Servo user and installation manual
Contents
1. Cannon D 9 connector pin description for the Servo The pin numbers 1 5 6 and 9 are written in small print on the connector Note that the casing is hard connected to ground as well Pin 1 is wired directly onto the casing and the ground planes of the internal electronics The casing also serves as a heat sink for the power electronics Torque Settings The true output torque stepping and holding and whether force measurement is being performed vs torque percentage setting for the standard servo is given below measured at 13 8V supply room temperature Torque Setting Torque Setting Torque Current Force Step Hold Nm Step Hold A Measured 0 0 4 8 2 4 1 71 0 25 Yes 1 7 4 8 2 4 1 71 0 25 Yes 2 13 4 8 3 0 1 71 0 32 Yes 3 20 4 8 3 0 1 71 0 32 Yes 4 27 4 8 3 7 1 71 0 46 Yes October 2010 Servo Specifications amp Installation Manual Page 7 of 12 Electrical Specifications and Setup 5 33 4 8 3 7 1 71 0 46 Yes 6 40 4 8 3 9 1 71 0 52 Yes 7 47 4 8 3 9 1 71 0 52 Yes 8 53 4 8 4 1 1 71 0 58 Yes 9 60 4 8 4 1 1 71 0 58 Yes 10 67 4 8 4 3 1 71 0 60 Yes 11 73 4 8 4 3 1 71 0 60 Yes 12 80 4 8 4 5 1 71 0 66 Yes 13 87 4 8 4 7 1 71 0 71 No 14 93 4 8 4 8 1 71 0 84 No 15 100 4 8 5 5 1 60 0 98 No The residual torque of the standard servo is approximately 0 28Nm Step Speed The slew rate step speed of the standard2. Limiting Travel section A taken from Top View October 2010 Servo Specifications amp Installation Manual Page 9 of 12 Mechanical Specification M5 X12 DEEP 2 PLACES BOTH SIDES Figure 5 Servo Side View Connecting Rod As an additional optional extra an installation kit can be ordered from your local MGL Avionics distributor One standard metric installation kit contains the necessary parts to connect one servo to one actuator Figure 6 Connecting Rod The Rod End Pieces have been designed to be compatible with imperial standard tubes If longer lengths of tube are required the supplied tube can be replaced with a longer length of 0 5 outside diameter 0 402 ID 6061 T6 Aluminum obtainable from companies like Aircraft Spruce October 2010 Servo Specifications amp Installation Manual Page 10 of 12 Mechanical Specification Sheer Safety Screw A mild steel screw is just to prevent the output arm from rotating relative to the output shaft The screw has been selected to fail gracefully when 12Nm of torque is applied to the output arm Do not replace the screw with another type of screw Output Arm kept from rotating Output Shaft and Collar with Output relative to Output Shaft and Collar Arm removed exposing 4 sets of due to Sheer Screw in place thread for the Sheer Screw October 2010 Servo Specifications amp Installation Manual Page 11 of 12 Packing List Packing Lis
3. Power on but error detected erratic flashing short short long During power up the unit performs built in testing BIT and if any errors are found for example a single byte of code is invalid the unit will not engage respond to any communication but rather signal this error message using an erratic LED flashing pattern Force Measurement The MGL servo transmits a number that provides an indication of the load on the servo output shaft This number is not an absolute or accurately linear measurement of force or torque It is however useful as a low frequency feedback signal to be used to adjust the trim of the aircraft It provides a good indication of direction of the load up or down left or right and size of the load small medium large very large The numbers range between 60 and 60 The force is only measured during the hold phase of operation once the output arm has reached the target position not while the servo arm is stepping moving If a torque setting of approximately 85 or more is selected the force measurement will not be activated The force measurement can be felt as a slight vibration on the aircraft controls Electrical Specifications and Setup Power Supply An input supply voltage of 12V 15V is recommend The servo will however run off 10V 30V Do not exceed 34V The standard servo draws an average of 0 9A at 13 8V to deliver the maximum holding torque of 4 8Nm The maximum ste
4. communication mode and errors conditions 360 degree freedom of movement to simplify installation and setup Communications Interfaces Command and feedback messages can be transmitted to and received from the servo using one of two protocols CAN Controller Area Network or RS232 Note Do not try and use both the CAN and RS232 communications interfaces simultaneously This will cause conflict and the servo will try and follow both sets of commands October 2010 Servo Specifications amp Installation Manual Page 3 of 12 Communications Interfaces Enigma EFIS s are not equipped with an internal CAN port and an the internal RS232 port or a Communications Extender COEX is required to connect to the servo s The Voyager and Odyssey units contain an internal CAN interface Only the internal CAN bus can be used to drive the servos For more information on setting up the autopilot and communications interfaces on the EFIS see the Integrated Autopilot User and Installation Manual available from http Awww mglavionics co za Docs Autopilot pdf RS232 Interface The RS232 communications driver hardware inside the servo allows for multiple servos to be connected to a single RS232 port The host EFIS or PC will transmit a single command message to all of the connected servos A fixed response delay time is assigned to each servo depending on the servo function pitch bank yaw etc It is recommended that a 33 oh
