Hardware User Manual
Contents
1. Status Bit Name Description 0 IDLE Currently idle All commands are valid 1 HOMING Currently running a homing routine 2 MOVING Currently running an absolute or relative position move 3 JOGGING Currently running a velocity move 4 TRAJECTORY WAITING Trajectory has been initialized and is waiting to start 5 TRAJECTORY RUNNING Currently running a trajectory 6 UPLOADING TRAJECTORY Eb uploading a trajectory to the Example Assume that the SkyScan is currently running a trajectory and jogging at the same time Sending the 5 command to the SkyScan would return 40 40 can be represented in binary as shown below You will notice that bits 3 and 5 are set while the rest are not set Bits 3 and 5 correspond to the statuses JOGGING and TRAJECTORY RUNNING so it can be seen that the SkyScan is currently both running a trajectory and jogging Bit 65432 Value 01110 o A 6 14 1 Command Format S Oise 6 14 2 Parameters None 6 14 3 Command Hesponse n The current status variable 6 14 4 Error Codes None 32 SkyScan4 Hardware User Manual Version 1 0 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 see Section 6 11 or the start trajectory command see Section 6 62. Command Description Idle Section is Prints out a help menu which summarizes the commands Y 6 3 Cn Reports a configuration parameter Y 6 4 Cn Sets a configuration parameter Y 6 5 G Starts a trajectory Y 6 6 H Starts a homing routine Y 6 7 Reports the current axis offsets from the trajectory N 6 8 P Reports the current axis positions N 6 9 P a z v m Moves the axes to the specified positions Y 6 10 5 Stops all motion N 6 11 S1 Stops the position or velocity mode motion N 6 12 52 Stops the trajectory mode motion N 6 13 5 Reports the current operating status N 6 14 Initializes a trajectory mode move Y 6 15 T n t Defines a new trajectory Y 6 16 Reports the current axis velocities N 6 17 V a z Moves the axes at the specified velocities Y 6 18 X Exits custom command mode Y 6 19 TeraTerm is an easy to use free serial terminal application for Windows http ttssh2 sourceforge jp 26 SkyScan4 Hardware User Manual Version 1 0 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 The commands that can take a while to complete homing routine trajectory etc will return an acknowledgment of the command immediately and then follow up with a completion response when the routine is completed This prevents a user application from eve
3. 37 8 2 Contact Information in niei ciperepccicde in ry RR ERR 06 37 Appendix A SpeoelfiGatiOras u cnin cone deur edo Ud 39 LII E E 39 passa Sco S Conse sei ERA TT 39 WINdOW ERES 39 aao tP RH 40 Appendix B Outline Drawings 41 Mounting Flange Layout 5 eoo 41 Side Profile nne Stee he eas J a 42 Mel CO TDI 43 Appendix Bluetooth Adaptor 45 Appendix D Firmware Update Procedure 49 Table of Figures of Figures Figure 1 Typical System Components n nnne rne nnne nnne nnns 9 Figure 2 Brush and Slip Ring 10 Figure 3 SkyScan Coordinate System eene enne nennen nennen nennen nenne 11 Figure 4 Top Down Coordinate System 12 Figure 5 SkyScan in Parked 12 Figure 6 SkyScan4 Shipping Locks
4. nnne n nennen nennen een 52 Figure 23 SMI Upload Progress oce ense eaaa E EEn ENA ATEEN E EEE A AA 52 Figure 24 SMI Upload Finished crai eee E iA A 52 vi SkyScan4 Hardware User Manual Version 1 0 This page is intentionally blank Section 1 Introduction 7 1 Introduction Thank you for purchasing a Keo SkyScan4 system from Keo Scientific This latest version of our SkyScan system is the culmination of several years of design iterations and is our most capable system yet The Keo SkyScand 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 Rotation about the vertical axis varies the azimuth compass bearing of the pointing direction while rotation about the horizontal axis varies the zenith angle of the pointing direction Both axes are capable of full 360 degree continuous rotation through the use of electrical brushes and slip rings for power transfer and Bluetooth for communication This improvement over our legacy systems which were limited to approximately 200 degrees of azimuth travel and required complicated calculations for achieving full 360 degree pointing allows for simplified control of the device and smooth tracking of trajectories The SkyScan system is suitable for use with space weather aeronomical and surveillance instrument
5. essen nnne nnne nennen nnne nennen nenne 19 Figure 7 Azimuth Window Palaruan a a a E D d RR Ec DOS 20 Figure 8 2 eene te le ebrii Enea DO ERR ene ic Duce 20 Figure 9 Correct DIP Switch Positions nener ieioea iimte a n ekaa kEi ei aai Eka eaea E 45 Figure 10 5010000 Device Information Settings Page sseseseeeeeeeeeeeeenenn nennen 45 Figure 11 SD200 Device Information Settings Page ssessseseeeeeeennreenneeenn nennen 46 Figure 12 50200 Waiting for Connection essen nnne nennen nennen nen 46 Figure 13 5010000 Connection out Settings eene 47 Figure 14 ParaniWIN Connection Successful 47 Figure 15 5010000 Device Setting Page nennen nnne nennen nnn 48 Figure 16 ParaniWIN Configuration Complete 00 nnn 48 Figure T7 SMEP ort eere da eee es 49 Figdre 18 View Layouts eec ne eontra tr bestie eet rr 50 Figure 19 SME Bex ENY aa Aa ee 51 Figure 20 SMI Response TO Xl vices eei dee rea eed eee des 51 Figure 21 SMI Browse for SMX File eene nnne nennen nennen nen AENA Y nenne 51 Figure 22 SMI Select Motor Dialog
6. 23 5 2 Communicating with the 4 24 5 3 Firmware Updates 1 2 1 e cuna sas ccauaxssccanadsescenadsenanassreconadernccnadseaccnadsrsccs 24 Command Belerehib gs eise cue Duda ori EA abet cannon etae 25 6 1 Command Overview enini ashlee sheets ee 25 6 2 Error Codes uiuis idees cena esi vere ccc aN aaa E daaa aaia iaaa SAEN ai 26 6 3 Help Menu Command 1 eee eiiiieeeeeeenen eee i einen aaa 26 6 4 Report a Configuration Parameter 26 6 5 Seta Configuration Parameter 27 6 6 Start a Trajectory Command 27 6 7 Start a Homing Routine Command 28 iv SkyScan4 Hardware User Manual Version 1 0 6 8 Report Axis Offsets 28 6 9 Report Current Axis Positions Command 28 6 10 Move to Position 29 6 11 St
7. SkyScan4 Articulated Mirror Assembly Hardware User Manual Version 1 0 Copyright 2004 2012 Keo Scientific Ltd Suite 404 1300 8 St SW Calgary Alberta Canada T2R 1B2 TEL 1 403 452 7222 FAX 1 403 206 7680 All rights reserved No part of this publication may be reproduced by any means without the written permission of Keo Scientific Ltd Printed in Canada Windows is a registered trademark of Microsoft Corporation SmartMotor and Combitronic are registered trademarks of Animatics Corporation Pelican is a registered trademark of Pelican Products Inc PowerGrip and GT are registered trademarks of Gates Corporation 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 Revision of this publication may be issued to incorporate such change Table of Contents iii lable of Contents DM 7 2 System COMPONCHIS truncata 9 2 1 System Components Overview seeeeessccsensseeeeeeesececeenseeseeeeeseaussnseeeeessooooaannes 9 2 2 SkyScan Urit hss scissile 9 2 2 1 Drive Systeri ciii Sided Gh eta n c REC eg ERRARE e 9 2 2 2 Electrical Brush System sis id ante ner
