Documentation: (top)

• Motion controller:

• Documentation package provided 27jan11 after acceptance test:
• file location: /share/megs/Arecibo_12m_Controller_Doc_Package_27Jan2011
• Contents:
  ./SAT Procedures
  ./SAT Results
  ./SAT Results/Acceleration Tests
  ./SAT Results/Step Responses
  ./SAT Results/Static Pointing
  ./SAT Results/Motor Currents
  ./SAT Results/Clock Test
  ./SAT Results/Slew Rates
  ./SAT Results/Steady Following Errors
  ./SAT Results/Dynamic Pointing
  ./Manuals
  ./Manuals/Third Party Documentation
  ./Manuals/Third Party Documentation/Heidenhain Documentation
  ./Manuals/Third Party Documentation/Emerson CT Documentation
  ./Manuals/Third Party Documentation/Phoenix Contact Documentation
  ./Manuals/Third Party Documentation/Puls
  ./Manuals/Third Party Documentation/Telemecanique Documentation
  ./HMI Program
  ./Contoller Electrical Schematic
  
• Controller manuals:
  
• Operations & Maintenance Manual Part 1 RevB:12jan15 (.pdf)
• Operations & Maintenance Manual Part 2 Rev:04feb11 (.pdf)
• 
  
• Parameters read back from the drive controllers.
• 
  
• Electrical schematics and pictures:
• Controller Electrical Schematic Rev:27jan11 (.pdf)
• Pictures of component locations (.pdf)
  
• Electrical  System interconnect diagram (draft) (.pdf)
• Misc:
• Screen shots of HMI test program (.pdf)
• Modbus protocol:
  
• Modbus application protocol specification (.pdf)
  
• Modbus messaging on tcp/ip implementation guide (.pdf)
• System Acceptance Test (SAT) documents:
• SAT part 1 Tests in Local Control (.pdf)
• SAT part 2 Remote Interface Functional tests (.pdf)
  
• SAT part 3 Servo Performance tests (.pdf)
• SAT part 4 Tests for Pointing and Tracking accuracy (.pdf)

• Phil's docs
• Setting up the controller at AO



• Third Party documentation:

• Emerson CT documentation. Motors and drives
  
• Unidrive SP UserGuide (.pdf)
• Advanced users guide unidrive (.pdf)
• unidrive sp terminal,pin diagram, specs (.pdf)
• Unimotor FM product data (.pdf)
• drive model SP_2_4_0_1 .. decoding the id:
  
• SP  - unidrive sp product line
• 2  - frame size (0..6)
• 4 - volatage rating 4=380 to 480 vac
• 0 - config - panel mount series
• 1 - current rating step within specified frame size.
• sp2401 specs:
• 10hp @460V
• continous output current:15.3 amps (normal) 13 heavy duty
• peak output current:16.8 amps (normal), 19.5 heavyduty
• normal: current overload 110% for 60 secs
•  heavy current overload 175% for 40 secs
• Motor specs:
• Az:142U2D301VASAB165240
• El: 142U2D401VASAB165240
  

• Num:

  frameSize 142

  voltage U

  peakTorq 2

  statorLen D

  speed 30/40

  brake 1

  connection type V

  Shaft Key A

  encoder type SA

  Inertia B

  Bolt Circle 165

  Shaft diam 240

  az

  142

  460V

  2=std

  D

  30=3000rpm

  with

  v

  with

  sa

  A=std

  el

  142

  460V

  2=std

  D

  40=4000rpm

  with

  v

  with

  sa

  A=std

• drive,inverter specs, modules
  
• Emerson control technologies
• From Operation and maintenance manual, part 2 page 15.
  

• component	el drive (4u1)	azMaster (4u3)	az slave (4u4)
  part #	sp2401	sp1406	sp1406
  inpVoltage range	380-480 vac 3phase	380-480 vac 3phase	380-480 vac 3phase
  maxOutput current	15.3amps	11 amps	11amps
  typical motor  output power	7.5KW	5.5KW	5.5KW
  slot usage
  slot 1	SM universal encoder (5u2)	SM universal encoder  (7u2)	SM applications plus (8u3) ctnet node #=10 name=central processor
  slot 2	SM application plus (5u1) ctnet node #=1 name=elevation processor	SM application plus (7u1) ctnet node #=3 name=azimuth master  processor	SM application plus (8u1) ctnet node #=4 name=azimuth slave  processor
  slot 3	SM IO Plus (5u3)	SM IO Plus (7u3)	SM Ethernet (8u2)

•  
• Notes:
• (NuM) reference in schematics
• Most parameters in the drives are set on power up.
• See drive replacement (in manual) for those that need to be updated.
  

• SM-Applications modules and motion processors (.pdf)
• SM-Ethernet Users Guide (.pdf)
• SM-I/O Plus (.pdf)
• SM-Universal Encoder Plus (.pdf)
• Heidenhain roc226 encoder (.pdf)
• Phoenix fiber optic converter (no longer used) (.pdf)
• Puls 24 volt power supply (.pdf)
• Telemecanique Safety Relay (.pdf)

 12meter page
 home_~phil