Sample¶
The I03 MX endstation. Design-phase; values are reverse-engineered from dodal or inferred.
The sample stage is the experiment hutch: the goniometer that orients the crystal, the sample-centring base, the automated sample-changing robot, and the sample environment. It is the modelling heart of I03 and the source of its one catalog change.
The goniometer (the graduated Family)¶
| Device | Family | Control handle | Notes |
|---|---|---|---|
Goniometer |
Goniometer |
BL03I-MO-SGON-01: |
the Smargon micro-goniometer: omega / chi / phi rotation + x / y / z sample-centring, with centre-of-rotation control and an unrestricted (wrapped) omega |
LowerGonio |
LinearStage |
BL03I-MO-GONP-01: |
the lower goniometer x / y / z base |
The Smargon is the reason I03 graduates the Goniometer Family from pending to defined. The catalog had documented Goniometer as a pending kind; the Smargon is CORA's first canonical instance, so it earns the Family. Goniometer stays a bare role-noun: distinct from RotaryStage (a single tomographic rotation axis that carries PSO fly-scan Following, which the goniometer does not) and from TiltStage (a limited-range tilt with no primary rotation axis). chi-vs-kappa and axis count are per-Asset settings, not Family splits. The per-axis decomposition (omega / chi / phi as rotation Assets, x / y / z as translation Assets under the Goniometer Assembly) and the centre-of-rotation calibration are carried pending (GONIO-1). The six real dodal motors are the controls-layer realization of the chi / x coupling and are not modelled as separate spine Assets.
The autonomous sample-changing robot¶
| Device | Presents | Control handle | Notes |
|---|---|---|---|
Robot |
Positioner Role | BL03I-MO-ROBOT-01: |
an automated sample-changing robot (BartRobot) |
This is the device that makes MX automation interesting, and the one an adversarial review kept CORA from over-modelling. The robot is not a new SampleChanger Family: following the settled 19-BM (ROBOT-1) and 32-ID positions, it is one Positioner-presenting Asset that loads and unloads a Subject (a pin / puck from a dewar queue), gated by a Clearance that must be Active (issued after a safety review), with the vendor robot in a bound Model. The genuinely new and non-obvious parts, the sample-queue custody lifecycle (Received to mounted-on-goniometer to measured to Returned / Stored) and the autonomous load gate, are Subject and Clearance modelling, not an equipment Family. The exchange workflow is a Procedure over the spine, deferred until the design and review land (ROBOT-1).
The sample environment¶
| Device | Family | Control handle | Notes |
|---|---|---|---|
Backlight |
Backlight (loose) |
BL03I |
sample illumination for on-axis viewing |
Cryostream |
TemperatureController |
BL03I-EA-CSTRM-01: |
Oxford cryostream cold-gas cooling; a settable actuator |
Thawer |
TemperatureController |
BL03I-EA-THAW-01 |
sample thawing; a settable actuator |
The cryostream and thawer bind the TemperatureController family, which has since graduated to the catalog (presenting the Regulator Role, requiring the Settable affordance) on the i11 rule-of-three; whether CORA commands their setpoints (versus reading them back) at this deployment is still the open question (ENV-1). The backlight is the one genuinely new loose family I03 introduces: no existing Family carries an illumination affordance, so it is carried loose and earned only on a rule-of-three (DET-1).
Whether the goniometer + aperture-scatterguard + backlight + cryostream compose an MX-endstation Assembly (the analogue of 2-BM's SampleTower) is deferred: grouping is promoted only when a feature must act on the whole (ASSEMBLY-1).
See Open questions for the confirmations still needed and Inventory for the Asset tree.