PB 10 -PB 10 C:ARECIBST.S5D LEN=393 Segment 1 ******************************************************************************* C O N T R O L L O C A T I O N S ******************************************************************************* Segment 2 control voltage ok +---+ I 2.0 = DC-I2.0 -DC-I2.0 ---! & ! +------+ +24V power supply ok -DC-I2.5 ---! !--+-! = ! -F 10.0 I 2.5 = DC-I2.5 +---+ +------+ PLC fuses ok F 10.0 = F 10.0 voltages ok Segment 3 general conditions for operation +---+ F 10.0 = F 10.0 -F 10.0 ---! & ! voltages ok -F 10.7 --O! ! +------+ F 10.7 = F 10.7 -F 48.0 --O! !--+-! = ! -F 10.1 emergency off +---+ +------+ F 48.0 = F 48.0 general fault position evaluation F 10.1 = F 10.1 general conditions for operation Segment 4 AZ computer control: pulse/flag +---+ F 132.5 = F 132.5 -F 132.5 ---!>=1! computer command: Az LCU -F 132.6 ---! ! F 132.6 = F 132.6 -F 132.7 ---! ! +---+ computer command: Az OCU -F 0.7 --O! !-----! & ! F 132.7 = F 132.7 +---+ ! ! computer command: Az MCS -F 10.1 ---! ! -F 4.5 F 0.7 = F 0.7 -F 16.0 --O! ! +-----+ first program cycle finished -F 117.4 --O! !----!S ! -F 4.4 F 10.1 = F 10.1 +---+ ! ! +-----+ general conditions for operation -F 4.4 --!R Q!---!S ! F 16.0 = F 16.0 +-----+ ! ! fault interface CP581 +---+ ! ! F 117.4 = F 117.4 -F 132.4 ---!>=1! ! ! Az: PCU requests control -F 117.4 ---! ! ! ! F 4.5 = F 4.5 -F 10.1 --O! ! ! ! +------+ Az: Computer control (pulse) -F 16.0 ---! !----!R Q!-+-! R ! -F 4.1 F 4.4 = F 4.4 +---+ +-----+ ! +------+ Az: Computer control (flag) ! +------+ F 132.4 = F 132.4 +-! R ! -F 4.3 computer command: Az Maintenance +------+ F 4.1 = F 4.1 Az: local control (pulse) F 4.3 = F 4.3 Az: PCU control (pulse) +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 10 -PB 10 C:ARECIBST.S5D LEN=393 Segment 5 AZ PCU control: pulse/flag +---+ F 132.4 = F 132.4 -F 132.4 ---!>=1! +---+ computer command: Az Maintenance -F 117.4 ---! !-----! & ! F 117.4 = F 117.4 +---+ ! ! -F 4.3 Az: PCU requests control -F 19.7 ---! ! +-----+ F 19.7 = F 19.7 -F 10.1 ---! !----!S ! -F 4.2 PCU connected and operational +---+ ! ! +-----+ F 10.1 = F 10.1 -F 4.2 --!R Q!---!S ! general conditions for operation +-----+ ! ! F 4.3 = F 4.3 +---+ ! ! Az: PCU control (pulse) -F 19.7 --O!>=1! ! ! F 4.2 = F 4.2 -F 10.1 --O! ! ! ! Az: PCU control (flag) +---+ ! ! ! ! F 132.5 = F 132.5 -F 117.4 --O! & ! ! ! ! ! computer command: Az LCU +---+ ! ! ! ! ! ! F 132.6 = F 132.6 -F 132.5 ---!>=1! ! ! ! ! ! ! computer command: Az OCU -F 132.6 ---! ! ! ! ! ! ! ! +------+ F 132.7 = F 132.7 -F 132.7 ---! !-----! !-----! !----!R Q!-+-! R ! -F 4.1 computer command: Az MCS +---+ +---+ +---+ +-----+ ! +------+ F 4.1 = F 4.1 ! +------+ Az: local control (pulse) +-! R ! -F 4.5 F 4.5 = F 4.5 +------+ Az: Computer control (pulse) Segment 6 AZ local control: pulse/flag +---+ F 132.4 = F 132.4 -F 132.4 ---! & ! -F 4.1 computer command: Az Maintenance -F 19.7 --O! ! +-----+ F 19.7 = F 19.7 -F 10.1 ---! !----!S ! -F 4.0 PCU connected and operational +---+ ! ! +-----+ F 10.1 = F 10.1 -F 4.0 --!R Q!---!S ! general conditions for operation +-----+ ! ! F 4.1 = F 4.1 +---+ ! ! Az: local control (pulse) -F 19.7 ---!>=1! ! ! F 4.0 = F 4.0 -F 4.2 ---! ! ! ! Az: local control (flag) -F 4.4 ---! ! ! ! +------+ F 4.2 = F 4.2 -F 10.1 --O! !----!R Q!-+-! R ! -F 4.3 Az: PCU control (flag) +---+ +-----+ ! +------+ F 4.4 = F 4.4 ! +------+ Az: Computer control (flag) +-! R ! -F 4.5 F 4.3 = F 4.3 +------+ Az: PCU control (pulse) F 4.5 = F 4.5 Az: Computer control (pulse) +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+ PB 10 -PB 10 C:ARECIBST.S5D LEN=393 Segment 7 GD computer control: pulse/flag +---+ F 133.5 = F 133.5 -F 133.5 ---!>=1! computer command: GD LCU -F 133.6 ---! ! F 133.6 = F 133.6 -F 133.7 ---! ! +---+ computer command: GD OCU -F 0.7 --O! !-----! & ! F 133.7 = F 133.7 +---+ ! ! computer command: GD MCS -F 10.1 ---! ! -F 5.5 F 0.7 = F 0.7 -F 16.0 --O! ! +-----+ first program cycle finished -F 118.4 --O! !----!S ! -F 5.4 F 10.1 = F 10.1 +---+ ! ! +-----+ general conditions for operation -F 5.4 --!R Q!---!S ! F 16.0 = F 16.0 +-----+ ! ! fault interface CP581 +---+ ! ! F 118.4 = F 118.4 -F 133.4 ---!>=1! ! ! GD: PCU requests control -F 118.4 ---! ! ! ! F 5.5 = F 5.5 -F 10.1 --O! ! ! ! +------+ GD: Computer control (pulse) -F 16.0 ---! !----!R Q!-+-! R ! -F 5.1 F 5.4 = F 5.4 +---+ +-----+ ! +------+ GD: Computer control (flag) ! +------+ F 133.4 = F 133.4 +-! R ! -F 5.3 computer command: GD Maintenance +------+ F 5.1 = F 5.1 GD: local control (pulse) F 5.3 = F 5.3 GD: PCU control (pulse) Segment 8 GD PCU control: pulse/flag +---+ F 133.4 = F 133.4 -F 133.4 ---!>=1! +---+ computer command: GD Maintenance -F 118.4 ---! !-----! & ! F 118.4 = F 118.4 +---+ ! ! -F 5.3 GD: PCU requests control -F 19.7 ---! ! +-----+ F 19.7 = F 19.7 -F 10.1 ---! !----!S ! -F 5.2 PCU connected and operational +---+ ! ! +-----+ F 10.1 = F 10.1 -F 5.2 --!R Q!---!S ! general conditions for operation +-----+ ! ! F 5.3 = F 5.3 +---+ ! ! GD: PCU control (pulse) -F 19.7 --O!>=1! ! ! F 5.2 = F 5.2 -F 10.1 --O! ! ! ! GD: PCU control (flag) +---+ ! ! ! ! F 133.5 = F 133.5 -F 133.5 ---!>=1! ! ! ! ! computer command: GD LCU -F 133.6 ---! ! +---+ ! ! ! ! F 133.6 = F 133.6 -F 133.7 ---! !-----! & ! ! ! ! ! computer command: GD OCU +---+ ! ! ! ! ! ! +------+ F 133.7 = F 133.7 -F 118.4 --O! !-----! !----!R Q!-+-! R ! -F 5.1 computer command: GD MCS +---+ +---+ +-----+ ! +------+ F 5.1 = F 5.1 ! +------+ GD: local control (pulse) +-! R ! -F 5.5 F 5.5 = F 5.5 +------+ GD: Computer control (pulse) +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+ PB 10 -PB 10 C:ARECIBST.S5D LEN=393 Segment 9 GD local control: pulse/flag +---+ F 133.4 = F 133.4 -F 133.4 ---! & ! -F 5.1 computer command: GD Maintenance -F 19.7 --O! ! +-----+ F 19.7 = F 19.7 -F 10.1 ---! !----!S ! -F 5.0 PCU connected and operational +---+ ! ! +-----+ F 10.1 = F 10.1 -F 5.0 --!R Q!---!S ! general conditions for operation +-----+ ! ! F 5.1 = F 5.1 +---+ ! ! GD: local control (pulse) -F 19.7 ---!>=1! ! ! F 5.0 = F 5.0 -F 5.2 ---! ! ! ! GD: local control (flag) -F 5.4 ---! ! ! ! +------+ F 5.2 = F 5.2 -F 10.1 --O! !----!R Q!-+-! R ! -F 5.3 GD: PCU control (flag) +---+ +-----+ ! +------+ F 5.4 = F 5.4 ! +------+ GD: Computer control (flag) +-! R ! -F 5.5 F 5.3 = F 5.3 +------+ GD: PCU control (pulse) F 5.5 = F 5.5 GD: Computer control (pulse) Segment 10 CH computer control: pulse/flag +---+ F 134.5 = F 134.5 -F 134.5 ---!>=1! computer command: CH LCU -F 134.6 ---! ! F 134.6 = F 134.6 -F 134.7 ---! ! +---+ computer command: CH OCU -F 0.7 --O! !-----! & ! F 134.7 = F 134.7 +---+ ! ! computer command: CH MCS -F 10.1 ---! ! -F 6.5 F 0.7 = F 0.7 -F 16.0 --O! ! +-----+ first program cycle finished -F 119.4 --O! !----!S ! -F 6.4 F 10.1 = F 10.1 +---+ ! ! +-----+ general conditions for operation -F 6.4 --!R Q!---!S ! F 16.0 = F 16.0 +-----+ ! ! fault interface CP581 +---+ ! ! F 119.4 = F 119.4 -F 134.4 ---!>=1! ! ! CH: PCU requests control -F 119.4 ---! ! ! ! F 6.5 = F 6.5 -F 10.1 --O! ! ! ! +------+ CH: Computer control (pulse) -F 16.0 ---! !----!R Q!-+-! R ! -F 6.1 F 6.4 = F 6.4 +---+ +-----+ ! +------+ CH: Computer control (flag) ! +------+ F 134.4 = F 134.4 +-! R ! -F 6.3 computer command: CH Maintenance +------+ F 6.1 = F 6.1 CH: local control (pulse) F 6.3 = F 6.3 CH: PCU control (pulse) +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+PB 10 -PB 10 C:ARECIBST.S5D LEN=393 Segment 11 CH PCU control: pulse/flag +---+ F 134.4 = F 134.4 -F 134.4 ---!>=1! +---+ computer command: CH Maintenance -F 119.4 ---! !-----! & ! F 119.4 = F 119.4 +---+ ! ! -F 6.3 CH: PCU requests control -F 19.7 ---! ! +-----+ F 19.7 = F 19.7 -F 10.1 ---! !----!S ! -F 6.2 PCU connected and operational +---+ ! ! +-----+ F 10.1 = F 10.1 -F 6.2 --!R Q!---!S ! general conditions for operation +-----+ ! ! F 6.3 = F 6.3 +---+ ! ! CH: PCU control (pulse) -F 19.7 --O!>=1! ! ! F 6.2 = F 6.2 -F 10.1 --O! ! ! ! CH: PCU control (flag) +---+ ! ! ! ! F 134.5 = F 134.5 -F 119.4 --O! & ! ! ! ! ! computer command: CH LCU +---+ ! ! ! ! ! ! F 134.6 = F 134.6 -F 134.5 ---!>=1! ! ! ! ! ! ! computer command: CH OCU -F 134.6 ---! ! ! ! ! ! ! ! +------+ F 134.7 = F 134.7 -F 134.7 ---! !-----! !-----! !----!R Q!-+-! R ! -F 6.1 computer command: CH MCS +---+ +---+ +---+ +-----+ ! +------+ F 6.1 = F 6.1 ! +------+ CH: local control (pulse) +-! R ! -F 6.5 F 6.5 = F 6.5 +------+ CH: Computer control (pulse) Segment 12 CH local control: pulse/flag +---+ F 134.4 = F 134.4 -F 134.4 ---! & ! -F 6.1 computer command: CH Maintenance -F 19.7 --O! ! +-----+ F 19.7 = F 19.7 -F 10.1 ---! !----!S ! -F 6.0 PCU connected and operational +---+ ! ! +-----+ F 10.1 = F 10.1 -F 6.0 --!R Q!---!S ! general conditions for operation +-----+ ! ! F 6.1 = F 6.1 +---+ ! ! CH: local control (pulse) -F 19.7 ---!>=1! ! ! F 6.0 = F 6.0 -F 6.2 ---! ! ! ! CH: local control (flag) -F 6.4 ---! ! ! ! +------+ F 6.2 = F 6.2 -F 10.1 --O! !----!R Q!-+-! R ! -F 6.3 CH: PCU control (flag) +---+ +-----+ ! +------+ F 6.4 = F 6.4 ! +------+ CH: Computer control (flag) +-! R ! -F 6.5 F 6.3 = F 6.3 +------+ CH: PCU control (pulse) F 6.5 = F 6.5 CH: Computer control (pulse) Segment 13 PCU requests control for Az +---+ F 19.7 = F 19.7 -F 19.7 ---! & ! PCU connected and operational -F 121.0 ---! ! +------+ F 121.0 = F 121.0 -F 122.0 ---! !--+-! = ! -F 117.4 PCU mode: Azimuth +---+ +------+ F 122.0 = F 122.0 PCU command: drive on F 117.4 = F 117.4 Az: PCU requests control +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+PB 10 -PB 10 C:ARECIBST.S5D LEN=393 Segment 14 PCU requests control for GD +---+ F 19.7 = F 19.7 -F 19.7 ---! & ! PCU connected and operational -F 121.1 ---! ! +------+ F 121.1 = F 121.1 -F 122.0 ---! !--+-! = ! -F 118.4 PCU mode: Gregorian Dome +---+ +------+ F 122.0 = F 122.0 PCU command: drive on F 118.4 = F 118.4 GD: PCU requests control Segment 15 PCU requests control for CH +---+ F 19.7 = F 19.7 -F 19.7 ---! & ! PCU connected and operational -F 121.2 ---! ! +------+ F 121.2 = F 121.2 -F 122.0 ---! !--+-! = ! -F 119.4 PCU mode: Carriage House +---+ +------+ F 122.0 = F 122.0 PCU command: drive on F 119.4 = F 119.4 CH: PCU requests control Segment 16 +------+ DB 221 = DB 221 +-! C ! -DB 221 data for CP581 +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+PB 10 -PB 10 C:ARECIBST.S5D LEN=393 Segment 17 Az: change of comp. contr. loc. +---+ F 112.5 = F 112.5 -F 112.5 ---! & ! +---+ Az: LCU mode _ old -F 132.5 --O! !-----!>=1! F 132.5 = F 132.5 +---+ ! ! computer command: Az LCU +---+ ! ! F 112.6 = F 112.6 -F 112.5 --O! & ! ! ! Az: OCU mode _ old -F 132.5 ---! !-----! ! F 132.6 = F 132.6 +---+ ! ! computer command: Az OCU +---+ ! ! F 112.7 = F 112.7 -F 112.6 ---! & ! ! ! Az: MCS mode _ old -F 132.6 --O! !-----! ! F 132.7 = F 132.7 +---+ ! ! computer command: Az MCS +---+ ! ! F 4.2 = F 4.2 -F 112.6 --O! & ! ! ! Az: PCU control (flag) -F 132.6 ---! !-----! ! F 4.0 = F 4.0 +---+ ! ! Az: local control (flag) +---+ ! ! T 26 = T 26 -F 112.7 ---! & ! ! ! stop pulse to LCU after switchover Az -F 132.7 --O! !-----! ! PB 152 = PB 152 +---+ ! ! switch off Az drives +---+ ! ! -F 112.7 --O! & ! ! ! +---+ -F 132.7 ---! !-----! !-----! & ! +---+ +---+ ! ! -T 26 -F 4.2 --O! ! +-----+ -F 4.0 --O! !----!1_-_V! +---+ ! ! KT 010.0 --!TV BI!- ! DE!- ! ! +------+ --!R Q!-+-! JC ! -PB 152 +-----+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 7! +------------------------------------------------------------------------------+PB 10 -PB 10 C:ARECIBST.S5D LEN=393 Segment 18 GD: change of comp. contr. loc. +---+ F 113.5 = F 113.5 -F 113.5 ---! & ! +---+ GD: LCU mode _ old -F 133.5 --O! !-----!>=1! F 133.5 = F 133.5 +---+ ! ! computer command: GD LCU +---+ ! ! F 113.6 = F 113.6 -F 113.5 --O! & ! ! ! GD: OCU mode _ old -F 133.5 ---! !-----! ! F 133.6 = F 133.6 +---+ ! ! computer command: GD OCU +---+ ! ! F 113.7 = F 113.7 -F 113.6 ---! & ! ! ! GD: MCS mode _ old -F 133.6 --O! !-----! ! F 133.7 = F 133.7 +---+ ! ! computer command: GD MCS +---+ ! ! F 5.0 = F 5.0 -F 113.6 --O! & ! ! ! GD: local control (flag) -F 133.6 ---! !-----! ! F 5.2 = F 5.2 +---+ ! ! GD: PCU control (flag) +---+ ! ! T 27 = T 27 -F 113.7 ---! & ! ! ! stop pulse to LCU after switchover GD -F 133.7 --O! !-----! ! PB 162 = PB 162 +---+ ! ! switch off GD drives +---+ ! ! -F 113.7 --O! & ! ! ! +---+ -F 133.7 ---! !-----! !-----! & ! +---+ +---+ ! ! -T 27 -F 5.0 --O! ! +-----+ -F 5.2 --O! !----!1_-_V! +---+ ! ! KT 010.0 --!TV BI!- ! DE!- ! ! +------+ --!R Q!-+-! JC ! -PB 162 +-----+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 8! +------------------------------------------------------------------------------+PB 10 -PB 10 C:ARECIBST.S5D LEN=393 Segment 19 CH: change of comp. contr. loc. +---+ F 114.5 = F 114.5 -F 114.5 ---! & ! +---+ CH: LCU mode _ old -F 134.5 --O! !-----!>=1! F 134.5 = F 134.5 +---+ ! ! computer command: CH LCU +---+ ! ! F 114.6 = F 114.6 -F 114.5 --O! & ! ! ! CH: OCU mode _ old -F 134.5 ---! !-----! ! F 134.6 = F 134.6 +---+ ! ! computer command: CH OCU +---+ ! ! F 114.7 = F 114.7 -F 114.6 ---! & ! ! ! CH: MCS mode _ old -F 134.6 --O! !-----! ! F 134.7 = F 134.7 +---+ ! ! computer command: CH MCS +---+ ! ! F 6.0 = F 6.0 -F 114.6 --O! & ! ! ! CH: local control (flag) -F 134.6 ---! !-----! ! F 6.2 = F 6.2 +---+ ! ! CH: PCU control (flag) +---+ ! ! T 28 = T 28 -F 114.7 ---! & ! ! ! stop pulse to LCU after switchover CH -F 134.7 --O! !-----! ! PB 172 = PB 172 +---+ ! ! switch off CH drives +---+ ! ! -F 114.7 --O! & ! ! ! +---+ -F 134.7 ---! !-----! !-----! & ! +---+ +---+ ! ! -T 28 -F 6.0 --O! ! +-----+ -F 6.2 --O! !----!1_-_V! +---+ ! ! KT 010.0 --!TV BI!- ! DE!- ! ! +------+ --!R Q!-+-! JC ! -PB 172 +-----+ +------+ Segment 20 store new comp. contr. locations :A -F 132.5 computer command: Az LCU := -F 112.5 Az: LCU mode _ old :A -F 132.6 computer command: Az OCU := -F 112.6 Az: OCU mode _ old :A -F 132.7 computer command: Az MCS := -F 112.7 Az: MCS mode _ old :A -F 133.5 computer command: GD LCU := -F 113.5 GD: LCU mode _ old :A -F 133.6 computer command: GD OCU := -F 113.6 GD: OCU mode _ old :A -F 133.7 computer command: GD MCS := -F 113.7 GD: MCS mode _ old :A -F 134.5 computer command: CH LCU := -F 114.5 CH: LCU mode _ old :A -F 134.6 computer command: CH OCU := -F 114.6 CH: OCU mode _ old :A -F 134.7 computer command: CH MCS := -F 114.7 CH: MCS mode _ old :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 9! +------------------------------------------------------------------------------+PB 10 -PB 10 C:ARECIBST.S5D LEN=393 Segment 21 +------+ DB 222 = DB 222 +-! C ! -DB 222 data from CP581 +------+ Segment 22 reset computer mode after request for control from PCU for a particular axis :A -F 117.4 Az: PCU requests control :R D 10.9 :R D 10.10 :R D 10.11 :A -F 118.4 GD: PCU requests control :R D 12.9 :R D 12.10 :R D 12.11 :A -F 119.4 CH: PCU requests control :R D 14.9 :R D 14.10 :R D 14.11 :*** Segment 23 STOP aft.switch to local only Az +---+ I 3.1 = DC-I3.1 -DC-I3.1 ---! & ! SW: Az local only -F 12.0 --O! ! F 12.0 = F 12.0 -F 4.4 ---! ! +------+ local only flag Az D 10.9 --O! !--+-! JC ! -PB 152 F 4.4 = F 4.4 +---+ +------+ Az: Computer control (flag) PB 152 = PB 152 switch off Az drives Segment 24 STOP aft.switch to local only GD +---+ I 3.3 = DC-I3.3 -DC-I3.3 ---! & ! SW: GD local only -F 12.1 --O! ! F 12.1 = F 12.1 -F 5.4 ---! ! +------+ local only flag GD D 12.9 --O! !--+-! JC ! -PB 162 F 5.4 = F 5.4 +---+ +------+ GD: Computer control (flag) PB 162 = PB 162 switch off GD drives Segment 25 STOP aft.switch to local only CH +---+ I 3.5 = DC-I3.5 -DC-I3.5 ---! & ! SW: CH local only -F 12.2 --O! ! F 12.2 = F 12.2 -F 6.4 ---! ! +------+ local only flag CH D 14.9 --O! !--+-! JC ! -PB 172 F 6.4 = F 6.4 +---+ +------+ CH: Computer control (flag) PB 172 = PB 172 switch off CH drives Segment 26 store local only switch pos. :A -DC-I3.1 SW: Az local only := -F 12.0 local only flag Az :A -DC-I3.3 SW: GD local only := -F 12.1 local only flag GD :A -DC-I3.5 SW: CH local only +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 10! +------------------------------------------------------------------------------+PB 10 -PB 10 C:ARECIBST.S5D LEN=393 := -F 12.2 local only flag CH :*** Segment 27 STOP aft.switch to local only Az +---+ I 3.1 = DC-I3.1 -DC-I3.1 ---! & ! +------+ SW: Az local only -F 12.0 --O! !--+-! JC ! -PB 152 F 12.0 = F 12.0 +---+ +------+ local only flag Az PB 152 = PB 152 switch off Az drives Segment 28 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 11! +------------------------------------------------------------------------------+PB 11 -PB 11 C:ARECIBST.S5D LEN=173 Segment 1 ******************************************************************************* * G E N E R A L F U N C T I O N S * ******************************************************************************* +------+ DB 10 = DB 10 +-! C ! -DB 10 Test +------+ Segment 2 general failure reset During start-up of the PLC all faults will be automatically reset. Thus misleading failure signals will be prevented. After start-up failure reset is possible by the reset pushbutton at the LCP only. +---+ T 11 = T 11 -T 11 --O!>=1! start cycle time measurement -DC-I1.7 ---! ! I 1.7 = DC-I1.7 +---+ ! ! PB Failure Reset -F 4.4 ---!>=1! ! ! F 4.4 = F 4.4 -F 5.4 ---! ! +---+ ! ! Az: Computer control (flag) -F 6.4 ---! !-----! & ! ! ! F 5.4 = F 5.4 +---+ ! ! ! ! GD: Computer control (flag) -F 16.4 --O! ! ! ! F 6.4 = F 6.4 -F 135.7 ---! !-----! ! CH: Computer control (flag) +---+ +---+ ! ! F 16.4 = F 16.4 -F 4.2 ---!>=1! ! ! initialization failure CP581 -F 5.2 ---! ! +---+ ! ! F 135.7 = F 135.7 -F 6.2 ---! !-----! & ! ! ! CP581 command: failure reset +---+ ! ! ! ! +------+ F 4.2 = F 4.2 -F 125.0 ---! !-----! !--+-! = ! -F 0.6 Az: PCU control (flag) +---+ +---+ +------+ F 5.2 = F 5.2 GD: PCU control (flag) F 6.2 = F 6.2 CH: PCU control (flag) F 125.0 = F 125.0 PCU command: reset F 0.6 = F 0.6 failure reset Segment 3 failure reset Az +---+ I 1.7 = DC-I1.7 -DC-I1.7 ---!>=1! PB Failure Reset -F 68.0 ---! ! F 68.0 = F 68.0 +---+ ! ! Az AUX mode switchover reset -F 4.2 ---! & ! ! ! F 4.2 = F 4.2 -F 121.0 ---! ! ! ! Az: PCU control (flag) -F 125.0 ---! !-----! ! F 121.0 = F 121.0 +---+ ! ! PCU mode: Azimuth +---+ ! ! F 125.0 = F 125.0 -F 4.4 ---! & ! ! ! +------+ PCU command: reset -F 130.3 ---! !-----! !--+-! = ! -F 11.5 F 4.4 = F 4.4 +---+ +---+ +------+ Az: Computer control (flag) F 130.3 = F 130.3 computer command: reset failure Az +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 11 -PB 11 C:ARECIBST.S5D LEN=173 F 11.5 = F 11.5 axis failure reset Az Segment 4 failure reset GD +---+ I 1.7 = DC-I1.7 -DC-I1.7 ---!>=1! PB Failure Reset -F 68.1 ---! ! F 68.1 = F 68.1 +---+ ! ! GD AUX mode switchover reset -F 5.2 ---! & ! ! ! F 5.2 = F 5.2 -F 121.1 ---! ! ! ! GD: PCU control (flag) -F 125.0 ---! !-----! ! F 121.1 = F 121.1 +---+ ! ! PCU mode: Gregorian Dome +---+ ! ! F 125.0 = F 125.0 -F 5.4 ---! & ! ! ! +------+ PCU command: reset -F 130.4 ---! !-----! !--+-! = ! -F 11.6 F 5.4 = F 5.4 +---+ +---+ +------+ GD: Computer control (flag) F 130.4 = F 130.4 computer command: reset failure GD F 11.6 = F 11.6 axis failure reset GD Segment 5 failure reset CH +---+ I 1.7 = DC-I1.7 -DC-I1.7 ---!>=1! PB Failure Reset -F 68.2 ---! ! F 68.2 = F 68.2 +---+ ! ! CH AUX mode switchover reset -F 6.2 ---! & ! ! ! F 6.2 = F 6.2 -F 121.2 ---! ! ! ! CH: PCU control (flag) -F 125.0 ---! !-----! ! F 121.2 = F 121.2 +---+ ! ! PCU mode: Carriage House +---+ ! ! F 125.0 = F 125.0 -F 6.4 ---! & ! ! ! +------+ PCU command: reset -F 130.5 ---! !-----! !--+-! = ! -F 11.7 F 6.4 = F 6.4 +---+ +---+ +------+ CH: Computer control (flag) F 130.5 = F 130.5 computer command: reset failure CH F 11.7 = F 11.7 axis failure reset CH Segment 6 reset CP581 Reset command +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! R ! -F 135.7 always "1" +---+ ! +------+ F 135.7 = F 135.7 ! +------+ CP581 command: failure reset +-! R ! -F 130.3 F 130.3 = F 130.3 ! +------+ computer command: reset failure Az ! +------+ F 130.4 = F 130.4 +-! R ! -F 130.4 computer command: reset failure GD ! +------+ F 130.5 = F 130.5 ! +------+ computer command: reset failure CH +-! R ! -F 130.5 +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 11 -PB 11 C:ARECIBST.S5D LEN=173 Segment 7 amplifier failure reset relay +---+ F 0.6 = F 0.6 -F 0.6 ---!>=1! failure reset -F 11.5 ---! ! F 11.5 = F 11.5 -F 11.6 ---! ! +---+ axis failure reset Az -F 11.7 ---! !-----! & ! F 11.6 = F 11.6 +---+ ! ! axis failure reset GD -F 7.6 ---! ! F 11.7 = F 11.7 -F 8.6 ---! ! +------+ axis failure reset CH -F 9.6 ---! !--+-! = ! -PD-Q 1.1 F 7.6 = F 7.6 +---+ +------+ Az: STOP mode F 8.6 = F 8.6 GD: STOP mode F 9.6 = F 9.6 CH: STOP mode Q 1.1 = PD-Q 1.1 failure reset Segment 8 reset move requests after reset :O -F 0.6 failure reset :O -F 11.5 axis failure reset Az :O -F 11.6 axis failure reset GD :O -F 11.7 axis failure reset CH :JC -FB 208 function reset Name :RESET :*** Segment 9 start-up time -T 11 F 0.7 = F 0.7 +-----+ first program cycle finished -F 0.7 --!T!-!0! T 11 = T 11 KT 020.1 --!TV BI!- start cycle time measurement ! DE!- ! ! +------+ --!R Q!-+-! = ! F 250.0 +-----+ +------+ Segment 10 cycle time CPU 928 FB 222 = FB 222 -FB 222 cycle time measurement +--------------+ ! CYC-TIME ! ! ZYAK!-- DW 14 ! ZYMX!-- DW 26 ! ZYMI!