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Calian SatService sat-nms ACU-ODM User Manual

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Antenna Controller
sat-nms ACU-ODM
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-ODM 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-ODM User Manual ....................... 1 Introduction ............................2 Safety Instructions ........................... 3 The sat-nms ACU-ODM ........................4 Installation ............................4.1 Mechanical installation ......................4.2 Interfaces to the Antenna, Pin descriptions ................4.2.1 Connector Layout ........................ 4.2.2 Pin descriptions ........................
  • Page 3 8.3.1 The sat-nms Steptrack Algorithm ..................8.3.2 ACU and Beacon Receiver ....................8.3.3 Smoothing ......................... 8.3.4 Steptrack Parameters ....................... 8.4 Adaptive Tracking ........................8.4.1 The sat-nms Adaptive Tracking Algorithm ................ 8.4.2 The Tracking Memory ....................... 8.4.3 Adaptive Tracking Parameters ..................8.5 Program Tracking ........................

  • Page 4: Sat-Nms Acu-Odm User Manual

    sat-nms ACU-ODM User Manual Version 5.0.002 -- 2021-07-29 -- © 2003-2021 SatService GmbH Abstract The sat-nms Antenna Control Unit (Outdoor Module) is an antenna controller / positioner with optional satellite tracking support. It may be operated as a stand alone unit or in conjunction of the sat-nms ACU-IDU, a PC based indoor unit which offers extended tracking capabilities and a full featured visualization interface.

  • Page 5: Introduction

    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 8.1 Angle Measurement 8.2 Pointing / Motor Control 8.3 Steptrack 8.3.1 The sat-nms Steptrack Algorithm 8.3.2 ACU and Beacon Receiver...
  • Page 6 can be controlled using any PC providing an Ethernet interface and a web browser like the Microsoft Internet Explorer. The ACU runs a web server which acts as a user interface to the antenna controller. The ACU is prepared to read the receive level of a sat-nms beacon receiver through the TCP/IP interface.

  • Page 7: Safety Instructions

    Theory of Operation : This chapter gives a short overview how the ACU works. It also describes the different tracking algorithms and their parameters. The interaction with a beacon receiver is described as well. Knowing about the theory regarding this functions helps to find the best parameter settings for a given application.

  • Page 8: The Sat-Nms Acu-Odm

    The outside of the equipment may be cleaned using a lightly dampened cloth. Do not use any cleaning liquids containing alcohol, methylated spirit or ammonia etc. Follow standard Electrostatic Discharge (ESD) procedures when handling the Unit. Apply the appropriate voltage according to the attached schematic. In case of switching off all the circuit breakers is still voltage available at the mains terminals! Only use shielded cable to connect the AZ- and EL-Motor.

