Last updated: 12-6-01

Project: DEIMOS
Stage: CCD Focus
ID #: KDCF-001A
Engineer: D. Cowley (T. Freeman)

Mechanical Description of Stage:

Belt Drive with 5:1 ratio driven by Galil motor through a Berg slip clutch. Estimated travel +/- 1mm.

Electronic Description of Stage:

Driven by Galil Controller #1 - Amplifier 1B - Stage "E"
This stages requires an EL-1236R (Reverse) interface box.

Required setting accuracy :

**Performance requirements and design goals**
Component	Requirements 1
Motors: Pitman 9234C645-R1 30.3 VDC
Gearbox: Direct Belt Drive with ratio of 1:5
Limits 2: MicroSwitch 311SM6-T
Fiducials: TRW #OPB 970-T55 (Optical)
Encoders: 2000 counts / rev
Air Cylinders:-
Air Solenoids:-
Lock/Clamp/Brake:-
Interlocks:-

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:	5 oz-in continuous, 42 oz-in peak torque. Max. speed: 5400 RPM
Gearbox:
Limits:	Micro switch
Fiducials:	Optical TRW OPB970T55
Encoders:	Resolution: 2000 counts/rev
Air Cylinders:
Air Solenoids:
Lock/Clamp/Brake:

Final Mechanical Assembly and Testing Results

Tests performed by: K. Dietsch

**Motor tuning parameters under different spacial orientations and environment**
Parameter		Set to:
PID Filter:	KD:	154
	KP:	29
	KI:	27
Acceleration (pulses/sec^2):		256,000
Deceleration (pulses/sec^2):		256,000
Speed (pulses/sec):		500
Set the following parameters: CN 1,-1 CB 9

Motion Parameters

**Linear Stage (constrained)**
Distance from "home" 1	Position	Motor Counts	Physical Units	Time to Reach
Software Limits:	Forward	268		Limit to Limit
Software Limits:	Reverse	-19400		= 47 Seconds
Primary (inner) Limits:	Forward	536	-0.037"	10 Seconds
Primary (inner) Limits:	Reverse	-20550	0.042"	38 Seconds
Secondary (outer) Limits:	Forward	1356	-0.041"
Secondary (outer) Limits:	Reverse	-22079	0.046"
Fiducial: (Driving in + dir.)		0	-0.035"	Time "0"

"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.
Positive (+) motor drive moves focus stage toward the front of the dewar.

**Resolution of Stage**
Encoder	Counts/mil.
On Motor	267.22 counts / 0.001"

Gear reduction function:

Backlash:

Forward:
Reverse:

Repeatability:

Forward:
Reverse:

Fiducial:

Type:
Location:

Encoder:

On motor:
On stage:

NOTES:

Mechanical Drawing(s) #Stage #D7356-1

Electronic Drawing(s) # EL-3054, EL-1236R2

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 to the forward limit (toward the window).