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Calian SatService sat-nms ACU-ODU-DC User Manual

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Antenna Controller
sat-nms ACU-ODU-DC
User Manual
Version 5.0.002
© Copyright
SatService Gesellschaft für Kommunikationssysteme mbH
Hardstrasse 9
D-78256 Steisslingen
satnms-support@satservicegmbh.de
www.satnms.com
www.satservicegmbh.de
Tel +49 7738 99791-10

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  • Page 1 Antenna Controller sat-nms ACU-ODU-DC User Manual Version 5.0.002 © Copyright SatService Gesellschaft für Kommunikationssysteme mbH Hardstrasse 9 D-78256 Steisslingen satnms-support@satservicegmbh.de www.satnms.com www.satservicegmbh.de Tel +49 7738 99791-10...

  • Page 2: Table Of Contents

    Table Of Contents Table Of Contents ..........................sat-nms ACU-ODU DC Version User Manual ..................1 Introduction ............................2 Safety Instructions ........................... 3 The sat-nms ACU-ODU DC ......................3.1 sat-nms ACU-ODM ........................3.2 Power supplies for sat-nms ACU-ODM ..................3.3 Power supply for motor drivers ....................3.4 Motor drivers ..........................
  • Page 3 6.8 Set az, el, pl by editing Numeric Parameters ................. 7 Remote Control ..........................7.1 General command syntax ....................... 7.2 The TCP/IP remote control interface ..................7.3 The RS232 remote control interface ..................7.4 Parameter list .......................... 7.5 One line read via TCP/IP ......................8 Theory of Operation ........................

  • Page 4: Sat-Nms Acu-Odu Dc Version User Manual

    sat-nms ACU-ODU DC Version User Manual Version 5.0.002 -- 2021-07-29 -- © 2003-2021 SatService GmbH Abstract The sat-nms ACU-ODU is a full featured antenna positioner and as an option antenna tracking system. The electronics of the sat-nms ACU-ODU is build into an outdoor cabinet. The protection class of the cabinet is IP66 if no optional air ventilation is installed.

  • Page 5: Introduction

    5.7 Handheld Terminal 6 Frontpanel operation 6.1 Display mode 6.2 The main menu 6.3 Select targets 6.4 Set tracking mode 6.5 Step move 6.6 Jog mode 6.7 Standby 6.8 Set az, el, pl by editing Numeric Parameters 7 Remote Control 7.1 General command syntax 7.2 The TCP/IP remote control interface 7.3 The RS232 remote control interface...
  • Page 6 sat-nms ACU19: complete antenna controller system for DC-Motors integrated in a 1RU 19inch rack mount case for indoor use For detailed description please refer to the sat-nms documentation CD or www.satnms.com/doc Main benefits of the sat-nms ACU are: The ACU outdoor unit is able to act as a standalone antenna control and tracking system without an indoor unit required.

  • Page 7: Safety Instructions

    'Operation' chapter outlines the map of web pages which make up the ACU user interface and elaborately describe the meaning of each alterable parameter. Frontpanel Operation : The sat-nms ACU19 and the sat-nms ACU-RMU optionally are equipped with a frontpanel Human-Machine-Interface. This chapter describes how to use this interface.

  • Page 8: The Sat-Nms Acu-Odu Dc

    Whenever it is likely that safety protection is impaired, the unit must be made in-operative and secured against unintended operation. The appropriate servicing authority must be informed. For example, safety is likely to be impaired if the unit fails to perform the intended measurements or shows visible damage.

  • Page 9: Sat-Nms Acu-Odm

    component component sat-nms ACU-ODM Circuit breakers Power supplies for sat-nms ACU-ODM Contactor Power supply for motor drivers Terminals (3a) Capacitor for motor driver power supply Thermostat for heater Motor drivers (n.a.) Optional air ventilation 3.1 sat-nms ACU-ODM The sat-nms ACU-ODM is the core module of the sat-nms ACU-ODU. For the detailed operation of the antenna controller please refer to chapter 5 Operation .

