Last updated: 10-22-99
Project: DEIMOS
Stage: Grating Rotator, Position #1, Side A
ID #: KDGC-001A
Engineer: J. Osborne
Mechanical Description of Stage: Rotates 8"
X 12" (large) grating or 6" X 8" (small) grating. Tilt angle is maintained
when other grating rotators move into position. (e.g. no "home" position.)
Electronic Description of Stage:
Required setting accuracy : Sub arc-second!
Accuracy and resolution requirements:
| Performance requirements and design goals |
| Component |
Requirements 1 |
| Motors: Galil 50-1000 |
3750 RPM / 205 in-oz peak stall torque |
| Limits 2: Microswitch BZ-2RW822-A2 "soft" + DT-2RV22-A7 "hard" |
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| Fiducials: Opto-interupter TRW #OPB-970-T55 (Optical) |
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| Encoders: Gurley 8335-11250-CB-S-A |
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| Air Cylinders: None |
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| Air Solenoids: None |
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| Lock/Clamp/Brake: None |
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| Interlocks: Lockout during manual installation of new grating (see
lockout schedule) |
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Speed, temperature, accuracies, electrical power, pressurized air,
lubricant, coolant, N2 purge, ...
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Primary (inner) and secondary (outer) limits. These can be magnetic,
optical, or physical contact
NOTES: -20 degrees C needed. Galil BEI motor encoder only rated -10
degrees C, but we have tested them. They are OK.
| Manufacturer's specifications and limitations |
| Component |
Maximum Operating Condition |
Safe Ops Condition |
Requirements |
| Motors: |
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| Limits: |
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| Fiducials: |
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| Encoders: |
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| Air Cylinders: |
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| Air Solenoids: |
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| Lock/Clamp/Brake: |
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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 |
| Motor Type: |
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| PID Filter: |
KD: |
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| KP: |
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| KI: |
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| Acceleration (pulses/sec^2): |
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| Deceleration (pulses/sec^2): |
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| Speed: |
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| Other: CN 1,1 CB 1 |
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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 |
| Primary (inner) Limits: |
Forward |
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22 degrees from center |
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| Reverse |
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23 degrees from center |
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| Secondary (outer) Limits: |
Forward |
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23 degrees from center |
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| Reverse |
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24 degrees from center |
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| Position # None (any posn available) |
1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 1 revolution |
CW |
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| CCW |
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| Resolution of Stage |
| Encoder |
Counts/Inch |
Counts/Millimeter |
Counts/Degree |
| On Motor (BEI) |
4000 counts/motor rev |
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5215 |
| On Stage (GURLEY *) |
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2500 |
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Gear reduction function: 2346.64:1 (2 stages of friction drive
plus timing belt/sprockets)
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Repeatability:
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Fiducial:
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Type Opto interrupter
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Location Middle of travel
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Encoder:
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Air Cylinders:
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Air Solenoids:
NOTES:
Mechanical Drawing(s) # d45xx series
Electronic Drawing(s) #EL-3058 and 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.
The Grating Tilt #1 stage uses Controller # 2, amplifier 2A and is connected
to the A axis.