Last updated: 10-22-99

Project: DEIMOS
Stage:CCD Translation Stage
ID #: KDCX-001A
Engineer: D. Cowley (T. Freeman)

Mechanical Description of Stage: UHV linear Drive driven by Galil motor through a Berg slip clutch. Estimated travel +/- 1mm.

 

Electronic Description of Stage:

 

Required setting accuracy :

Performance requirements and design goals
Component Requirements 1
Motors: Galil 5-500 -
Gearbox: UHV Linear Drive PN: VZLDS225M -
Limits 2: MicroSwitch 311SM6-T -
Fiducials: TRW #OPB 970-T55 (Optical) -
Encoders: 500 counts/rev -
Air Cylinders:- -
Air Solenoids:- -
Lock/Clamp/Brake:- -
Interlocks:- -
  1. Speed, temperature, accuracies, electrical power, pressurized air, lubricant, coolant, N2 purge, ...
  2. Primary (inner) and secondary (outer) limits. These can be magnetic, optical, or physical contact
Manufacturer's specifications and limitations
Component Maximum Operating Condition  Safe Ops Condition  Requirements 
Motors: 5 oz-in continuous, 42 oz-in peak torque. Max. speed: 5400 RPM - -
Gearbox: - - -
Limits: - - -
Fiducials: - - -
Encoders: Resolution: 500 counts/rev - -
Air Cylinders: - - -
Air Solenoids: - - -
Lock/Clamp/Brake: - - -

Final Mechanical Assembly and Testing Results

Tests performed by:

 
Motor tuning parameters under different spacial orientations and environment
Parameter    Neutral Gravity  Uphill 1 Downhill  Cold  Cold Uphill 
PID Filter: KD:  200 - - - -
KP:   20 - - - -
KI:    2 - - - -
Acceleration (pulses/sec^2): -  256,000 - - - -
Deceleration (pulses/sec^2): -  256,000 - - - -
Speed (pulses/sec): -    20 - - - -
Other: -  CN 1, -1 - - - -
  1. Uphill defined as motor (or driven end of shaft) in lowest position

Motion Parameters

Linear Stage (constrained)
Distance from "home" 1 Position Motor Counts  Physical Units Time to Reach
Software Limits:  Forward   TBD  100 counts  = .001" -
Reverse   TBD - -
Primary (inner) Limits:  Forward   +  405 - -
Reverse   - 1113 - -
Secondary (outer) Limits:  Forward   +  670 - -
Reverse   - 1237 - -
Fiducial: -    0 - -
  1. "Coarse" if from optical interupter, "Fine" if from an encoder index pulse. Home is defined as zero counts.
  2. Primary limits signal the controller to stop motion. Secondary limits cut motor power and require intervention to move out of them.
  3. Positive (+) motor drive moves the stage to the right (looking from the front of  the dewar).
Resolution of Stage
Encoder Counts/Inch Counts/Millimeter Counts/Degree
On Motor - - -
On Stage - - -

NOTES:

Mechanical Drawing(s) Stage: D7356-1

Electronic Drawing(s) EL-3055

Sign conventions are such that a positive motion of the motor turns the motor in a CW direction as viewed from the drive shaft looking back into the motor, and will drive the stage towards the forward limit.