Robot Overview and Design
NE-CAT uses a modified ALS-style automounter installed on both 24-ID-C (the multi-wavelength beamline) and 24-ID-E (the mono-wavelength beamline). The Robot consists of a robotic arm to place samples on the goniometer, and a storage dewar to hold the crystals. Inside the dewar, the samples sit on the lids of the cryopucks. The robotic arm, known as the gripper, reaches into the storage dewar and picks up samples one at a time to mount them on the goniometer. NE-CAT has modified both the gripper and the storage dewar to make it easier to load samples into the dewar and to enable easier recovery from errors resulting from bent pins, tilted samples, and incorrect bases.