SkyWalker1 Owner`s Manual
Contents
1. Copyright Astrometric Instruments Inc SkyWalker1 Owner s Manual PulseTrain1 Provides a square wave with a user selected PulsePeriod and PulseTrain2 PulseOnTime available from the Settings Control HighDrives PulseTrain3 PulseTraint 2 3 Display Pages or through use of the PulseTrain1 2 3 Assignable Keys There are 3 separately programmable PulseTrain functions allowing for Pulse Width Modulated control of 3 separate accessories The PulsePeriod and PulseOnTime are resolved to the nearest 0 075 seconds smallest time period that SkyGuide can resolve PulsePeriod can range from 0 075 seconds or PulseOnTime which ever is largest to 7 500 seconds and PulseOnTime can range from 0 075 seconds to PulsePeriod seconds i e always on Output is linked to the Timer function that is available from the Actions TimeTools Timer Display Page When the Timer is on the associated output will be On When the Timer is not on the associated output will be Off Toggle1 Output is linked to an associated Assignable Key and will toggle Toggle2 between On and Off when the key is depressed There are 3 Toggle3 toggle assignments available so that each of the 3 Assignable Keys can separately operate Toggle outputs These output functions are only available in System mode Note for compatibility with SkyWalker mode when SkyGuide s Land mode is entered the PulseTrain and Indicator High Drive functions default to ON2. Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual Chapter 6 Control of Telescope Accessories from SkyWalker1 s HighDrive Port Introduction SkyWalkerl contains six accessory control lines called the High Drive outputs These outputs are available from the top end of SkyWalkerl at the HighDrive connector see chapter 4 for connector pin out There are two types of High Drive outputs 1 Bidirectional drivers ie capable of sourcing and sinking current are called the BiDrive outputs 2 Uni directional drivers i e capable of sinking current or being an open circuit are called the UniDrive outputs Output Characteristics The High Drive outputs have the following general electrical characteristics see chapter 4 for detailed electrical information High Drive Current Current 20 kHz _ Output Source Sink PWM mw i e so pf We L L 1 frames L L fone Es J G High Drive outputs that can source current provide a path for current to flow from the High Drive supply voltage to the High Drive output HD Output HD function High Drive outputs that can sink current provide a path for current to flow from the High Drive output to SkyWalkerl s ground Copyright Astrometric Instruments Inc 23 SkyWalkerl Owner s Manual HD Output gen SkyWalker1 s ground HD function Outputs with 20 KHz PWM Pulse Width Modulation capability provide a 20 kHz varia
3. track rate is set within SkyGuide Win HP1 Assignable Keys Not all Assignable Key AKey functions that are available in System mode are available in SkyWalker mode The following is a concise list of the AKey assignments that are available in SkyWalker mode and a very brief description of their function 9 9 9 9 9 9 9 10 Drift Toggles in out of the Drift TrackRate Indicator When depressed the direction keys change Indictor on time and period If the Dim Map is also depressed the direction keys change indicator brightness Invert Inverts action of Up Down direction keys Mirror Mirrors action of Left Right direction keys Momentaryl1 Linked to the Momentary HighDrive output Momentary2 Linked to Momentary2 HighDrive output Momentary3 Linked to Momentary3 HighDrive output Nothing No function for this AKey OneShot Linked to the OneShot HighDrive output PulseTrain1 When depressed the direction keys change PulseTrainl on time and period Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual PulseTrain2 When depressed the direction keys change PulseTrain2 on time and period PulseTrain3 When depressed the direction keys change PulseTrain3 on time and period Toggle2 Linked to the Toggle2 HighDrive output Toggle3 Linked to the Toggle3 HighDrive output Note Any AKey that is assigned a function that is not available in SkyWalker mode will behave in SkyWalker mode as if it is
