Last updated: Wed Sep 22 11:13:34 PDT 1999

Project: ESI
Stage: TV Guider Filter Wheel
ID #: KETV-002

Required setting accuracy : 50 encoder counts

Performance requirements and design goals
ComponentRequirements 1
Motors: Galil #50-1000-
Gearbox:--
Limits 2:--
Fiducials: Optical - TRW #OPB-970-T55-
Encoders: Galil - BEI #MX213-25-1000 (4000 quadrature counts/rev) -
Air Cylinders:--
Air Solenoids:--
Lock/Clamp/Brake:--
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
ComponentMaximum Operating Condition Safe Ops Condition Requirements
Motors: Galil #50-10003750 RPM , 1.45 Nm peak torque--
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 1 Downhill Cold Cold Uphill
PID Filter:KP:2020202020
KI:22222
KD:200200200200200
Acceleration (pulses/sec^2):100001000010000100001000010000
Deceleration (pulses/sec^2):100001000010000100001000010000
Speed (pulses/sec):200002000020000200002000020000
Other:------
  1. Uphill defined as motor (or driven end of shaft) in lowest position


Motion Parameters

Rotary Stage (unconstrained)
Distance from "home" PositionMotor Counts Physical Units Time to Reach
Position # 113800--
228800--
343800--
458800--
573800--
688800--
7103800--
8118800--
1 revolutionCW120000--
CCW120000--

Resolution of Stage
EncoderCounts/InchCounts/MillimeterCounts/Degree
On Motor--333
On Stage---

NOTES:

Mechanical Drawing(s) #

Electronic Drawing(s) #

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.