Last updated: 12-19-01

Project: DEIMOS
Stage: Grating Tilt Stage #5, Position #1
ID #: KDGC-005A (Formerly KDGC-001A)
Engineer: J. Osborne

Mechanical Description of Stage:

Rotates  6" X 8" grating. Tilt angle is maintained when other grating rotators move into position. (e.g. no "home" position.)

Electronic Description of Stage:

Because of the reverse wiring of the motor, the command CEA=2 must be included in the software. The slider translation position is unknown as this device has not been mounted on DEIMOS yet.

Required setting accuracy :

0.14 arc-seconds

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"  
Fiducials: Opto-interupter TRW #OPB-970-T55 (Optical)  
Encoders: Gurley 8335-11250-CB-S-A  
Air Cylinders: None  
Air Solenoids: None  
Lock/Clamp/Brake: None  
Interlocks: Lockout during manual installation of new grating (see lockout schedule)  
  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
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:      
Limits:      
Fiducials:      
Encoders:      
Air Cylinders:      
Air Solenoids:      
Lock/Clamp/Brake:      

Final Mechanical Assembly and Testing Results

Tests performed by: K. Dietsch 8-14-01


Motor tuning parameters under different spacial orientations and environment    
Parameter   Set
Motor Type:  
-
PID Filter: KD:
289
KP:
74
KI:
33
Acceleration (pulses/sec^2):  
256,000
Deceleration (pulses/sec^2):  
256,000
Speed:  
25,000
Set: CN 1,1      CB 1     CEA=2  
-

Motion Parameters

Rotary Stage (constrained)
Distance from "home"  Position Motor Counts  Gurley Counts Time to Reach
Primary (inner) Limits:  Forward
+64,044
+9,687
  
Reverse
-551,639
-83,602
  
Secondary (outer) Limits:  Forward
+69,710
+10,547
  
Reverse
-672,214
-84,840
  
Position # None (any posn available) 1
-
-
  
2
-
-
  
3
-
-
  
4
-
-
  
5
-
-
  
6
-
-
  
1 revolution CW
-
-
  
CCW
-
-
  
Gurley Index Position  
-13,900
-2,101
  
Resolution of Stage
Encoder Counts/Inch Counts/Millimeter Counts/Degree
On Motor
4000 counts/motor rev
  
11.1
On Gurley    
 2,500

NOTES:

Mechanical Drawing(s) #D4710 and #D0920

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.