8. ParaniWIN 4 Hard Reset Return Parani SD ESD to factory default setting Infomation Operation Mode MODEO Standby status for Bluetooth connection P This Parani SD shall connect to the last connected device only Device Setting MODE2 This Parani SD shall be connected from the last connected device only 3 C MODE3 Allow any Bluetooth devices discover connect to this Parani SD Connection out Device Setting RS 232 Device Name 8 SD1000Uv2 0 1 0CA4E5 S Baud Rate 115200 Connection in Security Option Parity None Bd Authentication Encryption Eh StopBit Pin Code Connection Wizard Hardware Flow Control Command Response oj c ON C OFF Note The device isnt set up to AT command mode The RS 232 configuration menus are inactive The device with Dip switchs cannot be set up to SW flow control Apply Figure 15 SD1000U Device Setting Page 12 In the SD200 instance of ParaniWIN change the Operation Mode to MODE2 the Command Response option to OFF and then click the Apply button You will get the dialog shown in Figure 16 indicating success Click OK to dismiss this dialog pareniWiN A Completed configuration Figure 16 ParaniWIN Configuration Complete Dialog 13 In the SD1000U instance change the Operation Mode to MODE7 the Command Response option to OFF and then click the Apply button You will get the dialog shown in Figure 16 indica
9. SkyScan4 Hardware User Manual Side Profile 42 z i 1 L Laois 2 1 5 V S 2 EAR 325 ON Lav 949 90290 omama vna BYOd pUDDSAYS zc TEENE ui STYAOSdd 224 EOP OL zalazi By s MS IS 0061 2010905 ooy Url la yv 48 1 O t NOILVIO3 t SIXY HIIN3Z r 0 NOILVIO3 JO SIXV HLAWIZ 1 T c T z 7 1 7 43 Outline Drawings Appendix B Top Profile 1 dO 1 13395 c IYS 31 25 LON OQ 3as NONGA iiid 0 hunursz uot vna PIT DYsUBIOS 08x NOU VIO3 SIXV HIIN3Z po B 44 SkyScan4 Hardware User Manual Version 1 0 This page is intentionally blank Bluetooth Adaptor Configuration 45 Appendix Bluetooth Adaptor Configuration Install ParaniWIN using the installer found on the Documentation and Utilities CD in the Utilities ParaniWIN folder Check the DIP switches on both adaptors and ensure they are in the ON ON OFF OFF positions as
10. All references to cardinal directions north south east and west in this manual are with respect to the earth s geographic coordinate system not the magnetic coordinate system Aligning the device with magnetic north may cause significant errors in the pointing accuracy of the system The SkyScan system uses a spherical coordinate system defined by an azimuth angle and a zenith angle where the azimuth angle is measured clockwise from north and the zenith angle is measured from the zenith in the direction of the azimuth angle see Figure 3 Since all possible points can be described with a 0 to 360 azimuth range and a 0 to 180 zenith range negative zenith values are not strictly necessary The SkyScan will however accept negative zenith angles which are simply interpreted as a positive zenith angle in the azimuth angle 180 azimuth direction Note The SkyScan mounting plate is designed so that the power connector is oriented in the south direction Figure 3 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 For example an azimuth angle of 110 and a zenith angle of 45 would be represented as 110 45 Due to the optical geometry of the SkyScan unit the azimuth head will always appear to be lagging the actual azimuth pos
11. 6 15 1 Command Format 1505 6 15 2 Parameters None 6 15 3 Command Hesponse 10 Success 6 15 4 Error Codes None 6 16 Define a New Trajectory Command This command starts the upload of a new trajectory into the SkyScan This command needs to be immediately followed by the trajectory data The SkyScan will return a 1 after each trajectory pair is successfully saved in the device Do not send another trajectory pair until you have received the acknowledgment that the previous pair has been successfully saved Example You have a trajectory with 3 data points that are separated by 5 seconds You would send the following to the SkyScan Sent to SkyScan Received from SkyScan 1 1 23 4 56 CR il iL 4 56 7 89 lt CR gt il 6 16 1 Command Format AP Tal gt il ICR ela 2076 ZR QM AAC MOC Re ER 6 16 2 Parameters Section 6 Command Reference 33 Q ux 750 ie The time in seconds between pairs Q lt amp 32767 az n An azimuth position in degrees zie DOSL tiOn im 6 16 3 n The number of azimuth zenith pairs in the trajectory ili Success 6 16 4 Error Codes i Number of pairs out of range 2 Time between pairs out of range 10 Error parsing floating point number 6 17 Report Curr
12. axis due to limitations put in place by having wired power and communications The new SkyScan uses a two pronged approach to get around this limitation electrical brushes and brass slip rings for power transfer into the rotating device and Bluetooth wireless communications for communicating with the device This allows for full 360 continuous rotation about both axes No longer is it necessary to flip the zenith axis to the inverted position to point in some directions There are two sets of four brushes four on the inner slip ring and four on the outer slip ring This quad redundant brush configuration allows for a continuous uninterrupted supply of power while the device is rotating while at the same time supporting the full 10A maximum current draw from the servo motors Figure 2 Brush and Slip Ring Layout 223 Bluetooth Wireless Communication The Bluetooth wireless adaptors used with the SkyScan are industrial grade and designed specifically for replacing serial cables These adaptors are shipped paired with each other so that all the user has to Section 2 System Components 11 do is install a driver and plug the USB adaptor into the host computer The SkyScan will appear as a regular serial COM port on the host computer that can be opened and used as you would any other serial port This allows for maximum compatibility with a wide range of host environments 2 2 4 Coordinate System Important Information
13. ec et RE re entes 10 2 2 3 Bluetooth Wireless Communication 10 2 24 Coordinate System nn hiec i cendo NA eO ERE ERROR RENE ERR DER 11 2 3 Power Supply enero eI 13 venter nk mec 13 2 5 Bluetooth Adaptors ecol cuiii iei ilice cusa 13 2 6 EET 13 2 7 14 dIpstallatioh OVer VEO cive 15 System SOUP 17 E mE 17 4 2 System REQuireMent 3 1 cia 17 43 Unpacking the aaan ada Aa AdoMet 18 4 4 Equipment and Parts Inventory 19 4 5 Preparing the Mirrors and 20 4 6 MOUNTING EM C 20 4 7 Driver Installation 1 1 ciere ri Ice Le NER nc 22 4 6 Software Installation idus 22 5 r Opel allOT E sco0o22 522202220222082 2222022 222202220222022 222 02222522022 222 02220922022 0222022202220 0 022208 0 0 22 23 5 1 The First Power Up ace sus a
14. homing routine This value is adjusted so that after a homing routine the zenith axis is properly aligned in the 180 position pointing straight down 7 2 1 Command Format Cll ia CRE 7 2 2 Parameters n The number of encoder counts to apply as an offset 36 SkyScan4 Hardware User Manual Version 1 0 7 2 3 Command Response 1 Success 7 2 4 Error Codes il 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 There are three different modes linear spline with non periodic data and spline with periodic data Linear mode This mode performs linear interpolation between each of the data points in the trajectory No smoothing is applied Spline with non periodic data mode This mode performs spline interpolation and assumes that the trajectory does not wrap from the end to the start This has the effect of there being zero curvature to the trajectory at the end points This is the default option Spline with periodic data mode This mode performs spline interpolation and assumes that the trajectory wraps from the end to the start This has the effect of the curvature of the trajectory at the end points being matched 7 3 1 Command Format CAR Ta SCIRE 7 3 2 Parameters n The interpolation mode 0 Lin
