TM2 with new target Nb#11 has been E/L checked sitting on NHC.

  TM4 with spent target UCx#42 has been electric checked at NHCpost right after transferred from ITE.

 TM4 with new target Ta#65 has been E/L checked at NHCPost.

 TM4 with new target Ta#65 has been E/L checked at NHCPost.

Nb#10target has been remotely  transferred from NHC to SHC. 

Update 2024-09-12: C. Fisher confirms this is actually normal behaviour. The Y-axis motion is inhibited when X and Z are in a certain configuration, which was true when the manipulator was mounted on the wall in storage position. Non-issue. A note about this has been made in the operator manual.

It was observed today that for the spare manipulator (Model N, Serial 9351), the Y-axis motion was not functioning. X motion and Z motion are functioning as expected. Note that the Y-axis linear actuator was recently replaced and successfully tested and has not been used since the replacement (see e-log 2422).

The following information was determined from troubleshooting:

• X motion functioning correctly
• Z motion functioning correctly
• Y motion selection functioning correctly - the indicator light on the operator control box lights up to confirm Y is selected, and the relay on the main control board which selects the Y axis toggles, as expected
• Y motion motor contactors do not function as expected when toggling in either direction. Note that these contactors are shared in common with the other two motion axes, so they are functioning correctly and presumably the motor controller itself is as well, since the other axes work.
• Most likely, because of the above reasons, there is an issue with the inhibit signal that is specific to the Y axis. The inhibit signal which runs from the main control board to the motor control board is shared in common with all motion axes (same for the two direction select signals). It is suspected (not yet confirmed), that the microcontroller is not outputting the inhibit signal as it should be. This is not due to a limit switch related issue because the Y axis does not have limits. Troubleshooting this has been difficult because the schematics do not show the full extent of the circuitry.

Further troubleshooting steps:

1. Check inhibit signal functionality - is it working for Y axis?
2. Check direction control signal functionality - are they working for Y axis?
3. Swap motor select wires to "trick" the microcontroller into thinking it is running a different motor, to further isolate the issue.
4. If required, swap the entire main control board with another manipulator's, to see if the issue is related to the circuitry which is not described in the schematics.

At the time, this issue is not deemed critical because this is a spare unit.

On Friday, September 6, 2024 Model 'N' remote arm #9352 was removed from the NHC right side installed position to investigate  an ongoing issue with the tong motion circuit (no motion on the remote side when handle on operator side operated).

Inspection revealed that the tong cable on this arm have hopped its cable drum and rapped around the shaft of the cable drum. As well, the tong cable had hopped a lower pulley and was jammed between the pulley and casting of the pulley housing. These issues were corrected and arm#9352 was reinstalled onto the right hand position. This repair resolved an ongoing tong motion system stemming from November 2023 described below.

initial tong motion problem from November 2023 when the tong system jammed, operator side arm #9763, remote arm #9342.

Remote arm #9342 was removed and replaced with arm #9352 as it was suspected there was a hopped cable on #9342. Upon removal it was confirmed the tong cable on remote arm #9342 had indeed hopped the pulley. After installation of the "spare" remote arm #9352 that hAd not been installed since previous servicing and should have been completely operational, it was found the tong system still did not work properly.

Upon thorough inspection of operator arm # 9763 it was found that the tong cable was prematurely reaching the end of its travel on its drum causing the inability to activate the circuit. The tong cable was reset on its drum as per manufacture's specs with one full cable rap on the drum and one full pretension wrap of the tong drum spring.

Although this resolved part of the problem and allowed a full squeeze of the operator handle it did not result in transfer of motion through the system to the remote end.

Further investigation continued, separating the operator side arm from the seal tube and testing the seal tube and operator side arm independently. Both systems worked fine independently, pointing to a potential problem between the seal tube and spring loaded coupler on the remote arm.

Remote arm #9352 was removed and couplers visually inspected and end of seal tube on the hot side was inspected and found that the pin in the end of the shaft on the tong circuit was not installed symmetrically which could cause uneven pressure on the spring loaded coupler of the remote arm. This pin was adjusted and all pins on the hot side of the seal tube were dimpled and loctite applied as a precautionary measure.

This still did not remedy the tong motion problem. These led to the September 6, 2024 removal and repair of remote arm #9352. This arm had previously been serviced by a CRL technician in December of 2017 and had not been installed or used since and should have been in operational status. It is still not clear why it was not.

