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Controls Preliminary Design Report Issue 5.doc

Document

Prepared By:

Juan C. Delgadillo

Signature and Date:

27 May 2004

Document

Interpreted By:

John J. Johnson

Signature and Date:

27 May 2004

Document

Approved By:

Juan C. Delgadillo

Signature and Date:

27 May 2004

Document

Released By:

Juan C. Delgadillo

Signature and Date:

27 May 2004

Tel: +44 (0)131 668 8411

Fax: +44 (0)131 668 8412

Email: vista@roe.ac.uk,

http://www.roe.ac.uk/atc/projects/vista/

Document Title: Controls System Design Report

Document Number: VIS-ANA-VER-01001-9002

Issue: 5.0

Date: 27 May 2004

The information contained in this document is strictly confidential and is intended for the addressee only. The

unauthorised use, disclosure, copying, alteration or distribution of this document is strictly prohibited and may be

unlawful.

Summary of content (80 pages)

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Tel: +44 (0)131 668 8411 Fax: +44 (0)131 668 8412 Email: vista@roe.ac.uk, http://www.roe.ac.uk/atc/projects/vista/ Document Title: Controls System Design Report Document Number: VIS-ANA-VER-01001-9002 Issue: 5.0 Date: Document Prepared By: 27 May 2004 Juan C. Delgadillo Signature and Date: 27 May 2004 Document Interpreted By: John J. Johnson Document Approved By: Juan C. Delgadillo Signature and Date: 27 May 2004 Signature and Date: 27 May 2004 Document Released By: Juan C.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 2 of 80 Author: J. Delgadillo Change Record Issue Date Section(s) Affected 1.0 2.0 2.0 2.0 2.0 08/08/03 08/20/03 08/20/03 08/20/03 08/20/03 2.0 2.0 2.0 3.0 08/20/03 08/20/03 08/20/03 08/28/03 All Table 4.2.C 4.2.2.4 4.2, Table 4.2.2.2.B and C Table 4.2.2.2.B and C, Table 4.2.2.3.B 4.2.2.7 Table 3 4.2.1 4.2.2.1.9 3.0 08/28/03 4.2.2.1.13 3.0 08/28/03 4.2.2.9 3.0 08/28/03 4.2.2.2 3.0 3.0 08/30/03 08/30/03 4.2.2.
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5.0 05/27/04 Various 5.0 5.0 5.0 05/27/04 05/27/04 05/27/04 4.2.5.16 4.3.2, 4.3.3 4.2.2 Controls Preliminary Design Report Issue 5.doc Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 3 of 80 Author: J.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 4 of 80 Author: J. Delgadillo Table of Contents 1 INTRODUCTION..............................................................................................................................................6 2 ACRONYMS AND ABBREVIATIONS ........................................................................................................6 3 APPLICABLE AND REFERENCED DOCUMENTS ................................................
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 5 of 80 Author: J. Delgadillo APPENDIX A - MOUNT CONTROL UNIT ........................................................................................................64 APPENDIX B - PORTABLE MAINTENANCE UNIT .......................................................................................72 APPENDIX C - AZ/ALT AND CASS CENTRAL CONTROL UNIT .............................................................
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1 Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 6 of 80 Author: J. Delgadillo Introduction This Design Report summarises the design features of the Vista Mount Control System for all contract items subject of this contract. This Design Report addresses every applicable requirement specified in the AD01 Technical Specification to the item that is the subject of this Design Report.
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3 Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 7 of 80 Author: J. Delgadillo Applicable and Referenced Documents In this section all the documents referred to in the Design Report shall be listed. Title Number & Issue AD01 Technical Specification for the Telescope Structure Work-Package VIS-SPE-ATC-01000-0006 Issue 3.0 AD02 Statement of Work for the VISTA Telescope Work Package VIS-SOW-ATC-01000-0005 Issue 2.
