Last updated: 2-5-02

Project: DEIMOS
Stage: Grating Tilt Stage #3
ID #: KDGC-003A
Engineer: J. Osborne


Mechanical Description of Stage:

6" X 8" grating rotator. Tilt angle is maintained even when out of position. (e.g. no "Home"-ing is required.)

Electronic Description of Stage:

Driven by Galil Controller # 2, amplifier 2A - Axis B - requires EL-1272R #3 interconnect box. This box has reversed wiring on JB5 so the Gurley counts in the same direction as the motor encoder. This Gurley is mounted on the opposite side of the grating. Slider translation position: -1,126,622

Required setting accuracy:

0.14 arc-seconds

Performance requirements and design goals
Component Requirements 1
Motors: Galil #50-1000  
Gearbox:- None  
Limits 2: Microswitch BZ-RW822-A2 "primary" and DT-2RV22-A7 "secondary"  
Fiducials: TRW #OPB-970-T55 (Optical)  
Encoders: Gurley model 8335-11250-CBSA --- Serial # 960072 (900,000 Counts per Revolution)  
Air Cylinders:- None  
Air Solenoids:- None  
Lock/Clamp/Brake:- Yes  See KDGS-002A
Interlocks: 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

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: K. Dietsch 8-14-01, C. Harper 11-8-00


Motor tuning parameters under different spacial orientations and environment
Parameter    Set
PID Filter: KD:
289
KP:
58
KI:
33
Acceleration (pulses/sec^2):  
256,000
Deceleration (pulses/sec^2):  
256,000
Speed (pulses/sec):  
25,000
Set: CN 1,1    CB 2    


Motion Parameters

Rotary Stage (constrained)
Distance from "home"  Position
Motor Counts 
Gurley Counts
Time to Reach
Software Limits:  Forward
-
-
-
Reverse
-
-
Total Rotation  
-
-
-
Primary (inner) Limits:  Forward
+99,775
15 Seconds
Reverse
-847,588
35 Seconds
Secondary (outer) Limits:  Forward
+101,844
17 Seconds
Reverse
-864,302
36 Seconds
Defined Positions # 1
-
-
-
2
-
-
-
3
-
-
-
4
-
-
-
5
-
-
-
6
-
-
-
1 revolution CW
-
-
-
CCW
-
-
-
Gurley Index Position  
+38,097
0
-
  1. "Coarse" if from optical interrupter, "Fine" if from an encoder index pulse. Home is defined as zero counts.
  2. 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    
 11.1
On Gurley    


NOTES:

Mechanical Drawing(s) #D4564

Electronic Drawing(s) #EL-3062 and EL-3063

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.