15. it 1 Locate the device driver for the SD1000U adaptor a Navigate to Drivers SD1000U Bluetooth USB Adaptor on the software CD or b Goto http www ftdichip com Drivers VCP htm to download the latest driver available for your operating environment 2 Install the device driver There are installation guides available from FTDI for the various different operating environments http www ftdichip com Support Documents InstallGuides htm 3 Connect the SD1000U adaptor to the host computer It will be detected and installed as a COM port You can determine the COM port number of the SD1000U by navigating to the Windows Device Manager Start Control Panel Device Manager and then expanding the Ports COM amp LPT section The SD1000U is installed as a USB Serial Port Depending on the other devices installed in your system there may be multiple USB Serial Ports In that case you may need to use trial and error to find the correct port 4 8 Software Installation The SkyScan4 ships with Keo SkyScan Control Software which can be used to control the SkyScan from a Windows based PC running Windows XP or newer Please refer to the SkyScan Control Software User Manual for instructions on installing and running this software Section 5 Operation 23 5 Operation Once the SkyScan4 has been installed as explained in the preceding chapters operation of the system is straightforward 5 1 The First Power Up Before powering up the Sky
16. locks are not removed before applying power however it is recommend to avoid this situation After successfully mounting the SkyScand 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 The azimuth axis will feel considerably stiffer because it uses a much higher gear reduction ratio than the zenith axis The SD200 Bluetooth Serial adaptor for the device is shipped detached from the SkyScan4 At this point it is safe to install the adaptor by first removing the DB9 dust cover from the azimuth motor connector shroud and attaching the adaptor in place Tighten down the screws to secure it Your SkyScan4 is now ready for operation 22 SkyScan4 Hardware User Manual Version 1 0 4 7 Driver Installation The only driver that needs to be installed before you can start communicating with your SkyScan is the SD1000U Bluetooth USB Virtual COM Port VCP driver This will cause the SkyScan device to appear as an additional COM port available to your PC Application software can access the device the same way it would access a standard COM port Note Please leave the SD1000U Bluetooth USB adaptor disconnected from the host computer until you have installed the device drivers for
17. standard 3m 10 NULL modem serial cable has female DB9 connectors This cable is used to interconnect the host PC with one of the axes of the SkyScan4 for upgrading the device firmware 2 5 Bluetooth Adaptors 2 6 User Manuals Sena Parani SD200 Bluetooth Serial Adaptor This adaptor is installed on the azimuth axis of the SkyScan4 and forms the device end of the wireless communication bridge between the device and the host computer Sena Parani SD1000U Bluetooth USB Adaptor This adaptor is installed on the host computer and forms the host end of the wireless communication bridge between the device and the host computer 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 CD SkyScan Control Software User Manual This manual describes how to install and use the application program A PDF version of this manual is provided on the Documentation and Utilities CD 14 SkyScan4 Hardware User Manual Version 1 0 2 7 Software SMARTMOTOR INTERFACE SkyScan Control Software The SkyScan4 system can be operated by using the SkyScan Control Software Keo Scientific s Windows software designed specifically for controlling the SkyScan4 This software can be used to manually control the device or automatically control it using a pre determined trajectory It also has the capability of running in Hel
18. will be using to run the system Refer to the manual supplied with the software for information about installing and setting it up 4 2 System Requirements 421 Environmental Requirements Storage temperature lt 80 C Operating environmental temperature 5 C to 70 C Relative humidity lt 30 non condensing 42 2 Power Requirements The SkyScan unit receives its power from the supplied power supply which in turn plugs into an AC power source Power supply input voltage range 100 VAC to 240 VAC 50 60 Hz Power supply input current 6 3A 18 SkyScan4 Hardware User Manual Version 1 0 423 Mechanical Requirements A sturdy platform capable of supporting 50lbs 18kg The more rigid the platform the smoother the operation of the SkyScan will be during quick acceleration and deceleration 42 4 Host Computer Note Computers and operating systems all undergo frequent revision The following information is only intended to give minimum computer requirements Please contact Keo Scientific to determine your specific needs The SkyScan system needs a host computer to communicate with and control it The SD1000U Bluetooth USB adaptor provided with the system will work on virtually any operating system in both 32 bit and 64 bit environments Windows XP or newer Linux or Mac OS X Drivers for these environments can be found on the Documentation and Utilities CD in the Drivers SD1000U Bluetooth USB Adaptor folder The SkyScan Control Sof
19. 32 1 9 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 Tech Spec High Efficiency Antireflection Coated Windows 100 90 Transmittance e e 400 450 500 550 600 Wavelength nm 99 Typical Light Transmittance 650 700 40 SkyScan4 Hardware User Manual Version 1 0 Mirrors cenitin Lr 8 169 194 Dimensions mm 127 x 17 Thickness mm 6 0 Surface Accuracy A 4 6 per inch Substrate Soda Lime Float Glass Coating Enhanced Aluminum gt 90 from 400 650nm TECH SPEC First Surface Mirrors Incident Reflected Light ight 90 First Surface is Coated Second Surface is Uncoated 41 Outline Drawings Appendix B TT avs 98110 bu IIAW gUOOSAIS 1 09 cov 191 o ON 1394 291551 av 6 MS 5 0051 PIT 08x Qq3ovads Tiv Oc v 1 SIHL LV YOLOANNOD 33MOd NY 91 8 Tiv naHLSce x9 dO JONV14 040 Appendix Outline Drawings Mounting Flange Layout Version 1 0
20. EP 6 19 2 Parameters None 6 19 3 Command Hesponse ill Success 6 19 4 Error Codes None Section 7 Configuration Parameters 35 Configuration Parameters There are several different configuration parameters available on the SkyScan These parameters affect the operation of the device and should only be modified if you know exactly what you are doing 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 7 1 Parameter 0 Azimuth Home Offset This parameter is the offset in encoder counts between the 0 position of the mounting flange and the position the azimuth axis homes to during a homing routine This value is adjusted so that after a homing routine the azimuth axis is properly aligned with the 0 position of the mounting flange 7 1 1 Command Format CO n lt CR gt 7 1 2 Parameters n The number of encoder counts to apply as an offset 7 1 3 Command Response il Success 7 1 4 Error Codes li Syntax Error if n isn t a proper number 7 2 Parameter 1 Zenith Home Offset This parameter is the offset in encoder counts between the vertical and the position the zenith axis homes to during a
21. Figure 22 SMI Select Motor Dialog 18 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 23 When the upload finishes you should see a Finished No Errors No warnings message in the Information window at the bottom of SMI as shown in Figure 24 Transmitting C Users dwyatt Desktop SkyScan Firmware 1 0 SkyS can4 Firmware 1 0 Azimuth smx 14806 0009000000000 Figure 23 SMI Upload Progress Description i Transmitting C Users dwyatt Desktop SkyScan Fimware 1 0 SkyScan4 Fimmware 1 0 Azimuth sms 14806 bytes to Motor Address 1 Com3 i Finished No errors No warnings For Help press FL Figure 24 SMI Upload Finished 19 Now we need to repeat the firmware upload procedure for the zenith axis a First move the NULL modem serial cable from the azimuth axis to the zenith axis The zenith axis does not have a custom command interpreter so it is not necessary to send the X CR command b Now repeat steps 15 through 18 with the following exceptions i In step 16 select the file with Zenith at the end of the filename ii In step 17 enter the number 2 in the Motor Address box 20 After the zenith firmware has been uploaded close SMI and power cycle the SkyScan It should perform its homing routine as normal and then be ready to use