4. Enable Keys are used to enable the Direction Keys for alternate functions The HP1 Direction keys The action of the Direction Keys depends on two factors 1 State of Enable Keys If any of the Enable Keys are depressed then the Direction Keys have alternate functions i e functions other than causing telescope movement The HP1 Enable keys section provides full descriptions of these alternate functions 2 Slew mode If the handpaddle is presently in Slew mode described in The HP1 Event keys section that follows then a Direction Key causes acceleration to the telescope s Slew Rate in the direction dictated by the start up settings e g motor polarity and operational settings i e Mirror or Invert If the handpaddle is not presently in Slew mode then the Direction Keys cause acceleration to the present View Velocity see The HP1 Event keys section that follows for instructions on selecting the present View Velocity The HP1 handpaddle supports 4 user programmable View Velocities Important Do not view through the telescope when the handpaddle is in Slew mode When not in Slew mode handpaddle motion is at the presently selected View Velocity and is the only situation under which viewing should occur The velocity that the telescope is presently moving under handpaddle control can be held by depressing the Direction Key that is opposite of the presently depressed Direction Key For example
5. focus is set from the Settings Control HighDrives Focus Display Page IndicatorDrive BiDriveA Powers an indicator such as an illuminated guide reticle or LED UniDriveA beacon with a user selected Brightness PulsePeriod and PulseOnTime All three parameters are set from the Settings Control HighDrives Indicator Display Page or through use of the Indicator Assignable Key see chapter 5 in the SkyGuide User s Manual The PulsePeriod and PulseOnTime are resolved to the nearest 0 075 seconds smallest time period that SkyGuide can resolve PulsePeriod can range from 0 075 seconds or PulseOnTime which ever is largest to 7 500 seconds and PulseOnTime can range from 0 075 seconds to PulsePeriod seconds i e always on MapLight Output is linked to the Dim Map light on the handpaddle This output is On when the Dim Map key is pressed and Off when Dim Map key is released Momentary1 Output is linked to an associated Assignable Key and will be On Momentary2 when the key is depressed and Off when the key is released Momentary3 There are 3 momentary assignments available so that each of the 3 Assignable Keys can separately operate Momentary outputs OneShot1 Output is linked to an associated Assignable Key and will issue a single pulse with a minimum On time of 0 075 seconds and a maximum of 19 125 seconds when the key is depressed This value is set from the Settings Control HighDrives OneShotOnTime Display Page
6. if you have depressed the Up key and the telescope has begun to accelerate you can stop the acceleration and hold the present velocity at any time by simply depressing and holding the Down key Autoguider input is not dependent on Slew mode and commands only non Slew movement at the present View Velocity When View or Slew motion is commanded from both the handpaddle and Autoguider simultaneously the following two rules apply with rule 1 presiding over rule 2 1 View motion has priority over Slew motion For example if the user tries to Slew from the handpaddle but the Autoguider has commanded View motion then Autoguider View motion will preside 2 Simultaneous View motion is serviced first from the handpaddle and then if no handpaddle request from the Autoguider 8 Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual The HP1 Event keys A one time event will occur with the depression of an Event Key Slew key Toggles the handpaddle Slew mode On Off When handpaddle Slew mode is On the Direction Keys causes telescope motion at the Slew Rate i e fast No observations should take place while slewing When the handpaddle Slew mode is Off the Direction Keys cause View motion If presently in Slew mode the Slew indicator above the Slew key will be lit Assignable Keys A rich assortment of event commands and functions can be assigned to these keys as described in the HP1 Assignable Keys
7. SkyWalker mode be certain that the SW Sys switch is set for SkyWalker mode i e towards SW Next simply turn on SkyWalkerl and apply power to the external motor drivers SkyWalkerl and HP1 will both briefly be in their pre initialized states 1 e HP1 will present alternating indicators because communications with SkyWalkerl has not yet been established and SkyWalkerl will flash its Sync indicator After approximately one second SkyWalkerl and HP1 will establish communications and begin operating in SkyWalker mode If the SkyWalkerl to HP1 connection is interrupted for any reason e g HP1 disconnected from SkyWalkerl then HP1 will automatically return to its pre initialized state and SkyWalker1 will indicate a communications error by blinking the PMEC Lbatt and Sync LEDs in unison It is necessary to turn SkyWalkerl off and then back on again to restart Sky Walker mode If SkyWalkerl is running in SkyWalker mode and an attempt is made to connect SkyWalkerl to SkyGuide Win and enter System mode SkyWalkerl will simply ignore SkyGuide If the SW Sys switch is changed when SkyWalkerl is powered up SkyWalker1 will immediately restart in the new mode Often it is handy to use your instrument in SkyWalker mode with out a PC to move track and then switch over to System mode to automatically acquire objects and use advanced features Use in SkyWalker Mode In SkyWalker mode SkyWalkerl is entirely controlled from either the handpaddle or f
