Attachment (B) NSLSII-12ID-SPC-001-RevA (1).pdf

Brookhaven National Laboratory Number: NSLSII-12ID-SPC-001

Brookhaven Science Associates Version: 1

National Synchrotron Light Source II (NSLS-II) Effective: 22 March 2024

NSLS-II Soft Matter Interfaces (SMI) Beamline

Sample Motions Assembly

Technical Specification QA Category: A2

Document Reviewed and Approved By:

Prepared By Approval David (Scott) Coburn NSLS-II Principal Mechanical Engineer, Beamline Engineering

ESH Approval Robert Lee NSLS-II ESH Manager

Approved By Steve Moss NSLS-II Authorization Basis Manager

Approved By Eliot Gann NSLS-II SMI Lead Beamline Scientist, Complex Scattering Group

Approved By Judy Harris NSLS-II Quality Assurance Engineer

Approved By Masafumi Fukuto NSLS-II Program Manager, Complex Scattering Program

Approved By Zhijian Yin NSLS-II Data Sci & System Integration

Reviewers (Additional staff on this review who are not approving through SharePoint)

Reviewed By Steve Glozek NSLS-II Staff Electrical Engineer ii National Synchrotron Light Source II

Version 1 ii Brookhaven National Laboratory

VERSION CONTROL SHEET

VERSION DESCRIPTION DATE AUTHOR APPROVED BY

1 First Issue 22MAR2024 S. Coburn See cover page.

NSLSII-12ID-SPC-001: 12-ID (SMI) Sample Motions Assembly Technical Specification iii

National Synchrotron Light Source II iii 22 MAR 2024

Contents

1 Introduction and Overview

2 References

3 Conflicts

4 MOTION CONTROL TERMS

4.1 Range

4.2 Resolution

4.3 Repeatability

4.4 Accuracy

4.5 Stability

5 COORDINATE SYSTEM

6 Packaging

7 Technical specifications

7.1 Scope of Supply

7.2 Mechanical Specifications

7.3 Motion Specifications

7.4 Electrical Specifications

7.5 Cabling

7.6 Vacuum Specifications

7.7 Acceptance Testing

Definitions/Acronyms

BNL Brookhaven National Laboratory

BSA Brookhaven Science Associates

CAD Computer Aided Design

NSLS-II National Synchrotron Light Source II

QA Quality Assurance

SR Storage Ring

SPC Technical Specification

STP Step (file)

UHV Ultra-high Vacuum

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1 INTRODUCTION AND OVERVIEW

NSLS-II is a synchrotron light source that has a highly optimized 3 GeV electron storage ring, full-energy injector, experimental beamlines and optics, and appropriate support equipment. This Technical Specification is the basis for the procurement of a Sample Motions Assembly, which will be used on the Soft-Matter

Interfaces (SMI) beamline at the National Synchrotron Light Source II (NSLS-II) at Brookhaven National

Laboratory (BNL). The Sample Motions Assembly described in this document will be used as a vital part of the beamline ensuring that the sample under study can be correctly positioned relative to the incident X-ray beam.

This Specification outlines the Contractor’s responsibilities and obligations necessary for completing the requirements as set forth herein.

2 REFERENCES

The following documents are an integral part of this Specification; the applicable revision level will be the latest that is in effect at the time of award:

Document Number Document Title

BNL-81715-2008-IR Vacuum Systems Consensus Guideline for Department of Energy Accelerator Laboratories

BNL-QA-101 BNL Supplier Quality Assurance Requirements

LT-ENG-RSI-SR-VA-002 Requirements for Design and Fabrication of Components for NSLS-II UHV Systems

NFPA 70 National Electrical Code (2020)

NSLSII-CRL-RSI-001

Experimental Facilities Requirements, Specifications and Interfaces for the Controls and Data Acquisition System

NSLSII-CRL-STD-001 Beamline Systems Instrumentation Interfacing Standard

PD-SMI-ES-WAXS-0120 Sample Motions Envelope Assembly (2D Drawing and 3D STEP CAD files provided)

3 CONFLICTS

In the event of a conflict between the Specification and any reference documents, the Contractor shall immediately notify the BSA contractual representative. Failure to notify the BSA contractual representative of a document conflict shall not relieve the Contractor’s responsibility to ensure full compliance with all requirements.

