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1. gear ratio 6 3 2 Autoguiding Attention The declination speed will be different for 1 5x in RA you ll put 0 5x in Dec The reason is that in RA the speed is V RA 1 0 0 5 X while in DEC it s V DEC 0 0 0 5 X 6 3 3 Maximum The Maximum speed you shall be ensured that the motors can actually move at this speed depending on their power the ratio their frequency limit in steps per second and the load weight of the mount When a stepping motor can not follow he stopped and vibrates in a serious buzzer noise characteristic This speed must be in halfstep 6 4 The focus PIC ASTRO can command a DC motor for focusing you may indicate a slow tracking speed 1X and a maximum speed For this motor PIC ASTRO define 7 speeds uniformly distributed To adjust this you should first adjust the duration of the pulses sent to the motor paragraph 7 4 Then by successive tests to determine the slow speed from 255 and then by reducing them Then adjust the speed from the value 1 and then increasing it in 7 Catch up plays Param trage des vitesses Fr quence du Quartz Hz 14745600 Dur e d un tour de vis AD s 598 361816 Nombre de ppas par tour 25600 gt fe Tranches PEC 1 jo lt 256 upas par Tranches F5 lt 65536 P riode IT ns AD De Foc 1 2 1128 xX 1 2 IK128 Xx IK256 ms Suivi 1 B Es a po faa B7 Autoguidage The Er fic ia Maximale E po a i i 27 Rattrapage de jeux AD DE Q E ot w2. you must have one or more selection criteria These criteria can be summarized as follows 1 The More the period is large the more PIC ASTRO will respond quickly to orders received 2 With the linearized usteps a good time must be less than or equal to 2000000ns with a number of more than 10 IT 3 The error rate is not significant with autoguiding 4 The max speed is the final criterion to be taken into account it is more subjective In the list that appears you can read in order o IT period in nanoseconds the value will go down in the green box o the error is a rate for a percentage multiply the value by 100 o the value loaded into the internal pic o the number of IT which will take place during a microstep The maximum theoretical speed that can be obtained in the form X times the sidereal rate Vmax 8 x number of IT If the right ascension and declination have different gear ratios it is necessary to monitor the number of IT being able to adjust later It s a bit clever but very flexible An example if the DEC is multiplied twice as RA the number of IT DEC will be two times smaller which will advance the double speed motor ie has the same speed of the RA motor Against it is imperative to maintain the entire agreement between RA and DEC but mathematicians can also juggle with fractions 6 Adjustments of speed In RA and Dec only 3 speeds can be entered tracking autoguiding and max but PIC AST
3. 000Hz 3 2 The duration of a turn of the RA helical worm gear Config A1 Param trage des vitesses AD De Foc IHK256 ms Suivi 1 pores Nombre de upas par tour Autoguidage Tranches PEC 1 Maximale upas par Tranches 45 465526 Rattrapage de jeux AD DE DE E EE ECE Qt D si of OI Sf Ww ot of ws sl St P riode IT ns 4 158 44 Nombre de ppas AD 1100 DE 100 lt 65536 Nm N Rattrapage de jeux Moteur Focus M El e mainti 3 54 Vilas Per Dur e maintien en ms Dur e acc l ration d c l ration Ouvrir Sauvegarder SS __ Temps en secondes enti res 8 lt 256 Pic Astro et son logiciel de configuration constituent un projet de l association Astrimage Retrouvez l association et ses projets sur le site web www _astrimage org This is the time in seconds it takes for the RA helical worm gear to make a full turn For mounts with a couple helical worm gear crown wheel we need to find time for a turn of the helical worm gear divide the length of a full rotation of the mount or the earth since the aim is to compensate this rotation by the number of teeth of the wheel A mount built around a wheel of 180 teeth will give a turn of the helical worm gear every T 86164 4 180 478 691s Note This is the sidereal day that is taken as reference and not the solar day To obtain maximum precision we must give the value with 6 significant figures The declination may have a different
