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Chapter 4 - Principles of Operation 

4.2.1 Servo Assembly 

The Servo Assembly (Figure 4.3) is equipped with a Motorola 68302 
microprocessor and serves as the main pedestal control interface. This 
assembly provides digital position and rate loop closure as well as torque 
bias control. In the Autotrack mode, the Servo Assembly reads tracking 
errors from the Autotrack board and uses these errors to close the servo 
loops. This assembly also provides control signals to the pedestal or 
positioner (other than the interface to the synchros/resolvers) such as limits, 
interlocks, power amplifier control, brake control, and others. 

 

Figure 4.3. Servo Assembly Block Diagram 

 
3862 Autotrack Controller 

4-7 

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Summary of Contents for 3862

Page 1: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

Page 2: ...Model 3862 Autotrack Digital Controller Operation and Maintenance Manual Manual Part No 1000569 January 2003 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...t warranty any specific application Any product names mentioned herein are used for identification purposes only and may be trademarks and or registered trademarks of their respective companies In all correspondence with ViaSat Inc regarding this publication please refer to the Manual Part No on the title page Copyright 2003 ViaSat Inc All rights reserved No part of this book may be reproduced in ...

Page 4: ...ations 1 3 1 6 3 Physical Configurations 1 4 1 7 Specifications 1 6 1 8 Glossary of Symbols and Abbreviations 1 7 Installation 2 1 2 1 Introduction 2 1 2 2 Unpacking and Inspection 2 1 2 2 1 Damage or Loss During Shipment 2 1 2 3 Equipment Return 2 1 2 4 Installation Procedure 2 2 2 4 1 General 2 2 2 4 2 Chassis Slide Mounting 2 2 2 4 3 Cable Connectors 2 3 2 4 4 Host Computer Interfaces 2 16 2 4 ...

Page 5: ...el controls and indicators 3 2 3 3 1 Liquid Crystal Display Indicators 3 4 3 3 2 Data Entry 3 5 3 3 3 Softkeys 3 6 3 3 4 Top Level Softkey Menu 3 6 3 3 5 Front panel Operating Procedures 3 6 3 3 6 Power Up And Down 3 6 3 3 7 Emergency Shutdown 3 8 3 3 8 Standby Mode 3 8 3 3 9 Position Mode 3 8 3 3 10 Rate Mode 3 9 3 3 11 Track Mode 3 9 3 3 12 Menus 3 9 3 3 13 Softkey Axis Assignment 3 9 3 3 14 Sec...

Page 6: ...rack Mode 3 24 3 3 16 4 AGC Channel Input 3 25 3 3 16 5 Digital Controller Setup Configuration Store recall 3 26 3 3 16 6 Feed Scan Selection 3 28 3 3 16 7 Time And Date Set 3 29 3 3 16 8 Status And Command Lines 3 29 3 4 Remote operation 3 30 Principles of Operation 4 1 4 1 Introduction 4 1 4 2 Functional description 4 1 4 2 1 Servo Assembly 4 7 4 2 2 Synchro resolver Assembly 4 8 4 2 3 Operator ...

Page 7: ...ck Board Removal 5 7 5 6 4 Servo Synchro resolver ORI Or Autotrack Board Installation 5 8 5 6 5 Resolver Reference Board Removal 5 8 5 6 6 Resolver Reference Board Installation 5 9 5 6 7 Power Supply Removal 5 10 5 6 8 Power Supply Installation 5 10 5 6 9 Power Inverter Removal 5 10 5 6 10 Power Inverter Installation 5 11 5 6 11 Optical Encoder Removal 5 11 5 6 12 Optical Encoder Installation 5 12...

Page 8: ... of Parts Lists Column Headings 6 1 6 3 Ordering Parts 6 2 Drawings 7 1 7 1 Introduction 7 1 7 2 Drawing Index 7 1 3862 Autotrack Controller vii Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 9: ...eters 3 19 Figure 3 9 Limit Parameters 3 20 Figure 3 10 Control Menus 3 21 Figure 3 11 Local remote Control Selection 3 22 Figure 3 12 Autotrack Mode Parameters 3 23 Figure 3 13 Steptrack Mode Parameters 3 24 Figure 3 14 AGC Channel Input Parameters 3 25 Figure 3 15 Digital Controller Setup Configuration Store recall 3 27 Figure 3 16 Feed Scanner Control 3 28 Figure 3 17 Time And Date Set 3 29 Fig...

Page 10: ...tions 1 5 Table 4 1 Position Data Package Electrical Interface 4 4 Table 4 2 Gearmotor Electrical Interface 4 6 Table 5 1 Tools and Test Equipment 5 1 Table 5 2 Periodic Maintenance Chart 5 2 Table 5 3 Routine Inspection 5 2 Table 5 4 Consumable Materials List 5 6 Table 5 5 Troubleshooting Chart 5 7 Table 5 6 Finish Repair Consumable Materials 5 9 Table 7 1 Drawing Index 7 1 3862 Autotrack Control...

Page 11: ...cedures Do NOT replace parts or modules with power ON Servicing this equipment requires working with the equipment while AC power is applied Extreme caution must be exercised during these procedures RESUSCITATION Personnel working with or near hazardous chemicals or voltages should be familiar with modern methods of resuscitation USE SAFETY APPROVED EQUIPMENT When cleaners are being applied approv...

Page 12: ...apter 4 Principles of Operation Chapter 5 Maintenance Chapter 6 Parts List Chapter 7 Drawings 1 3 Use of this Manual This manual is divided into chapters each with a specific purpose The Table of Contents lists all chapters and paragraphs with their titles and page numbers Illustrations tables and diagrams are provided to support the text Lists of illustrations and tables indicate their numbers ti...

Page 13: ...l or positioner control in tracking communications and microwave instrumentation applications These controllers implement full digital servo loop control and compensation in several control modes suitable for use with two axis pedestals and may be adapted for use with positioners having up to eight axes The controllers are available in a variety of physical and functional configurations to provide...

Page 14: ...es and or interfaces appropriate to the physical configuration selected The Model 3861 operates using an indoor control panel or an external computer and remote interface The Model 3862 Autotrack Controller includes the Autotrack Assembly which allows operation with automated tracking systems The automated tracking Autotrack function requires input of both a signal strength and a tracking video si...

Page 15: ...om the pedestal into the control room by placing the functional modules that interface to the pedestal within the pedestal equipment The second chassis provides the operator controls and indicators The two chassises are functionally connected by a full duplex fiber optic link The operator interface components include the keypad display screen position knobs and power switch on the front panel The ...

Page 16: ...er 1 General Information Figure 1 2 3860 Digital Controller Functional Configurations 3862 Autotrack Controller 1 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 17: ...rs Display High contrast LCD display Mode Selection Menu driven function keys plus full numeric keypad Axis Position Controls Analog position knobs and joystick for 2 axes Status Displays Up to 32 optically isolated and 32 TTL lines to report various system functions Servo Functions Digital servo compensation with four user selectable servo loop bandwidths Typically two axes can be configured to c...

Page 18: ...ping 1 8 Glossary of Symbols and Abbreviations The following list defines symbols and abbreviations used in this manual Symbol or Abbreviation Definition ABS automatic beam switching ac alternating current ACQTIM acquire time A D analog to digital ADC analog to digital converter AGC automatic gain control AMPL amplitude AUTOTRK autotrack AUTODV auto diversity AZ azimuth BIT built in test BKMODE ba...

Page 19: ...emitting diode LCLRMT local remote LNCHAC launch angle LOWTRK low track mA milliampere mm millimeter MAXANG maximum angle MINANG minimum angle MLTPTH multipath NS PWR noise source power NVRAM nonvolatile RAM ORI operator remote interface PC personal computer PED pedestal PID proportional integral derivative POS POSN position POSERR position error POSMEM position memory POSNFL PFLT position filter ...

Page 20: ...quency ROM read only memory RTEMEM rate memory RTETIM rate time RUNSTP run step response SECT sector STAT status STPRSP step response STEPTR step track STPSZE step size TESTPT test point THRHLD threshold TIM DUR time duration TQBIAS TQB torque bias TRAVL travel TTL transistor transistor logic V volts W watts 3862 Autotrack Controller 1 9 Artisan Technology Group Quality Instrumentation Guaranteed ...