22. SD200 Bluetooth Serial adaptor to the azimuth axis Section 4 6 Mounting page 20 Remove the shipping locks If the device drivers are not already installed in the host computer install them and connect the SD1000U Bluetooth USB adaptor Section 4 6 Mounting page 20 Section 4 7 Driver Installation page 22 9 Turn the device ON 10 Turn on the computer and begin running the application software SkyScan Control Software Manual 16 SkyScan4 Hardware User Manual Version 1 0 This page is intentionally blank Section 4 System Setup 17 4 system Setup Caution To minimize the risk to users or to the system equipment turn the system OFF before any cables are connected or disconnected 4 1 Introduction The Keo SkyScan4 system consists of three hardware components SkyScan unit e Power supply e Cables All of the components and cables required to use the SkyScan are included with your shipment Keep all of the original packing materials so you can safely ship the 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 Hardware installation will consist of e Mounting the SkyScan in the desired location e Connecting various cables and wireless devices Software installation depends on the application software you
23. Scan4 for the first time please ensure that all items in the below checklist have been completed Item SkyScan4 is securely mounted Mirror protective plastic removed Aperture window protective plastic removed Shipping locks removed 360 degree rotational test for clearance complete for both the azimuth and zenith axes SD200 Bluetooth Serial adaptor installed on SkyScan SD1000U Bluetooth USB adaptor installed on host computer It is now time to connect the power supply and power up the SkyScan4 First plug the power supply into the wall and ensure that the power switch is in the OFF position the LED indicator on the front of the power supply should not be illuminated Now connect the SkyScan4 tether between the SkyScan4 and the power supply Caution Make sure the power tether is routed so as to not interfere with the motion of the 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 back of the power supply to the ON position The indicator on the switch and on the front of the power supply will illuminate The SkyScan4 will now start searching for the home position of each axis The automatic homing routine used by both axes is detailed below 1 The axis starts moving in the positive direction Motion continues until the magnetic sensor detects the homing magnet and moves past it at which poin
24. Velocity out of range 4 Invalid mode 30 SkyScan4 Hardware User Manual Version 1 0 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 6 11 1 Command Format S lt CR gt 6 11 2 Parameters None 6 11 3 Command Response T Success 6 11 4 Error Codes None 6 12 Stop Position and Velocity Motion Command This command stops any motion that is the result of a position or velocity move command see Sections 6 10 and 6 18 6 12 1 Command Format SINE CRA 6 12 2 Parameters None 6 12 3 Command Response 1 Success 6 12 4 Error Codes None 6 13 Stop Trajectory Command This command stops any motion that is the result of a trajectory start command see Section 6 6 6 13 1 Command Format SZE ORA 6 13 2 Parameters None Section 6 Command Reference 31 6 13 3 Command Hesponse ili 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
25. aniWIN will connect and display the Device Information page as shown in Figure 11 ParaniWIN 4 Device Name PSD200v1 1 7 OEBF2F Infomation Device Bluetooth Address 0001950EBF2F Current Mode MODEO Current Status Standby Device Setting Security Authentication Dont use 3 Encryption Dont use Connection out 8 Uart Setting S Baud Rate 115200 Connection in StopBit One Stopbit PT Parity 3 No Parity H W Flow control Dont use Connection Wizard REFRESH Figure 11 SD200 Device Information Settings Page 7 Onthe SD200 instance of ParaniWIN change to the Connection in settings page and click Start at the bottom This will make the device discoverable to other Bluetooth adaptors You will now have 300 seconds 5 minutes to find and connect to this device ParaniWIN i Device Info Bluetooth Address 0001950EBF2F Mode MODEO Infomation Device Name PSD200v1 1 7 OEBF2F P Option Device Setting Other Bluetooth Devices can discover this Parani Inquiry scan 3 Allow other Bluetooth Devices to Connect Page scan Connection out Seconds for waiting connection B fg If you set the time for waiting connection to 0 it will wait infinitely Connection in 300 Second Connection Wizard Status Waiting Connection Figure 12 0200 Waiting for Connection Bluetooth Adaptor Configuration 47 8 On the SD1000U instance of ParaniWIN change to the Conne
26. aracters specified in hexadecimal to the SkyScan We need to do this because the SkyScan requires a carriage return at the end of the command but SMI doesn t use carriage returns We will be adding the carriage return as a hexadecimal number 11 In the Serial Data Analyzer window find the string entry box which is just to the left of the Send button Enter the following in this box 58210D Appendix D Firmware Update Procedure 51 SMI will format the entry into three 2 digit hex numbers as you type in the string as shown in Figure 19 For those interested these three hex numbers 58 21 and 0D are the ASCII character codes for the characters X and CR 582100 zu Char Hex C Dec Figure 19 Hex String Entry 12 Click the Send button This will transmit the character string to the SkyScan The command you just sent will now appear as green text in the Serial Data Analyzer window Below it you should also see some blue text This is the response from the SkyScan If everything went as planned it should read 31 0 which is 1 CR when converted to ASCII characters If this is not the response you got power cycle the SkyScan and after the homing routine has finished try sending the command again starting from step 11 Serial Data Analyzer Com3 4 5 Ethemet USB CAN Channel 0 58 21 0D b31 Figure 20 SMI Response to X 13 Now close the Serial Data Analyzer windo
27. ation such as photometers narrow field imagers and Fabry P rot Interferometers FPls It can also be used as a heliostat or trajectory tracker High reflectance first surface quality mirrors and a high transmittance entrance window are used to minimize light loss through the system Modern servo motor technology is used drive the axes to provide fast repeatable and high precision pointing or scanning All that is needed to communicate with and control the SkyScan system is a suitable computer with an available USB2 port SkyScan4 Hardware User Manual Version 1 0 This page is intentionally blank Section 2 System Components 9 2 oystem Components 2 1 System Components Overview A standard SkyScan4 system consists of the SkyScan unit a power supply with AC cord a tether cable two Bluetooth adaptors one with USB power cable a NULL modem serial cable user manuals and software CDs 15m A NULL Modem Cable 5010000 Bluetooth USB Adaptor Power Supply 120 240 VAC gt Software CDs SD200 Bluetooth Serial Adaptor User Manuals Figure 1 Typical System Components 2 2 SkyScan Unit This is the main component of the SkyScan system It is a self contained unit comprising two mutually perpendicular axes azimuth and zenith each of which has an Animatics SmartMotor for precise motion control 22 1 Drive System This new and improved SkyScan4 uses PowerGrip 2 synch