  • Page 10: Power Supply For Motor Drivers

    In the ACU-ODU you find 2 power supplies: one is for the core processor of the ACU-ODM, it is labelled with PS ODM. The other one supplies the external contacts of the ACU e.g. the control signals for the POL drivers relais. This one is labelled with 'PS EXT'. By this, the core processor of the sat-nms ACU-ODM will not break down if something externally happens (e.g.

  • Page 11: Circuit Breakers

    Current Adj. 0.5A...15A Low Speed 6.5VRMS...11.7VRMS High Speed 10.5VRMS...22.4VRMS All interfaces are realized with altogether 4 Phoenix combicon connectors, type MSTBT 2,5/ 3-ST. By this an easy replacement of the unit is possible. Use 24VDC as control signal. ATTENTION: As a PWM (puls width modulation) is used to realize the speed control, it is absolutely necessary to use shielded cables for connecting the motors in order to prevent disturbance due to harmonic waves.

  • Page 12: Contactor

    3.6 Contactor The contactor disconnects the motor's mains when the emergency stop contact is open. Please refer to the schematics shipped together with the sat-nms ACU-ODU to see how to connect the emergency stop switch. 3.7 Terminals Here the mains and emergency switch and are connected. Please refer to the schematics shipped together with the sat-nms ACU-ODU to see how to connect them.

  • Page 13: Interfaces To The Antenna, Pin Descriptions

    SatService. 4.2 Interfaces to the Antenna, Pin descriptions ATTENTION! Electrical installation shall be carried out only by qualified personnel who are instructed and aware of hazards of electrical shocks. The terminals of the sat-nms ACU-ODU are located at the lower side of the case. The angle encoders and limit switches have to be connected directly at the sat-nms ACU-ODM, the core module of the ACU-ODU.
  • Page 14 Below the pinout of a resolver type interface board is shown. The ACU is available with resolver, SSI or analog position sensor interfaces. You have to select type of interface when you order the ACU. signal description type resolver SIN resolver SIN resolver COS resolver COS...

  • Page 15: Limit Switch And Emergency Switch Connection

    SSI-Data+ SSI data SSI-Data- SSI data SSI CLK+ SSI clock SSI CLK- SSI clock encoder power supply +24V encoder power supply CON18, CON19, CON20 Analog Angle Sensor Interface Below the pinout of an analog type positional sensor interface board is shown. The ACU is available with resolver, SSI or analog position sensor interfaces.

  • Page 16: Motors Connection

    --- Example for wiring the limit switches Please note, that the left/right azimuth and polarization limit switches have to be swapped when the antenna is operated at the southern hemisphere. signal description type AZ High azimuth right limit (view from behind antenna) GND EXT AZ Low azimuth left limit (view from behind antenna)

  • Page 17: Ethernet Connection

    Connect mains to the terminals at the lower side of the cabinet. Please refer to the schematics shipped with your sat-nms ACU-ODU for detailed pin description. 4.2.5 Ethernet connection Connect the ethernet cable for remote controlling directly to the sat-nms ACU-ODM, the core module of the cabinet.
  • Page 18 Setting the ACU's IP parameters now is easily done within a few minutes. 1. First install a network cable between the ACU and your computer. If you have a crossover cable available, this is very easy: simply put the cable into the network connectors of computer and ACU.

  • Page 19: Limit Switches

    the ACU. Now the IP configuration of the ACU is completed. You may finally want to test if the ACU is reachable now. Start your web browser and type the ACU's IP address into the URL field of the browser. The ACU should reply with it's main page, provided that the ACU and your computer are configured for the same subnet.

  • Page 20: Pointing/ Tracking

    one, take care that these terminals are bridged. Without a connection between these pins the power supply of the motors is disabled. 3. Press the STOP button on the sat-nms ACU-ODMs website. By this you can be shure that no motor movement will occur by switching on the circuit breakers. 4.