Page 21: ...Chapter 1 General Information Blank 3862 Autotrack Controller 1 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 22: ...ine the carton and complete an inspection report 2 3 Equipment Return ViaSat makes every reasonable effort to ensure that all items arrive safely and in working order When equipment is received which is not in working order return the equipment to the factory for repair or replacement Return the equipment according to the following procedure This procedure will apply whenever equipment is returned...

Page 23: ...by forced air flowing through one side and the rear panel of the unit The mounting location should be selected to avoid blocking the side panel s air flow or access to the rear panel cable connections The unit should not be installed adjacent to other high heat producing units 2 4 2 Chassis Slide Mounting Two captive nuts 6 32 are provided on each chassis side panel for attachment of chassis slide...

Page 24: ...chometer signal input and command voltage to power amplifiers Refer to Table 2 2 for pin assignments Digital I O J102 DB62 Female This connector provides contact closure input and relay driver output Refer to Table 2 3 for pin assignments Serial Link 1 J103 DB9 Male This connector is the main command status link to the operator remote interface board Refer to Table 2 4 for pin assignments Serial L...

Page 25: ...board Refer to Table 2 12 for pin assignments Refer to paragraph 2 4 5 for a description of the ouput data Serial Port 2 J305 DB9 Male This connector is the link to the system computer Refer to Table 2 13 for pin assignments Fiber optic Serial Receiver J306 BNC This BNC connector is a fiber optic status reporting link Fiber optic Serial Transmitter J307 BNC This BNC connector is a fiber optic comm...

Page 26: ...loop Refer to Table 2 19 for pin assignments Analog I O J502 DB25 Male This connector provides tachometer signal input and command to power amplifiers Refer to Table 2 20 for pin assignments Analog I O J503 DB25 Female This connector provides major test points Refer to Table 2 21 for pin assignments Table 2 2 Pin Functions for J101 Analog I O Pin Function Pin Function 1 GND 14 DAC6 2 AZZ TACH LO 1...

Page 27: ...SYNCHRO RESOLVER BOARD ANALOG RATE LOOP J306 J307 J105 J106 AC POWER INPUT FAN J2 J1 13633 J402 J403 J401 J406 J407 J404 J405 J501 J502 J503 AUTOTRACK BOARD Figure 2 2 Typical Rear panel Connector Interface 3862 Autotrack Controller 2 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 28: ...07 15 STAT10 46 Cmnd08 16 STAT09 47 Not Connected 17 STAT08 48 Not Connected 18 STAT07 49 Not Connected 19 STAT06 50 Not Connected 20 STAT05 51 Not Connected 21 STAT04 52 Not Connected 22 STAT03 53 Not Connected 23 STAT02 54 Not Connected 24 STAT01 55 Not Connected 25 Not Connected 56 Not Connected 26 Not Connected 57 Not Connected 27 Not Connected 58 Input Pull Up For Stat09 Stat16 Lines 28 Not C...

Page 29: ...ction Pin Function 1 CTS2 RS 232 6 RX2 RS 422 2 TX2 RS 232 7 Not Connected 3 TX1 RS 422 8 RX2 RS 232 4 RX1 RS 422 9 TX2 RS 422 5 GND Table 2 6 Pin Functions for J201 Synchro Resolver Interface Pin Function Pin Function 1 Resolver Reference 20 Resolver Reference 2 Not Connected 21 S64 Channel 6 Lead S4 3 S63 Channel 6 Lead S3 22 S62 Channel 6 Lead S2 4 S61 Channel 6 Lead S1 23 Not Connected 5 S54 C...

Page 30: ...ot Connected 15 S14 Channel 1 Lead S4 34 S13 Channel 1 Lead S3 16 S12 Channel 1 Lead S2 35 S11 Channel 1 Lead S1 17 Not Connected 36 Not Connected 18 Not Connected 37 Synchro Reference 19 Synchro Reference Standard Channel Designations Channel 1 Azimuth Coarse Channel 2 Azimuth Fine Channel 3 Elevation Coarse Channel 4 Elevation Fine Channel 5 Azimuth Slave Channel 6 Elevation Slave Table 2 7 Pin ...

Page 31: ...s 9 16 19 CMND11 41 Not Connected 20 CMND13 42 Not Connected 21 CMND15 43 External pull up for outputs 1 8 22 STAT29 44 Selected pull up for outputs 1 8 Table 2 8 Pin Functions for J203 Auxiliary TTL I O Pin Function Pin Function 1 I O line 30 23 I O line 11 2 I O line 23 24 I O line 13 3 I O line 21 25 I O line 15 4 I O line 19 26 I O line 6 5 I O line 17 27 I O line 4 6 I O line 8 28 I O line 2 ...

Page 32: ...Not Connected 19 I O line 20 41 Data strobe 1 20 I O line 18 42 BA Clock 1 21 I O line 16 43 BA Clock 2 22 I O line 9 44 Data Strobe 2 Table 2 9 Pin Functions for J301 IEEE 488 Bus Signal Assignments Pin Function Pin Signal Name 1 DIO 1 13 DIO 5 2 DIO 2 14 DIO 6 3 DIO 3 15 DIO 7 4 DIO 4 16 DIO 8 5 EOI 17 REN 6 DAV 18 GND 7 NRFD 19 GND 8 NDAC 20 GND 9 IFC 21 GND 10 SRQ 22 GND 11 ATN 23 GND 12 GND 2...

Page 33: ...in Function 1 GND 6 Channel 5 of AD Converter not buffered 2 GND 7 Channel 4 of AD Converter not buffered 3 Not Connected 8 Channel 3 of AD Converter input buffered 4 Channel 2 of AD Converter input buffered 9 Channel 1 of AD Converter input buffered 5 Channel 0 of AD Converter input buffered Table 2 12 Pin Functions for J304 Serial Port 1 Pin Ground Function Pin Function 1 GND 6 RX1 RS 422 2 TX1 ...

Page 34: ...annel 1 AGC 7 Channel 2 AGC Return 3 Channel 1 AGC Return 8 Channel 2 Video Return 4 Channel 1 Video Return 9 Channel 2 Video 5 Channel 1 Video Table 2 15 Pin Functions for J402 Receiver 3 and 4 Video and AGC Pin Function Pin Function 1 Analog GND 6 Channel 4 AGC 2 Channel 3 AGC 7 Channel 4 AGC Return 3 Channel 3 AGC Return 8 Channel 4 Video Return 4 Channel 3 Video Return 9 Channel 4 Video 5 Chan...

Page 35: ...hannel 5 Video Table 2 17 Pin Functions for J406 feed Scanner Interface Pin Function Pin Function 1 GND 6 Not Connected 2 7 Not Connected 3 8 Not Connected 4 9 Not Connected 5 Table 2 18 Pin Functions for J407 Serial Link 1 Pin Function Pin Function 1 GND 6 RX1 RS 422 2 TX1 RS 232 7 Not Connected 3 TX1 RS 422 8 RX1 RS 232 4 RX1 RS 422 9 TX1 RS 422 5 GND 3862 Autotrack Controller 2 14 Artisan Techn...

Page 36: ...C3 11 ADC7 24 ADC2 12 ADC6 25 ADC1 13 ADC5 Table 2 20 Pin Functions for J502 Pin Function Pin Function 1 GND 14 Position Error 2 AGND 15 DAC5 3 AGND 16 DAC4 1 4 AGND 17 AZ DC Error Output 1 5 15 Vdc 18 DAC2 1 6 AGND 19 EL DC Error Output 1 7 15 Vdc 20 EL Tach 2 8 ADC10 Position Test Input 21 AZ Tach 2 9 ADC9 22 EL Tach 2 10 ADC8 23 AZ Tach 2 11 ADC7 24 EL Tach 1 12 EL Tach 1 or ADC6 1 25 AZ Tach 1...

Page 37: ...nd fiber optic links parallel communication is available via IEEE 488 interface 2 4 4 1 Serial Communications The 3860 Digital Controller provides a serial communications channel on the Operator Remote Interface ORI which is used to interface to a host computer This channel is connected simultaneously to three sets of serial interface circuits for RS 232 C RS 422 and fiber optic interfaces Any one...