28. ction out settings page and click Search button This will scan for any Bluetooth devices that are accepting connections The SD200 device should be found and listed in the Search Result table It will be the one starting with PSD200 Device Info Bluetooth Address 0001950 4 5 Mode MODEO Infomation Search Result ZB Bluetooth Address Device Name CoD 0001950EBF2F PSD200v1 1 7 0EBF2F 001200 Device Setting Connection out Z e Connection in Search 10 Define the number of nearby devices to be searched t Connect Connect to Specified devices Connection Wizard Drop the Connection Signal Strength Test Note MUST push STOP button after startting on measuring Figure 13 SD1000U Connection out Settings Page 9 Select the SD200 device in the Search Result list and click the Connect button You should get the following dialog box in both instances of ParaniWIN Click OK to dismiss these dialogs ParaniWIN Connected successfully Figure 14 ParaniWIN Connection Successful Dialog 10 Now click the Disconnect button on the Connection out settings page in both instances of ParaniWIN This will force the adaptors to drop their connections to each other This is necessary to change the rest of the settings 11 Switch to the Device Setting settings page in both instances of ParaniWIN 48 SkyScan4 Hardware User Manual Version 1 0
29. d Format Cn x CR 6 5 2 Parameters n The ID of the configuration parameter to set x The value to use for setting configuration parameter n 6 5 3 Command Hesponse ili Success 6 5 4 Error Codes 1 Invalid configuration parameter ID 2 Invalid configuration parameter value 6 6 Start a Trajectory Command This command starts a trajectory and is only valid after the initialize trajectory command see Section 6 15 has been used 6 608 Command Format G lt CR gt 6 6 2 Parameters None 6 6 3 Command Response 1 Success 6 6 4 Error Codes None 28 SkyScan4 Hardware User Manual Version 1 0 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 71 Command Format H CR 6 7 2 Parameters None 6 73 Command Hesponse 1 Acknowledgment of command H 1 Homing routine complete sent when routine is complete 6 7 4 Error Codes None 6 8 Report Axis Offsets Command This command reports the current offsets of the two axes from the running trajectory This command is only valid while a trajectory is running 6 801 Command Format O CR 6 8 2 Parameters None 6 8 3 Command Hesponse az ze az The azimuth off
30. ear i Spline with non periodic data 2 Spline with periodic data 7 3 3 Command Response ili Success 7 3 4 Error Codes 2 Mode is not one of the valid options 10 Syntax ERCON EMSi Section 8 Warranty amp Service 37 8 Warranty amp Service 8 1 Limited Warranty The Keo SkyScan4 is provided with a 2 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 two 2 years from the date of original shipment from Keo During this time Keo will arrange to have the product repaired or replaced without charge to you You must return the entire instrument to Keo Scientific for inspection and assessment You are only responsible for shipping costs to return the product Normal Wear Item Disclaimer Keo Scientific does not warrant certain items against defect due to normal wear and tear These items include cables and connectors as well as anti reflection coatings on windows Also note that it is normal for the external anodized black color of the machined housings to fade over time if exposed to solar UV for prolonged periods of time on the order of 3 years but this should not affect instrument operation it is often a cosmetic issue only Shipping damage Any damage occurring to the instrument while in transit from Keo to customer must be report
31. ed to the shipping company or courier company immediately upon receipt of goods Shipments are separately insured and such damage is covered by said insurance Please inspect instrument thoroughly upon arrival 8 2 Contact Information Keo Scientific s main office is located at the following address Keo Scientific Ltd 404 1300 8 St SW Calgary AB T2R1B2 Canada Tel 403 452 7222 Fax 403 206 7680 In the event that you need technical support to troubleshoot a problem with your Keo SkyScan4 please don t hesitate to contact us at support keoscientific com An up to date list of addresses and telephone numbers is available on our website at www keoscientific com contact php 38 SkyScan4 Hardware User Manual Version 1 0 This page is intentionally blank Specifications 39 Appendix Specifications Basic Dimensions See Appendix B SkyScan Unit 37 8 Ib 17 2 kg Weight Power Supply 5 0 Ib 2 3 kg Power Input 100 240 VAC 50 60 Hz 6 3A Mounting 14 20 mounting holes on flange See Appendix B Storage Temperature lt 80 Operating Environmental Temperature 5 C to 70 Relative Humidity lt 30 non condensing Performance Azimuth Zenith Pointing Resolution 0 0005 1 8 arc sec 0 002 7 3 arc sec Backlash gearbox belt Repeatability 0 042 2 5 arc min 0 021 1 25 arc min 0 0
32. ent Velocity Command This command reports the current velocity of the axes of the SkyScan Note that due to the way that the SmartMotors handle trajectories this command doesn t return a valid value when a trajectory is running 6 17 1 Command Format V CR 6 17 2 Parameters None 6 17 3 Command Hesponse 272 SU az v velotity in per nM yelocirey in cle meos Per coeli 6 17 4 Error Codes None 6 18 Move at Velocity Command This command moves the axes at the specified velocities Negative velocities result in negative direction movement 6 18 1 Command Format V az v ze v CR 6 18 2 Parameters ey w The azimuti im CEgrese Der 0 lt az v lt 120 deg sec za w Mhe zemich va in degrsss 34 SkyScan4 Hardware User Manual Version 1 0 0 lt ze v 120 deg sec 6 18 3 Command Hesponse Success 6 18 4 Error Codes ed Azimuth velocity out of range 2 Zenith velocity out of range 6 19 Exit Custom Command Mode Command This command kicks the SkyScan SmartMotors into their default communication states so that they can be reprogrammed After executing this command a power cycle is required to return to normal operating conditions 6 19 1 Command Format pel
33. geographic north there will be a 4 2 error in the azimuth angle of all positions sent to the device Inaccuracies in leveling the device will result in complex non constant errors in both the azimuth and zenith axes The Keo SkyScan Control Software has a built in alignment calibration routine that uses 3 data points of the sun s position over the course of a day to calculate a transformation from the local SkyScan coordinate system to the global geographic coordinate system After the alignment calibration is complete points of interest can be specified by their true global coordinates and the software will translate that into an equivalent position for the SkyScan to point to After performing an alignment calibration no matter the error in mounting the device the accuracies stated in Appendix A will hold true An alternative to doing software alignment calibration is to mount the SkyScan in such a way as to allow for easy alignment adjustment The ideal mounting solution would provide adjustment in both directions north south and east west as well as rotationally about the azimuth axis After the SkyScan4 has been securely mounted remove the shipping locks and place them somewhere for safe keeping Should you ever need to remove the SkyScan from the mount or ship it to a new location the shipping locks should be re attached to the device Important Information The drive system of the SkyScan system will not be damaged if the shipping