5. servo is set to 35 degrees per second speed setting 20 For special applications the slew rate can be increased or decreased using special PC software Slew rates of 100 degrees per second step speed setting 7 can be obtained but at the cost of reduced maximum torque unless a different stepper motor is fitted Contact your local MGL Avionics distributor if you have an application that requires adjustments to the step speed or stepper motor type Mechanical Specification Mechanical Drawings All dimensions are provided in millimeters mm unless stated otherwise All bolts are metric and supplied as part of the servo kit The industry standard 4 mounting holes are provided on the top face of the servo figure 3 In addition 4 more 2 on each side holes are provided to be utilized in alternative mounting configurations figure 5 Four 10mm x M5 and four 20mm x M5 bolts are provided in the servo kit To prevent damage to the system and the dangerous over center lock up situation eight M4 threaded holes are provided to mount a plate or bolts to limit the maximum travel figure 4 Two M4 hardened steel bolts are provided with each servo Standard servo weight 1 38kg October 2010 Servo Specifications amp Installation Manual Page 8 of 12 Mechanical Specification N M5 X10 DEEP 4 PLACES Figure 3 Top View M4 X8 DEEP 6 PLACES 8 HOLES EQUI SPACED ON A D414 PLO Figure 4
6. MGL Avionics Autopilot Servo Specifications amp Installation Manual Last Update 20 October 2010 Disclaimer MGL Avionics should not be held responsible for errors or omissions in this document Usage of all or part of this document for purposes unrelated to any product of MGL Avionics is prohibited under international copyright laws Table of Content feig ele U site Neee E E E 3 SEENEN tee 3 eil Ile EE e 3 RS232 VEER EE ee EE EE Ee A CAN It EE A Riet EE 6 Force Measurement cccccccccceseeeeeceeeeeeeeeeeeeeeceeeeeeeeeeeeeaneeeeaeeeeeeeeeeeeeeenenenaeseeess 6 Electrical Specifications and SQtup wiss 222 00cccedencaveceveccriesene lt ssasnaseicncdvcnvsdenidescexetes cas 6 Power SU E 6 9 Pin Connector DESCi DUO EE 7 TW NORIO EEN 7 NS E 8 ere Ee DE 8 Mechanical Draw E 8 SOMME CUM FOG EE 10 e 11 Packing Eegiel EE Ee 12 SLANG Servo Kila sooie Arras eeaeee E aaa Ee a AEE Eea 12 Connecting FOG KA dE 12 October 2010 Servo Specifications amp Installation Manual Page 2 of 12 Introduction Introduction The MGL Avionics EFIS units Enigma Voyager and Odyssey all contain an integrated autopilot command system the heart of the autopilot The only additional hardware required to provide full autopilot functionality in a MGL EFIS equipped aircraft is a set of MGL Avionics Servo s serving as the actuators to manipulate the elevator ailerons etc This document outlines the functiona
7. cations amp Installation Manual Page 4 of 12 Communications Interfaces Resistor signal thin wire GND Thick Wire to Power Jl servor e S SERVO 1 signal thin wire GND Thick Wire to Power GND MGL Avionics EFIS or Communications Extender Note Female DB9 Connectors seen from Outside SERVO 2 Figure 1 Wiring the RS232 interface for a set of servos EFIS CAN LOW SERVO CAN LOW MGL Avionics EFIS or Communications Extender Note Female DB9 Connectors seen from Outside SERVO X Figure 2 Wiring the CAN interface for a set of servos October 2010 Servo Specifications amp Installation Manual Page 5 of 12 Communications Interfaces As is the case with the RS232 protocol the MGL Avionics servo CAN communications protocol is open to the general public and 3 parties are invited to make use of the servo at own risk For more information on the CAN communications protocols refer to the MGL Avionics Servo CAN Protocol document Diagnostic LED A single red LED is visible next to the 9 pin connector This LED is used to communicate the following information No power connected or LED failed LED off Power on but no data commands being received solid on no flashing Power on and RS232 commands being received slow flashing 0 5 Hz Power on and CAN commands being received fast flashing 2 Hz
