Fuf26 1540 Fuf Rev b

(AL-7103-Ku Mk II)

1.15m (45) Ku-Band Antenna

Stabilized Marine Satellite Communication System

Frequently Used Functions (FUF) Reference Guide

Document: FUF26-1540 Revision : B

OrSat FUF Reference Guide Rev: B ii

Copyright 2007 Orbit-Alchut Technologies Ltd. All rights reserved.

All product names are trademarks of the Orbit-Alchut Technologies Ltd.

Other names are the property of the respective owners.

No part of this publication may be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language or computer language, in any form or by any means, electronic, mechanical or otherwise without prior written permission of the Orbit-Alchut Technologies Ltd.

Disclaimer of Warranty

The Orbit-Alchut Technologies Ltd has made every effort to ensure the accuracy and relevancy of the material in this document. It is expected that all sections of this document will be read thoroughly and that all information and procedures should be fully understood. However, the group assumes no responsibility for any errors that may have been included in this document, and reserves the right to make changes to the document without notice.

The Orbit-Alchut Technologies Ltd makes no warranty of any kind in regard to this document including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose.

The Orbit-Alchut Technologies Ltd disclaims any responsibility for incidental or consequential damages in connection with the furnishing, performance, or use of this document.

Parts of this document may be based on hardware or software developed by third-party vendors. The Orbit-Alchut Technologies Ltd disclaims any responsibility for the accuracy of this document with respect to such hardware and software, and assumes no responsibility for incidental or consequential damages arising due to discrepancies between this document and such hardware or software.

OrSat FUF Reference Guide Rev: B iii

Revision History & Control Revision History

Revision # Date Description Rev: - October 2006 Initial version

Rev: A February 2007 Updated version

Rev: B May 2007 Updated version

List of Effective Pages

TOTAL NUMBER OF PAGES IN THIS PUBLICATION IS 139 CONSISTING OF THE FOLLOWING:

Page No. Issue

Title.........................................................................................Revision B

i ix ........................................................................................Revision B

1 130 ....................................................................................Revision B

OrSat FUF Reference Guide Rev: B iv

Safety Precautions The following general safety information is for installing, operating, and servicing the system.

Specific warnings and cautions will be found throughout the manual where they apply, but may not appear in this summary. Observe the following list of safety precautions when installing, operating and maintaining the System:

Keep well clear of the moving Antenna, at all times. The Antenna Pedestal is equipped with high torque motors that develop

considerable forces. These forces can be harmful.

This equipment contains potentially harmful voltages when connected to the designated power sources. Never remove equipment covers except for maintenance or internal adjustments.

Before removing the covers of any unit, verify that the CCU POWER switch is in the OFF position.

Metal parts accessible to the operator are connected to the chassis ground to prevent shock, and similar hazards. The chassis ground conductor must not be removed. Ensure the enclosure is at ground potential.

Only qualified and trained personnel should perform installation, operation and maintenance of this equipment.

Although the Radome is not heavy, care should be taking when lifting it since it act as sail during windy conditions. At least two people should handle the Radome during installation.

To prevent shock or fire hazard, when sub-units are open or cables disconnected, do not expose the equipment (with the exception of the Radome) to rain or moisture.

Avoid making unauthorized modifications to the circuitry. Any such changes to the system will void the warranty.

Do not disconnect cables from the equipment while the system is powered-on.

Interfacing this equipment requires the use of high quality connectors and cables. Use only ORBIT authorized parts for repair.

OrSat FUF Reference Guide Rev: B v

Conventions Used in this Manual This text style

Identifies Example

Text Normal descriptive text.

Text Emphasized text.

Text/Text Words or figures that appear on the screen or that should be typed, or a key to be pressed < >. The name of a file or directory.

400

TEXT The name of a software or hardware component.

ANTENNA

The description of a procedure. To configure

Notations in this Manual

This information is important and should be noted.

Information given in this message warns of a hazard.

Information given in this warning refers to the only safe method of installation or operation and must be adhered to.

OrSat FUF Reference Guide Rev: B vi

Acronyms & Abbreviations ADE

ADMx

BDE

BDMx

BUC

B/W

CCU

IMU

KB

LNA

LNB

M&C

Mk

MMI

MUX

PSU

RJ

SBC

SDM

SR

Above Deck Equipment

Above Deck MUX

Below Deck Equipment

Below Deck MUX

Block Up Converter

Band Width

Central Control Unit

Inertial Measurement Unit

Keyboard

Low Noise Amplifier

Low Noise Block

Monitor & Control

Mark

Man-Machine Interface

Multiplexer

Power Supply Unit

Rotary Joint

Single Board Controller

Servo Drive Module

Slip Ring

OrSat FUF Reference Guide Rev: B vii

Table of Contents

Conventions Used in this Manual ........................................................................................ v Notations in this Manual ..................................................................................................... v Acronyms & Abbreviations.................................................................................................. vi

1 Entering the Password to Invoke the Operation Screen..................................1

2 Point to Satellite ..................................................................................................2

3 Set Polarization ...................................................................................................3

4 Select Tracking Receiver ....................................................................................4

5 Set Tracking Frequency......................................................................................5

6 Spectrum Analyzer Screen (SAS) for Viewing Wide-Band Satellite Spectrum6

7 Using SAS to Select Optimal Tracking Frequency for Wide-Band Receiver10

8 Using SAS for Satellite Identification ..............................................................11

9 LNB Noise Floor Correction for Wide-Band Receiver ....................................13

10 Command the Antenna to Step-Track ..........................................................17

11 Reboot SBC ....................................................................................................18

12 Restart SBC ....................................................................................................19

13 Move Antenna Manually in Earth Related Azimuth/Elevation ....................20

14 Reboot Windows-CE CCU .............................................................................22

15 Enter Blockage Zone Angles.........................................................................23

16 Set-up Local Antenna Position Angles Display...........................................28

17 Saving Parameters in the SBC Non-Volatile Memory..................................30

18 Finding and Setting of Heading (Compass) Offset......................................31

OrSat FUF Reference Guide Rev: B viii

19 Manual Setting of Heading ............................................................................35

20 Manual Setting of GPS Lat/Long Location ...................................................36

21 Setting of Interface to Ships Compass........................................................38

22 Changing the Default NMEA-0183 Compass Sentence...............................40

23 Setting up the Modem (IRD) Lock/Unlock feedback....................................41

24 Setting Up External Hardware IP...................................................................43

25 Setting Up NMEA-0183 Compass Interface..................................................44

26 Enter Mechanical Zero Offsets......................................................................49

27 Logging Data Using the Graphic Logger......................................................51

28 Running Axes in Test Trajectory ..................................................................57

29 Monitoring Mtslink Program Work Duration ................................................61

30 Checking CCU and SBC Software Versions ................................................62

31 Monitoring SBC Voltage and Temperature Test Points ..............................63

32 Setting IP Address of the SBC ......................................................................64

33 Setting IP Address of the Win-CE AL-7103-CCU .........................................67

34 Setting IP Address of the Win 2000 AL-7100-CCU.......................................72

35 Setting of PPR and Control Parameters for Different SDMs.......................75

36 Setting up the Satellite Modem (IRD) Lock/Unlock feedback, via RS232 Controls....................................................................................................................79

37 Log ComtechEFData CDM-570L Data Using the Graphic Logger ..............80

38 Log External Spectrum Analyzer Marker Using the Graphic Logger.........83

39 Setting the Narrow Band Receiver (NBR) Lock/Unlock Feedback.............86

OrSat FUF Reference Guide Rev: B ix

40 Selecting Narrow Band Receiver ..................................................................87

41 Selecting Narrow Band Receiver IF-Bandwidth...........................................88

42 Spectrum Analyzer screen with Narrow Band Receiver (NBR) ..................89

43 Setting Up GPS Output on CCU Com2 .........................................................94

44 Setting Up Cease-Tx Control.........................................................................96

45 Changing the CCU/SBC IP Addresses General Scheme........................102

46 Setting the AGC Threshold Level................................................................103

47 Checking Netzer Encoder Coarse Accuracy ..........................................104

48 IMU Correction by Step-Track mode .......................................................108

Appendix A Status Messages ...........................................................................111

Appendix B SBC Flash-Disk Memory Map .......................................................126

Appendix C Polarization Skew Alignment Procedure.....................................130

OrSat FUF Reference Guide Rev: B 1

1 Entering the Password to Invoke the Operation Screen From Basic Operation Screen, press O. The following will appear:

Then type in: AL-7200.

The screen will change to the Operation Screen.

