Last updated:12-6-01

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

Mechanical Description of Stage:

UHV linear Drive driven by Galil motor through a Berg slip clutch. Estimated travel +/- 1mm.

Electronic Description of Stage:

The CCD Translation stage is driven by Galil controller #1, amplifier 1B and is connected to axis F.

Required setting accuracy :

**Performance requirements and design goals**
Component	Requirements 1
Motors: Galil 5-500
Gearbox: UHV Linear Drive PN: VZLDS225M
Limits 2: MicroSwitch 311SM6-T
Fiducials: TRW #OPB 970-T55 (Optical)
Encoders: 500 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:
Fiducials:
Encoders:	Resolution: 500 counts/rev
Air Cylinders:
Air Solenoids:
Lock/Clamp/Brake:

Final Mechanical Assembly and Testing Results

Tests performed by:

**Motor tuning parameters under different spacial orientations and environment**
Parameter		Set to:
PID Filter:	KD:	400
	KP:	80
	KI:	30
Acceleration (pulses/sec^2):		256,000
Deceleration (pulses/sec^2):		256,000
Speed (pulses/sec):		20
Other: CN 1,-1 CB 10

Uphill defined as motor (or driven end of shaft) in lowest position

Motion Parameters

**Linear Stage (constrained)**
Distance from "home" 1	Position	Motor Counts	Physical Units	Time to Reach
Software Limits:	Forward	800	TBD	Limit to Limit:
Software Limits:	Reverse	-2260	TBD	= 34 Seconds
Primary (inner) Limits:	Forward	+ 945	-0.030"
Primary (inner) Limits:	Reverse	- 2507	0.0295"
Secondary (outer) Limits:	Forward	+ 1289	-0.0355"
Secondary (outer) Limits:	Reverse	- 2730	0.0335"
Fiducial:	-	0	-0.014"

"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 the stage to the right (looking from the front of the dewar).

**Resolution of Stage**
Encoder	Counts / Mil.
On Motor	57 counts /0 .001"

Gear reduction function:

Backlash:

Forward: - 300 counts at speed
Reverse: +300 counts at speed

Repeatability:

Forward:
Reverse:

Fiducial:

Type:
Location:

Encoder:

On motor:
On stage:

Air Cylinders:
Air Solenoids:

Air pressure:

NOTES:

Mechanical Drawing(s) Stage: D7356-1

Electronic Drawing(s) EL-3055

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.