4-Axis setup

Sample tranfer position RT

Please note that top position (T) is not possible to scan all range in y. Follwing values are at room tempereture

posiitons	a_mp1_x	a_mp1_y	a_mp1_z	a_mp1_yaw
Transfer Samples in/out	76	T: 380 M: 400 B: 419	25	195
Screws tight/loose	76	T: 380 M: 400 B: 419	25	105

Sample transfer positions for the low temperature head at 10 K

This information seems old, it will be updated.

Positions	Low temperature head	multi slot head	azimuth head
a_mp1_x	66.65 mm
a_mp1_y	374 mm
a_mp1_z	17.5 mm
a_mp1_yaw	2 deg (tight/loose), 357 deg (to insert / remove sample plate)

Sample position

45deg

posiitons	a_mp1_x	a_mp1_y	a_mp1_z	a_mp1_yaw
Sample	74-83	T: 23.7 - 35 M: 43 - 58 B: 66 - 81	around 22	240
Focus finder	78.5	97.4 - 97.32	23.9	240
SiN reflection	78.5	97.32	23.9	240

Normal incidende

posiitons	a_mp1_x	a_mp1_y	a_mp1_z	a_mp1_yaw
Sample	70-83	T: 23.7 - 35 M: 43 - 58 B: 66 - 81	?	283
Focus finder	?	97.4 - 97.32	?	283
SiN reflection	?	97.32	?	283

6-Axis setup (somebody call 2 axis)

Follwing values are at room tempereture

Sample tranfer position

posiitons	a_mp1_x	a_mp1_y	a_mp1_z	a_mp1_yaw	a_mp1_azim
Transfer Samples in/out	80	380	15	36	0
Screws tight/loose	80	380	15	53	0

Sample position

Normal incidende

2025-11-18 update

posiitons	a_mp1_x	a_mp1_y	a_mp1_z	a_mp1_yaw
Sample	80	25	15	306
Focus finder	76.4 - 78.5	82.8- 83.980	15	306

45deg

2025-09-19

posiitons	a_mp1_x	a_mp1_y	a_mp1_z	a_mp1_yaw
Sample	31	25	18	260
Focus finder	76-75	83	18	260

Grazing incidende

posiitons	a_mp1_x	a_mp1_y	a_mp1_z	a_mp1_yaw
Sample	80	380	15	216
Focus finder	80	380	15	216
SiN reflection	80	380	15	216

If Manipulator Motor axis is not moving at all

1. First, please check it is not physically hit something. Generaly, this should not be the case unless the hardware limit switch is hit.

2. If the hardware limit switch is nit hit, yet the motor not moving then try esync it. In terminal, run ‘spock’. run ‘ipap_esync’ followed by the name of axis: a_mp1_x, a_mp1_y, a_mp1_z, a_mp1_yaw. Eg.: to esync ‘a_mp1_x’ axis, run ‘ipap_esync a_mp1_x’

3. If the motor is still not moving, reset icepap by enable/disable “pysical” switch. hold toggle to disable until LED indicator change (around 2sec). Hold toggle switch to enable side for around 4 sec. and if status LED indicator becomes green it is recoved. This was reqired once for a_mp1_y axis which has brake on it.

If the problem persists, reach out to the floor coordinator or the local contact.

Note: this axis is not connected to PLC, so emergency stop for q-angle does’t stop this axis.