  • Page 21: Operation

    6. Browse on the left side to the desired location to which you like to save the backup 7. Right-click the app.dat file and choose copy in the drop down list. The file will immediately be copied to the location shown on the left side. If you have saved targets, you might backup them in the same way.
  • Page 22 and the actual antenna pointing in the main part of the window. The readings automatically refresh once a second. The refresh-rate may be adjusted on the setup-page from software version 2.1.007 or higher. The navigation bar at the left contains a couple buttons which build the ACU's main menu: Pointing : This button switches back to the main page you already see when you connect to the ACU.

  • Page 23: Antenna Pointing

    read from the position sensors.STANDBY: The STANDBY button puts the pointing loop of all axes to 'standby' mode: Differences between measured and commanded value do not cause the motors to be driven in this mode. Standby mode can be used for maintenance purposes or to move the antenne by actuating the frequency inverters directly by hardware circuits.
  • Page 24 by a sat-nms LBRX beacon receiver via TCP/IP of the level derived from the ACU's analog input. Temperature --- The actual temperature inside the ACU enclosure. This value is for information only. ACU Faults --- If there are any faults with the ACU, they are displayed in this field. If there is more than one fault at a time, the ACU concatenated the fault descriptions.

  • Page 25: Target Memory

    5.3 Target Memory The page 'Targets' gives access to the ACU's target memory. The ACU is capable to remember the pointing (and tracking parameters, if the ACU has the tracking module installed) of up to 99 satellites. Managing these memories is done with the 'Targets' page. The page displays a table with all pointings actually stored.

  • Page 26: Tracking Parameters

    the short time storage described above. Targets Page Example: 5.4 Tracking Parameters sat-nms ACUs with the tracking function installed give access to the tracking mode and the fine tune parameter which lets you adapt the tracking to the individual requirements of the antenna and the satellite you are tracking to.
  • Page 27 mask the level differences caused by the test steps, the antenna will not track the satellite properly.The step size is specified as a percentage of the antenna's half 3dB beamwidth. The ACU calculates the beamwidth from the antenna diameter and the beacon frequency. Expressing the step size in this relative way keeps the value in the same range, regardless of the type of antenna.

  • Page 28: Test Page

    simple model calculated from the step track peaks of the recent few hours. A detailed description of this function you find at chapter '8.3.3 Smoothing' Peakjitterthreshold --- If the jitter value of at least one axis exceeds this threshold, the ACU raises an 'model fault'.
  • Page 29 inactive, OK or 'false'. Read means the signal is active or 'true'. Toggling output levels manually The 'Test' page also lets you toggle the actual state of each output signal simply by clicking to the underlined HI/LO mark of the signal. If you do this, you should consider the following: The ACU sets the motor driver outputs eight times a second for each axis having the motor driver type set to 'DIR-START' or 'DUAL-START'.

  • Page 30: Setup

    5.6 Setup The page 'Setup' contains the ACU's installation parameters. The page displays a table with the parameters actually set. Each parameter value is a hyper-link to a separate page which lets you change this parameter. This parameter change page shows the actual parameter setting either in an entry field or in a drop down box.
  • Page 31 Azimuth / Elevation / Polarization The Azimuth / Elevation / Polarization sections contains the parameters which are specific to the individual axis. They are the same for each axis. Parameter Name --- Description Antenna diameter --- Set this parameter to the dish diameter. Units with the tracking function installed use this value to estimate some tracking parameters.
  • Page 32 For the azimuth axis there is another offset which also is taken into account, the 'Antenna course'. This value is provided for mobile applications where a compass reading has to be included into the azimuth value. Calibration scale --- Normally the ACU assumes that the full range of a position sensor corresponds 360°.
  • Page 33 Beacon Receiver Parameter Description Name Selects the source of the beacon level the ACU shall use. Available options are SATNMS and VOLTAGE. In SATNMS mode the ACU reads the beacon Beacon RX level from a sat-nms beacon receiver via UDP, in VOLTAGE mode the A/D type converter input of the ACU is read.
  • Page 34 UDP port 161. The SNMP agent provides a common subset of the MIB-II system / interface parameters and gives full access to the remote control capabilities of the sat-nms ACU with a number of MIB objects placed in the private.enterprises tree. The actual MIB file defining the ACU's private MIB may be downloaded from the ACU itself by FTP (user 'service', password 'service').

