Software User's Manual (SUM) IntraCfg
Contents
1. 3 1 Setting up INTRA for Configuration 3 1 1 Installation of IntraCfg The installation program for IntraCfg may be downloaded from our web site www brusag ch dlc htm Get this zip file on your computer and unpack it You will end up with a folder as e g IntraCfg_100304 Double click on the setup exe link inside this folder and follow the instructions of the installation program Note Our setup generating software does not allow to install a program over an already possibly older installed version You must uninstall it prior to run the new setup We have tested IntraCfg on Windows 2000 and Windows XP 3 1 2 Interconnecting your PC with INTRA The setup operation described in this paragraph may be performed in the lab or with the tracker already installed at its site The INTRA controller V2 provides two interfaces RS232C and an optical LAN socket However the present firmware ifw 1 03 only serves the RS232C interface This is available from the 10 wire cable that also feeds 24 VDC and possibly Heater Power 24VDC or 24VAC to the controller The pin assignment and color coding of this cable is shown in tab 1 I most user prefer to supervise INTRA and thus remain connected to its user interface during operational use of the tracker File G PROJEKTE AT9 1 g Docs SUM SUM_IntraCfg_101 doc 1 Doc No INTRA SUM 1909 BRU BR U S AG Version 1 01 Date 28 Apr 2010 Access to the X1 socket through the service opening is po2. 4 3 4 Memory This entry is for use by the manufacturer only and is not documented 4 3 5 ADC You may select the units Raw Volts Physical click update and the 8 channels of the ADC will be displayed in their respective fields The entry at the low rim of the window is used to display communication status messages which result from clicking the Update button Temperature CurrentSA Current P Sun Q0 Sun Q1 m Sun Q2 Sun Q3 4 4 Messages INTRAs controller implements an internal ring buffer in RAM where diagnostic messages are stored The entries under this menu allow to see and administrate the contents of this remote ring buffer LoadLog Fetches the remote ring buffer and displays it in a text window UpdateLog Fetches possible new data from the ring buffer and displays it in a text window ClearLog Brings up a window that allows to select the remote log level Severe Short Extensive 45 LocalLog Select loglevel for local program IntraCfg Severe Short Extensive The entry that is currently in force is checked File G PROJEKTE AT91 g Docs SUM SUM_IntraCfg_101 doc 14 Doc No INTRA SUM 1909 BRU BR U S AG Version 1 01 Date 28 Apr 2010 end of text File G PROJEKTE AT9 I g Docs SUM SUM_IntraCfg_101 doc 15
3. Registry frame This will write current settings to the registry under the key We recommend to export this entry to a file reg using regedit and to store it in a safe place A tracker comes with its specific settings stored in its flash rom Some of these parameters are essential for the proper working of the tracker Upon power up the firmware reads the parameters from flash the so called EEPROM data to RAM Saving these original settings to a file as described above is essential if you ever have to revert to original settings In case your tracker has gears 592 1 gear settings are accordingly and some of the axis parameters of the control loop are different as shown below T IROM RomVersion is 10101 INTRA serial 70 214 TERESE 5 Site Axis Offset P 0 800 P S ster 873 Gears 592 1 v 592 1 v OtisetSA 0 400 site lat 47 24 Offset 1 lo og sigma 0 150 tbits 800000000 0 12 steelfm 420 00 Rangelow 200 FE Range high I 200 OW 1500 Alignment Target Ctl 250 sunrange low 030 z 0 000 Target Ctrl 10 sunrange high 1100 at 0 000 Speed Ctr 10 sunfrac 75 0 ap 0 000 Speed Ctrl 10 L sunzrad 0 043400 Communication Status 10 03 03 11 10 14 saved to registry r EEProm in Flash Read we Erase Download Send j Read Defaults Now please enter the parameters of y