Page 38: ...n Off Off 4 On On Off On On 5 On On Off On Off 6 On On Off Off On 7 On On Off Off Off 8 On Off On On On 9 On Off On On Off 10 On Off On Off On 11 On Off On Off Off 12 On Off Off On On 13 On Off Off On Off 14 On Off Off Off On 15 On Off Off Off Off 16 Off On On On On 17 Off On On On Off 18 Off On On Off On 19 Off On On Off Off 20 Off On Off On On 21 Off On Off On Off 22 Off On Off Off On 23 Off On ...

Page 39: ...rovided by the 3860 on connector J304 Signals may be found on the following pins Pin 2 Output Data Pins 1 5 Signal Return The output signal conforms to RS 232 data format The following characteristics apply Baud rate 9600 Parity None Data bits 8 Stop bits 1 No flow control The output data message is sent at a 10 hertz rate The following is the format for the time stamped data dddhhmmssttt angle1 a...

Page 40: ...f the bits is as follows b0 Ka band Feed Select Left or Right 0 for Left 1 for Right b2 b1 Autotrack Channel Select 00 for Ka band 01 for S Left 10 for S Right 11 is never used b3 Autotracking Above Threshold 1 Autotrack 0 Program Track For example any even number is Ka band Left any odd number is Ka band Right any number 8 and above is Autotracking 7 and below is Program Track Here are some furth...

Page 41: ...r all installations the power line neutral must be common to the neutral supplied to the pedestal power input Severe electrical shock or equipment damage may result from failure to observe this warning A 7 5 foot 3 wire power cord is supplied with each unit The input power connector is located at the rear of the unit The input power requirements are listed in Table 1 1 2 5 Initial Checkout Before ...

Page 42: ...ACK BD1 PRESENT SERVO BOARD 9 NOT PRESENT AUTOTRACK BD2 NOT PRESENT STEPTRACK MODULE INSTALLED RUNNING SELF TEST will always appear MEMORY CHECK should indicate OK SERVO BOARD 8 PRESENT should indicate PRESENT will indicate NOT PRESENT if communication failure occurs or board is not installed The servo board s bus address is 8 if a second servo board is installed its bus address is 9 AUTOTRACK BD1...

Page 43: ...warning may result in serious injury or death NOTE For versions without joystick delete steps b through I and l through m NOTE To stop pedestal movement in the event of a malfunction or emergency press the STOP button on the keypad Pressing the STOP button places all axes in Standby mode b Press RATE softkey on azimuth side of display c Verify that RATE is displayed d Enter 2 0 and press the ENT k...

Page 44: ...played for azimuth axis l Press the RATE softkey on elevation side of display m Verify that RATE is displayed n Verify smooth elevation operation of antenna from limit to limit as in the preceding steps for azimuth operation If operation is nominal press elevation axis STANDBY softkey o Verify that STANDBY is displayed for elevation axis p Press azimuth axis POSN softkey q Verify that POSITION is ...

Page 45: ...ro position feedback to the desired reference Position information from each axis can be adjusted up to 359 999 degrees as follows a Place system in Standby mode for both axes b Press MENUS SETUP POSN OFFSET softkeys for the desired axis c Enter 0 00 offset using numeric keypad and press ENTER d Point antenna or desired axis to the reference position Point as accuracy as possible to ensure best re...

Page 46: ...rols 3 2 1 Local Pedestal Control Local pedestal control may be purchased as an accessory item and is not described in full detail by this manual In the local pedestal operating mode a portable computer is connected to the local control connector at the pedestal Local control software running on the computer provides most of the functions of the digital controller s front panel While in local mode...

Page 47: ...e divided into eight functional groups Liquid Crystal Display The LCD displays information such as labels for the multi function softkeys axis position and commanded angles and axis operational modes Multifunction Softkeys These ten keys five on each side of the LCD are assigned functions through software control allowing many choices from only ten keys Interlock Indicators These LEDs indicate an ...

Page 48: ...e 3 1 Front panel Controls and Indicators Switch Description POWER Power on off switch for the Series 3860 Digital Controller may be on rear panel in some versions Key s Mode Description STOP Places pedestal in STANDBY mode ESC Steps backward through previously selected menus one step at a time Also will terminate data entry with no change CLR Clears last entry prior to entering confirmation ENT E...

Page 49: ...oller s controls and indicators The ten keys five on either side of the LCD are referred to as softkeys because their function changes according to software control The current function of the key is displayed beside it on the LCD Figure 3 2 illustrates and describes the LCD s controls and indicators NOTE LCD indicators are displayed in reverse video light text on dark background when the item is ...

Page 50: ...d then press ENT to enter the value To correct data before entering press CLR to clear and key in new data Pressing ESC before pressing ENT exits the data entry request without entering the keyed digits NOTE When a request for data entry is displayed ENTER ANGLE for example all mode control operations are disabled until data is entered or the ESC key is pressed 3862 Autotrack Controller 3 5 Artisa...

Page 51: ...next lower menu level or a request for data entry Pressing the ESC key on the numeric keypad displays the next higher menu level If RETURN is displayed beside a softkey pressing that key redisplays the top level menu for that axis 3 3 5 Front panel Operating Procedures The 3860 Digital Controller is a versatile unit Many operational scenarios are possible precluding a fixed set of procedures Deter...

Page 52: ...Chapter 3 Operation Figure 3 3 Top Level Softkey Menu 3862 Autotrack Controller 3 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 53: ...nu Only the axis corresponding to the softkey pressed enters Standby mode The other axes modes remain unchanged In Standby power is applied to the axis but the drive motor is disabled and the brakes are set Standby is the default mode at power up In an emergency situation pressing the STOP key on the numeric keypad places all axes in Standby mode 3 3 9 Position Mode Refer to Figure 3 3 To enter Po...

Page 54: ...ress the TRACK softkey on the top level menu If autotracking is available track is enabled for the axis whose softkey is pressed the other axes can be in other modes If the controller is configured for step tracking both axes will enter Steptrack mode 3 3 12 Menus Refer to Figure 3 3 To access the lower level menus for an axis press the MENUS softkey on its respective top level menu The subordinat...

Page 55: ...SCAN STANDBY SLAVE STOW RETURN Figure 3 5 Secondary Modes a To access secondary modes first press MENUS from the top level menu b Press MODE The secondary modes menu is displayed c Refer to paragraphs 3 3 14 1 through 3 3 14 4 for a description of the secondary modes 3 3 14 1 Standby Mode Refer to Figure 3 5 This mode is duplicated in the top level and secondary level mode menus To enter Standby m...

Page 56: ...lave an axis to an external single speed resolver or synchro position command a With top level menu displayed press MENUS b Press MODE Secondary mode menu is displayed c Press SLAVE Slave mode is activated 3 3 14 4 Stow Mode Refer to Figure 3 5 Entering Stow mode commands the axis to a preset position Stow position is normally 90 degrees for the elevation axis and 0 degrees for the azimuth axis a ...

Page 57: ...mware in the 3860 Digital Controller Compensation values for each position and or rate filter are preset by the factory Select only filters that are preset by the factory Selecting non preset filters may result in unpredictable system performance a With top level menu displayed press MENUS softkey for the desired axis b Press SETUP Setup menu is displayed c Press SERVO Servo menu is displayed d Pr...

Page 58: ...FF RETURN TQBIAS POSN DISABL RATE RETURN INPUT PF IN POSERR PF OUT RTF IN AUTERR OUT 1 TESTPT OUT 2 RETURN TIMDUR STPSZE RUNSTP RETURN STPRSP RETURN o s STORE TOGGLE PF IN POSERR PF OUT RTF IN AUTERR Figure 3 6 Servo Parameters 3862 Autotrack Controller 3 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 59: ...TQBOFF to disable the function and set torque bias level to zero f If the function is enabled press BIAS and enter desired value of torque bias in volts 3 3 15 1 3 Test Port Signal Selection These softkeys select the signal routed into and out of the digital controller s test port Refer to Figure 3 6 An input is a test input pin where a function generator can be connected These softkeys then selec...

Page 60: ...rm a step response test on the selected axis a With top level menu displayed press MENUS softkey for the desired axis b Press SETUP Setup menu is displayed c Press SERVO Servo menu is displayed d Press STPRSP Step response menu is displayed e Press STPSZE Enter step size in degrees f Press TIMDUR Enter length of time in seconds 1 to 10 to record step response after initial step is applied g Press ...