To return to Basic Operation Screen press U The above Enter Password window will re-appear. Type in any letter, then Enter and the screen will revert to Basic Operation


2 Point to Satellite From Operation Screen press O, then select Sat. Preset:

Then type in Satellite longitude on the geo-stationary arc (positive values 0 to 180 for East, negative values 180 to 0 for West).

After pressing OK, the antenna will move towards the satellite. Watch the cross-hair display reaching its center, when movement is completed.


3 Set Polarization

From Operation Screen press D, then select Polarization:

After pressing OK, the antenna polarization will be changed to the opposite from its current state.


4 Select Tracking Receiver

Tracking Receiver is an L-Band receiver used by OrSat (AL-7103) software to obtain a real-time signal strength indication for peaking the antenna to the maximal signal location, both in Azimuth and Elevation.

At the time this document is written, AL-7103-Ku is equipped with a wide-band receiver, while the AL-7103-C is equipped with both wide-band and narrow band Beacon receiver.

AL-7103-C is utilizing the narrow band Beacon receiver, when wide-band receiver is just for backup and reference.

Wide-band L-Band receiver is part of the SBC controller, whereas narrow band Beacon is an external 1U rack-mount device residing in the Below Deck equipment rack interconnecting into the CCU.

From Operation Screen press M to reach the Maintenance screen.

Access the Src button on the Receiver sub-window and select:

Host for external narrow-band Beacon receiver Tuner1 for internal wide-band receiver

Default setting for AL-7103-C is Host, while for AL-7103-Ku is of course Tuner1.


5 Set Tracking Frequency

From Operation Screen press M to reach the Maintenance screen.

Access the Frq button on the Receiver sub-window and enter the desired L-Band frequency.

--

If Host Source is selected (AL-7103-C System), the frequency will be automatically downloaded to the Narrow-Band Beacon receiver unit, else the frequency will be set in the SBC internal Receiver.

Press Esc to get back to the Operation Screen


6 Spectrum Analyzer Screen (SAS) for Viewing Wide-Band Satellite Spectrum

The Spectrum Analyzer screen will only work with Wide-band tracking receiver selected.

To access, from Operation Screen or Maintenance Screen, press R.

To configure the Spectrum Analyzer measurement, press C:


Start and Stop frequency values may be used to set up a full or partial range of measurement.

For Ku-Band full range is: 920 to 2150 MHz For C-Band full range is: 950 to 1450 MHz.

Frequency Step may be set up to as fine as 0.125 MHz, but one must take into consideration that the measurement time will rise proportionally.

A scan of full Ku-Band range in 1MHz steps without averaging (Averaging set to 1) takes about 3-4 seconds.

To make a measurement, one must first make sure that the system is not in Step-track. The reason for this is that Step-track is using the Tracking receiver resource. If the system is currently in Step-track turn it to Peak.

To run the Spectrum Analyzer measurement press R.

To Store a recorded Pattern, press W then select a filename and save.

Below find some examples of Satellite Spectrum recordings taken by AL-7103 Ku and C, as viewed from Orbit roof in Natanya:


Satellite: Amos 4.0 West, Horizontal Pol, Ku-Band, LNB LO 10.0 GHz

Satellite: Amos 4.0 West, Vertical Pol, Ku-Band, LNB LO 10.0 GHz


Satellite: Arabsat 26.0 East, C-Band, Linear Pol Satellite as seen with Circular Pol antenna


7 Using SAS to Select Optimal Tracking Frequency for Wide-Band Receiver

Once a Satellite Spectrum is presented on the Spectrum Analyzer Screen (see paragraph above), a vertical dotted line marks the highest-level frequency:

Satellite: NSS6 95.0 East, Vertical Pol, Ku-Band, LNB LO 10.0 GHz

This frequency is also stated as Peak Freq at the top of the screen: 1598.000 MHz.

If the LoadRcv function is activated, this frequency will be loaded into the tracking receiver:

Press, Enter to OK, then check by exiting the Spectrum Analyzer screen and viewing the Receiver sub-window in Maintenance Screen. Selected Freq will be: 1598.000 MHz


8 Using SAS for Satellite Identification

Spectrum Analyzer Screen may also be used to help identify a satellite. This may be done by comparing a measured pattern with a stored reference pattern.

First measure the current satellite pattern:

Press G to recall previously saved pattern and add it to the same graph:


In the given example it is pretty obvious that the measured satellite is indeed the same satellite which pattern was saved as a reference.

If the two curves are not so obviously similar, one may use the Correlation number, which is calculated and presented on the upper right corner. In the case above the Correlation is 0.99 out of 1.00.

Usually Correlation of over 0.8 means positive satellite identification.


9 LNB Noise Floor Correction for Wide-Band Receiver

LNB noise floor level varies with frequency.

This may be easily shown by pointing the antenna to clear sky and recording the noise spectral pattern using the Spectrum Analyzer Screen.

Before doing so, one must make sure that the Noise Floor Correction is switched off.

To do so, from Operation Screen press M to reach Maintenance Screen, then select Config on the Receiver window:

-----

Make sure to set Noise-Floor Corr to No, and then use Spectrum Analyzer Screen to record the clear-sky pattern:


Note how vastly the LNB noise varies with frequency. This produces a real problem when a minimal signal threshold must be introduced.

To correct will do the following:

Save the measured noise floor - press W, then select Noise Floor Table


Go back to Maintenance Screen, and then select Config on the Receiver window:

-----

Turn Noise-Floor Corr to Yes, and then use Spectrum Analyzer Screen to record the clear-sky pattern:

Note that now the noise floor is completely flat and is normalized to the level of 80 dBm


To demonstrate this even better lets look on the same curve, with the same vertical scale as in the uncorrected noise floor recording:


10 Command the Antenna to Step-Track

From Operation Screen press O, then select Step-track

After pressing OK, the antenna will Step-track on its current position.


11 Reboot SBC

From Operation Screen press D, then select Reboot:

After pressing Continue, the above-decks SBC will first indicate Shut-down then, after a short delay of about 10 seconds, reboot itself. As a result all data fields on the CCU will become blank.

Normal CCU screen will re-appear after the SBC comes-up again (about 30 seconds).

At this point the SBC will automatically go thru its initialization steps: Mechanical Axes Encoder Init and IMU Init.


12 Restart SBC

From Operation Screen press O, then select Restart:

After pressing OK, the SBC will automatically go thru its initialization steps: Mechanical Axes Encoder Init and IMU Init.

Note that unlike in Reboot SBC, the SBC will not be reset and rebooted.


13 Move Antenna Manually in Earth Related Azimuth/Elevation

From Operation Screen press O, then select Manual:

After pressing OK, the Operation Screen will change to the following:


You can now use the left/right keyboard arrows to move antenna Azimuth, Elevation and Polarization Skew in reference to the Satellite.


14 Reboot Windows-CE CCU

From Operation Screen access the Host sub-menu, then select Reboot.

Note that this operation reboots only the CCU, while the SBC is left unaffected. However, please take into consideration that the Beacon AGC as well as Ships Heading are running to SBC thru the CCU, so that when CCU is rebooted those updates will be stopped until the CCU regains normal operation after its reset (about a minute)


15 Enter Blockage Zone Angles

From the Operation Screen press I, then select Antenna Blockage:


Up to four blockage zones may be defined.

Blockage is given in Local Position angles (also see paragraph below), which are Azimuth relative to ships Bow, Elevation relative to ships deck: -

A1 Ships heading

A2 Antenna True Azimuth

A3 Antenna Local Azimuth

Simplified model: Pitch and Roll are zero.


E1 Ships Roll

E2 Antenna True Elevation

E3 Antenna Local Elevation

Simplified model: Pitch and Heading are zero.

One can see that the Local Antenna Azimuth is the Antenna Azimuth with respect to the ships Bow-to-Stern line, rather then the North direction, whereas the Local Antenna Elevation is the Antenna Elevation with respect to the ships deck rather then the horizon level.

The local angles depicted on the diagrams above are only for illustration; the actual mathematical definition of those angles is a bit more complex and takes into consideration ships Pitch, Roll and Heading at all times.

Local angles make the definition of the obstruction zones a whole lot more convenient: survey antenna location and note the corner angles of each obstruction, in Local Azimuth and Elevation.

The Obstruction Zone screen allows entering of four angular points defining a single obstruction zone of an antenna: Azimuth Start (from), Azimuth End (to), Elevation Start (from) and Elevation End (to).

Up to four obstruction zones may be entered.


There is no necessity of filling out all the zones, a default setting of a zero value both in from and to fields will effectively disable the relevant zone.