4. displayed as they result from clicking on any of the buttons below this field Button What it does EEPROM Buttons involves remote procedure calls Read Read EEPROM data to RAM copy Write Write RAM copy to EEPROM Erase Clear all data in EEPROM communication with RAM copy involves remote procedure calls Download load EEPROM data from RAM copy of the intra firmware to local EEPROM data on PC Send upload local EEPROM data into RAM copy of Intra firmware Registry local procedures only Save Write local EEPROM data PC to registry Read Read EEPROM data from registry into local EEPROM data of PC Defaults Initialize local EEPROM data PC with default values and write them to the registry 4 2 2 TimeDate Clicking on this menu entry brings up the time date window as shown below 4 Sensors V1 sun2rad 0 135385 sensors V2 sun2rad 0 0434 INTRA 70 is the first tracker that was delivered with a sensor V2 File G PROJEKTE AT91 g Docs SUM SUM_IntraCfg_101 doc td B RUS AG Doc No Version INTRA SUM 1909 BRU 1 01 28 Apr 2010 Te Time amp Date k Iof EG hh mm ss iz SendNow Ye Mo Day Dow 2010 E 04 05 Remote Send Now 4 2 3 Te Com Sett ei x P comsettings 4 3 Utilities 4 3 1 WhoAml Date Remote Read time amp date from controller board of remotely connected INTRA Send Uplink time amp date as shown to
5. program will open a window as shown below This may take a few seconds because the program tries to connect to INTRA which has no power yet Now you switch INTRAs power on The redboot startup message will be displayed in the terminal window and after 4s redboot will start the intra firmware ifw Intra Terminal IntraCfg 1 02 of 04 Mar 2010 BRUSAG CH 8712 Staefa File G PROJEKTE AT91 g Docs SUM SUM_IntraCfg_101 doc 2 B RUS AG Doc No Version Date INTRA SUM 1909 BRU 1 01 28 Apr 2010 The second last line in the windows shown above reports the version of the firmware build into the tracker Additionally you see the version of IntraCfg at the lower rim of the Intra Terminal window This is important information because the version of the firmware and of IntraCfg must be combined as shown in the following table If the versions of your software do not match as indicated above please update to the most recent firmware and also get the compatible version of IntraCfg both from our website www brusag ch Next is to get the time date window from the RemoteCfg Menu Enter current time and date UT please not local time and click Send then close the Time amp Date window Hint If your PC is running on UT you may simply click on This reads the time of the PCs clock and links it up to INTRA As next step you should configure some of the parameters in the EEPROM Get the EEPROM window using the Remote
6. 14 14 14 14 14 Doc No INTRA SUM 1909 BRU BR U S AG Version 1 01 Date 28 Apr 2010 1 Introduction As of INTRA 66 a new controller with a new user interface has become part of INTRA This new controller termed INTRA Controller Version 2 icb2 provides a user interface based on remote procedure calls Hence it is no longer possible to configure INTRA using a simple terminal but one has to use a PC with the configuration utility IntraCfg installed This is a handicap but far outweighed by the advantages of a graphical user interface as provided by IntraCfg Once configured INTRA runs autonomously But when configuring INTRA you should understand what all these parameters mean Therefore this document not only explains IntraCfg but also covers the aspects with respect to the firmware working in INTRAs controller Hence it is also an INTRA Manual Finally because most people do not like to read dozens of pages we start with an introductory chapter a Quick Guide to INTRA 2 References Normally a user does not have to bother about the remote procedure call interface Except when he wants to make his software system to talk with INTRA Such a user must have a close look at the document listed below and available from our internet site www brusag ch 1 INTRA Software Interface Definition Document SIDD V 1 02 3 Mar 10 INTRA SIDD R Brusa BRUSAG CH 8712 St fa 1827 BRU 3 A Quick Guide to INTRA
