Fusion Engineering and Design 86 (2011) 1907–1910 Contents lists available at ScienceDirect Fusion Engineering and Design journal homepage: www.elsevier.com/locate/fusengdes Results of CMM standalone tests at DTP2  Hannu Saarinen a,∗ , T. Kivelä b , L. Zhai b , V. Hämäläinen a , J. Karjalainen b , L. Aha b , L. Heikkilä b , H. Mäkinen a , J. Järvepää a , S. Kiviranta a , B. Krassi a , M. Viinikainen b , M. Siuko a , J. Mattila b , S. Esqué c , L. Semeraro c a VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere, Finland b Tampere University of Technology, Korkeakoulunkatu 6, 33720 Tampere, Finland c Fusion for Energy, Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona, Spain article info Article history: Available online 8 March 2011 Keywords: Remote Handling Cassette Multifunctional Mover Divertor Test Platform DTP2 2nd cassette ITER abstract A full scale physical test facility, DTP2 (Divertor Test Platform 2) has been established in Finland for demonstrating and refining the Remote Handling (RH) equipment designs for ITER. The first prototype RH equipment at DTP2 is the Cassette Multifunctional Mover (CMM) equipped with the Second Cas- sette End Effector (SCEE) delivered to DTP2 in October 2008. The purpose is to prove that CMM/SCEE prototype can be used successfully for the 2nd cassette RH operations. At the end of F4E grant “DTP2 test facility operation and upgrade preparation”, the RH operations of the 2nd cassette were successfully demonstrated to the representatives of Fusion for Energy (F4E). During the grant the High Level Control (HLC) software developed at DTP2 was integrated with the CMM/SCEE hardware. The performance criteria of the CMM/SCEE equipment were defined based on the ‘EN ISO 9283 Manipulating industrial robots – Performance criteria and related test methods’ standard. Considerable improvement to the performance was achieved with the aid of compensation functions, which took into account the deflections and the compliance effects caused by the Divertor Cassette weighting 9000 kg. According to measurements the positioning error at the furthest point of the cassette was reduced from 80 mm to 5 mm. So far the 2nd cassette mock-up has been installed and removed already some tens of times. The reliability of the HLC software is sufficient to operate the CMM/SCEE all day without interruptions. Also the execution of the automatic RH processes with the overall RH system is reliable and repeatable in terms of accuracy and cycle time. These experiments provide a solid basis for investigating the RH system ability to perform fail-safe operations in various failure scenarios and to recover from them. The target of the continuing R&D is to find out a more complete set of functional and non-functional requirements for the RH system for Divertor Cassette maintenance to ensure an adequate level of requirements and procedures for ITER. © 2011 Euratom Tekes/VTT. Published by Elsevier B.V. All rights reserved. 1. Introduction This paper focuses on presenting the results of the “Cassette Multifunctional Mover (CMM) standalone tests”, which is a part of the F4E grant “DTP2 test facility operation and upgrade prepara- tion”. The CMM equipped with the Second Cassette End Effector (SCEE) was the first RH equipment delivered to DTP2 in October 2008. The main purpose of the tests was to prove that CMM/SCEE  The views and opinions expressed herein do not necessary reflect those of Fusion For Energy or European Commission. Fusion For Energy is not liable for the use which might be made of the information in this publication. ∗ Corresponding author at: VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 VTT, Finland. Tel.: +358 50 562 1116. E-mail address: hannu.saarinen@vtt.fi (H. Saarinen). prototype can be used successfully for 2nd cassette remote opera- tions. During the 2nd cassette installation process, the CMM travels along radial maintenance tunnel rails towards the reactor, driven by the electric servo motors. The hydraulic actuated lifting and tilting motions are used for controlling the position and orientation of the cassette in vertical plane following the profile of the maintenance tunnel, Fig. 1. The SCEE, which consists of the cantilever (CRO) and the hook-plate (HRO) rotational joints, is intended to change the position and orientation of the cassette during a toroidal motion to the place of the 2nd cassette, Fig. 4. 2. Content of CMM standalone tests The content of testing can be divided into three phases as follows: 0920-3796/$ – see front matter © 2011 Euratom Tekes/VTT. Published by Elsevier B.V. All rights reserved. doi:10.1016/j.fusengdes.2011.02.013