Last updated: 12-6-01

Project:DEIMOS
Stage:Guider TV Filter Wheel
ID #:KDTV-002A
Engineer: D. Cowley (T. Freeman)

Mechanical Description of Stage:

8-position filter wheel. "User" selectabSinglele filters in cells in the wheel.

Electronic Description of Stage:

The TV Filter stage uses Controller 1, amp 1A and is connected to A axis.

Standard unconstrained rotary stage with eight positions. This stage uses a standard EL-1236 Stage Interconnect Box, a Galil 50-1000 motor and a single TRW OPB970-T55 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 inside of the TV Filter Wheel 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:-
Limits 2:-
Fiducials:-TRW #OPB-970-T55 (Optical)
Encoders: BEI #MX213-25-1000 (4000 quadrature counts/rev)
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: Galil #50-1000	-3750 RPM 205 oz-in peak torque
Gearbox:
Limits:
Fiducials:
Encoders:
Air Cylinders:
Air Solenoids:
Lock/Clamp/Brake:

Final Mechanical Assembly and Testing Results

Tests performed by: K. Dietsch 6-27-00, C.Harper 4/6/01

**Motor tuning parameters under different spacial orientations and environment**
Parameter		Neutral Gravity
PID Filter:	KD:	275
	KP:	28
	KI:	9
Acceleration (pulses/sec^2):		256,000
Deceleration (pulses/sec^2):		256,000
Speed (pulses/sec):		5,000
Other: CN 1,-1 CB 1

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

**Rotary Stage (unconstrained)**
Distance from "home"	Position	Motor Counts	Physical Units	Time to Reach
Position	0	0 ( Home Position )	No Filter Here	0 Seconds
	1	+8,532	0°	( 0->1 ) = 11 Seconds
	2	+23,532	45°	( 1->2) = 11 Seconds
	3	+38,532	90°
	4	+53,532	134°	( 0->4) = 14 Seconds
	5	+68,532	180°
	6	+83,532	225°
	7	+98,532	270°
	8	+113,532	315°	( 0->8) = 20 Seconds
1 revolution	CW	120,000	360°	26 Seconds
1 revolution	CCW	-120,000	- 360°	26 Seconds

**Resolution of Stage**
Encoder	Counts/Inch	Counts/Millimeter	Counts/Degree
On Motor			11.1
On Stage			333.33

Gear reduction function:

Backlash:

Forward:
Reverse:

Repeatability:

Forward: Edge: +/- 380 counts
Reverse:

Fiducial:

Type:
Location:

Encoder:

On motor:
On stage:

Air Cylinders:
Air Solenoids:

Air pressure:

NOTES:

Mechanical Drawing(s) # D8220

Electronic Drawing(s) # EL-3050, EL-1236