7. B R U S AG Sensorik amp messtechnische Entwicklungen AG Chapfwiesenstrasse 14 CH 8712 St fa Switzerland Software User s Manual SUM for IntraCfg BRUSAG Ref INTRA SUM 1909 BRU Version 1 01 of 28 Apr 2010 ph 4144 926 74 74 web www brusag ch em rbrusa Q brusag ch fx 4144 926 73 34 Doc No INTRA SUM 1909 BRU BRUS AG Version 1 01 Date 28 Apr 2010 Change Record Date Version Who Description 06 Jul 09 0 10 RB Quick Guide part of document 13 Aug 09 0 11 RB The chapter How to update INTRAs Firmware added 3 Mar 10 1 00 RB Additional text on compatibility between firmware and INTRAcfg versions File G PROJEKTE AT91 g Docs SUM SUM_IntraCfg_101 doc 1 Doc No BR U S AG Version Date Table of Contents 1 Introduction 2 References 3 A Quick Guide to INTRA 3 1 Setting up INTRA for Configuration 3 1 1 Installation of IntraCfg 3 1 2 Interconnecting your PC with INTRA 3 2 Simple Startup Procedure 3 3 How to update INTRAs Firmware 3 4 Installation of the tracker 4 Reference Section 4 1 The File Menu 4 1 1 save 4 1 2 path 4 1 3 exit 42 RemoteCfg 4 2 1 EEPROM 4 2 2 TimeDate 4 2 3 comsettings 4 3 Utilities 4 3 1 WhoAml 4 3 2 Position 4 3 3 Sun 4 3 4 Memory 4 3 5 ADC 4 4 Messages 45 LocalLog File G PROJEKTE AT91 g Docs SUM SUM_IntraCfg_101 doc INTRA SUM 1909 BRU 1 01 28 Apr 2010 10 10 11 12 12 12 12
8. Cfg Menu It will display default values Intraslerminal EEProm TimeDate comsettings In ie Jime te Date C Ye Mo 2009 RomYersion is 0100 INTRA serial I to bet em Day SendNow Dow M sun sensor Offset PA Site Axis PA 8 73 47 24 420 00 site lo Gears site lat Offset Range low Range high Target Ctrl Target Ctrl 2 Speed Ctrl Speed Ctil site el m 66 1 651 0 000 Offset SA sunrange high 1 100 75 0 sunfrac SerCfg Baud UARTO 57600 Baud UART1 57600 vw tbits 00000000 Communication Status 09 07 07 09 30 29 parameters from registry EEProm in Flash Read Wale Erase Download Read wie Erse Download File G PROJEKTE AT91 g Docs SUM SUM_IntraCfg_101 doc Registry Save Read Defaults Doc No INTRA SUM 1909 BRU BR U S AG Version 1 01 Date 28 Apr 2010 Now click on the Download button This will transfer the contents of the RAMcopy of the INTRA ROM contents to your PC and display it in the IROM window Especially you should note that INTRA serial now displays the serial number of your tracker e g 66 203 where 66 is the number of the mechanical part of INTRA and 203 the serial number of the controller board Next we recommend to save these original settings for later consultation Click on the Save button in the
9. Pos Updates the positions information disaplayed in the 12 fields above ChkAxis Fetches flags from the tracker and displays them in the message field at the low rim of the Positions and Modes window The positions displayed include 4 systems of coordinates and target where it should go and current values where it currently is The 4 systems are Astron Astronomical system or better what INTRA assumes as the astronomical system based on the misalignment parameters currently in effect Tracker Position deduced from the signals of the encoder disk taking into account the offset of the zero mark from the EEPROM data Encoders Raw count of encoder signals 9380 per 360 The count is cleared when hitting the zero mark of an axis File G PROJEKTE AT91 Docs SUM SUM_IntraCfg_101 doc 13 Doc No INTRA SUM 1909 BRU BRUS AG Version 1 01 Date 28 Apr 2010 Hallsensors Raw count of hall sensors 3 per rotation of the motor Ratio to encoder counts depends on gears installed and the ratio of the worm drive 150 nom The counts are cleared when hitting the zero mark of an axis 4 3 3 Sun TL Sun Sensor iof EG q q3 When clicking the Update button the q0 to q3 fields display the gi q2 signals of the 4 quadrant sensor The Sum displays the sum of q0 q3 and PA SA the pointing error as computed from q0 q3 The field at Sum the low rim is used to display communication status messages P il Update S
10. al input received from INTRA on disk Periodically a new file is started The period may be selected in the Duration field The filename generated consists of the date time and the contents of the Label field 4 1 2 path Selecting this entry opens a path file selection dialog Clicking on ok starts recording as described under save If recording is already in progress a dialog box requests confirmation that indeed you want to close the current file and continue with a new one 413 exit Closes all files and terminates program File G PROJEKTE AT9 1 g Docs SUM SUM_IntraCfg_101 doc 9 Doc No INTRA SUM 1909 BRU BR U S AG Version 1 01 Date 28 Apr 2010 4 2 RemoteCfg 42 1 EEPROM Opens the EEPROM dialog LT rom RomYersion is 0101 INTRA serial 7024 N sun sensor Site Axis eh ae P SA stebo 873 Gears 5921 5921 S 0 400 stela 47 24 aan lo 08 site el m 420 00 Range low ET sone ra men Range high 200 low 1500 anne Target Ctrl 250 sunrange low 0 300 2t Target Ctrl 10 sunr nge high 1 100 at 0 000 Speed Ctrl 10 suntrac 75 0 sunzrad 0 043400 Communication Status fi 0 03 03 11 10 14 saved to registry EEProm in Flash Registry E Read Defaults ap 0 000 Speed Ctr 10 Read Wale Erase Download Send i Some of these parameters are informative only b
