Last updated: 12-13-01

Project: DEIMOS
Stage: Tent Mirror
ID #: KDTM-001A
Engineer: J. Osborne

Mechanical Description of Stage:

Mirror is tilted by +/- 30 arc-seconds. A piezo-electric linear acutator is used with flex-pivots on the mirror. No limit switches or fiducials.

Electronic Description of Stage:

Piezo controller from PI (Physik Instruments). Part #_____. Interfaces with Lantronix terminal server via RS-232 connection.

Required setting accuracy:

**Performance requirements and design goals**
Component	Requirements 1
Actuator: PI P-845.60	0.003 inches of travel
Gearbox: Lever arm - see D3605
Limits 2: None
Fiducials: Non
Encoders: None
Air Cylinders: None
Air Solenoids: None
Lock/Clamp/Brake: None
Interlocks: None

Speed, temperature, accuracies, electrical power, pressurized air, lubricant, coolant, N2 purge, ...

**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:

Final Mechanical Assembly and Testing Results

Tests performed by:

**Motor tuning parameters under different spacial orientations and environment**
Parameter		Set
PID Filter:	KD:
	KP:
	KI:
Acceleration (pulses/sec^2):
Deceleration (pulses/sec^2):
Speed (pulses/sec):
Other:

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
Software Limits:	Forward
Software Limits:	Reverse
Primary (inner) Limits:	Forward
Primary (inner) Limits:	Reverse
Secondary (outer) Limits:	Forward
Secondary (outer) Limits:	Reverse
Position #	1
	2
	3
	4
	5
	6
1 revolution	CW
1 revolution	CCW

"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.

**Resolution of Stage**
Encoder	Counts/Inch	Counts/Millimeter	Counts/Degree
On Motor	-	-	-
On Stage	-	-	-

Gear reduction function:

Backlash:

Forward:
Reverse:

Repeatability:

Forward:
Reverse:

Fiducial:

Type:
Location:

Encoder:

On motor:
On stage:

Air Cylinders:
Air Solenoids:

Air pressure:

NOTES:

Mechanical Drawing(s) # D3605

Electronic Drawing(s) #

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.