Altitude drive

 The coordinate convention is defined in: Telescope basic definitions [RD 12] . The telescope tube points to zenith when the altitude angle a=90º, to horizontal direction when a=0º;

The PID controller for the velocity of the Altitude drive will be included inside the LCU. It will provide an analogue signal as a reference with +-10Vdc maximum to the current loop, which belongs to the supply of the contractor and which may be included in his power amplifiers.
The tachometer shall provide an analog signal (+-10Vdc) proportional to the actual speed of the drive system to the LCU as an analog symmetrical signal via a screened twisted pair cable.
The connection between the encoder and the IK320 module in the LCU is defined in [AD 07].
The limit switch and brake status shall be connected to the ESO standard digital I/O board via the interlock system as defined in the Electronic Design Specification [AD 01]. The interlock system is supplied by ESO. The power 24VDC 0.6A for the PHASE drive is supplied by the LCU.


 

Altitude drive interfaces:

Proposed interface requirements according to the PHASE design using a fully digital amplifier, as in [AD 05].

The connection layout and pin assignment is given in [AN 01]Annex 1 VLT-DWG-ESO-15154-1769
 
 
 
Item
From 
To 
Signal 
Description 
COMMUNICATION: 
      PHASE Communication  RS485 Port - Protocol S-Link 3 [RD 06]
AMPLIFIER:
 Drive constant (amplifier+motor) Kt=92Nm/V
1  LCU  ATS  Power On +
Main power input relay		 24VDC, 100mA supply to relay coil
Digital output
2  LCU  ATS  Power On -  Common 
3  LCU  ATS  Amplifier Enable  High = Enable 
Contact closed to enable the amplifier output stage
Toggling that signal resets externally triggered faults .e.i. PTC overtemperatures, Overspeed, encoder fail signal. Digital
4  LCU  ATS 
 inhibit positive 

Low = inhibit is asserted when positive vicinity limit  is active.
When the amplifier is in speed mode(manual only), the Positive velocity reference is clipped; the amplifier stop further motion in the corresponding direction.

When the amplifier is in torque mode (nominal configuration) the ESO velocity speed loop sends apropriate command to stop further motion in the corresponding direction.
5  LCU 
 ATS 
 		 inhibit negative  Low = inhibit is asserted when negative vicinity limit is active.
When the amplifier is in speed mode(manual only), the Negative velocity reference is clipped; the amplifier stop further motion in the corresponding direction.

When the amplifier is in torque mode (nominal configuration) the ESO velocity speed loop sends apropriate command to stop further motion in the corresponding direction
6  ATS  LCU  Overspeed High = no overspeed. The speed is sensed on the frequency of the Linear Hall Sensors, exceeding the limit will set the Overspeed alarm and keep it latched until the next enable cycle.
Source Driver: 24V, 100mA max. Digital
7  ATS  LCU  DriveOK (no-fault)
High = DriveOK (no-fault). When negated (fault), the drive is disabled and latched until a reset is applied. Detailed fault information via the serial link. (Possible faults could be: tacho, hall sensor, over-under voltage, over current,, 50 &70 over temperature etc…) 
Source Driver: 24V, 100mA max. Digital
8  ATS  LCU  400VAC Power OK  High = the 400VAC Power is OK.
Source Driver: 24V, 100mA max. Digital
9  LCU  ATS  Amplifier drive power +  +24VDC, 1.2A 
10  LCU  ATS  Amplifier drive power -  GND 
11      unused  PE 
14  LCU  ATS  Torque command +  Analog differential +/-10V, Zin = 10kW
Analog output
15  LCU  ATS  Torque command -  Analog differential +/-10V, Zin = 10kW
Analog output
16      Shield PE 
18  LCU  ATS  Speed /Torque mode 