11. ciently bright it will start active tracking The controller has an onboard battery that keeps the real time clock running when power is down The battery will be good for several years The RTC also includes a few bytes of RAM where essential mode and position information is stored upon power fail This information is read back upon power up and hence INTRA resumes operation at the position and mode that was in effect upon power fail Despite of the fact that essential position information is maintained during power fails we recommend to perform a FindZero operation following power up especially when power was removed while the motors were operating at high speed In order to facilitate this FindZero upon power up we recommend to follow the procedure shown below prior to powering down INTRA Click on Remote in the mode frame Enter 5 in the PA and SA fields in the Go to Position frame then click SetTarget Wait for INTRA to reach this position check by clicking the GetPos button Switch power off 3 3 How to update INTRAs Firmware Error free software is a phantom and there may be the need to update INTRAs firmware Let s assume you have downloaded the new firmware from our website on to your computer The firmware is a file with an srec extension It is possibly zipped with other files e g readme file into a zip file If so please unpack the zip file on your system For the download to INTRA you will
12. eed Ctrl M control loop parameter Sun Sensor Offset PA M U pointing offset primary axis Offset SA M U pointing offset secondary axis Io M extraterrestrial sum of all quadrants sigma M extinction coefficient low M minimum elevation angle under which data are not used for alignment error File GAPROJEKTENAT9 I g Docs SUM SUM_IntraCfg_101 doc 10 Doc No INTRA SUM 1909 BRU BRUS AG Version 1 01 Date 28 Apr 2010 computations analysis at the end of the day sunrange low M if measured signal is less than this fraction of computed value I m data are not used for analysis sunrange high M if measured signal is higher than this fraction of computed value I m data are not used for analysis sunfrac M If collected data are less than sunfrac percent of possible data no analysis will be performed with the data collected this day sun2rad M factor to convert computed pointing errors to degrees Depends on geometry of sun sensor SerCfg Baud UARTO M Baudrate of UARTO fixed Baud UARTI M Baudrate of UARTI fixed This serial interface is normally not connected It is used for trouble shooting only in case of errors tbits bitflags that enable or disable diagnostics output to UARTO Normally tbits 0 but during tests it is set as 10338 where the sign indicates a hex number At the low rim of the IROM windows one finds a field where communication status messages are
13. ith the new firmware We recommend to execute a search for the zero marks on both axis Of course it helps if you positioned both axis slightly clockwise from from the zero mark prior to starting with the download procedure 3 4 Installation of the tracker With both axis of the tracker at their zero position installation should be performed such that the sun monitor points toward the point of intersection of the south meridian with the horizon If an installation is less than perfect its no problem INTRA will learn about it and automatically correct for such misalignments between its system the tracker system and the astronomical system More on this in the reference section INTRA is attached with its PA flange on a flat horizontal surface The dimensions of the PA flange are given in the figure below The M6 threaded holes of the 32 x 32 m grid are intended for attachment of INTRA to its base Note that the base must have an opening preferably of a diameter not smaller than the 60 mm of the flange The high flex ten wire cable that comes with INTRA is fed through this opening For the insertion of the cable you must open the service opening on the top surface of INTRAs case The 10pin Molex connector X1 of the electronics board is not well accessible Therefore we deliver INTRA with a small cable tail connected to the X1 connector This tail has the same Molex connector on its end as the one on the board and hence allows eas
