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2p2-DSD-ESO-60400-00..

1. http www Is eso org lasilla sciops feros Projects ADC index html RE2 FEROS II User Requirements LSO URS ESO 22400 0002 Issue 1 0 J Pritchard June 23 2003 FEROS 2 2 Telescope New ADC Design Technical Report LSO TRE ESO 75441 005 Issue 2 0 A Gilliotte May 7 2003 RE4 FEROS 2 2 Telescope Final ADC Design Technical Report LSO TRE ESO 75441 005 Issue 3 0 A Gilliotte September 4 2003 RE5 FEROS ADC Optical Design 2p2 DSD ESO 60400 0003 Issue 1 2 08 December 2004 RE6 FEROS ADC Conceptual Design 2p2 DSD ESO 60400 0002 Issue 1 0 J Alonso W Eckert A Gilliotte February 28 2004 1 3 APPLICABLE DOCUMENTS AP1 ESO VMEASA X1 4 Channel DC Servo Amplifier Technical Manual VLT MAN ESO 17130 0273 Issue 3 0 AP2 ESO VMEASA BACKPLANE Technical Manual VLT MAN ESO 17130 0274 Issue 3 0 Series 948x Digital Boards User s Manual USER Manual MACCONTROLLER MAC4 INC Version 4 2 AP5 FAULHABER Miniature Drive Systems Manual 2001 2002 ADC Prism Drive Error Analysis J Alonso July 8 2004 Degradation of ADC correction due to positioning errors of the prisms Ivo Saviane July 19 2004 Page 6 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 AP8 VLT SPE ESO 10000 0015 VLT Electronic Design Specification Issue 4 0 09 12 96 7 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400
2. ACRONYMS 4 ABBREVIATIONS 7 2 ADE MOTION CONTROL sisissccccsccssisissconsosseseciscsescosevseccosstacssbessacssvecieoessscsesusbecsoeestocseessisesusessosses 8 2 1 MOTION CONTROL CONCERT 8 2 2 MOTION CONTROL 8 2 3 MOTION CONTROL FUNCTIONS EENS EE 8 2 4 PRISM POSITION AND SPEED CONTROL LOOP pp 9 2 5 ARM POSITION TORQUE CONTROL 4 10 3 ADC DRIVES ELECTROMECHANICAL COMPONENTS eere eee eee 0 4 11 PRISM DRIVES eege 11 2 25 tA RM DRIVE ence ee ee epe tec e eoe eee ec e eee ee eee eee 12 3 3 GEAR RATIO AND ENCODER 12 3 3 1 Prism Drive LEITET reu 12 3 3 2 Arn Drive e se een i uc iR En 13 4 FEROS LCU ACROMAG DIGITAL l O 4 eere ee ee ee eee tne e etta sete tnos e etes 13 4 1 SCSM AND ARM INTERLOCK 2 4040 mene ne nene e 14 432 ergs 14 43 ARM COMMAND i eere olere 15 4 4 P2 PIN OUT AND BIT ASSIONMENT 15 5 ADE CABLING e M 18 EIERE 18 5 2 ADC TO ADAPTER CONNECTOR PANEL RN 18 5 3 ADAPTER CONNECT
3. Pin row 1 Pin row 2 Component 1 8 Open 2 T 150K 3 6 Wire Jumper 4 5 Open Table 11 VME4SA Component Adapter Configuration FEROS ADC CONTROL ELECTRONICS Design Document Page 20 10 01 2005 6 DRAWING and SCHEMATIC DIAGRAM APPENDIX The drawings and circuit schematic diagrams are listed below and annexed to this document as eleven A4 format sheets 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 6 12 6 13 6 14 Block Diagram ARM Torque Drive LCU Layout Prism Servo Cable LCU to Adapter ARM Cable LCU to Adapter Prism Drive Connection Block Prism Drive Line Drivers Schematic Arm Connection Block ARM SCSM Interlock Schematic Arm Torque Drive Connection Block Arm Torque Drive Module Schematic 1 Arm Torque Drive Module Schematic 2 FEROS ADC prism drive connection PCB FEROS ADC arm interlock PCB FEROS WFI mirror selector and ADC arm circuit PCB Doc 2p2 DSD ESO 60400 0001 PRISM 1 DRIVE Gear for a toothed belt 1 1 coupled to the rotary prism Im SWITCH 4 gt GEAR 2 5 MOTOR lt 4 Line Drivers 3 P Connection d 54 3 Terminals gt 2 kA PRISM 2 DR
