Classifying the Robot Sample Mounting Operation

The robot is a device that the scientists may need interact with in order to perform their experiments. The device requires some safety precautions because it moves a fast robot arm with a wide range of motion. Scientists should probably be outside the hutch while the robot is mounting and dismounting samples.

However, staff members will need the capability to work with the robot within the hutch, and are familiar with the robot's range of motion and speed.

The device is given 'Outside Closed Hutch' permissions for 'scientists' and 'Inside Open Hutch' permissions for 'staff' as shown in Table 9

Table 10 shows the capabilities that a user has while issuing commands to the robot.

Please note that Blu-Ice software will only be able to add to the restrictions already placed on SSRL's robot by the hardware interlock system.

Table 9: Device permissions for sample mounting robot.
Permission Scientist Staff

Outside Closed Hutch YES YES

Inside Open Hutch NO YES

Outside Open Hutch Local NO NO

Outside Open Hutch Remote NO NO

Passively Accessible. NO NO

**Table 9:** Device permissions for sample mounting robot.
Permission	Scientist	Staff
Outside Closed Hutch	YES	YES
Inside Open Hutch	NO	YES
Outside Open Hutch Local	NO	NO
Outside Open Hutch Remote	NO	NO
Passively Accessible.	NO	NO

Table 10: Can the Blu-Ice user perform sample mounting operations?
In-Hutch Local Console Remote Console

Local Scientist NO YES (If hutch door is closed) NO

Roaming Scientist NO YES (If hutch door is closed) YES (If hutch door is closed)

Local Staff YES YES (If hutch door is closed) NO

Roaming Staff YES YES (If hutch door is closed) YES (If hutch door closed)

	In-Hutch	Local Console	Remote Console
Local Scientist	NO	YES (If hutch door is closed)	NO
Roaming Scientist	NO	YES (If hutch door is closed)	YES (If hutch door is closed)
Local Staff	YES	YES (If hutch door is closed)	NO
Roaming Staff	YES	YES (If hutch door is closed)	YES (If hutch door closed)