8. assigned the Nothing function Togglel Linked to the Togglel HighDrive output Copyright Astrometric Instruments Inc 11 12 SkyWalker1 Owner s Manual Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual Chapter 3 Configuring SkyWalker1 for use in SkyWalker mode Note this chapter can be skipped if SkyWalker will not be operated in SkyWalker mode i e only in System mode SkyGuide Win provides the software interface through which SkyWalkerl s internal settings are programmed for SkyWalker mode SkyWalkerl contains an on board non volatile configuration memory that can store all the configuration data needed to operate as a stand alone telescope controller This memory is pre programmed to default settings at the factory It is nearly a certainty that these defaults are not correct for any given system therefore SkyGuide Win must be properly setup and used at least once to program SkyWalkerl for use in SkyWalker mode To configure SkyWalker Servo one must configure SkyGuide Win with the desired settings and then connect SkyGuide and SkyWalker Servo for the settings to be transferred to SkyWalker Complete details on setting up SkyGuide Win are provided in the SkyGuide for Windows User s Manual chapters 4 and 5 In particular the settings in SkyGuide Win s Instrument Display s Settings StartUp branch are important Note SkyGuide uses the htitude of the selected site to determine for
9. section below The HP1 Enable keys The Enable Keys are used to enable the Direction Keys for alternate functions Focus Dome key Enables the Up key for Focus out and the Down key for Focus in The rate at which focus motion occurs is programmable from within SkyGuide Win Proper connection of an electric focuser to SkyWalker1 s HighDrive port is necessary Enables the Left key for Dome left and the Right key for Dome right Proper connection of a dome controller driver to SkyWalkerl s HighDrive and or TCS ports is necessary Track key Enables the Up amp Down keys for changing the present Track Rate i e Sidereal Lunar Solar King Custom and Drift While depressed the View Track display shows the presently selected Track Rate View key Enables the Up amp Down keys for changing the present View Velocity There are four View Velocities that are separately configurable from within SkyGuide Win Dim Map key Turns the Map light on Enables the Up key for display brightening and the Down key for display dimming Assignable Keys A rich assortment of enable functions can be assigned to these keys more details follow The HP1 Indicators The HP1 indicators i e LEDs provide much information in SkyWalker mode The purpose of each indicator is as follows Direction Key back lighting Each Direction Key has its own back light that when lit indicates that the Direction Key is prese
10. which hemisphere Northern or Southern SkyWalker will be used in SkyGuide then properly sets SkyWalker s tracking direction for use in SkyWalker mode SkyWalkerl s internal settings for SkyWalker mode are checked against SkyGuide Win s associated settings for System mode every time the system enters System mode If there are any differences a SkyWalker and System mode settings differences window pops up and lists SkyWalkerl s internal settings and associated SkyGuide Win settings for each item for which a difference is detected A separate pop up window asks the user if they want to A Update SkyWalker mode settings with System mode settings i e update SkyWalker1 s internal settings for use in SkyWalker mode from SkyGuide Win s internal settings for use in System mode and then enter SkyGuide Win s Land mode B Enter SkyGuide Win s Land mode with no updates to SkyWalkerl s internal settings C Cancel i e do not enter SkyGuide Win s Land mode The SkyWalker and System mode settings differences window does not close until either the user closes it or exits SkyGuide Win This allows the user to attend to each discrepancy at their leisure Note several of the AKey and HighDrive assignments that are available in System mode are not available in SkyWalker mode Under the SkyGuide value column in the SkyWalker and System mode settings differences these are listed as Nothing for AKey assignments and AlwaysOff
