Project: DEIMOS
Stage: Grating Rotator, Position #1, Side A
ID #: KDGC-001A

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 -
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 -
  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

Motor tuning parameters under different spacial orientations and environment
Parameter Neutral Gravity Uphill 1 Downhill Cold Cold Uphill
Motor Type: - - - - - -
PID Filter: KP: - - - - -
KI: - - - - -
KD: - - - - -
Acceleration (pulses/sec^2): - - - - - -
Deceleration (pulses/sec^2): - - - - - -
Speed: - - - - - -
Other: - - - - - -
  1. 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 - 22 degrees from center -
Reverse - 23 degrees from center -
Secondary (outer) Limits: Forward - 23 degrees from center -
Reverse - 24 degrees from center -
Position # None (any posn available) 1 - - -
2 - - -
3 - - -
4 - - -
5 - - -
6 - - -
1 revolution CW - - -
CCW - - -

Resolution of Stage
Encoder Counts/Inch Counts/Millimeter Counts/Degree
On Motor (BEI) 4000 counts/motor rev - 5215
On Stage (GURLEY *) - - 2500

NOTES:

Mechanical Drawing(s) # d45xx series

Electronic Drawing(s) #

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.