4. 0001 1 4 ACRONYMS 8 ABBREVIATIONS ADC Atmospheric Dispersion Corrector DC Direct Current VME Versa Module Europe FEROS Fibre fed Extended Range Optical Spectrograph TBD To Be Defined TBM To Be Measured VLT Very Large Telescope WFI Wide Field Imager LCU Local Control Unit NTT New Technology Telescope PCB Printed Circuit Board SCSM Sliding Calibration Selection Mirror TTL Transistor Transistor Logic ZD Zenith Distance Page 8 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 2 ADC MOTION CONTROL 2 1 Motion Control Concept The concept developed for the motion control of the FEROS ADC prisms is based on the standard motion control components used by ESO to build instruments This approach brings various advantages like reduced development and manufacturing costs past proven experience standardised components and shared spare parts The ADC arm uses the same torque drive control circuit specially designed and actually in use for the WFI FEROS M3 selector mirror arm A lower power but functionally identical version of the board was assembled 2 2 Control Components The motion control electronic components used for the ADC are gt MACC4 INC AP4 and VME 4SA AP1 VLT standard modules gt La Silla Torque Drive Control standard module low power version Two Faulhaber motor incremental encoder units combined with init switches for defining t
5. 30 17 P3 bit 7 31 Page 16 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 C32 P4 bit 0 32 C31 PA bit 1 33 C30 P4 bit 2 34 C29 P4 bit 3 35 C28 P4 bit 4 36 C27 P4 bit 5 37 C26 P4 bit 6 38 C25 P4 bit 7 39 C24 5 bit 0 40 C23 P5 bit 1 41 22 5 bit 2 42 C21 5 bit 3 43 C20 5 bit 4 44 C19 5 bit 5 45 C18 5 bit 6 46 C17 P5 bit 7 47 Al P6 bit 0 48 A2 P6 bit 1 49 A3 P6 bit 2 50 4 P6 bit 3 51 5 P6 bit 4 52 A6 P6 bit 5 53 7 P6 bit 6 54 A8 P6 bit 7 55 9 INPUT P7 bit0 ADC ARM _ 56 10 INPUT P7 bit 1 ADC ARM IN JPS S7 INPUT P7 bit2ADC ARM REM 58 Al2 OUTPUT P7 bit3ADC ARM OUT 59 A13 INPUT P7 4 SCSM OUT JP1 60 14 P7 bit 5 61 15 7 bit 6 62 16 P7 bit 7 63 B9 5 Volts B13 GND M3 14 GND 15 GND B16 GND M3 B12 REF Ports 0 amp 1 B11 Pullup Ports 0 amp 1 B10 Protect Ports 0 amp 1 B1 5 Volts B5 GND lamps B6 GND lamps B7 GND B8 GND B4 REF Ports 2 amp 3 B3 Pullup Ports 2 amp 3 B2 Protect Ports 2 amp 3 C9 5 Volts CCD Illumination C15 GND CCD Illumination C16 GND CCD Illumination C13 GND CCD Illumination C14 GND CCD Illumination 17 FEROS ADC CON
6. Arm Command STATE ADC ARM ADC ARM OUT REM ACRO output bit ACRO input bit 1 Arm moves in remote 0 1 2 Arm moves out remote 1 1 3 Arm under local control X 0 Table 8 ADC Arm Control If the arm 15 under local control all the statuses Table 7 are still readable and valid Refer to Table 9 below for the VLT bit assignation of the signals 44 P2 and Bit Assignment ACRO Pin Direction Signal VLT BIT B32 IN PO bit 0 OUT ARM 0 B31 IN PO bit 1 IN ARM 1 B30 IN PO bit 2 REM ARM 2 B29 OUT PO bit 3 OUT M3 ARM 3 B28 PO bit 4 4 B27 PO bit 5 5 B26 PO bit 6 6 B25 PO bit 7 7 B24 OUT P1 bit 0 FFon Flat Field Lamp 8 B23 OUT bit 1 WClon Wave length Calibration 9 B22 OUT P1 bit 2 XX Lamp X 10 B21 IN bit 3 FFon feedback 11 B20 IN P1 bit 4 WClon feedback 12 B19 IN P1 bit 5 Lamp X feedback 13 B18 P1 bit 6 14 B17 P1 bit 7 15 A32 OUT P2 bit 0 REDon CCD Illumination 16 A31 IN P2 bit 1 REDon feedback 17 A30 OUT P2 bit 2 GREENon CCD Illumination 18 A29 IN P2 bit 3 GREEN feedback 19 A28 OUT P2 bit 4 BLUEon CCD Illumination 20 A27 IN P2 bit 5 BLUE feedback 21 A26 OUT P2 bit 6 220V switching 22 A25 IN P2 bit 7 feedback 220V switching 23 A24 P3 bit 0 24 A23 P3 bit 1 25 A22 P3 bit 2 26 A21 P3 bit 3 27 A20 P3 bit4 28 A19 P3 bit 5 29 18 P3 bit 6
7. CCON The gear head is preloaded to zero backslash so we can assume safely an angular positioning accuracy for the prism better than 1 deg We do not have information concerning the periodic errors of the gear head This information could be requested if required Please refer to AP6 and AP7 for further details 3 3 2 Arm Drive The required overhead for the ADC is 2 minutes time maximum The worst case is when the SCSM is in the optical path the ADC prisms are 180deg away from the desire position and the ADC arm is out Prism 180deg turn time 3 2sec SCSM out time 60sec We choose the 415 1 gear head from AP5 Table 4 Arm Drive Gear Head and considering the 