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Keo SkyScan4 Hardware User Manual

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Keo SkyScan4
Articulated Mirror Assembly
Hardware User Manual
Version 1.3
July 2023

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Summary of Contents for Keo SkyScan4

  • Page 1 Keo SkyScan4 Articulated Mirror Assembly Hardware User Manual Version 1.3 July 2023...
  • Page 2 The information in this publication is believed to be accurate as of the publication date. However, Keo Scientific Ltd. does not assume any responsibility for any consequences including damages resulting from the use thereof. The information contained herein is subject to change without notice.

  • Page 3: Table Of Contents

    4.6 Driver Installation......................20 4.7 Software Installation ....................20 Operation ........................ 21 5.1 The First Power-Up ....................21 5.2 Communicating with the SkyScan4................22 5.3 Firmware Updates ...................... 22 Command Reference ....................23 6.1 Command Overview ....................23 6.2 Error Codes ......................... 24 6.3 Help Menu Command ....................
  • Page 4 SkyScan4 Hardware User Manual Version 1.3 6.11 Stop All Motion Command ..................28 6.12 Stop Position and Velocity Motion Command ............28 6.13 Stop Trajectory Command ..................28 6.14 Report Operating Status Command ................29 6.15 Initialize Trajectory Command ................... 30 6.16 Define a New Trajectory Command ................
  • Page 5 Table of Figures Table of Figures Figure 1: The SkyScan4 ..........................7 Figure 1: Typical System Components ......................9 Figure 2: SkyScan Coordinate System ...................... 11 Figure 3: Top-Down Coordinate System View ................... 11 Figure 4: SkyScan in Parked Position ......................12 Figure 5: SMI Port Properties ........................
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  • Page 7: Introduction

    SkyScan system is the culmination of several years of design iterations and is our most capable system yet. The Keo SkyScan4 is a dual first-surface mirror assembly that can be pointed towards any point in the sky by rotating the two mutually perpendicular axes, one of which is vertical and the other horizontal, to the desired positions.
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  • Page 9: System Components

    2 System Components 2.1 System Components Overview A standard SkyScan4 system consists of the SkyScan unit, a power supply unit with AC cord, a power tether cable, a data tether cable, a USB cable, a user manual, and software USB stick.

  • Page 10: Electrical Brush System

    2.2.2 Electrical Brush System The original Keo SkyScan was limited to 200° of travel in the azimuth axis due to limitations put in place by having wired power and communications. The new SkyScan uses electrical brushes and brass slip rings to transfer power and communications into the rotating device. This allows for full 360° continuous rotation about both axes.

  • Page 11: Figure 2: Skyscan Coordinate System

    Section 2 System Components Figure 2: SkyScan Coordinate System The coordinates of the SkyScan are always given by the position of the two axes, i.e. the azimuth and zenith angles of the point the SkyScan is pointing at. In this manual they are represented as a position pair, (Az,Ze).

  • Page 12: Power Supply Unit

    2.4 Cables Power Tether Cable: The standard 7m (23’) tether cable has 3-pin LEMO FGG.2B connectors that interconnect the power supply with the SkyScan4. This tether is used for transferring power to the SkyScan. Data Tether Cable: The standard 7m (23’) tether cable has 3-pin LEMO FGG.1B connectors that interconnect the power supply with the SkyScan.

  • Page 13: User Manuals

    2.5 User Manuals SkyScan4 Hardware User Manual: This manual describes how to install and use the SkyScan4 system components. A PDF version of this manual is provided on the Documentation and Utilities USB Drive. SkyScan Control Software User Manual: This manual describes how to install and use the application program.
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  • Page 15: Installation Overview

    Section 3 Installation Overview 3 Installation Overview The list below briefly describes the sequence of actions required to install and operate your system. Refer to the indicated references for more detailed information. Action Reference 1. If the system components have not already been unpacked, unpack Section 4.3: Unpacking them and inspect them for in-transit damage.
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  • Page 17: System Setup

    SkyScan system to another location or return it for service if necessary. If you have any difficulty with any step of the instructions, contact Keo Scientific support. For support contact information, refer to Section 8.2.

  • Page 18: Unpacking The System

    Keo Scientific for repairs if necessary. To remove the SkyScan4 from its packaging, simply lift it out of the shipping case and place it on a clean flat surface. The SkyScan4 will sit on a flat surface without falling over, however it is recommended that you always clamp it to the surface it is sitting on before powering it up.

