lcls lcls-ii survey & alignment

LCLS LCLS-II Survey & Alignment

International Review for PAL-XFEL Survey & Alignment

May 31, 2011

Catherine LeCocqSLAC Metrology Department

SLAC Site

3LCLS LCLS-II Survey & Alignment

Pohang Accelerator Laboratory, 05-31-2011

From John GalaydaLCLS-II DOE CD-1 ReviewApril 26, 2011

4

A Five Step Process1. Planning

• Information gathering- Physics requirements- Engineering interfaces- Geodetic aspects

• Simulation2. Monument Network3. Component Fiducialization4. Installation

• Girder Alignment (if applicable)• Component Alignment• Mapping

5. Operation Phase• Monitoring (if applicable)• Mapping and re-alignment

LCLS LCLS-II Survey & AlignmentPohang Accelerator Laboratory, 05-31-2011

5

SLAC Instrumentation• Primary Instrumentation:

– Automatic Levels: Leica DNA03– Laser Trackers: FARO Xi (Leica AT401 to be acquired for LCLS-II)– In-house portable wire system

• Accessories: – Bar code rods: 2 meters and 0.6 meters long– Tripods: Brunson heavy stands, Kara portable tooling stands– Survey targets: 1 ½” Corner Cube Reflectors (12 per laser tracker)– Field Data Collectors: Paravant and Allegro

• Additional Equipment:– Total Stations: Leica TC2002 and TDA5005– FARO platinum portable arms (4ft, 8ft, 12ft)– Gyrotheodolites: GYROMAT 2000– Optical Plummet: Wild NL– GPS Receivers: Leica SR-530 – Laser Scanner: Z+F Imager 5006


6

Software Model


• Parametric Model l = observation vector x = unknown (or parameter) vector

• Stochastic Model = variance-covariance matrix = variance factor

• Least Square Solution

• Free Net Solution

7

LCLS-I UH Network Simulation


W23 sz = 22 μm sx = 47 μm sy =46 μm

Tunnel dimensions: 130 m long, 5 m wide and 2 m highFloor is 1.0 m below beamline, wall monuments are 0.75 m above beamline, laser tracker set-ups are 0.4 m and 0.6 m above beamline

49 Points – 17 Laser Tracker Set-upssD = 30 μm sh = 30 μm / D sv =50 μm /D sdh = 50 μm

8

LCLS-I Single Total Station Set-up


Single TC2002 Set-up sD = 100 μm sh = 50 μm/D sv = 50 μm/D

“Plate15” sz = 83 μm sx = 108 μm sy = 72 μm

9

Monumentation Network


10

UH Monumentation


wall monuments(with removable spherical target)

floor monument(with removable spherical target)

6’

1‘ stay-clear

See ESD 1.4-113 Undulator Tunnel Survey Monument Positions

11

LCLS-I UH with LCLS-II Undulators


12

Observation Schema• Laser Tracker

– Adapt observation scheme tested in simulation to real world• 3 triplets per point

– Calibrate instrument– Follow observation guidance:

• 1 triplet = 2 sets of direct and reverse• Precision Level

– Adapt observation scheme tested in simulation to real world• Loop over floor points

– Calibrate instrument and rod– Follow observation guidance:

• 1 shot = average of 3 readings• Other

– Total station– Nadir plummet– Gyrotheodolite– Portable wire


13

LCLS-I Network for UH Installation


Points 451

Tracker 86

Total Station 11

Triplets 1475

Height Differences 473

Azimuth 14

Wire 3

Horizontal Offsets 79

Point Coordinates 1329

Instrument Coordinates 291

Instrument Rotations 269

Nuisance Parameters 7

Datum Parameters 4

Total Unknowns 1900

14

LCLS-I Portable Wire Results


Position [m]

Sig

ma

[µm

]

Network measurements aloneWire measurements included

Position [m]

Coo

rdin

ate

cha

nge

[µm

]

Impact of wire on standard deviations Impact of wire on coordinates

Network of 393 points with the following observation schema: triplets from 69 tracker setups, 465 height differences and 57 offset measurements to two overlapping wires (240m long and 370m long).A-priori standard deviations:Laser Tracker: sD=50 µm, sHz=70 µm/m, sV=100 µm/mLevel: sDh=70 µmOffset measurement: sDo=30 µm

Extracted from IWAA08 Poster

15

Component Fiducialization

• Advantage: repeatable references• Methodology: mechanical or magnetic• Tooling Choices: compatible with observation

techniques in the field• Instrument:

– CMM– Laser tracker– Optical tooling– Robotic arm– Photogrammetry


16

Mechanical Fiducialization


LCLS-I Tweeter Quadrupole Magnet

Tooling Ball FORM DIAMETER X Y ZTB 1 0.00068 0.49633 1.97206 6.73936 1.25744TB 2 0.00076 0.49580 1.97336 6.73965 -1.25943TB 3 0.00072 0.49585 -1.96580 6.74035 -1.25972TB 4 0.00070 0.49611 -1.96588 6.74152 1.25973