From the other hand, if a zone is to be defined only in Azimuth, the Elevation angles should be set from 90 to +90 degrees.

An example for a simple obstruction zone setting is presented herein:

In the case above, Antenna 1 is blocked in the range of 90 degrees, starting from 150.0 to 240.0 degrees. Antenna 2 is also blocked in the range of 90 degrees, starting from 330.0 to 60.0 degrees. All of the above, in Local Azimuth terms, of course.

Note that the obstruction zone is defined by a start angle, which is always clockwise before an end angle.

The obstruction zone setting for both antennas will be as follows:

Antenna 1 Antenna 2

Zone 1 Zone 1

Az from: 150.0 to: 240.0 Az from: 330.0 to 60.0

El from: -90.0 to 90.0 El from: -90 to 90.0

Zone 2 Zone 2


El from: 0.0 to 0.0 El from: 0.0 to 0.0

Zone 3 Zone 3



Zone 4 Zone 4




Once set, the CCU will present an Antenna View Blocked message when antenna will go in one of the predefined zones. This message may also be read by an external device (such as the iDirect modem in AL-7103-C system), and take action, accordingly

Moreover, when going into antenna blockage zone the controller will automatically revert to Point-to-Satellite mode, as it assumes that the Antenna signal is not available for Step-tracking. When going out of a blockage zone, the controller will automatically initiate a re-acquisition sequence.

After setting of the Blockage Zones, one must save them in the SBC non-volatile memory


16 Set-up Local Antenna Position Angles Display Setting-up Local Position display is protected by a High-level password. Please contact Orbit Tech service to get the password. The password will remain valid for a limited amount of time.

From Operation Screen press U, the following will appear:

Then type in the valid password

The screen will change to allow access to high-level parameter settings.

Press T, for System configuration, then D, for Display menu:


Select Ant Position for Local Angles, then Ok

This will add a small display window just below the AGC bar:

Save parameters to SBC non-volatile memory.


17 Saving Parameters in the SBC Non-Volatile Memory

From Operation Screen press V, then select All


18 Finding and Setting of Heading (Compass) Offset

How to find the correct Offset

As marked in the drawing above, Compass offset is the angle between the ships Compass direction, represented by the Bow-to-Stern line and the IMU direction, represented by a black arrow marking on the exterior of the AL-7103 radome.

To establish the exact offset angle the following steps should be taken:

Make a naked-eye rough estimate for the offset angle. Looking on the drawing above that would be something like -30 degrees (negative because the offset in the example is counter-clockwise from ships bow)

Set the naked-eye estimate into the controller (as shown below)

Point antenna to satellite. Record the antenna Azimuth at this point as Nominal Azimuth.

Use Manual mode (see appropriate paragraph in this document) to move the antenna Azimuth orientation to point it onto the satellite. The amount of expected movement depends on how accurate was your initial estimate. Most people can tell direction within +/-10 degrees


Once the satellite is acquired (Beacon receiver locked or, SatModem has locked on the Downstream data channel or, Spectrum analyzer screen shows a recognizable signal pattern or any other way of validating thats the right satellite) put the antenna to Step-track.

Find Azimuth Deviation, which is how far away is the actual antenna Azimuth from the expected one.

To do so you may use the graphical cross hair display, which is calibrated in degrees, showing a total of +/- 5 degrees:

Or you can use the Graphical logger (see appropriate paragraph in this document), recording the Azimuth Deviation:


Or you may put the antenna to Peak mode and find the Azimuth Deviation by calculating the difference between the current antenna Azimuth and the Nominal Azimuth as noted above.

The Azimuth Deviation obtained in one of the methods shown above will be used to refine the naked-eye offset estimate. This will be given by:

Compass Offset Correction = Azimuth Deviation / Cosine (Antenna Elevation)

For example, we found the satellite with the cross-hair mark three notches right of center (+3 degrees), while the antenna Elevation is 41.4 degrees.

That means that our initial naked-eye estimate of 30 degrees must be corrected by:

3/Cos (41.4) = 4.0 degrees, resulting in overall Compass Offset of 26.0 degrees


How to set the Offset to the controller-

From Operation Screen press I then select Compass:

Enter the Offset (third line from the top), OK and save into SBC non-volatile memory


19 Manual Setting of Heading Manual setting of heading is needed if:

Ships compass is either inactive or not yet connected (ex: in midst of system installation)

Ships compass is incremental (Step-by-Step or Synchro 1:360) and the operator wishes to enter a new starting-point value

To set heading, from Operation Screen press D, then select Set Compass:

Note that in case of non-incremental (absolute) compass interface, is reconnected will override manual setting.


20 Manual Setting of GPS Lat/Long Location

If for some reason there is no GPS position updates, one can input it manually.

To do so, from Operation Screen press D, then select Set GPS:

Note that the Latitude and Longitude angles are entered in their decimal form, meaning that +32.5125 degree Latitude are actually 32 deg 30 minutes 45 seconds of arch North to Equator, while 128.7523 degrees Longitude are actually 128 degrees 45 minutes and 8 seconds of arch West of Greenwich.


To make those calculations one must remember that 1 degree of arch is divided into 60 minutes, while each minute of arch in turn contains 60 seconds, so that each degree of arch actually contains 3600 seconds.

32.5125 degrees of Latitude are 32 degrees and 0.5125*3600 = 1845 seconds.

1845 seconds are 1845/60 = 30 minutes and 0.75 * 60 = 45 seconds. The fact that 32.5125 Latitude is a positive number means that its given North of the Equator. 32.5125 degrees of Latitude are therefore 32 degrees 30 minutes and 45 seconds North of Equator.

Similarly it may be shown that 128.7523 degrees translate to 128 degrees 45 minutes and 8 seconds of arch. The fact that it is a negative number means that it is given west of the Greenwich line.


21 Setting of Interface to Ships Compass

From Operation Screen press I then select Compass:


Supported interface types:

Synchro, Step-by-Step and NMEA-0183.

(Current-loop is not supported, although listed.)

The default setting is NMEA-0183

For Synchro or Step-by-Step please contact factory.

Synchro hardware set-up: 115VAC 50-400 Hz Reference, 90VAC S1, S2, S3 Phases

Synchro 1 to 1:

1 degree of ship rotation corresponds to 1-degree displacement of Compass readout

Synchro 360 to 1:

1 degree of ship rotation corresponds to 360 degrees displacement of Compass readout

Synchro 180 to 1:


Synchro 90 to 1:


Synchro 60 to 1:


Synchro 36 to 1:


Step-by-Step hardware setup: three Lines A, B, C and Common

Both types of Step-by-Step are supported: Common GND, and Common Hot

Maximal voltage level allowed for active Line in case of Common GND: 20 to 70VDC

Maximal voltage level allowed for Common Hot: 20 to 70VDC


22 Changing the Default NMEA-0183 Compass Sentence

From Operation Screen press I, then select Compass NMEA:

Select the relevant NMEA sentence then OK and save into SBC non-volatile memory.


23 Setting up the Modem (IRD) Lock/Unlock feedback

From Operation Screen press I, then select Sat.Validation:

From Operation Screen press I, then select External Hardware IP


Add to the External Hardware Host IP Addresses field, which normally contains the IP address of the CCU, the IP address of the modem.

In the illustration above: 172.22.34.18 is the IP of the CCU, 172.22.34.17 is the IP address thru which the SBC sees the modem.

Note that there is a ; delimiter between the two addresses.

Save ALL settings to SBC non-volatile memory


24 Setting Up External Hardware IP Note:

This procedure is part of the overall CCU/SBC IP Address change-out Scheme, as described in FUF procedure No. 45.

From Operation Screen press I, then select External Hardware IP:


25 Setting Up NMEA-0183 Compass Interface

First make sure that the CCU IP address is dialed in the External Hardware IP parameter, as shown in the paragraph above.

From Operation Screen press H, then select Hardware Interface:

Make sure that the Enable Tab is on Yes and the Compass Input Tab is set-up as shown below:


At this point, if the Compass NMEA-0183 is indeed physically connected to Com1 of the CCU, a valid heading angle will be shown under Reading and the actual NMEA-0183 sentences may be viewed when pressing the Show Input button:

As shown, the CCU default setting is to read $HEHDT type of sentence with the correct Check-sum. If the compass produces a different type of sentence, this may be set up as follows: -

From Operation Screen press I, then select Compass NMEA:


Note that the setup below, allows selecting Enable Other Device which will allow operation with pre-ambles other then the ones listed.