Page 61: ...L RATE AMPL RETURN STPSZE RETURN o STEP SECTOR RETURN o o TIME VELOC CROSS RETURN SPACE o s SPIRAL o 0 Figure 3 7 Scan Parameters a With top level menu displayed press MENUS for the desired axis b Press SETUP Setup menu is displayed c Press SCAN Scan menu is displayed 3862 Autotrack Controller 3 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 62: ...osition minus scan amplitude f Press ESC on numeric keypad to return to sector menu g Press AMPL and enter scan amplitude in degrees h Press RATE and enter scan rate in degrees per second i Press ESC on numeric keypad to return to scan menu 3 3 15 2 2 Step Scan Step scan moves the antenna in increments defined by step size and amplitude Parameters may be entered via soft key menus or remotely thro...

Page 63: ...ress VELOC to enter the Tangential rate of antenna beam travel during scan movement Enter a value between 0 01 s to 5 625 s f Press TIME to enter the duration of scan after this period the axes travel back to the center and repeat scan Enter a value of 0 to 60 seconds g Press CROSS to enter the Crossover Elevation If the pedestal elevation is above this value the time duration is doubled for the s...

Page 64: ...ets the display to show position angles from 0 to 1799 999 degrees centered at 90 degrees The 90 choice sets the display to show position angles from 0 to 89 999 degrees and 89 999 degrees centered at 0 3 3 15 4 Limit Parameters The digital controller provides programmable scaling of the front panel axis travel bars and a means to set a rate limit on position command values Scaling and limiting va...

Page 65: ...UP Setup menu is displayed c Press LIMITS Limits menu is displayed d Press TRAVL Enter travel limit in degrees This value should be less than the mechanical switch limit value e Press TRAVL Enter travel limit in degrees This value should be less than the mechanical switch limit value f Press RATE Enter maximum slew rate in degrees per second 3 3 16 Control Menus Refer to Figure 3 10 Selections in ...

Page 66: ... time selecting and controlling feed scanner drive CONTRL STEPTR AUTOTR MENUS TIME FDSCAN CONFIG NEXT LCLRMT Figure 3 10 Control Menus 3 3 16 1 Local remote Control Refer to Figure 3 11 These softkeys allow choosing local or remote control for the digital controller 3862 Autotrack Controller 3 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 67: ...y must be selected before remote control is possible The controller cannot be placed in or removed from local or front panel control by a remote computer Note that the remote computer can read status from the digital controller even when Remote mode is not active f Press FNTPNL to control the digital controller from its front panel 3 3 16 2 Autotrack Mode The Autotrack mode is available in Model 3...

Page 68: ...ss LNCHAC to select or deselect Launch Acquisition mode during tracking LNCHAC prevents axis from tracking in a negative direction for time period preset for delay 2 Press DELAY Enter time in seconds during which Launch Acquisition mode is active after tracking starts 3 Press MLTPTH to select or deselect Multipath mode during Autotrack MLTPTH prevents axis from tracking below the preset minimum an...

Page 69: ... this time the axis returns to the mode that was active before autotrack acquisition occurred 4 Press RTEMEM This key selects or deselects Rate Memory as Backup mode for Autotrack operation If target is lost after ACQTIM axis motion continues at the average rate of the last two seconds of tracking 5 Press RTETIM Enter time in seconds after loss of target that the Rate mode will operate After this ...

Page 70: ...NEXT RCVR01 dB dB AUTODV dB Figure 3 14 AGC Channel Input Parameters a With top level menu displayed press MENUS for the desired axis b Press CONTRL Control menu is displayed c Press CHANNL Channel selection menu is displayed d Press AUTODV This key selects or deselects autodiversity between receivers It allows automatic receiver selection RCVR01 through RCVR07 based on highest signal strength e P...

Page 71: ...signal strength sufficient to enable tracking 3 3 16 5 Digital Controller Setup Configuration Store recall Refer to Figure 3 15 These softkeys store and recall digital controller configurations The stored parameters are listed below 1 Setup parameters Scan amplitude Scan rate Scan mode Filter selection Secondary mode selection Rate limit Torque bias amount and status 2 Control parameters Scan code...

Page 72: ...ler Setup Configuration Store recall a With top level menu displayed press MENUS for the desired axis b Press CONTRL Control menu is displayed c Press NEXT Next selection menu is displayed d Press CONFIG Setup configuration menu is displayed e Press STORE Store menu is displayed Press STORE1 through STORE4 to assign current configuration as number 1 through number 4 f Press RECALL Recall menu is d...

Page 73: ...AN Feed scanner control menu is displayed e To select a fixed value for feed driver frequency press FIXED Key in fixed value in Hertz and press ENT f To sweep feed driver frequency between preset nonadjustable limits press SWEPT g To change feed driver frequency in a pseudorandom manner between preset nonadjustable limits press RANDOM h To set feed scanner to a particular scan position press STEP ...

Page 74: ...s displayed d Press TIME Time setup menu is displayed e Press DATE to enter date Enter day month and year in MMDDYY format Press ENT to accept the entered value f Press TIME to enter time Enter time in HHMMSS format Note that digital controller uses a 24 hour clock from 00 00 00 to 23 59 59 Press ENT to accept entered value 3 3 16 8 Status And Command Lines Refer to Appendix B for descriptions of ...

Page 75: ...ed information on status and command softkey selections Make selections as desired 3 4 Remote operation During remote operation commands are entered from a remote computer referred to as the host and are sent to the digital controller over a serial RS 232 or RS 422 or parallel IEEE 488 interface Refer to paragraph 3 3 16 1 for the procedure to enter remote operation mode Refer to Appendix A for de...

Page 76: ...o control relays and other switching devices The Synchro Resolver Board contains the pedestal position measurement circuits and auxiliary digital I O circuits identical to those on the servo board The servo board and the synchro resolver board are connected through the backplane The servo board is equipped with the digital controller firmware and along with the synchro resolver board contains the ...

Page 77: ... 1 and 4 2 provide block diagrams of the Series 3860 Digital Controller Figure 4 1 illustrates the single chassis configuration figure 4 2 illustrates the two chassis configuration Both configurations use the same functional modules in different physical arrangement to implement the control system 3862 Autotrack Controller 4 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOUR...

Page 78: ...n Insert tabloid foldout page here Figure 4 1 3860 Digital Controller Block Diagram Single chassis Configuration 3862 Autotrack Controller 4 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 79: ...Chapter 4 Principles of Operation Insert tabloid foldout page here 3862 Autotrack Controller 4 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 80: ...on Insert tabloid foldout page here Figure 4 2 3860 Digital Controller Block Diagram Two chassis Configuration 3862 Autotrack Controller 4 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 81: ...Chapter 4 Principles of Operation Insert tabloid foldout page here 3862 Autotrack Controller 4 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 82: ...totrack mode the Servo Assembly reads tracking errors from the Autotrack board and uses these errors to close the servo loops This assembly also provides control signals to the pedestal or positioner other than the interface to the synchros resolvers such as limits interlocks power amplifier control brake control and others Figure 4 3 Servo Assembly Block Diagram 3862 Autotrack Controller 4 7 Arti...

Page 83: ...channels per converter The analog outputs are dedicated to generate dc command signals over a range of 10V to the power amplifiers The assembly is equipped with three fast serial ports for communication Media is selectable fiber optics twisted pair with multidrop capabilities RS 422 485 or RS 232 Baud rate of the serial links is user selectable and can be set to 1200 2400 4800 9600 19200 38400 or ...

Page 84: ...e drive voltage for relays may be delivered from outside the controller in the range of 5 to 50V dc The driver can sink up to 500 mA per pin The controller can optionally be configured to source 5 or 15 volt relay drive voltage with 250 mA of total current capability The assembly has a 32 transistor to transistor logic TTL line auxiliary parallel digital I O port The port can be configured as inpu...

Page 85: ...l display and accept user commands from the front panel controls The assembly also has a serial interface to remote control computers in RS 422 RS 232 or IEEE 488 format The assembly provides the digital conversion of the AGC from the receiver for steptrack applications The Operator Remote Interface Assembly is not required in the outdoor configuration where no indoor unit and therefore no front p...

