Last updated: 12-17-01

Project: DEIMOS
Stage: Instrument Rotation
ID #: KDIR-001
Engineer: V. Wallace

Mechanical Description of Stage:

Motor:
Motor counts per degree = 35,139, or 9.76 motor counts per arcsec.
Slew Speed = 80,000 motor counts per second, or 2.28 degrees per second.
Motor encoder : Renishaw encoder Ratio = 3.773 : 1
Full Rotation (Limit to Limit = 732 Degrees):
Motor Counts: 25,725,000
Renishaw #1 : 6,818,000
Renishaw #2 : 6,818,000

Electronic Description of Stage:

See below:

Required setting accuracy:

**Performance requirements and design goals**
Component	Requirements *
Motors: Galil 500-1000C	2000 RPM / 960 in-oz peak stall torque
Gearbox: Harmonic Drive HDUC-32-260-2AG-R	260:1 gearbox + 12.152:1 drive reduction (direction reversal both units)
Limits : Microswitch LSNIA "primary" ; DT-2RV22-A7 "secondary"**
Fiducials: Optical reflective sensor: TIL139 and Renishaw Index	Uses reflective tape on rotating wheel
Encoders: Renishaw RGH22Y	Sensor tape mounted directly on rotating surface
Air Cylinders: None
Air Solenoids: None
Lock/Clamp/Brake: Manual band clamp
Interlocks: Lockouts for maintenance, grating or mask installation

* 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:
Gearbox:
Limits:
Fiducials:
Encoders:
Air Cylinders:
Air Solenoids:
Lock/Clamp/Brake:

Motor 500/1000C Specifications:

Motor Parameter	Units
Tc Continuous stall torque	200 oz-in
Tp Peak torque	960 oz-in
Kt Torque constant	44 oz-in/A
Ke Back EMF constant	32.4 Volt/Krpm
Jm Motor moment of inertia	0.034 oz-in-s^2
R Armature resistance	1.5 Ohms
L Armature inductance	2.8 mH
Tm Electromechanical time constant	3.2 ms
Rth Thermal resistance	1.9º Celsius per Watt
r Encoder resolution	0.102 Arc Seconds
Vs Recommended supply	60 Volts
Maximum speed with Vs	2,000 rpm

Final Mechanical Assembly and Testing Results

Tests performed by: K. Dietsch

**Motor tuning parameters**
Parameter
Motor Type: Galil 500-1000C
PID Filter:	KD	700
	KP	100
	KI	20
Acceleration (pulses/sec^2):		64,000
Deceleration (pulses/sec^2):		64,000
Speed:		80,000 cps (Nominal)
Other: Max. speed while fixing torque problems		80,000 cps

Motion Parameters

**Rotary Stage (constrained)**
Distance from "home"	Position	Motor Encoder Counts	Ren. Encoder Counts	Physical Units	Time to Reach
Software Limits:	Forward	9,525,000	2,524,500	Motor Counts	Limit to Limit
Software Limits:	Reverse	-16,200,000	-4,293,700	Motor Counts	= 5 min. 21 sec.
Primary (inner) Limits:	Forward	+ 9,522,638	2,523,900	+320 degrees from center *	=2.278 deg./sec.
Primary (inner) Limits:	Reverse	-16,199,028	-4,293,400	-430 degrees from center *	@ 80,000 cps
Secondary (outer) Limits:	Forward			Primary + 10 degrees *
Secondary (outer) Limits:	Reverse			Primary + 10 degrees *
Position #	Index	0	0
	N2 Fill #1
	N2 Fill #2
	Grating Cng.
	1
	2
	3
	4
1 revolution	CW / CCW	12,650,000	3,353,000	360 Degrees	2 min. 38 sec.

* SEE D6120 DETAIL A

**Resolution of Stage**
Encoder	Counts/Degree
Primary	35,139
Auxiliary	9,313

Gear reduction function: 3159.52:1 (12.152:1 for friction drive; 260:1 for harmonic drive)
Backlash:

Forward:
Reverse:

Repeatability:

Forward:
Reverse:

Fiducial:

Type: Reflective optical sensor on drive disk
Location: TBD

Encoder:

On motor: Galil motor encoder mounted on rear of drive motor.
On stage: Renishaw RGH22Y and Sensor tape mounted on barrel.

Air Cylinders:
Air Solenoids:

Air pressure:

NOTES:

Mechanical Drawings: Structure sub-assembly D6390, Limits #D6120, Renishaw encoder #D6345, Drive motor #D6135

Electronic Drawing(s) # EL-3120, EL-3121

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.