-- DW 39 +--------------+ Segment 11 further general functions FB 200 = FB 200 -FB 200 general functions +--------------+ ! ALLGFUNK ! +--------------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 11 -PB 11 C:ARECIBST.S5D LEN=173 Segment 12 cabinet 1 overtemperature -F 11.0 F 0.6 = F 0.6 +-----+ failure reset -F 0.6 --!R ! F 11.0 = F 11.0 ! ! drive cabinet 1 overtemperature -DC-I2.1 -O!S Q!- I 2.1 = DC-I2.1 +-----+ DC 1 overtemperature Segment 13 cabinet 2 overtemperature -F 11.3 F 0.6 = F 0.6 +-----+ failure reset -F 0.6 --!R ! F 11.3 = F 11.3 ! ! drive cabinet 2 overtemperature -DC-I2.2 -O!S Q!- I 2.2 = DC-I2.2 +-----+ DC 2 overtemperature Segment 14 cabinet 3 overtemperature -F 11.4 F 0.6 = F 0.6 +-----+ failure reset -F 0.6 --!R ! F 11.4 = F 11.4 ! ! drive cabinet 3 overtemperature -DC-I2.3 -O!S Q!- I 2.3 = DC-I2.3 +-----+ DC 3 overtemperature Segment 15 power on +---+ F 4.4 = F 4.4 -F 4.4 ---!>=1! Az: Computer control (flag) -F 5.4 ---! ! +---+ F 5.4 = F 5.4 -F 6.4 ---! !-----! & ! GD: Computer control (flag) +---+ ! ! F 6.4 = F 6.4 -F 135.6 ---! ! +---+ CH: Computer control (flag) -F 10.7 --O! !-----!>=1! -T 8 F 135.6 = F 135.6 +---+ ! ! +-----+ CP581 command: power on -PD-I1.0 ---! !----!1_-_V! F 10.7 = F 10.7 +---+ ! ! emergency off KT 010.1 --!TV BI!- I 1.0 = PD-I1.0 ! DE!- PB Main Power on ! ! +------+ T 8 = T 8 --!R Q!-+-! = ! -PD-Q 1.4 switch-on time power on relay +-----+ +------+ Q 1.4 = PD-Q 1.4 power on Segment 16 mains over-/undervoltage -T 9 I 1.3 = PD-I1.3 +-----+ mains voltage within allowed range -PD-I1.3 -O!T!-!0! T 9 = T 9 KT 020.0 --!TV BI!- mains overvoltage buffer time ! DE!- F 11.2 = F 11.2 ! ! -F 11.2 mains over-/undervoltage ! ! +-----+ F 0.6 = F 0.6 --!R Q!---!S ! failure reset +-----+ ! ! -F 0.6 --!R Q!- +-----+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+PB 11 -PB 11 C:ARECIBST.S5D LEN=173 Segment 17 cancel misleading e-stop flags After power up following a power failure the misleading e-stop flags, that have been set because of the missing input voltage will, be reset. -T 24 T 9 = T 9 +-----+ mains overvoltage buffer time -T 9 --!0!-!T! T 24 = T 24 KT 010.2 --!TV BI!- mains recovery time after power down ! DE!- I 1.3 = PD-I1.3 ! ! +---+ mains voltage within allowed range --!R Q!----! & ! -T 25 T 25 = T 25 +-----+ ! ! +-----+ e-stop cancel. pulse after power down -PD-I1.3 ---! !----!1_-_ ! F 10.7 = F 10.7 +---+ ! ! emergency off KT 003.2 --!TV BI!- F 10.6 = F 10.6 ! DE!- emergency off from PCU ! ! +------+ F 10.5 = F 10.5 --!R Q!-+-! R ! -F 10.7 emergency off local +-----+ ! +------+ ! +------+ +-! R ! -F 10.6 ! +------+ ! +------+ +-! R ! -F 10.5 +------+ Segment 18 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+PB 15 -PB 15 C:ARECIBST.S5D LEN=89 Segment 1 ******************************************************************************* * E M E R G E N C Y O F F * ******************************************************************************* Segment 2 emergency off from local E-Stop +---+ I 1.0 = PD-I1.0 -PD-I1.0 ---!>=1! PB Main Power on +---+ ! ! -F 10.5 F 0.6 = F 0.6 -F 0.6 ---! & ! ! ! +-----+ failure reset -T 10 ---! !-----! !----!R ! T 10 = T 10 +---+ +---+ ! ! ........................................ +---+ ! ! F 10.5 = F 10.5 -PD-I0.5 --O! & ! ! ! emergency off local -PD-I0.6 ---! !----!S Q!- I 0.5 = PD-I0.5 +---+ +-----+ (no) emergency stop local I 0.6 = PD-I0.6 (no) emergency Stop Drive Cabinet Segment 3 PCU emergency off delay The delay is only active if the PCU is not in control but still connected. This is to avoid an emergeny off if the PCU is being unplugged. -T 15 I 0.7 = PD-I0.7 +-----+ (no) emergency stop from PCU -PD-I0.7 -O!T!-!0! T 15 = T 15 KT 050.0 --!TV BI!- PCU emergency off delay ! DE!- --!R Q!- +-----+ Segment 4 emergency off from PCU Emergency off from PCU will be released after pressing the E-stop at the PCU: - without any delay if the PCU is currently used (i.e. PCU mode active and drives switched on - with a short delay if PCU is plugged in but not active. (This is to allow connection and disconnection of the PCU without producing an E-stop.) +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 15 -PB 15 C:ARECIBST.S5D LEN=89 +---+ I 1.0 = PD-I1.0 -PD-I1.0 ---!>=1! PB Main Power on +---+ ! ! -F 10.6 F 0.6 = F 0.6 -F 0.6 ---! & ! ! ! +-----+ failure reset -T 10 ---! !-----! !----!R ! T 10 = T 10 +---+ +---+ ! ! ........................................ +---+ ! ! F 10.6 = F 10.6 -PD-I0.7 --O! & ! ! ! emergency off from PCU +---+ ! ! ! ! I 0.7 = PD-I0.7 -F 122.0 ---! & ! ! ! ! ! (no) emergency stop from PCU +---+ ! ! ! ! ! ! F 122.0 = F 122.0 -F 4.2 ---!>=1! ! ! ! ! ! ! PCU command: drive on -F 5.2 ---! ! ! ! +---+ ! ! ! ! F 4.2 = F 4.2 -F 6.2 ---! !-----! !-----!>=1! ! ! ! ! Az: PCU control (flag) +---+ +---+ ! ! ! ! ! ! F 5.2 = F 5.2 +---+ ! ! ! ! ! ! GD: PCU control (flag) -T 15 ---! & ! ! ! ! ! ! ! F 6.2 = F 6.2 -F 18.6 --O! ! ! ! ! ! ! ! CH: PCU control (flag) -F 19.7 ---! !-----! !-----! ! ! ! T 15 = T 15 +---+ +---+ ! ! ! ! PCU emergency off delay -F 18.7 ---! !----!S Q!- F 18.6 = F 18.6 +---+ +-----+ PCU not answering F 19.7 = F 19.7 PCU connected and operational F 18.7 = F 18.7 PCU connected Segment 5 store / reset emergency off +---+ I 1.0 = PD-I1.0 -PD-I1.0 ---!>=1! PB Main Power on +---+ ! ! -F 10.7 F 0.6 = F 0.6 -F 0.6 ---! & ! ! ! +-----+ failure reset -T 10 ---! !-----! !----!R ! T 10 = T 10 +---+ +---+ ! ! ........................................ +---+ ! ! F 10.7 = F 10.7 -F 10.5 ---!>=1! ! ! emergency off -F 10.6 ---! ! ! ! F 10.5 = F 10.5 -PD-I0.6 --O! !----!S Q!- emergency off local +---+ +-----+ F 10.6 = F 10.6 emergency off from PCU I 0.6 = PD-I0.6 (no) emergency Stop Drive Cabinet Segment 6 E-Stop from PLC +---+ +------+ F 10.6 = F 10.6 -F 10.6 --O! & !--+-! = ! -PD-Q 1.2 emergency off from PCU +---+ +------+ Q 1.2 = PD-Q 1.2 PLC E-Stop Segment 7 emergency off? :AN -F 10.7 emergency off :AN -F 10.6 emergency off from PCU :BEC :*** Segment 8 drives off / set values zero :JU -PB 152 switch off Az drives :JU -PB 162 switch off GD drives +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 15 -PB 15 C:ARECIBST.S5D LEN=89 :JU -PB 172 switch off CH drives :L KB 0 :T PW 4 switch off Az drives :T PW 12 GD drives :A -F 0.0 always "0" main contactors := -CH-Q 2.3 release brake CH 11 := -CH-Q 2.4 release brake CH 12 := -AZ-Q11.0 main contactor Az group 1/5 on := -AZ-Q11.1 main contactor Az group 4/8 on := -GD-Q19.0 main contactor GD group 1/2 on := -GD-Q19.1 main contactor GD group 3/4 on :L QB 2 :T PY 2 :L QB 11 :T PY 11 :L QB 19 :T PY 19 :*** Segment 9 FB 208 = FB 208 -FB 208 function reset +--------------+ ! RESET ! +--------------+ Segment 10 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 21 -PB 21 C:ARECIBST.S5D LEN=117 Segment 1 ******************************************************************************* C O M M U N I C A T I O N W I T H P C U ******************************************************************************* +------+ DB 21 = DB 21 +-! C ! -DB 21 PCU communication +------+ Segment 2 reset failure flags :A -F 19.3 PCU watchdog error :R -F 19.7 PCU connected and operational PCU disconnected :A -F 0.6 failure reset :R -F 19.2 transfer error PCU-PLC :R -F 19.3 PCU watchdog error :R -F 19.5 PCU communication parameter fault :A -F 0.6 failure reset :JC FB 124 Name :RESET SSNR : KY 0,0 reset error messages in A-NR : KY 0,200 DPRAM of CP524 PAFE : DR 39 :*** Segment 3 failure -F 19.0 F 0.6 = F 0.6 +-----+ failure reset -F 0.6 --!R ! F 19.0 = F 19.0 +---+ ! ! PCU interface fault -F 19.1 ---!>=1! ! ! F 19.1 = F 19.1 -F 19.2 ---! ! ! ! no initilization PCU interface -F 19.5 ---! !----!S Q!- F 19.2 = F 19.2 +---+ +-----+ transfer error PCU-PLC F 19.5 = F 19.5 PCU communication parameter fault Segment 4 reset functions with switch-over :A -F 4.3 Az: PCU control (pulse) :JC -PB 152 switch off Az drives :A -F 5.3 GD: PCU control (pulse) :JC -PB 162 switch off GD drives :A -F 6.3 CH: PCU control (pulse) :JC -PB 172 switch off CH drives :*** Segment 5 receive data from PCU FY 173 = FY 173 FB 127 PAFE byte RECEIVE-ALL from PCU +--------------+ ! REC-A ! 0,0 --!SSNR PAFE!-- -FY 173 0,0 --!A-NR ! DW 30 --!ANZW ! +--------------+ Segment 6 parameter fault +---+ +------+ F 173.0 ---! & !--+-! S ! -F 19.5 +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 21 -PB 21 C:ARECIBST.S5D LEN=117 F 19.5 = F 19.5 PCU communication parameter fault Segment 7 evaluate received data FB 232 = FB 232 -FB 232 evaluate data from PCU +--------------+ ! DAFROPCU ! +--------------+ Segment 8 PCU connected -T 16 F 19.7 = F 19.7 +-----+ PCU connected and operational -F 19.7 --!T!-!0! T 16 = T 16 KT 030.1 --!TV BI!- PCU connection time ! DE!- F 18.7 = F 18.7 ! ! +------+ PCU connected --!R Q!-+-! = ! -F 18.7 +-----+ +------+ Segment 9 PCU disconnected -T 14 F 19.3 = F 19.3 +-----+ PCU watchdog error -F 19.3 --!T!-!0! T 14 = T 14 KT 050.1 --!TV BI!- PCU active timer ! DE!- F 19.7 = F 19.7 ! ! +------+ PCU connected and operational --!R Q!-+-! R ! -F 19.7 +-----+ ! +------+ ! +------+ +-! R ! -F 19.3 +------+ Segment 10 continue? :ON -F 19.7 PCU connected and operational only if PCU connected :BEC :*** Segment 11 prepare data to be sent :A -F 19.4 data set received from PCU :JC -FB 233 prepare data for PCU Name :DATTOPCU :*** Segment 12 send data to PCU :A -F 19.4 data set received from PCU :JU FB 120 Name :SEND SSNR : KY 0,0 A-NR : KY 0,21 ANZW : DW 6 QTYP : KS DB DBNR : KY 0,21 QANF : KF +11 QLAE : KF +7 PAFE : -FY 171 PAFE byte SEND to PCU :*** Segment 13 read error status of CP524 :O -F 0.1 always "1" +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 21 -PB 21 C:ARECIBST.S5D LEN=117 :JU FB 121 Name :RECEIVE SSNR : KY 0,0 A-NR : KY 0,200 ANZW : DW 35 ZTYP : KS DB DBNR : KY 0,21 ZANF : KF +37 ZLAE : KF +2 PAFE : DL 39 :*** Segment 14 parameter fault +---+ +------+ F 19.5 = F 19.5 F 171.0 ---! & !--+-! S ! -F 19.5 PCU communication parameter fault +---+ +------+ Segment 15 transfer data to CP 524 FY 172 = FY 172 FB 126 PAFE byte SEND-ALL to PCU +--------------+ ! SEND-A ! 0,0 --!SSNR PAFE!-- -FY 172 0,0 --!A-NR ! DW 8 --!ANZW ! +--------------+ Segment 16 parameter fault +---+ +------+ F 19.5 = F 19.5 F 172.0 ---! & !--+-! S ! -F 19.5 PCU communication parameter fault +---+ +------+ Segment 17 reset send command +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! R ! -F 19.4 always "1" +---+ +------+ F 19.4 = F 19.4 data set received from PCU Segment 18 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 50 -PB 50 C:ARECIBST.S5D LEN=103 Segment 1 ******************************************************************************* POSITION READOUT ******************************************************************************* +------+ DB 50 = DB 50 +-! C ! -DB 50 Positions +------+ Segment 2 reset failure flags : :A -F 0.6 failure reset :R -F 48.1 initialization fault WF705 :R -F 48.2 readout fault WF705 :A -F 11.5 axis failure reset Az :R -F 48.3 readout fault encoder Az 1 :R -F 48.4 readout fault encoder Az 2 :*** Segment 3 read positions :L KM 00000010 01001001 encoders 1...4 :T -FW 160 dummy bytes interrupt :JU FB 131 Name :WEG-705 DBBG : -DB 51 aux. DB for WF705 module ACHS : -FW 160 dummy bytes interrupt FEHL : -FW 162 dummy bytes interrupt :*** Segment 4 position readout failures :O F 160.5 parameter fault (no axis) :O F 160.4 DB fault :S -F 48.2 readout fault WF705 :A F 163.0 :S -F 48.3 readout fault encoder Az 1 :A F 163.3 :S -F 48.4 readout fault encoder Az 2 :A F 163.6 :S -F 52.6 GD: encoder fault :A F 162.1 :S -F 53.6 CH: encoder fault :*** Segment 5 encoder readings :C -DB 51 aux. DB for WF705 module :L DD 24 :C -DB 50 Positions :T DD 36 encoder Az 1 :C -DB 51 aux. DB for WF705 module :L DD 30 :C -DB 50 Positions :T DD 38 encoder Az 2 :C -DB 51 aux. DB for WF705 module :L DD 36 :C -DB 50 Positions :T DD 32 encoder GD :C -DB 51 aux. DB for WF705 module :L DD 42 :C -DB 50 Positions :T DD 34 encoder CH +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 50 -PB 50 C:ARECIBST.S5D LEN=103 :*** Segment 6 position Az 1 F 41.0 = F 41.0 -FB 221 Az: new position offset +--------------+ FB 221 = FB 221 ! POS-OFFS ! position read-out DD 36 --!ENC POS !-- DD 26 DD 50 --!OFFS ! 222,30 --!OFFN ! -F 41.0 --!LOFF ! +1441775+01 --!FACT ! DD 107 --!ZERO ! +--------------+ Segment 7 position Az 2 F 41.0 = F 41.0 -FB 221 Az: new position offset +--------------+ FB 221 = FB 221 ! POS-OFFS ! position read-out DD 38 --!ENC POS !-- DD 28 DD 50 --!OFFS ! 222,30 --!OFFN ! -F 41.0 --!LOFF ! +1441775+01 --!FACT ! DD 107 --!ZERO ! +--------------+ Segment 8 position GD F 42.0 = F 42.0 -FB 221 GD: new position offset +--------------+ FB 221 = FB 221 ! POS-OFFS ! position read-out DD 32 --!ENC POS !-- DD 22 DD 52 --!OFFS ! 222,32 --!OFFN ! -F 42.0 --!LOFF ! +8274108+00 --!FACT ! DD 113 --!ZERO ! +--------------+ Segment 9 position CH F 43.0 = F 43.0 -FB 221 CH: new position offset +--------------+ FB 221 = FB 221 ! POS-OFFS ! position read-out DD 34 --!ENC POS !-- DD 24 DD 54 --!OFFS ! 222,34 --!OFFN ! -F 43.0 --!LOFF ! +8274108+00 --!FACT ! DD 115 --!ZERO ! +--------------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 50 -PB 50 C:ARECIBST.S5D LEN=103 Segment 10 missing encoder GD/CH FB 226 = FB 226 -FB 226 encoder readout failure handling +--------------+ ! ENC-FAIL ! +--------------+ Segment 11 evaluation of positions +------+ PB 51 = PB 51 +-! JU ! -PB 51 evaluation of positions +------+ Segment 12 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 51 -PB 51 C:ARECIBST.S5D LEN=72 Segment 1 ******************************************************************************* EVALUATION OF POSITIONS ******************************************************************************* +------+ DB 50 = DB 50 +-! C ! -DB 50 Positions +------+ Segment 2 position evaluation fault -F 48.0 F 0.6 = F 0.6 +-----+ failure reset -F 0.6 --!R ! F 48.0 = F 48.0 +---+ ! ! general fault position evaluation -F 48.1 ---!>=1! ! ! F 48.1 = F 48.1 -F 48.2 ---! !----!S Q!- initialization fault WF705 +---+ +-----+ F 48.2 = F 48.2 readout fault WF705 Segment 3 reset individual faults :A -F 11.5 axis failure reset Az :R -F 41.5 Az: irreasonable encoder value :R -F 44.2 Az 1: position difference too big :R -F 44.5 Az 1: irreasonable encoder value :R -F 45.2 Az 2: position difference too big :R -F 45.5 Az 2: irreasonable encoder value :A -F 11.6 axis failure reset GD :R -F 42.5 GD: irreasonable encoder value :A -F 11.7 axis failure reset CH :R -F 43.5 CH: irreasonable encoder value :*** Segment 4 Az encoder offset signals +---+ +------+ F 41.0 = F 41.0 -F 41.0 ---! & !--+-! = ! -F 44.0 Az: new position offset +---+ ! +------+ F 44.0 = F 44.0 ! +------+ Az 1: new position offset +-! = ! -F 45.0 F 45.0 = F 45.0 +------+ Az 2: new position offset Segment 5 encoder Az 1 FB 220 = FB 220 -FB 220 evaluation of positions +--------------+ ! POS-EV ! DD 26 --!POS OLD !-- DD 46 FY 44 --!ENC LIM !-- DW 106 +--------------+ Segment 6 encoder Az 2 FB 220 = FB 220 -FB 220 evaluation of positions +--------------+ ! POS-EV ! DD 28 --!POS OLD !-- DD 48 FY 45 --!ENC LIM !-- DW 106 +--------------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 51 -PB 51 C:ARECIBST.S5D LEN=72 Segment 7 encoder selection Az +------+ PB 52 = PB 52 +-! JU ! -PB 52 Az encoder selection and supervision +------+ Segment 8 Azimuth FB 220 = FB 220 -FB 220 evaluation of positions +--------------+ ! POS-EV ! DD 20 --!POS OLD !-- DD 40 FY 41 --!ENC LIM !-- DW 106 +--------------+ Segment 9 Gregorian Dome FB 220 = FB 220 -FB 220 evaluation of positions +--------------+ ! POS-EV ! DD 22 --!POS OLD !-- DD 42 FY 42 --!ENC LIM !-- DW 112 +--------------+ Segment 10 Carriage House FB 220 = FB 220 -FB 220 evaluation of positions +--------------+ ! POS-EV ! DD 24 --!POS OLD !-- DD 44 FY 43 --!ENC LIM !-- DW 112 +--------------+ Segment 11 reset "load offset" flags +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! R ! -F 41.0 always "1" +---+ ! +------+ F 41.0 = F 41.0 ! +------+ Az: new position offset +-! R ! -F 42.0 F 42.0 = F 42.0 ! +------+ GD: new position offset ! +------+ F 43.0 = F 43.0 +-! R ! -F 43.0 CH: new position offset +------+ Segment 12 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 52 -PB 52 C:ARECIBST.S5D LEN=30 Segment 1 ******************************************************************************* A Z I M U T H : E N C O D E R E V A L U A T I O N ******************************************************************************* +------+ DB 50 = DB 50 +-! C ! -DB 50 Positions +------+ Segment 2 encoder fault Az 1 +---+ F 48.3 = F 48.3 -F 48.3 ---!>=1! +------+ readout fault encoder Az 1 -F 44.5 ---! !--+-! = ! -F 48.5 F 44.5 = F 44.5 +---+ +------+ Az 1: irreasonable encoder value F 48.5 = F 48.5 encoder fault Az 1 Segment 3 encoder fault Az 2 +---+ F 48.4 = F 48.4 -F 48.4 ---!>=1! +------+ readout fault encoder Az 2 -F 45.5 ---! !--+-! = ! -F 48.6 F 45.5 = F 45.5 +---+ +------+ Az 2: irreasonable encoder value F 48.6 = F 48.6 encoder fault Az 2 Segment 4 Az encoders failed completely +---+ F 48.5 = F 48.5 -F 48.5 ---! & ! +------+ encoder fault Az 1 -F 48.6 ---! !--+-! = ! -F 48.7 F 48.6 = F 48.6 +---+ ! +------+ encoder fault Az 2 ! +------+ F 48.7 = F 48.7 +-! S ! -F 51.6 Az position detection not operational +------+ F 51.6 = F 51.6 Az: encoder fault Segment 5 standard: phi_az = Az1 +-----+ DD 26 --! --> !- DD 20 +-----+ Segment 6 fault encoder Az 1 If encoder AZ 1 is assumed to be faulty, the reading of encoder AZ 2 will be considered as the real Azimuth position. :ON -F 48.5 encoder fault Az 1 :O -F 48.6 encoder fault Az 2 :BEC :L DD 28 phi_Az = Az2 :T DD 20 :*** Segment 7 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 53 -PB 53 C:ARECIBST.S5D LEN=58 Segment 1 ******************************************************************************* A X I S L I M I T S ******************************************************************************* +------+ DB 50 = DB 50 +-! C ! -DB 50 Positions +------+ Segment 2 calculation of softlimits FB 218 = FB 218 -FB 218 GD and CH variable soflimits +--------------+ ! LIM-ADJ ! +--------------+ Segment 3 no Az hardware prelimits +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! = ! -AZ-I7.1 always "1" +---+ ! +------+ I 7.1 = AZ-I7.1 ! +------+ Prelimit Azimuth ccw +-! = ! -AZ-I7.3 I 7.3 = AZ-I7.3 +------+ Prelimit Azimuth cw Segment 4 Azimuth F 57.7 = F 57.7 -FB 216 AZ: brake open +--------------+ F 65.2 = F 65.2 ! AXIS-LIM ! Az: brake closed DD 20 --!POS POSB!-- FY 31 FB 216 = FB 216 IB 7 --!LIMS STAT!-- FY 51 determination of axis limits +180 --!DW1 ! -F 57.7 --!BRAU ! FY 4 --!MODE ! -F 65.2 --!BRZU ! +--------------+ Segment 5 Gregorian Dome F 58.7 = F 58.7 -FB 216 GD: brake open +--------------+ F 65.3 = F 65.3 ! AXIS-LIM ! GD: brake closed DD 22 --!POS POSB!-- FY 32 FB 216 = FB 216 IB 11 --!LIMS STAT!-- FY 52 determination of axis limits +184 --!DW1 ! -F 58.7 --!BRAU ! FY 5 --!MODE ! -F 65.3 --!BRZU ! +--------------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 53 -PB 53 C:ARECIBST.S5D LEN=58 Segment 6 Carriage House F 59.7 = F 59.7 -FB 216 CH: brake open +--------------+ F 65.4 = F 65.4 ! AXIS-LIM ! CH: brake closed DD 24 --!POS POSB!-- FY 33 FB 216 = FB 216 IB 19 --!LIMS STAT!-- FY 53 determination of axis limits +188 --!DW1 ! -F 59.7 --!BRAU ! FY 6 --!MODE ! -F 65.4 --!BRZU ! +--------------+ Segment 7 emergency limit override +---+ I 0.0 = I 0.0 -I 0.0 ---! & ! emergency limit override active -F 10.7 --O! ! F 10.7 = F 10.7 -F 19.7 ---! ! emergency off +---+ ! ! F 19.7 = F 19.7 -F 4.2 ---!>=1! ! ! PCU connected and operational -F 5.2 ---! ! ! ! +------+ F 4.2 = F 4.2 -F 6.2 ---! !-----! !--+-! = ! -PD-Q 1.0 Az: PCU control (flag) +---+ +---+ +------+ F 5.2 = F 5.2 GD: PCU control (flag) F 6.2 = F 6.2 CH: PCU control (flag) Q 1.0 = PD-Q 1.0 emergency limit override Segment 8 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 54 -PB 54 C:ARECIBST.S5D LEN=61 Segment 1 ******************************************************************************* E N C O D E R P R E S E T The encoders can electrically be set to an initial position, which is stored in the encoder itself. >>>>>>> MAKE SURE THAT THE DRIVE REALLY IS IN THE PRESET POSITION! <<<<<<< Encoder Preset can only be initiated from the LCU (password protected). The All/Local Only switch has to be at "Local" and the drive is in STOP mode. Pressing the "Failure Reset" pushbutton at the cabinet finally activates the encoder preset for the selected axis. ******************************************************************************* Segment 2 encoder preset Az +---+ F 41.6 = F 41.6 -F 41.6 ---! & ! Az: encoder preset request -DC-I3.1 ---! ! -T 20 I 3.1 = DC-I3.1 -F 7.6 ---! ! +-----+ SW: Az local only -DC-I1.7 ---! !----!1_-_V! F 7.6 = F 7.6 +---+ ! ! Az: STOP mode KT 020.1 --!TV BI!- I 1.7 = DC-I1.7 ! DE!- PB Failure Reset ! ! +------+ T 20 = T 20 --!R Q!-+-! = ! -AZ-Q11.7 encoder preset time Az +-----+ +------+ Q 11.7 = AZ-Q11.7 encoder preset Az Segment 3 reset preset request Az +---+ I 3.1 = DC-I3.1 -DC-I3.1 --O!>=1! SW: Az local only -T 20 ---! ! +------+ T 20 = T 20 -F 7.6 --O! !--+-! R ! -F 41.6 encoder preset time Az +---+ +------+ F 7.6 = F 7.6 Az: STOP mode F 41.6 = F 41.6 Az: encoder preset request Segment 4 encoder preset GD +---+ F 42.6 = F 42.6 -F 42.6 ---! & ! GD: encoder preset request -DC-I3.3 ---! ! -T 21 I 3.3 = DC-I3.3 -F 8.6 ---! ! +-----+ SW: GD local only -DC-I1.7 ---! !