14. need a computer with a serial interface operating at 57600 8 1 n The computer should have a terminal emulator installed that is capable of downloading files using ymodem or zmodem protocol Hyperterminal that comes with Windows is an example of such a program Proceed as follows Close the IntraCfg Application if it is still up Launch Hyperterminal and make sure it operates with settings 57600 8 1 n Turn INTRAs power off wait for a few seconds then switch power back on INTRAs bootloader will display its start message in the Hyperterminal screen You now have 4 seconds during which you must type Ctrl C This brings redboot into the command mode type the command load m ymodem lt enter gt and File G PROJEKTE AT9 1 g Docs SUM SUM_IntraCfg_101 doc 6 Doc No INTRA SUM 1909 BRU B R U S A G Version 1 01 Date 28 Apr 2010 using Hyperterminals menu you specify the file to be sent and the protocol ymodem that should be used Start the transfer It will take one or two minutes Following a successful transfer you type go 0x114000 lt enter gt and the start message of the updated firmware and more will be displayed Close Hyperterminal You may switch over to IntraCfg and proceed with any related activity But watch out does the version of IntraCfg fit with the new version of the Intra firmware If not get the appropriate version of IntraCfg from our web site Your INTRA is now ready to be used w
15. o position From this you may correctly conclude that the PA is approximately at its zero position when the milled groove with the two threaded holes is parallel to the top surface of the pictured unit And similarly for the SA Its zero is when the milled groove with the sun sensor is parallel to the top surface Sub Mode Go to Position amp DAY GetMode P fo SetT arget EVENING S jo C CLOCK C WAIT24 C WAITZERD C REMOTE C REWIND Astro EST MORNING Target Astron gt Targ Tracker current Astro 7 cur Tracker Encoders r Hallsensors me NN a mu af Jsaf Jjsal Isal Jaf af Finen 1 Pa Cow vi 6 flags o sa CCN GetPos Chk xis Now let us assume that the position of the axis is not nearly as depicted above You can move the axis into the correct position for the FindZeor Command using the Run Motors entries You can do this for both motors at the same time or one after the other The PA and SA fields accept an argument in the range from 999 to 999 999 is full speed cew 999 is full speed cw Enter a value in one or both fields then click on Run Motors start to run according to the speed set If you are happy with what you see click on Reset to stop the motior s If once both axis are near the 5 position click on the Go button of the FindZero frame The motors start running ccw and stop a few seconds later when the ze
16. ou press one of the relevant buttons GetMode Updates the display of current Mode and Sub Mode of the tracker Clicking on any of the Modes except TEST will put the controller in the corresponding mode Sub Modes are not selectable but controlled by the remote INTRA only and displayed after pressing GetMode SetTarget The positions specified in the PA and SA fields are uplinked to the tracker If Mode is REMOTE or later set to REMOTE it will move to the specified position Positions specified are wrt the tracker system unless the Astro is checked then positions are wrt the astronomical system Run Runs the motors with the speed as specified in the PA and SA fields in the Run Motors frame Speed is specified as a number in the range 999 999 where means ccw rotation of the axis This command allows to move INTRAs axis under manual control independently of the current status of the position and mode of the tracker When clicking on Run the tracker is set into TEST mode and just moves according to the speed specified Reset Stops movement of either axis and restores previous mode of INTRA Go Start movement to locate the zero marks of the PA and SA The direction of the search is selected from the resp selection boxes in the FindZero frame ccw counter clockwise cw clockwise or no search The FindZero Command moves an axis until it encounters the zero mark or it completed a move of 15 whatever comes first Get
