Last updated: 12-17-01
Project: DEIMOS
Stage: Instrumentation Trolley
ID #: KDTR-001A
Engineer: M. Radovan
Mechanical Description of Stage:
AC motor to move DEIMOS into and out of position.
Electronic Description of Stage:
Required setting accuracy:
Performance requirements and design goals
| Component |
Requirements 1 |
| Motors:- |
|
| Gearbox:- |
|
| Limits 2:- |
|
| Fiducials:- |
|
| Encoders:- |
|
| Air Cylinders:- |
|
| Air Solenoids:- |
|
| Lock/Clamp/Brake:- |
|
| Interlocks:- |
|
-
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: |
|
|
|
Final Mechanical Assembly and Testing Results
Tests Performed By:
Motor tuning parameters under different spacial
orientations and environment
| Parameter |
|
Set |
| PID Filter: |
KD: |
[None]
|
| 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
Linear Stage (constrained)
| Distance from "home" 1 |
Position |
Motor Counts |
Physical Units |
Time to Reach |
| Software Limits: |
Forward |
|
|
|
| Reverse |
|
|
|
| Primary (inner) Limits: |
Forward |
|
|
|
| Reverse |
|
|
|
| Secondary (outer) Limits: |
Forward |
|
|
|
| Reverse |
|
|
|
| Position # |
1 |
|
|
|
| 2 |
|
|
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| 3 |
|
|
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| 4 |
|
|
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| 5 |
|
|
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| 6 |
|
|
|
-
"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."Coarse" if
from optical interupter, "Fine" if from an encoder index pulse. Home is
defined as zero counts.
Resolution of Stage
| Encoder |
Counts/Inch |
Counts/Millimeter |
Counts/Degree |
| On Motor |
|
|
|
| On Stage |
|
|
|
-
Repeatability:
-
Fiducial:
-
Encoder:
-
Air Cylinders:
-
Air Solenoids:
NOTES:
Mechanical Drawing(s) # D6920
Electronic Drawing(s) # EL-3123