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4 Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 8 of 80 Author: J. Delgadillo Design Report 4.1 Scope This design report will summarise the design features of all of the sub-assemblies that comprise the Vista MCS in enough detail to demonstrate compliance with the technical specifications, AD01. 4.2 Design Description The following Vista Cable Diagram, Figure 4.2.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 9 of 80 Author: J. Delgadillo FIGURE 4.2.A – VISTA MOUNT CONTROL SYSTEM BLOCK DIAGRAM Controls Preliminary Design Report Issue 5.
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Controls Preliminary Design Report Issue 5.doc Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 10 of 80 Author: J.
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Controls Preliminary Design Report Issue 5.doc Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 11 of 80 Author: J.
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Controls Preliminary Design Report Issue 5.doc Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 12 of 80 Author: J.
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Controls Preliminary Design Report Issue 5.doc Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 13 of 80 Author: J.
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Controls Preliminary Design Report Issue 5.doc Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 14 of 80 Author: J.
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Controls Preliminary Design Report Issue 5.doc Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 15 of 80 Author: J.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 16 of 80 Author: J. Delgadillo Connectorized interconnection cabling will be provided for the MCS, including the cabling for the LCUs (AZ, ALT and CASS) (AD01 11.1.1 spec). The interconnection cables, as well as the hook-up cables (internal to the subassemblies) will be halogen free (AD07 4.3.1.3.1 spec), and in conformance with the applicable DIN, VDE, IEC standards for cable construction and tests.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 17 of 80 Author: J. Delgadillo FIGURE 4.2.B – VISTA CONTROL LOOP BLOCK DIAGRAM 4.2.2 MCS Performance Summary Following is a summary of mount performance requirements: TABLE 4.2.C - Performance Requirements AD01 Spec 8.3 8.5.2 VISTA SPECIFICATION Axis Velocities and Accelerations AZ Velocity +/- 2°/sec ALT Velocity +/- 2°/sec CASS Velocity +/- 3.
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AD01 Spec 8.4.2 11.1.4.1 VISTA SPECIFICATION Quasi Static Pointing Error Non-Repeatable Full Sky < 1.0 arcsec rms 0.17 deg < 0.1 arcsec rms 2 deg < 0.25 arcsec rms 60 deg < 0.5 arcsec rms Total Full Sky < 15 arcsec rms 0.17 deg < 0.1 arcsec rms 2 deg < 0.5 arcsec rms 60 deg < 8 arcsec rms Cass Tracking Requirements Non-Repeatable Full Sky 9.3 arcsec rms 60 deg 1.2 arcsec rms Total Full Sky 31 arcsec rms 100 % CASS Motor Overhead 11.1.6 Encoder Resolution 10.5.2 11.1.8.1 Azimuth < 0.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 19 of 80 Author: J. Delgadillo AD01 Spec 11.1.10 VISTA SPECIFICATION Braking Deceleration AZ 4°/s2 to 60°/s2 ALT 8°/s2 to 60°/s2 CASS 16°/s2 to 120°/s2 MCS CAPABILITY (Refer to AD03) AZ 13.9 °/s2 ALT 5.9 °/s2 CASS 74.9 °/s2 13.2.1 Overall Availability > 363 nights/yr (99.45 %) MTBF 3 years (Refer to AD05) 99.93 % (Refer to AD05) 8.8 months 13.2.2 4.2.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 20 of 80 Author: J. Delgadillo TABLE 4.2.1 LVD & EMC Test Standards & Limits STANDARD EN 50081, Part 2 TITLE Electromagnetic Compatibility – Generic Emission Standard Part 2: Industrial Environment (Class A) MCS LIMITS CONDUCTED 0.15 – 0.5 MHz QP 79, AVG 66 dBµV 0.5 – 30 MHz QP 73, AVG 60 dBµV RADIATED (@ 10 m) 30 – 230 MHz 39.5 dB(µV/m) 230 – 1000 MHz 46.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 21 of 80 Author: J. Delgadillo 4.2.4 AZ/ALT Power Drive Unit Refer to the following representative photograph (Figure 4.2.2.1.A) and block diagram (Figure 4.2.2.1.B) of the AZ/ALT Power Drive Unit. 4.2.4.1 AZ/ALT PDU Power Feeds Two power feeds are utilized by the PDU.