4 MOTION CONTROL TERMS

The following definitions shall apply to the motion control specifications.

4.1 Range

Maximum range of positions available to a motion, which is defined at both ends by potentially adjustable hard limits or non-binding end stops. (Capability for additional user-adjustable hard and soft limits must be presented.)

4.2 Resolution

Minimum average incremental step size that can be resolved by the encoder or achieved by the mechanical and motion control system.

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4.3 Repeatability

RMS difference between absolute position reached for a given identical commanded position regardless of history (motion from either limit).

4.4 Accuracy

Maximum difference between absolute position travelled to and the commanded position.

4.5 Stability

RMS deviation in absolute position with no change in input position over an extended period of time

(24 hours).

5 COORDINATE SYSTEM

This document uses a Cartesian coordinate system to specify various orientations and directions. The Cartesian axes are shown in Figure 1. The tri-colored XYZ icon shown is located at the origin of the coordinate system

(0, 0, 0). The arrows point in the positive direction. Refer also to drawing PD-SMI-ES-WAXS-0120.

A set of rotation axes is defined as rotation about each of the Cartesian axes. The designation is (ax ay az), meaning “angle about x,” etc. The sign of these rotations is strictly right-handed.

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Figure 1: Coordinate System Orientation and Origin Location

6 PACKAGING

▪ The Sample Motions Assembly shall be packed to ensure that it remains clean and free from damage during both storage and shipping.

▪ In preparation for shipping, the Sample Motions Assembly shall be sealed for protection against weather elements, dust, and damage to projections, shock loads, impacts, and rubbing. The Sample Motions

Assembly shall be properly braced and cushioned within its own packing so that it will not shift during handling and shipment.

▪ Durable materials, such as clean wood, bubble wrap, or similar noncontaminating materials, are to be used to support and protect the components from one another during transit and storage. Peanut-type material shall not be used for packaging.

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▪ All assemblies or sub-assemblies shall be secured to prevent damage due to unwanted motion or vibration. The packaging must be designed to withstand acceleration loads more than twice the acceleration due to gravity (>2g0).

▪ Each packing crate shall be fitted with ShockWatch® and TiltWatch® sensors or an equivalent approved by BSA.

▪ The container shall be appropriately labeled with the listing of contents, destination, gross weight, location of center of gravity, purchase order number, and contact information.

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7 TECHNICAL SPECIFICATIONS

This section defines the technical specifications for the Sample Motions Assembly.

7.1 Scope of Supply

The following list of components denotes the scope of supply of the Sample Motions Assembly.

▪ All individual motion stages.

▪ Adapter plates between individual stages, as needed.

▪ Stepper motor(s) for each stage.

▪ Gear reducers (if required) for each stage.

▪ Absolute position encoder for each stage.

▪ Cables for motors and encoders of the required length.

▪ All items integrated into one assembly.

7.2 Mechanical Specifications

The Sample Motions Assembly shall meet the following mechanical specifications:

▪ It shall conform to the dimensions of and fit completely within the envelope specified in BNL drawing

PD-SMI-ES-WAXS-0120. The top surface of the top-most stage shall be at the top surface of the envelope (when all motions are at their nominal zero positions).

▪ It shall be clean and free of dirt, corrosion, oil, and grease, except for the appropriate lubrication on moving bearing surfaces.

▪ It shall be designed to operate in the temperature range of 24˚C (75˚F) to 35˚C (95˚F) and under humidity range of 20% to 80%.