4. 128 for the number of IT If it is a limit it should return to the previous step increase the duration of IT in order to reduce the number of IT 6 2 What are the value of the speed in RA 6 2 1 Tracking The tracking speed is the sidereal speed which is activate for tracking the value and isn t adjustable This speed must be in microstep 6 2 2 Autoguiding The autoguiding speed is the correction speed during autoguiding commands For a first try we recommand 1 5x This speed must be in microstep 6 2 3 Maximum The Maximum speed you shall be ensured that the motors can actually move at this speed depending on their power the ratio their frequency limit in steps per second and the load weight of the mount When a stepping motor can not follow he stopped and vibrates in a serious buzzer noise characteristic This speed must be in halfstep 6 3 In declination 6 3 1 Tracking The tracking speed is not used there is no tracking in DE but it allows PIC ASTRO to know the relationship between multiplication RA and Dec If the right ascension and declination are identical Same overall ratio the values are the same in Dec in RA But if the gear ratios are different the values will be different In the case of a mount with a Dec 3 times more demultipliate than the RA the declination tracking value will be the 1 3 of the tracking value of the RA It must check that the value chosen for the number of IT is a multiple of
5. 6 x 400 x 3 19200 microsteps by turn 4 Adjustments for periodic error correction 4 1 PEC 1 slices The PEC is treated by cutting a turn of the helical worm gear into a number of slices 1 to 256 This means that the correction is determined to change the motor speed for a slice Warning this means that the number of slices X number of steps by slice the exact number of steps per revolution It must therefore be wary of bizarre gear that will not allow to have a correct PEC It is a value which must be between 0 and 255 e 0 for non use of the PEC 0 e otherwise the number of slices 1 255 means 256 units of PEC 4 2 Steps by slice It s the number of microsteps done during a slice of the PEC Same comment as above concerning the product number of slices x steps by slice 5 Choose of the IT period 5 1 What s IT A small simplified explanation helps to understand the importance of this setting IT means interruption it is a possibility of microcontrollers which at an event receipt of a character hit a button can be stopped to run a sub program In the case of PIC ASTRO an internal counter increments automatically like a chronometer and when a certain value is reached the program will command the motor to advance of a micro step before continuing to where it was interrupted to continue its execution You can also count the IT and trigger the next microsteps only after a number of IT has occurred It is used in
6. PIC ASTRO to have more flexibility when setting 5 2 Select the duration of a couple of IT and IT Number Fo ESS SSS SS SESE SE SESE SE SESE SE SESE SSE ESE A RSS ALACRA ER DALE LADERA RD RAR DADA DRS ASOLO SOA DROID DEAR SADA ODER GAGA GAARA RRO OAD RRR ADR RRs ss te 5e Programme de configuration de PICBSTRO 1 mm VO 3 Config Al Astrimage 7 J Param trage des vitesses Fr quence du Quartz Hz 14745600 athe 7 el s 449490 1 15e 06 1657 X 52 416X A Dur e d un tour de vis AD s 598 381816 R ST tesa a ae ae uia ii 5843370 1 15e 06 21541 X 4 32X 33 Nombre de pas par tour 25600 gt ESS R EL 1 05e 05 CPE x Foc Tranches PEC 1 R EL UE pater Les E op 1113010 1 28e U 41U3 X upas par Tranches SUCRE PT 2124837 1 28e 05 7833 X es 4 3339030 1 28e 05 12309 X P riode IT ns als J lt 65536 Rattrapage de jeux Moteur Focus Fe 54 EME Penn Dur e maintien en ms 3 5 Dur e acc l ration d c l ration Sauvegarder Temps en secondes enti res fe lt 256 Pic Astro et son logiciel de configuration constituent un projet de l association Astrimage Retrouvez l association et ses projets sur le site web www_ astrimage org To make the selection you had to have informed the previous parts Chapters 2 and 3 and click on the green box to see the values proposed by the software and make choices the choice of the period of IT is not critical all combinations proposed are acceptable