11. 5 Chapter 2 SkyWalker Mode Operation ssssssessseesseesssesssoesssessseessecssoosssoessseesseessecssooessoessseesseessoossoosssse 7 Sky Walker Mode Introduction o a e ERR P EI EEE A TEENE dere EEN EE EARTE S 7 Use SkyWalker Mode etd E RH AA eee e E E elites 7 Tracking rates HP1 handpaddle operation in SkyWalker mode Chapter 3 Configuring SkyWalkerl for use in Sky Walker mode eee e eee ecce esee eene nne 13 Chapter 4 Connections Pin outs and Indicators eee e eee ee eee seen eee ee eene en nete taste ta setae seen aae 15 Top end connections and pin outs ccccccccccccccecccccccecccecececccscecececececececececececececececececscecececececececececececeses 15 TCS Telescope Control System Expansion Port 6 pin MiniDIN sees tentnn nette tenente nene tenerent 15 HD HighDrive port 8 pin MiniDIN Indicator LEDS ee 19 Normal Operation ist legac REIR EDU ee RR PRO EA A EE 19 Fault COnditi Ons e E 20 Chapters Hardware Setups usovsroissre tee ap SER OR REFUS SEN AENSNEVRMNS EAS YER ROUX SEP ben Xa RR YE OE AE ERA RE 21 Hardlimit T 21 GS ALITA M ean 21 Internal jut CST E 21 Chapter 6 Control of Telescope Accessories from Sky Walker1 s HighDrive Port 23 ERTAN ALE LITE n CIN a
12. High Drive diagnostics SkyGuide includes diagnostics that provide direct access to SkyWalkerl s HighDrive ports for diagnostic purposes When the HighDrive link on the Status Diagnostics Display Page is followed to the Status Diagnostics HighDrive Display Page see figure below the present High Drive assignments are disabled and the High Drive outputs can be individually toggled Diagnostics HighDrives BiDriveA BiDriveB UniDriveA UniDriveB UniDriveC UniDriveD Status Diagnostics Hig hDrives Display Page A High Drive output is ON if there is a symbol next to the High Drive name 26 Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual Chapter 7 Specifications Size SkyWalkerl 5 08 x 3 29 x 1 15 129 0mm x 83 5mm x 29 2mm HPI handpaddle 3 60 x 5 75 x 1 20 92mm x 146mm x 31mm excluding cord Internal Time base Accuracy 30ppm from 20C to 50C ambient Power Supply 2 5mm connector 10 8VDC to 14 2VDC Note when BiDrive outputs are powered at 12VDC the input voltage specification changes to 12VDC 10 100mA with handpaddle only and no accessories attached to the HighDrive or TCS Ports 2 75Amps with HighDrive amp TCS ports all at maximum load Environmental Requirements 20C to 50C ambient 5 95 relative humidity non condensing Motor step rate generation Issues up to 160 000 steps per second Axial Encode
13. RETETA E 23 O tput Characteristics sessa teosesse esios teen eene veo sasoe spee ESEESE Neno E ene Tenue ee vn v oa oo eo e uaa Nee ue oa en or eae voee o eoe e 23 Output Functions rider eee Seer eoe to eoe ee eoa eo eae La ee No eua vue eue No eu ao ee ua eU ave ve Ue eoe cu uev e eu aae ea eU ue No eu a ve e Eau ee Ua vo 24 High Drive diagnostics ieiio ie eee trio etras tette e eor eese cosins ossei pa UR Pao R0 eee eu UR PE RR AR SES seora ieo sosse i saosaoa 26 Chapter 7 Specifications s oi cds t oo e Deva EU Gu edi ER CER e Dd Hr UN EP RR UR R UR ER METRE EA Re eng 27 4 Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual Chapter 1 Introduction SkyWalkerl is a versatile telescope motor and accessory controller SkyWalkerl operates in one of two modes In SkyWalker mode SkyWalkerl is a complete telescope controller that generates Sidereal Lunar Solar King Custom tracking rates provides 5 programmable handpaddle rates including high speed slew and controls a multitude of accessories e g electric focusers dew heaters and many others SkyWalkerl controls motor drivers for which a step and direction input is available SkyWalkerl can generate up to 160 000 motor steps per second In System mode SkyWalkerl is connected to and controlled by SkyGuide for Windows a k a SkyGuide Win The resulting system has unmatched capability refer to the SkyGuide User s Manual for complete details All of SkyW
14. SkyWalker1 Owner s Manual Copyright 2002 Astrometric Instruments Inc Last revision date 8 Oct 2002 Written for Astrometric Instruments SkyWalkerl Telescope Motor and Accessory Controller This document can be ordered as Astrometric Instruments part DOC 05 SkyWalker1 Owner s Manual Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual Preface This document provides reference material on the use of SkyWalkerl The following companion documents provide important precursory information Introduction to the Astrometric Telescope Control System Using SkyWalkerli on Custom Telescope Mounts Astrometric Instruments part number DOC 03E Introduces the user to the Astrometric Telescope Control System and provides installation instructions for the SkyWalkerli system Note this document is shipped only with the integrated SkyWalkerl system SkyWalkerli however it is available to anybody that asks SkyGuide User s Manual Astrometric Instruments part number DOC 02 Describes how to use the Astrometric Telescope Control System in System mode Note Italicized words are names that are specific to Astrometric Instruments Telescope Control System components Copyright Astrometric Instruments Inc SkyWalker1 Owner s Manual Table of Contents Sky Walker Owner s Manual esoseeeix es qietk sque ve cker ee D An rine NURSE AAEE eA EE Ea SR DEAS VE RKO Sieen 1 CRapter I TIE O CUETO ih aeu RO SSA RARE E ROB MM