Note also that the setup allows disabling the Check-sum checking, in case the Compass is not producing a valid Check-sum (we have seen some of those too)

At its most generic setup, you may select ENABLE ALL DEVICES AND SENTENCES.

This however, may cause problems, if the device produces more then one type of sentence, which containing different heading data (Magnetic and True heading for example).


26 Enter Mechanical Zero Offsets

The physical orientation of each of the mechanical axes is uniquely defined by the mechanical structure within +/- 1 degree.

The default encoder offsets are set to the following:

X-axis: -170.3 degrees Y-axis: +39.5 degrees Z-axis: +129.2 degrees

One may rightfully note that things would be a lot simpler if those default values would be re-defined as true zeroes. Regretfully it is not so due to the need of keeping backwards compatibility to the older systems.

To adjust the last degree, the AL-7103 axes should be brought to their nominal zero locations (with the above encoder offsets), and then their location adjusted as explained in the mechanical zero calibration procedure (Orbit Document ATP25-0097-SYS).

The default offsets, given above, should be corrected accordingly. Lets assume for instance, that the corrections are as follows:

X-axis should be corrected by +0.5 degrees Y-axis should be corrected by -0.3 degrees Z-axis should be corrected by +0.4 degrees


From Operation Screen press I, then select Axes Parameters:

Note that the Encoder Offsets entered per our example, are:

X-axis: -170.3 + 0.5 = -169.8 degrees Y-axis: +39.5 0.3 = +39.2 degrees Z-axis: +129.2 + 0.4 = +129.6 degrees

Save the new settings: press V, then select All and Enter.


27 Logging Data Using the Graphic Logger

The Logger is essentially a buffer able to record four simultaneous channels of data having up to 40960 points each.

The sample rate may be set to as fast as one sample per tick (one tick being 1/512=1.95 milliseconds) to as slow as one sample per 20000 ticks, which is about every 39.06 seconds.

With the slowest sample rate one may therefore log for 40960*20000/512 = 1600000 seconds, which are about 444.4 hours or 18.5 days.

With the fastest sample rate one will log the max of 40960*1/512 = 80 seconds.

As a useful tip, I normally set the number of points to log to 30720 points, corresponding to 60 seconds of logger time when sampling every tick. Then I just adjust the tick number, knowing that every notch will give an additional minute.

To access Logger, press L either from Operation Screen or Maintenance Screen:


For Logger configuration set-up, press C:

Once, the Logger is configured, select information curves for recording.

For example, well record the following: AGC in dB-Micro-Volts, Ships Pitch, Ships Roll, and Ships Yaw for 6 minutes (360 seconds)

Press A, then select from the presented list AGC, AGC Dduv:


Press A, then select from the presented list: Ship Orient(ation), Yaw

Press A, then select from the presented list: Ship Orient(ation), Pitch


Press A, then select from the presented list: Ship Orient(ation), Roll

To change recording time, press C and set the following:

To start log, hit R.

During the measurement a progress bar is presented.

For a measurement, which takes a considerable time (more then a few minutes), intermediate results will be presented.


On completion of measurement, the recorded curves will be presented:

One may analyze the presented data by Scaling and Offsetting each of the curves: press S.


Offsetting the Yaw curve by 225.0 (degrees) to Yaw curve and AGC curve by 75.0 (dB) will make the recording a lot more readable:

To save graph, press W. A Windows browse window will open select a filename and save.

To read graph, press G. A Windows browse window will open select a filename and open.

To save logger setup, press V. A Windows browse window will open select a filename and save.

To recall logger setup, press E. A Windows browse window will open select a filename and open.


28 Running Axes in Test Trajectory

To configure test trajectory for the axes, from Operation Screen press I, then select Axis Parameters:

The above setup will run each axis in a Sinusoidal trajectory with 90-degree Amplitude and 12 second period:

Axis Angular Position = 90 * Sin (2Pi * t / 12) [degrees]


Peaking twice per each period, at t = 3 seconds and t = 9 seconds at +90 and 90 degrees

X and Z axes will therefore move around 0 degree (-90 to 90 and back) while Y axis will move around 75 degrees (-165 to +15 and back), due to its 75 degree test trajectory offset.

One may see that the axes angular velocity will be given by:

Axis Angular Velocity = (90 * 2Pi / 12) * Cos (2Pi * t / 12) [deg/sec]

Peaking twice per each period, at t = 0 seconds and t = 6 seconds:

Axis Peak Angular Velocity = 90 * 2Pi / 12 = 47.1 [deg/sec]

One may also deduct that the axes angular acceleration will be given by:

Axis Angular Acceleration = - (90 * (2Pi / 12) ^2) * Sin (2Pi * t / 12) [deg/sec/sec]

Peaking twice per each period, at t = 3 seconds and t = 9 seconds:

Axis Peak Angular Acceleration = 90 * (2Pi / 12) ^2 = 24.7 [deg/sec/sec]


To run the axes in their test trajectories, from Operation Screen press O, then select Test Traj:

The AL-7103 will respond by moving all three axes to their starting positions (-90 degrees for X and Z, -165 for Y) and then move them on their test trajectories forth and back, until stopped by the operator.

During this time, the graphical Logger may be utilized to record the axes response.

For each axis the following may be monitored: Position Feedback, Position Error, and Velocity Feedback

The example below shows typical X-axis response:

(Note that the Position Error curve is multiplied by 100 to bring it within the readable scale)


29 Monitoring Mtslink Program Work Duration

It is sometimes desirable to know for how long the Mtslink application program is working without being restarted.

To do so, from Operation Screen press H, and then select Application Work time:


30 Checking CCU and SBC Software Versions

From Operation Screen press Version:


31 Monitoring SBC Voltage and Temperature Test Points

From Operation Screen press M to reach the Maintenance screen, then select PowerState:

Note that test points out of normal range are highlighted and marked in red letters

Note also that all test points may be recorded with the graphical data logger.


32 Setting IP Address of the SBC Note:

This procedure is part of the overall CCU/SBC IP Address change-out Scheme, as described in FUF procedure No. 45.

To set SBC IP address, the MtsDock program must be used.

The MtsDock program may reside either on the CCU or on an external computer (Laptop).

If an external computer is utilized, it must be connected to the SBC LAN either by a point-to-point connection (temporarily disconnecting the CCU and the modem) or thru a LAN hub.

To establish link with the SBC, activate the MtsDock program, press C then select Connect:

The program will ask for the SBC current address:


Enter the correct address, then OK

The program will respond by acknowledging the link was established.

To change the SBC IP address, press C then select Edit Bootline

The program will respond by presenting the SBC present address arrangement:

Change the addresses to the required values and OK.

The new settings will take effect only after SBC Reboot.

You may reboot the SBC from the MtsDock program by pressing C, then selecting Reboot.


Note that after the SBC comes up, the CCU Mtslink will not communicate with it until the CCU is not instructed to use the new SBC address:

From the main operation screen, press H to access Host, then select Communication sub-menu:

Set the new SBC address.

As a result the communications between SBC and CCU will resume.


33 Setting IP Address of the Win-CE AL-7103-CCU

Note: This procedure is part of the overall CCU/SBC IP Address change-out Scheme, as described in FUF procedure No. 45.

Two steps must be taken:

Setting of the IP address Saving of new settings in Flush Memory

To set the IP address:

From Start Menu select Control Panel:

From Control Panel select Network and Dialup Connections:


From Network & Dial-up Connections select PCI-DM9PCI1:

Default CCU settings are presented below.

Set IP Address, Subnet and Gateway as needed per application:


To save in Flush Memory perform the following:

From Start select Run

Activate Browse menu:


From Browse menu select Storage Card:

From Storage Card menu select Utilities:


From Utilities menu select FLUSHREG:

Run \\FLUSHREG.EXE

The new settings are now saved in the CCU Flush-memory

Warning The SBC to CCU Ethernet connection must be protected from a shared

network of any kind. If this connection must be part of a larger network, a

CISCO PIX 501 Firewall (or a similar device) must be used to buffer it from

the rest of the net.


34 Setting IP Address of the Win 2000 AL-7100-CCU

Note: This procedure is part of the overall CCU/SBC IP Address change-out Scheme, as described in FUF procedure No. 45.

To set the IP address, the regular Windows 2000 utilities must be used.

From Start select Control Panel and then Network & Dial-up Connections:

Select the Local Area Connection:


Select the Internet Protocol (TCP/IP):


The above represents the default factory settings.