High = Speed mode.
The speed mode is used during manual operation for commissioning or maintenance, with a dedicated hand set.
The torque mode is the nominal operation mode, the drive amplifier generates the tacho signal and uses the axis incremental encoder for improved ripple performances.
19  ATS  LCU  Motor Powered  High = 400V OK and Drive enabled
Source Driver: 24V, 100mA max.
Digital
TACHO:
 scale = 11.72V*s/deg; speed = 1.7 deg/s at Tacho out = 20V
Tacho output is positive when tube moves from horizon towards zenith
30  ATS  LCU  Tacho signal +  Analog symmetric +/-10V, 5mA 
Analog input
31  ATS  LCU  Tacho signal -  Analog input 
33  LCU  ATS  Tacho Range 8x  High = Sensitivity is increased by factor 8. Contact status: 24VDC, 6.6kW to GND
Digital
34  ATS  LCU  Tacho Range  High Sensitivity is increased by factor 8. 
Source Driver: 24V, 100mA max.
Digital,
35 ATS LCU Tacho OK High = Tacho OK; the tacho signal is ouput to ESO LCU.
When Encoder OK is asserted, the drive amplifier uses the sine & cosine signals from the axis encoder for commutation and improved ripple performances. If coherency between the two signals is lost the tacho OK is negated.
Source Driver: 24V, 100mA max.
Digital, 
ENCODER:  1 head RON 905, 11mA
Heidenhain IK320 output : 1 V peak-to-peak, sine-cosine A,B signals
40  LCU  ATS  A+  Output A+ 
41  LCU  ATS  A-  Output A- 
42      Shield A   
43  LCU  ATS  B+  Output B+ 
44  LCU  ATS  B-  Output B- 
45      Shield B   
46      Global Shield  Chassis GND 
47  LCU  ATS  Encoder OK  High = Encoder OK and available,
The encoder is powered and provides the sincos incremental signals. The drive amplifier performs a coherency check between the sine and cosine signals.
24VDC,Source Driver: 24V, 100mA max.
Digital, 
SWITCHES: 
50  ATS  LCU  Vicinity PLS +  Contact opens if positive vicinity limit is crossed
Digital 
51  ATS  LCU  Vicinity PLS -  Common 
52      Shield  PE 
53  ATS  LCU  Vicinity NLS +  Contact opens if negative vicinity limit is crossed
Digital 
54  ATS  LCU  Vicinity NLS -  Common 
55      Shield  PE 
56  ATS  LCU  Interlock PLS +  (Positive Limit+) Contact opens if positive interlock limit is crossed
Digital 
57  ATS  LCU  Interlock PLS -  (Positive Limit-) Common 
58      Shield  PE 
59  ATS  LCU  Interlock NLS +  (Negative Limit+) Contact opens if negative interlock limit is crossed
Digital 
60  ATS  LCU  Interlock NLS -  (Negative Limit-) Common 
61      Shield  PE 
62  ATS  LCU  Altitude Locking pinA +  10 to 30 VDC 
63  ATS  LCU  Altitude Locking pinA -  Common 
64  ATS  LCU  Altitude Locking pinA signal  High = Altitude Locking pin is disengaged.
Open collector PNP, 200 mA max.
Digital
65  ATS  LCU  Altitude Home switch +  24V logic Transition at about 5 degree Zenithal distance;
open at Zenith, closed at Horizont
66  ATS  LCU  Altitude Home switch -  Common 
67      Shield   
68  ATS  LCU  Altitude Locking pinB +  10 to 30 VDC 
69  ATS  LCU  Altitude Locking pinB -  Common 
70  ATS  LCU  Altitude Locking pinB signal  High = Altitude Locking pin is disengaged.
Open collector PNP, 200 mA max.
Digital
71  ATS  LCU  EndStopA +  On Nasmyth A side a Zenith or a Parking End Stop schock absorber is not in position Contact opens
72  ATS  LCU  EndStopA -   Common
73  ATS  LCU  EndStopB +  On Nasmyth A side a Zenith or a Parking End Stop schock absorber is not in position Contact opens
74  ATS  LCU  EndStopB -  Common
80  ATS  LCU  Motion Stop +  24VDC, 8W max. 
81  ATS  LCU  Motion Stop -  Common 
82      Shield   
83  ATS  LCU  Transporter relocation+  High = Transporter in station position. 
Low = Altitude immobilized because AT not in station position. 
See IfTransporter_RelocationStatus
1 Digital line, pulled down to GND
84   ATS  LCU Transporter relocation-   
85      Shield   
BRAKES: 
90  ATS  LCU  Status B side +  8 NO switches in serie, 30 VDC, 10A max.
Contact closed when brakes are disengaged
Digital input
91  ATS  LCU  Status B side -  8 NO switches in serie, 30 VDC, 10A max.
Contact closed when brakes are disengaged
Digital input
92  ATS  LCU  Status A side +  8 NO switches in serie, 30 VDC, 10A max.
Contact closed when brakes are disengaged
Digital input
93  ATS  LCU  Status A side -  8 NO switches in serie, 30 VDC, 10A max.
Contact closed when brakes are disengaged
Digital input
94  LCU  ATS  Brake command  High = Enable 
Contact closes to disengage the brakes 
95  LCU  ATS  Return  Common 
MONITOR: 
100
101		 ATS  LCU  Signal monitoring  Buffer amplifier output +/- 10V ,5mA differential for monitoring of internal amplifier variable selected via the serial communication link.
Relevant signals for monitoring:
  • analog input  
  • measured torque (default selection)  
  • measured currents: phase 1, phase2, etc...  
  • hall sensor signal  
  • actual speed from the hall sensors  
  • actual speed from the tacho  
  • any signal specific to the amplifier/motor unit  
Analog input 
110  LCU  ATS  Signal selection  Saturation parameters:
  • maximum torque: the output torque cannot go beyond the set value 
  • maximum speed: the output speed cannot go beyond the set value 
Controller parameters:
  • P,I,D servo loop gain adjustable on the fly 
  • integrator anti windup 
  • integrator limitation 

 



 
Z11 TERMINAL BLOCK:AZIMUTH CABLEWRAP 
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Item  From  To  Signal  Description 
1  ATS  LCU  Motion Stop +  24VDC, 8W max. 
2  ATS  LCU  Motion Stop -  Common 
3  ATS  LCU  Relocation +  High = Transporter in station position. 
Low = Altitude immobilized because AT not in station position. 
4  ATS  LCU  Relocation - 
5-23  SPARE  SPARE     
24  LCU  LCU  PHASE R/TX+  PHASE RS485 communication link 
25  LCU  LCU  PHASE R/TX- 
26 LCU  LCU  PHASE return R/TX+ 
27 LCU  LCU  PHASE return R/TX- 
28     Ground 
29      Ground  PMAC RS232 communication link 
30  LCU  LCU  PMAC TxD 
31  LCU  LCU  PMAC RxD- 
32  LCU  LCU  PMAC RTS 
33  LCU  LCU  PMAC CTS 
34  LCU  LCU  Ground 
35  LCU  LCU  PMAC return TxD
36  LCU  LCU  PMAC return RxD 
37  LCU  LCU  PMAC return RTS 
38  LCU  LCU  PMAC return CTS 
39  LCU  LCU  CPU0 RXD  RS232 communication link 
40  LCU  LCU  CPU0 TXD 
41  LCU  LCU  Ground 
42  LCU  LCU  Ground 
43  LCU  LCU  CPU1 TXD  RS232 communication link 
44  LCU  LCU  CPU1 RXD 
45-48      SPARE   

 
 

Last modified: Mon Jan 20 10:59:26 MET 2003