  • Page 35: Handheld Terminal

    Setup Page Example 5.7 Handheld Terminal The antenna may be moved by means of the optional handheld controller. The Handheld function is not yet available at ACU-RMU and ACU19 Version. Startup Set parameter 'RS485 address' on the ACUs Setup-page to 'TERM'. This enables communication between the ACU and the sat-nms handheld.

  • Page 36: Frontpanel Operation

    Cabinet: 15pol DSUB). After connecting the Handheld, push the Redraw button once. The start- up screen, that shows the installed software version is displayed for a few seconds. After that the menu for controlling the antenna is displayed automatically. Operation --- Emergency STOP, stops all Motors immediately, it has to be released by pushing the -button --- Releases the motor-lock that was set by pushing the STOP-button.
  • Page 37 operation are designed to operate the ACU locally. It is possible to select a new target, move the antenna incremental, set new pointing angles or select another step track mode. Advanced configuration parameters are available over the web interface. Please start reading at chapter 5.1 for more information.

  • Page 38: Display Mode

    If one or all motors are moving, they can stop with the following key: 0 --- Stop every motor Postion regulation is off. An Alarm will displayed 1 and 3 --- Select the STANDBY Operation Mode. No Alarm will displayed 1 and --- Stop every motor Postion regulation is on 6.1 Display mode...

  • Page 39: Select Targets

    MENU SELECT TARGET SET TRACKING MODE STEP MOVE JOG MODE STANDBY SET AZIMUTH SET ELEVATION SET POLARIZATION To navigate in the menu, use . To select a menu press . Pressing once returns to the main menu level, pressing it twice returns to display mode. 6.3 Select targets In the SELECT TARGET menu, it is possible to select a saved target.

  • Page 40: Jog Mode

    Press a key one time, moves the antenna one step in the corresponding direction. The step size is defined at the Web interface. 6.6 Jog mode The antenna can be moved over the front panel with the JOG MODE menu. The corresponding keys are listed below: 7 --- Move the polarization counterclockwise 9 --- Move the polarization clockwise...

  • Page 41: Remote Control

    leaves the editing mode without changing anything. 7 Remote Control The sat-nms ACU may be controlled remotely by a monitoring and control application either through the TCP/IP interface or through a serial RS232 interface (RS232 not yet implemented in ACU19 and ACU-RMU). Both communication methods use the same commands and parameters. However, there are different frames around each message depending communication method used.

  • Page 42: The Tcp/Ip Remote Control Interface

    Assigning a value to a read-only parameter will cause no fault, however the ACU will overwrite this parameter immediately or some seconds later with the actual value. 7.2 The TCP/IP remote control interface Controlling the ACU through the network is done by means of HTTP GET requests. Setting parameter values or querying readings or settings, all is done by requesting HTTP documents from the ACU.