15. alkerl s SkyWalker mode features plus many more are available in System mode SkyWalkerl works with Astrometric Instruments HP1 handpaddle The handpaddle is used to provided keyed motion input to and change state within SkyWalkerl in SkyWalker mode SkyGuide Win and SkyWalkerl in System mode SkyWalkerl requires the following in order to operate as a telescope control system 12VDC regulated power supply SkyWalkerl requires 0 5 to 2 75 Amps depending on HighDrive loading Astrometric Instruments HP1 handpaddle included with SkyWalker1 Two Motors and external motor drivers with step and direction interface Cabling to provide power and connections to motors motor drivers SkyWalkerl s functionality dramatically increases when the following optional devices are connected to SkyWalkerl Windows95 98 ME PC running SkyGuide connected via SkyWalkerl s Com RS232 port With SkyGuide SkyWalkerl is used as part of a versatile and sophisticated telescope control system operating in System mode refer to the SkyGuide User s Manual Without SkyGuide SkyWalkerl still provides basic telescope control in SkyWalker mode Autoguider Optical encoders SkyWalkerl reads optical shaft encoders that track telescope position when the telescope is moved manually when connected to SkyGuide Devices controlled by the High Drive outputs Six High Drive outputs are available and configurable to dr
16. ble On time signal This type of output is appropriate to drive small D C motors such as for focus control and reticle LEDs or lights and indicators in general and other variable drive devices The fraction of time that PWM outputs are On can be set in increments of 1 15 from always Off to always On A High Drive output is On when it is sinking current A High Drive output is Off when it is not sinking current i e open circuit for UniDrive and sourcing current for BiDrive High Drive outputs always power up in the Off state As far as the voltage on a High Drive output is concerned In the On state the voltage is low SkyWalkerl s ground In the Off state the voltage is high for BiDrive and floating for UniDrive outputs Typically UniDrive outputs are used to pull current through a two terminal device such as a dew heater or illuminated reticle that has one terminal attached to the UniDrive output and the other terminal attached to the High Drive supply voltage Output Functions 24 There are many different functions available for the High Drive outputs The assignment of these functions to specific High Drive outputs is accomplished in SkyGuide via the nstrument Display from the Settings Control HighDrives Display Page or from the Settings Control Tab Possible assignments are listed in the following table the Valid outputs column lists the High Drive outputs for which the assignment ca
17. for HighDrive assignments with their System mode assignment provided in parentheses for reference While SkyGuide Win is reading writing SkyWalkerl s configuration memory SkyWalkerl s indicator LEDs except the Power LED which is always On are all Off and the HP1 handpaddle s Direction Key backlight LEDs display a rolling pattern Copyright Astrometric Instruments Inc 13 14 SkyWalker1 Owner s Manual Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual Chapter 4 Connections Pin outs and Indicators Important Do not operate SkyWalkerl with a telescope mounting that does not have axial limit switches connected into SkyWalkerl s HardLimit inputs on its axes See the next chapter for details on how to properly use the HardLimit inputs Top end connections and pin outs Note all views are looking into SkyWalkerl Power Switch On Off TCS Telescope Control System Expansion Port 6 pin MiniDIN Functions The TCS port provides for connection to future peripheral devices Included are connections for regulated 5VDC 12VDC and a proprietary two wire serial communications bus Pin out The TCS port pin out is Astrometric Proprietary HD HighDrive port 8 pin MiniDIN Functions 2 BiDrive outputs each capable of sourcing or sinking 250 mA from each other in a push pull configuration These two outputs are powered by SkyWalkerl s 12VDC input supply voltage or by the internal 3VDC 9VDC