7. RO use these datas to generate until 63 speeds Speed Value S mode OO 1 Tracking microsteps i O microsteps 3a7 from 3X to 7X microsteps 8 a 63 from 8X to Max halfsteps 6 1 How to choose speed Que deonfigurationdePICASIROAS LU Config A1 Astrimage Param trage des vitesses z Fr quence du Quartz Hz 14745600 Dur e d un tour de vis AD s 598 361816 Nombre de ypas par tour 25600 5 Ee se Tranches PEC 1 fo lt 256 upas par Tranches 45 lt 65536 P riode IT ns 1113010 ECS Erreur EE VitMax P r max ms AD De 1 2 1K128 X 1 2 1K128 X sit EN NETE I AR HI Maximale A w N y ao N MI n Or wN nm a Rattrapage de jeux AD DE N N NE KE Nombre de upas AD 100 DE 100 Ralliapaye de jeux Muleu Fucus N pos d Dur e maintien en ms j 3 54 Dur e acc l ration d c l ration Ouvrir Sauvegarder e Temps en secondes enti res 8 lt 256 Pic Astro et son logiciel de configuration constituent un projet de l association Astrimage Retrouvez l association et ses projets sur le site web www astrimage_org If you tick box 1 2 the motor will advance in half step if not in microstep We must specify a whole number it is the number of IT between 2 microsteps or halfstep if the box 1 2 is checked the more IT is small smaller is a microstep and thus the motor is running fast For technical reasons we can not exceed
8. User s manual of Config Al Version 1 1 Users Manual of configuration Software CONFIG A1 www astrimage org User s manual of Config Al 2 Version 1 1 Summary 3 1 FRS One of the guaz ee aaa RON Pn ree ren 4 3 2 The duration of a turn of the RA helical Worm gear 5 4 Adjustments for periodic error COrrection sseesessereereneserreerseereersersersrernersrerrernerseeseeenerenne 6 4 1 PEC 1 slices 6 L LER See Mee enon eee OPE Cate Sr eC ee 7 5 2 Select the duration of a couple of IT and IT Namb r T 6 Adjustments Of SDS ssarasanasan sensennessnataneenasenneessssnnetensengetsss age sesenaseses nn esanesnseane ees 9 D Max RATE L andana a a had doen nas slate des Save E a iE 10 6 4 In COCA 01s soeren E T E E EE 10 EEE M ERR EA ce leis E E E EE E E E E Ghee 10 OTe OE a a a TENT MD NTONIT Po IT Tae 11 a a 11 7 1 Whatis th Cate iy plays din insiuss athaseneienntet ni data ten des and nee nantes 11 RS M SU M LR LOL aaa a a a eve vabtanuiataesedacs 12 8 The duration of acceleration deceleration cccccccsssssssssssssssssssssssssssssssssssssssssssssenuesssssss 12 S1 Whotis this SAS ds a ren eu adieu 12 82 DEL DEN ei o LEE LU LS a aa a aai aaa Ei 12 9 Calibration of microsteppint creeren a aa a aa ea ida Ea Edaini 13 ITNT TANM ea neste gti baaalanieedsaetthad iabbaudaulieessigbieediietnes 13 9 2 What s the calibration Of MMC OSLEDS Pivececcscncveccscnds en
9. esenevdnestned inca tevaresetvenennenadencsasadedsemios 13 9 4 AeA sot ice ht ae a ale uct 13 www astrimage org User s manual of Config Al 3 Version 1 1 1 Why should we configure PIC ASTRO PIC ASTRO is a versatile electronic assembly which can adapt to all kinds of mounts as long as the motors are stepper motors bipolar The configuration is used to adapt the PIC ASTRO to the characteristics of its mount The same considerations are valid for motors PIC ASTRO can drive a significant number of stepper motors and is configurable to drive any motor in an optimum manner if it s the purpose of its user 2 The program ConfigA1 The realization of this configuration is semi automatic it is necessary to specify a certain number of parameters ConfigA1 software is a Windows executable you can enter these