ICD_AzimuthDrive

Azimuth drive

Position control of the telescope azimuth axis, including motor, amplifier, tachometer, encoder, brakes and limit switches.
The control is deployed on the Azimuth LCU.
The device is connected to the Terminal Blocks Z5.
The amplifier is connected to the Connector W21.

The coordinate convention is defined in: Basic Telescope definitions [RD 12] . The telescope azimuth angle is A= 0º; when the tube set horizontal is directed to the south-point. The amount of rotation is measured eastwards of the south-point.

The PID controller for the velocity of the Azimuth 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 1.2A for the PHASE drive is supplied by the LCU.

Azimuth 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 Annex 1 VLT-DWG-ESO-15154-1770

Item From To Signal Description

COMMUNICATION:

PHASE Communication RS485 Port - Protocol S-Link 3 [RD 06]

AMPLIFIER:
Drive constant (amplifier + motor) Kt=108 Nm/V

1 LCU ATS Power On +
Main power input relay 24VDC, 100mA supply to relay coil
Digital

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

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.Source Driver: 24V, 100mA max.
Digital

19 ATS LCU Motor Powered High = 400V OK and Drive enabled
Source Driver: 24V, 100mA max.
Digital,

TACHO:
scale = 9.4 V*s/deg, speed = 2.12 deg/s at Tacho out = 20V;
Tacho output is positive when azimuth moves C.C.W. as seen from the top

30 ATS LCU Tacho signal + Analog symmetric +/-10V, 5mA
Analog input

31 ATS LCU Tacho signal - Analog input

32 Shield PE

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 are 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: 4 heads ERA 780 T
Heidenhain IK320 buffered 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

43 LCU ATS B+ Output B+

44 LCU ATS B- Output B-

45 Shield

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 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

51 ATS LCU Vicinity PLS - Common

52 Shield PE

53 ATS LCU Vicinity NLS + Contact opens if negative vicinity limit is crossed

54 ATS LCU Vicinity NLS - Common

55 Shield PE

56 ATS LCU Interlock PLS + (Positive Limit +) Contact opens if positive interlock limit is crossed

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

60 ATS LCU Interlock NLS - (Negative Limit -) Common

61 Shield PE

62 ATS LCU Direction switch 1+ 24VDC, 10W max.
Contact

Closed if in range -180 - +45 deg

Open if in range +90 - +360 deg

Digital

63 ATS LCU Direction switch 1- Common

64 ATS LCU Direction switch 2+ 24VDC, 10W max.
Contact

Open if in range -180 - +45 deg

Closed if in range +90 - +360 deg

Digital

65 ATS LCU Direction switch 2- Common

80 ATS LCU Interior door switch + 220VDC

81 ATS LCU Interior door switch - 220 VDC

82 Shield

83 ATS LCU Motion Stop + Contact open Motion Stop is active.
24VDC, 8W max.

84 ATS LCU Motion Stop - Common

85 ATS LCU Station Id code 8 Digital lines, pulled down to GND

86 ATS LCU Transporter relocation High = Transporter in station position.
Low = Azimuth immobilized because AT not in station position.
See Transporter_RelocationStatus
1 Digital line, pulled down to GND

87 Shield

88 LCU ATS Enclosure Working Area + 24V field

89 ATS LCU Enclosure Working Area - Low = maintenance is being performed inside the enclosure; Azimuth AND Enclosure interlocked
1 Digital line, pulled down to GND

BRAKES:

90 ATS LCU Status -U side + 12 NO switches in serie, 30 VDC, 10A max.
Contact closed when brakes are disengaged
Digital

91 ATS LCU Status -U side - 12 NO switches in serie, 30 VDC, 10A max.
Contact closed when brakes are disengaged
Digital

92 ATS LCU Status +U side + 12 NO switches in serie, 30 VDC, 10A max.
Contact closed when brakes are disengaged
Digital

93 ATS LCU Status +U side - 12 NO switches in serie, 30 VDC, 10A max.
Contact closed when brakes are disengaged
Digital

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

Item	From	To	Signal	Description
COMMUNICATION:
			PHASE Communication	RS485 Port - Protocol S-Link 3 [RD 06]
AMPLIFIER: Drive constant (amplifier + motor) Kt=108 Nm/V
1	LCU	ATS	Power On + Main power input relay	24VDC, 100mA supply to relay coil Digital
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
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.Source Driver: 24V, 100mA max. Digital
19	ATS	LCU	Motor Powered	High = 400V OK and Drive enabled Source Driver: 24V, 100mA max. Digital,
TACHO: scale = 9.4 V*s/deg, speed = 2.12 deg/s at Tacho out = 20V; Tacho output is positive when azimuth moves C.C.W. as seen from the top
30	ATS	LCU	Tacho signal +	Analog symmetric +/-10V, 5mA Analog input
31	ATS	LCU	Tacho signal -	Analog input
32			Shield	PE
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 are 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: 4 heads ERA 780 T Heidenhain IK320 buffered 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
43	LCU	ATS	B+	Output B+
44	LCU	ATS	B-	Output B-
45			Shield
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 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
51	ATS	LCU	Vicinity PLS -	Common
52			Shield	PE
53	ATS	LCU	Vicinity NLS +	Contact opens if negative vicinity limit is crossed
54	ATS	LCU	Vicinity NLS -	Common
55			Shield	PE
56	ATS	LCU	Interlock PLS + (Positive Limit +)	Contact opens if positive interlock limit is crossed
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
60	ATS	LCU	Interlock NLS - (Negative Limit -)	Common
61			Shield	PE
62	ATS	LCU	Direction switch 1+	24VDC, 10W max. Contact Closed if in range -180 - +45 deg Open if in range +90 - +360 deg Digital
63	ATS	LCU	Direction switch 1-	Common
64	ATS	LCU	Direction switch 2+	24VDC, 10W max. Contact Open if in range -180 - +45 deg Closed if in range +90 - +360 deg Digital
65	ATS	LCU	Direction switch 2-	Common
80	ATS	LCU	Interior door switch +	220VDC
81	ATS	LCU	Interior door switch -	220 VDC
82			Shield
83	ATS	LCU	Motion Stop +	Contact open Motion Stop is active. 24VDC, 8W max.
84	ATS	LCU	Motion Stop -	Common
85	ATS	LCU	Station Id code	8 Digital lines, pulled down to GND
86	ATS	LCU	Transporter relocation	High = Transporter in station position. Low = Azimuth immobilized because AT not in station position. See Transporter_RelocationStatus 1 Digital line, pulled down to GND
87			Shield
88	LCU	ATS	Enclosure Working Area +	24V field
89	ATS	LCU	Enclosure Working Area -	Low = maintenance is being performed inside the enclosure; Azimuth AND Enclosure interlocked 1 Digital line, pulled down to GND
BRAKES:
90	ATS	LCU	Status -U side +	12 NO switches in serie, 30 VDC, 10A max. Contact closed when brakes are disengaged Digital
91	ATS	LCU	Status -U side -	12 NO switches in serie, 30 VDC, 10A max. Contact closed when brakes are disengaged Digital
92	ATS	LCU	Status +U side +	12 NO switches in serie, 30 VDC, 10A max. Contact closed when brakes are disengaged Digital
93	ATS	LCU	Status +U side -	12 NO switches in serie, 30 VDC, 10A max. Contact closed when brakes are disengaged Digital
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

Last modified: Wed Jan 150 10:20:44 MET 2003