Page 86: ...gure 4 6 is used in tracking applications to allow the system to follow a moving target based on error information derived from a tracking feed The Autotrack Assembly is equipped with a Motorola 68302 microprocessor and provides scanning signals to the tracking feed for modulation of difference signal information tracking video onto the data signal The assembly also demodulates the tracking video ...

Page 87: ...te read test NVRAM checksum and ADC loopback test Figure 4 6 Autotrack Assembly Block Diagram 4 2 5 Resolver Reference Oscillator Assembly The ac reference signal for the resolver s is generated in the controller by means of a 1 kHz or 2 kHz reference signal generator which is powered by an internal dc power supply This reference signal is distributed to the resolvers in the pedestal and to the Sy...

Page 88: ...eter produces a voltage proportional to the instantaneous velocity of the shaft These voltages are amplified to generate synchronizing signals One of the tachometer signals is applied directly to one amplifier The second tachometer signal is inverted by a second amplifier being applied to a summing amplifier Thus the output of the summing amplifier is proportional to the difference been the two ta...

Page 89: ...ors for power external resolver reference display power ribbon cable connection to the front panel and a spare I O connection 4 2 9 Front Panel The front panel controls provide the functions necessary to allow an operator to interface with the 3860 Digital Controller The front panel contains a general purpose keypad for input of data and control over axis mode independent functions Also a set of p...

Page 90: ... remove power before opening the unit or replacing the fuse Failure to observe this warning may result in serious injury or death a Pull unit out of equipment rack on chassis slides b Remove cover from unit c Inspect all wiring and cabling for damage or loose connections d Check all components for evidence of overheating breakage vibration damage corrosion or loose or corroded connections Any dama...

Page 91: ...ler maintenance is listed in Table 5 1 Instruments other than those listed may be used if their performance equals or exceeds that of the recommended instruments Table 5 1 Test Equipment Description Manufacturer Model No Digital Multimeter HP HP E2378A Clamp on Current Probe for Multimeter HP HP 34302A Oscilloscope General Purpose 4 Channel Storage 150 MHz Bandwidth HP HP 54602A Counter HP 5381 5 ...

Page 92: ...fective Always remove power before opening the unit or replacing the fuse Failure to observe this warning may result in serious injury or death d Check ac power source If fuse must be replaced remove power cord slide open fuse cap and replace fuse with the same type After replacing fuse cap replace power cord Turn power ON e When isolating a fault remember the following troubleshooting tips 1 When...

Page 93: ...is dark difficult to read Verify that back light wires from front panel PWB are connected to the high voltage driver board mounted to the back of the front panel PWB Replace defective high voltage driver PWB Message at bottom of screen reads Trnsmt Error Serial Prt 1 This message indicates a break in the communications channel between the ORI PWB and the servo PWB in the 3860 Check the connection ...

Page 94: ...sabled Cannot communicate with the ORI using the host RS 232 interface Check all cables between the host and the ORI Ensure internal jumpers are set correctly Repair or replace ORI board Cannot communicate with the ORI using the host IEEE 488 interface Check all cables between the host and the ORI Ensure internal jumpers are set correctly Replace ORI board Message at bottom of screen reads Error h...

Page 95: ...trum analyzer up to the output of each device in the chain Look for 375 MHz at the output If signal appears the previous device checked was defective 4 If signal was present at the output of the IF Distribution Unit remove the controller top cover as described in paragraph 5 6 2 Verify 924 9 AM Demod operation as described in paragraph 5 5 If test fails replace the AM Demod 5 5 Alignment All inter...

Page 96: ...nt Prior to working on the equipment ensure that all electrical power is off Failure to observe this warning may result in serious injury or death a Disconnect power as described in paragraph 5 6 1 b If digital controller is mounted in equipment rack perform the following 1 Remove four screws securing digital controller to equipment rack 2 Pull digital controller handles until mounting slides are ...

Page 97: ...les insert board into slots in the card cage guide rails Carefully push the extractor handles until board connector is seated in backplane connector b Tighten two captive screws to secure board to card cage c Attach appropriate connectors to rear panel of board 5 6 5 Resolver Reference Board Removal High voltages are used in the operation of this equipment Prior to working on the equipment ensure ...

Page 98: ...om panel b From underneath chassis attach board to panel with four screws and lockwashers c Reconnect wire harness connectors qty 2 to board edge connectors d Replace cover on chassis and secure with three screws 3862 Autotrack Controller 5 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 99: ... Installation a Position power supply cover on power supply and attach with four screws spacers lockwashers and nuts b Position power supply over four mounting holes on chassis bottom panel c From underneath chassis attach power supply to bottom panel with four screws and lockwashers d Attach wire harness connectors to power supply connectors e Replace cover on chassis and secure with three screws...

Page 100: ...crews 5 6 11 Optical Encoder Removal High voltages are used in the operation of this equipment Prior to working on the equipment ensure that all electrical power is off Failure to observe this warning may result in serious injury or death to personnel NOTE This removal procedure requires a support surface to be placed in front of the digital controller chassis a Remove cover from chassis refer to ...

Page 101: ... with encoder from encoder shaft b Center encoder shaft in hole in front panel and secure to front panel with nut and lockwasher c Position front panel board on front panel and attach with six screws lockwashers and spacers d Connect encoder connector to applicable front panel board connector J2 or J3 e Carefully lift front panel assembly and position on chassis f Secure upper chassis bezel to cha...

Page 102: ... Assembly and drawing 528771 Fan Assembly for removal and installation procedures c Disconnect fan assembly power cable d Remove four screws four nuts and eight washers that secure the fan assembly to the enclosure rear panel e Remove fan assembly 5 6 14 Fan Assembly Installation a Install fan assembly into the enclosure rear panel Align the mounting holes b Install four screws four nuts and eight...

Page 103: ...Chapter 5 Maintenance Blank 3862 Autotrack Controller 5 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 104: ...e this manual was published Whenever a parts list is longer than one page the title block is repeated on the following page s until the list is complete 6 2 2 Explanation of Parts Lists Column Headings The parts list is separated into main groups or assemblies and keyed to associated assembly drawing s by item or find number and or reference designation Level Multiple level bills of material inclu...

Page 105: ... ordering parts from ViaSat always include the ViaSat part number the part description the unit name and unit serial number 6 4 Parts List Index Part Number Description Page 1004886 ANTENNA CONTROL UNIT AUTOTRACK P L ONLY 6 3 720142 001 CHASSIS ASSY 3860 ANTENNA CONTRL UNIT PL 6 4 6 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 106: ...IC CONDUCTIVE PROTECTION DB 25 1 081 2 EAC 535591 00 CAP CAPLUG SLEEVE CAP 3 8 DIA BLK PLASTI 1 082 1 EAC 536056 00 CAP STATIC CONDUCTIVE PROTECTI GPIB FE 1 085 0 EAC 720199 0 LABEL UL LISTED TBD PLACEHOLDER 1 086 1 EAC 536198 00 LABEL 1 875 X 25 WHT UL CSA 1 087 0 EAC 720200 0 ACU FIRMWARE LABEL PLACEHOLDE 1 099 1 EAC 532061 C ACCESSORY KIT ACU 1 A001 1 EAC 720375 001 D ASSY PWB ESD ORI P L ONLY ...

Page 107: ...ODIFICATION 1 021 4 EAC 158086 D FILLER HANDLE MODEL 4647 1 023 1 EAC 530564 B BRACKET POWER SUPPLY ACU 1 024 1 EAC 530570 B BRACKET REF OSCILLATOR 1 027 1 EAC 535616 00 LABEL HIGH VOLTAGE INTL VINYL 1 5 X 1 5 1 028 0 EAC 532146 B LABEL FUSE INPUT POWER 1 029 2 EAC 535615 00 LABEL PROTECTIVE EARTH GND INT POLYESTR 1 030 1 EAC 535617 00 LABEL CAUTION INTL SYM VINYL 1 X 1 5 1 039 EAC 72358 96 SCREW ...

Page 108: ...SQ 4 WAY ADHESIVE BACKED WHT 1 077 10 EAC 449726 00 CABLE TIE 3 9 X 1 INCH LOCKIN UL94V 0 1 083 1 LFT 77938 96 TUBING HEAT SHRINK 375ID SHRINKS TO 187 1 086 1 EAC 536198 00 LABEL 1 875 X 25 WHT UL CSA 1 088 1 EAC 719230 0 LABEL EQUIPOTENTIALITY IEC 417 5021 A 1 A006 1 EAC 532082 001 C ASSY PWB ESD RESOLVER REF OSC P L ONLY 1 A007 1 EAC 530575 001 B PWB ASSY ESD MOTHERBOARD 3860 P L ONLY 1 A008 1 E...