----!1_-_V! F 8.6 = F 8.6 +---+ ! ! GD: STOP mode KT 020.1 --!TV BI!- I 1.7 = DC-I1.7 ! DE!- PB Failure Reset ! ! +------+ T 21 = T 21 --!R Q!-+-! = ! -GD-Q19.7 encoder preset time GD +-----+ +------+ Q 19.7 = GD-Q19.7 encoder preset GD +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 54 -PB 54 C:ARECIBST.S5D LEN=61 Segment 5 reset preset request GD +---+ I 3.3 = DC-I3.3 -DC-I3.3 --O!>=1! SW: GD local only -T 21 ---! ! +------+ T 21 = T 21 -F 8.6 --O! !--+-! R ! -F 42.6 encoder preset time GD +---+ +------+ F 8.6 = F 8.6 GD: STOP mode F 42.6 = F 42.6 GD: encoder preset request Segment 6 encoder preset CH +---+ F 43.6 = F 43.6 -F 43.6 ---! & ! CH: encoder preset request -DC-I3.5 ---! ! -T 22 I 3.5 = DC-I3.5 -F 9.6 ---! ! +-----+ SW: CH local only -DC-I1.7 ---! !----!1_-_V! F 9.6 = F 9.6 +---+ ! ! CH: STOP mode KT 020.1 --!TV BI!- I 1.7 = DC-I1.7 ! DE!- PB Failure Reset ! ! +------+ T 22 = T 22 --!R Q!-+-! = ! -CH-Q 2.5 encoder preset time CH +-----+ +------+ Q 2.5 = CH-Q 2.5 encoder preset CH Segment 7 reset preset request CH +---+ I 3.5 = DC-I3.5 -DC-I3.5 --O!>=1! SW: CH local only -T 22 ---! ! +------+ T 22 = T 22 -F 9.6 --O! !--+-! R ! -F 43.6 encoder preset time CH +---+ +------+ F 9.6 = F 9.6 CH: STOP mode F 43.6 = F 43.6 CH: encoder preset request Segment 8 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 100 -PB 100 C:ARECIBST.S5D LEN=36 Segment 1 ******************************************************************************* General functions during operation ******************************************************************************* Segment 2 control loop parameters FB 223 = FB 223 -FB 223 load control loop parameters +--------------+ ! LOOPPARA ! +--------------+ Segment 3 drive standstill FB 184 = FB 184 -FB 184 no operation functions +--------------+ ! NO-OP ! +--------------+ Segment 4 drive standstill after preset FB 225 +--------------+ ! ARRIVED ! +--------------+ Segment 5 auxiliary flags FB 227 = FB 227 -FB 227 auxiliary flags +--------------+ ! AUX-FLAG ! +--------------+ Segment 6 limit override -F 11.1 I 0.0 = I 0.0 +-----+ emergency limit override active -I 0.0 --!S ! F 11.1 = F 11.1 +---+ ! ! -F 10.4 limit override pulse -F 10.4 ---!>=1! ! ! +-----+ F 10.4 = F 10.4 -I 0.0 --O! !----!R Q!---!S ! limit override active +---+ +-----+ ! ! -I 0.0 -O!R Q!- +-----+ Segment 7 GD-CH collision switch +---+ I 17.7 = CH-17.7 -CH-17.7 --O! & ! +------+ CH: collision protection switch -F 10.4 --O! !--+-! = ! -F 30.7 F 10.4 = F 10.4 +---+ +------+ limit override active F 30.7 = F 30.7 collision protection GD-CH +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 100 -PB 100 C:ARECIBST.S5D LEN=36 Segment 8 warning lights & horns +------+ +-! JU ! PB 102 +------+ Segment 9 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 102 C:ARECIBST.S5D LEN=41 Segment 1 ******************************************************************************* Warning Lights & Horns ******************************************************************************* Segment 2 siren on/off F65.6 toggles the sirens to be on or off. :A -F 65.6 siren off command :AN -F 65.7 siren off :S -F 65.7 siren off command siren off :R -F 65.6 siren off command : :A -F 65.6 siren off command :A -F 65.7 siren off :R -F 65.7 siren off command siren on :R -F 65.6 siren off command :*** Segment 3 warning light Az +---+ F 54.6 = F 54.6 -F 54.6 ---!>=1! +------+ AZ: warning signal -F 51.3 ---! !--+-! = ! -AZ-Q11.2 F 51.3 = F 51.3 +---+ +------+ Az: drive enable Q 11.2 = AZ-Q11.2 warning light Az Segment 4 warning horn Az +---+ F 54.6 = F 54.6 -F 54.6 ---! & ! +------+ AZ: warning signal -F 65.7 --O! !--+-! = ! -AZ-Q11.3 F 65.7 = F 65.7 +---+ +------+ siren off Q 11.3 = AZ-Q11.3 warning horn Az Segment 5 warning light GD +---+ F 55.6 = F 55.6 -F 55.6 ---!>=1! +------+ GD: warning signal -F 52.3 ---! !--+-! = ! -GD-Q19.2 F 52.3 = F 52.3 +---+ +------+ GD: drive enable Q 19.2 = GD-Q19.2 warning light GD .. Segment 6 warning horn GD +---+ F 55.6 = F 55.6 -F 55.6 ---! & ! +------+ GD: warning signal -F 65.7 --O! !--+-! = ! -GD-Q19.3 F 65.7 = F 65.7 +---+ +------+ siren off Q 19.3 = GD-Q19.3 warning horn GD .. Segment 7 warning light CH +---+ F 56.6 = F 56.6 -F 56.6 ---!>=1! +------+ -F 53.3 ---! !--+-! = ! -CH-Q 1.6 +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 102 C:ARECIBST.S5D LEN=41 CH: warning signal F 53.3 = F 53.3 CH: drive enable Q 1.6 = CH-Q 1.6 warning light CH Segment 8 warning horn CH +---+ F 56.6 = F 56.6 -F 56.6 ---! & ! +------+ CH: warning signal -F 65.7 --O! !--+-! = ! -CH-Q 1.7 F 65.7 = F 65.7 +---+ +------+ siren off Q 1.7 = CH-Q 1.7 warning horn CH Segment 9 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 109 C:ARECIBST.S5D LEN=92 Segment 1 ******************************************************************************* PB109 checks the correct sequencing of amplifier enable and brake release/ set. If any brake ahould be released while the amplifiers are not yet or no more enabled, a test bit will be set: Q 0.5 for Az Q 0.6 for GD Q 0.7 for CH This bit can only be reset by powering up the PLC or by pressing pushbuttons "power on" and "lamp test" at the drive cabinet door simultaneously. ******************************************************************************* Segment 2 Azimuth +---+ Q 5.0 = AZ-Q 5.0 -AZ-Q 5.0---!>=1! release brake Az 11 -AZ-Q 5.1---! ! Q 5.1 = AZ-Q 5.1 -AZ-Q 5.2---! ! release brake Az 12 -AZ-Q 5.3---! ! Q 5.2 = AZ-Q 5.2 -AZ-Q 5.4---! ! release brake Az 51 -AZ-Q 5.5---! ! Q 5.3 = AZ-Q 5.3 -AZ-Q 5.6---! ! +---+ release brake Az 52 -AZ-Q 5.7---! !-----! & ! Q 5.4 = AZ-Q 5.4 +---+ +---+ ! ! release brake Az 41 -AZ-Q 4.4--O!>=1! ! ! Q 5.5 = AZ-Q 5.5 -AZ-Q 4.5--O! ! ! ! release brake Az 42 -AZ-Q 4.6--O! ! +---+ ! ! Q 5.6 = AZ-Q 5.6 -AZ-Q 4.7--O! !-----! & ! ! ! release brake Az 81 +---+ ! ! +---+ ! ! Q 5.7 = AZ-Q 5.7 -F 60.1 --O! !-----!>=1! ! ! release brake Az 82 +---+ +---+ ! ! ! ! Q 4.4 = AZ-Q 4.4 -AZ-Q 4.0--O!>=1! ! ! ! ! enable amplifier Az 41 -AZ-Q 4.1--O! ! ! ! ! ! Q 4.5 = AZ-Q 4.5 -AZ-Q 4.2--O! ! +---+ ! ! ! ! enable amplifier Az 42 -AZ-Q 4.3--O! !-----! & ! ! ! ! ! Q 4.6 = AZ-Q 4.6 +---+ ! ! ! ! ! ! +------+ enable amplifier Az 81 -F 60.0 --O! !-----! !-----! !--+-! S ! -Q 0.5 Q 4.7 = AZ-Q 4.7 +---+ +---+ +---+ +------+ enable amplifier Az 82 F 60.1 = F 60.1 Az: AUX n2 Q 4.0 = AZ-Q 4.0 enable amplifier Az 11 Q 4.1 = AZ-Q 4.1 enable amplifier Az 12 Q 4.2 = AZ-Q 4.2 enable amplifier Az 51 Q 4.3 = AZ-Q 4.3 enable amplifier Az 52 F 60.0 = F 60.0 Az: AUX n1 Q 0.5 = Q 0.5 ...... +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 109 C:ARECIBST.S5D LEN=92 Segment 3 Gregorian Dome +---+ Q 13.0 = GD-Q13.0 -GD-Q13.0---!>=1! release brake GD 11 -GD-Q13.1---! ! Q 13.1 = GD-Q13.1 -GD-Q13.2---! ! release brake GD 12 -GD-Q13.3---! ! Q 13.2 = GD-Q13.2 -GD-Q13.4---! ! release brake GD 21 -GD-Q13.5---! ! Q 13.3 = GD-Q13.3 -GD-Q13.6---! ! +---+ release brake GD 22 -GD-Q13.7---! !-----! & ! Q 13.4 = GD-Q13.4 +---+ +---+ ! ! release brake GD 31 -GD-Q12.0--O! & ! +---+ ! ! Q 13.5 = GD-Q13.5 -F 62.0 --O! !-----!>=1! ! ! release brake GD 32 +---+ ! ! ! ! Q 13.6 = GD-Q13.6 +---+ ! ! ! ! release brake GD 41 -GD-Q12.1--O! & ! ! ! ! ! Q 13.7 = GD-Q13.7 -F 62.1 --O! !-----! ! ! ! release brake GD 42 +---+ ! ! ! ! Q 12.0 = GD-Q12.0 +---+ ! ! ! ! enable amplifier GD 11 -GD-Q12.2--O! & ! ! ! ! ! F 62.0 = F 62.0 -F 62.2 --O! !-----! ! ! ! GD AUX mode n1 +---+ ! ! ! ! Q 12.1 = GD-Q12.1 +---+ ! ! ! ! enable amplifier GD 12 -GD-Q12.3--O! & ! ! ! ! ! F 62.1 = F 62.1 -F 62.3 --O! !-----! ! ! ! GD AUX mode n2 +---+ ! ! ! ! Q 12.2 = GD-Q12.2 +---+ ! ! ! ! enable amplifier GD 21 -GD-Q12.4--O! & ! ! ! ! ! F 62.2 = F 62.2 -F 62.4 --O! !-----! ! ! ! GD AUX mode n3 +---+ ! ! ! ! Q 12.3 = GD-Q12.3 +---+ ! ! ! ! enable amplifier GD 22 -GD-Q12.5--O! & ! ! ! ! ! F 62.3 = F 62.3 -F 62.5 --O! !-----! ! ! ! GD AUX mode n4 +---+ ! ! ! ! Q 12.4 = GD-Q12.4 +---+ ! ! ! ! enable amplifier GD 31 -GD-Q12.6--O! & ! ! ! ! ! F 62.4 = F 62.4 -F 62.6 --O! !-----! ! ! ! GD AUX mode n5 +---+ ! ! ! ! Q 12.5 = GD-Q12.5 +---+ ! ! ! ! enable amplifier GD 32 -GD-Q12.7--O! & ! ! ! ! ! +------+ F 62.5 = F 62.5 -F 62.7 --O! !-----! !-----! !--+-! S ! -Q0.6 GD AUX mode n6 +---+ +---+ +---+ +------+ Q 12.6 = GD-Q12.6 enable amplifier GD 41 F 62.6 = F 62.6 GD AUX mode n7 Q 12.7 = GD-Q12.7 enable amplifier GD 42 F 62.7 = F 62.7 GD AUX mode n8 Q 0.6 = Q0.6 ........................................ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 109 C:ARECIBST.S5D LEN=92 Segment 4 Carriage House +---+ Q 2.3 = CH-Q 2.3 -CH-Q 2.3---!>=1! +---+ release brake CH 11 -CH-Q 2.4---! !-----! & ! Q 2.4 = CH-Q 2.4 +---+ +---+ ! ! release brake CH 12 -CH-Q 2.0--O! & ! +---+ ! ! Q 2.0 = CH-Q 2.0 -F 60.2 --O! !-----!>=1! ! ! enable amplifier CH 11 +---+ ! ! ! ! F 60.2 = F 60.2 +---+ ! ! ! ! CH: AUX n1 -CH-Q 2.1--O! & ! ! ! ! ! +------+ Q 2.1 = CH-Q 2.1 -F 60.3 --O! !-----! !-----! !--+-! S ! -Q0.7 enable amplifier CH 12 +---+ +---+ +---+ +------+ F 60.3 = F 60.3 CH: AUX n2 Q 0.7 = Q0.7 ........................................ Segment 5 reset brake failure detection +---+ I 1.0 = PD-I1.0 -PD-I1.0 ---! & ! +------+ PB Main Power on -DC-I1.6 ---! !--+-! R ! -Q 0.5 I 1.6 = DC-I1.6 +---+ ! +------+ PB Lamp Test ! +------+ Q 0.5 = Q 0.5 +-! R ! -Q0.6 ...... ! +------+ Q 0.6 = Q0.6 ! +------+ ........................................ +-! R ! -Q0.7 Q 0.7 = Q0.7 +------+ ........................................ Segment 6 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 110 -PB 110 C:ARECIBST.S5D LEN=72 Segment 1 ******************************************************************************* P R O G R A M T R A C K ******************************************************************************* Segment 2 pulse/flag +---+ F 7.3 = F 7.3 -F 7.3 ---!>=1! -F 13.1 Az: PROGRAM TRACK mode -F 8.3 ---! ! +-----+ F 8.3 = F 8.3 -F 9.3 ---! !----!S ! -F 13.0 GD: PROGRAM TRACK mode +---+ ! ! +-----+ F 9.3 = F 9.3 -F 13.0 --!R Q!---!S ! CH: PROGRAM TRACK mode +-----+ ! ! F 13.1 = F 13.1 +---+ ! ! Program Track: activation pulse -F 7.3 --O! & ! ! ! F 13.0 = F 13.0 -F 8.3 --O! ! ! ! Program Track: active flag -F 9.3 --O! !----!R Q!- +---+ +-----+ Segment 3 reset Program Track flags +---+ F 13.0 = F 13.0 -F 13.0 --O!>=1! +------+ Program Track: active flag -F 13.1 ---! !--+-! R ! -F 13.2 F 13.1 = F 13.1 +---+ ! +------+ Program Track: activation pulse ! +------+ F 13.2 = F 13.2 +-! R ! -F 13.4 Program Track: start-up done ! +------+ F 13.4 = F 13.4 ! +------+ Program Track: no more valid data +-! R ! -F 13.6 F 13.6 = F 13.6 ! +------+ Program Track: next sample found ! +------+ F 13.7 = F 13.7 +-! R ! -F 13.7 Program Track: next sample evaluated +------+ Segment 4 start-up functions :A -F 13.1 Program Track: activation pulse :S -F 13.5 Program Track: move to first position :A -F 13.0 Program Track: active flag :AN -F 13.2 Program Track: start-up done :JC -FB 187 program track start-up Name :PRTR-STA :*** Segment 5 Program Track Control FB 186 = FB 186 -FB 186 program track control +--------------+ ! PRTR-CON ! +--------------+ Segment 6 no more samples :AN -F 13.4 Program Track: no more valid data :BEC :C -DB 50 Positions :L DD 170 :T DD 138 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 110 -PB 110 C:ARECIBST.S5D LEN=72 :C -DB 224 program track aux. DB :T DD 10 :T DD 22 :C -DB 50 Positions :L DD 172 phi_des_new = phi_des_old :T DD 140 :C -DB 224 program track aux. DB :T DD 12 :T DD 24 :C -DB 50 Positions :L DD 174 :T DD 142 :C -DB 224 program track aux. DB :T DD 14 :T DD 26 :C -DB 50 Positions :L KG +0000000+00 :T DD 126 phi_inc = 0 :T DD 128 :T DD 130 :C -DB 150 drive datas :L KB 0 :T DW 180 v_ffw = 0 :T DW 181 :T DW 182 : :*** Segment 7 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 111 -PB 111 C:ARECIBST.S5D LEN=29 Segment 1 ******************************************************************************* S T O W M O D E ******************************************************************************* Segment 2 load stow positions FB 215 = FB 215 -FB 215 stow positions +--------------+ ! STOW-POS ! +--------------+ Segment 3 reset stow position flags :AN -F 7.2 Az: STOW mode :R -F 63.0 stow position Az :AN -F 8.2 GD: STOW mode :R -F 63.1 stow position GD :AN -F 9.2 CH: STOW mode :R -F 63.2 stow position CH :*** Segment 4 Stop Az +---+ F 7.2 = F 7.2 -F 7.2 ---! & ! +------+ Az: STOW mode -F 63.0 ---! !--+-! JC ! -PB 152 F 63.0 = F 63.0 +---+ +------+ stow position Az PB 152 = PB 152 switch off Az drives Segment 5 Stop GD +---+ F 8.2 = F 8.2 -F 8.2 ---! & ! +------+ GD: STOW mode -F 63.1 ---! !--+-! JC ! -PB 162 F 63.1 = F 63.1 +---+ +------+ stow position GD PB 162 = PB 162 switch off GD drives Segment 6 Stop CH +---+ F 9.2 = F 9.2 -F 9.2 ---! & ! +------+ CH: STOW mode -F 63.2 ---! !--+-! JC ! -PB 172 F 63.2 = F 63.2 +---+ +------+ stow position CH PB 172 = PB 172 switch off CH drives Segment 7 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 150 -PB 150 C:ARECIBST.S5D LEN=306 Segment 1 ******************************************************************************* A Z I M U T H D R I V E S Y S T E M - modes - enable - faults - ******************************************************************************* +------+ DB 150 = DB 150 +-! C ! -DB 150 drive datas +------+ Segment 2 ready for operation +---+ F 11.0 = F 11.0 -F 11.0 --O! & ! drive cabinet 1 overtemperature -F 10.1 ---! ! F 10.1 = F 10.1 -F 47.1 --O! ! general conditions for operation -F 57.1 --O! ! F 47.1 = F 47.1 -F 57.5 ---! ! Az drive stop because of cable car -F 57.6 --O! ! F 57.1 = F 57.1 -F 60.5 --O! ! AZ: power supply general failure -F 60.6 --O! ! F 57.5 = F 57.5 +---+ ! ! Az: required conditions for operation -F 64.2 --O!>=1! ! ! F 57.6 = F 57.6 -F 60.0 ---! !-----! ! Az: moving in wrong direction +---+ ! ! F 60.5 = F 60.5 +---+ ! ! Az: feedarm bending > limit -F 64.3 --O!>=1! ! ! +------+ F 60.6 = F 60.6 -F 60.1 ---! !-----! !--+-! = ! -F 57.0 Az: pendulum alarm +---+ +---+ +------+ F 64.2 = F 64.2 Az: power supply 1 failure F 60.0 = F 60.0 Az: AUX n1 F 64.3 = F 64.3 Az: power supply 2 failure F 60.1 = F 60.1 Az: AUX n2 F 57.0 = F 57.0 AZ: ready for operation Segment 3 minimum conditions for operation +---+ I 2.4 = DC-I2.4 -DC-I2.4 ---! & ! 24 VDC for brakes ok -AZ-12.4 ---! ! I 12.4 = AZ-12.4 -F 10.0 ---! ! Az: local axis disable -F 10.7 --O! ! F 10.0 = F 10.0 -F 11.2 --O! ! voltages ok -F 31.5 --O! ! F 10.7 = F 10.7 -F 57.1 --O! ! +------+ emergency off -F 57.6 --O! !--+-! = ! -F 57.5 F 11.2 = F 11.2 +---+ +------+ mains over-/undervoltage F 31.5 = F 31.5 position Az: emergency limit F 57.1 = F 57.1 AZ: power supply general failure F 57.6 = F 57.6 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 150 -PB 150 C:ARECIBST.S5D LEN=306 Az: moving in wrong direction F 57.5 = F 57.5 Az: required conditions for operation Segment 4 power supply 1 failure -F 64.2 F 11.5 = F 11.5 +-----+ axis failure reset Az -F 11.5 --!R ! F 64.2 = F 64.2 +---+ ! ! Az: power supply 1 failure -AZ-13.2 --O! & ! +---+ ! ! I 13.2 = AZ-13.2 -T 152 ---! !-----!>=1! ! ! AZ: main contactor group 1/5 on +---+ ! ! ! ! T 152 = T 152 -AZ-13.0 --O! ! ! ! power-up time aft. main contactor Az1 on -T 157 ---! !----!S Q!- I 13.0 = AZ-13.0 +---+ +-----+ AZ: power supply group 1/5 no fault T 157 = T 157 Az: DC bus voltage supervision time Az1 Segment 5 power supply 2 failure -F 64.3 F 11.5 = F 11.5 +-----+ axis failure reset Az -F 11.5 --!R ! F 64.3 = F 64.3 +---+ ! ! Az: power supply 2 failure -AZ-13.3 --O! & ! +---+ ! ! I 13.3 = AZ-13.3 -T 153 ---! !-----!>=1! ! ! AZ: main contactor group 4/8 on +---+ ! ! ! ! T 153 = T 153 -AZ-13.1 --O! ! ! ! power-up time aft. main contactor Az2 on -T 158 ---! !----!S Q!- I 13.1 = AZ-13.1 +---+ +-----+ AZ: power supply group 4/8 no fault T 158 = T 158 Az: DC bus voltage supervision time Az2 Segment 6 power supply general failure -F 57.1 F 11.5 = F 11.5 +-----+ axis failure reset Az -F 11.5 --!R ! F 57.1 = F 57.1 +---+ ! ! AZ: power supply general failure -AZ-12.0 --O!>=1! ! ! I 12.0 = AZ-12.0 -AZ-12.1 --O! !----!S Q!- circuit breaker brakes group 1/4 +---+ +-----+ I 12.1 = AZ-12.1 circuit breaker brakes group 5/8 Segment 7 DC bus voltage supervision Az1 -T 157 I 13.4 = AZ-13.4 +-----+ AZ: DC bus voltage group 1/5 ok -AZ-13.4 -O!T!-!0! T 157 = T 157 DW 8 --!TV BI!- Az: DC bus voltage supervision time Az1 ! DE!- --!R Q!- +-----+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 150 -PB 150 C:ARECIBST.S5D LEN=306 Segment 8 DC bus voltage supervision Az2 -T 158 I 13.5 = AZ-13.5 +-----+ AZ: DC bus voltage group 4/8 ok -AZ-13.5 -O!T!-!0! T 158 = T 158 DW 8 --!TV BI!- Az: DC bus voltage supervision time Az2 ! DE!- --!R Q!- +-----+ Segment 9 RATE mode +---+ F 4.0 = F 4.0 -F 4.0 ---! & ! Az: local control (flag) +---+ ! ! I 12.6 = AZ-12.6 -AZ-12.6 ---!>=1! ! ! +---+ DCS: move Az cw -AZ-12.7 ---! !-----! !-----!>=1! I 12.7 = AZ-12.7 +---+ +---+ ! ! DCS: move Az ccw +---+ ! ! F 4.2 = F 4.2 -F 4.2 ---! & ! ! ! Az: PCU control (flag) -F 122.0 ---! ! ! ! F 122.0 = F 122.0 -F 121.0 ---! !-----! ! PCU command: drive on +---+ ! ! F 121.0 = F 121.0 +---+ ! ! PCU mode: Azimuth -F 4.4 ---! & ! ! ! +---+ F 4.4 = F 4.4 -F 132.0 ---! !-----! !-----! & ! -F 7.0 Az: Computer control (flag) +---+ +---+ ! ! +-----+ F 132.0 = F 132.0 -F 57.0 ---! !--#-F 117.0 --!S ! computer command: Az RATE +---+ +---+ ! ! F 57.0 = F 57.0 -F 117.0 --O! & ! ! ! AZ: ready for operation +---+ ! ! ! ! F 117.0 = F 117.0 -F 54.2 --O!>=1! ! ! ! ! Az: RATE aux. flag +---+ ! ! ! ! ! ! F 7.0 = F 7.0 -F 4.4 ---! & ! ! ! ! ! ! ! Az: RATE mode +---+ ! ! ! ! ! ! ! ! F 54.2 = F 54.2 -F 132.1 ---!>=1! ! ! ! ! ! ! ! ! AZ: setpoint enable -F 132.2 ---! ! ! ! ! ! ! ! ! ! F 132.1 = F 132.1 -F 132.3 ---! !-----! !-----! !-----! !----!R Q!- computer command: Az PRESET +---+ +---+ +---+ +---+ +-----+ F 132.2 = F 132.2 computer command: Az STOW F 132.3 = F 132.3 computer command: Az PROGRAM TRACK Segment 10 PRESET mode +---+ F 4.4 = F 4.4 -F 4.4 ---! & ! -F 7.1 Az: Computer control (flag) -F 132.1 ---! ! +-----+ F 132.1 = F 132.1 -F 57.0 ---! !--#-F 117.1 --!S ! computer command: Az PRESET +---+ +---+ ! ! F 57.0 = F 57.0 -F 117.1 --O! & ! ! ! AZ: ready for operation +---+ ! ! ! ! F 117.1 = F 117.1 -F 54.2 --O!>=1! ! ! ! ! Az: PRESET aux. flag +---+ ! ! ! ! ! ! F 7.1 = F 7.1 -F 4.4 ---! & ! ! ! ! ! ! ! Az: PRESET mode +---+ ! ! ! ! ! ! ! ! F 54.2 = F 54.2 -F 132.0 ---!>=1! ! ! ! ! ! ! ! ! AZ: setpoint enable -F 132.2 ---! ! ! ! ! ! ! ! ! ! -F 132.3 ---! !-----! !-----! !-----! !----!R Q!- +---+ +---+ +---+ +---+ +-----+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 150 -PB 150 C:ARECIBST.S5D LEN=306 F 132.0 = F 132.0 computer command: Az RATE F 132.2 = F 132.2 computer command: Az STOW F 132.3 = F 132.3 computer command: Az PROGRAM TRACK Segment 11 STOW mode +---+ F 4.4 = F 4.4 -F 4.4 ---! & ! -F 7.2 Az: Computer control (flag) -F 132.2 ---! ! +-----+ F 132.2 = F 132.2 -F 57.0 ---! !--#-F 117.2 --!S ! computer command: Az STOW +---+ +---+ ! ! F 57.0 = F 57.0 -F 117.2 --O! & ! ! ! AZ: ready for operation +---+ ! ! ! ! F 117.2 = F 117.2 -F 54.2 --O!>=1! ! ! ! ! Az: STOW aux. flag +---+ ! ! ! ! ! ! F 7.2 = F 7.2 -F 4.4 ---! & ! ! ! ! ! ! ! Az: STOW mode +---+ ! ! ! ! ! ! ! ! F 54.2 = F 54.2 -F 132.0 ---!>=1! ! ! ! ! ! ! ! ! AZ: setpoint enable -F 132.1 ---! ! ! ! ! ! ! ! ! ! F 132.0 = F 132.0 -F 132.3 ---! !-----! !-----! !-----! !----!R Q!- computer command: Az RATE +---+ +---+ +---+ +---+ +-----+ F 132.1 = F 132.1 computer command: Az PRESET F 132.3 = F 132.3 computer command: Az PROGRAM TRACK Segment 12 PROGRAM TRACK mode +---+ F 4.4 = F 4.4 -F 4.4 ---! & ! -F 7.3 Az: Computer control (flag) -F 132.3 ---! ! +-----+ F 132.3 = F 132.3 -F 57.0 ---! !--#-F 117.3 --!S ! computer command: Az PROGRAM TRACK +---+ +---+ ! ! F 57.0 = F 57.0 -F 117.3 --O! & ! ! ! AZ: ready for operation +---+ ! ! ! ! F 117.3 = F 117.3 -F 54.2 --O!>=1! ! ! ! ! Az: PROGRAM TRACK aux. flag +---+ ! ! ! ! ! ! F 7.3 = F 7.3 -F 4.4 ---! & ! ! ! ! ! ! ! Az: PROGRAM TRACK mode +---+ ! ! ! ! ! ! ! ! F 54.2 = F 54.2 -F 132.0 ---!>=1! ! ! ! ! ! ! ! ! AZ: setpoint enable -F 132.1 ---! ! ! ! ! ! ! ! ! ! F 132.0 = F 132.0 -F 132.2 ---! !-----! !-----! !-----! !----!R Q!- computer command: Az RATE +---+ +---+ +---+ +---+ +-----+ F 132.1 = F 132.1 computer command: Az PRESET F 132.2 = F 132.2 computer command: Az STOW +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+PB 150 -PB 150 C:ARECIBST.S5D LEN=306 Segment 13 switch off modes +---+ +------+ F 57.5 = F 57.5 -F 57.5 --O! & !--+-! R ! -F 7.0 Az: required conditions for operation +---+ ! +------+ F 7.0 = F 7.0 ! +------+ Az: RATE mode +-! R ! -F 7.1 F 7.1 = F 7.1 ! +------+ Az: PRESET mode ! +------+ F 7.2 = F 7.2 +-! R ! -F 7.2 Az: STOW mode ! +------+ F 7.3 = F 7.3 ! +------+ Az: PROGRAM TRACK mode +-! R ! -F 7.3 +------+ Segment 14 STOP mode +---+ F 7.0 = F 7.0 -F 7.0 --O! & ! Az: RATE mode -F 7.1 --O! ! F 7.1 = F 7.1 -F 7.2 --O! ! +------+ Az: PRESET mode -F 7.3 --O! !--+-! = ! -F 7.6 F 7.2 = F 7.2 +---+ +------+ Az: STOW mode F 7.3 = F 7.3 Az: PROGRAM TRACK mode F 7.6 = F 7.6 Az: STOP mode Segment 15 biassed mode +---+ F 7.6 = F 7.6 -F 7.6 ---! & ! Az: STOP mode +---+ ! ! -F 57.2 F 137.0 = F 137.0 -F 137.0 ---!>=1! ! ! +-----+ SRC command: Az mode AUX n1 -F 137.1 ---! !-----! !----!R ! F 137.1 = F 137.1 +---+ +---+ ! ! SRC command: Az mode AUX n2 +---+ ! ! F 57.2 = F 57.2 -F 7.6 ---! & ! ! ! Az: biassed mode -F 137.0 --O! ! ! ! -F 137.1 --O! !