| Component | Requirements 1 |
|---|---|
| Motors: Galil #50-1000 | - |
| Gearbox: Harmonic Drive #HDUC E-50-IU | 50:1 ratio |
| Limits 2:- | - |
| Fiducials: Magnetic - Renishaw #RGM22S (epoxy mounted reference actuator) | - |
| Encoders: Galil - BEI #MX213-25-1000 (4000 quadrature counts/rev)
Renishaw - #RGH22D (5 um resolution) | - |
| Air Cylinders:- | - |
| Air Solenoids:- | - |
| Lock/Clamp/Brake:- | - |
| Interlocks:- | - |
| Component | Maximum Operating Condition | Safe Ops Condition | Requirements |
|---|---|---|---|
| Motors: Galil #50-1000 | 3750 RPM , 1.45 Nm peak torque | - | - |
| Gearbox: Harmonic Drive | 6000 RPM | 147 Ncm rated operating torque | - |
| Limits: | - | - | - |
| Fiducials: | - | - | - |
| Encoders: | - | - | - |
| Air Cylinders: | - | - | - |
| Air Solenoids: | - | - | - |
| Lock/Clamp/Brake: | - | - | - |
| Parameter | Neutral Gravity | Uphill 1 | Downhill | Cold | Cold Uphill | |
|---|---|---|---|---|---|---|
| PID Filter: | KP: | 6 | 6 | 6 | 6 | 6 |
| KI: | .5 | .5 | .5 | .5 | .5 | |
| KD: | 120 | 120 | 120 | 120 | 120 | |
| Acceleration (pulses/sec^2): | 10000 | 10000 | 10000 | 10000 | 10000 | 10000 |
| Deceleration (pulses/sec^2): | 10000 | 10000 | 10000 | 10000 | 10000 | 10000 |
| Speed (pulses/sec): | 15000 | 15000 | 15000 | 15000 | 15000 | 15000 |
| Other: | - | - | - | - | - | - |
| Distance from "home" 1 | Position | Encoder Counts | Physical Units | Time to Reach |
|---|---|---|---|---|
| Position # | 1 (1a) | 0 | - | - |
| 2 (1b) | 24750 | - | - | |
| 3 (1c) | 52110 | - | - | |
| 4 (2a) | 96670 | - | - | |
| 5 (2b) | 124030 | - | - | |
| 6 (2c) | 151390 | - | - | |
| 7 (3a) | 195640 | - | - | |
| 8 (3b) | 223000 | - | - | |
| 9 (3c) | 250360 | - | - | |
| 10 (4a) | 294740 | - | - | |
| 11 (4b) | 322100 | - | - | |
| 12 (4c) | 349460 | - | - | |
| 13 (5a) | 394030 | - | - | |
| 14 (5b) | 421390 | - | - | |
| 15 (5c) | 448750 | - | - | |
| Unload Aper Mask #1 | 268800 | - | - | |
| Unload Aper Mask #2 | 368000 | - | - | |
| Unload Aper Mask #3 | 467100 | - | - | |
| Unload Aper Mask #4 | 70600 | - | - | |
| Unload Aper Mask #5 | 169800 | - | - | |
| 1 revolution | CW | 495750 | - | - |
| CCW | 495750 | - | - |
1. Home is at the magnetic actuator. This is mounted to the wheel by an aluminum fixture and is epoxied onto it. When this passes the Renishaw readhead the counts are reset to zero.
| Encoder | Counts/Inch | Counts/Millimeter | Counts/Degree |
|---|---|---|---|
| On Motor | - | - | - |
| On Stage | - | - | 1377 |
Mechanical Drawing(s) #
Electronic Drawing(s) # EL-3354/55
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.