34. iostat mode which will make the SkyScan4 track the sun ParaniWIN Located in the Utilities ParaniWIN folder of the Documentation and Utilities CD this application allows for the initial configuring of the Bluetooth adaptors SmartMotor Interface SMI Located in the Utilities SmartMotor Interface folder of the Documentation and Utilities CD this application is required to update the firmware of the SkyScan See Appendix D for details on using SMI to update the firmware of your SkyScan Section 3 Installation Overview 15 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 If the system components have not already been unpacked unpack them and inspect their carton s and the system components for in transit damage Verify that all system components have been received Section 4 3 Unpacking the System page 18 Section 4 4 Equipment and Parts Inventory page 19 If the components show no signs of damage verify that the appropriate power cord has been supplied with the power supply Section 4 2 2 Power Requirements page 17 Remove the protective plastic from the mirrors and window Section 4 5 Preparing the Mirrors and Window page 20 Securely mount the device in a suitable location Section 4 6 Mounting page 20 Attach the
35. ition by 90 degrees As shown by the top down view of Figure 4 despite the physical azimuth axis being aligned with north the actual azimuth angle is 90 degrees In this same figure the zenith axis is also positioned at 90 degrees making the current position of the SkyScan 90 90 12 SkyScan4 Hardware User Manual Version 1 0 Figure 4 Top Down Coordinate System View After the SkyScan performs a homing cycle it positions itself in the parked position This position was chosen to be 90 180 which corresponds to the physical azimuth axis being aligned with north and the zenith axis pointing straight down This serves to protect the window mirrors and any instrumentation you may have attached to the SkyScan by preventing any direct light from entering the system The parked position is shown in Figure 5 Figure 5 SkyScan in Parked Position Section 2 System Components 13 2 3 Power Supply 2 4 Cables The AC line voltage line cord supplied with your system should be compatible with the region to which the system was shipped If the line cord is incompatible please contact Keo Scientific for a replacement Maximum Power Output 240 W Input 100 240 VAC 50 60 Hz 6 3A Output 24 VDC Q 10A maximum Power Supply to SkyScan Tether Cable The standard 7m 23 tether cable has LEMO connectors that interconnect the power supply with the SkyScan4 NULL Modem Serial Cable The
36. luetooth adaptors The device adaptor the Parani SD200 is a Serial to Bluetooth adaptor This adaptor could be paired with any standard Bluetooth host e g the Bluetooth adaptor built into many laptops but for ease of operation and connection stability we highly recommend using the provided SD1000U adaptor The Bluetooth adaptors shipped with your SkyScan have been configured to automatically connect to each other and only each other upon power up If for some reason they become un paired refer to Appendix C for instructions on re pairing them To open a communication channel with the SkyScan simply choose the COM port the SD1000U device was assigned and use the following settings Baud Rate 115200 115 2 Data Bits 8 Parity None Stop Bits 1 Flow Control 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 D The home offset is determined at the time of assembly and is used to compensate for any minor discrepancies in assembly alignment Section 6 Command Reference 25 6 Command Reference The SkyScan4 can be controlled manually from any serial terminal application such as TeraTerm or automatically through a client side application written by the user For the purposes of
37. nd Motors Com3 Ethemet USB CAN Channel 0 Com3 Ethemet USB CAN Detected Configuration Open z Com3 115200 AS232 Ch 0 8NT Coma 95232 15200 bps Send 9 85232 96500 bps Com5 9232 9600 bps Ethernet USB Channel 0 125000 bps Send Hex C Dec C Char For Help press F1 E Figure 18 SMI View Layout 7 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 8 In the Terminal window select the tab corresponding to the serial port you are using In this example we are using COMS so we have selected the 3 tab Before we can update the firmware we need to kick the SkyScan out of custom command mode To do this we need to send it the command If you have a serial terminal application like TeraTerm that you are comfortable using then simply send X lt CR gt It will respond with a 1 indicating the command was successful Skip to step 14 to continue the firmware update If you don t have a serial terminal application installed you can use SMI to send this command Continue with the instructions below 9 Select the Open check box to open the serial port 10 In the Serial Data Analyzer window select the Hex radio button at the bottom This will allow us to send ch
38. oducts software animatics host software smi smartmotor interface html After SMI has been successfully installed continue with the instructions below 1 Remove the SD200 Bluetooth adaptor from the azimuth axis of the SkyScan Programming of the SmartMotors must be done over a hardwired connection 2 Attach one end of a NULL modem cable to the azimuth axis of the SkyScan and the other end to the host computer 3 Power cycle the SkyScan a Turn the power supply OFF b Wait 5 seconds c Turn the power supply ON 4 After the SkyScan has completed its homing routine launch the SMI application 5 Now click on View and make sure that the Terminal Configuration and Serial Data Analyzer windows are checked Your application layout should now look like the one in Figure 18 6 In the Configuration window right click on the serial port you connected the SkyScan to with the NULL modem serial cable and select Properties The dialog shown in Figure 17 will be displayed F Pot ia Motors Comm Type Name Com3 85234 95485 C Ethemet C USB Parity None Serial Port Com3 Baud Rate 115200 CANopen Motor Channel Motor Ch 0 C Modbus Max Motor Address 10 Cancel Help Figure 17 SMI Port Properties 50 SkyScan4 Hardware User Manual Version 1 0 Tools Window Help File Edit View Communication Compile 2 B Bu kg a Brae On Ei Terminal Fi
39. op All Motion Command ananas usan mr seas 30 6 12 Stop Position and Velocity Motion Command 30 6 13 Stop Trajectory Command 30 6 14 Report Operating Status Command 31 6 15 Initialize Trajectory Command eene n anna an 32 6 16 Define a New Trajectory 32 6 17 Report Current Velocity 33 6 18 Move at Velocity annuas aam saa assa asas an rrr 33 6 19 Exit Custom Command Mode 34 7 Configuration Parameters A TL Ese 35 7 1 Parameter 0 Azimuth Home Offset 35 7 2 Parameter 1 Zenith Home Offset 35 7 3 Parameter 2 Cam Interpolation Mode nnn nana 36 8 AM airanty eServiG8 cii permet r3 0630303 06190323 37 8 T Limited Warranty
40. r getting hung up waiting for a response from the SkyScan Error Code Description 1 No Error Success 1 Parameter 1 Error First parameter out of range 2 Parameter 2 Error Second parameter out of range 3 Parameter 3 Error Third parameter out of range 4 Parameter 4 Error Fourth parameter out of range 10 Syntax Error Command not recognized 6 3 Help Menu Command This command instructs the SkyScan to print out a summary of all the available commands This is only useful when commanding the SkyScan manually through a terminal application 6 3 1 Command Format lt gt 6 3 2 Command Hesponse COMMAND DESCRIPTION g Displays this help menu X Exit custom command mode 6 39 3 Error Codes None 6 4 Report a Configuration Parameter Command This command reports a configuration parameter See Section 76 5 for details on the available configuration parameters 6 41 Command Format Cn CR 6 4 2 Parameters n The ID of the configuration parameter to report Section 6 Command Reference 6 4 3 Command Hesponse IDE SpDecm Eee 6 44 Error Codes i 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 6 5 1 Comman
