Last updated: 10-22-99
Project: DEIMOS
Stage: Grating stage clamp
ID #: KDGS-002A
Engineer: J. Osborne
Mechanical Description of Stage: This stage
is an integral part of the Grating Slide Stage (KDGS-001A) but complex
enough to call it a stage. It takes a rotator and clamps it to the
support structure. All work air cylinder mechanisms.
Electronic Description of Stage:
Required setting accuracy:
Performance requirements and design goals
Component |
Requirements 1 |
Motors: None |
- |
Gearbox: None |
- |
Limits 2: Hall effect switches on cylinders |
- |
Fiducials: None |
- |
Encoders: None |
- |
Air Cylinders: Yes |
- |
Air Solenoids: Yes |
- |
Lock/Clamp/Brake: |
- |
Interlocks: See Stage
inter operation document |
- |
-
Speed, temperature, accuracies, electrical power, pressurized air,
lubricant, coolant, N2 purge, ...
Air pressure = 100PSI
-
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 spatial
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
Linear Stage (constrained)
Distance from "home" 1 |
Position |
Motor Counts |
Physical Units |
Time to Reach |
Software Limits: |
Forward |
- |
- |
- |
Reverse |
- |
- |
- |
Primary (inner) Limits: |
Forward |
- |
- |
- |
Reverse |
- |
- |
- |
Secondary (outer) Limits: |
Forward |
- |
- |
- |
Reverse |
- |
- |
- |
Position # |
1 |
- |
- |
** |
2 |
- |
- |
** |
3 |
- |
- |
** |
4 |
- |
- |
** |
** Very important! Very difficult to achieve goals here.
-
"Coarse" if from optical interrupter, "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:
Position #1 |
A. De-Sta Co clamp #TC-8016 left-hand and Bimba air cylinder to un-clamp
(D4410) |
|
B. De-Sta Co clamp #TC-802-MR two places |
|
C. Bimba air cylinder to clamp/un-clamp #S1-MRS-094-DXP |
|
D. Bimba air cylinder to dis-engage slide bearings #S1-MRS-094-DXDE |
Positions #2, #3, & #4 |
A. De-Sta Co clamp #TC-8016 right-hand and Bimba air cylinder to un-clamp |
|
B. Same |
|
C. Same |
|
D. Same |
|
|
|
|
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Air Solenoids:
NOTES:
Mechanical Drawing(s) #D4099, D4090, D4411, D4420, D4130
Electronic Drawing(s) #EL-3066, EL-3082
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.