18. ive several accessories including Focus motor Illuminated reticle eyepiece Dew heaters Dome control Camera Shutter control Copyright Astrometric Instruments Inc 5 SkyWalker1 Owner s Manual Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual Chapter 2 SkyWalker Mode Operation Note this chapter can be skipped if SkyWalkerl will not be operated in SkyWalker mode i e only in System mode SkyWalker Mode Introduction Once SkyWalkerl is properly connected to at least the HP1 handpaddle motor drivers and a power supply it is set to operate in SkyWalker mode In SkyWalker mode there is no need to connect a PC to SkyWalkerl SkyWalkerl and HP1 operate as a complete stand alone telescope control system and provide a working sub set of System mode capabilities Please refer to the SkyGuide User s Manual for complete details on using SkyWalkerl in System mode Important Do not operate SkyWalkerl with a telescope mounting that does not have axial limit switches connected into SkyWalkerl s HardLimit inputs See chapter 5 Hardware Setup for complete details on how to properly use SkyWalkerl s HardLimit inputs Important SkyWalkerl must be properly configured for use with each specific telescope mounting Therefore it is important that the instructions in Chapter 3 Configuring SkyWalkerl for use in SkyWalker mode be followed before SkyWalkerl is used to control a telescope To operate in
19. lker mode Fault Fault Condition Power KENN AERE slow slow E Pare P Pave connection broken fast fast fast SkyWalkerl configuration Flashing fast Flashing Flashing Flashing not yet programmed fast fast fast Internal error in Flashing fast SkyWalkerl code Notes 1 When SkyWalkerl is turned on the handpaddle should also turn on immediately and communications between SkyWalkerl and handpaddle should commence within one second at which point the Sync LED will go into a flashing slow state If SkyWalkerl does not find the handpaddle when powered up or if the connection to handpaddle is interrupted then SkyWalkerl will go into this mode Turn SkyWalkerl off check the connection to HP1 and turn SkyWalkerl back on again 2 Be sure to complete all the StartUp settings within SkyGuide Win and run SkyGuide Win in Land mode at least once before using SkyWalkerl in SkyWalker mode 3 Report this error to Astrometric Instruments Please provide a complete description of the situation leading up to this error 20 Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual Chapter 5 Hardware Setup For trouble free operation it is important that the connections to SkyWalkerl are done correctly For most installations SkyWalkerl is shipped as part of Astrometric s SkyWalkerli system The document titled Introduction to the Astrometric Telescope Control System Using SkyWalkerli on Custom Telesc
20. n be applied Function Valid Function Description Outputs Alarm All Output is linked to the Alarm function that is available from the Actions TimeTools Alarm Display Page When the Alarm is set the associated output will be On When the Alarm is not set the associated output will be Off AlwaysOff The output is always in its Off state AlwaysOn The output is always in its On state DomebDrive All Provides a signal to move the Dome Off assigned as No motion This function must be used with the DomeDir function Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual DomeDir All Indicates which direction i e left or right to move the Dome This function must be used with the DomeDrive function The polarity of DomeDir i e which output state is rotate left and which is rotate right is set from the Settings Control HighDrives Display Page FocusDrive BiDriveA Drives a focus motor at one of two speeds FastFocus motion occurs if the handpaddle is in Slew mode and SlowFocus motion occurs otherwise The FastFocus and SlowFocus rates i e PWM On time are set from the Settings Control HighDrives Focus Display Page The FocusDrive function must be used with the FocusDir function FocusDir BiDriveB Determines which direction i e in or out to move the focus This function must be used with the FocusDrive function The polarity of FocusDir i e which output state is out focus and which is in