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 22 of 80 Author: J. Delgadillo Figure 4.2.2.1.A - AZ/ALT POWER DRIVE UNIT (Photo is Representative) Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 23 of 80 Author: J. Delgadillo Figure 4.2.2.1.B - AZ/ALT PDU BLOCK DIAGRAM Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 24 of 80 Author: J. Delgadillo The motor controllers are matched to, and thus ideally compensated to the brushless DC motors that they drive. The current loop bandwidth of the motor controllers has been measured to be around 800 Hz, which would easily satisfy the demanding outer axis rate loops.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 25 of 80 Author: J. Delgadillo During the integrated testing at Mexia, Texas, the optimal rate loop compensation will be determined. 4.2.2.1.C - Preload Scheme Plot Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 26 of 80 Author: J. Delgadillo 4.2.4.6 AZ/ALT Central Control Unit Refer to the following AZ/ALT CCU Block Diagram, Figure 4.2.2.1.D. Only the CCU components that are required to meet the requirements of AD01 and AD02 are discussed in this section. The other components are considered test equipment and are discussed in Appendix C.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 27 of 80 Author: J. Delgadillo Figure 4.2.2.1.D - AZ/ALT PDU CCU BLOCK DIAGRAM 4.2.4.7 AZ/ALT Control Board Although the Control board physically resides in the CCU, it is totally microprocessor and CCU independent. It provides an interface between the CCU computer (for monitoring purposes only) and external motor disabling connections to the mount structure.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 28 of 80 Author: J. Delgadillo 4.2.4.8 AZ/ALT Interlocking As dictated by AD01 11.1.7 c spec, if any of the following isolated contacts open, 3-phase power is removed from the azimuth and/or altitude motor controllers, and will independently remove the brake release command.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 29 of 80 Author: J. Delgadillo call out for resetting its Logic Power (single-phase) after an Under Voltage fault occurs (occurring after removal of 3-phase power). That means that the Logic Power to the amplifier has to be cycled and the 3-phase CB has to be turned back on in order to clear (close) an auxiliary switch that the control system is sensing to ensure that the motor controller is ready for operation.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 30 of 80 Author: J. Delgadillo 4.2.4.10 Altitude Imbalance Since the Altitude axis has direct drive (no gearing between motors and axis) torquer motors, the Altitude axis is very susceptible to imbalance, a potential risk for personnel and/or hardware damage. In order to mitigate the risk, the following design has been implemented on the VISTA Mount Control System: 1.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 31 of 80 Author: J. Delgadillo 4.2.4.12 AZ/ALT PDU Major Subassemblies The major subassemblies that make up the AZ/ALT PDU are listed below: TABLE 4.2.2.1.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 32 of 80 Author: J. Delgadillo Figure 4.2.2.1.E - LCU Interface Block Diagram AD07 dictates that galvanic isolation is maintained between VertexRSI and LCU equipment. This is accomplished by the use of dry-contact closure for digital signals and the use of Isolation Amplifiers for analogue signals. Please refer to Figure 4.2.2.1.F - LCU Axis Control Logic Block Diagram.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 33 of 80 Author: J. Delgadillo Figure 4.2.2.1.F - LCU Axis Control Logic Block Diagram Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 34 of 80 Author: J. Delgadillo Following are the AZ/ALT PDU to Azimuth LCU interfaces. TABLE 4.2.2.1.B - AZ/ALT PDU to AZ LCU Interfaces SIGNAL SIGNAL NAME SIGNAL TYPE # CONTROL COMMAND-STATUS 1 AZ Rate Demand +/- 5 Vdc, +VE = +VE rate 2 AZ Rate Scale Factor OCS Low = 2.0 deg/s, High = 0.
