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.

Today (Wednesday July 18th) at around 4:15 pm I was taking a small tour group from VECC into the Target Hall. In the process of discussing the mechanical design of the Target Modules and South Hot Cell turntable I inadvertently lifted the Aluminum Hatch Cover of the Hot Cell about 2 inches in an effort to explain something. This tripped the ventilation alarm before I realized what I was doing. I evacuated the visitors from the Target Hall, checked booties and gloves at the check station before having the visitors step over the boot box. I called operations and let them know what I had done. The Target Hall was locked out and is awaiting a survey for the morning of July 19th before work can proceed.

Today (Wednesday July 18th) at around 4:15 pm I was taking a small tour group from VECC into the Target Hall. In the process of discussing the mechanical design of the Target Modules and South Hot Cell turntable I inadvertently lifted the Aluminum Hatch Cover of the Hot Cell about 2 inches in an effort to explain something. This tripped the ventilation alarm before I realized what I was doing. I evacuated the visitors from the Target Hall, checked booties and gloves at the check station before having the visitors step over the boot box. I called operations and let them know what I had done. The Target Hall was locked out and is awaiting a survey for the morning of July 19th before work can proceed.

At the end of manipulator repair Thursday the ventilation pre-filter in the hot cell was changed. Old filter remains in the hot cell until such time as it can be removed.

I have moved the suspected "hot" items in the hot cell and placed them under some lead bricks. I have re-measured the fields and it has been reducded to 90 uSv\h at the manipulator repair area and 110 uSv/h at the previous 1.82 mSv\h area.

hot items have been moved and shielded as much as possible. Field at left manipulator has been reduced from 560 uSv/h to 85 uSv/h.

The fields in the hot cell have been measured by means of a pole monitor through the tool port. Field was measured to be 25 uSv/h.

The handle cable on the east manipulator of the south hot cell has been replaced. Old cable showed signs of wear but had no broken strands. Manipulator is back together but still needs to be re-tensioned.

Entered hot cell to preform replacement of slave tong cable. Existing cable shows no signs of wear so it has been re-installed. A spare tong cable has been loaded into a spare tong while in the hot cell in preparation for next time this cable needs to be replaced.

Field readings have been taken at the south hot cell in preparation for entry into the cell to fix manipulator.

Field on contact at aluminum cover is 66 uSv/h, and a pole monitor into the cell through the tool port read 297 uSv/h.

 The old TM#2 source tray and TM#4 optics tray have been removed from the vault and placed into the spent target storage on tray 9 which is meant for source trays.

 Two minor chips in the main 60 kV insulators on the source tray was inspected today by Anders, Tom and Aurelia. The chips are small enough that they should not be a problem. See photos for details.

Source tray meggered today by Anders and Keith

GND - MSP OL @ 1000V
MSP - EE OL @ 1000V
EE - GND OL @ 1000V
4x Steerers - GND OL @ 500V

Steerer continuity verified from socket to steerer plates
(looking in the direction of the RIB, labeled top to bottom on sockets)

1 - Top
2 - Left
3 - Right
4 - Bottom

TM3 Rev 2 source tray/extraction column insertion into its storage was completed yesterday and it was then removed from the hot cell and put into the anteroom until June 25th when it will be moved into the vault tunnel.

The Box did have 10000 counts of contamination "all over" it. It has recieved inital decontamination and is down to 1000 counts.

The Source tray was inspected in the RH shop today by Anders, Friedhelm and Jens. The routing of the lines are satisfactory, however a design proposal to remove the ground electrode line will be made. This design will have to ensure a proper connection from the electrode to ground (using the window cooling lines). All other lines are OK at this point. Some fine adjustments are expected after brazing and soldering to maintain high voltage separation. Photos are available on DocuShare Collection-21401

Chad removed the source tray from TM3  today, see attached picture (video was also taken). There was some interference between the window cooling lines and the frame work as well as the clamps for the ground electrode and the water block alignment jig. There was also interference between the optics alignment post (specifically the mushroom top) and the water block alignment jig. Investigation into these inferences needs to be completed as they could cause trouble for the insertion of the new source tray and alignment of the copper lines. During removal it was easy to bend copper tubes out of the way but this clearly would not work during installation.