Over the course of September 9th - September 13, 2024 a CRL manipulator technician carried out the following manipulator maintenance:

NHC operator side arm #9763 (right side installed position) - Inspection and re-tensioning of tong cable prior to re-installation (was a little too tight). Operational.

E-HD clean spare #8015 - repaired stuck manual 'Z' motion - removed one rouge 5-40 screw that had been dropped inside remote end during 'Z' motion cable run through in 2017, found that related 5-40 screws from the cable end clamp were not tight and therefore proud and also jamming. Complete tape replacement and tensioning. This manipulator is fully back to operational status other then needing some screw for the air restriction on the remote end.

E-HD "dirty" spare #7985 - inspection and evaluation of parts on the operator side require to return to operational status. Wrist and handle reassembled (all parts of wrist and handle accounted for) Ball and socket joint at and of motion lock replaced (parts were on hand already) as well as tape motion lock assembly (parts on hand already). This arm may be missing a relay or two. Remote side still bagged with unrecorded issue (suspect it is only a broken tong cable) this will be put in the maintenance schedule for earl 2025.

NHC operator side "spare" arm #9351 - Damaged 'Z' motion tape replaced. Tensioning. Operational once 'Y' motion linear actuator re-installed.

Meson hall warm cell manipulators evaluated/inspected - No issue found

MCR Travis Curucz and I finished BL2A MAA ASU test per document 154779. everything works fine. Travis kept  the test document.

 5 shielding blocks have been transferred from ITW to ITE, MAA has been secured after moving.

 5 shielding blocks are transferred from ITW to ITE, Target Area is secured again after moving.

TM#1 with Ta#37 has been moved from the conditioning station to the the west target station, move went well.

 TM1 with Ta #37 target was moved from ITW to the south hot cell. The rotation of TM1 may have been off slightly during the final removal from ITW but it was minimal. Entry into the south hot cell went with out incident. This was my first time moving the module without the presence of Travis Cave. 

West target station is setup to use argon for tank venting.  There is 1200 PSI remaining on argon bottle in electrical room.  That is sufficent for venting west target station to atmosphere twice.  ISAC Operations has been previousily contacted and their procedures for venting remain the same except that they can not rely on ITW:CG4S to determine when at atmospheric pressure.  I have asked them to contact me if an unscheduled vent is required.

TM#1 with UCx#2 has been moved from the west station to the south hot cell. Move went well.

Move of TM#1 with the TaC#1 target has been moved from the south hot cell to the west target station.

TM#1 with TaC#1 from the west target station to the south hot cell. Move went well.

TM#1 with UCx#3 moved from conditioning station to west target station. Move went well.

TM#1 with UCx#3 moved from the conditioning station to the west target station.

ITW and TM1 winter shut down vacuum leak check had been finished yesterday.All ITW primary vacuum vessel, secondary vacuum vessel, and TM1water lines had been leak checked.No any leak has been found .The ITW and TM1 are both leak tight.Some detail information below:

TM1 and ITW primary vacuum vessel and water lines:   The leak detector was hooked on BV2 after TP2.  Calibrate leak detector.leak detector BL 0.0xe-9atm.cc/sec,BP0.0xe-4 torr.

Sprayed helium to all primary vacuum vessel seals, flanges, turbo pumps,gauges, blank offs, bellows, and insulation blocks on TM1 and ITW. No any response had been found on leak detector.Also applied 60 psi helium to all water lines in TM1 for 5minutes each,no any response on leak detector.The leak rate stayed at 0.0xe-9 to 0.3 xe-9 atm.cc/sec all the time. All waterlines in TM1 are leak tight.

ITW secondary vacuum vessel:the leak detector was hooked on BV4s after TP4.Leak detector BL 0.0xe-9 atm.cc/sec ,BP 0.00xe-4 torr.  Sprayed helium to all secondary vacuum seals which include all bellows, tank to tank flange seals,tank flange to modules seals,beam diagnostics, gauges,turbo pumps, and EXIT 2 top service cap seals.No any response had been found on leak detector during the check. The secondary vacuum vessel is leak tight on ITW. 

All high vacuum gauges were read at 2-3xe -7 torr range  during the test time and no change during the test.