25 1 worm gear we get a ninety deg arm swing time of 20 5 sec 4 FEROSLCU ACROmag DIGITAL UO The FEROS LCU uses a single ACROmag digital I O module Refer to AP3 for a full description and data of this VME module The ACRO signals used by the ADC are ADC IN active low input ADC ARM OUT active low input ADC ARM REM active high ACRO input SCSM OUT active high ACRO input ADC ARM OUT active high ACRO output command signal 14 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 4 1 SCSM and ARM Interlock Reporting STATE ADC ARM OUT SCSM OUT ACRO input bit ACRO input bit 1 Arm amp SCSM out 0 1 2 Arm in amp SCSM out 1 1 3 Ar
8. EUROPEAN SOUTHERN OBSERVATORY Organisation Europ enne pour des Recherches Astronomiques dans l H misph re Austral Europ ische Organisation f r astronomische Forschung in der s dlichen Hemisph re LA SILLA OBSERVATORY FEROS ADC CONTROL ELECTRONICS Doc No 2p2 DSD ESO 60400 0001 Issue 2 0 Date 10 January 2005 Prepared J Alonso Name Date Signature Approved G Andreoni Name Date Signature Released Andreoni Name Date Signature 2 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 CHANGE RECORD Section Paragraph 18 04 2004 Issue 2 0 10 01 2005 Section 3 Tables updated Section 4 Tables corrected after testing of the hardware Section 6 Several schematic diagrams corrected Section 6 PCBs drawings added Section 5 5 VME4SA I components settings added EE EE Page 3 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 INDEX OF CONTENTS 1 INTRODUCTION 5 5808280686 5 Ek iPURPOSEAND SGOBPBE ie ER NE NO NOE 5 1 22 REFERENCE 8 5 L 5 14
9. FOR JA Document Number File Name Issue Revisions Date Init 2p2 DSD ESO 60400 0001 ADC blk1 skf Figure 1 ADC Control Electronics Block Diagram 2 4 Prism Position and speed control loop The rotation and angular positioning of the ADC prisms is performed by means of a position control loop The main loop is the position control loop starting with an incremental encoder directly coupled to the DC motor to sense the relative angular position A dedicated motion controller MACA INC AP4 compares the sensed position with the position command value calculated by the main instrument control software and generates a corrective action 10Vdc range to the VMEASA servo amplifier The configuration software sets the position controller parameters like integration gain maximum speed software limits initialization point etc Page 10 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 The corrective output signal 10V generated by the position control loop is sent to the VME servo amplifier VME4SA AP1 controlling the motor speed The motor speed is measured by means of the same encoder used for measuring the position This error signal is power amplified inside the VME4SA 1 to drive the DC motor The prisms have no limit switches they can rotate endlessly Motor current limitation is provided as a hardware protection against high drive mechani
10. IVE wid gt gt Gear for a toothed belt 1 1 coupled to the rotary prism INTSWITCH Y 1 Arm Torque E ine Drive a gt 5 MOTOR lt bun 4 Circuit lt Connection ENC Terminals PCB ARM DRIVE SCSM out limit sw P Interlock Circuit GEAR Status SW gt Connection i Terminals ER European Southern Observatory MOTOR PCB mw per u 2 2 FEROS ADC rem ze CONTROL ELECTRONICS Title Diagram 2 ASBULT 100105 JA 1 1 1 FDR 04 04 04 Document Number File Name Issue Revisions Date Init 2p2 DSD ESO 60400 0001 ADC bl k1 skf P2 Connector A9 C CS YV Y Y N 0 0 Y Y Y 12 sa C1 N7 O OUT ACRO input GND N7 1 INN ACRO input GND N7 2 REM 1 ACRO input GND N7 OUT INN ACRO output GND N7 4 SCSMout ACRO input 5V D Sub 9 Female Chassis Mounted over an Al plate at the rear panel of the LCU Labeled ADC ARM DRIVE Y Y Y Y 0 0 YU YY 2 0 gt 0 SCSM out INSTATSW Y 5 U Q 8 A N e 24VOLTS PER 20 GND 21 f Arm Dr
