Last updated: 6-27-00

Project:DEIMOS
Stage:Guider TV Filter Wheel
ID #:KDTV-002A
Engineer: D. Cowley (T. Freeman)

Mechanical Description of Stage: Single 8-position filter wheel.  "User" selectable filters in cells in the wheel.

 

Electronic Description of Stage: Standard unconstrained rotary stage with eight positions. This stage uses a standard EL-1236 Stage Interconnect Box, a Galil 50-1000 motor and a single TRW OPB970-T55 fiducial. The position can be selected by any one of three means. First, the computer can instruct the wheel to either home the wheel or move to a discrete position. By selecting manual control from the manual paddle connected to Galil controller #1, the filter wheel can be jogged in slow or fast speed, homed, or moved to a discrete position. Finally, the filter can be moved by the push button station that lives inside of the TV Filter Wheel access hatch. When moving via the push buttons, the wheel is moved so that the filter slot that is selected is moved to the unload position instead of into the beam.

 

Required setting accuracy :

Performance requirements and design goals
Component Requirements 1
Motors:  Galil #50-1000 -
Gearbox:- -
Limits 2:- -
Fiducials:-TRW #OPB-970-T55 (Optical) -
Encoders: BEI #MX213-25-1000 (4000 quadrature 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: Galil #50-1000 -3750 RPM 205 oz-in peak torque - -
Gearbox: - - -
Limits: - - -
Fiducials: - - -
Encoders: - - -
Air Cylinders: - - -
Air Solenoids: - - -
Lock/Clamp/Brake: - - -

Final Mechanical Assembly and Testing Results

Tests performed by: K. Dietsch 6-27-00



 

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): - 5,000 - - - -
Other:    CN 1,-1 - - - - - -
  1. Uphill defined as motor (or driven end of shaft) in lowest position

 
 
 
 
Rotary Stage (unconstrained)
Distance from "home"  Position Motor Counts  Physical Units Time to Reach
Position # 1 +8,532   0° -
2 +23,532   45° -
3 +38,532   90° -
4 +53,532  134° -
5 +68,532  180° -
6 +83,532   225° -
7 +98,532   270° -
8 +113,532   315° -
1 revolution CW 120,000   360°   26 Seconds
CCW -120,000 - 360°   26 Seconds


 
 
 
 
Resolution of Stage
Encoder Counts/Inch Counts/Millimeter Counts/Degree
On Motor - - 11.1
On Stage - - 333.33

NOTES:

Mechanical Drawing(s) # D8220

Electronic Drawing(s) # EL-3050, EL-3074

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.