41. ready for use Whenever you need to move the SkyScan4 it is recommended that you re install the shipping locks to prevent the zenith head from moving Section 4 System Setup 19 Shipping Lock Figure 6 SkyScan4 Shipping Locks 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 either clamp it to the surface it is sitting on or position it in the secure tipped position where the device is tipped forward so that the outermost edge of the zenith head is resting on the surface This will prevent it from inadvertently tipping over and being damaged 4 4 Equipment and Parts Inventory Upon receiving the Keo SkyScand please confirm that you have all of the parts required to set up the SkyScan system A complete system consists of e SkyScan4 Unit e SkyScan4 Power Supply e Power Supply to Wall Cable 2 meter 6 5 ft cable is standard e Power Supply to SkyScan Tether Cable 7 meter 23 ft cable is standard e Null Modem Cable 3 meter 10 ft female female cable is standard e SD1000U Bluetooth USB Adapter e SD200Bluetooth Serial Adaptor Includes a USB power adaptor e SkyScan4 Hardware User Manual lt lt SkyScan4 Control Software User Manual e Documentation and Utilities CD ROM Includes drivers utilities and user manuals e SkyScan4 Control Soft
42. ronous belts for transmitting power from the gearboxes to the axes The unique curvilinear tooth profile delivers smooth quiet operation and precise registration with virtually no backlash These belts are combined with precision gearboxes and Animatics Class 5 SmartMotor integrated servo motors to provide a high accuracy long lasting and zero maintenance drive system 10 SkyScan4 Hardware User Manual Version 1 0 The Class 5 SmartMotors used on the SkyScan are a new and improved product from Animatics These new servo motors now feature a 5x faster processing speed expanded math capabilities on the fly linear and spline interpolation and an optional CAN bus connection On the SkyScan we are using the Animatics proprietary Combitronic protocol over the CAN bus which allows for one of the motors to act as a master and execute commands on the other all at a blazing fast 1MBaud data rate This greatly simplifies the programming of the system and improves the coordination of the two axes The new floating point capabilities of these motors allow for the user to specify all positions and velocities in their native units degrees and degrees per second rather than having to calculate them in device units encoder counts The modulo encoder count capabilities completely eradicate any position overflow issues found in previous SkyScan devices 2 22 Electrical Brush System The original Keo SkyScan was limited to 200 of travel in the azimuth
43. set in degrees ze The zenith offset in degrees 6 84 Error Codes None 6 9 Report Current Axis Positions Command This command reports the current positions of the two axes of the SkyScan 6 9 1 Command Format PRL CR 6 92 Parameters Section 6 Command Reference 29 None 6 9 8 Command Response az ze az The azimuth position in degrees O S mw lt S0 ze The zenith zenith in degrees 180 lt ze lt 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 The final parameter specifies an absolute or relative move If no velocity is specified then the default SkyScan velocity of 90 degrees per second is used If using relative mode it is required that you also specify the velocity 6 10 1 Command Format ES ES 6 10 2 Parameters az The azimuth position to move to in degrees O lt az lt 360 ze The zenith position to move to in degrees 180 S ze lt 180 Optional the velocity to move at in degrees per second 5 120 m Optional the move mode 0 absolute il relative 6 10 3 Command Hesponse 1 Command acknowledgment IP 1 Move completed sent when the move is completed 6 10 4 Error Codes 1 Azimuth position out of range 2 Zenith position out of range 3
44. shown below This will set the device Baud rates to 115 2k and disable hardware flow control 1 _ Figure 9 Correct DIP Switch Positions Plug the SD1000U into an available USB port and then hold down RESET button for at least 1 second You will need a small pointy object to press the button a paper clip works perfectly Attach the SD200 to an available serial port with a regular serial cable or simply plug it directly into a serial port with no cable and use the USB power adaptor for power Turn the power switch ON and hold down the RESET button for at least 1 second Open an instance of ParaniWIN and choose the COM port of the SD1000U Set BaudRate to 115200 Parity to None and StopBit to 7 Click OK ParaniWIN will connect and display the Device Information page as shown in Figure 10 ParaniWIN d Device Name SD1000Uv2 0 1 0CA4E5 Infomation Device Bluetooth Address 0001950CA4E5 Current Mode MODEO P Current Status Standby Device Setting Security Authentication Dont use Encryption Dont use Connection out 8 Uart Setting S Baud Rate 115200 Connection in StopBit One Stopbit Parity No Parity H W Flow control Dont use Connection Wizard Figure 10 SD1000U Device Information Settings Page 46 SkyScan4 Hardware User Manual Version 1 0 6 Open a second instance of ParaniWIN and choose the COM port of the SD200 Set BaudRate to 115200 Parity to None and StopBit to 7 Click OK Par
45. t the axis is decelerated to a stop 3 The axis moves in the negative direction at a slower speed until the magnet is detected again at which point the position is saved 4 The axis continues until it has moved past the homing magnet at which point the axis is decelerated to a stop 24 SkyScan4 Hardware User Manual Version 1 0 5 The axis moves back in the positive direction until the magnet is detected again at which point the axis is decelerated to a stop This position is also saved 6 An average of the two saved positions is taken this serves to find the center of the homing magnet and a home offset is applied 7 The axis now moves to the parked position The SkyScan4 will now sit in this parked position until commanded to do otherwise Note Audible noise from the SmartMotors is normal the motor is working hard electro magnetically to maintain the stable PID loop and not in any way considered harmful However in a correctly tuned system the motion should be smooth with no jerkiness If motion is jerky please contact Keo Scientific as something may have been damaged internally during shipping 5 2 Communicating with the SkyScan4 Communicating with the SkyScan4 is done wirelessly through a pair of industrial Bluetooth adaptors The host adaptor the Parani SD1000U is a USB to Serial to Bluetooth adaptor It appears as a USB Serial Port to the host computer but will connect through Bluetooth to any other Parani B