▪ It shall be designed to operate in the pressure range of 750 Torr to 1E-5 Torr.

▪ The load capacity shall be ≥ 15 kg, centered at the coordinate system origin.

7.3 Motion Specifications

The Sample Motions Assembly shall meet the following motion specifications:

▪ The Sample Motions Assembly shall have six degrees of freedom: (X, Y, Z) linear motions, and (ax, ay,

az) rotation motions.

▪ The six motion stages shall be stacked in a linear fashion.

▪ The motion stage at the bottom of the stack shall be the ax rotation.

▪ The motion stage on top of the ax rotation shall be the az rotation.

▪ The motion stage on top of the az rotation shall be the ay rotation.

▪ The motion stage on top of the ay rotation shall be the Y motion.

▪ The motion stage on top of the Y motion shall be the X motion.

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▪ The motion stage on top of the X motion shall be the Z motion.

▪ When the (ax, ay, az) rotations are at their nominal zero positions the X motion direction shall be parallel to the X axis, and the Z motion direction shall be parallel to the Z axis.

▪ The ax rotation axis shall be parallel to the X axis, and the az rotation axis shall be parallel to the Z axis.

▪ The (ax, ay, az) rotation axes shall have a common intersection point (located at the coordinate system origin) with a sphere-of-confusion of ≤ 20 µm over the full range of all rotations.

▪ Each motion stage stepper motor shall be sized to provide a speed of ≥ 1000 full-steps per second.

▪ The individual motion performance specifications are given in the following Tables.

Table 1: X Motion Performance Specifications

Parameter Value

Range ±50 mm (minimum)

Resolution ≤ 0.25 µm (1 full step)

Repeatability ≤ 0.5 µm

Accuracy ≤ 10 µm, over full range

Trajectory Straightness ≤ 5 µm, over full range

Trajectory Roll, Pitch, and Yaw ≤ 30 µrad over full range

Table 2: Y Motion Performance Specifications

Range +10 to -40 mm (minimum)

Resolution ≤ 0.25 µm (1 full step)

Repeatability ≤ 0.5 µm

Accuracy ≤ 10 µm, over full range

Trajectory Straightness ≤ 10 µm, over full range

Trajectory Roll, Pitch, and Yaw ≤ 30 µrad, over full range

Table 3: Z Motion Performance Specifications

Range ±10 mm (minimum)

Resolution ≤ 0.25 µm (1 full step)

Repeatability ≤ 0.5 µm

Accuracy ≤ 10 µm, over full range

Trajectory Straightness ≤ 5 µm, over full range

Trajectory Roll, Pitch, and Yaw ≤ 30 µrad, over full range

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Table 4: (ax, az) Motion Performance Specifications

Range ±5 degree (minimum)

Resolution ≤ 0.001 degree (1 full step)

Repeatability ≤ 0.005 degree

Accuracy ≤ 0.010 degree

Table 5: (ay) Motion Performance Specifications

Range ±180 degree

Resolution ≤ 0.001 degree (1 full step)

Repeatability ≤ 0.005 degree

Accuracy ≤ 0.010 degree

7.4 Electrical Specifications

Controls interface requirements are documented in BSA document NSLSII-CRL-RSI-001, Experimental

Facilities Requirements, Specifications and Interfaces for the Controls and Data Acquisition System. Motor interfacing standards are found in BSA document NSLSII-CRL-STD-001, Beamline Systems

Instrumentation Interfacing Standard.

Each of the motion stages shall have the following:

▪ Stepper motor actuators. (See NSLSII-CRL-RSI-001 Section 2.1.1)

▪ Absolute encoders. (See NSLSII-CRL-RSI-001 Section 2.1.2)

▪ Limit switches with adjustable actuation settings. (See NSLSII-CRL-RSI-001 Section 2.1.3)

▪ Thermocouple temperature sensor for each stepper motor. (See NSLSII-CRL-STD-001 Section 4.5.2)

7.5 Cabling

▪ The cabling shall meet the following requirements:

▪ BNL drawing PD-SMI-ES-WAXS-0120 shows the exit location in the envelope for the assembly cabling. All cabling must exit through this location.