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SIGNAL Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 35 of 80 Author: J. Delgadillo SIGNAL NAME SIGNAL TYPE # 21 AZ Neg Vicinity Limit DCC. Contacts Open = Limit (SF) 22 AZ Pos Vicinity Limit DCC. Contacts Open = Limit (SF) 23 AZ Neg Pre-Interlock Limit DCC. Contacts Open = Limit (SF) 24 AZ Pos Pre-Interlock Limit DCC. Contacts Open = Limit (SF) 25 AZ Velocity Limit (Axis limited to 0.5°/sec) DCC. Contacts Open = Velocity Limited 26 AZ Cable Wrap DCC.
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SIGNAL Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 36 of 80 Author: J. Delgadillo SIGNAL NAME SIGNAL TYPE # ISOLATION AMPLIFIER POWER SUPPLIES 40 +12V DC Low Voltage Power (0V on item 38) 41 -12V DC Low Voltage Power (0V on item 38) (I) – Causes Interlock (SF) – Causes Summary Fault (OP) – Output from LCU DCC – Dry-Contact Closure OCS – Open-collector sink (*) = Standard Heidenhain Read Head 15-way D-Sub connections.
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SIGNAL # Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 37 of 80 Author: J. Delgadillo SIGNAL NAME SIGNAL TYPE 10 ALT Summary Fault DCC. Fault Contacts Open = ALT 11 Status Common Isolated Return for above contacts Axis RELAYS 12 ALT Brakes Released DCC. Contacts Closed = Brakes released 13 ALT Pos-Neg Interlock Limit DCC. Contacts Open = Limit (I) (SF) 14 AZ-ALT CCU Off DCC. Contacts Open = CCU Off (SF) 15 ALT Stow Pin Engaged DCC.
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SIGNAL # Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 38 of 80 Author: J.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 39 of 80 Author: J. Delgadillo 4.2.5 CASS Power Drive Unit Refer to the following representative photograph (Figure 4.2.2.2.A) and block diagram (Figure 4.2.2.2.B) of the CASS Power Drive Unit. The CASS PDU design is very similar in design to the AZ/ALT PDU. Only the major differences between the two PDUs will be discussed here. 4.2.5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 40 of 80 Author: J. Delgadillo Figure 4.2.2.2.A - CASS POWER DRIVE UNIT (Photo is Representative) Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 41 of 80 Author: J. Delgadillo Figure 4.2.2.2.B - CASS PDU BLOCK DIAGRAM Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 42 of 80 Author: J. Delgadillo Figure 4.2.2.2.C – Cassegrain Rotator Cable Wrap Slaving 4.2.5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 43 of 80 Author: J. Delgadillo The same reliability concern by the frequent power cycling of the CASS motor controllers, as discussed in the AZ/ALT PDU section, is applicable to this axis. A second set of the above Interlock contacts is routed over to the CASS LCU for monitoring purposes only. A third set of Interlock contacts is fed to the CASS PDU Control or Status board for fault reporting and axis disabling.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 44 of 80 Author: J. Delgadillo 4.2.5.7 CASS Central Control Unit Figure 4.2.2.2.D - CASS PDU CCU BLOCK DIAGRAM Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 45 of 80 Author: J. Delgadillo 4.2.5.8 CASS Major Subassemblies The major subassemblies that make up the CASS PDU are listed below: TABLE 4.2.2.2.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 46 of 80 Author: J. Delgadillo 4.2.5.9 CASS LCU Interface Refer to Figure 4.2.2.1.D, LCU Interface Block Diagram, it shows the handshaking, status, command and feedback information between the CASS PDU and the CASS LCU. As with the AZ/ALT PDU, a manual, mechanical switch in the CASS PDU will be provided to ensure that all LCU Interfaces are identical. Following are the CASS PDU to Cassegrain LCU interfaces. TABLE 4.2.2.2.