  • Page 43: Parameter List

    The checksum byte is calculated using an algorithm as implemented by the following formula: This protocol type is known as MOD95- or Miteq protocol . The ACU also packs its reply in a protocol frame as described above. Incomplete frames, checksum errors or address mismatches let the ACU ignore the message.
  • Page 44 alat -90.000 .. 90.000 °N Antenna latitude Antenna alon -180.000 .. 180.000 °E longitude amax -3600.000 .. 3600.000 ° AZ Upper limit amdt character string AZ Model type amin -3600.000 .. 3600.000 ° AZ Lower limit AZ Maximum ammx SMALL MEDIUM LARGE model type Antenna mount amnt...
  • Page 45 Beacon RX IP bcip aaa.bbb.ccc.ddd address Calculate level bclc offset Beacon RX 0V bcof -200.00 .. 0.00 level Beacon RX bcsc -5.0000 .. 5.0000 V/dB voltage scale bcty SATNMS,VOLTAGE Beacon RX type blev #.## Beacon level bofs #.## Level offset Beacon level brip #.##...
  • Page 46 EL model ecoe see below coefficients EL Pointing ehys 0.000 .. 2.000 ° hysteresis einv NORMAL INVERTED EL Sense invert ejtr 0 .. EL Peaking jitter emax -3600.000 .. 3600.000 ° EL Upper limit emdt character string EL Model type emin -3600.000 ..
  • Page 47 GPS receiver gpty NONE type 3) Input bits ibit 00000000 .. FFFFFFFF (described below) Inclinometer icty NONE type 4) ipt1 SNMP trap IP 1 ipt2 SNMP trap IP 2 ipt3 SNMP trap IP 3 ipt4 SNMP trap IP 4 Invalid ivpr parameter value Peak jitter...
  • Page 48 PO Motor driver pmot DUAL-START DIR-START NONE type PO Pre scale pofs ######## offset ppos -90.000 .. 90.000 ° PO Pointing praw 00000000 .. FFFFFFFF PO raw pointing PO Calibration psca 0.000000 .. 100000.000000 scale SSI-13B SSI-13G SSI-17B SSI-17G SSI- 18B SSI-18G SSI-19B SSI-19G SSI-20B PO Position psen...
  • Page 49 Tracking model tage Tracking cycle tcyc 1 .. 1638 time tdly 100 .. 9999 msec Recovery delay Target tdsc 0..99 / character string description 7) temp °C Temperature Tracking fault tflt 00 .. FF bits (described below) Tracking thrs memory time character string Date / time 6)
  • Page 50 ACU variants with GPS support provide other choices beside NONE for this parameter. 4) ACU variants with inclinometer support provide other choices beside NONE for this parameter. 5) for single step move, use following commands: command description Azimuth large step left Azimuth small step left Azimuth small step right Azimuth large step right...
  • Page 51 IN_AZFLT azimuth motor fault IN_EMERG emergency stop IN_ELHLM elevation hi limit IN_ELLLM elevation lo limit IN_ELFLT elevation motor fault IN_COPEN cabinet open AZMOV azimuth moving ELMOV elevation moving PLMOV polarization moving MOVING moving summary bit AZTOT azimuth timeout ELTOT elevation timeout PLTOT polarization timeout TIMEOUT...
  • Page 52 OUT_AUX1 not used OUT_AUX2 not used OUT_EL_FWD elevation motor forward OUT_EL_REV elevation motor reverse OUT_EL_SPD1 elevation motor low speed OUT_EL_SPD2 elevation motor hi speed OUT_EL_RESET elevation motor driver reset OUT_EL_RESERVE reserved for extended motor control OUT_AUX3 not used OUT_AUX4 not used OUT_POL_FWD polarization motor forward OUT_POL_REV...

  • Page 53: One Line Read Via Tcp/Ip

    APEAKFLT azimuth peaking fault EPEAKFLT elevation peaking fault MODELFLT model match fault JITTRFLT jitter fault not used not used not used not used Tracking coefficients on 'acoe' / 'ecoe': In adaptive tracking mode the 'acoe' / 'ecoe' commands may be used to read the coefficients of the actual model.

  • Page 54: Theory Of Operation

    8 Theory of Operation This section gives some background information about how the ACU works. Chapter 8.1 Angle Measurement describes how the ACU measures the antenna pointing and how it calculates the angles displayed at the user interface. Chapter 8.2 Pointing / Motor Control describes the way the ACU performs the antenna pointing and how it controls the motors.

  • Page 55: Pointing / Motor Control

    view, the ACU accepts and displays pointing angles as floating point numbers with 0.001° resolution. Internally the software treats angles as 32 bit integer numbers where the full 32 bit range corresponds to 360°. This is equivalent to a resolution of 0.000000084°. When the software calculates the pointing angles from the sensor readings, it includes some calibration parameters configurable at the Setup...

  • Page 56: Steptrack

    motor on for both directions or for the forward direction only. REV --- Depending on the motor driver type configured, this signal reverses the motor direction or it activates the motor in reverse direction. SPD1 --- This signal is active while the ACU wants to run the motor slowly. SPD2 --- This signal is active while the ACU wants to run the motor fast.