46. ted from their cleats for the purpose of removing the protective plastic take care to re insert the mirrors with the correct side facing up After the protective plastic has been removed from both mirrors and the inside of the window carefully replace the window plates and tighten them down securely 4 6 Mounting Caution Ensure the SkyScan4 is securely mounted to a solid surface before applying power This can be achieved using the provided mounting flange bolt holes or for temporary mounting C clamps The SkyScan4 ships with a mounting flange containing six 6 4 20 threaded bolt holes spaced equally around a bolt circle as shown in the schematic in Appendix B It is important to note that the power connector is located at the 180 south position as shown in Figure 5 on page 12 Section 4 System Setup 21 Feel free to mount the device using this flange as you see fit As long as the device is securely mounted there shouldn t be any problems Important Information The pointing accuracy of the SkyScan is largely dependent on how accurately it can be mounted If it were mounted perfectly level in both directions and perfectly aligned with geographic north then the accuracies stated in Appendix A hold true However unless the control software takes potential misalignment into account any errors in mounting alignment will result in decreased pointing accuracy For example if the SkyScan is mounted pointing 2 east of
47. this manual it will be assumed that the user is manually typing commands in a serial terminal Moving these commands into a client application is a trivial 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 OxOD In the following sections a carriage return will be indicated by CR The firmware loaded onto the SkyScan4 is much improved over previous versions of the product It now features a custom command interpreter which simplifies the commands and provides a lot of flexibility in terms of what can be achieved Note We are always looking at improving the functionality of the device so if you have a request for a new feature or a way to improve an existing feature please don t hesitate to contact Keo Scientific 6 1 Command Overview Below is a summary of all the commands offered by the SkyScan firmware Each command needs to be terminated with a carriage return before it is processed by the SkyScan More details on each command can be found in the section indicated The Idle column indicates whether the SkyScan must be idle or not for the command to be used Using a command that is not valid when the device isn t idle will result in an error code of 10 being returned syntax error You can check the current status of the SkyScan using the 5 command see Section 6 14 for details
48. ting success Click OK to dismiss this dialog Note The settings dialogs will now be disabled because we turned off command response To change any of these settings restart ParaniWIN and attempt to connect to the device It will inform you that command response is turned off and that it will be enabled so you can use ParaniWIN After making any changes remember to set Command Response to OFF before closing ParaniWIN 14 Close both instances of ParaniWIN The Connect LED on the adaptors should now be illuminated either solid or blinking depending on the device see the user manuals for details on what the different LED statuses mean 15 The SD200 adaptor can now be detached from the serial port and re attached to the SkyScan azimuth axis Appendix D Firmware Update Procedure 49 Appendix D Firmware Update TOCeocure Important Information Only perform this procedure if you have been instructed to do so by Keo Scientific way of a firmware update advisory and are fully comfortable with the procedure Additional guidance can be provided by Keo Scientific This procedure requires the use of Animatics SmartMotor Interface SMI application This application can be installed from the Documentation and Utilities CD by navigating to UtilitiesNSmartMotor Interface and running the installer Alternatively the latest version of SMI can be downloaded directly from Animatics from the following website http www animatics com pr
49. tware provided with your SkyScan system is only compatible with Windows XP or newer in both 32 bit and 64 bit environments If you want to use the SkyScan with a non Windows platform you will need to write your own control software The SkyScan has an easy to use interface that is controlled with simple commands which are sent to its virtual serial port See Section 5 for details on communicating with the SkyScan system and see Section 6 for details on the available commands 4 3 Unpacking the System While unpacking the SkyScan check the system components for possible signs of shipping damage If there are any notify Keo Scientific immediately The system is shipped in a Pelican case for maximum protection The case can also be used to store the device while it is not in use Please save the case so that it can be used to ship the device to a new location or to return it to Keo Scientific for repairs if necessary Your SkyScand ships with red shipping locks installed on the zenith axis see Figure 6 There are two locks one on either side This prevents the zenith head from rotating during shipping while handling the device and while mounting it The azimuth axis of the SkyScan4 does not have any shipping locks or other rotational restraint installed on it due to the high gear ratio which makes it difficult to back drive Note We strongly recommend that you leave the shipping locks installed until the SkyScan4 is securely mounted and
50. w by either click the small x in the corner or unchecking Serial Data Analyzer from the View menu 14 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 15 In SMI click Communication from the top menu and then click Transmit SMX file 16 Now browse to the files you extracted in step 13 select the one with Azimuth at the end of the filename and click Open Look in J SkyScan Fimware 1 0 Nami Recert Paces al n SkyScan4 Firmware 1 0 Zenith smx 6 7 201211 48 AM SMI Com n File name SkyScan4 Fimware 1 0 Azimuth smx x Open Files of type SMI compiled programs smx iml Figure 21 SMI Browse for SMX File 17 You will now be shown the Select Motor dialog Select the serial port you are using in the Ports list and then enter the number 1 in the Motor Address box as shown in Figure 22 52 SkyScan4 Hardware User Manual Version 1 0 Please select the serial port and then motor from the lists or enter the motor address Ports Motors A All Ports Global in port Com3 Com3 Each Motor in port Com3 9 Com4 F Com5 oy Ethemet use D 4 D Motor Address 1 fal Blind Download Cancel Help
51. ware CD ROM Includes Keo SkyScan Control Software 20 SkyScan4 Hardware User Manual Version 1 0 4 5 Preparing the Mirrors and Window The system is shipped with the two first surface mirrors and high transmission aperture window mounted in place A protective plastic coating is applied to the mirrors and window to protect them during assembly and shipping This protective coating has had the corners pre peeled to ease in the removal of it To do this requires that you remove the azimuth and zenith mirror plates to access the mirrors and underside of the window Azimuth En Window Zenith Window Plate Figure 7 Azimuth Window Plate Figure 8 Zenith Window Plate The window plates can be removed by first removing the six socket cap screws located around the outer edge of the plates using a 7 64 hex driver Important Information Take care when removing the window plates the mirrors are directly attached to them and can be very easily damaged The window plates will try to slide off the enclosures when the last screw is removed Ensure this doesn t happen by always keeping one hand on the plate Note that the mirrors are first surface mirrors though an optical illusion may suggest otherwise When removing the protective plastic take care to not under any circumstance touch the metallized side of the mirrors To clean dust lightly with a clean soft cloth or camel hair brush If the mirrors are un moun
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