Project: PFCAM
Stage: Guider TV Filter Wheel
ID #: KBPFG-002

Performance requirements and design goals
Component Requirements *
Motors: Galil 50-1000 -
Gearbox: -
Limits **: -
Fiducials: TRW #OPB970T55 "home" -
Encoders: On Galil -
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

NOTES:

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

Motor tuning parameters under different spacial orientations and environment
Parameter Neutral Gravity Uphill * Downhill Cold Cold Uphill
PID Filter: KP: 20 20 20 - -
KI: 8 8 8 - -
KD: 200 200 200 - -
Acceleration (pulses/sec^2): - 100000 - - - -
Deceleration (pulses/sec^2): - 100000 - - - -
Speed: - 20000 - - - -
Other: - - - - - -

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



Motion Parameters

Rotary Stage (unconstrained)
Distance from "home" Position Primary Encoder Counts Aux Encoder Counts Physical Units Time to Reach
Position # Index 0 - - -
1 4500 - 13.5 degrees from index -
2 24500 - - -
3 44500 - - -
4 64500 - - -
5 84500 - - -
6 104500 - - -
1 revolution CW 120000 - 360 degrees 6 sec (speed 20000)
CCW 120000 - - -

Resolution of Stage
Encoder Counts/Inch Counts/Millimeter Counts/Degree
Primary - - 333.3
Auxiliary - - -

NOTES:

Mechanical Drawing(s) #

Electronic Drawing(s) # EL-3251-2L

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 the drive the stage towards the forward limit.