17. our site in the 3 fields inside the Site frame East is positive north is positive and elevation m above sea level Then click followed by a click to the button in the EEProm in Flash frame The new settings are now in the RAM of the controller and also in its ROM emulated in flash Hence during subsequent the power ups INTRA will come up with these settings read from ROM during power up Axis Offsets These values were determined at factory and are specific to your tracker Do not change these settings Sun sensor Offsets These values were determined during initial field tests You may further edit these values to adjust pointing for your instruments Next is then to help INTRA to set up the position of its axis Typically an INTRA is delivered with its axis at positions 5 5 This situation is depicted below 2 in contrast to the convention followed in the firmware of the controller version 1 File G PROJEKTE AT91 g Docs SUM SUM_IntraCfg_101 doc 4 Doc No INTRA SUM 1909 BRU BR U S AG Version 1 01 Date 28 Apr 2010 In order to make things more visible we have positioned INTRA in such a way to make both its flanges visible The one at the bottom is the flange of the primary vertical axis PA and the flange to the right is the flange of the secondary horizontal axis SA with sun sensor The position shown here is indeed 59 5 One can see that both flanges are slightly rotated clockwise from their zer
18. remote controller board and set the RTC on the board accordingly Now Update window to display time amp date as read from the clock of the PC SendNow Combines Now and Send buttons into a single action You may use this button to set time amp date of your INTRA provided your PC is operating on accurate universal time You may select the serial interface your PC is using to communicate with INTRA The baud rate is fixed to 57600 no handshake no parity 8 data and start and 1 stop bit 57600 n 8 1 1 Clicking on this entry will display the ROM version and the version string as fetched from the remotely connected INTRA 4 3 2 Position This entry brings up a window that allows to control many aspects of INTRA The Position window is shown below File GAPROJEKTENAT9 I g Docs SUM SUM_IntraCfg_101 doc Doc No INTRA SUM 1909 BRU BRUS AG Version 1 01 Date 28 Apr 2010 T Positions and Modes N iof x EE Go to Position INIT DAY it el PA fo SetTarger C SUN EVENING SA WAITZ 0 C CLOCK ae C REMOTE CR Astro TEST MERNING Target Astron Targ Tracker current Astr cur Tracker Hallsensors Cm fel el ee Run Motors FindZero PA p Run P cow v Geo flags S jo Reset sach x GetPos ChkAxis modes updated Some of the parameters of this window are fetched from INTRA upon start of the program Other remain yet undefined until y
19. ro mark of the encoder disk is encountered Click on Chk Axis button You should get a message telling you that both positions PA and SA are valid Click on GetPos to see the actual position A few words of explanation on the FindZero command File G PROJEKTE AT9 I g Docs SUM SUM_IntraCfg_101 doc 5 Doc No INTRA SUM 1909 BRU BR U S AG Version 1 01 Date 28 Apr 2010 The two selection boxes inside the FindZero frame allow to specify in which direction the motors should move ccw cw or Where means no movement Following a click on the Go button the motors move accordingly until they encounter the zero mark or have made a path of 15 whichever comes first In fact it is possible to repeat the FindZero command many times Assume the current position is e g 100 35 After 3 FindZero operations the SA would come up with valid positions Use ChkAxis to see this Then you would select SA and continue with the FindZero operation until also the PA reports position valid We recommend to perform the FindZero operation always with both axis a few degrees positive of the zero and use the ccw movement Once this find zero operation is successful time and date properly set your tracker is ready for use In the mode frame click on Sun The tracker will move to the position where it expects the sun this based on current date time site and misalignment parameters And if the Sun is really within the field of view and suffi