11. OC ignal GND rm In Out Command input OUTIN ignal GND In Status Switch Connection In Status Switch Return Out Status Switch Connection Out Status Switch Return Motor Terminal 1 VO 4 S Motor Terminal 2 24 Volts Power Supply 1 2 3 4 5 6 7 8 9 10 T1 12 13 14 15 16 17 18 19 20 pare wh 24 Volts Power Supply Power Supply 0 Volts Power Supply 0 Volts OAD No fo Power Supply Consumption 1 Ampere Maximum Output Signals 0 5V level 10mA source sink Input Signal 0 5V level 1K internal pull up European Southern Observatory La Silla itle FEROS ADC Arm Torque Drive Connection Block ize Document Number A 0002 Design J Alonso Date Monday January 10 2005 heet 2 123 541 52 SW3 pin numbering R2 750K 14528 EN 4 7uF 10V CX T R8 750K 4 7uF 10V 1N4148 R13 4K7 OUTIN d SW1 5236 WW In Out G6H 2 100 24V ca G6H 2 100 24V C1 0 1uF 50v Q1 2N6766 1N4148 24V Q 1N4148 2 5236 WW Remote Local P6KE 6V8 1N4148 Q3 WY European Southern Observatory La Silla itle FEROS ADC Arm Torque Drive Module Schematic 1 ize Document Number Rev A 0002 Design J Alonso Date Monday January 10 2005 heet 1 Arm Out Status output OUT 2 Signal GND 3 Arm In Stat
12. OR PANEL LCU RN 18 NDS 18 5 5 COMPONENT ADAPTER CONFIGURATION pp 19 6 DRAWING AND SCHEMATIC DIAGRAM 1 1 4 1 2 20 20 GE BEOCK DIAGRAM eno IUGUM 20 6 2 ARM TORQUE DRIVE 0 00000000000000000000000000000000000508080 20 6 3 PRISM SERVO CABLE LCU TO ADAPTER pp 20 6 4 ARM CABLE ECU TO ADAPTER 20 6 5 PRISM DRIVE CONNECTION BLOCK 20 6 6 PRISM DRIVE LINE DRIVERS SCHEMATIC pp 20 6 7 ARM CONNECTION BLOCK 20 6 8 ARM SCSM INTERLOCK SCHEMATIC pp 20 6 9 ARM TORQUE DRIVE CONNECTION 2 7 2 1 0 20 6 10 ARM TORQUE DRIVE MODULE SCHEMATIC ennt 20 6 11 ARM TORQUE DRIVE MODULE SCHEMATIC 2 20 6 12 FEROS ADC PRISM DRIVE CONNECTION pp 20 6 13 FEROS ADC ARM INTERLOCK PCB 20 6 14 FEROS WFI MIRROR SELECTOR AND ADC ARM CIRCUIT PCB ee 20 4 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document 2p2 DSD ESO 60400 0001 INDEX OF FIGURES AND TABLES FIGURE 1 ADC CONTROL ELECTRONICS BLOCK DIAGRAM eene enne 9 TABLE 1 PRISM DRIVE GEAR Han 11 TABLE 2 PRISM DRIVE DE MOTOR iia di Pte n Ex CARS OF ERE EUER Fee Rae oe
13. TROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 C12 REF Ports 4 amp 5 Pullup Ports 4 amp 5 C10 Protect Ports 4 amp 5 Cl 5 Volts ADC ARM C5 GND ADC ARM C6 GND ADC ARM 7 GND ADC ARM C8 GND ADC ARM REF Ports 6 amp 7 Pullup Ports 6 amp 7 C2 Protect Ports 6 amp 7 Table 9 ACRO digital I O pin out and bit assignment Page 18 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 5 ADC CABLING 5 1 ADC Three small PCB cards are mounted over the ADC main block refer to 6 1 for a global view Two of them are identical and correspond to prism drive 1 and 2 Over these cards all the necessary conditioning circuits and cable soldering pads are provided to directly connect the motor encoder and init switch Refer to 6 5 and 6 6 for detailed connection point numbering naming and circuit diagram Additionally over the PCB a 14 pin male header connector serve as link to the outside world for the particular function The third PCB corresponds to the SCSM Arm interlock circuit and additionally serves the same purpose as explained above for the prism drive but this time for the arm drive Over the PCB a 10pin male header connector serve as link to the outside world for the particular function Refer to 6 7 and 6 8 for detailed connection point numbering naming