8. l specifications and installation instructions of the servo The document is aimed at experienced aircraft builders that are capable of accepting full responsibility for the installation of the servos The servo installation should not be performed by some that is not familiar with the potential dangers of incorrect installation for example over center lock up Three different versions of the servo are available low torque 2 8Nm medium standard torque 4 8Nm high torque 6 3Nm The low and high torque servos are only manufactured on special request Servo Features The MGL Avionics Servo feature include Precision machined and anodized solid Aluminum housing Output shaft runs inside double bearings 12 bit output shaft position measurement sub 0 1 degree resolution Zero contact magnetic output shaft position measurement no pots Force measurement no additional external subsystems required Low residual torque Automatic slip detection Digitally adjustable maxim torque setting 4 8Nm standard servo Robust sub D9 connector simplifying inspection and modular installation CAN and RS232 interfaces Wide input voltage range 8V 30V Output arm equipped with safety sheer screw 4 4 mounting holes to simplify installation 4 side mounting holes 8 holes to fit travel limiting bolts plate preventing over center lock up Diagnostic LED indicating
9. m resistor is fitted in the signal ground return line to prevent large currents from flowing from the servo to the COEX or the internal RS232 port Only one 33 ohm resistor is required even if multiple servos are connected to the same RS232 port see figure 1 below The servo RS232 interface is not only used to command the servo but also to program the unit and perform diagnostic functions The servo firmware can be upgraded using the RS232 interface The MGL Avionics servo RS232 communications protocol is open to be general public and 3 parties are invited to make use of the servo For more information on the RS232 communications protocols refer to the MGL Avionics Servo RS232 Protocol document CAN Interface The CAN bus is a differential signal bus that runs at 250kbps and requires no ground reference A number of nodes can be hooked onto a single CAN bus Two terminating resistors of 120 ohms should be installed on the CAN bus If we assume that no other equipment engine monitors AHRS units etc are connected to the CAN bus fit the two 120 ohm resistors as follow the first resistor is installed close to the EFIS while the second terminating resistor is installed close to the servo with the longest communications wire path to the EFIS See figure 2 for details on wiring the servo CAN interface Servo number X is assumed to be located at the furtherest point from the EFIS October 2010 Servo Specifi
10. pping torque of 4 8Nm is obtained drawing an average of 1 71A at 13 8V The servos have been installed successfully without the addition of external capacitors but depending on the length and thickness of the wires used to supply the current to the servo it might be a good idea to fit a large electrolytic October 2010 Servo Specifications amp Installation Manual Page 6 of 12 Electrical Specifications and Setup capacitor close to each servo 2200uF and 10 000uF 35V electrolytic capacitors are available from your local MGL Avionics distributors In order to accommodate the current required 18 to 20 gauge wires should be used for the power wires positive and negative supply Thinner wires can be used for the signal wires If the servo is installed onto an bracket that is grounded for example in an all metal aircraft ensure that the area created by the returning ground thick power cable is kept to a minimum keep the distance between the wire and the metal construction to a minimum for the full length of the cable up to termination into the power bus 9 Pin Connector Description A single SubD9 cannon connector is used to connect all power and data lines to the servo Use a Pin Number Function Description 1 Battery Minus Ground GND No Connection NC RX RS232 TX RS232 No Connection NC 6 7 Battery Positive 12 to 28V CAN Low CAN High OI amp wld
11. t Standard Servo Kit Contained in every standard servo kit you will find the following components 1x Servo 1x Installation Manual 4x 10mm x M5 Bolts RH thread 4x 20mm x M5 Bolts RH thread 2x 25mm x M4 Bolts hardened steel 2x 120 ohm 0 25W resistor band colors brown red brown 1x33 ohm 0 25W resistor band colors orange orange black 1 x Nylon Shell for sub D9 connector 1x Sub D9 Male Solder Bucket Connector Connecting rod kit The standard metric optional extra installation kit contains the following 1x 300mm x 10 3mm ID 12 7mm OD 6063 Aluminum Tube 2xMb5 Rose Joint End Bolt Bearing 1 x LH amp 1 x RH thread 2xMb5 Female Rod End Piece 1 x LH amp 1 x RH thread 2xM5 Nuts 1 x LH amp 1 x RH thread 4x Aluminum Rivets October 2010 Servo Specifications amp Installation Manual Page 12 of 12
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