Last updated: 12-17-01

Project: DEIMOS
Stage: Science Filter Wheel
ID #: KDSF-001A
Engineer: V. Wallace

Mechanical Description of Stage:

Seven position: two are "user" positions, so can be selected and exchanged manually.

Electronic Description of Stage:

Standard unconstrained rotary stage with seven positions. This stage uses a standard EL-1236 Stage Interconnect Box, a Galil 50-1000 motor and a single Cherry VN101501 magnetic fiducial. The position can be selected by any one of three means. First, the computer can instruct the wheel to either home the wheel or move to a discrete position. By selecting manual control from the manual paddle connected to Galil controller #1, the filter wheel can be jogged in slow or fast speed, homed, or moved to a discrete position. Finally, the filter can be moved by the push button station that lives on the side of the electronics ring adjacent to the filter access hatch. When moving via the push buttons, the wheel is moved so that the filter slot that is selected is moved to the unload position instead of into the beam.

Required setting accuracy :

**Performance requirements and design goals**
Component	Requirements 1
Motors: Galil #50-1000
Gearbox:- Bayside 23-50 (Ratio = 50:1) + Drive / spur gear (Ratio = 5:1)	Total Ratio = 250:1
Limits 2: None (unconstrained)
Fiducials: Cherry VN101501(Magnetic)
Encoders: Motor encoder: 4000 counts/rev
Air Cylinders:- None
Air Solenoids:- None
Lock/Clamp/Brake:- None
Interlocks: Yes, see interlock 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

**Manufacturer's specifications and limitations**
Component	Maximum Operating Condition	Safe Ops Condition	Requirements
Motors: Galil #50-1000	3750 RPM, 205 oz-in peak torque
Gearbox:	Bayside 23-50
Limits:	None
Fiducials:	Cherry - VN101501 (Magnetic)
Encoders:	Motor encoder: 4000 counts/rev
Air Cylinders:	None
Air Solenoids:	None
Lock/Clamp/Brake:	None

Final Mechanical Assembly and Testing Results

Tests performed by: C. Harper 3-21-01

**Motor tuning parameters under different spacial orientations and environment**
Parameter		Set
PID Filter:	KD:	289
	KP:	95
	KI:	33
Acceleration (pulses/sec^2):		200000
Deceleration (pulses/sec^2):		200000
Speed (pulses/sec):		100000
Other: CN 1, -1 CB 11

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

**Rotary Stage (unconstrained)**
Distance from "home"	Position	Motor Counts
Position #	1	0
	2	142857
	3	285714
	4	428571
	5	571429
	6	714286
	7	857143
1 revolution	CW	1,000,000 counts
1 revolution	CCW	1,000,000 counts

**Resolution of Stage**
Encoder	Counts/Inch	Counts/Millimeter	Counts/Degree
On Motor	-	-	11.1 counts
On Stage	-	-	2,778 counts

Gear reduction function: Total reduction = 250:1

Backlash:

Forward:
Reverse:

Repeatability:

Forward:
Reverse:

Fiducial:

Type: Cherry - VN101501 Hall Effect Sensor
Location:

Encoder:

On motor:
On stage:

Air Cylinders:
Air Solenoids:

Air pressure:

NOTES:

Mechanical Drawing(s) #D5315

Electronic Drawing(s) #EL-3056, EL-3073

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.