  • Page 57: The Sat-Nms Steptrack Algorithm

    receiver to be connected to the ACU, the file/program tracking works without any beacon measurement. 8.3.1 The sat-nms Steptrack Algorithm The principle of satellite step tracking is quite simple: For each axis, move the antenna a small amount away from the satellite, move it a small amount to the other site and finally point the antenna to that position where the signal is the strongest.

  • Page 58: Acu And Beacon Receiver

    The diagram above shows the sequence of steps the tracking algorithm performs in one cycle on one axis. It starts with a depointing step in one direction (A). If this step lets the signal level decrease, the antenna makes a double step in the opposite direction. It the first step leads to a better receive level, the tracking algorithm adds one or two steps in the same direction.

  • Page 59: Smoothing

    If a sat-nms LBRX beacon receiver is used with the ACU, it additionally gets connected to the ACU through an Ethernet cable. Usually an Ethernet hub is used to connect the ACU, the LBRX and the controlling computer. With a sat-nms LBRX beacon receiver some additional features are available for the tracking: The beacon receiver sends the actual level as UDP packets over the LAN.

  • Page 60: Steptrack Parameters

    recently evaluated peak position. The usage of the smoothing function is recommended when tracking satellites where the antenna pointing oscillates less than 25% of the antenna's 3dB beamwidth. For tracking inclined orbit satellites, the usage of smoothing may be problematic as such satellites may require an significant position oscillation at 12 hours cycle time (sin 2wt).

  • Page 61: Adaptive Tracking

    receiver, the ACU automatically reads the frequency from the receiver. Trackingcycletime --- The cycle time specifies how often the ACU shall perform a step track cycle. The value is to be entered in seconds. In fact, the parameter does not specify a cycle time but the sleep time between two tracking cycles.

  • Page 62: The Sat-Nms Adaptive Tracking Algorithm

    8.4 Adaptive Tracking Adaptive tracking is an extension to the standard step track method. The ACU records the tracked positions over several days. It computes a mathematical model from the recorded data which is used to predict the antenna position in case of a beacon receive failure. The following paragraphs describe how the sat-nms adaptive tracking algorithm works.
  • Page 63 plain sine function may be tracked with the MEDIUM model. The amplitude of the double frequency sine simply is near zero in such a case. Finally the LARGE model adds a linear movement to the components of the MEDIUM model. This is required to track significantly inclined satellites over a period of several days.

  • Page 64: The Tracking Memory

    Quality information As mentioned above, the amplitude of the satellite's movement is used as a measure of the step track quality. This is because the step track measurement uncertainty is an constant angle which primarily depends on the antenna size. Beside the amplitude, the ACU evaluates for each axis a figure called jitter.

  • Page 65: Adaptive Tracking Parameters

    M emory reset The contents of the tracking memory must be erased when the ACU starts to track a new satellite. This is done in the following situations: A stored position (target) is recalled. The ACU is switched off. 'CLEAR MEMORY' is chosen at the tracking parameters page.

  • Page 66: Program Tracking

    to 'STEP', the ACU leaves the antenna where it is if the beacon level drops below the limit.Adjusting the threshold level that adaptive tracking is switched as expected must be done carefully and may require some iterations, specially if the beacon is received with a low C/N.

  • Page 67: File Format

    next 'tracking interval'. Be aware, that the clock in the ACU must be set precisely to make the feature work as expected. 8.5.2 File Format The "program.txt" file is a plain text file containing a three or four column table. Empty lines are ignored, comments starting with a '#' as well.

  • Page 68: Specifications

    If a fault stay active in one axis and don't disappear during a RESET, the tracking stops the operation. For example if the polarisation have a fault, azimuth and elevation stop the tracking operation. 9 Specifications Technical Specification Position Encoding with three different interfaces via daughter boards --- Resolver, digital SSI and potentiometer Quantization Error --- Resolver 16bit: 0.0055°, SSI 13bit 0.044°, 16bit 0.0055°, 17bit 0.0028°, 19bit 0.0007°...

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