  • Page 19: Mounting

    The SkyScan4 ships with a mounting flange containing 3 holes for 1/4-20 socket head cap screws as shown in the schematic in Appendix B. It is important to note that the power connector is located at the 180°...

  • Page 20: Driver Installation

    SkyScan4 Hardware User Manual Version 1.3 After successfully mounting the SkyScan4, it is important to ensure that the pointing heads can move freely without bumping into surrounding objects/personnel. Gently rotate each axis through the full 360- degree range. It should feel smooth. There will be some noise generated by the reducing gearboxes which is completely normal and should not be cause for concern.

  • Page 21: Operation

    SkyScan4. Now that the SkyScan4 is mounted and connected to the power supply, it is time to turn it on. Simply flip the power switch on the front of the power supply to the ON position. The SkyScan4 will now start searching for the “home”...

  • Page 22: Communicating With The Skyscan4

    None 5.3 Firmware Updates From time to time, Keo Scientific may release new updated firmware for the SkyScan system. This updated firmware could include bug fixes and new or improved functionality. The procedure for updating the system firmware can be found in Appendix C.

  • Page 23: Command Reference

    (albeit necessary) step for routine scientific operations. Commands are sent to the SkyScan4 as ASCII characters and all commands need to be terminated by a carriage return (0x0D). In the following sections, a carriage return will be indicated by <CR>.

  • Page 24: Error Codes

    SkyScan4 Hardware User Manual Version 1.3 V(a,z) Moves the axes at the specified velocities. 6.18 Exits custom command mode. 6.19 6.2 Error Codes Every command that is sent to the SkyScan will immediately return a response. This response will either be an acknowledgment of the command or the response to the command.

  • Page 25: Set A Configuration Parameter Command

    Section 6 Command Reference The ID of the configuration parameter to report. 6.4.3 Command Response <ID Specific> 6.4.4 Error Codes The configuration parameter hasn’t been set yet. 6.5 Set a Configuration Parameter Command This command sets a configuration parameter. See Section 7 for details on the available configuration parameters.

  • Page 26: Start A Homing Routine Command

    SkyScan4 Hardware User Manual Version 1.3 None 6.7 Start a Homing Routine Command This command starts a homing routine running. Returns an acknowledgment immediately followed by a completion response upon completion of the homing routine. 6.7.1 Command Format H!CR> 6.7.2...

  • Page 27: Move To Position Command

    Section 6 Command Reference P?<CR> 6.9.2 Parameters None 6.9.3 Command Response az,ze The azimuth position in degrees. 0° ≤ az < 360° The zenith zenith in degrees. -180° ≤ ze < 180° 6.9.4 Error Codes None 6.10 Move to Position Command This command moves the SkyScan to the specified position at the specified (optional) velocity.

  • Page 28: Stop All Motion Command

    SkyScan4 Hardware User Manual Version 1.3 6.10.4 Error Codes Azimuth position out of range. Zenith position out of range. Velocity out of range. Invalid mode. 6.11 Stop All Motion Command This command stops all current motion of the device. It is also used to cancel a trajectory after it has been initialized with the T! command but before it has been started with the G! command.

  • Page 29: Report Operating Status Command

    Section 6 Command Reference S2!<CR> 6.13.2 Parameters None 6.13.3 Command Response Success 6.13.4 Error Codes None 6.14 Report Operating Status Command This command reports the current operating status of the SkyScan. The status is stored bitwise so that it is possible to have multiple statuses at the same time. For example, the SkyScan can be both running a trajectory and jogging at the same time.

  • Page 30: Initialize Trajectory Command

    SkyScan4 Hardware User Manual Version 1.3 The current status variable. 6.14.4 Error Codes None 6.15 Initialize Trajectory Command This command initializes a trajectory by moving the SkyScan to the starting point of the trajectory. It then waits for either the stop trajectory command S! (see Section 6.11) or the start trajectory command G! (see Section 6.6).

  • Page 31: Report Current Velocity Command

    Section 6 Command Reference az_n,ze_n<CR> 6.16.2 Parameters The number of azimuth-zenith pairs in the trajectory. 0 < n ≤ 750 The time in seconds between pairs. 0 < t ≤ 32767 az_n An azimuth position, in degrees. ze_n A zenith position, in degrees. 6.16.3 Command Response Success 6.16.4 Error Codes...

  • Page 32: Exit Custom Command Mode Command

    SkyScan4 Hardware User Manual Version 1.3 V(az_v,ze_v)<CR> 6.18.2 Parameters az_v The azimuth velocity in degrees per second. 0 < az_v ≤ 120 [deg/sec] ze_v The zenith velocity in degrees per second. 0 < ze_v ≤ 120 [deg/sec] 6.18.3 Command Response Success 6.18.4 Error Codes...