14. and circuit diagram 5 2 ADC to Adapter connector panel Three flat cables with crimped one to one header and Cannon D sub connectors are used to bring the function signals to the adapter connector panel Header Cannon Length Sex Pin Sex Pin cm Prism 1 Female 14 Male 15 TBM Prism 2 Female 14 Male 15 TBM Arm Female 10 Male 9 TBM Table 10 Adapter internal cabling 5 3 Adapter connector panel to LCU Three separate shielded cables link the adapter connector panel to the FEROS LCU Refer to 6 3 and 6 4 for the detailed schematic diagram length and construction details of these cables 5 4 Inside the LCU Refer to 6 2 for details on the wiring inside the LCU chassis Please note that the prism functions only need the mounting of a VME4SA MACC INC backplane plus the standard wiring specified on AP2 Vx 5V The cable ends of the prism functions are directly plugged onto the HARTING connectors of the new backplane Page 19 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Doc 2p2 DSD ESO 60400 0001 Design Document 5 5 45 Component Adapter Configuration For each channel the VMEASA has an eight pin dual in line socket for plugging a small carrier whose components are dependent on the application refer to AP1 page 8 detailed explanation In this application the configuration for channels and 2 is identical and as shown in the table below
15. ch SCSM park SW ARM SW M2 M1 GND OUTSTATSW GND INSTATSW SCSMout 5V 5V pin ARM IN STAT SW 1 2 3 4 5 6 7 8 9 Torque Drive motor motor 1 61 SCSM PARK SWITCH 2 62 GND ret SCSM SWs Serially connected to the GND SCSM park switch return of both SCSM limit switches o3_ 1 contacts shown in parked position European Southern Observatory La Silla itle FEROS ADC Arm Connection Block ize Document Number A 0002 Design J Alonso Date Monday January 10 2005 heet 2 ARM motorA Serially connected to the ADC arm motor ARM motorB SCSM park SCSMout G6H 2 100 5V ARM motorA INSTSW ARM motorB ARM motor ARM IN STAT SW M2 M1 GND OUTSTATSW GND INSTATSW SCSMout 5V 5V OUTSTSW INSTSW OUTSTSW SCSMout o TORQUE DRIVE Serially connected to the GND return of both SCSM limit ARM OUT STAT SW switches GND ret SCSM SWs European Southern Observatory La Silla itle FEROS ADC ARM SCSM Interlock Schematic ize Document Number A 0001 Design J Alonso Date Tuesday August 24 2004 heet 2 EROS ADC ARM TORQUE DRIVE CIRCUIT CARD plugged into the FEROS LCU Arm Out Status output OUT ignal GND rm In Status output IN ignal GND emote Local Status output REML
16. ector side the cables must point downward when plugged Drawn 17 04 04 JA 5 M European Southern Observatory in the VME4SA backplane Chekd 0 2p2 FEROS ADC The 510 Ohm resistors shall be inside the Harting connector cover properly insulated Control Electronics Use heat shrinkable tube at the Harting side to fix the cables firmly to the cover and Appr have EFECTIVE strain relief Title House the 51 Ohm resistor and the capacitor inside the connector cover Prism Servo Cable LCU to ADAPTER i At the D sub side the shield must be insulated and connected to the connector housing as shown 2 ASBULT 1001 05 JA 1 1 1 17 0404 Document Number Revisions Date Init 2p2 DSD ESO 60400 0001 ADC_P _ CABLE SKF D Sub 9 Female With Metallic Cover and Fixation Screws Connect shield to the connector covers as shown With Metallic Cover and Fixation Screws N a 0 NOTES 0 Cable type 15 x 0 25sqmm shielded Lenght 20 meters Quantity 1 f Date Init ER European Southern Observatory ES 2p2 FEROS ADC O res Control Electronics ARM Cable LCU to ADAPTER 1 ASBUILT 100105 1 1 1 First lssue 16 04 04 Dra
17. he zero angular position are use for the ADC prism drives One Faulhaber motor combined with two status switches is used for the ADC swing arm Custom signal conditioning electronic built over three small Printed Circuit Board PCB is used for converting the incremental encoder single ended signals to balanced differential and conditioning the init switches signals Additionally these PCBs mounted directly over the ADC main block serve as three centralize tie points for all the ADC motion control signal connections From this PCBs three flat cables with crimped header connectors on one end and crimped D sub connectors on the other are