Last updated: 12-19-01

Project: DEIMOS
Stage: Grating stage clamp
ID #: KDGS-002A
Engineer: J. Osborne

Mechanical Description of Stage:

This stage is an integral part of the Grating Slide Stage (KDGS-001A) but complex enough to call it a stage.  It takes a rotator and clamps it to the support structure. All work air cylinder mechanisms.

Electronic Description of Stage:

See Drawings #El-3066 and #EL-3082

Required setting accuracy:

Performance requirements and design goals
Component Requirements 1
Motors: None  
Gearbox: None  
Limits 2: Hall effect switches on cylinders  
Fiducials: None  
Encoders: None  
Air Cylinders: Yes  
Air Solenoids: Yes  
Interlocks: See Stage inter operation document  
  1. Speed, temperature, accuracy's, electrical power, pressurized air, lubricant, coolant, N2 purge, ...                               Air pressure = 100PSI
  2. 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 
Air Cylinders:      
Air Solenoids:      

Final Mechanical Assembly and Testing Results

Tests performed by:
Motor tuning parameters under different spatial orientations and environment
Parameter    Set
PID Filter: KD:
 [No Motors]
Acceleration (pulses/sec^2):    
Deceleration (pulses/sec^2):    
Speed (pulses/sec):    
  1. 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
Primary (inner) Limits:  Forward      
Secondary (outer) Limits:  Forward      
Position # 1     **
2     **
3     **
4     **
** Very important! Very difficult to achieve goals here.
  1. "Coarse" if from optical interrupter, "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
Encoder Counts/Inch Counts/Millimeter Counts/Degree
On Motor      
On Stage      


Mechanical Drawings: #D0931, D4090, D4102, D4109, D4412, D4415, D4450 and D4924.

Electronic Drawings: #EL-3066, EL-3082.

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.