Last updated: 10-22-99
Project: DEIMOS
Stage: Grating Mirror Position #2
ID #: KDGC-002A
Engineer: J. Osborne
Mechanical Description of Stage: Flat mirror
on a movable slider.
Electronic Description of Stage:
Required setting accuracy :
Performance requirements and design goals
Component |
Requirements 1 |
Motors: None |
- |
Gearbox: None |
- |
Limits 2: None |
- |
Fiducials: None |
- |
Encoders: None |
- |
Air Cylinders: Number TBD |
- |
Air Solenoids: Skinner latching Solenoid, number TBD |
- |
Lock/Clamp/Brake: Yes |
- |
Interlocks: See lockout schedule |
- |
-
Speed, temperature, accuracies, electrical power, pressurized air,
lubricant, coolant, N2 purge, ...
-
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: |
- |
- |
- |
Gearbox: |
- |
- |
- |
Limits: |
- |
- |
- |
Fiducials: |
- |
- |
- |
Encoders: |
- |
- |
- |
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: |
- |
- |
- |
- |
- |
KP: |
- |
- |
- |
- |
- |
KI: |
- |
- |
- |
- |
- |
Acceleration (pulses/sec^2): |
- |
- |
- |
- |
- |
- |
Deceleration (pulses/sec^2): |
- |
- |
- |
- |
- |
- |
Speed (pulses/sec): |
- |
- |
- |
- |
- |
- |
Other: |
- |
- |
- |
- |
- |
- |
-
Uphill defined as motor (or driven end of shaft) in lowest position
Motion Parameters
Rotary Stage (constrained)
Distance from "home" |
Position |
Motor Counts |
Physical Units |
Time to Reach |
Software Limits: |
Forward |
- |
- |
- |
Reverse |
- |
- |
- |
Primary (inner) Limits: |
Forward |
- |
- |
- |
Reverse |
- |
- |
- |
Secondary (outer) Limits: |
Forward |
- |
- |
- |
Reverse |
- |
- |
- |
Defined Positions |
1 |
- |
- |
- |
2 |
- |
- |
- |
3 |
- |
- |
- |
4 |
- |
- |
- |
5 |
- |
- |
- |
6 |
- |
- |
- |
-
"Coarse" if from optical interupter, "Fine" if from an encoder index
pulse. Home is defined as zero counts.
-
Primary limits signal the controller to stop motion. Secondary limits
cut motor power and require intervention to move out of them.
Resolution of Stage
Encoder |
Counts/Inch |
Counts/Millimeter |
Counts/Degree |
On Motor |
- |
- |
- |
On Stage |
- |
- |
- |
-
Repeatability:
-
Fiducial:
-
Encoder:
-
Air Cylinders:
-
Air Solenoids:
NOTES:
Mechanical Drawing(s) #D45xx series
Electronic Drawing(s) #EL-3059
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.