Last updated: 10-13-99

Project: DEIMOS
Stage: Grating Mirror Position #2
ID #: KDGC-002A
Engineer: J. Osborne

Mechanical Description of Stage:

Electronic Description of Stage:

Required setting accuracy :

**Performance requirements and design goals**
Component	Requirements 1
Motors: None	-
Gearbox:-	-
Limits 2: None	-
Fiducials:-	-
Encoders:-	-
Air Cylinders: Number TBD	-
Air Solenoids: Skinner latching Solenoid, number TBD	-
Lock/Clamp/Brake: Yes	-
Interlocks: See lockout schedule	-

Speed, temperature, accuracies, electrical power, pressurized air, lubricant, coolant, N2 purge, ...
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

**Motor tuning parameters under different spacial orientations and environment**
Parameter		Neutral Gravity	Uphill 1	Downhill	Cold	Cold Uphill
PID Filter:	KP:	-	-	-	-	-
	KI:	-	-	-	-	-
	KD:	-	-	-	-	-
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

**Rotary Stage (constrained)**
Distance from "home"	Position	Motor Counts	Physical Units	Time to Reach
Software Limits:	Forward	-	22 degrees from center	-
Software Limits:	Reverse	-	23 degrees from center	-
Primary (inner) Limits:	Forward	-	23 degrees from center	-
Primary (inner) Limits:	Reverse	-	24 degrees from center	-
Secondary (outer) Limits:	Forward	-	-	-
Secondary (outer) Limits:	Reverse	-	-	-
Position #	1	-	-	-
	2	-	-	-
	3	-	-	-
	4	-	-	-
	5	-	-	-
	6	-	-	-
1 revolution	CW	-	-	-
1 revolution	CCW	-	-	-

"Coarse" if from optical interupter, "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:
Air Solenoids:

Air pressure:

NOTES:

Mechanical Drawing(s) #D45xx series

Electronic Drawing(s) #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 the drive the stage towards the forward limit.