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SIGNAL Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 47 of 80 Author: J. Delgadillo SIGNAL NAME SIGNAL TYPE # 16 CASS Cable-Wrap Divergence Intlk DCC. Contacts Open = Divergence (I) (SF) 17 Relay Common Isolated Return for above contacts SWITCHES 18 CASS Neg Vicinity Limit DCC. Contacts Open = Limit (SF) 19 CASS Pos Vicinity Limit DCC. Contacts Open = Limit (SF) 20 CASS Neg Pre-Interlock Limit DCC.
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SIGNAL Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 48 of 80 Author: J. Delgadillo SIGNAL NAME SIGNAL TYPE # 36 -12V DC Low Voltage DC Power (0V on item 33) (I) – Causes Interlock (SF) Causes Summary Fault (OP) – Output from LCU DCC – Dry-Contact Closure OCS – Open-collector sink (*) = Standard Heidenhain Read Head 15-way D-Sub connections. 4.2.5.10 Regeneration Cabinet Refer to Figure 4.2.2.3 for a representative photograph of the Regeneration Unit.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 49 of 80 Author: J. Delgadillo AZ 594 W CASS 71 W The above tracking dissipation values are well below the continuous rating (15% of AZ, 8% for CASS) of the regeneration resistors and thus will hardly produce minimal heat emissions, if any. The instance where the most heat will be dissipated will be when the telescope is slewing from target to target.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 50 of 80 Author: J. Delgadillo Figure 4.2.2.3 - REGENERATION CABINET (Photo is Representative) Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 51 of 80 Author: J. Delgadillo 4.2.5.12 Data Acquisition System The Data Acquisition System is comprised of the Data Acquisition Unit, 25 VertexRSI provided RTDs (AD01 6.4.5a spec) and conditioning modules for VISTA provided 15 additional temperature sensors (AD01 6.4.5c & d spec). 5 of these sensors will be located on the structure while the remaining 10 will be placed on the M1 mirror.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 52 of 80 Author: J. Delgadillo selected over their DC counterparts for their superior accuracy. The accuracy of the LVDTs is comparable to that of the M1 load cells. AD11 shows the interfaces between the M1 Mirror Support LCU and the Data Acquisition Unit, as well as the interfaces to the M1 Mirror Support electronics and anemometer interfaces Figure 4.2.2.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 53 of 80 Author: J. Delgadillo The major subassemblies that make up the Data Acquisition System are listed below: MANUFACTURER CONDOR D.C. POWER SUPPLIES, INC Beckhoff Beckhoff MANUFACTURER DESCRIPTION PART NUMBER HC24-2.4A+ Power Supply BK5120 KL3102 Beckhoff KL3202 Pyromation Incorporated R3T1853 Series CANOpen Bus Coupler 2 Channel Analogue Input Terminal 2 Channel Input Terminal PT100 (RTD) 3-Wire, Platinum RTD 4.2.5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 54 of 80 Author: J. Delgadillo 4.2.5.14 AZ, ALT and CASS Drive Motors and Brakes Brushless Motors were selected for the mount’s axes movement. For Azimuth, four (4) 5,000 RPM, 10 HP motors were selected. For Altitude, two (2) 0.17 HP, 1/3 RPM frameless torquer motors were selected. For Cassegrain three (3) 1.3 HP, 3800 RPM brushless motors were selected. Refer to Figure 4.2.2.8.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 55 of 80 Author: J. Delgadillo Figure 4.2.2.8.A - AZIMUTH MOTOR (Photo is Representative) Figure 4.2.2.8.B - CASSEGRAIN MOTOR (Photo is Representative) Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 56 of 80 Author: J. Delgadillo Figure 4.2.2.8.C - ALTITUDE MOTOR (Photo is Representative) 4.2.5.15 Mount Switches VertexRSI Controls, Structures Division or VPO (or Others) will provide the following mount switches: AXIS AZ/ALT/CASS FUNCTION Travel Limit AZ/ALT/CASS Velocity Limit CASS Interlock Controls Preliminary Design Report Issue 5.