Set the IP address, Subnet mask and Default gateway per the particular application

~Warning The SBC to CCU Ethernet connection must be protected from a

shared network of any kind. If this connection must be part of a

larger network, a CISCO PIX 501 Firewall (or a similar device)

must be used to buffer it from the rest of the net.


35 Setting of PPR and Control Parameters for Different SDMs

SDM PPR (Pulse Per Revolution) is the number of pulses that the AL-7103 controller must produce for the stepper-motor driver so that the pedestal axis will complete a whole 360-degree revolution.

The PPR number is a multiplication of the following ratios:

Stepper Motor Poles ratio Stepper Driver Micro-step ratio SDM Mechanical Reduction ratio

Stepper Motor Poles ratio for the motors used in AL-7103 project is 200:1.

Stepper Driver Micro-step ratio is:

IM805 Stepper driver 16:1 R702 Stepper driver.. 10:1

In first production batch of AL-7103, SDM Mechanical Reduction ratios were:

AL-7103-C X and Y..20000:297 (approximately 67:1) AL-7103-C Z (Azimuth)60:1 AL-7103-Ku X and Y10000:231 (approximately 43:1) AL-7103-Ku Z (Azimuth). 2400:49 (approximately 49:1)

As all the above are equipped with IM805 Stepper driver, the overall Motor PPR resulting as follows:

AL-7103-C X and Y:

Mtr PPR Numerator (200*16*20000)..64000000 (448000000)

Mtr PPR Denumerator (1*1*297)....297.. (2079)

AL-7103-C Z (Azimuth):

Mtr PPR Numerator (200*16*60)192000

Mtr PPR Denumerator (1*1*1)....1

AL-7103-Ku X and Y:

Mtr PPR Numerator (200*16*10000)..32000000



AL-7103-Ku Z (Azimuth):


Mtr PPR Denumerator(1*1*49)...49

Starting with AL-7103 systems S/N 30 and higher (to be supplied from Orbit starting March 2006) will contain a unified SDM with Mechanical Reduction ratio of 60:1. It will be equipped with the R702 Stepper Driver.

New SDM will therefore have the following setting:



Changing of SDM, results in a change of Mechanical Reduction ratio, which in turn affects some additional settings of the Axis Control parameters, as shown below.

Setting of SDM PPR and Control parameters is protected by a High-level password. Please contact Orbit Tech service to get the password. The password will remain valid for a limited amount of time.


Then type in the valid password



Press M to get to the Maintenance screen:

Select Pedestal-X Config:


For New SDM, please set the following fields:

Closed Position Loop L-Step P-Gain..4.0

S-Step P-Gain..6.0

Integral Gain..12.0

Closed Velocity Loop Diffr Gain.0.096

Ref Limit60.0

Closed Loop General Acl Limit...90.0

Encoder Parameters Mtr PPRNum..120000

Mtr PPRDen.1

Test Trajectory Amplitude..90.0

Period12.0

All the rest of the parameters should not be affected

After setting of all parameter press OK (Enter)

Select Pedestal-Y Config, repeat as per above.

Select Pedestal-Z Config, repeat as per above.

Press Esc to return to Operation screen

Save the new settings: press V, then select All and Enter.


36 Setting up the Satellite Modem (IRD) Lock/Unlock feedback, via RS232 Controls

Same as in Paragraph 22, only have to connect cable to AL-7103-CCU Com2 so that the modem IRD dry contact will connect pins 7 and 8 when indicating Lock.


37 Log ComtechEFData CDM-570L Data Using the Graphic Logger

If the Rs232 Com Port of the CCU is not occupied, it may be utilized to monitor Satellite Modem status.

Currently only ComtechEFData CDM-570L is supported.

To make this work a three lead cable must be connected between the Rs232 Com of the CCU and Remote Control port of the CDM-570L. The cable must have a pin-to-pin connection:

Pin 2 of CCU to Pin 2 of CDM-570L Pin 3 of CCU to Pin 3 of CDM-570L Pin 5 of CCU to Pin 5 of CDM-570L



Make sure to set the Com parameter according to the Rs232 Com available for this operation. Normally this will be Com-2 in AL-7103-CCU (Win-CE) and Com-1 in AL-7100-CCU (Win-2000)

Make sure to set the Baud Rate as to setting of the CDM-570L

Once a connection with the CDM-570L is established, BER, RSL and Eb/No fields will present relevant numbers as read from the modem. Modem Rx Lock/Unlock status will also be displayed.


The above parameters may also be logged using the AL-7103 graphical logger:


38 Log External Spectrum Analyzer Marker Using the Graphic Logger

If the Rs232 Com Port of the CCU is not occupied, it may be utilized to monitor external Spectrum Analyzer marker.

Currently supported models:

Anritsu MS-2665

UnaOhm EP-307, EP-319 and EP-3000

An appropriate serial communications cable the Rs232 Com of the CCU and Remote Control port of the Spectrum Analyzer must be connected.



Select the appropriate Spectrum Analyzer type.

Select the CCU Com-port utilized for this operation

Make sure that the Spectrum Analyzer serial communication is set up according to what is displayed below the Com-port number.

It must be noted that AL-7103 does not attempt to change any Spectrum Analyzer settings it just reads its marker value.

It is suggested to perform the measurements with Spectrum Analyzer set at:

RBW = 10KHz VBW = 10Hz SPAN = 0 (Zero-span)

Once a connection with the Spectrum Analyzer is established, level fields will present relevant numbers as read from it.

Spectrum Analyzer marker level may also be logged using the AL-7103 graphical logger:


An example of a recording of the Rx signal strength measured both by a Spectrum Analyzer and Narrow Band receiver using AL-7103-C antenna is given below:


39 Setting the Narrow Band Receiver (NBR) Lock/Unlock Feedback

From Operation Screen press I, then select Sat.Validation:



40 Selecting Narrow Band Receiver

From Operation Screen press M, to go to the Maintenance screen.

Press Src on the Receiver sub-window and select NBR:



41 Selecting Narrow Band Receiver IF-Bandwidth

Make sure that Narrow Band receiver is selected (see 39, above)

From Operation Screen press I, then select Receiver:

Select NBR IfBw: 50 KHz, 150 KHz or 300 KHz



42 Spectrum Analyzer screen with Narrow Band Receiver (NBR) Please refer to Spectrum Analyzer Screen operation paragraphs 6,7 and 8

When using the SAS in conjunction with the Narrow Band receiver, one must take into consideration that the NBR finest resolution is 0.005 MHz (5 KHz) and the IF filters (which effectively function as Resolution Bandwidth of the SAS) may be set to 50, 150 and 300 KHz bands

Below is an example of an actual signal on Amos satellite, which is comprised of two quite narrow adjacent carriers.

The signal, as shown on a Anritsu MS2721A Spectrum Analyzer:

The AL-7103 SAS Setup:


The same signal image taken with a 30 KHz RBW:

The same signal image taken with the AL-7103 SAS, with NBR at 50 KHz:


Wide band scans are also possible, one must only pay attention to the scan resolution: for as scan of 200 MHz, like in the example below, a resolution of 0.1 MHz with 8-Point Averaging will take about a minute.

The NBR is set to a 300 KHz bandwidth.


Just for comparison, the same scan on an Anritsu MS2721A looks like this:


43 Setting Up GPS Output on CCU Com2 To set up the GPS Output:

1. From Operation Screen, press H, then select Hardware Interface for opening the Host Hardware Interface window.

2. Verify that Enable Hardware Interface on Enable tab is set to

Yes, and press Apply.


3. Select GPS Output tab and set parameters as following:

Set Enable to Yes Set COM Port Number to 2 Set Baud Rate to 4800 Set Format to 8_NON_1 Set Device to GP Set Sentence to GGA Set Send Interval to 1 Second

4. Press OK when complete.


44 Setting Up Cease-Tx Control Purpose The below explains the monitoring and control of the AL-7103 Tx Chain with all BUCs currently defined as valid options.

The Tx-Chain consists of BUC, ADMx, and the logic for automatic control over Tx-enable by the AL-7103 software (Cease Transmit).

Tx Chain Configuration Screen Tx Chain screen contains the following:

BUC Model:

BUC Model selection list:

Undefined, 4W Ku KoSpace, 8W Ku KoSpace, 8W Ku Agilis, 8W Ku NxGnWv, 8W C Belcom, 10W C Codan, 20W C Codan.


Input (dBm):

L-Band signal power measured on the output of the ADMx in dBm. If ADMx to BUC input losses are taken into consideration, this value has a good correlation of the L-band power injected into the BUC

Input (Volts):

L-Band signal power as measured by the ADMx monitor, in Volts, before the conversion to dBm.

