Last updated: Wed Sep 22 09:39:09 PDT 1999

Project: ESI
Stage: TV Guider Camera Focus
ID #: KETV-001


Required setting accuracy : 50 counts


Performance requirements and design goals
ComponentRequirements 1
Motors: Galil #50-1000-
Gearbox:--
Limits 2: MicroSwitch #BZ-2RW822-A2 "primary"s 
              #DT-2RV22-A7 "secondary"
-
Fiducials: Optical - TRW #OPB-970-T55-
Encoders: Galil - BEI #MX213-25-1000 (4000 quadrature counts/rev) -
Air Cylinders:--
Air Solenoids:--
Lock/Clamp/Brake:--
Interlocks:--
  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:


Manufacturer's specifications and limitations
ComponentMaximum Operating Condition Safe Ops Condition Requirements
Motors: Galil #50-10003750 RPM , 1.45 Nm peak torque--
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:2020202020
KI:22222
KD:200200200200200
Acceleration (pulses/sec^2):100001000010000100001000010000
Deceleration (pulses/sec^2):100001000010000100001000010000
Speed (pulses/sec):500500500500500500
Other:------
  1. Uphill defined as motor (or driven end of shaft) in lowest position



Motion Parameters


Rotary Stage (constrained)
Distance from "home" PositionMotor Counts Physical Units Time to Reach
Software Limits: Forward2500--
Reverse-2500--
Primary (inner) Limits: Forward---
Reverse---
Secondary (outer) Limits: Forward---
Reverse---
Position # 1-2400--
21920--
32400--
  1. "Coarse" if from optical interupter, "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
EncoderCounts/InchCounts/MillimeterCounts/Degree
On Motor---
On Stage---



NOTES:

Mechanical Drawing(s) #

Electronic Drawing(s) #EL-3356

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.