Last updated: 10-27-99

Project: DEIMOS
Stage: Instrument Rotation
ID #: KDIR-001
Engineer: V. Wallace

Mechanical Description of Stage:

 

Electronic Description of Stage:

 

Required setting accuracy:


 
 
 
Performance requirements and design goals
Component Requirements *
Motors: Galil 500-1000C 2000 RPM / 960 in-oz peak stall torque
Gearbox: Harmonic Drive HDUC-32-260-2AG-R 260:1 gearbox + 12:1 drive reduction (direction reversal both units)
Limits **: Microswitch LSNIA "primary" ; DT-2RV22-A7 "secondary" -
Fiducials: Optical reflective sensor: TIL139 Uses reflective tape on rotating wheel
Encoders: Gurley 8335-11250-CB-S-A, Renishaw RGH22Y  Friction 24:1 (Gurley:Big disk), Sensor tape mounted directly on rotating surface
Air Cylinders: None -
Air Solenoids: None -
Lock/Clamp/Brake: Manual band clamp -
Interlocks: Lockouts for maintenance, grating or mask installation -
* 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

NOTES:


 
 
 
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 * Downhill  Cold  Cold Uphill 
Motor Type: Galil 500-1000C - - - - - -
PID Filter: KD: - - - - -
KP: - - - - -
KI: - - - - -
Acceleration (pulses/sec^2): - - - - - -
Deceleration (pulses/sec^2): - - - - - -
Speed: - - - - - -
Other: - - - - - -
*Uphill defined as motor (or driven end of shaft) in lowest position
 

Motion Parameters

Rotary Stage (constrained)
Distance from "home"  Position Primary Encoder Counts  Aux Encoder Counts  Physical Units Time to Reach
Primary (inner) Limits:  Forward - - 420 degrees from center * -
Reverse - - 420 degrees from center * -
Secondary (outer) Limits:  Forward - - Primary + 10 degrees * -
Reverse - - Primary + 10 degrees * -
Position # Index - - - -
0 - - - -
1 - - - -
2 - - - -
3 - - - -
4 - - - -
5 - - - -
6 - - - -
1 revolution CW - - - -
CCW - - - -
* SEE D6120 DETAIL A

 
 
 
Resolution of Stage
Encoder Counts/Inch Counts/Millimeter Counts/Degree
Primary  - - -
Auxiliary - - -

NOTES:

Mechanical Drawing(s) Limits #D6120, Renishaw encoder #D6345, drive motor #D6135, Gurley encoder #D6140

Electronic Drawing(s) # EL-3120, EL-3121

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 the drive the stage towards the forward limit.