----!S Q!- +---+ +-----+ Segment 16 aux n1 mode +---+ F 7.6 = F 7.6 -F 7.6 ---! & ! Az: STOP mode +---+ ! ! F 137.1 = F 137.1 -F 137.1 ---!>=1! ! ! +---+ SRC command: Az mode AUX n2 -Az-I7.0 --O! !-----! !-----!>=1! -F 60.0 I 7.0 = Az-I7.0 +---+ +---+ ! ! +-----+ Az: brake interlock override activated -F 57.2 ---! !----!R ! F 57.2 = F 57.2 +---+ ! ! Az: biassed mode +---+ ! ! F 60.0 = F 60.0 -F 7.6 ---! & ! ! ! Az: AUX n1 -F 64.3 --O! ! ! ! F 64.3 = F 64.3 -F 57.2 --O! ! ! ! Az: power supply 2 failure -F 137.1 --O! ! ! ! F 137.0 = F 137.0 -F 137.0 ---! ! ! ! SRC command: Az mode AUX n1 -Az-I7.0 ---! !----!S Q!- +---+ +-----+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+PB 150 -PB 150 C:ARECIBST.S5D LEN=306 Segment 17 aux n2 mode +---+ F 7.6 = F 7.6 -F 7.6 ---! & ! Az: STOP mode +---+ ! ! F 137.0 = F 137.0 -F 137.0 ---!>=1! ! ! +---+ SRC command: Az mode AUX n1 -Az-I7.0 --O! !-----! !-----!>=1! -F 60.1 I 7.0 = Az-I7.0 +---+ +---+ ! ! +-----+ Az: brake interlock override activated -F 57.2 ---! !----!R ! F 57.2 = F 57.2 +---+ ! ! Az: biassed mode +---+ ! ! F 60.1 = F 60.1 -F 7.6 ---! & ! ! ! Az: AUX n2 -F 64.2 --O! ! ! ! F 64.2 = F 64.2 -F 57.2 --O! ! ! ! Az: power supply 1 failure -F 137.0 --O! ! ! ! F 137.1 = F 137.1 -F 137.1 ---! ! ! ! SRC command: Az mode AUX n2 -Az-I7.0 ---! !----!S Q!- +---+ +-----+ Segment 18 AUX mode switchover reset +---+ F 57.2 = F 57.2 -F 57.2 ---! & ! +---+ Az: biassed mode -F 66.0 --O! !-----!>=1! F 66.0 = F 66.0 +---+ ! ! Az: biassed mode flag +---+ ! ! F 60.0 = F 60.0 -F 60.0 ---! & ! ! ! Az: AUX n1 -F 66.1 --O! !-----! ! F 66.1 = F 66.1 +---+ ! ! Az: Aux n2 flag +---+ ! ! F 60.1 = F 60.1 -F 60.1 ---! & ! ! ! +------+ Az: AUX n2 -F 66.2 --O! !-----! !--+-! = ! -F 68.0 F 66.2 = F 66.2 +---+ +---+ +------+ Az: Aux n2 flag F 68.0 = F 68.0 Az AUX mode switchover reset Segment 19 store new AUX conditions :A -F 57.2 Az: biassed mode := -F 66.0 Az: biassed mode flag :A -F 60.0 Az: AUX n1 := -F 66.1 Az: Aux n2 flag :A -F 60.1 Az: AUX n2 := -F 66.2 Az: Aux n2 flag :*** Segment 20 local functions +---+ +------+ F 4.0 = F 4.0 -F 4.0 ---! & !--+-! JC ! -PB 153 Az: local control (flag) +---+ +------+ PB 153 = PB 153 local Az functions Segment 21 computer functions +---+ +------+ F 4.4 = F 4.4 -F 4.4 ---! & !--+-! JC ! -PB 154 Az: Computer control (flag) +---+ +------+ PB 154 = PB 154 computer Az functions +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+PB 150 -PB 150 C:ARECIBST.S5D LEN=306 Segment 22 drive function request +---+ F 117.0 = F 117.0 -F 117.0 ---!>=1! Az: RATE aux. flag -F 117.1 ---! ! -T 155 F 117.1 = F 117.1 -F 117.2 ---! ! +-----+ Az: PRESET aux. flag -F 117.3 ---! !----!T!-!0! F 117.2 = F 117.2 +---+ ! ! Az: STOW aux. flag KT 005.0 --!TV BI!- F 117.3 = F 117.3 ! DE!- Az: PROGRAM TRACK aux. flag ! ! +------+ T 155 = T 155 --!R Q!-+-! = ! -F 57.3 Az: motor heating switch-off time +-----+ +------+ F 57.3 = F 57.3 Az: drive function request Segment 23 motor heating during standstill +---+ F 7.6 = F 7.6 -F 7.6 ---! & ! -T 159 Az: STOP mode -F 10.7 --O! ! +-----+ F 10.7 = F 10.7 -PD-I1.1 ---! !----!T!-!0! emergency off +---+ ! ! I 1.1 = PD-I1.1 DW 9 --!TV BI!- power on relay feedback ! DE!- T 159 = T 159 ! ! -F 63.3 Az: delay motor heating on after Stop ! ! +-----+ F 63.3 = F 63.3 --!R Q!---!S ! motor heating on Az +-----+ ! ! F 11.2 = F 11.2 +---+ ! ! mains over-/undervoltage -PD-I1.1 --O!>=1! ! ! F 117.0 = F 117.0 -F 7.6 --O! ! ! ! Az: RATE aux. flag -F 10.7 ---! ! ! ! F 117.1 = F 117.1 -F 11.2 ---! ! ! ! Az: PRESET aux. flag -F 117.0 ---! ! ! ! F 117.2 = F 117.2 -F 117.1 ---! ! ! ! Az: STOW aux. flag -F 117.2 ---! ! ! ! F 117.3 = F 117.3 -F 117.3 ---! !----!R Q!- Az: PROGRAM TRACK aux. flag +---+ +-----+ Segment 24 brakes +------+ PB 155 = PB 155 +-! JU ! -PB 155 Az brakes +------+ Segment 25 cable car interlocks +------+ PB 156 = PB 156 +-! JU ! -PB 156 cable car interlocks +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 7! +------------------------------------------------------------------------------+PB 150 -PB 150 C:ARECIBST.S5D LEN=306 Segment 26 Pendulum switch -T 110 I 0.3 = I 0.3 +-----+ pendulum alarm -I 0.3 --!0!-!T! T 110 = T 110 KT 060.2 --!TV BI!- pendulum alarm recovery time ! DE!- F 60.6 = F 60.6 ! ! -F 60.6 Az: pendulum alarm ! ! +-----+ F 11.5 = F 11.5 --!R Q!---!S ! axis failure reset Az +-----+ ! ! -F 11.5 --!R Q!- +-----+ Segment 27 call functions :JU -PB 151 Azimuth amplifiers :O -F 4.1 Az: local control (pulse) :O -F 4.3 Az: PCU control (pulse) :O -F 4.5 Az: Computer control (pulse) :ON -F 57.0 AZ: ready for operation :JC -PB 152 switch off Az drives switch off with mode change :*** Segment 28 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 8! +------------------------------------------------------------------------------+PB 151 -PB 151 C:ARECIBST.S5D LEN=289 Segment 1 ******************************************************************************* A Z I M U T H D R I V E S Y S T E M - functions - ******************************************************************************* +------+ DB 150 = DB 150 +-! C ! -DB 150 drive datas +------+ Segment 2 main contactor 1 +---+ F 57.3 = F 57.3 -F 57.3 ---!>=1! +---+ Az: drive function request -F 63.3 ---! !-----! & ! F 63.3 = F 63.3 +---+ ! ! motor heating on Az -F 57.1 --O! ! F 57.1 = F 57.1 +---+ ! ! -AZ-Q11.0 AZ: power supply general failure -F 57.2 ---!>=1! ! ! +-----+ F 57.2 = F 57.2 -F 60.1 ---! !-----! !----!S ! Az: biassed mode +---+ +---+ ! ! F 60.1 = F 60.1 +---+ ! ! Az: AUX n2 -F 64.2 ---!>=1! ! ! Q 11.0 = AZ-Q11.0 -F 60.0 ---! ! ! ! main contactor Az group 1/5 on -F 10.7 ---! ! ! ! F 64.2 = F 64.2 -F 11.2 ---! ! ! ! -T 152 Az: power supply 1 failure -F 31.5 ---! ! ! ! +-----+ F 60.0 = F 60.0 -AZ-12.4 --O! !----!R Q!---!T!-!0! Az: AUX n1 +---+ +-----+ ! ! F 10.7 = F 10.7 KT 010.1 --!TV BI!- emergency off ! DE!- F 11.2 = F 11.2 --!R Q!- mains over-/undervoltage +-----+ F 31.5 = F 31.5 position Az: emergency limit I 12.4 = AZ-12.4 Az: local axis disable T 152 = T 152 power-up time aft. main contactor Az1 on +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 151 -PB 151 C:ARECIBST.S5D LEN=289 Segment 3 main contactor 2 +---+ F 57.3 = F 57.3 -F 57.3 ---!>=1! +---+ Az: drive function request -F 63.3 ---! !-----! & ! F 63.3 = F 63.3 +---+ ! ! motor heating on Az -F 57.1 --O! ! F 57.1 = F 57.1 +---+ ! ! -AZ-Q11.1 AZ: power supply general failure -F 57.2 ---!>=1! ! ! +-----+ F 57.2 = F 57.2 -F 60.0 ---! !-----! !----!S ! Az: biassed mode +---+ +---+ ! ! F 60.0 = F 60.0 +---+ ! ! Az: AUX n1 -F 64.3 ---!>=1! ! ! Q 11.1 = AZ-Q11.1 -F 60.1 ---! ! ! ! main contactor Az group 4/8 on -F 10.7 ---! ! ! ! F 64.3 = F 64.3 -F 11.2 ---! ! ! ! -T 153 Az: power supply 2 failure -F 31.5 ---! ! ! ! +-----+ F 60.1 = F 60.1 -AZ-12.4 --O! !----!R Q!---!T!-!0! Az: AUX n2 +---+ +-----+ ! ! F 10.7 = F 10.7 KT 050.0 --!TV BI!- emergency off ! DE!- F 11.2 = F 11.2 --!R Q!- mains over-/undervoltage +-----+ F 31.5 = F 31.5 position Az: emergency limit I 12.4 = AZ-12.4 Az: local axis disable T 153 = T 153 power-up time aft. main contactor Az2 on Segment 4 prepare inputs for FB210 DB 150 = DB 150 -FB 211 drive datas +--------------+ FB 211 = FB 211 ! INPUT210 ! prepare inputs to FB 210 +1 --!AXIS INB !-- DL 221 -DB 150 --!DB ! +--------------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 151 -PB 151 C:ARECIBST.S5D LEN=289 Segment 5 drive control F 122.4 = F 122.4 -FB 210 PCU command: move Az pos. +--------------+ F 122.5 = F 122.5 ! SERVO ! PCU command: move Az neg. DL 221 --!INB OUTB!-- FY 54 F 131.0 = F 131.0 -F 122.4 --!PCUP STAT!-- FY 51 computer command: move Az cw -F 122.5 --!PCUN ON !-- -F 57.4 F 131.1 = F 131.1 -F 131.0 --!COMP ! computer command: move Az ccw -F 131.1 --!COMN ! T 101 = T 101 -T 101 --!T1 ! brake release delay Az -T 111 --!T2 ! T 111 = T 111 -AZ-I7.7 --!NA=0 ! max time drive operation after enable Az -F 117.5 --!MOD2 ! I 7.7 = AZ-I7.7 +1 --!NUMM ! Azimuth : speed zero (from DCS) FY 41 --!ENC ! F 117.5 = F 117.5 -T 121 --!T3 ! Az: Preset modes FY 31 --!LIMS ! F 57.4 = F 57.4 -T 131 --!T4 ! Az: deceleration FY 4 --!MODE ! T 121 = T 121 -T 104 --!T5 ! deceleration/brake engage time Az +--------------+ T 131 = T 131 brake failure supervision time Az T 104 = T 104 warning time before moving Az FB 210 = FB 210 drive control +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 151 -PB 151 C:ARECIBST.S5D LEN=289 Segment 6 moving in wrong direction? +---+ F 54.0 = F 54.0 -F 54.0 ---! & ! AZ: move command cw -F 54.2 ---! ! F 54.2 = F 54.2 -AZ-I7.7 --O! ! AZ: setpoint enable +-----+ ! ! I 7.7 = AZ-I7.7 DW 191 --!> F! ! ! Azimuth : speed zero (from DCS) ! ! ! ! F 54.1 = F 54.1 KB 0 --! Q!----! ! AZ: move command ccw +-----+ ! ! T 154 = T 154 +-----+ ! ! Az: move in wrong direction deadband DW 29 --!< F! ! ! F 57.6 = F 57.6 ! ! ! ! +---+ Az: moving in wrong direction KF -10 --! Q!----! !-----!>=1! F 11.5 = F 11.5 +-----+ +---+ ! ! axis failure reset Az +---+ ! ! F 51.4 = F 51.4 -F 54.1 ---! & ! ! ! Az: runaway / no motion -F 54.2 ---! ! ! ! -AZ-I7.7 --O! ! ! ! +-----+ ! ! ! ! DW 191 --!< F! ! ! ! ! ! ! ! ! ! ! KB 0 --! Q!----! ! ! ! +-----+ ! ! ! ! +-----+ ! ! ! ! DW 29 --!> F! ! ! ! ! -T 154 ! ! ! ! ! ! +-----+ KF +10 --! Q!----! !-----! !----!T!-!0! +-----+ +---+ +---+ ! ! KT 010.1 --!TV BI!- ! DE!- ! ! -F 57.6 ! ! +-----+ --!R Q!---!S ! +-----+ ! ! +------+ -F 11.5 --!R Q!-+-! S ! -F 51.4 +-----+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+PB 151 -PB 151 C:ARECIBST.S5D LEN=289 Segment 7 enable amplifiers group 1 +---+ F 54.0 = F 54.0 -F 54.0 ---!>=1! +---+ AZ: move command cw -F 54.1 ---! !-----! & ! F 54.1 = F 54.1 +---+ ! ! AZ: move command ccw -F 64.2 --O! ! F 64.2 = F 64.2 -F 57.5 ---! ! Az: power supply 1 failure -T 152 ---! ! F 57.5 = F 57.5 +---+ ! ! Az: required conditions for operation -F 57.2 ---!>=1! ! ! +---+ T 152 = T 152 -F 60.1 ---! !-----! !-----!>=1! power-up time aft. main contactor Az1 on +---+ +---+ ! ! F 57.2 = F 57.2 +---+ ! ! Az: biassed mode -F 64.2 --O! & ! ! ! F 60.1 = F 60.1 -F 63.3 ---! ! ! ! +------+ Az: AUX n2 -T 152 ---! !-----! !--+-! = ! -AZ-Q 4.0 F 63.3 = F 63.3 +---+ +---+ ! +------+ motor heating on Az ! +------+ Q 4.0 = AZ-Q 4.0 +-! = ! -AZ-Q 4.1 enable amplifier Az 11 ! +------+ Q 4.1 = AZ-Q 4.1 ! +------+ enable amplifier Az 12 +-! = ! -AZ-Q 4.2 Q 4.2 = AZ-Q 4.2 ! +------+ enable amplifier Az 51 ! +------+ Q 4.3 = AZ-Q 4.3 +-! = ! -AZ-Q 4.3 enable amplifier Az 52 +------+ Segment 8 enable amplifiers group 2 +---+ F 54.0 = F 54.0 -F 54.0 ---!>=1! +---+ AZ: move command cw -F 54.1 ---! !-----! & ! F 54.1 = F 54.1 +---+ ! ! AZ: move command ccw -F 64.3 --O! ! F 64.3 = F 64.3 -F 57.5 ---! ! Az: power supply 2 failure -T 153 ---! ! F 57.5 = F 57.5 +---+ ! ! Az: required conditions for operation -F 57.2 ---!>=1! ! ! +---+ T 153 = T 153 -F 60.0 ---! !-----! !-----!>=1! power-up time aft. main contactor Az2 on +---+ +---+ ! ! F 57.2 = F 57.2 +---+ ! ! Az: biassed mode -F 64.3 --O! & ! ! ! F 60.0 = F 60.0 -F 63.3 ---! ! ! ! +------+ Az: AUX n1 -T 153 ---! !-----! !--+-! = ! -AZ-Q 4.4 F 63.3 = F 63.3 +---+ +---+ ! +------+ motor heating on Az ! +------+ Q 4.4 = AZ-Q 4.4 +-! = ! -AZ-Q 4.5 enable amplifier Az 41 ! +------+ Q 4.5 = AZ-Q 4.5 ! +------+ enable amplifier Az 42 +-! = ! -AZ-Q 4.6 Q 4.6 = AZ-Q 4.6 ! +------+ enable amplifier Az 81 ! +------+ Q 4.7 = AZ-Q 4.7 +-! = ! -AZ-Q 4.7 enable amplifier Az 82 +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+PB 151 -PB 151 C:ARECIBST.S5D LEN=289 Segment 9 DCS: load tachos group 1 +---+ F 57.2 = F 57.2 -F 57.2 ---!>=1! +---+ Az: biassed mode -F 60.1 ---! !-----! & ! F 60.1 = F 60.1 +---+ ! ! +------+ Az: AUX n2 -AZ-13.2 ---! !--+-! = ! -Az-Q 6.0 I 13.2 = AZ-13.2 +---+ ! +------+ AZ: main contactor group 1/5 on ! +------+ Q 6.0 = Az-Q 6.0 +-! = ! -Az-Q 6.1 DCS Az: load tacho 1/1 (n11) ! +------+ Q 6.1 = Az-Q 6.1 ! +------+ DCS Az: load tacho 1/2 (n12) +-! = ! -Az-Q 6.4 Q 6.4 = Az-Q 6.4 ! +------+ DCS Az: load tacho 3/1 (n1) ! +------+ Q 6.6 = Az-Q 6.6 +-! = ! -Az-Q 6.6 DCS Az: load tacho 4/1 (n51) ! +------+ Q 6.7 = Az-Q 6.7 ! +------+ DCS Az: load tacho 4/2 (n52) +-! = ! -Az-Q 6.7 Q 7.2 = Az-Q 7.2 ! +------+ DCS Az: load tacho 6/1 (n5) ! +------+ +-! = ! -Az-Q 7.2 +------+ Segment 10 DCS: load tachos group 2 +---+ F 57.2 = F 57.2 -F 57.2 ---!>=1! +---+ Az: biassed mode -F 60.0 ---! !-----! & ! F 60.0 = F 60.0 +---+ ! ! +------+ Az: AUX n1 -AZ-13.3 ---! !--+-! = ! -Az-Q 6.2 I 13.3 = AZ-13.3 +---+ ! +------+ AZ: main contactor group 4/8 on ! +------+ Q 6.2 = Az-Q 6.2 +-! = ! -Az-Q 6.3 DCS Az: load tacho 2/1 (n41) ! +------+ Q 6.3 = Az-Q 6.3 ! +------+ DCS Az: load tacho 2/2 (n42) +-! = ! -Az-Q 6.5 Q 6.5 = Az-Q 6.5 ! +------+ DCS Az: load tacho 3/2 (n4) ! +------+ Q 7.0 = Az-Q 7.0 +-! = ! -Az-Q 7.0 DCS Az: load tacho 5/1 (n81) ! +------+ Q 7.1 = Az-Q 7.1 ! +------+ DCS Az: load tacho 5/2 (n82) +-! = ! -Az-Q 7.1 Q 7.3 = Az-Q 7.3 ! +------+ DCS Az: load tacho 6/2 (n8) ! +------+ +-! = ! -Az-Q 7.3 +------+ Segment 11 DCS: load sum tacho signals +---+ I 13.2 = AZ-13.2 -AZ-13.2 ---!>=1! +------+ AZ: main contactor group 1/5 on -AZ-13.3 ---! !--+-! = ! -Az-Q 7.4 I 13.3 = AZ-13.3 +---+ ! +------+ AZ: main contactor group 4/8 on ! +------+ Q 7.4 = Az-Q 7.4 +-! = ! -Az-Q 7.5 DCS Az: load tacho 7/1 (nA) +------+ Q 7.5 = Az-Q 7.5 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+PB 151 -PB 151 C:ARECIBST.S5D LEN=289 DCS Az: load tacho 7/2 (nB) Segment 12 DCS: load setpoint 1 +---+ F 4.0 = F 4.0 -F 4.0 ---! & ! Az: local control (flag) -F 54.2 ---! ! F 54.2 = F 54.2 +---+ ! ! AZ: setpoint enable -AZ-12.6 ---!>=1! ! ! +------+ I 12.6 = AZ-12.6 -AZ-12.7 ---! !-----! !--+-! = ! -AZ-Q10.0 DCS: move Az cw +---+ +---+ +------+ I 12.7 = AZ-12.7 DCS: move Az ccw Q 10.0 = AZ-Q10.0 DCS: load setpoint Az 1 Segment 13 DCS: load setpoint 2 +---+ +------+ F 4.0 = F 4.0 -F 4.0 --O! & !--+-! = ! -AZ-Q10.1 Az: local control (flag) +---+ +------+ Q 10.1 = AZ-Q10.1 DCS: load setpoint Az 2 Segment 14 DCS: acceleration ramp fast >>>>> ramp 1 currently always activated! <<<<< +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! = ! -AZ-Q10.2 always "1" +---+ +------+ Q 10.2 = AZ-Q10.2 DCS: acceleration ramp Az fast Segment 15 sum_n controller on +---+ F 57.5 = F 57.5 -F 57.5 ---!>=1! +------+ Az: required conditions for operation -F 63.3 ---! !--+-! = ! -AZ-Q10.4 F 63.3 = F 63.3 +---+ +------+ motor heating on Az Q 10.4 = AZ-Q10.4 DCS: sum_n controller Az on Segment 16 load delta_n group 1 +---+ F 57.2 = F 57.2 -F 57.2 ---!>=1! +---+ Az: biassed mode -F 60.1 ---! !-----! & ! F 60.1 = F 60.1 +---+ ! ! Az: AUX n2 -F 57.5 ---! ! +------+ F 57.5 = F 57.5 -F 63.3 --O! !--+-! = ! -Az-Q 8.0 Az: required conditions for operation +---+ ! +------+ F 63.3 = F 63.3 ! +------+ motor heating on Az +-! = ! -Az-Q 8.4 Q 8.0 = Az-Q 8.0 ! +------+ DCS Az: 421.0 #1 / K1 (d_n1) ! +------+ Q 8.4 = Az-Q 8.4 +-! = ! -Az-Q 9.0 DCS Az: 421.0 #2 / K1 (d_n5) ! +------+ Q 9.0 = Az-Q 9.0 ! +------+ DCS Az: 421.0 #3 / K1 (total d_n M11/12) +-! = ! -Az-Q 9.4 Q 9.4 = Az-Q 9.4 +------+ DCS Az: 421.0 #4 / K1 (total d_n M51/52) +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 7! +------------------------------------------------------------------------------+PB 151 -PB 151 C:ARECIBST.S5D LEN=289 Segment 17 load delta_n group 2 +---+ F 57.2 = F 57.2 -F 57.2 ---!>=1! +---+ Az: biassed mode -F 60.0 ---! !-----! & ! F 60.0 = F 60.0 +---+ ! ! Az: AUX n1 -F 57.5 ---! ! +------+ F 57.5 = F 57.5 -F 63.3 --O! !--+-! = ! -Az-Q 8.2 Az: required conditions for operation +---+ ! +------+ F 63.3 = F 63.3 ! +------+ motor heating on Az +-! = ! -Az-Q 8.6 Q 8.2 = Az-Q 8.2 ! +------+ DCS Az: 421.0 #1 / K3 (d_n4) ! +------+ Q 8.6 = Az-Q 8.6 +-! = ! -Az-Q 9.2 DCS Az: 421.0 #2 / K3 (d_n8) ! +------+ Q 9.2 = Az-Q 9.2 ! +------+ DCS Az: 421.0 #3 / K3 (total d_n M41/42) +-! = ! -Az-Q 9.6 Q 9.6 = Az-Q 9.6 +------+ DCS Az: 421.0 #4 / K3 (total d_n M81/82) Segment 18 load delta_n biassed mode +---+ F 57.5 = F 57.5 -F 57.5 ---! & ! Az: required conditions for operation -F 57.2 ---! ! +------+ F 57.2 = F 57.2 -F 63.3 --O! !--+-! = ! -Az-Q 8.1 Az: biassed mode +---+ ! +------+ F 63.3 = F 63.3 ! +------+ motor heating on Az +-! = ! -Az-Q 8.3 Q 8.1 = Az-Q 8.1 ! +------+ DCS Az: 421.0 #1 / K2 (d_nA) ! +------+ Q 8.3 = Az-Q 8.3 +-! = ! -Az-Q 8.5 DCS Az: 421.0 #1 / K4 (-d_nA) ! +------+ Q 8.5 = Az-Q 8.5 ! +------+ DCS Az: 421.0 #2 / K2 (d_nB) +-! = ! -Az-Q 8.7 Q 8.7 = Az-Q 8.7 +------+ DCS Az: 421.0 #2 / K4 (-d_nB) Segment 19 I-portion on +---+ F 57.5 = F 57.5 -F 57.5 ---! & ! Az: required conditions for operation -F 54.2 ---! ! F 54.2 = F 54.2 -F 63.3 --O! ! AZ: setpoint enable +---+ ! ! F 63.3 = F 63.3 -F 4.0 --O! & ! +---+ ! ! motor heating on Az -F 4.2 --O! !-----!>=1! ! ! F 4.0 = F 4.0 +---+ ! ! ! ! Az: local control (flag) +---+ ! ! ! ! F 4.2 = F 4.2 -F 4.0 ---! & ! ! ! ! ! Az: PCU control (flag) +---+ ! ! ! ! ! ! F 61.0 = F 61.0 -F 61.0 ---!>=1! ! ! ! ! ! ! local move request Az cw -F 61.1 ---! !-----! !-----! ! ! ! F 61.1 = F 61.1 +---+ +---+ ! ! ! ! local move request Az ccw +---+ ! ! ! ! F 122.4 = F 122.4 -F 4.2 ---! & ! ! ! ! ! PCU command: move Az pos. +---+ ! ! ! ! ! ! F 122.5 = F 122.5 -F 122.4 ---!>=1! ! ! ! ! ! ! +------+ PCU command: move Az neg. -F 122.5 ---! !-----! !-----! !-----! !--+-! = ! -AZ-Q10.6 Q 10.6 = AZ-Q10.6 +---+ +---+ +---+ +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 8! +------------------------------------------------------------------------------+PB 151 -PB 151 C:ARECIBST.S5D LEN=289 DCS: I-portion of n-loop Az on Segment 20 DCS: torque bias on +---+ F 57.5 = F 57.5 -F 57.5 ---! & ! Az: required conditions for operation -F 57.2 ---! ! +------+ F 57.2 = F 57.2 -F 63.3 --O! !--+-! = ! -AZ-Q10.3 Az: biassed mode +---+ +------+ F 63.3 = F 63.3 motor heating on Az Q 10.3 = AZ-Q10.3 DCS: torque bias Az on Segment 21 unused functions Delta_n portion on controller board 334 (DCS 12A1) is not used. Torque bias addition ob boards 421 (DCS 13A1...16A1) is not used. +---+ +------+ F 0.0 = F 0.0 -F 0.0 ---! & !--+-! = ! -AZ-Q10.5 always "0" +---+ ! +------+ Q 10.5 = AZ-Q10.5 ! +------+ DCS: delta_n controller Az on +-! = ! -Az-Q 9.1 Q 9.1 = Az-Q 9.1 ! +------+ DCS Az: 421.0 #3 / K2 (torque bias 11/12 ! +------+ Q 9.3 = Az-Q 9.3 +-! = ! -Az-Q 9.3 DCS Az: 421.0 #3 / K4 (torque bias 41/42 ! +------+ Q 9.5 = Az-Q 9.5 ! +------+ DCS Az: 421.0 #4 / K2 (torque bias 51/52 +-! = ! -Az-Q 9.5 Q 9.7 = Az-Q 9.7 ! +------+ DCS Az: 421.0 #4 / K4 (torque bias 81/82 ! +------+ +-! = ! -Az-Q 9.7 +------+ Segment 22 feedarm bending compensation :C -DB 50 Positions :JU -FB 212 feedarm bending compensation Name :BENDING :*** Segment 23 motor heating during standstill :A -F 63.3 motor heating on Az :JC -FB 217 heating of drive motors Name :MOT-HEAT AXIS : KS AZ :*** Segment 24 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 9! +------------------------------------------------------------------------------+PB 152 -PB 152 C:ARECIBST.S5D LEN=50 Segment 1 ******************************************************************************* A Z I M U T H D R I V E S - switch-off of all drives - ******************************************************************************* Segment 2 reset operating modes +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! R ! -F 7.0 always "1" +---+ ! +------+ F 7.0 = F 7.0 ! +------+ Az: RATE mode +-! R ! -F 7.1 F 7.1 = F 7.1 ! +------+ Az: PRESET mode ! +------+ F 7.2 = F 7.2 +-! R ! -F 7.2 Az: STOW mode ! +------+ F 7.3 = F 7.3 ! +------+ Az: PROGRAM TRACK mode +-! R ! -F 7.3 +------+ Segment 3 reset PCU commands +---+ F 4.3 = F 4.3 -F 4.3 ---! & ! +------+ Az: PCU control (pulse) -F 121.0 ---! !--+-! R ! -F 122.0 F 121.0 = F 121.0 +---+ ! +------+ PCU mode: Azimuth ! +------+ F 122.0 = F 122.0 +-! R ! -F 122.3 PCU command: drive on +------+ F 122.3 = F 122.3 PCU command: go +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 152 -PB 152 C:ARECIBST.S5D LEN=50 Segment 4 reset move requests +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! R ! -F 61.0 always "1" +---+ ! +------+ F 61.0 = F 61.0 ! +------+ local move request Az cw +-! R ! -F 61.1 F 61.1 = F 61.1 ! +------+ local move request Az ccw ! +------+ F 122.4 = F 122.4 +-! R ! -F 122.4 PCU command: move Az pos. ! +------+ F 122.5 = F 122.5 ! +------+ PCU command: move Az neg. +-! R ! -F 122.5 F 130.0 = F 130.0 ! +------+ computer mode: Az ! +------+ F 131.0 = F 131.0 +-! R ! -F 130.0 computer command: move Az cw ! +------+ F 131.1 = F 131.1 ! +------+ computer command: move Az ccw +-! R ! -F 131.0 F 132.0 = F 132.0 ! +------+ computer command: Az RATE ! +------+ F 132.1 = F 132.1 +-! R ! -F 131.1 computer command: Az PRESET ! +------+ F 132.2 = F 132.2 ! +------+ computer command: Az STOW +-! R ! -F 132.0 F 132.3 = F 132.3 ! +------+ computer command: Az PROGRAM TRACK ! +------+ +-! R ! -F 132.1 ! +------+ ! +------+ +-! R ! -F 132.2 ! +------+ ! +------+ +-! R ! -F 132.3 +------+ Segment 5 setpoints zero :L KB 0 :C -DB 150 drive datas :T DW 201 setpoint :*** Segment 6 reset computer commands :C -DB 222 data from CP581 :L KB 0 :T DR 10 :T DW 20 commanded rate :C -DB 50 Positions :L DD 20 :C -DB 222 data from CP581 :T DD 24 commanded pos. = actual pos. :*** Segment 7 reset functions :O -F 4.1 Az: local control (pulse) :O -F 4.3 Az: PCU control (pulse) :O -F 4.5 Az: Computer control (pulse) :JU -FB 208 function reset Name :RESET :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 152 -PB 152 C:ARECIBST.S5D LEN=50 Segment 8 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 153 -PB 153 C:ARECIBST.S5D LEN=15 Segment 1 ******************************************************************************* A Z I M U T H D R I V E S - local functions - ******************************************************************************* Segment 2 move request cw +---+ F 57.0 = F 57.0 -F 57.0 ---! & ! +------+ AZ: ready for operation -AZ-12.6 ---! !