  • Page 9: Interfaces To The Antenna, Pin Descriptions

    4.1 Mechanical installation The ACU enclosure is DIN rail mountable. Hence simply snap the module on to the rail to fix it. For plain wall mount, fix a 450 mm piece of DIN rail at the wall with at least four screws and lock the ACU on this.
  • Page 10 default Ethernet cabling (10Base-T) CON2 Spare Inputs CON2 provides four opto-isolated spare inputs for the ACU. These inputs are reserved for customized versions of the ACU software, they normally are not used. There is no cabling required. signal description type AUX1 IN A AUX1 IN K AUX2 IN A...
  • Page 11 24V_EXT CON4 Spare Outputs 5..8 CON4 provides four opto-isolated spare outputs for the ACU. These inputs are reserved for customized versions of the ACU software, they normally are not used. There is no cabling required. signal description type AUX 5 OUT C OUT+ AUX 5 OUT E OUT-...
  • Page 12 ACU provides an analog interface to third party beacon receivers. signal description type Beacon Level beacon level signal 0..10V PRESET 1 C beacon receiver preset activation OUT+ PRESET 1 E OUT- PRESET 2 C beacon receiver preset activation OUT+ PRESET 2 E OUT- PRESET 3 C beacon receiver preset activation...
  • Page 13 RS232 0 RX RS232 1 TX RS232 for remote control RS232 1 RX RS422 TX+ RS422 for remote control OUT+ RS422 TX- OUT- RS422 RX+ RS422 RX- The ACU is factory preset to use the RS422 interface in 4-wire configuration. To change the interface configuration, set the jumpers on the ACU main board above CON8 according to the illustration below JP1 selects between the RS232 and the RS422 interface driver.
  • Page 14 +24V ACU power supply for the ACU and the GND ACU positional encoders +24V EXT power supply for motor drivers and GND EXT external switches CON10 Azimuth M otor Driver All signals for motor control are provided as free floating opto coupler inputs / outputs. This gives a maximum of flexibility to adapt the cabling to the motor driver units.
  • Page 15 The AZ RESERV reflects the "motor stopped" state of the axis. ON signals the OK state, the signal turns off in case of a motor fault, timeout, or if the emergency stop signal is received. Depending on the reason of the motor stop a motor reset command may be neccessary to release the axis from this state.
  • Page 16 GND EXT GND EXT GND EXT CON13 Elevation M otor Driver All signals for motor control are provided as free floating opto coupler inputs / outputs. This gives a maximum of flexibility to adapt the cabling to the motor driver units. They probably will combine one end of the control inputs to a common potential.
  • Page 17 Depending on the reason of the motor stop a motor reset command may be neccessary to release the axis from this state. signal DUAL-START DIR-START type EL FWD E ON = motor on / right ON = motor on OUT- EL FWD C OFF = motor off OUT+...
  • Page 18 one end of the control inputs to a common potential. The ACU is capable to control motor drivers with different polarity concepts. --- Example for wiring the motor drive signals --- Example for wiring the motor status signals The ACU knows two different configuration modes to control a motor driver. They are called 'DIR- START' and 'DUAL-START'.
  • Page 19 PL REV E ON = motor on / left ON = direction left OUT- PL REV C OFF = direction right OUT+ PL SPD1 E ON = slow ON = slow OUT- PL SPD1 C OUT+ PL SPD2 E ON = fast ON = fast OUT- PL SPD2 C...
  • Page 20 El Low lower limit Elevation GND EXT Pol High polarization right limit (view from behind antenna) GND EXT Pol Low polarization left limit (view from behind antenna) GND EXT CON17 Alarm Circuits The alarm/stop switch inputs internally are connected to the external 24V / GND rails. The switches are connected directly to the input pairs without any external ground or supply cabling.
  • Page 21 resolver SIN resolver COS resolver COS drive signal to resolver drive signal to resolver The ACU resolver interface is designed for resolvers with an impedance of 100 Ohms or more and transfer factor 0.5. The interface applies 4Veff / 2000Hz to the resolver drive coil. It expects 2Veff at the sine / cosine inputs at the maximum positions.

  • Page 22: Power Supply Cabling

    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. You have to select type of interface when you order the ACU.

  • Page 23: Setting The Ip Address

    2. Set the ACU's IP address Mechanically mount the ACU. Connect the ACU to the antenna (position encoders, limit switches and motor drivers). Finally connect the UPS power supply and the Ethernet network. 5. Start up the system and set the parameters as described below. 6.

  • Page 24: Limit Switches

    empty, the ACU is not connected properly. If there are more entries in the list, the configuration program has found other devices in this network segment which use the same technology. 6. Now open with a right-click the sub-menu IP configuration to open the IP configuration window of the program.

  • Page 25: Motors

    If you need more detailed information, please refer to chapter 5.6 Setup 4.3.4 Motors Before you connect the motors to the sat-nms ACU-ODM, take care that the motor drivers are not powered up yet. 1. Connect the motor drivers to the sat-nms ACU-ODM as described in chapter 4.2.2 2.

  • Page 26: Operation

    displayed IP, you might adjust it in the drop-down list here. 4. Login with username service and password service 5. Now you see on the right side the file system of the ACU like shown on the following picture. On the left side you see the computers file system. 6.