21. ntly usable Event Key indicators When an Event key is depressed there can be a change of mode internal to SkyWalkerl The status of the particular mode is displayed on the Event Key indicators located above each Event Key Slew indicator Indicates the state of the handpaddle s Slew mode i e On or Off Copyright Astrometric Instruments Inc 9 SkyWalker1 Owner s Manual Assignable Key indicators Provides status on the associated Assignable Key function For instance when an Assignable Key is used to Mirror the left and right buttons the associated LED will be on if Mirror is enabled and off if it is disabled The View Track Display If the Track key is not depressed the four indicators in a vertical row at the lower left of the handpaddle indicate the present View Velocity as follows View Velocity 4 All indicators On View Velocity 3 Bottom 3 indicators On View Velocity 2 Bottom 2 indicators On View Velocity 1 Bottom indicator On When the Track key is depressed these four indicators show the present Track Rate as follows Sidereal Top indicator On Luna Top middle indicator On Sola Bottom middle indicator On King Bottom indicator On Custom Blinking top Sidereal indicator Drift No indicators ON The King tracking rate is a best fit approximation of the Sidereal tracking rate when compensated for refraction and averaged across the sky The Custom
22. oes here RxD receives RS 232 on this pin Signal ground TxD transmits RS 232 on this pin Copyright Astrometric Instruments Inc 17 SkyWalkerl Owner s Manual Encoder port MJ45 Function Provides connection for two optical shaft encoders and optionally two encoder indices The industry standard Tangent BBox pinout is supported Optionally the pinout can be configured to provide separate index inputs for Right Ascension or Azimuth and Declination or Altitude axis 5VDC power for encoders and optional index circuitry is limited to 100mA for each axis Pin out Tab goes here 8765432 1 Regulated SVDC DecQuadA Signal ground or optional DecEncIndex Associated cable SkyWalkerl is typically used with a Y encoder cable that brings two 4 conductor cables into the 8 pin Encoder port The ends of these 4 conductor cables are fitted with MJ12 6 pin modular plugs with the following pin out Tab No connect Signal ground Regulated 5VDC Quad B Astrometric Instruments can provide optical encoders of various resolutions that connect to this cable Quad A 18 Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual Motor driver port MJ12 Function SkyWalkerl contains two motor driver ports one for RA and one for Dec RA is used for Az and Dec is used for Alt on Alt Az telescopes The motor driver port provides Step and Dir signaling to external motor drivers This port al
23. ope Mounts Astrometric Instruments part number DOC 03E provided with the SkyWalkerli system provides complete information on making connections to SkyWalkerl using the cabling provided in the SkyWalkerli package For fully custom i e non SkyWalker1i applications it is assumed that the user with the help of the connection pin out information in chapter 4 can make the necessary connections This chapter provides details on HardLimit GearIndex and internal jumpers HardLimit The HardLimit connections are inputs that must be pulled to Signal Ground in order for the drive signals to be active Series connected mechanical limit switches placed on the telescope are used to accomplish this for ordinary operation These limit switches must be placed to protect against telescope movement beyond safety or mechanical limits When a limit switch is opened or the connection from the HardLimit input to Signal ground is broken for any reason the Step and Dir outputs are disabled and an error is raised in SkyGuide GearIndex The use of the RA GearIndex is required for Periodic Error Correction The GearIndex provides the home position for Periodic Error Correction The GearIndex signal inputs are pulled high within SkyWalkerl so that both open collector and push pull index outputs can be used It is simply necessary to pull down the GearIndex inputs for more than 650 microseconds to register an index event Astrometric Instrumen
24. r sampling rate Detects up to 20 000 encoder quadrature transitions per second PC Comm port MJ 11 used in System mode e 9600 Baud 1 Stop bit No Parity 50 ft 15m maximum Copyright Astrometric Instruments Inc 27
25. regulator ideal for NGF motorized focusers 4 UniDrive outputs each capable of sinking 500mA The 4 UniDrive outputs are limited to a total draw of 1 0Amp These UniDrive outputs are powered by SkyWalkerl s 12VDC power supply or by the internal 3VDC 9VDC regulator Note Total current from the internal 3V 9V regulator cannot exceed 500mA Copyright Astrometric Instruments Inc SkyWalker1 Owner s Manual Pin out UniDriveA UniDriveB AG AutoGuider port 6 pin MJ12 Function This connection is for an AutoGuider and uses the industry standard 6 pin MJ12 modular connector pinout An SBIG relay adapter box is not required Pin out Tab goes here HP handpaddle port 8 pin M45 Function Provides connection to SkyWalkerl s HP1 hand paddle The required cable is included with HP1 Pin out The HP port pin out is Astrometric Proprietary 16 Copyright Astrometric Instruments Inc SkyWalkerl Owners Manual SkyWalker1 Bottom end connections Note all views are looking into SkyWalkerl Pwr 2 5mm x 5 5mm Function Connection for 12VDC power supply Pin out Center contact is positive and outside contact is ground Com port Handset MJ MJ11 Function Provides RS 232 connection to the PC running SkyGuide SkyWalkerl is provided with a Com cable that includes the MJ11 connection on one end and an industry standard 9 pin female D Sub DB 9F RS 232 connection on the other end Pin out Tab g
