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Diffuser Control Logic. Marco Apollonio, Univ. of Oxford. 3 main movements & accurate positioning Carousel (revolving) Discs (+/- 15 deg) Unload disc holder / load catcher (+15, +15) Unload catcher / load disc holder (-15, -15) Catcher (linear motion through a threaded cylinder)

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slide1

Diffuser Control Logic

Marco Apollonio, Univ. of Oxford

CM18, RAL - UK - 13/06/2007

slide2
3 main movements & accurate positioning
    • Carousel (revolving)
    • Discs (+/- 15 deg)
      • Unload disc holder / load catcher (+15, +15)
      • Unload catcher / load disc holder (-15, -15)
    • Catcher (linear motion through a threaded cylinder)
  • Sequence of operations & Control

-15

0

+15

CM18, RAL - UK - 13/06/2007

slide3

movements & positioning

CM18, RAL - UK - 13/06/2007

slide4

encoder

MICE axis

5 optical sensors to check

disc position (4) +

disc presence (1)

CM18, RAL - UK - 13/06/2007

slide5

4 bit ~Gray code

When this bit is 1 we sense the disc

CM18, RAL - UK - 13/06/2007

slide6

mS1

2 m-switches

(check if disc at bottom of TH)

1 optical sensor

(check if disc at top of TH)

Pb disc + frame

catcher

mS2

OS

CM18, RAL - UK - 13/06/2007

slide7

OS: carousel and disc

encoder

OS: disc holder

CM18, RAL - UK - 13/06/2007

slide9

in progress!

logic & control

CM18, RAL - UK - 13/06/2007

slide10

NAMING CONVENTIONS

  • Motor A : CAROUSEL (+A, clockwise; -A, counterclockwise)
  • “ B : DISC HOLDER(s) (+/-B=+/-15deg)
  • “ C : CATCHER (+C= in, -C=out)

CM18, RAL - UK - 13/06/2007

slide11

Diffuser Control Flow Chart:main cycle

Start: go to Nf

(mS1&&mS2) off?

NB: need to know WHICH disc is in !

OS on?

Which disc

is in? Nd

Nd = 0

OS on?

Move C to position Nd

STOP !!!

ERROR

Extract disc

align disc holder:

motor CW (+15 deg abs)

Move catcher to bottom

align disc holder:

motor ACW (-15 deg abs)

Move catcher to bottom

Move C

to position Nf

Go to dummy station

Move Catcher to top

Insert disc

Command: set disc-f for run mode

Go to dummy station

STOP

CM18, RAL - UK - 13/06/2007

slide12

START

Diffuser Control Flow Chart: check discs insertedat the end of this cycle I should have a 5-element vector like (1,1,1,0,1) telling which station is empty. If the number of empty stations (Ne) is greater than 1 an error is produced which stops the system

Ns=1

NT=0, Ne=0

GO TO position Ns

Sense disc

Record station (Ns: 0,1)

If 0  Ne=Ne+1, Nd=Ns

If 1  NT=NT+1

Ns=Ns+1

Ne<=1?

Ns>=6

STOP !!!

ERROR

Go to dummy station

CM18, RAL - UK - 13/06/2007

diffuser control flow chart move c to position nd

START

Diffuser Control Flow Chart: move C to position Nd
  • release BR-PIN

Rotate CAROUSEL C.W.

(till OS fires Nd)

Turn ON motor (+A)

OS firing on

mark Nd?

t>3 s?

OS reads Nd?

  • STOP motor (A)
  • Push BR-PIN
  • Start timer

STOP

STOP !!!

ERROR

CM18, RAL - UK - 13/06/2007

diffuser control flow chart extract disc

START

Diffuser Control Flow Chart:Extract Disc

Align disc holder(s)

turn motor CW +15deg abs

  • Pull linear stage OUT = turn motor on (-C)
  • Activate TIMER (check extraction time t)

t > 5 s?

Unlock catcher:

turn motor ACW -15deg

(mS1 && mS2) off?

N

Encoder reads -30?

Y

STOP !!!

ERROR

OS on?

Update DISC position in

memory CTRL program

Turn C-motor off

NB motor be stiff/stable

STOP

CM18, RAL - UK - 13/06/2007

diffuser control flow chart insert disc

START

Diffuser Control Flow Chart:Insert Disc

Unlock circular plate:

Turn motor CW +15 deg

Encoder +30?

  • Turn B-motor off (B)
  • Turn on (+C):
  • Push linear stage
  • Activate timer

Turn C-motor off

Register DISC POSITION

in memory for the

CTRL PROGRAM

t > 5 s?

OS off?

STOP !!!

ERROR

STOP

(mS1 || mS2) on?

N

Y

CM18, RAL - UK - 13/06/2007

slide16

Conclusion

  • control for diffuser based on optical sensors and mechanical m-switches
  • design nearly finished
  • logic in progress

CM18, RAL - UK - 13/06/2007