--+-! = ! -F 61.0 I 12.6 = AZ-12.6 +---+ +------+ DCS: move Az cw F 61.0 = F 61.0 local move request Az cw Segment 3 move request ccw +---+ F 57.0 = F 57.0 -F 57.0 ---! & ! +------+ AZ: ready for operation -AZ-12.7 ---! !--+-! = ! -F 61.1 I 12.7 = AZ-12.7 +---+ +------+ DCS: move Az ccw F 61.1 = F 61.1 local move request Az ccw Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 154 -PB 154 C:ARECIBST.S5D LEN=7 Segment 1 ******************************************************************************* A Z I M U T H D R I V E S - computer functions - ******************************************************************************* Segment 2 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 155 -PB 155 C:ARECIBST.S5D LEN=255 Segment 1 ******************************************************************************* A Z I M U T H D R I V E S - Brakes - ******************************************************************************* +------+ DB 150 = DB 150 +-! C ! -DB 150 drive datas +------+ Segment 2 brake 1 +---+ F 54.7 = F 54.7 -F 54.7 ---! & ! AZ: brake release command -F 57.0 ---! ! -AZ-Q 5.0 F 57.0 = F 57.0 -F 31.5 --O! ! +-----+ AZ: ready for operation -F 64.4 --O! !----!S ! F 31.5 = F 31.5 +---+ ! ! position Az: emergency limit -F 54.7 -O!R Q!- F 64.4 = F 64.4 +-----+ Az: setting of brakes started Q 5.0 = AZ-Q 5.0 release brake Az 11 Segment 3 brake closing sequence started +---+ Q 5.0 = AZ-Q 5.0 -AZ-Q 5.0--O! & ! release brake Az 11 +---+ ! ! -F 64.4 Q 5.1 = AZ-Q 5.1 -AZ-Q 5.1---!>=1! ! ! +-----+ release brake Az 12 -AZ-Q 5.7---! !-----! !----!S ! Q 5.7 = AZ-Q 5.7 +---+ +---+ ! ! release brake Az 82 -AZ-Q 5.7-O!R Q!- F 64.4 = F 64.4 +-----+ Az: setting of brakes started Segment 4 open brake 2 -T 201 Q 5.0 = AZ-Q 5.0 +-----+ release brake Az 11 -AZ-Q 5.0--!T!-!0! T 201 = T 201 DW 19 --!TV BI!- switch-on delay brake Az 2 ! DE!- F 31.5 = F 31.5 ! ! +---+ position Az: emergency limit --!R Q!----! & ! F 57.0 = F 57.0 +-----+ ! ! AZ: ready for operation -F 31.5 --O! ! +------+ Q 5.1 = AZ-Q 5.1 -F 57.0 ---! !--+-! S ! -AZ-Q 5.1 release brake Az 12 +---+ +------+ Segment 5 open brake 3 -T 202 Q 5.1 = AZ-Q 5.1 +-----+ release brake Az 12 -AZ-Q 5.1--!T!-!0! T 202 = T 202 DW 19 --!TV BI!- switch-on delay brake Az 3 ! DE!- F 31.5 = F 31.5 ! ! +---+ position Az: emergency limit --!R Q!----! & ! F 57.0 = F 57.0 +-----+ ! ! AZ: ready for operation -F 31.5 --O! ! +------+ -F 57.0 ---! !--+-! S ! -AZ-Q 5.2 +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 155 -PB 155 C:ARECIBST.S5D LEN=255 Q 5.2 = AZ-Q 5.2 release brake Az 51 Segment 6 open brake 4 -T 203 Q 5.2 = AZ-Q 5.2 +-----+ release brake Az 51 -AZ-Q 5.2--!T!-!0! T 203 = T 203 DW 19 --!TV BI!- switch-on delay brake Az 4 ! DE!- F 31.5 = F 31.5 ! ! +---+ position Az: emergency limit --!R Q!----! & ! F 57.0 = F 57.0 +-----+ ! ! AZ: ready for operation -F 31.5 --O! ! +------+ Q 5.3 = AZ-Q 5.3 -F 57.0 ---! !--+-! S ! -AZ-Q 5.3 release brake Az 52 +---+ +------+ Segment 7 open brake 5 -T 204 Q 5.3 = AZ-Q 5.3 +-----+ release brake Az 52 -AZ-Q 5.3--!T!-!0! T 204 = T 204 DW 19 --!TV BI!- switch-on delay brake Az 5 ! DE!- F 31.5 = F 31.5 ! ! +---+ position Az: emergency limit --!R Q!----! & ! F 57.0 = F 57.0 +-----+ ! ! AZ: ready for operation -F 31.5 --O! ! +------+ Q 5.4 = AZ-Q 5.4 -F 57.0 ---! !--+-! S ! -AZ-Q 5.4 release brake Az 41 +---+ +------+ Segment 8 open brake 6 -T 205 Q 5.4 = AZ-Q 5.4 +-----+ release brake Az 41 -AZ-Q 5.4--!T!-!0! T 205 = T 205 DW 19 --!TV BI!- switch-on delay brake Az 6 ! DE!- F 31.5 = F 31.5 ! ! +---+ position Az: emergency limit --!R Q!----! & ! F 57.0 = F 57.0 +-----+ ! ! AZ: ready for operation -F 31.5 --O! ! +------+ Q 5.5 = AZ-Q 5.5 -F 57.0 ---! !--+-! S ! -AZ-Q 5.5 release brake Az 42 +---+ +------+ Segment 9 open brake 7 -T 206 Q 5.5 = AZ-Q 5.5 +-----+ release brake Az 42 -AZ-Q 5.5--!T!-!0! T 206 = T 206 DW 19 --!TV BI!- switch-on delay brake Az 7 ! DE!- F 31.5 = F 31.5 ! ! +---+ position Az: emergency limit --!R Q!----! & ! F 57.0 = F 57.0 +-----+ ! ! AZ: ready for operation -F 31.5 --O! ! +------+ Q 5.6 = AZ-Q 5.6 -F 57.0 ---! !--+-! S ! -AZ-Q 5.6 release brake Az 81 +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 155 -PB 155 C:ARECIBST.S5D LEN=255 Segment 10 open brake 8 -T 207 Q 5.6 = AZ-Q 5.6 +-----+ release brake Az 81 -AZ-Q 5.6--!T!-!0! T 207 = T 207 DW 19 --!TV BI!- switch-on delay brake Az 8 ! DE!- F 31.5 = F 31.5 ! ! +---+ position Az: emergency limit --!R Q!----! & ! F 57.0 = F 57.0 +-----+ ! ! AZ: ready for operation -F 31.5 --O! ! +------+ Q 5.7 = AZ-Q 5.7 -F 57.0 ---! !--+-! S ! -AZ-Q 5.7 release brake Az 82 +---+ +------+ Segment 11 brakes open +---+ -F 57.7 I 12.2 = AZ-12.2 -AZ-12.2 ---! & ! +-----+ brakes group 1/5 released -AZ-12.3 ---! !----!S ! I 12.3 = AZ-12.3 +---+ ! ! brakes group 4/8 released +---+ ! ! F 57.7 = F 57.7 -AZ-12.2 --O!>=1! ! ! AZ: brake open -AZ-12.3 --O! ! ! ! Q 5.0 = AZ-Q 5.0 -AZ-Q 5.0--O! ! ! ! release brake Az 11 -AZ-Q 5.1--O! ! ! ! Q 5.1 = AZ-Q 5.1 -AZ-Q 5.2--O! ! ! ! release brake Az 12 -AZ-Q 5.3--O! ! ! ! Q 5.2 = AZ-Q 5.2 -AZ-Q 5.4--O! ! ! ! release brake Az 51 -AZ-Q 5.5--O! ! ! ! Q 5.3 = AZ-Q 5.3 -AZ-Q 5.6--O! ! ! ! release brake Az 52 -AZ-Q 5.7--O! !----!R Q!- Q 5.4 = AZ-Q 5.4 +---+ +-----+ release brake Az 41 Q 5.5 = AZ-Q 5.5 release brake Az 42 Q 5.6 = AZ-Q 5.6 release brake Az 81 Q 5.7 = AZ-Q 5.7 release brake Az 82 Segment 12 brakes closed +---+ I 12.2 = AZ-12.2 -AZ-12.2 --O! & ! brakes group 1/5 released -AZ-12.3 --O! ! I 12.3 = AZ-12.3 -AZ-Q 5.0--O! ! brakes group 4/8 released -AZ-Q 5.1--O! ! Q 5.0 = AZ-Q 5.0 -AZ-Q 5.2--O! ! release brake Az 11 -AZ-Q 5.3--O! ! Q 5.1 = AZ-Q 5.1 -AZ-Q 5.4--O! ! release brake Az 12 -AZ-Q 5.5--O! ! -T 107 Q 5.2 = AZ-Q 5.2 -AZ-Q 5.6--O! ! +-----+ release brake Az 51 -AZ-Q 5.7--O! !--#-F 64.7 --!T!-!0! Q 5.3 = AZ-Q 5.3 +---+ ! ! release brake Az 52 DW 18 --!TV BI!- Q 5.4 = AZ-Q 5.4 ! DE!- release brake Az 41 ! ! +------+ Q 5.5 = AZ-Q 5.5 --!R Q!-+-! = ! -F 65.2 release brake Az 42 +-----+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 155 -PB 155 C:ARECIBST.S5D LEN=255 Q 5.6 = AZ-Q 5.6 release brake Az 81 Q 5.7 = AZ-Q 5.7 release brake Az 82 F 64.7 = F 64.7 Az: aux. flag brake closed T 107 = T 107 brake engage time Az F 65.2 = F 65.2 Az: brake closed Segment 13 close brake 2 +---+ -T 208 F 54.7 = F 54.7 -F 54.7 --O! & ! +-----+ AZ: brake release command -AZ-Q 5.0--O! !----!T!-!0! Q 5.0 = AZ-Q 5.0 +---+ ! ! release brake Az 11 DW 19 --!TV BI!- T 208 = T 208 ! DE!- switch-off delay brake Az 2 ! ! +------+ Q 5.1 = AZ-Q 5.1 --!R Q!-+-! R ! -AZ-Q 5.1 release brake Az 12 +-----+ +------+ Segment 14 close brake 3 +---+ -T 209 F 54.7 = F 54.7 -F 54.7 --O! & ! +-----+ AZ: brake release command -AZ-Q 5.1--O! !----!T!-!0! Q 5.1 = AZ-Q 5.1 +---+ ! ! release brake Az 12 DW 19 --!TV BI!- T 209 = T 209 ! DE!- switch-off delay brake Az 3 ! ! +------+ Q 5.2 = AZ-Q 5.2 --!R Q!-+-! R ! -AZ-Q 5.2 release brake Az 51 +-----+ +------+ Segment 15 close brake 4 +---+ -T 210 F 54.7 = F 54.7 -F 54.7 --O! & ! +-----+ AZ: brake release command -AZ-Q 5.2--O! !----!T!-!0! Q 5.2 = AZ-Q 5.2 +---+ ! ! release brake Az 51 DW 19 --!TV BI!- T 210 = T 210 ! DE!- switch-off delay brake Az 4 ! ! +------+ Q 5.3 = AZ-Q 5.3 --!R Q!-+-! R ! -AZ-Q 5.3 release brake Az 52 +-----+ +------+ Segment 16 close brake 5 +---+ -T 211 F 54.7 = F 54.7 -F 54.7 --O! & ! +-----+ AZ: brake release command -AZ-Q 5.3--O! !----!T!-!0! Q 5.3 = AZ-Q 5.3 +---+ ! ! release brake Az 52 DW 19 --!TV BI!- T 211 = T 211 ! DE!- switch-off delay brake Az 5 ! ! +------+ Q 5.4 = AZ-Q 5.4 --!R Q!-+-! R ! -AZ-Q 5.4 release brake Az 41 +-----+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+PB 155 -PB 155 C:ARECIBST.S5D LEN=255 Segment 17 close brake 6 +---+ -T 212 F 54.7 = F 54.7 -F 54.7 --O! & ! +-----+ AZ: brake release command -AZ-Q 5.4--O! !----!T!-!0! Q 5.4 = AZ-Q 5.4 +---+ ! ! release brake Az 41 DW 19 --!TV BI!- T 212 = T 212 ! DE!- switch-off delay brake Az 6 ! ! +------+ Q 5.5 = AZ-Q 5.5 --!R Q!-+-! R ! -AZ-Q 5.5 release brake Az 42 +-----+ +------+ Segment 18 close brake 7 +---+ -T 213 F 54.7 = F 54.7 -F 54.7 --O! & ! +-----+ AZ: brake release command -AZ-Q 5.5--O! !----!T!-!0! Q 5.5 = AZ-Q 5.5 +---+ ! ! release brake Az 42 DW 19 --!TV BI!- T 213 = T 213 ! DE!- switch-off delay brake Az 7 ! ! +------+ Q 5.6 = AZ-Q 5.6 --!R Q!-+-! R ! -AZ-Q 5.6 release brake Az 81 +-----+ +------+ Segment 19 close brake 8 +---+ -T 214 F 54.7 = F 54.7 -F 54.7 --O! & ! +-----+ AZ: brake release command -AZ-Q 5.6--O! !----!T!-!0! Q 5.6 = AZ-Q 5.6 +---+ ! ! release brake Az 81 DW 19 --!TV BI!- T 214 = T 214 ! DE!- switch-off delay brake Az 8 ! ! +------+ Q 5.7 = AZ-Q 5.7 --!R Q!-+-! R ! -AZ-Q 5.7 release brake Az 82 +-----+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+PB 155 -PB 155 C:ARECIBST.S5D LEN=255 Segment 20 close all brakes +---+ F 10.7 = F 10.7 -F 10.7 ---!>=1! emergency off -F 31.5 ---! ! F 31.5 = F 31.5 -F 57.1 ---! ! +------+ position Az: emergency limit -F 57.5 --O! !--+-! R ! -AZ-Q 5.0 F 57.1 = F 57.1 +---+ ! +------+ AZ: power supply general failure ! +------+ F 57.5 = F 57.5 +-! R ! -AZ-Q 5.1 Az: required conditions for operation ! +------+ Q 5.0 = AZ-Q 5.0 ! +------+ release brake Az 11 +-! R ! -AZ-Q 5.2 Q 5.1 = AZ-Q 5.1 ! +------+ release brake Az 12 ! +------+ Q 5.2 = AZ-Q 5.2 +-! R ! -AZ-Q 5.3 release brake Az 51 ! +------+ Q 5.3 = AZ-Q 5.3 ! +------+ release brake Az 52 +-! R ! -AZ-Q 5.4 Q 5.4 = AZ-Q 5.4 ! +------+ release brake Az 41 ! +------+ Q 5.5 = AZ-Q 5.5 +-! R ! -AZ-Q 5.5 release brake Az 42 ! +------+ Q 5.6 = AZ-Q 5.6 ! +------+ release brake Az 81 +-! R ! -AZ-Q 5.6 Q 5.7 = AZ-Q 5.7 ! +------+ release brake Az 82 ! +------+ +-! R ! -AZ-Q 5.7 +------+ Segment 21 manual brake release only :ON -PD-I1.0 PB Main Power on :ON -DC-I1.6 PB Lamp Test :ON -DC-I1.7 PB Failure Reset :ON -DC-I3.1 SW: Az local only :ON -F 7.6 Az: STOP mode :BEC :*** Segment 22 release brakes on CH side The brakes of the Az motors on the CH side of the feedarm can be released manually in order to unbend the feedarm once it has run into a real bending limit. +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+PB 155 -PB 155 C:ARECIBST.S5D LEN=255 +---+ F 57.5 = F 57.5 -F 57.5 ---! & ! Az: required conditions for operation -PD-I1.0 ---! ! I 1.0 = PD-I1.0 -DC-I1.6 ---! ! PB Main Power on -DC-I1.7 ---! ! I 1.6 = DC-I1.6 -DC-I3.1 ---! ! +------+ PB Lamp Test -F 7.6 ---! !--+-! = ! -AZ-Q 5.2 I 1.7 = DC-I1.7 +---+ ! +------+ PB Failure Reset ! +------+ I 3.1 = DC-I3.1 +-! = ! -AZ-Q 5.3 SW: Az local only ! +------+ F 7.6 = F 7.6 ! +------+ Az: STOP mode +-! = ! -AZ-Q 5.6 Q 5.2 = AZ-Q 5.2 ! +------+ release brake Az 51 ! +------+ Q 5.3 = AZ-Q 5.3 +-! = ! -AZ-Q 5.7 release brake Az 52 +------+ Q 5.6 = AZ-Q 5.6 release brake Az 81 Q 5.7 = AZ-Q 5.7 release brake Az 82 Segment 23 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 7! +------------------------------------------------------------------------------+PB 156 -PB 156 C:ARECIBST.S5D LEN=48 Segment 1 ******************************************************************************* INTERLOCKS OF AZIMUTH DRIVE SYSTEM WITH CABLE CAR CONTROL ******************************************************************************* +------+ DB 50 = DB 50 +-! C ! -DB 50 Positions +------+ Segment 2 Az Drive in interlock area? F 2.0 = F 2.0 -FB 219 dummy flag +--------------+ FB 219 = FB 219 ! CARLIMIT ! cable car interlock limits DD 176 --!LIM1 IN !-- -F 2.0 DD 178 --!LIM2 ! +--------------+ Segment 3 interlock area entered +---+ +------+ F 2.0 = F 2.0 -F 2.0 ---! & !--+-! S ! -F 47.0 dummy flag +---+ +------+ F 47.0 = F 47.0 Az drive in cable car interlock area Segment 4 add hysteresis to limits :L DD 176 limit cw :L DW 101 + hysteresis :+D :T FD 240 = new limit cw :L DD 178 limit ccw :L DW 101 - hysteresis :-D :T FD 244 = new limit ccw :*** Segment 5 Az in extended interlock area? F 2.1 = F 2.1 -FB 219 dummy flag +--------------+ FB 219 = FB 219 ! CARLIMIT ! cable car interlock limits FD 240 --!LIM1 IN !-- -F 2.1 FD 244 --!LIM2 ! +--------------+ Segment 6 interlock area left +---+ +------+ F 2.1 = F 2.1 -F 2.1 --O! & !--+-! R ! -F 47.0 dummy flag +---+ +------+ F 47.0 = F 47.0 Az drive in cable car interlock area Segment 7 interlock signal for cable car If the feed arm is in the interlock area, Q1.3 will be set and the relay connected to this output will open. With the PLC down the cable car is still operational because a NC contact is used. +---+ +------+ -F 47.0 ---! & !--+-! = ! -PD-Q 1.3 +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 156 -PB 156 C:ARECIBST.S5D LEN=48 F 47.0 = F 47.0 Az drive in cable car interlock area Q 1.3 = PD-Q 1.3 cable car interlock Segment 8 activate Az drive stop +---+ F 47.0 = F 47.0 -F 47.0 ---!>=1! +---+ Az drive in cable car interlock area -I 0.2 --O! !-----! & ! I 0.2 = I 0.2 +---+ ! ! +------+ cable car not in collision zone -I 0.1 --O! !--+-! = ! -F 47.1 I 0.1 = I 0.1 +---+ +------+ cable car not moving F 47.1 = F 47.1 Az drive stop because of cable car Segment 9 Az drives stop +---+ +------+ F 47.1 = F 47.1 -F 47.1 ---! & !--+-! JC ! -PB 152 Az drive stop because of cable car +---+ +------+ PB 152 = PB 152 switch off Az drives Segment 10 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 160 -PB 160 C:ARECIBST.S5D LEN=248 Segment 1 ******************************************************************************* G R E G O R I A N D O M E D R I V E S Y S T E M - modes - enable - faults - ******************************************************************************* +------+ +-! C ! DB 160 +------+ Segment 2 ready for operation +---+ F 11.0 = F 11.0 -F 11.0 --O! & ! drive cabinet 1 overtemperature -F 10.1 ---! ! F 10.1 = F 10.1 -F 30.7 --O! ! general conditions for operation -F 58.1 --O! ! F 30.7 = F 30.7 -F 58.5 ---! ! collision protection GD-CH -F 58.6 --O! ! F 58.1 = F 58.1 -F 64.0 --O! ! +------+ GD: power supply general failure -F 64.1 --O! !--+-! = ! -F 58.0 F 58.5 = F 58.5 +---+ +------+ GD: required conditions for operation F 58.6 = F 58.6 GD: moving in wrong direction F 64.0 = F 64.0 GD: power supply 1 failure F 64.1 = F 64.1 GD: power supply 2 failure F 58.0 = F 58.0 GD: ready for operation Segment 3 minimum conditions for operation +---+ I 2.4 = DC-I2.4 -DC-I2.4 ---! & ! 24 VDC for brakes ok -GD-14.4 ---! ! I 14.4 = GD-14.4 -F 10.0 ---! ! GD: local axis disable -F 10.7 --O! ! F 10.0 = F 10.0 -F 11.2 --O! ! voltages ok -F 30.7 --O! ! F 10.7 = F 10.7 -F 32.5 --O! ! emergency off -F 58.1 --O! ! +------+ F 11.2 = F 11.2 -F 58.6 --O! !--+-! = ! -F 58.5 mains over-/undervoltage +---+ +------+ F 30.7 = F 30.7 collision protection GD-CH F 32.5 = F 32.5 position GD: emergency limit F 58.1 = F 58.1 GD: power supply general failure F 58.6 = F 58.6 GD: moving in wrong direction F 58.5 = F 58.5 GD: required conditions for operation +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 160 -PB 160 C:ARECIBST.S5D LEN=248 Segment 4 power supply 1 failure -F 64.0 F 11.6 = F 11.6 +-----+ axis failure reset GD -F 11.6 --!R ! F 64.0 = F 64.0 +---+ ! ! GD: power supply 1 failure -GD-15.2 --O! & ! +---+ ! ! I 15.2 = GD-15.2 -T 162 ---! !-----!>=1! ! ! GD: main contactor group 1/2 on +---+ ! ! ! ! T 162 = T 162 -GD-15.0 --O! ! ! ! power-up time aft. main contactor GD1 on -T 167 ---! !----!S Q!- I 15.0 = GD-15.0 +---+ +-----+ GD: power supply group 1/2 no fault T 167 = T 167 GD: DC bus voltage supervision time GD1 Segment 5 power supply 2 failure -F 64.1 F 11.6 = F 11.6 +-----+ axis failure reset GD -F 11.6 --!R ! F 64.1 = F 64.1 +---+ ! ! GD: power supply 2 failure -GD-15.3 --O! & ! +---+ ! ! I 15.3 = GD-15.3 -T 163 ---! !-----!>=1! ! ! GD: main contactor group 3/4 on +---+ ! ! ! ! T 163 = T 163 -GD-15.1 --O! ! ! ! power-up time aft. main contactor GD2 on -T 168 ---! !----!S Q!- I 15.1 = GD-15.1 +---+ +-----+ GD: power supply group 3/4 no fault T 168 = T 168 GD: DC bus voltage supervision time GD2 Segment 6 power supply general failure -F 58.1 F 11.6 = F 11.6 +-----+ axis failure reset GD -F 11.6 --!R ! F 58.1 = F 58.1 +---+ ! ! GD: power supply general failure -GD-14.0 --O!>=1! ! ! I 14.0 = GD-14.0 -GD-14.1 --O! !----!S Q!- circuit breaker brakes group 1/2 +---+ +-----+ I 14.1 = GD-14.1 circuit breaker brakes group 3/4 Segment 7 DC bus voltage supervision GD1 -T 167 I 15.4 = GD-15.4 +-----+ GD: DC bus voltage group 1/2 ok -GD-15.4 -O!T!-!0! T 167 = T 167 DW 8 --!TV BI!- GD: DC bus voltage supervision time GD1 ! DE!- --!R Q!- +-----+ Segment 8 DC bus voltage supervision GD2 -T 168 I 15.5 = GD-15.5 +-----+ GD: DC bus voltage group 3/4 ok -GD-15.5 -O!T!-!0! T 168 = T 168 DW 8 --!TV BI!- GD: DC bus voltage supervision time GD2 ! DE!- --!R Q!- +-----+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 160 -PB 160 C:ARECIBST.S5D LEN=248 Segment 9 RATE mode +---+ F 5.0 = F 5.0 -F 5.0 ---! & ! GD: local control (flag) +---+ ! ! I 14.6 = GD-14.6 -GD-14.6 ---!>=1! ! ! +---+ DCS: move GD down -GD-14.7 ---! !-----! !-----!>=1! I 14.7 = GD-14.7 +---+ +---+ ! ! DCS: move GD up +---+ ! ! F 5.2 = F 5.2 -F 5.2 ---! & ! ! ! GD: PCU control (flag) -F 122.0 ---! ! ! ! F 122.0 = F 122.0 -F 121.1 ---! !-----! ! PCU command: drive on +---+ ! ! F 121.1 = F 121.1 +---+ ! ! PCU mode: Gregorian Dome -F 5.4 ---! & ! ! ! +---+ F 5.4 = F 5.4 -F 133.0 ---! !-----! !--#-F 118.0 ---! & ! -F 8.0 GD: Computer control (flag) +---+ +---+ ! ! +-----+ F 133.0 = F 133.0 -F 58.0 ---! !----!S ! computer command: GD RATE +---+ ! ! F 118.0 = F 118.0 +---+ ! ! GD: RATE aux. flag -F 118.0 --O! & ! ! ! F 58.0 = F 58.0 +---+ ! ! ! ! GD: ready for operation -F 55.2 --O!>=1! ! ! ! ! F 8.0 = F 8.0 +---+ ! ! ! ! ! ! GD: RATE mode -F 5.4 ---! & ! ! ! ! ! ! ! F 55.2 = F 55.2 +---+ ! ! ! ! ! ! ! ! GD: setpoint enable -F 133.1 ---!>=1! ! ! ! ! ! ! ! ! F 133.1 = F 133.1 -F 133.2 ---! ! ! ! ! ! ! ! ! ! computer command: GD PRESET -F 133.3 ---! !-----! !-----! !-----! !----!R Q!- F 133.2 = F 133.2 +---+ +---+ +---+ +---+ +-----+ computer command: GD STOW F 133.3 = F 133.3 computer command: GD PROGRAM TRACK Segment 10 PRESET mode +---+ F 5.4 = F 5.4 -F 5.4 ---! & ! +---+ GD: Computer control (flag) -F 133.1 ---! !--#-F 118.1 ---! & ! -F 8.1 F 133.1 = F 133.1 +---+ ! ! +-----+ computer command: GD PRESET -F 58.0 ---! !----!S ! F 118.1 = F 118.1 +---+ ! ! GD: PRESET aux. flag +---+ ! ! F 58.0 = F 58.0 -F 118.1 --O! & ! ! ! GD: ready for operation +---+ ! ! ! ! F 8.1 = F 8.1 -F 55.2 --O!>=1! ! ! ! ! GD: PRESET mode +---+ ! ! ! ! ! ! F 55.2 = F 55.2 -F 5.4 ---! & ! ! ! ! ! ! ! GD: setpoint enable +---+ ! ! ! ! ! ! ! ! F 133.0 = F 133.0 -F 133.0 ---!>=1! ! ! ! ! ! ! ! ! computer command: GD RATE -F 133.2 ---! ! ! ! ! ! ! ! ! ! F 133.2 = F 133.2 -F 133.3 ---! !-----! !-----! !-----! !----!R Q!- computer command: GD STOW +---+ +---+ +---+ +---+ +-----+ F 133.3 = F 133.3 computer command: GD PROGRAM TRACK +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 160 -PB 160 C:ARECIBST.S5D LEN=248 Segment 11 STOW mode +---+ F 5.4 = F 5.4 -F 5.4 ---! & ! +---+ GD: Computer control (flag) -F 133.2 ---! !--#-F 118.2 ---! & ! -F 8.2 F 133.2 = F 133.2 +---+ ! ! +-----+ computer command: GD STOW -F 58.0 ---! !----!S ! F 118.2 = F 118.2 +---+ ! ! GD: STOW aux. flag +---+ ! ! F 58.0 = F 58.0 -F 118.2 --O! & ! ! ! GD: ready for operation +---+ ! ! ! ! F 8.2 = F 8.2 -F 55.2 --O!>=1! ! ! ! ! GD: STOW mode +---+ ! ! ! ! ! ! F 55.2 = F 55.2 -F 5.4 ---! & ! ! ! ! ! ! ! GD: setpoint enable +---+ ! ! ! ! ! ! ! ! F 133.0 = F 133.0 -F 133.0 ---!>=1! ! ! ! ! ! ! ! ! computer command: GD RATE -F 133.1 ---! ! ! ! ! ! ! ! ! ! F 133.1 = F 133.1 -F 133.3 ---! !-----! !-----! !-----! !----!R Q!- computer command: GD PRESET +---+ +---+ +---+ +---+ +-----+ F 133.3 = F 133.3 computer command: GD PROGRAM TRACK Segment 12 PROGRAM TRACK mode +---+ F 5.4 = F 5.4 -F 5.4 ---! & ! +---+ GD: Computer control (flag) -F 133.3 ---! !--#-F 118.3 ---! & ! -F 8.3 F 133.3 = F 133.3 +---+ ! ! +-----+ computer command: GD PROGRAM TRACK -F 58.0 ---! !----!S ! F 118.3 = F 118.3 +---+ ! ! GD: PROGRAM TRACK aux. flag +---+ ! ! F 58.0 = F 58.0 -F 118.3 --O! & ! ! ! GD: ready for operation +---+ ! ! ! ! F 8.3 = F 8.3 -F 55.2 --O!>=1! ! ! ! ! GD: PROGRAM TRACK mode +---+ ! ! ! ! ! ! F 55.2 = F 55.2 -F 5.4 ---! & ! ! ! ! ! ! ! GD: setpoint enable +---+ ! ! ! ! ! ! ! ! F 133.0 = F 133.0 -F 133.0 ---!>=1! ! ! ! ! ! ! ! ! computer command: GD RATE -F 133.1 ---! ! ! ! ! ! ! ! ! ! F 133.1 = F 133.1 -F 133.2 ---! !-----! !-----! !-----! !----!R Q!- computer command: GD PRESET +---+ +---+ +---+ +---+ +-----+ F 133.2 = F 133.2 computer command: GD STOW Segment 13 switch off modes +---+ +------+ F 58.5 = F 58.5 -F 58.5 --O! & !--+-! R ! -F 8.0 GD: required conditions for operation +---+ ! +------+ F 8.0 = F 8.0 ! +------+ GD: RATE mode +-! R ! -F 8.1 F 8.1 = F 8.1 ! +------+ GD: PRESET mode ! +------+ F 8.2 = F 8.2 +-! R ! -F 8.2 GD: STOW mode ! +------+ F 8.3 = F 8.3 ! +------+ GD: PROGRAM TRACK mode +-! R ! -F 8.3 +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+PB 160 -PB 160 C:ARECIBST.S5D LEN=248 Segment 14 STOP mode +---+ F 8.0 = F 8.0 -F 8.0 --O! & ! GD: RATE mode -F 8.1 --O! ! F 8.1 = F 8.1 -F 8.2 --O! ! +------+ GD: PRESET mode -F 8.3 --O! !