The two 45 gal (m) drums of waste removed from the south hot cell in December 2015 and January 2016 were transferred from the north hot cell to the shaft of the east vault tunnel on Monday, July 25th 2016 and subsequently to the east tunnel bunker in the vault tunnel on Tuesday, July 26th, 2016.The first drum (removed from the hot cell in December) containing both activated and contaminated metals was measured at 900 uSv/hr @ .5 m and the second drum (removed from the hot cell in January 2016) containing compressible items such as tank suits and plastic was measured at 150 uSv/hr @ .5 m.

Items were filed for storage/disposal with RPG under item number 1395 on the radioactive storage form.

Drums were transported to the vault tunnel using the 500 Mev Shield Flask (Drawing E-7097) with some minor modifications, namely a 1/4" thick Aluminum plate with four holes that line up with the holes in the bottom flange of the flask. This plate provided a bottom for the flask so that a drum could be contained within the flask during craning. Holes in the plate where countersunk for a 1/2" flat head bolt. Four bolts were also modified to accept 3/16 hair pins. 3 plates with clearances holes for the bolts were also manufactured to act as washers.

Procedure was as follows: With plate, washers and pins installed onto the flask, a modified drum dolly (5" spacers added to the casters) was placed inside the flask. Drum was craned into the flask using the automatic drum lifter. Flask with drum loaded was moved to the Meson Hall loading bay then craned to the B2 level of the Meson hall. Hair pins were pulled from the flask and the flask was then craned up leaving the drum (which was on the dolly firstly installed into the flask) and the plate. Drum on dolly was rolled to vault access shaft where it was craned off the modified dolly using the automatic drum lifter and down the access shaft to the vault tunnel level.  A second drum dolly was waiting at the bottom level and drum lowered onto it. Procedure was repeated for the second drum

Was vault was open , drums were wheeled into the vault tunnel and into a bunker that had been modified to accept these drums. Drums were lifted off dollies and put in place in bunker which had blocks installed to cover the entrance provided for installation.

Pictures can be found on docushare http://documents.triumf.ca/docushare/dsweb/View/Collection-18072  (collection 18072)

Field measurements have been taken to determine the level before entry for repair of manipulators.

Field on contact at manipulator is 560 uSv/h, and at approximately 1/2 meter at table surface 920 uSv\h.

The NHC right side manipulator was evaluated today to check if operation was normal through all ranges of motion.  The manipulator was first moved through usual motions without the electric motion drives: the feel was fairly normal, a sound could be heard from the master side Z motion tapes rubbing on the sides of the pulleys, this problem had been identified a few weeks ago however it was significantly reduced since the master side upper and lower Z motion tapes were tensioned yesterday (using CRL repair manual)

The Y motion drive was then tested:  with the master arm close to the window we attempted to move the slave arm close to the slave side window using the Y motion drive; part way through travel the arm stopped moving and would not move any further towards the window.  At this point it was approximately 1 foot from the slave side window.  (I recall that when the manipulator was installed in the wall it was difficult to get the slave end fully horizontal, the arm would travel part way, then stop for seemingly no reason.  Eventually after multiple attempts I got it to reach the horizontal position)

The Z motion was then tested.  The slave end was moved to the fully extended position.  At this point when the Z drive was continued downwards the master side moved up.  Once it reached the upper limit the drive continued which caused the Z motion tape on the slave end to snap.  At this point testing was stopped.

Our plan is to assemble and test the left side manipulator after the manipulator handling cart repair is completed.  If the left side has the same problems it is likely a manufacturer defect.  If not, the problems with the right side may be due to a timing error introduced when we removed the slave end to fit the assembly and cart through the roof hatch from the ISAC-1 experimental hall.  In either case we plan to have  CRL technician come in to address the issues and tune-up both arms before use.

Sorted and packed one 55 gallon drum with low contamination and active stuffs which are placed around silo area in the past. They include old poly water cooling lines replaced from ITE, ITW and TCS, contaminated paper  rags , gloves, and plastic bags,air cooling fans for turbo pumps, EE resistor packaged used on module top before, flow meters and cables used in ITW, etc. After packing, The field outside the drum on contact is less than 10 usv/hr.