Output (dBm):

BUC output power indication in dBm. This is only presented for BUCs equipped with a output power monitor compatible with the SBC interface: 10w and 20w Codan, 8w KoSpace. If not active, this display will present a blank field.

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Disclaimer Note: Neither Input(dBm) nor Output(dBm) are designed as precision measurement devices. The presented values have more of an indicative quality, their accuracy strongly dependent on the BUC brand as well as the current environmental conditions.

Regardless, those tools have been proven as extremely effective aids for the in-field integration process.

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Temperature (degC):

BUC temperature indication in degC. This is only presented for BUCs equipped with a temperature monitor compatible with the SBC interface: 10w and 20w Codan, 8w KoSpace. If not active, this display will present a blank field.

Control Button: Tx Control

The button presents a select list with the following options: None/On/Off/Auto.

Default: On (To prevent the need of Configuration change, after software upgrade on a system equipped with KoSpace 4w BUC)

Last selection is saved in non-volatile memory if Save Maintenance (or Save All) is activated.

( Note that in the present version this control has only three states: On/Off/Auto )


Function:

When changed to On The AL-7103 software should send a Tx-On command

When changed to Off The AL-7103 software should send a Tx-Off command

When set to Auto The AL-7103 software will send a Tx-On command if all of the Tx Dependency-enabled conditions are true for the duration of minimal time of two consecutive seconds. The AL-7103 software will send a Tx-Off command if one, or more, of the Tx Dependency-enabled conditions are false.

When set to None The AL-7103 software will not send any commands.

When Tx Control is set to either On,Off, or None the Tx Dependency parameters should be disabled (presented in light gray)

Control Button: Tx Dependency

The button opens a configuration sub-screen with the following parameters:

Function:

Min Elevation [deg]: Tx will be stopped if the antenna Elevation angle, relative to the Earth horizon, goes below the dialed value.

IRD Lock: If set to Yes, will stop Tx if satellite IRD Lock turns to Unlock

Track Error: If set to Yes, will stop Tx if the Tracking error produced by the ConScan Step-track, exceeds the Track Error Threshold value, as set in Step-track configuration sub-screen

Track Mode: If set to Yes, will stop Tx if the current mode is not Step-track

Blockage: If set to Yes, will stop Tx if Antenna view is blocked according to Antenna Blockage Zones settings

BUC Fault: If set to Yes, will stop Tx if BUC Fault is identified.


Note that when a Cease-Tx condition is identified, the BUC Tx is stopped immediately (less then 100msec), while when the Cease-Tx condition disappears, the BUC Tx is renewed only after a 2 second delay. This is in compliance with regulatory requirements.

All the above is relevant only if the Control is set to Auto and the particular selected BUC has the appropriate interface for Tx Control: 10w and 20w Codan, 4w and 8w KoSpace.

BUC Status Screen BUC Status screen is sequentially accessible thru the GpsTunerBUC control label on the Maintenance screen. BUC Status screen will present the following status:

For 10W C Codan and 20W C Codan Models:

---------- System Status ---------------

PA Status: On/Off

Transmit On: On/Off

LO Freq (MHz): 7300, 7375, 7600, 7675

Tx Atten (dB): 0,4,8,12


------------ Fault Status ----------------

PA: OK/Failed

Fan: OK/Failed

Tx Power Alarm: OK/Failed

LO: OK/Failed

Internal: OK/Failed

Temperature: OK/Failed

Note that LO will indicate Failed if there is no 10MHz sync on the BUC input.

For 8W Ku KoSpace

Tx : On/Off Fan : On/Off PLL : OK/Failed

Note that PLL will indicate Failed if there is no 10MHz sync on the BUC input.

All the rest of the BUC selections will show as:

BUC Serial number Hardware ID screen presents BUC S/n for BUCs which are able to provide this info. The list of those BUCs is now extended to: 8W Ku KoSpace, 8W Ku NxGnWv, 10W C Codan and 20W C Codan.


COM-1 Set-up for BUCs using Comm-link:

For selected BUC using a serial communication link to converse with the SBC (such as 8w Ku KoSpace or 10w/20w C Codan), the COM-1 port must be set up accordingly:


45 Changing the CCU/SBC IP Addresses General Scheme When changing the IP address scheme of CCU and SBC, the following actions must be taken:

Change SBC IP address, sub-net mask and gateway as per FUF procedure No. 32

Change CCU IP address, sub-net mask and gateway as per FUF procedure No. 33 or 34

Set the new CCU address for the SBC Ext Hardware IP as per FUF procedure No. 24.


46 Setting the AGC Threshold Level From Operation Screen press D, then select Set Threshold:

Enter a number in dBm as per the following guideline:

1. The Threshold level should be at least by 3 dB higher the off-satellite noise background. To check the off-satellite noise move the antenna away of the satellite (may use the Stow-up function for that) and check the AGC level.

2. The Threshold level should be of course lower then the selected tracking signal level, but it would be a good practice to keep it by no more then 7 dB down of the signal level.

3. Note also that the Threshold level is also accessible via the Step-track configuration screen.


47 Checking Netzer Encoder Coarse Accuracy

This function requires access to parameters protected by a High-level password. Please contact Orbit Tech service to get the password. The password will remain valid for a limited amount of time.


Then type in the valid password.


Press M, for Maintenance screen, then select one of the system axes X, Y or Z.

For X and Y axes: use Slew to move the axis all the way till CCW limit. After the limit is reached (RLm indicator flashing) move the axes a few degrees back so that the RLm indicator disappears.


Access axis configuration:

Set the Imitation parameter to Yes.

Also enter the value of 0.008 to into Closed Velocity Loop S/L-Step parameter.

Do not change any other parameters, even if they look different from the illustration above!

Hit enter, and observe that the Imit indicatior is flashing:

Access Mode and activate Encoder Init. Note that this will cause the Encoder to present its Coarse readout. This readout does not represent the true angular position of the axis! After the activation of the Encoder Init both Imit and Zro indicators will flash:


Access Logger and Log the following parameter for 120 seconds:

Pedestal X -> General -> Netzer F2C_Err

Access Mode and activate Pedestal-X Slew in CW direction with 1 deg/sec velocity

Immediately access the Logger and start the log.

After the log has completed the 2 minutes recording, immediately access Mode and activate Halt

Access Configuration and turn Imitation back to No. Hit Enter. Make sure that the Imit indication disappeared and Zro indication is still on.

Access Mode and activate Encoder Init. Make sure that the encoder performs its normal initialization routine and Zro indication went off too.

Go back to the recorded data and check that the StdDev value is less the 0.2 deg.

Example of a good encoder recording:


Example of a bad encoder recording:

Example of good encoder on the same graph-scale as the bad one, for comparison:


48 IMU Correction by Step-Track mode 1. Acquire a satellite and let the system step-track on it. Make sure thats

the correct satellite by noting that the Satellite Modem has locked or any other way. As the system is never perfectly aligned, there will be some degree of misalignment in the Az/El Deviation Cross-hair display:

2. Access the Step-track configuration: InConfig (I)-> Step-Track (S) -> Ku:


Change the IMU Correction parameter from No to Yes

Note that after a few moments, the Az/El Deviation Cross-hair display will move to its center on the Azimuth axis:

At this point the AL-7103 system does not use the Ships compass for tracking. It relays solemnly on its internal integrated vertical Rate-gyro corrected by Step-track. System operation will not be degraded and in some cases, when the quality of the Ships compass is questionable, may improve.


However, one must take into account, that when in IMU Correction, the system relays entirely on the integrity of the AGC feedback to correct the IMU readings.

That means that if for some reason the signal is lost (ex: blockage by ships superstructure), the IMU readings will be corrupted, and signal re-acquisition problematic and in some cases impossible.

If this occurs, the system mode must be returned to normal, meaning IMU Correction parameter set to No. After doing so, please wait 6 minutes, than activate Acquisition.

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Note: Unattended operation in IMU Correction mode is not recommended. This mode is designed as an additional tool for Ships-heading related faults isolation.

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

3. Logging of the Ships compass in reference to the IMU Corrected Yaw

Access the graphical logger and select the following curves:

Curve-1: Compass - Rs232 -> Rs232

Curve-2: Ship Orient YPR -> Yaw

Curve-3: Calculation Difference -> C1-C2

In the below example, a log recording has been taken when the ship moving in heading from 60-deg to 120-deg and back in a sinusoidal manner.

Note that the difference between the two curves (C1-C2) is more-or-less a straight line, with close to a zero value.

