Last updated:  Wed May 12 12:59:17 PDT 1999

Project: ESI
Stage: Collimator Actuator #3
ID #: KECO-003

Required setting accuracy : +/- 1 micron (10 encoder counts)

Performance requirements and design goals
Component Requirements 1
Motor: Galil #50-1000 -
Gearbox: Bayside #PG60-100-LB  Bayside 100:1, leadscrew 6 mm/turn
Limits 2: TRW #OPB-970-T55 "primary" 
                     #DT-2RV22-A7 "secondary"		 -
Fiducials: Optical - TRW #OPB-970-T55
              Magnetic - #RGM22S (epoxy mounted reference actuator)		 -
Encoders: Galil - BEI #MX213-25-1000 (4000 quadrature counts/rev)
               Renishaw - #RGH22Y (0.1 um resolution)		 -
Air Cylinders:- -
Air Solenoids:- -
Lock/Clamp/Brake:- -
Interlocks:- Against over tipping
  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: Galil 50-1000  3750 RPM , 1.45 Nm peak torque - -
Gearbox: Bayside  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: 20 20 20 20 20
KI: .5 .5 .5 .5 .5
KD: 200 200 200 200 200
Acceleration (pulses/sec^2): - 10000 10000 10000 10000 10000
Deceleration (pulses/sec^2): - 10000 10000 10000 10000 10000
Speed (pulses/sec): - 10000 10000 10000 10000 10000
Other: - - - - - -
  1. Uphill defined as motor (or driven end of shaft) in lowest position

Motion Parameters

Linear Stage (constrained)
Distance from "home" 1 Position Encoder Counts (dual loop encoded) Physical Units Time to Reach
Software Limits:  Forward 230000 - -
Reverse -200000 - -
Primary (inner) Limits:  Forward -  24 mm -
Reverse -  24 mm -
Secondary (outer) Limits:  Forward -  25 mm -
Reverse -  25 mm -
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 (BEI) - 66666 -
On Stage (Renishaw) - 10000 -

NOTES:

Mechanical Drawing(s) #

Electronic Drawing(s) # EL-3362/63

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.

This stage will be using the "continuous dual loop" servo scheme where servoing is performed using the auxiliary encoder as the target.