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AXIS FUNCTION AZ/CASS CableWrap Sector AZ/ALT/CASS Stow Pin AZ Lube Pump ALT Imbalance AZ/ALT ALT AZ/ALT/CASS Mount Parked Aux Drive Intlk Emergency Stop AZ AZ Interlock ALT ALT Interlock Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 57 of 80 Author: J. Delgadillo NAME Divergence Lim Cass-CableWrap Negative Divergence Lim Azimuth CableWrap Cass CableWrap Stowed Stow Pin Engaged (AD01 11.1.9 spec) Pressure Low Overflow (AD01 9.2.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 58 of 80 Author: J. Delgadillo Pre-Interlock Limit - Fault is reported to the MCU and LCU-fed contacts open. Axis motors are disabled. The Limit Override momentary switch (inside the appropriate Power Drive Unit) needs to be continuously depressed until the limit clears. Interlock Limit - Fault is reported to the MCU and LCU-fed contacts open.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 59 of 80 Author: J. Delgadillo 4.2.6 Material Parts All fastening hardware utilized on the Mount Control Systems sub-assemblies will be metric. As agreed, modification of off-the-shelf assemblies or line-replaceable unit subcomponents to metric hardware will not be done.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 60 of 80 Author: J. Delgadillo 4.3 Tape Encoder Calculations 4.3.1 Azimuth Tape Encoder Calculations Azimuth Tape Encoder Resolution Tape Sitting Diameter: Tape Sitting Circumference: Graduation Distance # of Encoder Lines 1638mm 1638mm * Π = 5,145.9288 mm 40 e-6 mm = 25 lines/mm 25 lines/mm * 5,145.9288mm = 128,648.2192 lines IK 320 Interpolation Factor 4096 counts/line * 128,648.2192 lines = 526,943,105.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 61 of 80 Author: J. Delgadillo Altitude Tape Encoder Accuracy Encoder Accuracy of Graduation Encoder Tape Circumference Encoder Accuracy (One Read-Head) Encoder Accuracy (4 Read-Heads) +/- 3 microns = +/- 0.003 mm 5,824.5128 mm = 360° = 0.0618 °/mm 0.0618 °/mm * 0.003 mm = 0.00019 ° = 0.668 arc-sec peak = 0.668 arc-sec / 2 = 0.334 arc-sec peak 4.3.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 62 of 80 Author: J. Delgadillo 4.4 Conclusions This Design Report, along with the referenced analysis reports, has shown how the design of the VISTA Mount Control System is in compliance to AD01 Technical Specification. Noncompliant or partially compliant specifications are also addressed in this and on the referenced reports. __oOo__ Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 63 of 80 Author: J. Delgadillo Appendix A Mount Control Unit Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 64 of 80 Author: J. Delgadillo Appendix A - Mount Control Unit The MCU will be used to show compliance to the pointing and tracking requirements of the mount, per AD01 11.1.3 spec. Following is a brief description of the MCU hardware and its modes of operation. Refer to the following representative photograph and block diagram of the Mount Control Unit. The MCU power supply is a 250W switching power supply with universal input.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 65 of 80 Author: J. Delgadillo Below are the initial break frequencies that we will start-off with the integrated testing at Mexia, Texas. AZ ALT LAG 1 0.0 Hz 0.0 Hz Lead 0.24 Hz 0.192 Hz Crossover 1.00 Hz 0.80 Hz Lag 2 10.00 Hz 10.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 66 of 80 Author: J. Delgadillo MOUNT CONTROL UNIT (Photo is Representative) MCU BLOCK DIAGRAM Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 67 of 80 Author: J. Delgadillo 1. Position Track (Designate) Mode Position Track accepts dynamic time tagged AZ/ALT/CASS position and velocity commands at a 20 Hz rate with three commands ahead in time. Interpolation smoothes the data to achieve excellent trajectory. Position Track can be used for both dynamic trajectories and point-to-point moves.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 68 of 80 Author: J. Delgadillo 3. Manual Position (Offset) Mode The Manual Position (Offset) mode can be superimposed on trajectory pointing or positioning mode. It allows the operator to manually command position offsets to the position loop mode operating in conjunction. This allows the trajectory pointing mode or positioning mode to be fine-tuned. 4.