Last updated: Tue May 11 10:51:16 PDT 1999

Project: ESI
Stage: Post Dispersion Prism Shuttle
ID #: KECI-001

Required setting accuracy : +/- .01 mm (128 encoder counts)

Performance requirements and design goals
Component Requirements 1
Motors: Galil #50-1000 -
Gearbox: Bayside #RA60-10-LB  Bayside 10:1 gearbox, leadscrew .32 turns/mm
Limits 2: MicroSwitch #BZ-2RW822-A2 "primary" 
                     #DT-2RV22-A7 "secondary"		 -
Fiducials: TRW #OPB-970-T55 -
Encoders: BEI #MX213-25-1000 (On Galil motor) -
Air Cylinders:- -
Air Solenoids:- -
Lock/Clamp/Brake: Electroid #FSB-1-4-24V  Failsafe brake (release when powered)
Interlocks:- -
 
  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
NOTES:

Manufacturer's specifications and limitations
Component Maximum Operating Condition  Safe Ops Condition  Requirements 
Motors:  Max speed 3750 rpm, Peak torque 1.45 Nm - -
Gearbox:  Max speed 5000 rpm  33 Nm rated output torque -
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 1 Downhill  Cold  Cold Uphill 
PID Filter: KP:  28  28  28  28  28
KI:  6  6  6  6  6
KD:  280  280  280  280  280
Acceleration (pulses/sec^2): -  160000 - - - -
Deceleration (pulses/sec^2): -  160000 - - - -
Speed: -  120000 - - - -
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  3597000 - -
Reverse  -110000 - -
Primary (inner) Limits:  Forward - - -
Reverse - - -
Secondary (outer) Limits:  Forward - - -
Reverse - - -
Position # 1 "out"  -100000 - -
2 "in" 3596000 - -
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 -  12800 -
On Stage - - -
 

NOTES:

Mechanical Drawing(s) #  E3609

Electronic Drawing(s) #  EL-3366

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.