  • Page 27: The Web-Based User Interface

    5 Operation The sat-nms ACU outdoor module is designed to be controlled over a network link using a standard web browser. This means in practice, that the user interface to the ACU appears in your browser window after you type in the ACU's IP address in the address field of the browser program.

  • Page 28: Antenna Pointing

    the 'Target' page where you can store and recall the antenna pointing for up to eight satellites.Tracking : sat-nms ACUs with the tracking option installed offer the tracking mode and tracking fine tune parameters on this page.Test : By clicking to this button you switch to the 'Test' page.
  • Page 29 Target name --- The name of the satellite the antenna is pointing to. Click to the name to get a dialog page where you can change the name. The name is stored together with a satellite's pointing at the target memory page.

  • Page 30: Target Memory

    angle between both 3dB points in the antenna pattern. S(step size) --- The absolute step size used by the step track in this axis. Time --- The actual time of the ACU's internal clock. GPS State --- The actual state of an external GPS receiver connected to the ACU (if applicable).

  • Page 31: Tracking Parameters

    The first target location, labeled 'adaptive tracking memory', is reserved for special purposes: If you store to this target location, this saves the tracking parameters and the tracking memory as well. When this memory location is recalled later on, the parameters and the memory contents are restored.
  • Page 32 evaluated after 6 hours of tracking. This is because the model does not get disturbed by the first search steps the antenna does until the optimal pointing to the satellite is found. Trackingstepsize --- The tracking step size is a very important parameter for the performance of the tracking.

  • Page 33: Test Page

    done carefully and may require some iterations, specially if the beacon is received with a low C/N. A good starting value for the threshold is 10 dB below the nominal receive level or 2 dB above the noise floor the beacon receiver sees with a depointed antenna, whatever value is higher.To turn off the monitoring of the beacon level (this in fact inhibits the adaptive tracking), simply set the threshold the a very low value (e.g.
  • Page 34 The electrical state of an input or output is indicated by the HI / LO label displayed with the signal. HI means that current is flowing through the optocoupler for this input or output. LO means that no current flows. As some signals are defined to be 'true' when a switch is opened, the electrical level of the signal not necessarily describes the logical level of this signal, too.

  • Page 35: 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 36 By changing this value you can set the internal clock of the ACU. The clock is set as soon you click to the 'Submit' button in the data entry dialog. The most Date / time precise method to set the time is to enter a time one or two minutes ahead and click to 'Submit' when this time is reached.
  • Page 37 of the encoder (0-360° with single turn encoders).The pre scale offset must be adjusted to avoid any 7FFFFFF to 8000000 overflow within the used range of the encoder. The value is added to the encoder reading, neglecting an overfly eventually occurring. Thus, the offset implements a 360°...
  • Page 38 Low speed threshold --- The ACU controls a motor at two speeds. If the actual position is far away from the target value, the ACU commands the motor to use the fast speed. Once the antenna comes close to the target value, the ACU slows down the motor. The low speed threshold sets the angle deviation which lets the ACU use the fast motor speed.
  • Page 39 Antenna course --- The Antenna course is an additional offset which is included into the azimuth calibration. It is used for mobile antennas to set the orientation of the antenna without recalibrating it. For stationary antennas this value always should be set to 180°. Antenna longitude --- The geodetic longitude of the antenna.
  • Page 40 SNMP The ACU replies to MIB-II sysContact requests with the text entered at this system place. contact MIB File click here to download the MIB file Enter up to 4 trap destination IP addresses (dotted quad notation) to make SNMP trap the ACU sending traps by UDP to these hosts.

  • Page 41: 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 42: 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 43 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 44: 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 45: 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 46: 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 47: 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 48: 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 49: 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 50 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 51 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 52 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 53 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 54 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 55 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 56 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 57 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 58 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 59: 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 60: 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 61: 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 62: 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 63: 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 64: 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 65: 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 66: 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 67: 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 68: 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 69 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 70: 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 71: 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 72: 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 73: 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 74: 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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