Warning: Due to irregularities in the display graphs, 360 deg jumps may occur in the presented curves. Disregard those.


Appendix A Status Messages In case of a malfunction, the CCU displays a Message, Warning or an Error, depending on the malfunction classification.

The messages are classified into three categories, each identified by a different color:

Message - green (e.g. System Shut-Down, Pedestal Y Axis Jammed) Warning blue (e.g. Compass Communication Failed) Error red (e.g. Pedestal X Axis Encoder Fault).

The meaning of CommLink Number Each Status message is designated by a Communication Link Number. This number is not presented on the controller screen, but has significance when polling the SBC for Status via the Communication Link.

The SBC response for such a query is a string of ASCII characters each representing a Hexadecimal nibble (four binary bits), altogether creating a large Hexadecimal number. When converted to its Binary representation each bit of this number is representing a corresponding Status message.

For instance, lets assume the following Status messages appear on the controller screen:

CommLink No: 2

Controller screen label: Warning: Compass Communication Failed

Description: No valid communication frames were received on the NMEA-0183 compass Com port for over 1.5 seconds.

CommLink No: 3

Controller screen label: Warning: GPS Communication Failed

Description: No valid communication frames were received on the GPS Com port for over 5 seconds.

CommLink No: 4

Controller screen label: Warning: No GPS Position Updates

Description: No GPS position-fix frames were received on the GPS Com port for over 30 seconds.


CommLink No: 15

Controller screen label: Error: SDU/IMU Power out of tolerance

Description: IMU +5VDC, or the Servo Drive power indications exceeded the predefined tolerance limits

CommLink No: 19

Controller screen label: Warning: System not initialized

Description: The AL-7103 didnt undergo the process of initialization which includes all axes Encoder init as well as IMU init.

The SBC response for Status pole will bare the form of:

100 CommLink No: 2 1000 CommLink No: 3 1.0000 CommLink No: 4 1000.0000.0000.0000 CommLink No: 15 1000.0000.0000.0000.0000 CommLink No: 19 -------------------------------- 1000.1000.0000.0001.1100 = 0x8801C

The SBC will therefore respond with a string of ASCII characters: 8801C.

The following pages list and describe all available status messages.


Error Messages:

CommLink No: 15

Controller screen label: Error: SDU/IMU Power out of tolerance

Description: IMU +5VDC, or the Servo Drive power indications exceeded the predefined tolerance limits

CommLink No: 17

Controller screen label: Error: Restart timed out

Description: The system was not able to complete the restart routine in the predefined time (normally set to 10 minutes)

CommLink No: 36

Controller screen label: Error: Pedestal X Axis Jammed

Description: No movement is recorded from Pedestal X-axis encoder, while the controller produces a steering command

CommLink No: 37

Controller screen label: Error: Pedestal Y Axis Jammed

Description: No movement is recorded from Pedestal Y-axis encoder, while the controller produces a steering command

CommLink No: 53

Controller screen label: Error: No Maintenance Configuration File

Description: The SBC couldnt find the Maintenance Configuration file in its Flash memory (disk C:\), on power-up.

CommLink No: 54

Controller screen label: Error: No Operational Configuration File

Description: The SBC couldnt find the Operational modes Configuration file in its Flash memory (disk C:\), on power-up.


CommLink No: 55

Controller screen label: Error: No Satellite Database File

Description: The SBC couldnt find the Satellite Database file in its Flash memory (disk C:\), on power-up.

CommLink No: 57

Controller screen label: Error: No System Configuration File

Description: The SBC couldnt find the System Parameters Configuration file in its Flash memory (disk C:\), on power-up.

CommLink No: 58

Controller screen label: Error: No Valid IMU Calibration File

Description: The SBC couldnt find the IMU Calibration file in its Flash memory (disk C:\), on power-up.

CommLink No: 100

Controller screen label: Error: Satellite File Read Error

Description: The SBC couldnt read the Satellite database file from its Flash memory (disk C:\), during operation.

CommLink No: 104

Controller screen label: Pedestal X NE2 Encoder Fault

Description: The BiSS digital communication protocol with axis-X NE2 encoder has more then 10% failure rate.

CommLink No: 105

Controller screen label: Pedestal Y NE2 Encoder Fault

Description: The BiSS digital communication protocol with axis-Y NE2 encoder has more then 10% failure rate.

CommLink No: 106

Controller screen label: Pedestal Z NE2 Encoder Fault

Description: The BiSS digital communication protocol with axis-Z NE2 encoder has more then 10% failure rate.


CommLink No: 111

Controller screen label: Pedestal X NE2 Enc Init Fault

Description: The axis-X NE2 encoder initialization has failed.

CommLink No: 112

Controller screen label: Pedestal Y NE2 Enc Init Fault

Description: The axis-Y NE2 encoder initialization has failed.

CommLink No: 113

Controller screen label: Pedestal Z NE2 Enc Init Fault

Description: The axis-Z NE2 encoder initialization has failed.

CommLink No: 119

Controller screen label: Error: Pedestal Z Axis Jammed

Description: No movement is recorded from Pedestal Z-axis encoder, while the controller produces a steering command

CommLink No: 121

Controller screen label: Error: SBC Pwr/Tmpr out of tolerance

Description: One of the SBC power indications (+5v,+/-12v,+2.5v etc.) exceeded the predefined tolerance limits. This error will also appear if the SBC internal temperature exceeded its tolerance limits.

CommLink No: 126

Controller screen label: Error: SDM-X Servo Power Loss

Description: The SDM-X Power is down or it is disconnected.

CommLink No: 127

Controller screen label: Error: SDM-Y Servo Power Loss

Description: The SDM-Y Power is down or it is disconnected.


CommLink No: 128

Controller screen label: Error: SDM-Z Servo Power Loss

Description: The SDM-Z Power is down or it is disconnected.

CommLink No: 129

Controller screen label: Error: SDM-X Stepper Driver Fault

Description: The SDM-X Stepper Driver Fault indicator is on (red). Relevant only with IM805 Stepper drivers

CommLink No: 130

Controller screen label: Error: SDM-Y Stepper Driver Fault

Description: The SDM-Y Stepper Driver Fault indicator is on (red). Relevant only with IM805 Stepper drivers

CommLink No: 131

Controller screen label: Error: SDM-Z Stepper Driver Fault

Description: The SDM-Z Stepper Driver Fault indicator is on (red). Relevant only with IM805 Stepper drivers

CommLink No: 165

Controller screen label: Error: I/O Bus Fault

Description: Starting with SBC software Ver4.22 in conjunction with Altera version 0xCDXX, the SBC can recognize a fault in I/O PC Bus by writing to Altera and reading the value back. If the value is not the same an appropriate message is produced.


Warning Messages:

CommLink No: 0

Controller screen label: Warning: LNB Power Over-Current

Description: The controller 13/18VDC power supply, feeding the LNB is overloaded

CommLink No: 2

Controller screen label: Warning: Compass Communication Failed

Description: No valid communication frames were received on the NMEA-0183 compass Com port for over 1.5 seconds.

CommLink No: 3

Controller screen label: Warning: GPS Communication Failed

Description: No valid communication frames were received on the GPS Com port for over 5 seconds.

CommLink No: 4

Controller screen label: Warning: No GPS Position Updates

Description: No GPS position-fix frames were received on the GPS Com port for over 30 seconds.

CommLink No: 19

Controller screen label: Warning: System not initialized

Description: The AL-7103 didnt undergo the process of initialization which includes all axes Encoder init as well as IMU init.

CommLink No: 25

Controller screen label: Warning: LNB voltage out of tolerance

Description: The controller 13/18VDC power supply, feeding the LNB, is exceeding its predefined tolerance levels


CommLink No: 33

Controller screen label: Warning: Antenna view blocked

Description: The Antenna has moved into one of the predefined blockage areas

CommLink No: 50

Controller screen label: Warning: No communications with host

Description: The communications with the host computer, identified by a predefined IP address, has timed-out (10 seconds).

CommLink No: 69

Controller screen label: Warning: Signal below threshold

Description: The controller signal strength indication (AGC) on the selected frequency is lower then the predefined threshold level.

CommLink No: 70

Controller screen label: Warning: IMU-ACU Communication Fault

Description: The communications between IMU and the controller has timed-out.

CommLink No: 102

Controller screen label: Warning: Receiver Cal Table not Found

Description: The SBC couldnt find the internal wide-band receiver linearization calibration file in its Flash memory (disk C:\), on power-up.

