Abstract
The Multi-Purpose Manipulator (MPM) for Wendelstein 7-X, at the Max-Planck-Institute for Plasma Physics in Greifswald (MPIPP), is used to transport electrical probes and targets to the edge of the inner vessel. It is a lock system, which is attached to the outer port in the equatorial plane of the cryostat vessel. At the parking position, the tip of the probe coincides with the inner vessel wall; a fully controlled movement into the edge plasma for all magnetic field configurations is feasible. The whole functionality of the MPM system is maintained by a distributed control system (DCS) based on Siemens PCS7, which is the recommended standard for machine and diagnostic control at W7-X. Beside standard scenarios like target exchange and generation of ultra-high vacuum conditions a high variety of parameter selections for stroke depth, velocity or acceleration is selectable in the sequence control system within safety limits. A sophisticated error handling facilitates a reliable remotely controlled operation without manual access over longer periods.
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