Last updated: 12-17-01

Project: DEIMOS
Stage: Instrument Rotation
ID #: KDIR-001
Engineer: V. Wallace


Mechanical Description of Stage:

Motor:

Motor counts per degree = 35,139, or 9.76 motor counts per arcsec.
Slew Speed = 80,000 motor counts per second, or 2.28 degrees per second.
Motor encoder : Renishaw encoder Ratio = 3.773 : 1

Full Rotation (Limit to Limit = 732 Degrees):

Motor Counts: 25,725,000
Renishaw #1 : 6,818,000
Renishaw #2 : 6,818,000

Electronic Description of Stage:
See below:

Required setting accuracy:



 
 
 
Performance requirements and design goals
Component Requirements *
Motors: Galil 500-1000C 2000 RPM / 960 in-oz peak stall torque
Gearbox: Harmonic Drive HDUC-32-260-2AG-R 260:1 gearbox + 12.152:1 drive reduction (direction reversal both units)
Limits **: Microswitch LSNIA "primary" ; DT-2RV22-A7 "secondary"  
Fiducials: Optical reflective sensor: TIL139 and Renishaw Index Uses reflective tape on rotating wheel
Encoders: Renishaw RGH22Y  Sensor tape mounted directly on rotating surface
Air Cylinders: None  
Air Solenoids: None  
Lock/Clamp/Brake: Manual band clamp  
Interlocks: Lockouts for maintenance, grating or mask installation  
* 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:      

Motor 500/1000C Specifications:
Motor Parameter 
Units
Tc   Continuous stall torque
200  oz-in 
Tp   Peak torque
960 oz-in 
Kt Torque constant
44 oz-in/A 
Ke Back EMF constant
32.4 Volt/Krpm 
Jm Motor moment of inertia
0.034 oz-in-s^2 
R Armature resistance
1.5 Ohms 
L Armature inductance
2.8 mH 
Tm Electromechanical time constant
3.2 ms 
Rth Thermal resistance
1.9º Celsius per Watt
r     Encoder resolution
0.102 Arc Seconds
Vs  Recommended supply
60 Volts 
Maximum speed with Vs
2,000 rpm 

 

Final Mechanical Assembly and Testing Results

Tests performed by: K. Dietsch


Motor tuning parameters 
Parameter     
Motor Type: Galil 500-1000C    
PID Filter:
KD 
700 
KP 
100 
KI 
20 
Acceleration (pulses/sec^2):  
64,000 
Deceleration (pulses/sec^2):  
64,000 
Speed:  
80,000 cps (Nominal) 
Other: Max. speed while fixing torque problems  
80,000 cps 


Motion Parameters

Rotary Stage (constrained)
Distance from "home"  Position Motor Encoder Counts  Ren. Encoder Counts 
Physical Units 
Time to Reach 
Software Limits: Forward
9,525,000 
 2,524,500
Motor Counts 
 Limit to Limit
Reverse
-16,200,000 
 -4,293,700
Motor Counts 
 = 5 min. 21 sec. 
Primary (inner) Limits:  Forward
+ 9,522,638 
 2,523,900
+320 degrees from center * 
=2.278 deg./sec.
Reverse
-16,199,028 
 -4,293,400
-430 degrees from center * 
@ 80,000 cps 
Secondary (outer) Limits: Forward    
Primary + 10 degrees * 
 
Reverse    
Primary + 10 degrees * 
 
Position # Index
   
N2 Fill #1        
N2 Fill #2        
Grating Cng.        
1        
2        
3        
4        
1 revolution CW / CCW
 12,650,000
 3,353,000
360 Degrees 
2 min. 38 sec. 
* SEE D6120 DETAIL A

Resolution of Stage
Encoder Counts/Degree
Primary 
35,139 
Auxiliary
 9,313

NOTES:

Mechanical Drawings: Structure sub-assembly D6390, Limits #D6120, Renishaw encoder #D6345, Drive motor #D6135

Electronic Drawing(s) # EL-3120, EL-3121

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.