use to do all the connections to the ADC inside the adapter The three D subs are mounted over the adapter external connector panel and the headers are plugged into the respective PCBs From the panel mounted D subs two 20 meter shielded cables fitted with HARTING Hart Pack and 15 pin DSUB CANNON connectors and one 20 meter shielded cable fitted with 9 pin DSUB CANNON connectors do the link to the FEROS LCU 2 3 Motion Control Functions The motion control functions of the ADC comprises two incremental Direct Current DC position servo drives without limit switches for the counter rotating doublet prisms and one DC torque drive with status switches for the swing arm 9 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 Additionally a hardware interlocki
18. iver Board Backplane Connector OUTSTATSW M2 GND M1 Date Init Drawn 16 04 04 Chckd 4 Appr ER European Southern Observatory M 2p2 FEROS ADC Control Electronics 2 ASBUILT 10 01 05 Title ARM Torque Drive LCU Layout Page 1 1 1 First Issue 16 04 04 Issue Revisions Date Drawing Number 2p2 DSD ESO 60400 0001 File Name ADC_LCU_ARM SKF rown _ D Sub 15 female M E8 gt Use metallic cover M E6 d white _ and fixation screws M E7 d V yellow n X M E5 WW N green Phase Y brown 1 X X Phase A A A6 VON white c9 Phase B B B7 gt yellow 2 A Phase B 5 EN green 10 Tacho T Y _ _ brown 4 X X Tacho T E2 d white 12 UPPER LIMIT POS P C3 510 C5 gt 1 2W LOWER LIMIT POS N D3 2 510 N D5 V V brown 5 REFERENCESW RS Ei N hiie EL GND C7 gt gt E e 51 4 est GND C6 d d yellow C7 A C Vx 5V 29 S N green L 15 L 6 HARTING HART PACK CONNECTOR 14 NOTES Lenght 20m Quantity 2 units Date Complete double electrical test to and chek for shorts between lines y At the Harting conn
19. m out amp SCSM in 0 0 4 Invalid collision 1 0 Table 6 ADC Arm and SCSM States Status Reporting The LCU software cannot drive these functions to state 4 of Table 6 above any attempt by the software to do so will result in an error because they are interlocked by hardware This is because physically both the ADC arm and the SCSM live in the same place when operative The LCU software shall always check the state before attempting to move the functions If state 4 is ever read in by the software an error message shall be issued requesting hardware service Refer to Table 9 below for the VLT bit assignation of the signals The trailing backslash at the signal name indicates active low 4 2 Arm Status STATE ADC ARM ADC ARM ADC ARM OUT IN REM ACRO input bit ACRO input bit ACRO input bit Arm out remote 0 1 1 Arm in remote Arm moving remote Arm moving Arm out local Arm in local Arm moving local Arm moving 0 0 Table 7 ADC Arm States Status Reporting 1 1 0 0 1 1 Gel Al n By U N m 1 1 1 0 0 0 0 Refer to Table 9 below for VLT bit assignation of the signals The trailing backlash at the signal name indicates active low If the arm is under local control all the statuses Table 7 are still readable and valid Page 15 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Doc 2p2 DSD ESO 60400 0001 Design Document 4 3
20. ng circuit for the ADC swing arm and the Sliding Calibration Selector Mirror SCSM is provided The status output of the interlock circuit is reported to the Local Control Unit LCU software via dedicated Acromag module input bits Note that the interlocking between the two potentially interfering functions is done at the lowest level by a dedicated simple and safe circuit The LCU software has no control over this circuitry except for the fact of reading the reported status see Figure 1 below PRISM 1 DRIVE Cc Gear for a toothed belt 1 1 coupled to the rotary prism 2 GEAR 5 MOTOR Line 9 Drivers o lt 9 ENC gt Connection lt gt E Terminals 8 2 gt 5 PRISM 2 DRIVE 7 gt Gear for a toothed belt 1 1 coupled to the rotary prism gt NIT SWITCH Arm Torque 7 ine Drive 4 5 MOTOR Drivers gt Circuit Connection Terminals PCB ARM DRIVE SCSM out limit Status 5 Interlock Circuit GEAR us Sw Connection CNET Terminals NS European Southern Observaton pae FEROS ADC CONTROL ELECTRONICS Page Block Diagram 2 ASBULT ows JA 1 1 1