parameters save them for future changes and creates a file downloadable to the PIC By its commands Open and Save it allows a flexible management of configuration file thus facilitating testing 2 1 Open This button allows you to open a file PA2 existing for changing these settings The operation is a classic an explorer is open to browse the disk and open the appropriate file 2 2 Save This button allows you to save the data in a file as for the function open a browser allows you to browse the disk and save files in an explicit name in a folder if necessary The software will create 2 files with the same name bu
10. i w a nu nm N N on Nombre de ppas AD 100 DE 100 lt 65536 Nm i hattrapage de jeux Moteur Focus m pos e mainti 3 54 Cia Pei Dur e maintien en ms Dur e acc l ration d c l ration Ouvrir Sauvegarder Se Temps en secondes enti res 18 lt 256 Pic Astro et son logiciel de configuration constituent un projet de l association Astrimage Retrouvez l association et ses projets sur le site web www _astrimage org 7 1 What is the catch up plays When gear stops then change direction it takes some time for the teeth to go to reach the other side In the case of guiding it is a dead time during which nothing happens Catching up play for shortening this time out when changing direction PIC ASTRO performs a number of steps to go stick their teeth in the other direction this number of steps has to be indicate in his configuration Attention should be given for the margin and not try to catch up the play entirely because the slightest fault catching up is going too far and that s over correction 7 2 InRA IN RA we have a catching up plays that allows to don t have to wait that gears sticks together in goto mode this enable to be centered on the object The adjustment isn t used in guiding because the RA motor never change sense 7 3 In Dec In DEC it s a major adjustment that determines the ability to guiding on very long hauls but beware do not catch the whole play lea
11. o make moving fluid it is essential to calibrate the micro step of its PIC ASTRO 9 4 How to calibrate A friendly and simple method was developed to perform the calibration of PWM This method uses software on PCs and software specific PIC ASTRO You can download all the necessary elements using the following link http astrimage org FTP Public pic astro documentations ReglagePWMV3 zip This document was created by Vincent STEINMETZ and formatted by Arnaud GERARD for Astrimage
12. s that will last phase of acceleration or deceleration the limit is 256S 9 Calibration of microstepping 9 1 What s a PWM When a bulb is lit continuously it can be said that it shines 100 Imagine that you lit it 1s and then extinguish it for 1s and so on it will work half the time If one performs these operations on a very short time it no longer sees the time of ignition and extinction but we will see a light bulb shining at 50 One can by varying the time switched on off make all states of light from 0 to 100 is the principle of pulse width modulation PWM abbreviated 9 2 What s the calibration of microsteps A stepper motor advance step by step from a self to the next it s pretty brutal What we can do to improve this behavior is to switch on a self slowly while gradually switched off the previous one the change of position is milder and we can even cut the space between two steps 16 intermediate positions called microstep For a couple Motor PIC ASTRO we talk about calibration when adjusts the PWM to have the same width for all microsteps 9 3 When we must calibrate The calibration muste be made for every new configuration of motorisation and electronical part too so PIC ASTRO Pulley transmissions have the advantage of smoothing the error period because think the elasticity of the pulley The problem is the gear ratio is quite low a step of the motor is correspond to few arc seconds on the sky t