20. ssible but rather cumbersome We therefore deliver the tracker with a 30 cm piece of cable connected to X1 The end of the piece duplicates the X1 connector and is easy accessible through the service opening Table I Pin Assignment and colors of wires to from the power NC bwn 2 1 connector X1 PWR is 24 VDC less than 200 mA typical 2A max HEA is 24 VDC or VAC 8A typical 10A max WR yel MP R gm The serial I F is galvanically isolated from the rest of the STxD pink 6 5S GND gry controller STxD is the send line of the controller SRxD NC red 8 7 SRxD blu the receive line and S GND is the serial ground HEA pur 10 9HEA blk In the following we assume that you connected STxD to pin2 of the COM1 connector DB9p of your PC SRxD to pin3 and S GND to pin 5 PWR PWR should be connected to a power supply that is able to deliver up to 2A at 24 VDC The Heater power may be left unconnected for now 3 2 Simple Startup Procedure If you have an INTRA with gears 66 1 you may skip the following point about the registry If you have an INTRA with gears 592 1 you should firstly define appropriate parameters in the registry You will find a file 100428_gear592 reg in the installation folder typically C Program Files Brusa Intra Run regedit use the Run command from the Start button and import this file Now you are ready to launch IntraCfg Doubleclick on the IntraCfg Icon on your desktop and the
21. ut most of them are actually used in computations by the firmware Some of the parameters are defined at the factory M some are defined by the user U and some are computed updated P by the firmware during operation Parameter by Comment RomVersion P Identifies the format of the IROM type the firmware expects serial M identifies the tracker 70 and its controller 214 Site U The user defines longitude N gt 0 latitude E gt 0 and altitude of site Alignment U P Missalignment between tracker and astronomical system Typically left all zero by the user and the firmware then updates it according to its analysis of data collected If the misalignment is larger than the field of view of the sun senor app 5 the user should define appropriate initial values zt Zenith distance of the pole of the tracker system at Azimuth of the pole of the tracker system ap rotational misalignment of the primary axis with resp to south Axis Gears U M Must be set according to the gears operating in your tracker 66 or 512 Offset M Offset of zero mark of axis from true right angle position with the other axis Range low M U low end of course for primary and secondary axis Range high MU high end of course for primary and secondary axis Target Ctrl M control loop parameter Target Ctrl M control loop parameter Speed Ctrl M control loop parameter Sp
22. y connection of the cable Having connected this cable you should pay special attention to two things INTRA rotates and there must be sufficient cable inside its housing to allow for this movements You must provide a fixation somewhere at the base plate that prevents the cable from creeping out of INTRA housing with time Finally you must take care that INTRAs case is properly grounded And now you are ready to connect the 24 VDC power supply the serial interface of a PC and possibly also the 24 V power supply of the heater to the cable See also the Connecting your PC with INTRA 3 The SA flange is identical except that it has an opening for the sun monitor File GAPROJEKTENAT9 I g Docs SUM SUM_IntraCfg_101 doc 7 Doc No INTRA SUM 1909 BRU Version 1 01 Date 28 Apr 2010 B RUS AG M6 08 H7 SL3 0175 321002 329 02 File GNPROJEKTEVAT91 g Docs SUM SUM_IntraCfg_101 doc Doc No INTRA SUM 1909 BRU BR U S AG Version 1 01 Date 28 Apr 2010 4 Reference Section 4 1 The File Menu 4 1 1 save Selecting save opens a dialog as shown below f Save Parameters Firs Ea Label Primer IV recordngon Duration minutes 10 minutes 20 minutes 60 minutes 2 hours When recording on is selected the save menu appears checked and the program records all termin
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