--+-! = ! -F 8.6 F 8.2 = F 8.2 +---+ +------+ GD: STOW mode F 8.3 = F 8.3 GD: PROGRAM TRACK mode F 8.6 = F 8.6 GD: STOP mode Segment 15 biassed mode with 8 motors :A -F 8.6 GD: STOP mode :A( :L FY 138 01 :L KB 0 01 :>< F! GD AUX mode control byte ! ! +------+ F 68.1 = F 68.1 -FY 67 --! Q!-+-! = ! -F 68.1 GD AUX mode switchover reset +-----+ +------+ Segment 17 store new AUX mode +-----+ FY 67 = FY 67 FY 62 --! --> !- -FY 67 GD AUX mode control byte +-----+ Segment 18 local functions +---+ +------+ F 5.0 = F 5.0 -F 5.0 ---! & !--+-! JC ! -PB 163 GD: local control (flag) +---+ +------+ PB 163 = PB 163 local GD functions Segment 19 computer functions +---+ F 5.4 = F 5.4 -F 5.4 ---! & ! +------+ GD: Computer control (flag) -F 8.6 ---! !--+-! JC ! -PB 164 F 8.6 = F 8.6 +---+ +------+ GD: STOP mode PB 164 = PB 164 computer GD functions +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+PB 160 -PB 160 C:ARECIBST.S5D LEN=248 Segment 20 drive function request +---+ F 118.0 = F 118.0 -F 118.0 ---!>=1! GD: RATE aux. flag -F 118.1 ---! ! -T 165 F 118.1 = F 118.1 -F 118.2 ---! ! +-----+ GD: PRESET aux. flag -F 118.3 ---! !----!T!-!0! F 118.2 = F 118.2 +---+ ! ! GD: STOW aux. flag KT 005.0 --!TV BI!- F 118.3 = F 118.3 ! DE!- GD: PROGRAM TRACK aux. flag ! ! +------+ T 165 = T 165 --!R Q!-+-! = ! -F 58.3 GD: motor heating switch-off time +-----+ +------+ F 58.3 = F 58.3 GD: drive function request Segment 21 motor heating during standstill +---+ F 8.6 = F 8.6 -F 8.6 ---! & ! -T 169 GD: STOP mode -F 10.7 --O! ! +-----+ F 10.7 = F 10.7 -PD-I1.1 ---! !----!T!-!0! emergency off +---+ ! ! I 1.1 = PD-I1.1 DW 9 --!TV BI!- power on relay feedback ! DE!- T 169 = T 169 ! ! -F 63.4 GD: delay motor heating on after Stop ! ! +-----+ F 63.4 = F 63.4 --!R Q!---!S ! motor heating on GD +-----+ ! ! F 11.2 = F 11.2 +---+ ! ! mains over-/undervoltage -PD-I1.1 --O!>=1! ! ! F 118.0 = F 118.0 -F 8.6 --O! ! ! ! GD: RATE aux. flag -F 10.7 ---! ! ! ! F 118.1 = F 118.1 -F 11.2 ---! ! ! ! GD: PRESET aux. flag -F 118.0 ---! ! ! ! F 118.2 = F 118.2 -F 118.1 ---! ! ! ! GD: STOW aux. flag -F 118.2 ---! ! ! ! F 118.3 = F 118.3 -F 118.3 ---! !----!R Q!- GD: PROGRAM TRACK aux. flag +---+ +-----+ Segment 22 brakes +------+ PB 165 = PB 165 +-! JU ! -PB 165 GD brakes +------+ Segment 23 call functions :JU -PB 161 GD amplifiers :O -F 5.1 GD: local control (pulse) :O -F 5.3 GD: PCU control (pulse) :O -F 5.5 GD: Computer control (pulse) :ON -F 58.0 GD: ready for operation :JC -PB 162 switch off GD drives switch off with mode change :*** Segment 24 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 Segment 1 ******************************************************************************* G R E G O R I A N D O M E D R I V E S Y S T E M - functions - ******************************************************************************* +------+ +-! C ! DB 160 +------+ Segment 2 main contactor 1 +---+ F 58.3 = F 58.3 -F 58.3 ---!>=1! +---+ GD: drive function request -F 63.4 ---! !-----! & ! F 63.4 = F 63.4 +---+ ! ! motor heating on GD -F 58.1 --O! ! F 58.1 = F 58.1 +---+ ! ! GD: power supply general failure -F 58.2 ---!>=1! ! ! F 58.2 = F 58.2 +-----+ ! ! ! ! GD: biassed mode with 8 motors FY 62 --!>< F! ! ! ! ! -GD-Q19.0 Q 19.0 = GD-Q19.0 ! ! ! ! ! ! +-----+ main contactor GD group 1/2 on KB 0 --! Q!----! !-----! !----!S ! F 64.0 = F 64.0 +-----+ +---+ +---+ ! ! GD: power supply 1 failure +---+ ! ! F 10.7 = F 10.7 -F 64.0 ---!>=1! ! ! emergency off -F 10.7 ---! ! ! ! F 11.2 = F 11.2 -F 11.2 ---! ! ! ! mains over-/undervoltage -F 32.5 ---! ! ! ! -T 162 F 32.5 = F 32.5 -F 30.7 ---! ! ! ! +-----+ position GD: emergency limit -GD-14.4 --O! !----!R Q!---!T!-!0! F 30.7 = F 30.7 +---+ +-----+ ! ! collision protection GD-CH KT 010.1 --!TV BI!- I 14.4 = GD-14.4 ! DE!- GD: local axis disable --!R Q!- T 162 = T 162 +-----+ power-up time aft. main contactor GD1 on +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 Segment 3 main contactor 2 +---+ F 58.3 = F 58.3 -F 58.3 ---!>=1! +---+ GD: drive function request -F 63.4 ---! !-----! & ! F 63.4 = F 63.4 +---+ ! ! motor heating on GD -F 58.1 --O! ! F 58.1 = F 58.1 +---+ ! ! GD: power supply general failure -F 58.2 ---!>=1! ! ! F 58.2 = F 58.2 +-----+ ! ! ! ! GD: biassed mode with 8 motors FY 62 --!>< F! ! ! ! ! -GD-Q19.1 Q 19.1 = GD-Q19.1 ! ! ! ! ! ! +-----+ main contactor GD group 3/4 on KB 0 --! Q!----! !-----! !----!S ! F 64.1 = F 64.1 +-----+ +---+ +---+ ! ! GD: power supply 2 failure +---+ ! ! F 10.7 = F 10.7 -F 64.1 ---!>=1! ! ! emergency off -F 10.7 ---! ! ! ! F 11.2 = F 11.2 -F 11.2 ---! ! ! ! mains over-/undervoltage -F 32.5 ---! ! ! ! -T 163 F 32.5 = F 32.5 -F 30.7 ---! ! ! ! +-----+ position GD: emergency limit -GD-14.4 --O! !----!R Q!---!T!-!0! F 30.7 = F 30.7 +---+ +-----+ ! ! collision protection GD-CH KT 010.1 --!TV BI!- I 14.4 = GD-14.4 ! DE!- GD: local axis disable --!R Q!- T 163 = T 163 +-----+ power-up time aft. main contactor GD2 on Segment 4 prepare inputs for FB210 FB 211 = FB 211 -FB 211 prepare inputs to FB 210 +--------------+ ! INPUT210 ! +2 --!AXIS INB !-- DL 221 DB 160 --!DB ! +--------------+ Segment 5 drive control F 122.6 = F 122.6 -FB 210 PCU command: move GD pos. +--------------+ F 122.7 = F 122.7 ! SERVO ! PCU command: move GD neg. DL 221 --!INB OUTB!-- FY 55 F 131.2 = F 131.2 -F 122.6 --!PCUP STAT!-- FY 52 computer command: move GD up -F 122.7 --!PCUN ON !-- -F 58.4 F 131.3 = F 131.3 -F 131.2 --!COMP ! computer command: move GD down -F 131.3 --!COMN ! T 102 = T 102 -T 102 --!T1 ! brake release delay GD -T 112 --!T2 ! T 112 = T 112 -GD-I11.7--!NA=0 ! max time drive operation after enable GD -F 118.5 --!MOD2 ! I 11.7 = GD-I11.7 +2 --!NUMM ! Gregorian Dome: speed zero (from DCS) FY 42 --!ENC ! F 118.5 = F 118.5 -T 122 --!T3 ! GD: Preset modes DR 221 --!LIMS ! F 58.4 = F 58.4 -T 132 --!T4 ! GD: deceleration FY 5 --!MODE ! -T 105 --!T5 ! +--------------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 T 122 = T 122 deceleration/brake engage time GD T 132 = T 132 brake failure supervision time GD T 105 = T 105 warning time before moving GD FB 210 = FB 210 drive control Segment 6 moving in wrong direction? +---+ F 55.0 = F 55.0 -F 55.0 ---! & ! GD: move command up -F 55.2 ---! ! F 55.2 = F 55.2 -GD-I11.7--O! ! GD: setpoint enable +-----+ ! ! I 11.7 = GD-I11.7 DW 192 --!> D! ! ! Gregorian Dome: speed zero (from DCS) ! ! ! ! F 55.1 = F 55.1 KB 0 --! Q!----! ! GD: move command down +-----+ ! ! T 164 = T 164 +-----+ ! ! GD: move in wrong direction deadband DW 39 --!< F! ! ! F 58.6 = F 58.6 ! ! ! ! +---+ GD: moving in wrong direction KF -10 --! Q!----! !-----!>=1! F 11.6 = F 11.6 +-----+ +---+ ! ! axis failure reset GD +---+ ! ! F 52.4 = F 52.4 -F 55.1 ---! & ! ! ! GD: runaway / no motion -F 55.2 ---! ! ! ! -GD-I11.7--O! ! ! ! +-----+ ! ! ! ! DW 192 --!< F! ! ! ! ! ! ! ! ! ! ! KB 0 --! Q!----! ! ! ! +-----+ ! ! ! ! +-----+ ! ! ! ! DW 39 --!> F! ! ! ! ! -T 164 ! ! ! ! ! ! +-----+ KF -10 --! Q!----! !-----! !----!T!-!0! +-----+ +---+ +---+ ! ! KT 010.1 --!TV BI!- ! DE!- ! ! -F 58.6 ! ! +-----+ --!R Q!---!S ! +-----+ ! ! +------+ -F 11.6 --!R Q!-+-! S ! -F 52.4 +-----+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 Segment 7 enable amplifiers +---+ F 55.0 = F 55.0 -F 55.0 ---!>=1! +---+ GD: move command up -F 55.1 ---! !-----! & ! F 55.1 = F 55.1 +---+ ! ! +---+ GD: move command down -F 58.5 ---! !-----!>=1! F 58.5 = F 58.5 +---+ ! ! GD: required conditions for operation +---+ ! ! I 15.2 = GD-15.2 -GD-15.2 ---! & ! ! ! GD: main contactor group 1/2 on -GD-15.3 ---! ! ! ! I 15.3 = GD-15.3 -F 63.4 ---! ! ! ! GD: main contactor group 3/4 on -T 161 ---! ! ! ! +------+ F 63.4 = F 63.4 -T 162 ---! !-----! !--+-! = ! -GD-Q12.0 motor heating on GD +---+ +---+ ! +------+ T 161 = T 161 ! +------+ ........................................ +-! = ! -GD-Q12.1 T 162 = T 162 ! +------+ power-up time aft. main contactor GD1 on ! +------+ Q 12.0 = GD-Q12.0 +-! = ! -GD-Q12.2 enable amplifier GD 11 ! +------+ Q 12.1 = GD-Q12.1 ! +------+ enable amplifier GD 12 +-! = ! -GD-Q12.3 Q 12.2 = GD-Q12.2 ! +------+ enable amplifier GD 21 ! +------+ Q 12.3 = GD-Q12.3 +-! = ! -GD-Q12.4 enable amplifier GD 22 ! +------+ Q 12.4 = GD-Q12.4 ! +------+ enable amplifier GD 31 +-! = ! -GD-Q12.5 Q 12.5 = GD-Q12.5 ! +------+ enable amplifier GD 32 ! +------+ Q 12.6 = GD-Q12.6 +-! = ! -GD-Q12.6 enable amplifier GD 41 ! +------+ Q 12.7 = GD-Q12.7 ! +------+ enable amplifier GD 42 +-! = ! -GD-Q12.7 +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 Segment 8 DCS: load tachos +---+ I 15.2 = GD-15.2 -GD-15.2 ---!>=1! +------+ GD: main contactor group 1/2 on -GD-15.3 ---! !--+-! = ! -GD-Q14.0 I 15.3 = GD-15.3 +---+ ! +------+ GD: main contactor group 3/4 on ! +------+ Q 14.0 = GD-Q14.0 +-! = ! -GD-Q14.1 DCS GD: load tacho 1/1 (n11) ! +------+ Q 14.1 = GD-Q14.1 ! +------+ DCS GD: load tacho 1/2 (n12) +-! = ! -GD-Q14.2 Q 14.2 = GD-Q14.2 ! +------+ DCS GD: load tacho 2/1 (n21) ! +------+ Q 14.3 = GD-Q14.3 +-! = ! -GD-Q14.3 DCS GD: load tacho 2/2 (n22) ! +------+ Q 14.4 = GD-Q14.4 ! +------+ DCS GD: load tacho 3/1 (n1) +-! = ! -GD-Q14.4 Q 14.5 = GD-Q14.5 ! +------+ DCS GD: load tacho 3/2 (n2) ! +------+ Q 14.6 = GD-Q14.6 +-! = ! -GD-Q14.5 DCS GD: load tacho 4/1 (n31) ! +------+ Q 14.7 = GD-Q14.7 ! +------+ DCS GD: load tacho 4/2 (n32) +-! = ! -GD-Q14.6 Q 15.0 = GD-Q15.0 ! +------+ DCS GD: load tacho 5/1 (n41) ! +------+ Q 15.1 = GD-Q15.1 +-! = ! -GD-Q14.7 DCS GD: load tacho 5/2 (n42) ! +------+ Q 15.2 = GD-Q15.2 ! +------+ DCS GD: load tacho 6/1 (n3) +-! = ! -GD-Q15.0 Q 15.3 = GD-Q15.3 ! +------+ DCS GD: load tacho 6/2 (n4) ! +------+ Q 15.4 = GD-Q15.4 +-! = ! -GD-Q15.1 DCS GD: load tacho 7/1 (nA) ! +------+ Q 15.5 = GD-Q15.5 ! +------+ DCS GD: load tacho 7/2 (nB) +-! = ! -GD-Q15.2 ! +------+ ! +------+ +-! = ! -GD-Q15.3 ! +------+ ! +------+ +-! = ! -GD-Q15.4 ! +------+ ! +------+ +-! = ! -GD-Q15.5 +------+ Segment 9 DCS: load setpoint 1 +---+ F 5.0 = F 5.0 -F 5.0 ---! & ! GD: local control (flag) -F 55.2 ---! ! F 55.2 = F 55.2 +---+ ! ! GD: setpoint enable -GD-14.6 ---!>=1! ! ! +------+ I 14.6 = GD-14.6 -GD-14.7 ---! !-----! !--+-! = ! -GD-Q18.0 DCS: move GD down +---+ +---+ +------+ I 14.7 = GD-14.7 DCS: move GD up +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 Q 18.0 = GD-Q18.0 DCS: load setpoint GD 1 Segment 10 DCS: load setpoint 2 +---+ +------+ F 5.0 = F 5.0 -F 5.0 --O! & !--+-! = ! -GD-Q18.1 GD: local control (flag) +---+ +------+ Q 18.1 = GD-Q18.1 DCS: load setpoint GD 2 Segment 11 DCS: acceleration ramp fast >>>>> ramp 1 always activated ! <<<<< +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! = ! -GD-Q18.2 always "1" +---+ +------+ Q 18.2 = GD-Q18.2 DCS: acceleration ramp GD fast Segment 12 sum_n controller on +---+ F 58.5 = F 58.5 -F 58.5 ---! & ! +------+ GD: required conditions for operation -F 63.4 --O! !--+-! = ! -GD-Q18.4 F 63.4 = F 63.4 +---+ +------+ motor heating on GD Q 18.4 = GD-Q18.4 DCS: sum_n controller on +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 Segment 13 load delta_n +---+ F 58.5 = F 58.5 -F 58.5 ---! & ! +------+ GD: required conditions for operation -F 63.4 --O! !--+-! = ! -GD-Q16.0 F 63.4 = F 63.4 +---+ ! +------+ motor heating on GD ! +------+ Q 16.0 = GD-Q16.0 +-! = ! -GD-Q16.1 DCS GD: 421.0 #1 / K1 (d_n1) ! +------+ Q 16.1 = GD-Q16.1 ! +------+ DCS GD: 421.0 #1 / K2 (d_nA) +-! = ! -GD-Q16.2 Q 16.2 = GD-Q16.2 ! +------+ DCS GD: 421.0 #1 / K3 (d_n2) ! +------+ Q 16.3 = GD-Q16.3 +-! = ! -GD-Q16.3 DCS GD: 421.0 #1 / K4 (-d_nA) ! +------+ Q 16.4 = GD-Q16.4 ! +------+ DCS GD: 421.0 #2 / K1 (d_n3) +-! = ! -GD-Q16.4 Q 16.5 = GD-Q16.5 ! +------+ DCS GD: 421.0 #2 / K2 (d_nB) ! +------+ Q 16.6 = GD-Q16.6 +-! = ! -GD-Q16.5 DCS GD: 421.0 #2 / K3 (d_n4) ! +------+ Q 16.7 = GD-Q16.7 ! +------+ DCS GD: 421.0 #2 / K4 (-d_nB) +-! = ! -GD-Q16.6 Q 17.0 = GD-Q17.0 ! +------+ DCS GD: 421.0 #3 / K1 (total d_n M11/12) ! +------+ Q 17.2 = GD-Q17.2 +-! = ! -GD-Q16.7 DCS GD: 421.0 #3 / K3 (total d_n M21/22) ! +------+ Q 17.4 = GD-Q17.4 ! +------+ DCS GD: 421.0 #4 / K1 (total d_n M31/32) +-! = ! -GD-Q17.0 Q 17.6 = GD-Q17.6 ! +------+ DCS GD: 421.0 #4 / K3 (total d_n M41/42) ! +------+ +-! = ! -GD-Q17.2 ! +------+ ! +------+ +-! = ! -GD-Q17.4 ! +------+ ! +------+ +-! = ! -GD-Q17.6 +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 7! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 Segment 14 I-portion on +---+ F 58.5 = F 58.5 -F 58.5 ---! & ! GD: required conditions for operation -F 55.2 ---! ! F 55.2 = F 55.2 -F 63.4 --O! ! GD: setpoint enable +---+ ! ! F 63.4 = F 63.4 -F 5.0 --O! & ! +---+ ! ! motor heating on GD -F 5.2 --O! !-----!>=1! ! ! F 5.0 = F 5.0 +---+ ! ! ! ! GD: local control (flag) +---+ ! ! ! ! F 5.2 = F 5.2 -F 5.0 ---! & ! ! ! ! ! GD: PCU control (flag) +---+ ! ! ! ! ! ! F 61.2 = F 61.2 -F 61.2 ---!>=1! ! ! ! ! ! ! local move request GD up -F 61.3 ---! !-----! !-----! ! ! ! F 61.3 = F 61.3 +---+ +---+ ! ! ! ! local move request GD down +---+ ! ! ! ! F 122.6 = F 122.6 -F 5.2 ---! & ! ! ! ! ! PCU command: move GD pos. +---+ ! ! ! ! ! ! F 122.7 = F 122.7 -F 122.6 ---!>=1! ! ! ! ! ! ! +------+ PCU command: move GD neg. -F 122.7 ---! !-----! !-----! !-----! !--+-! = ! -GD-Q18.6 Q 18.6 = GD-Q18.6 +---+ +---+ +---+ +---+ +------+ DCS: I-portion of n-loop on Segment 15 variable torque bias polarity of setpoints for GD drives: up = negative sign; motors rotating cw when looking on the truck torque bias: outward bias ==> upper (left) motor (#1) must get ccw torque command ==> motor 1 ccw = positive bias, motor 2 cw = negative bias :C -DB 50 Positions :JU -FB 214 variable torque bias Name :TORQBIAS POS : DD 22 PART : KF +5 OUT : FW 220 :C -DB 150 drive datas :L FW 220 :T DW 210 = setpoint for motors :*** Segment 16 DCS: torque bias on +---+ F 58.5 = F 58.5 -F 58.5 ---! & ! +------+ GD: required conditions for operation -F 63.4 --O! !--+-! = ! -GD-Q17.1 F 63.4 = F 63.4 +---+ ! +------+ motor heating on GD ! +------+ Q 17.1 = GD-Q17.1 +-! = ! -GD-Q17.3 DCS GD: 421.0 #3 / K2 (torque bias 11/12 ! +------+ Q 17.3 = GD-Q17.3 ! +------+ DCS GD: 421.0 #3 / K4 (torque bias 21/22 +-! = ! -GD-Q17.5 Q 17.5 = GD-Q17.5 ! +------+ DCS GD: 421.0 #4 / K2 (torque bias 31/32 ! +------+ +-! = ! -GD-Q17.7 +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 8! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 Q 17.7 = GD-Q17.7 DCS GD: 421.0 #4 / K4 (torque bias 41/42 Segment 17 unused functions Delta_n portion and torque bias generation on controller board 334 (DCS 12A1) are not used. +---+ +------+ F 0.0 = F 0.0 -F 0.0 ---! & !--+-! = ! -GD-Q18.5 always "0" +---+ ! +------+ Q 18.5 = GD-Q18.5 ! +------+ DCS: delta_n controller on +-! = ! -GD-Q18.3 Q 18.3 = GD-Q18.3 +------+ DCS: torque bias GD on Segment 18 gravity compensation polarity of setpoints for GD drives: up = negative sign; motors rotating cw when looking on the truck ==> gravity compensation must have negative sign :C -DB 50 Positions :AN -F 63.4 motor heating on GD :JC -FB 213 gravity compensation Name :GRAVCOMP POS : DD 22 PART : KF -22 OUT : FW 220 gravity compensation setpoint :C -DB 150 drive datas :L FW 220 gravity comp. :T DW 212 = setpoint for motors :*** Segment 19 motor heating during standstill :A -F 63.4 motor heating on GD :JC -FB 217 heating of drive motors Name :MOT-HEAT AXIS : KS GD :*** Segment 20 gravity compensation +---+ F 58.5 = F 58.5 -F 58.5 ---!>=1! +------+ GD: required conditions for operation -F 63.4 ---! !--+-! = ! -GD-Q18.7 F 63.4 = F 63.4 +---+ +------+ motor heating on GD Q 18.7 = GD-Q18.7 DCS: gravity compensation GD on +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 9! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 Segment 21 mode AUX n1 +---+ +------+ F 62.0 = F 62.0 -F 62.0 ---! & !--+-! R ! -GD-Q12.0 GD AUX mode n1 +---+ ! +------+ Q 12.0 = GD-Q12.0 ! +------+ enable amplifier GD 11 +-! R ! -GD-Q14.0 Q 14.0 = GD-Q14.0 ! +------+ DCS GD: load tacho 1/1 (n11) ! +------+ Q 16.0 = GD-Q16.0 +-! R ! -GD-Q16.0 DCS GD: 421.0 #1 / K1 (d_n1) ! +------+ Q 17.1 = GD-Q17.1 ! +------+ DCS GD: 421.0 #3 / K2 (torque bias 11/12 +-! R ! -GD-Q17.1 +------+ Segment 22 mode AUX n2 +---+ +------+ F 62.1 = F 62.1 -F 62.1 ---! & !--+-! R ! -GD-Q12.1 GD AUX mode n2 +---+ ! +------+ Q 12.1 = GD-Q12.1 ! +------+ enable amplifier GD 12 +-! R ! -GD-Q14.1 Q 14.1 = GD-Q14.1 ! +------+ DCS GD: load tacho 1/2 (n12) ! +------+ Q 16.0 = GD-Q16.0 +-! R ! -GD-Q16.0 DCS GD: 421.0 #1 / K1 (d_n1) ! +------+ Q 17.1 = GD-Q17.1 ! +------+ DCS GD: 421.0 #3 / K2 (torque bias 11/12 +-! R ! -GD-Q17.1 +------+ Segment 23 mode AUX n3 +---+ +------+ F 62.2 = F 62.2 -F 62.2 ---! & !--+-! R ! -GD-Q12.2 GD AUX mode n3 +---+ ! +------+ Q 12.2 = GD-Q12.2 ! +------+ enable amplifier GD 21 +-! R ! -GD-Q14.2 Q 14.2 = GD-Q14.2 ! +------+ DCS GD: load tacho 2/1 (n21) ! +------+ Q 16.2 = GD-Q16.2 +-! R ! -GD-Q16.2 DCS GD: 421.0 #1 / K3 (d_n2) ! +------+ Q 17.3 = GD-Q17.3 ! +------+ DCS GD: 421.0 #3 / K4 (torque bias 21/22 +-! R ! -GD-Q17.3 +------+ Segment 24 mode AUX n4 +---+ +------+ F 62.3 = F 62.3 -F 62.3 ---! & !--+-! R ! -GD-Q12.3 GD AUX mode n4 +---+ ! +------+ Q 12.3 = GD-Q12.3 ! +------+ enable amplifier GD 22 +-! R ! -GD-Q14.3 Q 14.3 = GD-Q14.3 ! +------+ DCS GD: load tacho 2/2 (n22) ! +------+ Q 16.2 = GD-Q16.2 +-! R ! -GD-Q16.2 DCS GD: 421.0 #1 / K3 (d_n2) ! +------+ Q 17.3 = GD-Q17.3 ! +------+ DCS GD: 421.0 #3 / K4 (torque bias 21/22 +-! R ! -GD-Q17.3 +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 10! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 Segment 25 mode AUX n5 +---+ +------+ F 62.4 = F 62.4 -F 62.4 ---! & !--+-! R ! -GD-Q12.4 GD AUX mode n5 +---+ ! +------+ Q 12.4 = GD-Q12.4 ! +------+ enable amplifier GD 31 +-! R ! -GD-Q14.6 Q 14.6 = GD-Q14.6 ! +------+ DCS GD: load tacho 4/1 (n31) ! +------+ Q 16.4 = GD-Q16.4 +-! R ! -GD-Q16.4 DCS GD: 421.0 #2 / K1 (d_n3) ! +------+ Q 17.5 = GD-Q17.5 ! +------+ DCS GD: 421.0 #4 / K2 (torque bias 31/32 +-! R ! -GD-Q17.5 +------+ Segment 26 mode AUX n6 +---+ +------+ F 62.5 = F 62.5 -F 62.5 ---! & !--+-! R ! -GD-Q12.5 GD AUX mode n6 +---+ ! +------+ Q 12.5 = GD-Q12.5 ! +------+ enable amplifier GD 32 +-! R ! -GD-Q14.7 Q 14.7 = GD-Q14.7 ! +------+ DCS GD: load tacho 4/2 (n32) ! +------+ Q 16.4 = GD-Q16.4 +-! R ! -GD-Q16.4 DCS GD: 421.0 #2 / K1 (d_n3) ! +------+ Q 17.5 = GD-Q17.5 ! +------+ DCS GD: 421.0 #4 / K2 (torque bias 31/32 +-! R ! -GD-Q17.5 +------+ Segment 27 mode AUX n7 +---+ +------+ F 62.6 = F 62.6 -F 62.6 ---! & !--+-! R ! -GD-Q12.6 GD AUX mode n7 +---+ ! +------+ Q 12.6 = GD-Q12.6 ! +------+ enable amplifier GD 41 +-! R ! -GD-Q15.0 Q 15.0 = GD-Q15.0 ! +------+ DCS GD: load tacho 5/1 (n41) ! +------+ Q 16.6 = GD-Q16.6 +-! R ! -GD-Q16.6 DCS GD: 421.0 #2 / K3 (d_n4) ! +------+ Q 17.7 = GD-Q17.7 ! +------+ DCS GD: 421.0 #4 / K4 (torque bias 41/42 +-! R ! -GD-Q17.7 +------+ Segment 28 mode AUX n8 +---+ +------+ F 62.7 = F 62.7 -F 62.7 ---! & !--+-! R ! -GD-Q12.7 GD AUX mode n8 +---+ ! +------+ Q 12.7 = GD-Q12.7 ! +------+ enable amplifier GD 42 +-! R ! -GD-Q15.1 Q 15.1 = GD-Q15.1 ! +------+ DCS GD: load tacho 5/2 (n42) ! +------+ Q 16.6 = GD-Q16.6 +-! R ! -GD-Q16.6 DCS GD: 421.0 #2 / K3 (d_n4) ! +------+ Q 17.7 = GD-Q17.7 ! +------+ DCS GD: 421.0 #4 / K4 (torque bias 41/42 +-! R ! -GD-Q17.7 +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 11! +------------------------------------------------------------------------------+PB 161 -PB 161 C:ARECIBST.S5D LEN=332 Segment 29 failure power supply 1 +---+ +------+ F 64.0 = F 64.0 -F 64.0 ---! & !--+-! R ! -GD-Q12.0 GD: power supply 1 failure +---+ ! +------+ Q 12.0 = GD-Q12.0 ! +------+ enable amplifier GD 11 +-! R ! -GD-Q12.1 Q 12.1 = GD-Q12.1 ! +------+ enable amplifier GD 12 ! +------+ Q 12.2 = GD-Q12.2 +-! R ! -GD-Q12.2 enable amplifier GD 21 ! +------+ Q 12.3 = GD-Q12.3 ! +------+ enable amplifier GD 22 +-! R ! -GD-Q12.3 Q 15.4 = GD-Q15.4 ! +------+ DCS GD: load tacho 7/1 (nA) ! +------+ +-! R ! -GD-Q15.4 +------+ Segment 30 failure power supply 2 +---+ +------+ F 64.1 = F 64.1 -F 64.1 ---! & !--+-! R ! -GD-Q12.4 GD: power supply 2 failure +---+ ! +------+ Q 12.4 = GD-Q12.4 ! +------+ enable amplifier GD 31 +-! R ! -GD-Q12.5 Q 12.5 = GD-Q12.5 ! +------+ enable amplifier GD 32 ! +------+ Q 12.6 = GD-Q12.6 +-! R ! -GD-Q12.6 enable amplifier GD 41 ! +------+ Q 12.7 = GD-Q12.7 ! +------+ enable amplifier GD 42 +-! R ! -GD-Q12.7 Q 15.5 = GD-Q15.5 ! +------+ DCS GD: load tacho 7/2 (nB) ! +------+ +-! R ! -GD-Q15.5 +------+ Segment 31 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 12! +------------------------------------------------------------------------------+PB 162 -PB 162 C:ARECIBST.S5D LEN=50 Segment 1 ******************************************************************************* G R E G O R I A N D O M E D R I V E S - switch-off of all drives - ******************************************************************************* Segment 2 reset operating modes +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! R ! -F 8.0 always "1" +---+ ! +------+ F 8.0 = F 8.0 ! +------+ GD: RATE mode +-! R ! -F 8.1 F 8.1 = F 8.1 ! +------+ GD: PRESET mode ! +------+ F 8.2 = F 8.2 +-! R ! -F 8.2 GD: STOW mode ! +------+ F 8.3 = F 8.3 ! +------+ GD: PROGRAM TRACK mode +-! R ! -F 8.3 +------+ Segment 3 reset PCU commands +---+ F 5.3 = F 5.3 -F 5.3 ---! & ! +------+ GD: PCU control (pulse) -F 121.1 ---! !