17

Magnetic Fiducialization


Overall fiducialization accuracy in x and y < 25 µm3 Step Process:

• Place wire at quadrupole center: 10 µm• Locate wire: 15 µm• Locate tooling balls: 10 µm

See LCLS-TN-05-11LCLS-I UndulatorQuadrupole Magnet

18

Undulator Fiducilization


LCLS-I Case: Pointed magnets with same sign poles are added to the ends of the undulator. These magnets have a well defined zero field point in the center. The distance from the measurement axis to the zero field point is determined. A calibration gives the distance from the zero field point to tooling balls on the pointed magnet fixture. The distance from the tooling balls on the pointed magnet fixture to tooling balls on the undulator is measured with a CMM .LCLS-II Case: More fiducials, independent treatment of the jaws, Measurement with laser trackers. Expected accuracy: 30 to 50 μm

From Zack Wolf & Georg GassnerLCLS-II DOE CD-1 Review, April 26, 2011

19

Girder Alignment

• Advantages: – Better relative component alignment– Speed up installation phase

• Variations: – Individual component adjustment – Mover Mechanism:

• Fixed• Remote• Feedback


20

LCLS-I Undulator Girder


Extract from LCLS TN-08-03: Girder Alignment Plan

The Undulator Girder alignment was carried in 2 steps:• Pre alignment and all connection installation (wiring and plumbing

in a staging area (see picture above)• Final alignment in a controlled temperature environment on a CMM

21

LCLS Coordinate Measuring Machine


• Leitz Reference Model 45129 CMM manufactured in Wetzlar (Germany)

• Weight capacity 3000 kg • Measuring range is 0.9 x 1.5 x 4.5 m• Resolution is 0.1 µm• Spatial accuracy formula in µm

based on L, the length measured in mm: 2.0 + L/350.

• After specific tuning for the undulator segment weight and location on the CMM, the expected accuracy for the undulator segment should be upgraded to: 1.5 + L/500.

https://slacspace.slac.stanford.edu/sites/Metrology_QI/QC%20Photos/DSCN1753.JPG

22

Component Alignment• Timeline:

– Template layout– Stand/base plate alignment– Component/girder alignment

• Principle: – Solid monument network– Component fiducialization– Local instrument set-ups

• Variations and possible difficulties come with the hardware installed:– Clearance around bolts– Mover system centered around their range– Component pre-set to nominal– Fiducial and mover in-line when possible– Right balance between fine and coarse thread


23

Example LCLS-I BTH West


24

Mapping Phase• Observation scheme:

– Identical to monument network– Including component fiducials

• Computation phase:– Identical to monument network– Generating observed position and attitude (and their standard

deviations) for each component• Move list

– Option 1: to ideal– Option 2: to smooth line

• The next 2 graphs show the as-built results for the 33 quadrupole magnets in the Undulator Hall in December 2008, right before the start of LCLS-I.




0.0 20.0 40.0 60.0 80.0 100.0 120.0 140.0-0.300

-0.200

-0.100

0.000

0.100

0.200

0.300

Final Undulator Quad X As Builts

Z Distance (meters)

X Po

sitio

n (m

illim

eter

s)

After adjustment to Girder 4, 5, 15 and 26



0.0 20.0 40.0 60.0 80.0 100.0 120.0 140.0-0.300

-0.200

-0.100

0.000

0.100

0.200

0.300

Final Undulator Quad Y As Builts

Z distance (meters)

Y Po

sitio

n (m

illim

eter

s)

After adjustment of Girder 4, 5, 15, and 26

27

Linac Laser Alignment - Line


28

Linac Laser Alignment - Changes


29

LCLS-I Measurement Campaigns


30

UH Wall Deformations


Both Undulator Hall and X-Ray Tunnel show slow shrinking of the tunnel walls relative to each other by <1mm/year

31

Floor Deformations


• 3 mm initial floor deformation, correlated with earth backfill above dump area• Since July 08 deformation < 0.5 mm (~0.5 μm/day for largest deformation)

LTU UH

Dum

p

FEE

NE

H XRT FEH

32

LCLS Survey & Alignment Timeline


Nov

200

7

Dec

200

7

Jan

2008

Feb

2008

Mar

200

8

Apr

200

8

May

200

8

Jun

2008

Jul 2

008

Aug

200

8

Sep

2008

Oct

200

8

Nov

200

8

Dec

200

8

Monument

Template

Stand / Plate

Component

Mapping / Move

LCLS-I e-beam Installation

Feb

2004

May

200

5

Outside Network

Fiducialization

Girder Assembly

May

201

0

May

201

1

LCLS-II

lcls lcls-ii survey & alignment

Documents

survey alignment lcls

realignment lcls lcls

uplcls lcls

undulatorslcls lcls

monumentationlcls lcls

installationlcls lcls

network simulationlcls

monumentation networklcls