Page 109: ...s List Item 720142 001 CHASSIS ASSY 3860 ANTENNA CONTRL UNIT PL Revision C Level Ref Qty UOM Item Rev Description RIBBON 6 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 110: ...rovided in Table 7 1 The drawing number revision drawing title and page location of each drawing is included in the table A dash in the revision column indicates the original release of the drawing Table 7 1 Drawing Index Drawing Rev Title Page 720176 A Antenna Control Unit Assembly 7 3 720371 A ACU Interconnect Diagram 7 7 3862 Autotrack Controller 7 1 Artisan Technology Group Quality Instrumenta...

Page 111: ...Chapter 7 Drawings Blank 3862 Autotrack Controller 7 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 112: ...1000569 Rev 001 7 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 113: ...1000569 Rev 001 7 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 114: ...1000569 Rev 001 7 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 115: ...1000569 Rev 001 7 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 116: ...1000569 Rev 001 7 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 117: ...Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 118: ...set Nonprinting ASCII characters are re ferred to in the text by enclosing the ASCII name for the character in angle brackets see the ta ble below The following conventions are used in this description square brackets enclose items that are optional ellipsis indicate that the preceding item may be repeated zero or more times cr indicates the carriage return character 0D hex lf indicates the line f...

Page 119: ... elements in the set for example 8MOD B R3 is acceptable since the ele ment pointer is set to axis B and 3 elements are requested B C and D Responses from the ACU always begin with the character followed by the PWB ID indicat ing which board is responding see the paragraph above The next character will be an ack to indicate a successful message transaction or an nak to indicate that there was a pr...

Page 120: ... A 2 3 1 Set Regular Dump Mode REG A 2 3 2 Set Raw Angle Dump Mode RAW A 2 3 3 Dump Axis Data Command DMP A 2 3 4 Position Command POS A 2 3 5 Position Feedback 1 Status PF1 A 2 3 6 Position Feedback 2 Status PF2 A 2 3 7 Position Feedback 1 Offset OFF A 2 3 8 Rate Command RTE Scan Messages A 2 4 1 Scan Mode Control SMD A 2 4 2 Scan Amplitude Span Control SCN A 2 4 3 Scan Rate Step Control SNR Inpu...

Page 121: ... 2 7 5 Autotrack Mode Control AMD A 2 7 6 Autotrack Azimuth Offset AO A 2 7 7 Autotrack Elevation Offset EO A 2 7 8 Autotrack Gain Settings AGA AGB EGA EGB A 2 7 9 Autotrack Valid Acquire Time AQT A 2 7 10 Autotrack Rate Memory Time RMT A 2 7 11 Autotrack Posn Memory Time PMT A 2 7 12 Autotrack Launch Acq Time LAT A 2 7 13 Autotrack Lowtrack Min Angle MPC A 2 7 14 Read Autotrack Errorr and AGC AER...

Page 122: ...is assumed x axis label in ASCII format Axis labels are nine characters long Labels are used on the front panel of the ACU as the title of an axis when its data set is selected for display Examples of this would be ELEVATION for axis B and AZIMUTH for axis A If fewer than nine characters are written only the first characters of the old label are replaced Response 0 ack x x cr lf for read or 0 ack ...

Page 123: ...ressing the menu keys MENUS SYSTEM and STATI or STATII displays these keys If fewer than six characters are written only the first characters of the old label are replaced Response 0 ack x x cr lf for read or 0 ack cr lf for write Example commands 0STA R2 cr lf read status labels 1 and 2 0STA 6 R2 cr lf read status labels 6 and 7 0STA 8 W LIM1A cr lf update label 8 Example responses 0 ack PEDPWR D...

Page 124: ...CMD 12 WOPERA1 cr lf update label 12 Example responses 0 ack PEDPWR CMND02 cr lf 0 ack OPERA1 OPERB1 cr lf 0 ack PEDPWR CMND02 CMND03 CMND04 cr lf A 2 1 5 Alarm Mask Set The alarm command changes the mask used to activate the front panel alarm LED Each bit rep resents a specific status line The ACU ands the mask with the status bits If any of the bits are 1 the LED is lighted Since the convention ...

Page 125: ...0SYS a Wx x cr lf Parameters a selected axis optional A H If no axis specified A is assumed n number of data values to read If no number specified 1 is assumed x system setup word see below for definition Response 0 ack x x cr lf for read or 0 ack cr lf for write Example commands 0SYS R cr lf read setup word for axis A 0SYS B WC000 cr lf write setup word for axis B Example responses 0 ack 6000 cr ...

Page 126: ... None Response Firmware part number and revision level in ASCII Example responses 0 ack 495067A cr lf 8 ack 495068B cr lf A 2 1 8 Soft Reset This command causes the ACU to reset the ORI or Servo CCA microprocessors Command format 0RES cr lf or 8RES cr lf Parameters none Response 0 ack cr lf or 8 ack cr lf A 2 1 9 Mutually Exclusive Mask Command format 0MUT R n cr lf 3862 Autotrack Controller A 9 R...

Page 127: ...M R cr lf or 0TIM Wxx yy zz cr lf Parameters x x is the number of hours y y is the number of minutes z z is the number of seconds Note only whole number entry of sec onds is allowed but seconds readback is up to a tenth of a second Response 0 ack xx yy zz z cr lf for read or 0 ack cr lf for write Example commands 0TIM R cr lf read the current setting 0TIM W07 08 16 cr lf set the time to 7 08 16 AM...

Page 128: ...mand format 8M OD a R n cr lf or 8M OD a Wx x cr lf Parameters a selected axis optional A D If no axis specified A is assumed n number of data values to read If no number specified 1 is assumed x hexadecimal value representing a 16 bit integer which selects the operational mode of the selected axis of the pedestal The axis mode word is in a bit field format and is defined as follows Bit Positions ...

Page 129: ...tus read only 0 Not in local mode 1 In local mode maintenance port connected 06 Rate feed forward 0 Disables rate feed forward 1 Enables rate feed forward Bit Positions Contents 07 Autotrack select 0 Disable autotrack mode 1 Enable autotrack mode 3862 Autotrack Controller A 12 REMOTE INTERFACE COMMANDS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 130: ... 4 11 Rate loop filter select 0 Select rate loop filter 1 1 Select rate loop filter 2 12 15 Not used Response 8 ack x x cr lf for read or 8 ack cr lf for write Example commands 8MOD R2 cr lf 8MOD C R1 cr lf 8MOD W0003 cr lf Example responses 8 ack 0001 0002 cr lf 8 ack 000B cr lf 8 ack cr lf 3862 Autotrack Controller A 13 REMOTE INTERFACE COMMANDS Artisan Technology Group Quality Instrumentation G...

Page 131: ... mode word is in a bit field format and is defined as follows Bit Positions Contents 13 Step track enable 0 Disable Steptrack mode 1 Enable Steptrack mode A 2 3 Position and Rate Messages A 2 3 1 Set Regular Dump Mode This command sets the response mode of the DMP command see below When received it sets the response to a DMP command to include current axis position and command 3862 Autotrack Contr...

Page 132: ...rs up in the regular response mode Command format 0DMP a cr lf or 8DMP a cr lf Parameters a selected axis optional A D If no axis specified A is assumed Response 0 ack d1 d2 d3 d4 d5 d6 d7 d8 cr lf or 8 ack d1 d2 d3 d4 d5 d6 d7 d8 cr lf where d1 axis position feedback 1 as in PF1 command in the regular re sponse mode or the raw course axis synchro resolver feedback in the raw response mode Coarse ...

Page 133: ...the most signifi cant 12 bits contain the same information as if an AMD read were done see paragraph for AMD The lower 4 bits reports demod status as bit 3 acquisition status 1 ACQ bits 2 1 0 current receiver channel being used for track ing 1 through 7 Example commands 8DMP A cr lf 0DMP C cr lf Example responses 8 ack 1234 0001 1232 00F0 019E cr lf 0 ack 1234 0001 1232 00F0 019E 000B 025D 0004 cr...