21. sm friction The current limit is defined by a resistor inside the VMEASA and can be read back by the LCU with 8 bit resolution 2 5 Arm Position Torque Control The in out positioning of the ADC arm is accomplished by a dedicated torque drive card the same used for the WFI FEROS M3 selection mirror Basically this circuit drives the arm motor via an adjustable current source with 24V compliance When the arm is freely moving only the friction of the mechanism is drawing current the voltage in the motor terminals is 24V As soon as the arm reaches the hard limit stop the voltage on the motor terminals drops and the current reaches the set constant value with the motor arm effectively stuck against the limit and finally the current is shut off automatically by the circuitry The mechanism of the arm uses two cascaded reduction gear stages one is over the motor and the other is a self blocking worm gear combination Additionally the self blocking gear and the arm are connected together by a torsion coupling and the in out positions of the arm are defined by two stable hard limit mechanical stops Being possible to adjust the constant current source by the aid of a trim pot mounted over the card effectively and accurately defines the degree of force exerted by the arm over the stops or equally the degree of torsion exerted over the coupling and thus keeping the arm mechanically stable on position The in and out positions are monitored by sta
22. tus switches this switches report back the status and are part of the interlock circuit between the arm and the SCSM 11 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 3 ADC DRIVES ELECTROMECHANICAL COMPONENTS 3 1 Prism Drive Both prisms drives are identical and therefore use the same electromechanical components Reduction gear type FAULHABER 16 7 Gear ratio 246 1 Maximum speed Rpm 5000 Nominal static torque Nm 0 3 Table 1 Prism Drive Gear Head Manufacturer FAULHABER Type 1724T024SR Maximal speed Rpm 8600 Nominal output torque mNm 11 5 Maximal power W 4 Voltage V 24 Maximal current mA 180 Winding resistance Ohm 55 EMF mV rpm 2 8 Operating temperature S 30 85 Table 2 Prism Drive DC Motor Type FAULHABER Series IE2 16 Magnetic Lines per revolution 16 Supply voltage 4 5 to 5 5 Current consumption mA 5 Max output current mA Output Two quadrature TTL 50 duty cycle signals Table 3 Prism Drive Incremental Encoder The initialization position switch is a BAUMER type My Com g FEROS ADC CONTROL ELECTRONICS Design Document 3 2 Arm Drive Page 12 10 01 2005 Doc 2p2 DSD ESO 60400 0001 Reduction gear type FAULHABER 23 1 Gear ratio 415 1 Maximum speed Rpm 4000 Nominal static torq
23. ue Nm 0 7 Table 4 Arm Drive Gear Head Manufacturer FAULHABER Type 233880248 Maximal speed Rpm 7600 Nominal output torque mNm 17 6 Maximal power W 3 5 Voltage V 24 Maximal current mA 300 Winding resistance Ohm 38 EMF mV rpm 3 03 Operating temperature 30 to 85 Table 5 Arm Drive DC Motor The limit switches are MICRO type ISX48 T The arm out position uses two stacked units The in position uses a single unit The self blocking worm gear driving the arm has a 25 1 ratio 3 3 Gear Ratio and Encoder Resolution 3 3 1 Prism Drive The requirement for the prism angular positioning is within 1 deg the prism tracking speed shall be 2 5deg min and the presetting speed 90deg min Presetting speed 0 25rpm Motor speed at full INC output 5000rpm loaded by the gear head Gear head ratio 20000 1 We choose the 246 1 gear head from AP5 and Table 1 we get Maximum presetting speed 20rpm Angular resolution 1717 including INC XA interpolation factor Page 13 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 The prism tracking speed resolution could be down to OHZ in steps of 1717 Although we choose the lowest resolution encoder 16 due to the reduction gear and the MACC interpolation factor we get a fairly high resolution for the application 15744 counts per prism revolution at the MA