13. t different extensions e Extensions PA2 storing data entered by the user e Extensions HEX table settings to load into PIC ASTRO www astrimage org 3 Adjustment of the tracking speed 3 1 The frequency of the quartz J Qis la contention da PIATI E L A Config A1 Param trage des vitesses AD De Foc 1 2 1128 x 1 2 IK128 x IK256 ms Suivi 1 x 7 m 7 33 33 5 Nombre de upas par tour 25600 gt aa Autoguidage E he E he Tranches PEC 1 fo lt 256 Maximale L E B E 7 00 fi upas par Tranches a5 lt 65536 Rattrapage de jeux AD DE P riode IT ns fosse fo lt Q Fr quence du Quartz HA 14745600 d Dur e d un tour de vis AD f D N a Nombre de ppas AD 1100 DE 100 lt 65536 N 3 Rattrapage de jeux Moteur Focus N Dur e mainti 3 54 ae A Dur e maintien fen ms Dur e acc l ration d c l ration SS Temps en secondes enti res 8 lt 256 Pic Astro et son logiciel de configuration constituent un projet de l association Astrimage Retrouvez l association et ses projets sur le site web www_astrimage org The quartz gives the operating frequency of the mounting it has a direct effect on the operation frequency of the motors The value is usually indicated on the quartz in Mhz you ll have to convert it in Hertz For example if we read 14 7456MHz 14745600 should be indicated in the text box provided FOR PIC ASTRO A1 quartz has a frequency of 15000
14. value the setting is done later Examples Mount Teeth Period C1700 478 691 Vixen SP GP 615 46 598 3639 478 691 3 3 The number of microsteps by turn Param trage des vitesses Fr quence du Quartz Hz 14745600 AD De Foc 1 2 1128 gt 1 2 1t lt 128 2 It lt 256 ms Sur Cr FE Nombre de upas par tour i Eoo Autoguidage E he Er ice 544 Tranches PEC 1 ale Maximale rh im a a Dur e d un tour de vis AD upas par Tranches 45 465526 Rattrapage de jeux AD DE P riode IT ns 13340658 Nombre de pas AD f100 DE 100 lt 65536 Erreur Vit Max P r max ms Rattrapage de jeux Moteur Focus Dur e maintien en ms 3 54 Dur e acc l ration d c l ration Ouvrir Sauvegarder ee Temps en secondes enti res 8 lt 256 Pic Astro et son logiciel de configuration constituent un projet de l association Astrimage Retrouvez l association et ses projets sur le site web www_astrimage_org The number of micro step that PIC ASTRO shall generate for the helical worm gear to make a full turn Attention PIC ASTRO uses 16 micro step by step To find the number of micro step use the following relationship N Number of microsteps by steps x Number of steps per revolution motor x reduction ratio used In the case of a mount driven by a 400 steps motor by turn and a transmission pulley 1 3 small pulley on the motor of 16 tooth and large pulley on the helical worm gear of 48 teeth will N 1
15. ve a little margin 7 4 For the focus This is not a catch up play but the duration of the pulses sent to motor in ms The value can only be determined by successive tests you must find the smallest value that allows to move the focuser WARNING this must be done to maximum load of the focuser 8 The duration of acceleration deceleration A SR RSR DR ss EE 5 Serena e DIX Config Al Astrimage Fr quence du Quartz Hz 14745600 Dur e d un tour de vis AD s 598 361816 Nombre de upas par tour 25600 gt ESA Tranches PEC 1 jo lt 256 upas par Tranches eo lt 65536 P riode IT insi HE Nombre de ppas AD 100 DE 100 lt 65536 Param trage des vitesses AD De Foc ww Ear Suivi 1 Autoguidage yf N Maximale J w Rattrapage de jeux AD DE N N Rattrapage de jeux Moteur Focus N si Dur e maintien en ms 3 54 VitMax P r max ms Dur e acc l ration d c l ration Ouvrir Sauvegarder m _ Temps en secondes enti res 18 lt 256 Pic Astro et son logiciel de configuration constituent un projet de l association Astrimage Retrouvez l association et ses projets sur le site web www_astrimage org 8 1 What is this setting To avoid the jolts and motor slides there is a parameter that allows you to start and stop movements Goto smoothly 8 2 2 Parameters to indicate The parameter that indicates the number of second
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