Page 134: ...8F FE02 cr lf 8 ack 31AE 0000 cr lf 8 ack 0000 6872 9087 BCCD cr lf 8 ack cr lf A 2 3 5 Position Feedback 1 Status Command format 8PF1 a R n cr lf Parameters a selected axis optional A D If no axis specified A is assumed n number of data values to read If no number specified 1 is assumed Response 8 ack x x cr lf where x position angles in scaled binary coded angle format See paragraph A 4 for the ...

Page 135: ...re x position angles in scaled binary coded angle format See paragraph A 4 for the format style Some axes have dual position readout ca pability This command reads the position of the secondary feedback Example commands 8PF1 R2 cr lf read axes position A and B 8PF1 C R2 cr lf read axes position C and D 8PF1 R4 cr lf read axes position A thru D Example responses 8 ack 528F FE02 cr lf 8 ack 31AE 000...

Page 136: ... position offset C and D 8OFF W0002 cr lf write position offset A Example responses 8 ack 528F FE02 cr lf 8 ack 31AE 0000 cr lf 8 ack cr lf A 2 3 8 Rate Control Command format 8RTE a R n cr lf or 8RTE a Wx x cr lf Parameters a selected axis optional A D If no axis specified A is assumed n number of data values to read If no number specified 1 is as sumed x rate commands in scaled binary coded angl...

Page 137: ...ues to read If no number specified 1 is assumed x decimal value indicating the desired scan pattern to use when in SCAN mode of operation Value Type of Scan 00 Independent axis scan started at zero 01 Independent axis scan started at max offset 02 Independent axis scan started at max offset 03 Raster scan started at zero 04 Raster scan started at max offset 05 Raster scan started at max offset Res...

Page 138: ... binary coded angle format See paragraph A 4 for the format style When the axis is scanning the actual width of the scan box will be twice the commanded scan amplitude Response 8 ack x x cr lf for read or 8 ack cr lf for write Example commands 8SCN R2 cr lf read scan amplitude A and B 8SCN C R2 cr lf read scan amplitude C and D 8SCN W0400 cr lf write scan amplitude A Example responses 8 ack 528F F...

Page 139: ...steps for C and D 8SNR R4 cr lf read all four axis scan rates steps Example responses 8 ack cr lf 8 ack 0200 FF80 0010 0000 cr lf A 2 5 Input Output Port Messages A 2 5 1 Digital Output Port Mask On This command allows the host computer to set a mask of bits ON in either digital output port The bit fields for output are the same as in the DO command If a bit in the data written is a logi cal one t...

Page 140: ... 8MOF Wx x cr lf Parameters x a 16 bit hex ASCII data field indicating which outputs to turn ON Response 8 ack cr lf Example command 8MOF W0000 0010 cr lf turn off CMND13 A 2 5 3 Digital Output Port Command Command format 8DO R n cr lf or 8DO Wx x cr lf Parameters n number of data values to read If no number specified 1 is assumed x hexadecimal value representing a 16 bit integer which will be use...

Page 141: ... list of the inputs The first value read corresponds to status STAT01 LSB through STAT16 MSB The second value read corresponds to status STAT17 LSB through STAT32 MSB Example commands 8DI R cr lf 8DI R2 cr lf Example responses 8 ack 04A0 cr lf 8 ack 02EF 3CFF cr lf A 2 5 5 ADC Port Status Command format 8T CH a R n cr lf Parameters a selected value optional 1 16 indicating the channel of the A D c...

Page 142: ... cd R cr lf or 8FIL cd Wx y z cr lf Parameters c selected axis A D Must be specified d filter number according to the list in paragraph A 3 x filter Smax this number only applies to position loop filters and is in floating point degrees Any input signal to the filter i e posi tion error exceeding this value will cause the filter to automati cally switch to Type I operation if not already in Type I...

Page 143: ...rmined by n1 and are only included if n1 0 n2 the number of linear pole terms for the filter x2 break frequencies for the pole terms format is in hertz floating point the number of entries here is determined by n2 and are only included if n2 0 Response 8 ack n1 x1 n2 x2 cr lf for read 8 ack cr lf for write Example commands 8FLI A1 W2 0 01 0 003 2 1 10 1 40 cr lf 8FLI B5 R cr lf Example responses 8...

Page 144: ...axis A D Must be specified d filter number according to the list in paragraph A 3 n1 the number of quadratic zero terms for the filter x1 break frequencies for the zero terms format is in hertz floating point the number of entries here is determined by n1 and are only included if n1 0 y1 natural frequencies for the zero terms format is in hertz floating point the number of entries here is determin...

Page 145: ...ack 1 1 10 1 40 0 cr lf A 2 6 5 Filter Copy Command Command format 8CPY c1d1 c2d2 cr lf Parameters c1 selected axis to copy from A D Must be specified d1 filter number according to the list in paragraph A 3 c2 selected axis to copy to A D Must be specified d2 filter number according to the list in paragraph A 3 Response 8 ack cr lf Example command 8CPY A1 B1 cr lf 3862 Autotrack Controller A 28 RE...

Page 146: ...ple 50 0 indicates 50 limiting y the limiting value to be used on the rate of change of the output of the servo loop position filter This is a decimal value in percent per second For example 50 0 indicates that the output is only allowed to change by 50 percent of full scale in one second Actually the change is limited at the loop sample rate to be 0 02 times the limit ing value 50 percent would m...

Page 147: ... and disables the torque bias loop as defined below Command Function 0 Torque bias disabled 1 Torque bias enabled Response 8 ack x x cr lf for read 8 ack cr lf for write Example commands 8TRQ W1 0 cr lf 8TRQ B R2 cr lf Example responses 8 ack cr lf 8 ack 0000 0000 cr lf A 2 6 9 Torque Bias Amount Command format 8BIA a R n cr lf or 8BIA a Wx x cr lf 3862 Autotrack Controller A 30 REMOTE INTERFACE C...

Page 148: ...o motors The torque bias amount can range from 0 to 10 Volts A 2 7 Autotrack Messages A 2 7 1 Scan Code Generator Mode Command format 8SM R cr lf or 8SM Wx cr lf Parameters x a single digit indicating the desired scan mode 0 fixed scan 1 swept scan 2 random scan 3 static X Y 0 phase 0 4 static X Y 1 phase 0 5 static X Y 0 phase 1 6 static X Y 1 phase 1 Response 8 ack x cr lf for read 8 ack cr lf f...

Page 149: ...A5 cr lf change fixed scan freq to 421 Hz Example responses 8 ack 00F0 cr lf 8 ack cr lf A 2 7 3 Preset Acquisition Thresholds Command format 8AQ a R cr lf or 8AQ a Wx x cr lf Parameters a receiver channel number value may range from 1 to 7 to select receiver 1 to 7 respectively if no channel specified 1 is assumed x acquisition level to set value is floating point number between 0 0 and 100 0 Res...

Page 150: ...el 0 select auto diversity 1 select channel 1 2 select channel 2 3 select channel 3 4 select channel 4 5 select channel 5 6 select channel 6 7 select channel 7 Response 8 ack x cr lf for read 8 ack cr lf for write Example commands 8CS R cr lf read channel selection 8CS W2 cr lf change receiver channel to 2 Example responses 8 ack 0002 cr lf 8 ack cr lf 3862 Autotrack Controller A 33 REMOTE INTERFA...

Page 151: ...CQ 4 Launch Acquisition status read only 0 Launch Acquisition mode inactive 1 Launch Acquisition mode active 5 Multi path Clipping status read only 0 Multi path clipping mode inactive 1 Multi path clipping mode active 6 Position Memory status read only 0 Position Memory mode inactive 1 Position Memory mode active 7 Rate Memory status read only 0 Rate Memory mode inactive 1 Rate Memory mode active ...

Page 152: ...select 0 Disable Position Memory mode 1 Enable Position Memory mode 15 Rate Memory select 0 Disable Rate Memory mode 1 Enable Rate Memory mode Response 8 ack x x cr lf for read or 8 ack cr lf for write Example commands 8AMD R cr lf 8AMD W0003 cr lf Example responses 8 ack 0003 cr lf 8 ack cr lf 3862 Autotrack Controller A 35 REMOTE INTERFACE COMMANDS Artisan Technology Group Quality Instrumentatio...