26. rom Autoguider input This section describes how to use SkyWalkerl in SkyWalker mode and as such the instructions primarily involve how to use the HP1 handpaddle This section is largely redundant with chapter 8 Telescope Control Features Handpaddle Joystick and Autoguider in the SkyGuide User s Manual Operation in SkyWalker mode is entirely done from the HP1 handpaddle HP1 handpaddle operation is identical in SkyWalker mode and System mode with the exception that some of the AKey and HighDrive assignments that are available in System mode are not available in SkyWalker mode Tracking rates Copyright Astrometric Instruments Inc 7 SkyWalker1 Owner s Manual After powering up in SkyWalker mode SkyWalkerl will be issuing RA motor steps at the Sidereal tracking rate if programmed for use on a Polar aligned instrument If programmed for use on an AltAz mount no tracking pulses will be issued at start up SkyWalker mode provides 6 tracking rates Sidereal Lunar Solar King Custom and Drift The rates that each of these track at is programmed from SkyGuide Win see chapter 3 HP1 handpaddle operation in SkyWalker mode Types of HP1 keys There are three types of keys on the HP1 handpaddle Direction Keys are the four large red backlit keys arranged in a diamond pattern and are used to initiate motion or perform alternate functions with the Enable Keys Event Keys cause a one time event i e command to occur
27. so includes HardLimit and GearIndex inputs The use of HardLimit is highly recommended to prevent telescope motion outside of acceptable limits The use of the RA GearlIndex is required for Periodic Error Correction See the next chapter for information connecting to and using HardLimit and GearIndex The Step and Dir signals are designed to interface directly to 20mA current loop interfaces 5VDC is available to power the HardLimit and GearIndex circuitry but is limited to 50mA for each motor port Pin out Tab goes here 654321 Pin 6 Indicator LEDs Normal operation SkyWalkerl s four indicator LEDs have the following functions in Sky Walker mode l 2 Power indicator Lit if SkyWalkerl is powered up PMEC indicator Normally off since PEC and backlash compensation is not available in SkyWalker mode LBatt indicator Lit if under voltage is present on the power port In battery powered systems this indicates eminent battery failure Sync indicator Slowly flashes to indicate operation in SkyWalker mode When SkyWalkerl is powered up but not yet communicating with the handpaddle the Sync indicator will flash rapidly All indicators will dim brighten on command from the Handpaddle Copyright Astrometric Instruments Inc 19 SkyWalkerl Owner s Manual Fault conditions SkyWalkerl is designed to use its Power PMEC LBatt and Sync indicator LEDs to display various fault conditions when in SkyWa
28. ts provides an optional GearIndex board that includes an optical interrupter circuit through which for example a disk with a slot can past to provide a GearIndex event once per worm revolution The thickness of the gap that this circuit provides for the disk can be 0 2 0 3 0 4 0 5 or 0 6 the value must be specified when ordering Internal jumpers There are several jumpers internal to SkyWalker1 that are used to select the operating voltage for the UniDrive and BiDrive outputs and to configure the Encoder port These jumpers can only be changed in the factory and are set for the following default configuration can be re configured prior to shipment or by returning SkyWalkerl to the factory 9VDC for the BiDrive outputs ideal for JMI NGF series of focusers Optionally 3VDC can be selected for many of the newer NGF DX series 12VDC can also be selected but this will require that a 12VDC 5 power supply be used to power SkyWalkerl 12VDC for the UniDrive outputs suitable to control SkyRad Astrometric Instruments modified SkyRad which provides connection to several commonly used telescope accessories such as cable powered reticle Kendrick Dew Heaters and SkyRad s reticle and Dew Heater Tangent BBox pinout for the Encoder port Optionally the Encoder port can be configured to receive separate index inputs for each of the telescope s axis Copyright Astrometric Instruments Inc 21 22 SkyWalker1 Owner s Manual
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