CommLink No: 138

Controller screen label: Warning: BUC L-Band Cal Table not Found

Description: The SBC couldnt find the ADMx (BUC Input) analogue detector linearization calibration file in its Flash memory (disk C:\), on power-up. This Warning will be issued only if the BUC L-Band Power indicator is enabled.


CommLink No: 139


Description: The SBC couldnt find the BUC output analogue detector linearization calibration file in its Flash memory (disk C:\), on power-up. This Warning will be issued only if the BUC Rf-Power indicator is enabled.

CommLink No: 140

Controller screen label: Warning: PolSwitch not connected

Description: The SBC recognized a situation in which both Forward and Reverse limit sensors of the PolSwitch are ON. This is interpreted as a not connected PolSwitch.

CommLink No: 138


Description: The SBC couldnt find the BUC analogue detector linearization calibration file in its Flash memory (disk C:\), on power-up. This Warning will be issued only if the BUC L-Band Power indicator is enabled.

CommLink No: 148

Controller screen label: Warning: X-Axis Forward Limit

Description: The position encoder readout of the X-axis exceeded its Forward Limit configuration definition.

CommLink No: 149

Controller screen label: Warning: X-Axis Reverse Limit

Description: The position encoder readout of the X-axis exceeded its Reverse Limit configuration definition.

CommLink No: 150

Controller screen label: Warning: Y-Axis Forward Limit

Description: The position encoder readout of the Y-axis exceeded its Forward Limit configuration definition.


CommLink No: 151

Controller screen label: Warning: Y-Axis Reverse Limit

Description: The position encoder readout of the Y-axis exceeded its Reverse Limit configuration definition.

CommLink No: 161

Controller screen label: Warning: iNBR Interface not recognized

CommLink No: 162

Controller screen label: Warning: iNBR High LO Unlocked

CommLink No: 163

Controller screen label: Warning: iNBR Low LO Unlocked

CommLink No: 164

Controller screen label: Warning: Tracking Error Exceeds Limit

CommLink No: 167

Controller screen label: Warning: Octans-IMU: Alignment in process

CommLink No: 168

Controller screen label: Warning: Octans-IMU: Anomaly

CommLink No: 169

Controller screen label: Warning: Octans-IMU: Data not ready

CommLink No: 170

Controller screen label: Warning: BUC Tx Stopped

Description: BUC Transmission stopped by the Controller


Messages (Info):

CommLink No: 16

Controller screen label: Auto-Restart in progress

Description: System is going thru initialization stage including IMU init, Encoder init and optionally, Satellite acquisition

CommLink No: 18

Controller screen label: Acquiring a Satellite

Description: System is currently acquiring a satellite

CommLink No: 19

Controller screen label: System no initialized

Description: Encoder and IMU were not yet initialized.

CommLink No: 20

Controller screen label: System Shutdown

Description: System was shut down

CommLink No: 41

Controller screen label: System Shutdown, Ped-X Jammed

Description: System was shut down due to Pedestal-X Jammed fault (No. 36)

CommLink No: 42

Controller screen label: System Shutdown, Ped-Y Jammed

Description: System was shut down due to Pedestal-Y Jammed fault (No. 37)

CommLink No: 45

Controller screen label: PolSkew Disabled, Polarizer Jammed

Description: System was shut down due to the fact that no movement was recorded from Pedestal Z-axis encoder, while the controller produced a steering command


CommLink No: 46

Controller screen label: System Shutdown, Ped-X Encoder

Description: System was shut down due to Pedestal-X Encoder Fault (No. 8), or Pedestal-X NE2 Encoder Fault (No. 104), or Pedestal-X NE2 Enc Init Fault (No. 111)

CommLink No: 47

Controller screen label: System Shutdown, Ped-Y Encoder

Description: System was shut down due to Pedestal-Y Encoder Fault (No. 9), or Pedestal-Y NE2 Encoder Fault (No. 105) or Pedestal-Y NE2 Enc Init Fault (No. 112)

CommLink No: 59

Controller screen label: System Shutdown, Power Loss

Description: System was shut down due to SDU/IMU power lout of tolerance (No. 15)

CommLink No: 60

Controller screen label: System Shutdown, Restart Time

Description: System was shut down due to Restart time-out (No. 17)

CommLink No: 117

Controller screen label: IRD Validation in process

Description: IRD is being re-validated during Step-track operation. Note that this message is presented for a very short time and is barely visible on the controller screen.

CommLink No: 120

Controller screen label: System Shutdown, Ped-Z Jammed

Description: System was shut down due to Pedestal-Z Jammed fault (No. 119)


CommLink No: 122

Controller screen label: System Shutdown, SBC Power/Tempr

Description: System was shut down due to SBC Pwr/Tmpr lout of tolerance (No. 121)

CommLink No: 125

Controller screen label: System Shutdown, Ped-Z Encoder

Description: System was shut down due to Pedestal-Z NE2 Encoder Fault (No. 106) or Pedestal-Z NE2 Enc Init Fault (No. 113)

CommLink No: 132

Controller screen label: System Shutdown, SDM-X Power

Description: System was shut down due to SDM-X Servo Power Loss fault (No. 126)

CommLink No: 133

Controller screen label: System Shutdown, SDM-Y Power

Description: System was shut down due to SDM-Y Servo Power Loss fault (No. 127)

CommLink No: 134

Controller screen label: System Shutdown, SDM-Z Power

Description: System was shut down due to SDM-Z Servo Power Loss fault (No. 128)

CommLink No: 135

Controller screen label: System Shutdown, SDM-X Drv Flt

Description: System was shut down due to SDM-X Stepper Driver Fault fault (No. 129)

CommLink No: 136

Controller screen label: System Shutdown, SDM-Y Drv Flt

Description: System was shut down due to SDM-Y Stepper Driver Fault fault (No. 130)


CommLink No: 137

Controller screen label: System Shutdown, SDM-Z Drv Flt

Description: System was shut down due to SDM-Z Stepper Driver Fault fault (No. 131)

CommLink No: 141

Controller screen label: System Halted, Axes Jammed

Description: System has experienced multiple jammed-axis faults. More than 6 occurred in two minutes the system is therefore halted.

CommLink No: 154

Controller screen label: Ax-X Ne2 Enc Reg Read Failed

Description: While initialization of Axis-X Ne2 encoder, one of the registers was not read correctly (CRC check failed). If not accompanied by other Warning or Error, this is just FYI, as the register is automatically re-read.

CommLink No: 155

Controller screen label: Ax-Y Ne2 Enc Reg Read Failed

Description: While initialization of Axis-Y Ne2 encoder, one of the registers was not read correctly (CRC check failed). If not accompanied by other Warning or Error, this is just FYI, as the register is automatically re-read.

CommLink No: 156

Controller screen label: Ax-Z Ne2 Enc Reg Read Failed

Description: While initialization of Axis-Z Ne2 encoder, one of the registers was not read correctly (CRC check failed). If not accompanied by other Warning or Error, this is just FYI, as the register is automatically re-read.

CommLink No: 157

Controller screen label: Ax-X Ne2 Enc Reg Write Failed

Description: While initialization of Axis-X Ne2 encoder, writing to one of its registers write failed (read-back failed). If not accompanied by other Warning or Error, this is just FYI, as the register is automatically re-written.


CommLink No: 158

Controller screen label: Ax-Y Ne2 Enc Reg Write Failed

Description: While initialization of Axis-Y Ne2 encoder, writing to one of its registers write failed (read-back failed). If not accompanied by other Warning or Error, this is just FYI, as the register is automatically re-written.

CommLink No: 159

Controller screen label: Ax-Z Ne2 Enc Reg Write Failed

Description: While initialization of Axis-Z Ne2 encoder, writing to one of its registers write failed (read-back failed). If not accompanied by other Warning or Error, this is just FYI, as the register is automatically re-written.

CommLink No: 160

Controller screen label: iNBR Validation in process

Description: NBR is being re-validated during Step-track operation. Note that this message is presented for a very short time and is barely visible on the controller screen.


Appendix B SBC Flash-Disk Memory Map The SBC Flash-disc memory map is arranged as follows:

Note: Configuration files having Default Values are marked in shaded gray.

Root Directory Files:

File: VxWorks

Description: AL-7200 software executable

File: Bootrom.sys

Description: Program booting the VxWork application into memory and executing it.

File: Booline.dat

Description: Bootrom.sys program parameters, namely Ethernet driver definitions

Notes: Will exist only if a change is made from the default settings as appear in code.

File: Vga_8x16

Description: VGA Screen low-level driver

Notes: Used if a VGA Screen is connected to the ACU

Fuf26 1540 Fuf Rev b

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