Last updated: 12-11-01
Project: DEIMOS
Stage: Grating Tilt Stage #1 (Not Used)
ID #: KDGC-001A
Engineer: J. Osborne
Mechanical Description of Stage:
Rotates 8" X 12" (large) grating or 6" X 8" (small) grating. Tilt angle
is maintained when other grating rotators move into position. (e.g. no
"home" position.)
Electronic Description of Stage:
Required setting accuracy :
Sub arc-second!
Accuracy and resolution requirements:
| Performance requirements and design goals |
|
| Component |
Requirements 1 |
| Motors: Galil 50-1000 |
3750 RPM / 205 in-oz peak stall torque |
| Limits 2: Microswitch BZ-2RW822-A2 "soft" + DT-2RV22-A7 "hard" |
|
| Fiducials: Opto-interupter TRW #OPB-970-T55 (Optical) |
|
| Encoders: Gurley 8335-11250-CB-S-A |
|
| Air Cylinders: None |
|
| Air Solenoids: None |
|
| Lock/Clamp/Brake: None |
|
| Interlocks: Lockout during manual installation of new grating (see
lockout schedule) |
|
-
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
NOTES: -20 degrees C needed. Galil BEI motor encoder only rated -10
degrees C, but we have tested them. They are OK.
| Manufacturer's specifications and limitations |
|
|
|
| Component |
Maximum Operating Condition |
Safe Ops Condition |
Requirements |
| Motors: |
|
|
|
| Limits: |
|
|
|
| Fiducials: |
|
|
|
| Encoders: |
|
|
|
| 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 |
| Motor Type: |
|
|
| PID Filter: |
KD: |
|
| KP: |
|
| KI: |
|
| Acceleration (pulses/sec^2): |
|
|
| Deceleration (pulses/sec^2): |
|
|
| Speed: |
|
|
| Other: CN 1,1 CB 1 |
|
|
-
Uphill defined as motor (or driven end of shaft) in lowest position
Motion Parameters
| Rotary Stage (constrained |
| Distance from "home" |
Position |
Motor Counts |
Physical Units |
Time to Reach |
| Primary (inner) Limits: |
Forward |
|
22 degrees from center |
|
| Reverse |
|
23 degrees from center |
|
| Secondary (outer) Limits: |
Forward |
|
23 degrees from center |
|
| Reverse |
|
24 degrees from center |
|
| Position # None (any posn available) |
1 |
|
|
|
| 2 |
|
|
|
| 3 |
|
|
|
| 4 |
|
|
|
| 5 |
|
|
|
| 6 |
|
|
|
| 1 revolution |
CW |
|
|
|
| CCW |
|
|
|
| Resolution of Stage |
| Encoder |
Counts/Inch |
Counts/Millimeter |
Counts/Degree |
| On Motor (BEI) |
4000 counts/motor rev |
|
5215
|
| On Stage (GURLEY *) |
|
|
2500
|
-
Gear reduction function: 2346.64:1 (2 stages of friction drive
plus timing belt/sprockets)
-
Repeatability:
-
Fiducial:
-
Type Opto interrupter
-
Location Middle of travel
-
Encoder:
-
Air Cylinders:
-
Air Solenoids:
NOTES:
Mechanical Drawing(s) # d45xx series
Electronic Drawing(s) #EL-3058 and EL-3059
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.
The Grating Tilt #1 stage uses Controller # 2, amplifier 2A and is connected
to the A axis.