▪ The cable length from the envelope exit opening to the connectors shall be 1.5 m.

▪ All cabling and connectors shall be compatible with the lowest operating pressure listed in Section 7.2.

▪ Each cable shall have appropriate strain relief at its source(s) and along its length to the envelope exit location.

▪ Each connector shall have an appropriate back shell with strain relief.

▪ Each connector shall be permanently labeled in a vacuum-compatible manner with its axis designation

(X, Y, Z, ax, ay, az).

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▪ Each motion stage shall have its motor, limits, and encoder signals cabled to a single DB15 connector.

The connector shall have socket contacts. (The vacuum feedthrough for these connectors has pin contacts.)

▪ The connector shall use the pinout shown in Table 6.

▪ All electrical distribution must be in accordance with U.S. standards and must comply with NFPA 70

(2020).

▪ All commercial off-the-shelf (COTS) components shall be certified by a Nationally Recognized Testing

Laboratory (NRTL) and bear the NRTL mark, https://www.osha.gov/nationally-recognized-testing-laboratory-program/current-list-of-nrtls. (CE is not an approved NRTL and is not considered acceptable.)

▪ Where low smoke zero halogen is required: all cable and wiring shall be Low Smoke, Zero Halogen, Halogen Free or equivalent complying with either UL 2885 or IEC 60754-1 and IEC 60332. The oxygen index must be higher than 28 and acid gas emission less than 4% for the outer sheath. PVC compound shall not be used.

▪ All cables to be installed in a cable tray shall be rated and certified by an NRTL for cable tray use. The cable shall have the cable type and NRTL markings on the sheath or spool.

▪ If there is any deviation from these requirements, the contractor must notify BSA immediately.

Table 6: Cable Pinout

Signal Pin Pin Signal

Encoder MA(+) 8 15 Encoder MA(-)

Encoder SLO(+) 7 14 Encoder SLO(-)

Encoder +5 VDC 6 13 Encoder GND

GND (shield) 5

Limit(+) 4 12 Limit(-)

Limit Power 3 11 GND (motor, limit)

Motor B(+) 2 10 Motor B(-)

Motor A(+) 1 9 Motor A(-)

7.6 Vacuum Specifications

The Sample Motions Assembly shall comply with the criteria described in BSA document LT-ENG-RSI-

SR-VA-002, Requirements for Design and Fabrication of Components for NSLS-II UHV Systems, except for the following:

▪ Lowest operating pressure as specified in Section 7.2

7.7 Acceptance Testing

At the Contractor’s facility the following tests of the Sample Motions Assembly shall be performed and documented by the Contractor:

▪ Dimensional check: Verify that the Sample Motions Assembly meets all the specified dimensions.

▪ Features check: Verify that the Sample Motions Assembly provides all the specified features.

https://www.osha.gov/nationally-recognized-testing-laboratory-program/current-list-of-nrtls https://www.osha.gov/nationally-recognized-testing-laboratory-program/current-list-of-nrtls

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▪ Gross Motions check: Verify that each of the motion stages moves smoothly through the required range of motion.

▪ Limits check: Verify that all limit switches activate correctly.

▪ Encoders check: Verify that each of the encoders reads correctly through the required range of motion.

▪ Fine Motions check: Verify that each of the motion stages performs to their respective specifications given in Section 7.3.

▪ Sphere-of-confusion check: Verify that the sphere-of-confusion is within specification.

All the tests listed above will be repeated at BNL by BSA personnel after receipt of the Sample Motions

Assembly as part of the procurement acceptance testing. The Contractor is responsible for ensuring the

Sample Motions Assembly meets all specifications for the tests performed at BNL.