Page 153: ...ers x autotrack demod elevation offset value is hexadecimal gradient determined by autotrack demod gain setting Response 8 ack x cr lf for read or 8 ack cr lf for write Example commands 8AO R cr lf read elevation offset 8AO WFFF5 cr lf write an offset of 11 Example responses 8 ack FFFB cr lf 8 ack cr lf A 2 7 8 Autotrack Gain Settings These commands are similar allowing setting of the autotrack az...

Page 154: ...n of 2 0x0080 gain of 0 5 etc Response 8 ack z z cr lf for read or 8 ack cr lf for write Example commands 8AGA R cr lf read azimuth gain for setting A 8EGB W0380 cr lf write elevation gain for setting B Example responses 8 ack 0628 cr lf read gain of 6 16 8 ack cr lf A 2 7 9 Autotrack Valid Acquire Time Command format 8AQT R cr lf or 8AQT Wx cr lf Parameters x the minimum time required after targe...

Page 155: ...of autotrack that the rate backup mode will operate if selected After this time the axis will revert to the mode which was active before autotrack acquisition occurred The value is written or read as an integer value with the LSB weighted as 0 02 second Response 8 ack x cr lf for read or 8 ack cr lf for write Example commands 8RMT R cr lf read the current setting 8RMT W02EE cr lf set the acquire t...

Page 156: ... A 2 7 12 Autotrack Launch Acq Time Command format 8LAT R cr lf or 8LAT Wx cr lf Parameters x the length of time launch acquisition will be in effect after the ini tiation of autotrack The value is written or read as an integer value with the LSB weighted as 0 02 second Response 8 ack x cr lf for read or 8 ack cr lf for write Example commands 8PMT R cr lf read the current setting 8PMT W01F4 cr lf ...

Page 157: ...otrack error voltage z current tracking receiver AGC signal strength value All values are in 16 bit hexadecimal format the error values are proportional to the current autotrack errors but the gradient is variable depending on the gain setting of the autotrack de mod The AGC gradient is set to approximately 0 05 dB per LSB Example command 8AER cr lf Example response 8 ack 0020 FFFB 0045 cr lf A 2 ...

Page 158: ...0 to 99 decimal Response 8 ack x1 x2 x3 x4 x5 cr lf where x1 x2 x3 x4 and x5 are scaled binary coded angles See paragraph A 4 for the format style Example commands 8DGD R26 cr lf read gathered data block 26 Example responses 8 ack FFFB FFF3 FFE7 FFE1 FFCD cr lf A 2 8 3 Step Test Start Command format 0STS a Wx y cr lf Parameters a selected axis optional A B If no axis specified A is as sumed Axes a...

Page 159: ...command 0STR cr lf Example responses 0 ack 15 428 35 800 210 555 cr lf 0 ack 0 0 0 0 0 0 cr lf A 2 8 5 Step Test Data This command reads the raw step test data from the ACU Command format 0STD a cr lf Parameters a a decimal value between 0 and 49 which indicates which block of data to read Each data block consists of 10 pedestal angles in scaled binary coded angle format See paragraph A 4 for the ...

Page 160: ... test input command inserts the analog test input signal into the compensation loop as defined below Value Test Signal Injected 0 Test input disabled 1 Axis A position loop 2 Axis A rate loop 3 Axis B position loop 4 Axis B rate loop Response 8 ack x cr lf for read or 8 ack cr lf for write Example commands 8TI R cr lf 8TI W2 cr lf Example responses 8 ack 0002 cr lf 8 ack cr lf 3862 Autotrack Contr...

Page 161: ...tion filter output 3 Axis A rate filter input includes test input if present 4 Axis A autotrack error 5 Axis B position error 6 Axis B position filter input includes test input if present 7 Axis B position filter output 8 Axis B rate filter input includes test input if present 9 Axis B autotrack error Response 8 ack x cr lf for read or 8 ack cr lf for write Example commands 8TO R cr lf 8TO W7 cr l...

Page 162: ...s Filter Number Filter 1 Position error filter 1 2 Position error filter 2 3 Position error filter 3 4 Position error filter 4 5 Velocity error filter 1 6 Velocity error filter 2 7 Position feedback 1 filter 8 Position feedback 2 filter 9 Rate feedback 1 filter 10 Rate feedback 2 filter 3862 Autotrack Controller A 45 REMOTE INTERFACE COMMANDS Artisan Technology Group Quality Instrumentation Guaran...

Page 163: ...es the following bit weightings MSB bit 1 180 degrees bit 2 90 degrees bit 3 45 degrees bit 4 22 5 degrees bit 16 0 00549 degrees SBCA values are represented as a 16 bit hexadecimal number For example Hexadecimal Value Position 8000H 180 deg 1000H 22 5 deg 0001H 0 00549 deg C000H 90 270 deg 3862 Autotrack Controller A 46 REMOTE INTERFACE COMMANDS Artisan Technology Group Quality Instrumentation Gu...

Page 164: ... hexadecimal number For example Hexadecimal Value Rate Commanded 7FFFH 45 deg sec 1000H 5 625 deg sec 0001H 0 00137 deg sec 0000H 0 0 deg sec FFFFH 0 00137 deg sec F000H 5 625 deg sec 8000H 45 deg sec 3862 Autotrack Controller A 47 REMOTE INTERFACE COMMANDS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 165: ...Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 166: ...ound with dark characters Table B 1 describes the status line configuration Figure B 1 illus trates the softkey menu structure of the status line configuration The STAT II branch of the menu would be similar to STAT I B 3 COMMAND LINES Command lines control switch closures A command line is closed when the menu item is dis played in reverse video dark background with light characters Table B 2 des...

Page 167: ...ION BRAKE RELEASE J102 14 STAT12 LM1EL ELEVATION PRIMARY LIMIT J102 13 STAT13 LM1EL ELEVATION PRIMARY LIMIT J102 12 STAT14 PS1ALM POWER SUPPLY 1 ALARM J102 11 STAT15 PS2ALM POWER SUPPLY 2 ALARM J102 10 STAT16 J102 9 STAT17 J202 35 STAT18 NRMAL1 PWM AMP FAULT AZ 1 J202 34 STAT19 J202 33 STAT20 J202 32 STAT21 NRMEL1 PWM AMP FAULT EL 1 J202 2 STAT22 J202 17 STAT23 J202 1 STAT24 NRMLA2 PWM AMP FAULT A...

Page 168: ...ERVO AMP ELEVATION 1 J202 15 CMND11 RSETA2 RESET SERVO AMP AZIMUTH 2 J202 14 CMND12 RSETE2 RESET SERVO AMP ELEVATION 2 J202 13 CMND13 CMND13 J202 12 CMND14 CMND14 J202 11 CMND15 CMND15 J202 10 CMND16 CMND16 J202 9 CMND17 CMND17 J202 35 CMND18 CMND18 J202 34 CMND19 CMND19 J202 33 CMND20 CMND20 J202 32 CMND21 CMND21 J202 2 CMND22 CMND22 J202 17 CMND23 CMND23 J202 1 CMND24 CMND24 J202 16 CMND24 TSTAN...

Page 169: ...Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 170: ...AT 31 STAT 63 NRMLA2 STAT 24 STAT 56 STAT 28 STAT 60 STAT 32 STAT 32 STAT 64 CMND 2 NEXT NEXT NEXT TSTANT CMND 25 CMND 29 CMND 29 CMND 33 CMND 33 CMND 26 CMND 30 CMND 30 CMND 34 CMND 34 CMND 27 CMND 31 CMND 31 CMND 35 CMND 35 CMND 28 CMND 32 CMND 32 CMND 36 CMND 36 NEXT NEXT CMND 37 CMND 37 CMND 41 CMND 41 CMND 38 CMND 38 CMND 42 CMND 42 CMND 39 CMND 39 CMND 43 CMND 43 CMND 40 CMND 40 CMND 44 CMND...

Page 171: ...ciples of Operation Figure 4 1 3860 Digital Controller Block Diagram Single chassis Configuration 726828 0001A 4 3 4 4 blank Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 172: ...nciples of Operation Figure 4 2 3860 Digital Controller Block Diagram Two chassis Configuration 726828 0001A 4 5 4 6 blank Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

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