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 69 of 80 Author: J. Delgadillo CAS CCU + 15 V CASS CCU – 15V CASS CCU + 5 V CASS +24 V CASS Temperature (CCU) AZ Read-Head 1, 2, 3, 4 Positions ALT Read-Head 1, 2 Tape 1 Position ALT Read-Head 1, 2 Tape 2 Positions CASS Read-Head 1, 2, 3, 4 Positions AZ Read-Head 1, 2, 3, 4 Position Errors ALT Read-Head 1, 2 Tape 1 Position Error ALT Read-Head 1, 2 Tape 2 Position Errors CASS Read-Head 1, 2, 3, 4 Position Errors 6.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 70 of 80 Author: J. Delgadillo 11. Test Trajectories Pre-mission test functions are onboard to support full axis known motion conditions. This allows fully expected performance to be reconfirmed during maintenance of critical mission event preparation.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 71 of 80 Author: J. Delgadillo Appendix B Portable Maintenance Unit Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 72 of 80 Author: J. Delgadillo Appendix B - Portable Maintenance Unit The Portable Maintenance Unit (PMU) is a microprocessor independent unit with the controls and status indicators to execute manual rate control for Azimuth, Altitude and Cassegrain Rotator axis. Refer to the following representative photograph of the PMU and of the PMU junction box.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 73 of 80 Author: J. Delgadillo PORTABLE MAINTENANCE UNIT (Photos are Representative) PMU Junction Box Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 74 of 80 Author: J. Delgadillo Appendix C AZ/ALT & CASS Central Control Unit (CCU) Controls Preliminary Design Report Issue 5.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 75 of 80 Author: J. Delgadillo Appendix C - AZ/ALT and CASS Central Control Unit Refer to the Figure 4.2.2.1.D, AZ/ALT PDU CCU Block Diagram and Figure 4.2.2.2.D, CASS PDU CCU Block Diagram. Only the CCU components that are considered to be test equipment (not required to meet the requirements of AD01 and AD02) are discussed in this section.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 76 of 80 Author: J. Delgadillo TABLE 1 – AZ LCU Monitor Signals via CCU Relay Board SIGNAL SIGNAL NAME # SIGNAL TYPE 1 AZ Brake Fault DCC. Contacts Open = Fault 2 AZ Current Clamped DCC. Contacts Open = I Clamped 3 AZ Preload Off DCC. Contacts Open = Preload Off 4 AZ Motor Controller1 Flt DCC. Contacts Open = Fault 5 AZ Motor Controller2 Flt DCC. Contacts Open = Fault 6 AZ Motor Controller3 Flt DCC.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 77 of 80 Author: J. Delgadillo Condition (I)(SF) 28 ALT Motor #1 Emergency Stop DCC. Contacts Open = Emergency Condition (I)(SF) 29 ALT Motor #2 Emergency Stop DCC. Contacts Open = Emergency Condition (I)(SF) 30 ALT Pier Emergency Stop DCC. Contacts Open = Emergency Condition (I)(SF) 31 Equipment Room Emergency Stop DCC. Contacts Open = Emergency Condition (I)(SF) 32 Cone Emergency Stop DCC.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 78 of 80 Author: J. Delgadillo 15 AZ-ALT Regen Overtemp Fault DCC. Contacts Open = Fault (SF) 16 AZ Motor #1/#2 Emergency Stop DCC. Contacts Open = Emergency Condition (I) (SF) 17 AZ Motor #3/#4 Emergency Stop DCC. Contacts Open = Emergency Condition (I) (SF) 18 ALT Motor #1 Emergency Stop DCC. Contacts Open = Emergency Condition (I) (SF) 19 ALT Motor #2 Emergency Stop DCC.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 79 of 80 Author: J. Delgadillo TABLE 3 – CASS LCU Monitor Signals via CCU Relay Board SIGNAL SIGNAL NAME # SIGNAL TYPE 1 CASS Brake Fault DCC. Contacts Open = Fault 2 CASS Current Clamped DCC. Contacts Open = I Clamped 3 CASS Preload Off DCC. Contacts Open = Preload Off 4 CASS Motor Controller1 Flt DCC. Contacts Open = Fault 5 CASS Motor Contr oller2 Flt DCC.
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Doc Number: VIS-ANA-VER-01001-9002 Date: 27 May 2004 Issue: 5.0 Page: 80 of 80 Author: J. Delgadillo 24 ALT Pier Emergency Stop DCC. Contacts Open = Emergency Condition (I) (SF) 25 Equipment Room Emergency Stop DCC. Contacts Open = Emergency Condition (I) (SF) 26 Cone Emergency Stop DCC.