24. us output IN 4 Signal GND 5 Remote Local Status output REMLOCV 6 Signal GND 7 Arm In Out Command input OUTINV 8 Signal GND 9 In 10 In 1 11 Out Status Switch Connection 5236 WW Leds On Off 12 Out Status Switch Return INSTATSW OUTSTATSW 13 Motor Terminal 1 R18 470 R19 470 18 24 Volts Power Supply 19 24 Volts Power Supply 20 Power Supply 0 Volts 21 Power Supply 0 Volts Power Supply Output Signals 0 5V level 10mA source sink 24VOLTS Input Signal 0 5V level 1K internal pull up nsumption 1 Ampere Maximum OVOLTS From back plane connector to 9 pin female D sub mounted on VME crate back From this connector a 20m long cable links the arm mechanism itself at the FEROS adapter 0 1uF 50V 0 1uF 50V LM78L05 24VOLTS 1000uF 35V OVOLTS European Southern Observatory La Silla itle FEROS ADC Arm Torque Drive Module Schematic 2 ize Document Number Rev A 0001 Design J Alonso JAT Date Monday January 10 2005 heet 2 interlock PCB E Q EL LU LL LED 2004 D goodo
25. ve E Eres Tus 11 TABLE 3 PRISM DRIVE INCREMENTAL ENCODER pt 11 TABLE 4 ARM DRIVE GEAR Han 12 TABLE 5 ARM DRIVE DC MOTOR 4 12 TABLE 6 ADC AND SCSM STATES STATUS REPORTING pt 14 TABLE 7 ADC ARM STATES STATUS REPORTING et 14 TABEES ADC ARM CONTROL 15 TABLE 9 DIGITAL PIN OUT AND BIT 1 ener eterne tinens nennen 17 TABLE 10 ADAPTER INTERNAL CABLING eterne tete eset nete 18 TABLE 11 VME4SA COMPONENT ADAPTER CONFIGURATION 19 Page 5 FEROS ADC CONTROL ELECTRONICS 10 01 2005 Design Document Doc 2p2 DSD ESO 60400 0001 1 INTRODUCTION Since the move of the Fibre fed Extended Range Optical Spectrograph FEROS from the 1 52m to the 2 2m telescope the need of adding an Atmospheric Dispersion Corrector ADC stir up We believe that the overall performance of FEROS will be substantially improved with the ADC in the whole wavelength range from 350 to 920nm and thus realizing the full potential of the instrument 1 1 PURPOSE AND SCOPE This document is intended to serve as a design document construction guide and service manual for the counter rotating prisms FEROS ADC control electronics Starting from a general description and block diagram it goes all the way down to the schematic diagrams function tables and connection tables 1 2 REFERENCE DOCUMENTS
26. wing Number File Name Issue Revisions Date Init 2p2 DSD ESO 60400 0001 ADC A LINE DRIVERS CONNECTION TERMINAL PCB mounted over the ADC mechanics motort motor Channel B Channel A Encoder Motor Channel Channel A Channel Channel B motor motor 8 tacho 9 initswl 10 initsw2 aCho 11 45V tacho 12 5V e 14 45 Drive initswl initsw2 European Southern Observatory La Silla itle FEROS ADC Prism Drive Connection Block ize Document Number A 0001 Design J Alonso Date Monday January 10 2005 heet 2 motor ChannelB ChannelA Encoder Motor motor initsw1 initsw2 Init SW ChannelA ChannelB ChannelA ChannelA DS26C31 ChannelA ChannelA ChannelB ChannelB ChannelB ChannelB mot mot DS26C31 tacho tacho initsw1 initsw2 DS26C31 DS26C31 45 Drive Channel Channel Channel Channel mot Oort motor tacho tacho initswl initsw2 5V 5V European Southern Observatory La Silla itle FEROS ADC Prism Drive Line Drivers Schematic ize Document Number A 0001 Design J Alonso Date Sunday August 22 2004 heet INTERLOCK CIRCUIT CONNECTION TERMINAL PCB mounted over the ADC mechanics ADC ARM STATUS SWITCHI IpI 1 itch arm at mid travel Q2 1 2 swit

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