Last updated: 12-19-01

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:

See Drawings #El-3066 and #EL-3082

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, accuracy's, 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		Set
PID Filter:	KD:	[No Motors]
	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	[None]	[None]	[None]
Software Limits:	Reverse
Primary (inner) Limits:	Forward
Primary (inner) Limits:	Reverse
Secondary (outer) Limits:	Forward
Secondary (outer) Limits:	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

Gear reduction function:

Backlash:

Forward:
Reverse:

Repeatability:

Forward:
Reverse:

Fiducial:

Type:
Location:

Encoder:

On motor:
On stage:

Air Cylinders:

Clamps are numbered 1,2,4,5 and 6. They are shown schematically on D4102. The air pressure record is shown there too.
All of the clamps operate for each slider. Clamp 6 operates but does not contact slider #2. Clamp 1 operates but contacts only slider #2.
The clamping and un-clamping sequence and timing is still being refined (12-19-01).
Clamps 1, 2 and 4 are De-Sta-Co clamp assemblies (D0931 and D4090).
Clamp 5 uses one Bimba air cylinder and a crank mechanism (D4412 and TBD).
Clamp 6 uses a pair of Bimba air cylinders (D4450).
There are two types of band mounted, magnetic reed switches switches on most air cylinders. They are manufactured by Bimba and De-Sta-Co.
Clamp 2, the "pin" or "cone" clamp, uses a Bimba cylinder to unseat the pin (D4415). It has no switch, however the pin plate does have an interlock switch (D4924) assembly that uses a Microswitch #DT-2RV22-A7. This switch indicates that the cone (or pin) is fully seated.
There is an interlock mechanism (D4109) that uses 5 Bimba air cylinders and a Microswitch #DT-2RV22-A7 to prevent slider motion unless all of the clamps are pressurized in the clamp "on" direction.

Air Solenoids:

Air pressure:

NOTES:

Mechanical Drawings: #D0931, D4090, D4102, D4109, D4412, D4415, D4450 and D4924.

Electronic Drawings: #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.