long have you waited? Due to the large number of safety checks, the robot is not fast. Do not proceed with corrective action the LED between the STAGE and STATE words is blinking (see Location 11) or the MD2 Status is updating (see Location 10).
Is the Protocol Dwell light on? Is the Busy light on? If either of these lights are lit check if the MD2 Status is updating (see Location 10). If the MD2 Status is updating, then continue to wait as safety checks are incomplete.
Are any stages listed as UNDEFINED? (Region 9) If yes, then a move has failed to complete. Check spindle alignment, check dewar for a collision, or check for a bent pin stuck in the gripper. If a physical obstruction is the cause of the UNDEFINED state, the obstruction must first be removed prior to clearing the state. The UNDEFINED state can be cleared by clicking the stage motion so that the state return to normal.
All other situations, see Support Staff for assistance.

The sample sensor stopped moving. Will it affect my diffraction?

Unless you are collecting data at high resolution, the sample sensor should not affect your diffraction.

I cannot exit from the Robot Control Software when I click EXIT.

Abort the Robot script.

When I try to shutdown the Robot script window, it tells me that it is in the middle of an action.

Abort the Robot script.

Can I remove the Air Shield?

No, the Air Shield cannot be removed by users. The Air Shield prevents disruption of the liquid nitrogren stream during de-icing of the gripper. Sample loss can occur in the absense of the Air Shield. Movement of the Air Shield can cause collision with the Robot. NE-CAT Staff is required for all adjustments to the Air Shield.

Corrective Actions

Issuing Commands to the Robot
The Robot computer is PC1. The MD2 computer is PC2. In order to access the robot computer inside the hutch, the keyboard and monitor must be set to PC1. Hit the switch above the monitor to toggle between the two computers.
Accessing Stage Motions
To access the stage motions, you must be logged in Executive mode. This mode is selected by clicking MODE: then entering the password. You must contact Support Staff to obtain the password. Once you are in executive mode, all the Stage buttons will turn blue and you will be able to access the motions.
Parking the Gripper
Parking the gripper is the most dangerous action possible. The MD2 must be closed before the gripper is parked or else a collision will occur and pieces of the MD2 will break. Users are liable for all damage to the MD2 caused by parking the gripper. To park the gripper, click PARK/SAFE. You will see a menu with PARK GRIPPER, SAFE GRIPPER or CANCEL. Select PARK GRIPPER.
Safe Gripper
To move the gripper into a safe state for maintenance. Select PARK/SAFE. Select SAFE GRIPPER.
Abort All
If one of the stages is UNDEFINED or there is some form of mechanical emergency with the robot, you can stop the Robot by clicking ABORT ALL. If the ABORT ALL button is used during regular operation, it will cause the Robot to cease, the PROTOCOL ABORT light will illuminate and further action will not be possible until the abort has been cleared. Improper clearing of the abort can cause random robot actions and sample loss. To clear the abort, you must exit the script and restart.
Aborting the Robot script.
If you cannot exit from the Robot script, you can abort the script by clicking on Execution Options under the title bar and then selecting Abort Script.
Restarting the Robot Server
The Robot Server can only be restarted inside the hutch. On the hutch computer, click the ROBOT SERVER button under Maintenance. You will be asked to confirm. Click YES.

If the Robot Server has been restarted, the socket connections on the beamline computer must be re-established. Restart the lift script to accomplish this task.
(Re)Starting the Robot Control Software
Double-click the Executor icon . Make sure that the Robot Script is shown on the title bar (currently PUCK2_MD2.CXE). If it is not, click on File, go to "Prior .CXE Selections" and select PUCK2_MD2.CXE from the list. Click Executions Options, then select "Execute Script".
Turning on the Autofill.
Flip the switch to turn on the autofill.