--+-! R ! -F 122.0 F 121.1 = F 121.1 +---+ ! +------+ PCU mode: Gregorian Dome ! +------+ F 122.0 = F 122.0 +-! R ! -F 122.3 PCU command: drive on +------+ F 122.3 = F 122.3 PCU command: go +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 162 -PB 162 C:ARECIBST.S5D LEN=50 Segment 4 reset move requests +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! R ! -F 61.2 always "1" +---+ ! +------+ F 61.2 = F 61.2 ! +------+ local move request GD up +-! R ! -F 61.3 F 61.3 = F 61.3 ! +------+ local move request GD down ! +------+ F 122.6 = F 122.6 +-! R ! -F 122.6 PCU command: move GD pos. ! +------+ F 122.7 = F 122.7 ! +------+ PCU command: move GD neg. +-! R ! -F 122.7 F 130.1 = F 130.1 ! +------+ computer mode: GD ! +------+ F 131.2 = F 131.2 +-! R ! -F 130.1 computer command: move GD up ! +------+ F 131.3 = F 131.3 ! +------+ computer command: move GD down +-! R ! -F 131.2 F 133.0 = F 133.0 ! +------+ computer command: GD RATE ! +------+ F 133.1 = F 133.1 +-! R ! -F 131.3 computer command: GD PRESET ! +------+ F 133.2 = F 133.2 ! +------+ computer command: GD STOW +-! R ! -F 133.0 F 133.3 = F 133.3 ! +------+ computer command: GD PROGRAM TRACK ! +------+ +-! R ! -F 133.1 ! +------+ ! +------+ +-! R ! -F 133.2 ! +------+ ! +------+ +-! R ! -F 133.3 +------+ Segment 5 setpoints zero :L KB 0 :C -DB 150 drive datas :T DW 203 setpoint :*** Segment 6 reset computer commands :C -DB 222 data from CP581 :L KB 0 :T DR 12 commands :T DW 21 commanded rate :C -DB 50 Positions :L DD 22 :C -DB 222 data from CP581 :T DD 26 commanded pos. = actual pos. :*** Segment 7 reset functions :O -F 5.1 GD: local control (pulse) :O -F 5.3 GD: PCU control (pulse) :O -F 5.5 GD: Computer control (pulse) :JU -FB 208 function reset Name :RESET :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 162 -PB 162 C:ARECIBST.S5D LEN=50 Segment 8 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 163 -PB 163 C:ARECIBST.S5D LEN=15 Segment 1 ******************************************************************************* G R E G O R I A N D O M E D R I V E S - local functions - ******************************************************************************* Segment 2 move request up +---+ F 58.0 = F 58.0 -F 58.0 ---! & ! +------+ GD: ready for operation -GD-14.7 ---! !--+-! = ! -F 61.2 I 14.7 = GD-14.7 +---+ +------+ DCS: move GD up F 61.2 = F 61.2 local move request GD up Segment 3 move request down +---+ F 58.0 = F 58.0 -F 58.0 ---! & ! +------+ GD: ready for operation -GD-14.6 ---! !--+-! = ! -F 61.3 I 14.6 = GD-14.6 +---+ +------+ DCS: move GD down F 61.3 = F 61.3 local move request GD down Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 164 -PB 164 C:ARECIBST.S5D LEN=16 Segment 1 ******************************************************************************* G R E G O R I A N D O M E D R I V E S - computer functions - ******************************************************************************* Segment 2 AUX modes :L FY 138 :T FY 62 :A -GD-I11.0 GD: brake interlock override activated :BEC :L KB 0 no AUX mode if :T FY 62 brake interlock override :C -DB 222 data from CP581 not activated :T DW 13 also reset AUX commands :*** Segment 3 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 165 -PB 165 C:ARECIBST.S5D LEN=308 Segment 1 ******************************************************************************* G R E G O R I A N D O M E D R I V E S - Brakes - ******************************************************************************* +------+ +-! C ! DB 160 +------+ Segment 2 brake 1 +---+ F 55.7 = F 55.7 -F 55.7 ---! & ! GD: brake release command -F 58.0 ---! ! F 58.0 = F 58.0 -F 32.5 --O! ! -GD-Q13.0 GD: ready for operation -F 30.7 --O! ! +-----+ F 32.5 = F 32.5 -F 64.5 --O! !----!S ! position GD: emergency limit +---+ ! ! F 30.7 = F 30.7 +---+ ! ! collision protection GD-CH -F 55.7 --O!>=1! ! ! F 64.5 = F 64.5 +---+ ! ! ! ! GD: setting of brakes started -GD-Q12.0--O!>=1! +---+ ! ! ! ! Q 13.0 = GD-Q13.0 -GD-I8.1 --O! !-----! & ! ! ! ! ! release brake GD 11 +---+ ! ! ! ! ! ! Q 12.0 = GD-Q12.0 -F 62.0 --O! !-----! !----!R Q!- enable amplifier GD 11 +---+ +---+ +-----+ I 8.1 = GD-I8.1 Amplifier GD 11 ready F 62.0 = F 62.0 GD AUX mode n1 Segment 3 brake closing sequence started +---+ Q 13.0 = GD-Q13.0 -GD-Q13.0--O! & ! release brake GD 11 +---+ ! ! -F 64.5 Q 13.1 = GD-Q13.1 -GD-Q13.1---!>=1! ! ! +-----+ release brake GD 12 -GD-Q13.7---! !-----! !----!S ! Q 13.7 = GD-Q13.7 +---+ +---+ ! ! release brake GD 42 -GD-Q13.7-O!R Q!- F 64.5 = F 64.5 +-----+ GD: setting of brakes started Segment 4 open brake 2 -T 215 Q 13.0 = GD-Q13.0 +-----+ release brake GD 11 -GD-Q13.0--!T!-!0! T 215 = T 215 DW 19 --!TV BI!- switch-on delay brake GD 2 ! DE!- F 32.5 = F 32.5 ! ! +---+ position GD: emergency limit --!R Q!----! & ! F 30.7 = F 30.7 +-----+ ! ! collision protection GD-CH -F 32.5 --O! ! F 58.0 = F 58.0 -F 30.7 --O! ! +------+ GD: ready for operation -F 58.0 ---! !--+-! S ! -GD-Q13.1 Q 13.1 = GD-Q13.1 +---+ +------+ release brake GD 12 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 165 -PB 165 C:ARECIBST.S5D LEN=308 Segment 5 open brake 3 -T 216 Q 13.1 = GD-Q13.1 +-----+ release brake GD 12 -GD-Q13.1--!T!-!0! T 216 = T 216 DW 19 --!TV BI!- switch-on delay brake GD 3 ! DE!- F 32.5 = F 32.5 ! ! +---+ position GD: emergency limit --!R Q!----! & ! F 30.7 = F 30.7 +-----+ ! ! collision protection GD-CH -F 32.5 --O! ! F 58.0 = F 58.0 -F 30.7 --O! ! +------+ GD: ready for operation -F 58.0 ---! !--+-! S ! -GD-Q13.2 Q 13.2 = GD-Q13.2 +---+ +------+ release brake GD 21 Segment 6 open brake 4 -T 217 Q 13.2 = GD-Q13.2 +-----+ release brake GD 21 -GD-Q13.2--!T!-!0! T 217 = T 217 DW 19 --!TV BI!- switch-on delay brake GD 4 ! DE!- F 32.5 = F 32.5 ! ! +---+ position GD: emergency limit --!R Q!----! & ! F 30.7 = F 30.7 +-----+ ! ! collision protection GD-CH -F 32.5 --O! ! F 58.0 = F 58.0 -F 30.7 --O! ! +------+ GD: ready for operation -F 58.0 ---! !--+-! S ! -GD-Q13.3 Q 13.3 = GD-Q13.3 +---+ +------+ release brake GD 22 Segment 7 open brake 5 -T 218 Q 13.3 = GD-Q13.3 +-----+ release brake GD 22 -GD-Q13.3--!T!-!0! T 218 = T 218 DW 19 --!TV BI!- switch-on delay brake GD 5 ! DE!- F 32.5 = F 32.5 ! ! +---+ position GD: emergency limit --!R Q!----! & ! F 30.7 = F 30.7 +-----+ ! ! collision protection GD-CH -F 32.5 --O! ! F 58.0 = F 58.0 -F 30.7 --O! ! +------+ GD: ready for operation -F 58.0 ---! !--+-! S ! -GD-Q13.4 Q 13.4 = GD-Q13.4 +---+ +------+ release brake GD 31 Segment 8 open brake 6 -T 219 Q 13.4 = GD-Q13.4 +-----+ release brake GD 31 -GD-Q13.4--!T!-!0! T 219 = T 219 DW 19 --!TV BI!- switch-on delay brake GD 6 ! DE!- F 32.5 = F 32.5 ! ! +---+ position GD: emergency limit --!R Q!----! & ! F 30.7 = F 30.7 +-----+ ! ! collision protection GD-CH -F 32.5 --O! ! F 58.0 = F 58.0 -F 30.7 --O! ! +------+ GD: ready for operation -F 58.0 ---! !--+-! S ! -GD-Q13.5 Q 13.5 = GD-Q13.5 +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 165 -PB 165 C:ARECIBST.S5D LEN=308 release brake GD 32 Segment 9 open brake 7 -T 220 Q 13.5 = GD-Q13.5 +-----+ release brake GD 32 -GD-Q13.5--!T!-!0! T 220 = T 220 DW 19 --!TV BI!- switch-on delay brake GD 7 ! DE!- F 32.5 = F 32.5 ! ! +---+ position GD: emergency limit --!R Q!----! & ! F 30.7 = F 30.7 +-----+ ! ! collision protection GD-CH -F 32.5 --O! ! F 58.0 = F 58.0 -F 30.7 --O! ! +------+ GD: ready for operation -F 58.0 ---! !--+-! S ! -GD-Q13.6 Q 13.6 = GD-Q13.6 +---+ +------+ release brake GD 41 Segment 10 open brake 8 -T 221 Q 13.6 = GD-Q13.6 +-----+ release brake GD 41 -GD-Q13.6--!T!-!0! T 221 = T 221 DW 19 --!TV BI!- switch-on delay brake GD 8 ! DE!- F 32.5 = F 32.5 ! ! +---+ position GD: emergency limit --!R Q!----! & ! F 30.7 = F 30.7 +-----+ ! ! collision protection GD-CH -F 32.5 --O! ! F 58.0 = F 58.0 -F 30.7 --O! ! +------+ GD: ready for operation -F 58.0 ---! !--+-! S ! -GD-Q13.7 Q 13.7 = GD-Q13.7 +---+ +------+ release brake GD 42 Segment 11 brakes open +---+ -F 58.7 I 14.2 = GD-14.2 -GD-14.2 ---! & ! +-----+ brakes group 1/2 released -GD-14.3 ---! !----!S ! I 14.3 = GD-14.3 +---+ ! ! brakes group 3/4 released +---+ ! ! F 58.7 = F 58.7 -GD-14.2 --O!>=1! ! ! GD: brake open -GD-14.3 --O! ! ! ! Q 13.0 = GD-Q13.0 -GD-Q13.0--O! ! ! ! release brake GD 11 -GD-Q13.1--O! ! ! ! Q 13.1 = GD-Q13.1 -GD-Q13.2--O! ! ! ! release brake GD 12 -GD-Q13.3--O! ! ! ! Q 13.2 = GD-Q13.2 -GD-Q13.4--O! ! ! ! release brake GD 21 -GD-Q13.5--O! ! ! ! Q 13.3 = GD-Q13.3 -GD-Q13.6--O! ! ! ! release brake GD 22 -GD-Q13.7--O! !----!R Q!- Q 13.4 = GD-Q13.4 +---+ +-----+ release brake GD 31 Q 13.5 = GD-Q13.5 release brake GD 32 Q 13.6 = GD-Q13.6 release brake GD 41 Q 13.7 = GD-Q13.7 release brake GD 42 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 165 -PB 165 C:ARECIBST.S5D LEN=308 Segment 12 brakes closed +---+ I 14.2 = GD-14.2 -GD-14.2 --O! & ! brakes group 1/2 released -GD-14.3 --O! ! I 14.3 = GD-14.3 -GD-Q13.0--O! ! brakes group 3/4 released -GD-Q13.1--O! ! Q 13.0 = GD-Q13.0 -GD-Q13.2--O! ! release brake GD 11 -GD-Q13.3--O! ! Q 13.1 = GD-Q13.1 -GD-Q13.4--O! ! release brake GD 12 -GD-Q13.5--O! ! -T 108 Q 13.2 = GD-Q13.2 -GD-Q13.6--O! ! +-----+ release brake GD 21 -GD-Q13.7--O! !--#-F 65.0 --!T!-!0! Q 13.3 = GD-Q13.3 +---+ ! ! release brake GD 22 DW 18 --!TV BI!- Q 13.4 = GD-Q13.4 ! DE!- release brake GD 31 ! ! +------+ Q 13.5 = GD-Q13.5 --!R Q!-+-! = ! -F 65.3 release brake GD 32 +-----+ +------+ Q 13.6 = GD-Q13.6 release brake GD 41 Q 13.7 = GD-Q13.7 release brake GD 42 F 65.0 = F 65.0 GD: aux. flag brake closed T 108 = T 108 brake engage time GD F 65.3 = F 65.3 GD: brake closed Segment 13 close brake 2 +---+ -T 222 F 55.7 = F 55.7 -F 55.7 --O! & ! +-----+ GD: brake release command -GD-Q13.0--O! !----!T!-!0! Q 13.0 = GD-Q13.0 +---+ ! ! release brake GD 11 DW 19 --!TV BI!- T 222 = T 222 ! DE!- switch-off delay brake GD 2 ! ! +---+ Q 12.1 = GD-Q12.1 --!R Q!----!>=1! enable amplifier GD 12 +-----+ ! ! I 8.3 = GD-I8.3 +---+ ! ! Amplifier GD 12 ready -GD-Q12.1--O!>=1! +---+ ! ! F 62.1 = F 62.1 -GD-I8.3 --O! !-----! & ! ! ! GD AUX mode n2 +---+ ! ! ! ! +------+ Q 13.1 = GD-Q13.1 -F 62.1 --O! !-----! !--+-! R ! -GD-Q13.1 release brake GD 12 +---+ +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+PB 165 -PB 165 C:ARECIBST.S5D LEN=308 Segment 14 close brake 3 +---+ -T 223 F 55.7 = F 55.7 -F 55.7 --O! & ! +-----+ GD: brake release command -GD-Q13.1--O! !----!T!-!0! Q 13.1 = GD-Q13.1 +---+ ! ! release brake GD 12 DW 19 --!TV BI!- T 223 = T 223 ! DE!- switch-off delay brake GD 3 ! ! +---+ Q 12.2 = GD-Q12.2 --!R Q!----!>=1! enable amplifier GD 21 +-----+ ! ! I 8.5 = GD-I8.5 +---+ ! ! Amplifier GD 21 ready -GD-Q12.2--O!>=1! +---+ ! ! F 62.2 = F 62.2 -GD-I8.5 --O! !-----! & ! ! ! GD AUX mode n3 +---+ ! ! ! ! +------+ Q 13.2 = GD-Q13.2 -F 62.2 --O! !-----! !--+-! R ! -GD-Q13.2 release brake GD 21 +---+ +---+ +------+ Segment 15 close brake 4 +---+ -T 224 F 55.7 = F 55.7 -F 55.7 --O! & ! +-----+ GD: brake release command -GD-Q13.2--O! !----!T!-!0! Q 13.2 = GD-Q13.2 +---+ ! ! release brake GD 21 DW 19 --!TV BI!- T 224 = T 224 ! DE!- switch-off delay brake GD 4 ! ! +---+ Q 12.3 = GD-Q12.3 --!R Q!----!>=1! enable amplifier GD 22 +-----+ ! ! I 8.7 = GD-I8.7 +---+ ! ! Amplifier GD 22 ready -GD-Q12.3--O!>=1! +---+ ! ! F 62.3 = F 62.3 -GD-I8.7 --O! !-----! & ! ! ! GD AUX mode n4 +---+ ! ! ! ! +------+ Q 13.3 = GD-Q13.3 -F 62.3 --O! !-----! !--+-! R ! -GD-Q13.3 release brake GD 22 +---+ +---+ +------+ Segment 16 close brake 5 +---+ -T 225 F 55.7 = F 55.7 -F 55.7 --O! & ! +-----+ GD: brake release command -GD-Q13.3--O! !----!T!-!0! Q 13.3 = GD-Q13.3 +---+ ! ! release brake GD 22 DW 19 --!TV BI!- T 225 = T 225 ! DE!- switch-off delay brake GD 5 ! ! +---+ Q 12.4 = GD-Q12.4 --!R Q!----!>=1! enable amplifier GD 31 +-----+ ! ! I 9.1 = GD-I9.1 +---+ ! ! Amplifier GD 31 ready -GD-Q12.4--O!>=1! +---+ ! ! F 62.4 = F 62.4 -GD-I9.1 --O! !-----! & ! ! ! GD AUX mode n5 +---+ ! ! ! ! +------+ Q 13.4 = GD-Q13.4 -F 62.4 --O! !-----! !--+-! R ! -GD-Q13.4 release brake GD 31 +---+ +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+PB 165 -PB 165 C:ARECIBST.S5D LEN=308 Segment 17 close brake 6 +---+ -T 226 F 55.7 = F 55.7 -F 55.7 --O! & ! +-----+ GD: brake release command -GD-Q13.4--O! !----!T!-!0! Q 13.4 = GD-Q13.4 +---+ ! ! release brake GD 31 DW 19 --!TV BI!- T 226 = T 226 ! DE!- switch-off delay brake GD 6 ! ! +---+ Q 12.5 = GD-Q12.5 --!R Q!----!>=1! enable amplifier GD 32 +-----+ ! ! I 9.3 = GD-I9.3 +---+ ! ! Amplifier GD 32 ready -GD-Q12.5--O!>=1! +---+ ! ! F 62.5 = F 62.5 -GD-I9.3 --O! !-----! & ! ! ! GD AUX mode n6 +---+ ! ! ! ! +------+ Q 13.5 = GD-Q13.5 -F 62.5 --O! !-----! !--+-! R ! -GD-Q13.5 release brake GD 32 +---+ +---+ +------+ Segment 18 close brake 7 +---+ -T 227 F 55.7 = F 55.7 -F 55.7 --O! & ! +-----+ GD: brake release command -GD-Q13.5--O! !----!T!-!0! Q 13.5 = GD-Q13.5 +---+ ! ! release brake GD 32 DW 19 --!TV BI!- T 227 = T 227 ! DE!- switch-off delay brake GD 7 ! ! +---+ Q 12.6 = GD-Q12.6 --!R Q!----!>=1! enable amplifier GD 41 +-----+ ! ! I 9.5 = GD-I9.5 +---+ ! ! Amplifier GD 41 ready -GD-Q12.6--O!>=1! +---+ ! ! F 62.6 = F 62.6 -GD-I9.5 --O! !-----! & ! ! ! GD AUX mode n7 +---+ ! ! ! ! +------+ Q 13.6 = GD-Q13.6 -F 62.6 --O! !-----! !--+-! R ! -GD-Q13.6 release brake GD 41 +---+ +---+ +------+ Segment 19 close brake 8 +---+ -T 228 F 55.7 = F 55.7 -F 55.7 --O! & ! +-----+ GD: brake release command -GD-Q13.6--O! !----!T!-!0! Q 13.6 = GD-Q13.6 +---+ ! ! release brake GD 41 DW 19 --!TV BI!- T 228 = T 228 ! DE!- switch-off delay brake GD 8 ! ! +---+ Q 12.7 = GD-Q12.7 --!R Q!----!>=1! enable amplifier GD 42 +-----+ ! ! I 9.7 = GD-I9.7 +---+ ! ! Amplifier GD 42 ready -GD-Q12.7--O!>=1! +---+ ! ! F 62.7 = F 62.7 -GD-I9.7 --O! !-----! & ! ! ! GD AUX mode n8 +---+ ! ! ! ! +------+ Q 13.7 = GD-Q13.7 -F 62.7 --O! !-----! !--+-! R ! -GD-Q13.7 release brake GD 42 +---+ +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+PB 165 -PB 165 C:ARECIBST.S5D LEN=308 Segment 20 close all brakes +---+ F 10.7 = F 10.7 -F 10.7 ---!>=1! emergency off -F 30.7 ---! ! F 30.7 = F 30.7 -F 32.5 ---! ! collision protection GD-CH -F 58.1 ---! ! +------+ F 32.5 = F 32.5 -F 58.5 --O! !--+-! R ! -GD-Q13.0 position GD: emergency limit +---+ ! +------+ F 58.1 = F 58.1 ! +------+ GD: power supply general failure +-! R ! -GD-Q13.1 F 58.5 = F 58.5 ! +------+ GD: required conditions for operation ! +------+ Q 13.0 = GD-Q13.0 +-! R ! -GD-Q13.2 release brake GD 11 ! +------+ Q 13.1 = GD-Q13.1 ! +------+ release brake GD 12 +-! R ! -GD-Q13.3 Q 13.2 = GD-Q13.2 ! +------+ release brake GD 21 ! +------+ Q 13.3 = GD-Q13.3 +-! R ! -GD-Q13.4 release brake GD 22 ! +------+ Q 13.4 = GD-Q13.4 ! +------+ release brake GD 31 +-! R ! -GD-Q13.5 Q 13.5 = GD-Q13.5 ! +------+ release brake GD 32 ! +------+ Q 13.6 = GD-Q13.6 +-! R ! -GD-Q13.6 release brake GD 41 ! +------+ Q 13.7 = GD-Q13.7 ! +------+ release brake GD 42 +-! R ! -GD-Q13.7 +------+ Segment 21 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 7! +------------------------------------------------------------------------------+PB 170 -PB 170 C:ARECIBST.S5D LEN=258 Segment 1 ******************************************************************************* C A R R I A G E H O U S E D R I V E S Y S T E M - modes - enable - faults - ******************************************************************************* +------+ +-! C ! DB 170 +------+ Segment 2 ready for operation +---+ F 11.0 = F 11.0 -F 11.0 --O! & ! drive cabinet 1 overtemperature -F 10.1 ---! ! F 10.1 = F 10.1 -F 30.7 --O! ! general conditions for operation -F 59.1 --O! ! F 30.7 = F 30.7 -F 59.5 ---! ! +------+ collision protection GD-CH -F 59.6 --O! !--+-! = ! -F 59.0 F 59.1 = F 59.1 +---+ +------+ CH: power supply failure F 59.5 = F 59.5 CH: required conditions for operation F 59.6 = F 59.6 CH: moving in wrong direction F 59.0 = F 59.0 CH: ready for operation Segment 3 minimum conditions for operation +---+ I 2.4 = DC-I2.4 -DC-I2.4 ---! & ! 24 VDC for brakes ok -CH-17.6 ---! ! I 17.6 = CH-17.6 -F 10.0 ---! ! CH: local axis disable -F 10.7 --O! ! F 10.0 = F 10.0 -F 11.2 --O! ! voltages ok -F 30.7 --O! ! F 10.7 = F 10.7 -F 33.5 --O! ! emergency off -F 59.1 --O! ! +------+ F 11.2 = F 11.2 -F 59.6 --O! !--+-! = ! -F 59.5 mains over-/undervoltage +---+ +------+ F 30.7 = F 30.7 collision protection GD-CH F 33.5 = F 33.5 position CH: emergency limit F 59.1 = F 59.1 CH: power supply failure F 59.6 = F 59.6 CH: moving in wrong direction F 59.5 = F 59.5 CH: required conditions for operation +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 170 -PB 170 C:ARECIBST.S5D LEN=258 Segment 4 power supply failure -F 59.1 F 11.7 = F 11.7 +-----+ axis failure reset CH -F 11.7 --!R ! F 59.1 = F 59.1 +---+ ! ! CH: power supply failure -CH-18.2 --O!>=1! ! ! I 18.2 = CH-18.2 -CH-18.0 --O! ! ! ! CH: circuit breaker brakes -T 177 ---! ! ! ! I 18.0 = CH-18.0 +---+ ! ! ! ! CH: power supply no fault -CH-18.1 --O! & ! ! ! ! ! T 177 = T 177 -T 172 ---! !-----! !----!S Q!- CH: DC bus voltage supervision time +---+ +---+ +-----+ I 18.1 = CH-18.1 CH: main contactor on T 172 = T 172 power-up time after main contactor CH on Segment 5 DC bus voltage supervision -T 177 I 18.3 = CH-18.3 +-----+ CH: DC bus voltage ok -CH-18.3 -O!T!-!0! T 177 = T 177 DW 8 --!TV BI!- CH: DC bus voltage supervision time ! DE!- --!R Q!- +-----+ Segment 6 RATE mode +---+ F 6.0 = F 6.0 -F 6.0 ---! & ! CH: local control (flag) +---+ ! ! I 18.6 = CH-18.6 -CH-18.6 ---!>=1! ! ! +---+ DCS: move CH up -CH-18.7 ---! !-----! !-----!>=1! I 18.7 = CH-18.7 +---+ +---+ ! ! DCS: move CH down +---+ ! ! F 6.2 = F 6.2 -F 6.2 ---! & ! ! ! CH: PCU control (flag) -F 122.0 ---! ! ! ! F 122.0 = F 122.0 -F 121.2 ---! !-----! ! PCU command: drive on +---+ ! ! F 121.2 = F 121.2 +---+ ! ! PCU mode: Carriage House -F 6.4 ---! & ! ! ! +---+ F 6.4 = F 6.4 -F 134.0 ---! !-----! !--#-F 119.0 ---! & ! -F 9.0 CH: Computer control (flag) +---+ +---+ ! ! +-----+ F 134.0 = F 134.0 -F 59.0 ---! !----!S ! computer command: CH RATE +---+ ! ! F 119.0 = F 119.0 +---+ ! ! CH: RATE aux. flag -F 119.0 --O! & ! ! ! F 59.0 = F 59.0 +---+ ! ! ! ! CH: ready for operation -F 56.2 --O!>=1! ! ! ! ! F 9.0 = F 9.0 +---+ ! ! ! ! ! ! CH: RATE mode -F 6.4 ---! & ! ! ! ! ! ! ! F 56.2 = F 56.2 +---+ ! ! ! ! ! ! ! ! CH: setpoint enable -F 134.1 ---!>=1! ! ! ! ! ! ! ! ! F 134.1 = F 134.1 -F 134.2 ---! ! ! ! ! ! ! ! ! ! computer command: CH PRESET -F 134.3 ---! !-----! !-----! !-----! !----!R Q!- F 134.2 = F 134.2 +---+ +---+ +---+ +---+ +-----+ computer command: CH STOW +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 170 -PB 170 C:ARECIBST.S5D LEN=258 F 134.3 = F 134.3 computer command: CH PROGRAM TRACK Segment 7 PRESET mode +---+ F 6.4 = F 6.4 -F 6.4 ---! & ! +---+ CH: Computer control (flag) -F 134.1 ---! !--#-F 119.1 ---! & ! -F 9.1 F 134.1 = F 134.1 +---+ ! ! +-----+ computer command: CH PRESET -F 59.0 ---! !----!S ! F 119.1 = F 119.1 +---+ ! ! CH: PRESET aux. flag +---+ ! ! F 59.0 = F 59.0 -F 119.1 --O! & ! ! ! CH: ready for operation +---+ ! ! ! ! F 9.1 = F 9.1 -F 56.2 --O!>=1! ! ! ! ! CH: PRESET mode +---+ ! ! ! ! ! ! F 56.2 = F 56.2 -F 6.4 ---! & ! ! ! ! ! ! ! CH: setpoint enable +---+ ! ! ! ! ! ! ! ! F 134.0 = F 134.0 -F 134.0 ---!>=1! ! ! ! ! ! ! ! ! computer command: CH RATE -F 134.2 ---! ! ! ! ! ! ! ! ! ! F 134.2 = F 134.2 -F 134.3 ---! !-----! !-----! !-----! !----!R Q!- computer command: CH STOW +---+ +---+ +---+ +---+ +-----+ F 134.3 = F 134.3 computer command: CH PROGRAM TRACK Segment 8 STOW mode +---+ F 6.4 = F 6.4 -F 6.4 ---! & ! +---+ CH: Computer control (flag) -F 134.2 ---! !--#-F 119.2 ---! & ! -F 9.2 F 134.2 = F 134.2 +---+ ! ! +-----+ computer command: CH STOW -F 59.0 ---! !----!S ! F 119.2 = F 119.2 +---+ ! ! CH: STOW aux. flag +---+ ! ! F 59.0 = F 59.0 -F 119.2 --O! & ! ! ! CH: ready for operation +---+ ! ! ! ! F 9.2 = F 9.2 -F 56.2 --O!>=1! ! ! ! ! CH: STOW mode +---+ ! ! ! ! ! ! F 56.2 = F 56.2 -F 6.4 ---! & ! ! ! ! ! ! ! CH: setpoint enable +---+ ! ! ! ! ! ! ! ! F 134.0 = F 134.0 -F 134.0 ---!>=1! ! ! ! ! ! ! ! ! computer command: CH RATE -F 134.1 ---! ! ! ! ! ! ! ! ! ! F 134.1 = F 134.1 -F 134.3 ---! !-----! !-----! !-----! !----!R Q!- computer command: CH PRESET +---+ +---+ +---+ +---+ +-----+ F 134.3 = F 134.3 computer command: CH PROGRAM TRACK +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 170 -PB 170 C:ARECIBST.S5D LEN=258 Segment 9 PROGRAM TRACK mode +---+ F 6.4 = F 6.4 -F 6.4 ---! & ! +---+ CH: Computer control (flag) -F 134.3 ---! !--#-F 119.3 ---! & ! -F 9.3 F 134.3 = F 134.3 +---+ ! ! +-----+ computer command: CH PROGRAM TRACK -F 59.0 ---! !----!S ! F 119.3 = F 119.3 +---+ ! ! CH: PROGRAM TRACK aux. flag +---+ ! ! F 59.0 = F 59.0 -F 119.3 --O! & ! ! ! CH: ready for operation +---+ ! ! ! ! F 9.3 = F 9.3 -F 56.2 --O!>=1! ! ! ! ! CH: PROGRAM TRACK mode +---+ ! ! ! ! ! ! F 56.2 = F 56.2 -F 6.4 ---! & ! ! ! ! ! ! ! CH: setpoint enable +---+ ! ! ! ! ! ! ! ! F 134.0 = F 134.0 -F 134.0 ---!>=1! ! ! ! ! ! ! ! ! computer command: CH RATE -F 134.1 ---! ! ! ! ! ! ! ! ! ! F 134.1 = F 134.1 -F 134.2 ---! !-----! !-----! !-----! !----!R Q!- computer command: CH PRESET +---+ +---+ +---+ +---+ +-----+ F 134.2 = F 134.2 computer command: CH STOW Segment 10 switch off modes +---+ +------+ F 59.5 = F 59.5 -F 59.5 --O! & !