  • Page 33: Configuration Parameters

    Some are programmed during the initial assembly of the device and should not be modified unless instructed to do so by Keo Scientific. Important Information These parameters affect the operation of the device and should only be modified if you know exactly what you are doing.

  • Page 34: Parameter 2: Cam Interpolation Mode

    SkyScan4 Hardware User Manual Version 1.3 7.2.3 Command Response Success 7.2.4 Error Codes Syntax Error (if n isn’t a proper number) 7.3 Parameter 2: Cam Interpolation Mode This parameter is the mode to use for interpolating a trajectory loaded into the device using the trajectory commands.

  • Page 35: Parameter 4: Default Velocity

    Section 7 Configuration Parameters C3(n)<CR> 7.4.2 Parameters The serial number of the device (0 <= n <= 99999 7.4.3 Command Response Success 7.4.4 Error Codes Parameter 1 Error (n is out of range). Syntax Error (if n isn’t a proper number). 7.5 Parameter 4: Default Velocity This parameter defines the default velocity to use for all moves where the velocity is not otherwise specified.

  • Page 36: Parameter 6: Zenith Counts Per Revolution

    SkyScan4 Hardware User Manual Version 1.3 Success 7.6.4 Error Codes Parameter 1 Error (n is negative). Syntax Error (if n isn’t a proper number). 7.7 Parameter 6: Zenith Counts per Revolution This parameter defines the number of motor encoder counts per full revolution of the zenith axis.
  • Page 37 Section 7 Configuration Parameters 7.8.4 Error Codes Parameter 1 Error (n is not 0 or 1). Syntax Error (if n isn’t a proper number).
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  • Page 39: Warranty & Service

    8 Warranty & Service 8.1 Limited Warranty The Keo SkyScan4 is provided with a 3-year Keo Scientific Warranty. The product is warranted to meet published functional specifications and to be free of defects in materials and workmanship as defined in the specifications for three (3) years from the date of original shipment from Keo.
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  • Page 41: Appendix A Specifications

    ± 0.021° [1.25 arc-min] ± 0.016° [0.95 arc-min] Accuracy ± 0.021° [1.25 arc-min] ± 0.016° [0.95 arc-min] Maximum Speed [deg/sec] 120°/sec* * Limited by Keo SmartMotor firmware Window Soda lime float glass with anti-reflection coating. (6.5” x 6.5” x 3mm thick)
  • Page 42 SkyScan4 Hardware User Manual Version 1.3 Mirrors Azimuth Zenith Dimensions (mm) 127 x 178 169 x 194 Thickness (mm) Surface Accuracy (λ) 4 – 6 per inch Substrate Soda Lime Float Glass Coating Enhanced Aluminum, R >90% from 400-650nm...

  • Page 43: Appendix B Outline Drawings

    Appendix B Outline Drawings Appendix B Outline Drawings Mounting Flange Layout...
  • Page 44 SkyScan4 Hardware User Manual Version 1.3 Side Profile...
  • Page 45 Appendix B Outline Drawings Top Profile...
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  • Page 47: Appendix C Firmware Update Procedure

    Procedure Important Information Only perform this procedure if you have been instructed to do so by Keo Scientific (by way of a firmware update advisory) and are fully comfortable with the procedure. Additional guidance can be provided by Keo Scientific.

  • Page 48: Figure 6: Smi View Layout

    SkyScan4 Hardware User Manual Version 1.3 Figure 6: SMI View Layout 6) Ensure that the Comm Type setting is set to RS232 and change the Baud Rate to 115200. Click OK to save and close these settings. 7) In the Terminal window, select the tab corresponding to the serial port you are using. In this example we are using COM3 so we have selected the Com3 tab.

  • Page 49: Figure 7: Smi Hex String Entry

    13) You are now ready to upload the new firmware to the SkyScan. Locate the .zip file provided by Keo Scientific and extract it to a known location. You will notice that there are two files in this .zip file. One is the firmware for the azimuth axis, and the other is the firmware for the zenith axis.

  • Page 50: Figure 10: Smi Select Motor Dialog

    SkyScan4 Hardware User Manual Version 1.3 Figure 10: SMI Select Motor Dialog 17) Now click the OK button. This will upload the firmware file to the SmartMotor. During this process you should see a progress dialog like the one shown in Figure 11. When the upload finishes, you should see a “Finished.

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