Last updated: 12-19-01

Project: DEIMOS
Stage: Entrance Hatch
ID #: KDWN-001A
Engineer: J. Osborne

Mechanical Description of Stage:

Two air cylinders open a hinged aluminun cover in front of the entrance window.  There is a single cover (for side "A") .

Electronic Description of Stage:

Pneumatic solenoid that is controlled by a Galil/Opt0-22 I/O bit.

Required setting accuracy:

Performance requirements and design goals
Component Requirements 1
Motors:  None  
Gearbox: None  
Limits 2: Bimba limit switches MRS-.087-XBL-02  
Fiducials:  None  
Encoders:  None  
Air Cylinders: Bimba S1-MRS-094-DXP  
Air Solenoids: Skinner 120 VAC  
Lock/Clamp/Brake:  None  
Interlocks: None  
  1. Speed, temperature, accuracies, electrical power, pressurized air, lubricant, coolant, N2 purge, ...
  2. 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:    
  1. 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      
3      
4      
5      
6      
  1. "Coarse" if from optical interupter, "Fine" if from an encoder index pulse. Home is defined as zero counts.
  2. 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      

NOTES:

Mechanical Drawing(s) # D8740

Electronic Drawing(s) # EL-3080

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.