--+-! R ! -F 9.0 CH: required conditions for operation +---+ ! +------+ F 9.0 = F 9.0 ! +------+ CH: RATE mode +-! R ! -F 9.1 F 9.1 = F 9.1 ! +------+ CH: PRESET mode ! +------+ F 9.2 = F 9.2 +-! R ! -F 9.2 CH: STOW mode ! +------+ F 9.3 = F 9.3 ! +------+ CH: PROGRAM TRACK mode +-! R ! -F 9.3 +------+ Segment 11 STOP mode +---+ F 9.0 = F 9.0 -F 9.0 --O! & ! CH: RATE mode -F 9.1 --O! ! F 9.1 = F 9.1 -F 9.2 --O! ! +------+ CH: PRESET mode -F 9.3 --O! !--+-! = ! -F 9.6 F 9.2 = F 9.2 +---+ +------+ CH: STOW mode F 9.3 = F 9.3 CH: PROGRAM TRACK mode F 9.6 = F 9.6 CH: STOP mode +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+PB 170 -PB 170 C:ARECIBST.S5D LEN=258 Segment 12 biassed mode +---+ F 9.6 = F 9.6 -F 9.6 ---! & ! CH: STOP mode +---+ ! ! -F 59.2 F 139.0 = F 139.0 -F 139.0 ---!>=1! ! ! +-----+ SRC command: CH mode AUX n1 -F 139.1 ---! !-----! !----!R ! F 139.1 = F 139.1 +---+ +---+ ! ! SRC command: CH mode AUX n2 +---+ ! ! F 59.2 = F 59.2 -F 9.6 ---! & ! ! ! CH: biassed mode -F 139.0 --O! ! ! ! -F 139.1 --O! !----!S Q!- +---+ +-----+ Segment 13 AUX n1 mode +---+ F 9.6 = F 9.6 -F 9.6 ---! & ! CH: STOP mode +---+ ! ! F 139.1 = F 139.1 -F 139.1 ---!>=1! ! ! +---+ SRC command: CH mode AUX n2 -CH-19.0 --O! !-----! !-----!>=1! -F 60.2 I 19.0 = CH-19.0 +---+ +---+ ! ! +-----+ CH: brake interlock override activated -F 59.2 ---! !----!R ! F 59.2 = F 59.2 +---+ ! ! CH: biassed mode +---+ ! ! F 60.2 = F 60.2 -F 9.6 ---! & ! ! ! CH: AUX n1 -F 59.2 --O! ! ! ! F 139.0 = F 139.0 -F 139.1 --O! ! ! ! SRC command: CH mode AUX n1 -F 139.0 ---! ! ! ! -CH-19.0 ---! !----!S Q!- +---+ +-----+ Segment 14 AUX n2 mode +---+ F 9.6 = F 9.6 -F 9.6 ---! & ! CH: STOP mode +---+ ! ! F 139.0 = F 139.0 -F 139.0 ---!>=1! ! ! +---+ SRC command: CH mode AUX n1 -CH-19.0 --O! !-----! !-----!>=1! -F 60.3 I 19.0 = CH-19.0 +---+ +---+ ! ! +-----+ CH: brake interlock override activated -F 59.2 ---! !----!R ! F 59.2 = F 59.2 +---+ ! ! CH: biassed mode +---+ ! ! F 60.3 = F 60.3 -F 9.6 ---! & ! ! ! CH: AUX n2 -F 59.2 --O! ! ! ! F 139.1 = F 139.1 -F 139.1 ---! ! ! ! SRC command: CH mode AUX n2 -F 139.0 --O! ! ! ! -CH-19.0 ---! !----!S Q!- +---+ +-----+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+PB 170 -PB 170 C:ARECIBST.S5D LEN=258 Segment 15 AUX mode switchover reset +---+ F 59.2 = F 59.2 -F 59.2 ---! & ! +---+ CH: biassed mode -F 66.3 --O! !-----!>=1! F 66.3 = F 66.3 +---+ ! ! CH: biassed mode flag +---+ ! ! F 60.2 = F 60.2 -F 60.2 ---! & ! ! ! CH: AUX n1 -F 66.4 --O! !-----! ! F 66.4 = F 66.4 +---+ ! ! CH: Aux n1 flag +---+ ! ! F 60.3 = F 60.3 -F 60.3 ---! & ! ! ! +------+ CH: AUX n2 -F 66.5 --O! !-----! !--+-! = ! -F 68.2 F 66.5 = F 66.5 +---+ +---+ +------+ CH: Aux n2 flag F 68.2 = F 68.2 CH AUX mode switchover reset Segment 16 store new AUX modes :A -F 59.2 CH: biassed mode := -F 66.3 CH: biassed mode flag :A -F 60.2 CH: AUX n1 := -F 66.4 CH: Aux n1 flag :A -F 60.3 CH: AUX n2 := -F 66.5 CH: Aux n2 flag :*** Segment 17 local functions +---+ +------+ F 6.0 = F 6.0 -F 6.0 ---! & !--+-! JC ! -PB 173 CH: local control (flag) +---+ +------+ PB 173 = PB 173 local CH functions Segment 18 computer functions +---+ +------+ F 6.4 = F 6.4 -F 6.4 ---! & !--+-! JC ! -PB 174 CH: Computer control (flag) +---+ +------+ PB 174 = PB 174 computer CH functions Segment 19 drive function request +---+ F 119.0 = F 119.0 -F 119.0 ---!>=1! CH: RATE aux. flag -F 119.1 ---! ! -T 178 F 119.1 = F 119.1 -F 119.2 ---! ! +-----+ CH: PRESET aux. flag -F 119.3 ---! !----!T!-!0! F 119.2 = F 119.2 +---+ ! ! CH: STOW aux. flag KT 005.0 --!TV BI!- F 119.3 = F 119.3 ! DE!- CH: PROGRAM TRACK aux. flag ! ! +------+ T 178 = T 178 --!R Q!-+-! = ! -F 59.3 CH: motor heating switch-off time +-----+ +------+ F 59.3 = F 59.3 CH: drive function request +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+PB 170 -PB 170 C:ARECIBST.S5D LEN=258 Segment 20 motor heating during standstill +---+ F 9.6 = F 9.6 -F 9.6 ---! & ! -T 179 CH: STOP mode -F 10.7 --O! ! +-----+ F 10.7 = F 10.7 -PD-I1.1 ---! !----!T!-!0! emergency off +---+ ! ! I 1.1 = PD-I1.1 DW 9 --!TV BI!- power on relay feedback ! DE!- T 179 = T 179 ! ! -F 63.5 CH: delay motor heating on after Stop ! ! +-----+ F 63.5 = F 63.5 --!R Q!---!S ! motor heating on CH +-----+ ! ! F 11.2 = F 11.2 +---+ ! ! mains over-/undervoltage -PD-I1.1 --O!>=1! ! ! F 119.0 = F 119.0 -F 9.6 --O! ! ! ! CH: RATE aux. flag -F 10.7 ---! ! ! ! F 119.1 = F 119.1 -F 11.2 ---! ! ! ! CH: PRESET aux. flag -F 119.0 ---! ! ! ! F 119.2 = F 119.2 -F 119.1 ---! ! ! ! CH: STOW aux. flag -F 119.2 ---! ! ! ! F 119.3 = F 119.3 -F 119.3 ---! !----!R Q!- CH: PROGRAM TRACK aux. flag +---+ +-----+ Segment 21 brakes +------+ PB 175 = PB 175 +-! JU ! -PB 175 CH brakes +------+ Segment 22 call functions :JU -PB 171 CH amplifiers :O -F 6.1 CH: local control (pulse) :O -F 6.3 CH: PCU control (pulse) :O -F 6.5 CH: Computer control (pulse) :ON -F 59.0 CH: ready for operation :JC -PB 172 switch off CH drives switch off with mode change :*** Segment 23 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 7! +------------------------------------------------------------------------------+PB 171 -PB 171 C:ARECIBST.S5D LEN=221 Segment 1 ******************************************************************************* C A R R I A G E H O U S E D R I V E S Y S T E M - functions - ******************************************************************************* +------+ +-! C ! DB 170 +------+ Segment 2 main contactor +---+ -CH-Q 2.2 F 59.3 = F 59.3 -F 59.3 ---!>=1! +-----+ CH: drive function request -F 63.5 ---! !----!S ! F 63.5 = F 63.5 +---+ ! ! motor heating on CH +---+ ! ! Q 2.2 = CH-Q 2.2 -F 59.1 ---!>=1! ! ! main contactor CH on -F 10.7 ---! ! ! ! F 59.1 = F 59.1 -F 11.2 ---! ! ! ! CH: power supply failure -F 33.5 ---! ! ! ! -T 172 F 10.7 = F 10.7 -F 30.7 ---! ! ! ! +-----+ emergency off -CH-17.6 --O! !----!R Q!---!T!-!0! F 11.2 = F 11.2 +---+ +-----+ ! ! mains over-/undervoltage KT 010.1 --!TV BI!- F 33.5 = F 33.5 ! DE!- position CH: emergency limit --!R Q!- F 30.7 = F 30.7 +-----+ collision protection GD-CH I 17.6 = CH-17.6 CH: local axis disable T 172 = T 172 power-up time after main contactor CH on Segment 3 prepare inputs for FB210 FB 211 = FB 211 -FB 211 prepare inputs to FB 210 +--------------+ ! INPUT210 ! +3 --!AXIS INB !-- DL 221 DB 170 --!DB ! +--------------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 171 -PB 171 C:ARECIBST.S5D LEN=221 Segment 4 drive control F 123.0 = F 123.0 -FB 210 PCU command: move CH pos. +--------------+ F 123.1 = F 123.1 ! SERVO ! PCU command: move CH neg. DL 221 --!INB OUTB!-- FY 56 F 131.4 = F 131.4 -F 123.0 --!PCUP STAT!-- FY 53 computer command: move CH up -F 123.1 --!PCUN ON !-- -F 59.4 F 131.5 = F 131.5 -F 131.4 --!COMP ! computer command: move CH down -F 131.5 --!COMN ! T 103 = T 103 -T 103 --!T1 ! brake release delay CH -T 113 --!T2 ! T 113 = T 113 -CH-19.7 --!NA=0 ! max time drive operation after enable CH -F 119.5 --!MOD2 ! I 19.7 = CH-19.7 +3 --!NUMM ! Carriage House #1: speed zero (from DCS) FY 43 --!ENC ! F 119.5 = F 119.5 -T 123 --!T3 ! CH: Preset modes DR 221 --!LIMS ! F 59.4 = F 59.4 -T 133 --!T4 ! CH: deceleration FY 6 --!MODE ! T 123 = T 123 -T 106 --!T5 ! deceleration/brake engage time CH +--------------+ T 133 = T 133 brake failure supervision time CH T 106 = T 106 warning time before moving CH FB 210 = FB 210 drive control +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 171 -PB 171 C:ARECIBST.S5D LEN=221 Segment 5 moving in wrong direction? +---+ F 56.0 = F 56.0 -F 56.0 ---! & ! CH: move command up -F 56.2 ---! ! F 56.2 = F 56.2 -CH-19.7 --O! ! CH: setpoint enable +-----+ ! ! I 19.7 = CH-19.7 DW 193 --!> F! ! ! Carriage House #1: speed zero (from DCS) ! ! ! ! F 56.1 = F 56.1 KB 0 --! Q!----! ! CH: move command down +-----+ ! ! T 173 = T 173 +-----+ ! ! CH: move in wrong direction deadband DW 49 --!< F! ! ! F 59.6 = F 59.6 ! ! ! ! +---+ CH: moving in wrong direction KF +10 --! Q!----! !-----!>=1! F 11.7 = F 11.7 +-----+ +---+ ! ! axis failure reset CH +---+ ! ! F 53.4 = F 53.4 -F 56.1 ---! & ! ! ! CH: runaway / no motion -F 56.2 ---! ! ! ! -CH-19.7 --O! ! ! ! +-----+ ! ! ! ! DW 193 --!> F! ! ! ! ! ! ! ! ! ! ! KB 0 --! Q!----! ! ! ! +-----+ ! ! ! ! +-----+ ! ! ! ! DW 49 --!> F! ! ! ! ! -T 173 ! ! ! ! ! ! +-----+ KF +10 --! Q!----! !-----! !----!T!-!0! +-----+ +---+ +---+ ! ! KT 010.1 --!TV BI!- ! DE!- ! ! -F 59.6 ! ! +-----+ --!R Q!---!S ! +-----+ ! ! +------+ -F 11.7 --!R Q!-+-! S ! -F 53.4 +-----+ +------+ Segment 6 enable amplifier 1 +---+ F 56.0 = F 56.0 -F 56.0 ---!>=1! +---+ CH: move command up -F 56.1 ---! !-----! & ! F 56.1 = F 56.1 +---+ ! ! CH: move command down +---+ ! ! F 59.2 = F 59.2 -F 59.2 ---!>=1! ! ! CH: biassed mode -F 60.3 ---! !-----! ! F 60.3 = F 60.3 +---+ ! ! +---+ CH: AUX n2 -F 59.5 ---! !-----!>=1! F 59.5 = F 59.5 +---+ ! ! CH: required conditions for operation +---+ ! ! F 59.1 = F 59.1 -F 59.1 --O! & ! ! ! CH: power supply failure -F 63.5 ---! ! ! ! +------+ F 63.5 = F 63.5 -T 172 ---! !-----! !--+-! = ! -CH-Q 2.0 motor heating on CH +---+ +---+ +------+ T 172 = T 172 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 171 -PB 171 C:ARECIBST.S5D LEN=221 power-up time after main contactor CH on Q 2.0 = CH-Q 2.0 enable amplifier CH 11 Segment 7 enable amplifier 2 +---+ F 56.0 = F 56.0 -F 56.0 ---!>=1! +---+ CH: move command up -F 56.1 ---! !-----! & ! F 56.1 = F 56.1 +---+ ! ! CH: move command down +---+ ! ! F 59.2 = F 59.2 -F 59.2 ---!>=1! ! ! CH: biassed mode -F 60.2 ---! !-----! ! F 60.2 = F 60.2 +---+ ! ! +---+ CH: AUX n1 -F 59.5 ---! !-----!>=1! F 59.5 = F 59.5 +---+ ! ! CH: required conditions for operation +---+ ! ! F 59.1 = F 59.1 -F 59.1 --O! & ! ! ! CH: power supply failure -F 63.5 ---! ! ! ! +------+ F 63.5 = F 63.5 -T 172 ---! !-----! !--+-! = ! -CH-Q 2.1 motor heating on CH +---+ +---+ +------+ T 172 = T 172 power-up time after main contactor CH on Q 2.1 = CH-Q 2.1 enable amplifier CH 12 Segment 8 DCS: load tacho 1 +---+ F 59.2 = F 59.2 -F 59.2 ---!>=1! +------+ CH: biassed mode -F 60.3 ---! !--+-! = ! -CH-Q 2.6 F 60.3 = F 60.3 +---+ +------+ CH: AUX n2 Q 2.6 = CH-Q 2.6 DCS: load tacho CH 1 Segment 9 DCS: load tacho 2 +---+ F 59.2 = F 59.2 -F 59.2 ---!>=1! +------+ CH: biassed mode -F 60.2 ---! !--+-! = ! -CH-Q 2.7 F 60.2 = F 60.2 +---+ +------+ CH: AUX n1 Q 2.7 = CH-Q 2.7 DCS: load tacho CH 2 Segment 10 DCS: load setpoint 1 +---+ F 6.0 = F 6.0 -F 6.0 ---! & ! CH: local control (flag) -F 56.2 ---! ! F 56.2 = F 56.2 +---+ ! ! CH: setpoint enable -CH-18.6 ---!>=1! ! ! +------+ I 18.6 = CH-18.6 -CH-18.7 ---! !-----! !--+-! = ! -CH-Q 3.0 DCS: move CH up +---+ +---+ +------+ I 18.7 = CH-18.7 DCS: move CH down Q 3.0 = CH-Q 3.0 DCS: load setpoint CH 1 Segment 11 DCS: load setpoint 2 +---+ +------+ F 6.0 = F 6.0 -F 6.0 --O! & !--+-! = ! -CH-Q 3.1 +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+PB 171 -PB 171 C:ARECIBST.S5D LEN=221 CH: local control (flag) Q 3.1 = CH-Q 3.1 DCS: load setpoint CH 2 Segment 12 DCS: acceleration ramp fast +---+ +------+ F 59.2 = F 59.2 -F 59.2 ---! & !--+-! = ! -CH-Q 3.2 CH: biassed mode +---+ +------+ Q 3.2 = CH-Q 3.2 DCS: acceleration ramp CH fast Segment 13 DCS: torque bias on This function is not used since a varaiable torque bias will be added (activated by Q 3.7). +---+ +------+ F 0.0 = F 0.0 -F 0.0 ---! & !--+-! = ! -CH-Q 3.3 always "0" +---+ +------+ Q 3.3 = CH-Q 3.3 DCS: torque bias CH on Segment 14 sum_n controller on +---+ F 59.5 = F 59.5 -F 59.5 ---! & ! +------+ CH: required conditions for operation -F 63.5 --O! !--+-! = ! -CH-Q 3.4 F 63.5 = F 63.5 +---+ +------+ motor heating on CH Q 3.4 = CH-Q 3.4 DCS: sum_n controller on Segment 15 delta_n controller on +---+ F 59.5 = F 59.5 -F 59.5 ---! & ! CH: required conditions for operation -F 59.2 ---! ! +------+ F 59.2 = F 59.2 -F 63.5 --O! !--+-! = ! -CH-Q 3.5 CH: biassed mode +---+ +------+ F 63.5 = F 63.5 motor heating on CH Q 3.5 = CH-Q 3.5 DCS: delta_n controller on +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+PB 171 -PB 171 C:ARECIBST.S5D LEN=221 Segment 16 I-portion on +---+ F 59.5 = F 59.5 -F 59.5 ---! & ! CH: required conditions for operation -F 56.2 ---! ! F 56.2 = F 56.2 -F 63.5 --O! ! CH: setpoint enable +---+ ! ! F 63.5 = F 63.5 -F 6.0 --O! & ! +---+ ! ! motor heating on CH -F 6.2 --O! !-----!>=1! ! ! F 6.0 = F 6.0 +---+ ! ! ! ! CH: local control (flag) +---+ ! ! ! ! F 6.2 = F 6.2 -F 6.0 ---! & ! ! ! ! ! CH: PCU control (flag) +---+ ! ! ! ! ! ! F 61.4 = F 61.4 -F 61.4 ---!>=1! ! ! ! ! ! ! local move request CH up -F 61.5 ---! !-----! !-----! ! ! ! F 61.5 = F 61.5 +---+ +---+ ! ! ! ! local move request CH down +---+ ! ! ! ! F 123.0 = F 123.0 -F 6.2 ---! & ! ! ! ! ! PCU command: move CH pos. +---+ ! ! ! ! ! ! F 123.1 = F 123.1 -F 123.0 ---!>=1! ! ! ! ! ! ! +------+ PCU command: move CH neg. -F 123.1 ---! !-----! !-----! !-----! !--+-! = ! -CH-Q 3.6 Q 3.6 = CH-Q 3.6 +---+ +---+ +---+ +---+ +------+ DCS: I-portion of n-loop on Segment 17 torque bias / gravity compens. polarity of setpoints for CH drives: up = positive sign; motors rotating ccw when looking on the truck ==> gravity compensation must have positive sign torque bias: outward bias ==> upper (right) motor (#1) must get cw torque command ==> motor 1 cw = negative bias, motor 2 ccw = positive bias :C -DB 50 Positions :AN -F 63.5 motor heating on CH :JC -FB 213 gravity compensation Name :GRAVCOMP POS : DD 24 PART : KF +20 OUT : FW 220 gravity compensation setpoint :L KB 0 :T FW 222 set torque bias to zero :AN -F 59.2 CH: biassed mode :JC -FB 224 CH torque bias in AUX mode Name :CH-GRAV GRAV : FW 220 double grav.comp. if only 1 mot. :A -F 59.2 CH: biassed mode :AN -F 63.5 motor heating on CH :JC -FB 214 variable torque bias Name :TORQBIAS POS : DD 24 PART : KF -5 in biassed mode: OUT : FW 222 calculate torque bias setpoint :C -DB 150 drive datas :L FW 220 gravity comp. :L FW 222 + bias :+F :T DW 214 = setpoint motor 1 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+PB 171 -PB 171 C:ARECIBST.S5D LEN=221 :L FW 220 gravity comp. :L FW 222 - bias :-F :T DW 216 = setpoint motor 2 :*** Segment 18 motor heating during standstill :A -F 63.5 motor heating on CH :JC -FB 217 heating of drive motors Name :MOT-HEAT AXIS : KS CH :*** Segment 19 torque bias /gravity compens. +---+ F 59.5 = F 59.5 -F 59.5 ---!>=1! +------+ CH: required conditions for operation -F 63.5 ---! !--+-! = ! -CH-Q 3.7 F 63.5 = F 63.5 +---+ +------+ motor heating on CH Q 3.7 = CH-Q 3.7 DCS: gravity compensation CH on Segment 20 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 7! +------------------------------------------------------------------------------+PB 172 -PB 172 C:ARECIBST.S5D LEN=50 Segment 1 ******************************************************************************* C A R R I A G E H O U S E D R I V E S - switch-off of all drives - ******************************************************************************* Segment 2 reset operating modes +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! R ! -F 9.0 always "1" +---+ ! +------+ F 9.0 = F 9.0 ! +------+ CH: RATE mode +-! R ! -F 9.1 F 9.1 = F 9.1 ! +------+ CH: PRESET mode ! +------+ F 9.2 = F 9.2 +-! R ! -F 9.2 CH: STOW mode ! +------+ F 9.3 = F 9.3 ! +------+ CH: PROGRAM TRACK mode +-! R ! -F 9.3 +------+ Segment 3 reset PCU commands +---+ F 6.3 = F 6.3 -F 6.3 ---! & ! +------+ CH: PCU control (pulse) -F 121.2 ---! !--+-! R ! -F 122.0 F 121.2 = F 121.2 +---+ ! +------+ PCU mode: Carriage House ! +------+ F 122.0 = F 122.0 +-! R ! -F 122.3 PCU command: drive on +------+ F 122.3 = F 122.3 PCU command: go +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 172 -PB 172 C:ARECIBST.S5D LEN=50 Segment 4 reset move requests +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! R ! -F 61.4 always "1" +---+ ! +------+ F 61.4 = F 61.4 ! +------+ local move request CH up +-! R ! -F 61.5 F 61.5 = F 61.5 ! +------+ local move request CH down ! +------+ F 123.0 = F 123.0 +-! R ! -F 123.0 PCU command: move CH pos. ! +------+ F 123.1 = F 123.1 ! +------+ PCU command: move CH neg. +-! R ! -F 123.1 F 130.2 = F 130.2 ! +------+ computer mode: CH ! +------+ F 131.4 = F 131.4 +-! R ! -F 130.2 computer command: move CH up ! +------+ F 131.5 = F 131.5 ! +------+ computer command: move CH down +-! R ! -F 131.4 F 134.0 = F 134.0 ! +------+ computer command: CH RATE ! +------+ F 134.1 = F 134.1 +-! R ! -F 131.5 computer command: CH PRESET ! +------+ F 134.2 = F 134.2 ! +------+ computer command: CH STOW +-! R ! -F 134.0 F 134.3 = F 134.3 ! +------+ computer command: CH PROGRAM TRACK ! +------+ +-! R ! -F 134.1 ! +------+ ! +------+ +-! R ! -F 134.2 ! +------+ ! +------+ +-! R ! -F 134.3 +------+ Segment 5 setpoints zero :L KB 0 :C -DB 150 drive datas :T DW 205 setpoint :*** Segment 6 reset computer commands :C -DB 222 data from CP581 :L KB 0 :T DR 14 commands :T DW 22 commanded rate :C -DB 50 Positions :L DD 24 :C -DB 222 data from CP581 :T DD 28 commanded pos. = actual pos. :*** Segment 7 reset functions :O -F 6.1 CH: local control (pulse) :O -F 6.3 CH: PCU control (pulse) :O -F 6.5 CH: Computer control (pulse) :JU -FB 208 function reset Name :RESET :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 172 -PB 172 C:ARECIBST.S5D LEN=50 Segment 8 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 173 -PB 173 C:ARECIBST.S5D LEN=15 Segment 1 ******************************************************************************* C A R R I A G E H O U S E D R I V E S - local functions - ******************************************************************************* Segment 2 move request up +---+ F 59.0 = F 59.0 -F 59.0 ---! & ! +------+ CH: ready for operation -CH-18.6 ---! !--+-! = ! -F 61.4 I 18.6 = CH-18.6 +---+ +------+ DCS: move CH up F 61.4 = F 61.4 local move request CH up Segment 3 move request down +---+ F 59.0 = F 59.0 -F 59.0 ---! & ! +------+ CH: ready for operation -CH-18.7 ---! !--+-! = ! -F 61.5 I 18.7 = CH-18.7 +---+ +------+ DCS: move CH down F 61.5 = F 61.5 local move request CH down Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 174 -PB 174 C:ARECIBST.S5D LEN=7 Segment 1 ******************************************************************************* C A R R I A G E H O U S E D R I V E S - computer functions - ******************************************************************************* Segment 2 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 175 -PB 175 C:ARECIBST.S5D LEN=91 Segment 1 ******************************************************************************* C A R R I A G E H O U S E D R I V E S - Brakes - ******************************************************************************* +------+ +-! C ! DB 170 +------+ Segment 2 open brake 1 +---+ F 56.7 = F 56.7 -F 56.7 ---! & ! CH: brake release command -F 59.0 ---! ! F 59.0 = F 59.0 -F 33.5 --O! ! CH: ready for operation -F 30.7 --O! ! +------+ F 33.5 = F 33.5 -F 64.6 --O! !--+-! S ! -CH-Q 2.3 position CH: emergency limit +---+ +------+ F 30.7 = F 30.7 collision protection GD-CH F 64.6 = F 64.6 CH: setting of brakes started Q 2.3 = CH-Q 2.3 release brake CH 11 Segment 3 open brake 2 -T 174 Q 2.3 = CH-Q 2.3 +-----+ release brake CH 11 -CH-Q 2.3--!T!-!0! T 174 = T 174 DW 19 --!TV BI!- switch-on delay brake CH 12 ! DE!- F 33.5 = F 33.5 ! ! +---+ position CH: emergency limit --!R Q!----! & ! F 30.7 = F 30.7 +-----+ ! ! collision protection GD-CH -F 33.5 --O! ! F 59.0 = F 59.0 -F 30.7 --O! ! +------+ CH: ready for operation -F 59.0 ---! !--+-! S ! -CH-Q 2.4 Q 2.4 = CH-Q 2.4 +---+ +------+ release brake CH 12 Segment 4 brakes open -F 59.7 I 18.4 = CH-18.4 +-----+ CH: brakes released -CH-18.4 --!S ! F 59.7 = F 59.7 +---+ ! ! CH: brake open -CH-18.4 --O!>=1! ! ! Q 2.3 = CH-Q 2.3 -CH-Q 2.3--O! ! ! ! release brake CH 11 -CH-Q 2.4--O! !----!R Q!- Q 2.4 = CH-Q 2.4 +---+ +-----+ release brake CH 12 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 175 -PB 175 C:ARECIBST.S5D LEN=91 Segment 5 brakes closed +---+ I 18.4 = CH-18.4 -CH-18.4 --O! & ! -T 109 CH: brakes released -CH-Q 2.3--O! ! +-----+ Q 2.3 = CH-Q 2.3 -CH-Q 2.4--O! !--#-F 65.1 --!T!-!0! release brake CH 11 +---+ ! ! Q 2.4 = CH-Q 2.4 DW 18 --!TV BI!- release brake CH 12 ! DE!- F 65.1 = F 65.1 ! ! +------+ CH: aux. flag brake closed --!R Q!-+-! = ! -F 65.4 T 109 = T 109 +-----+ +------+ brake engage time CH F 65.4 = F 65.4 CH: brake closed Segment 6 close brake 1 brakes will always be forced to close when amplifiers are no more enabled. +---+ F 56.7 = F 56.7 -F 56.7 --O!>=1! CH: brake release command +---+ ! ! Q 2.0 = CH-Q 2.0 -CH-Q 2.0--O!>=1! +---+ ! ! enable amplifier CH 11 -CH-17.1 --O! !-----! & ! ! ! I 17.1 = CH-17.1 +---+ ! ! ! ! +------+ Amplifier CH 11 ready -F 60.2 --O! !-----! !--+-! R ! -CH-Q 2.3 F 60.2 = F 60.2 +---+ +---+ +------+ CH: AUX n1 Q 2.3 = CH-Q 2.3 release brake CH 11 Segment 7 brake closing sequence started +---+ -F 64.6 Q 2.3 = CH-Q 2.3 -CH-Q 2.3--O! & ! +-----+ release brake CH 11 -CH-Q 2.4---! !----!S ! Q 2.4 = CH-Q 2.4 +---+ ! ! release brake CH 12 -CH-Q 2.4-O!R Q!- F 64.6 = F 64.6 +-----+ CH: setting of brakes started Segment 8 close brake 2 -T 175 F 56.7 = F 56.7 +-----+ CH: brake release command -F 56.7 -O!T!-!0! T 175 = T 175 DW 19 --!TV BI!- switch-off delay brake CH 12 ! DE!- Q 2.1 = CH-Q 2.1 ! ! +---+ enable amplifier CH 12 --!R Q!----!>=1! I 17.3 = CH-17.3 +-----+ ! ! Amplifier CH 12 ready +---+ ! ! F 60.3 = F 60.3 -CH-Q 2.1--O!>=1! +---+ ! ! CH: AUX n2 -CH-17.3 --O! !-----! & ! ! ! Q 2.4 = CH-Q 2.4 +---+ ! ! ! ! +------+ release brake CH 12 -F 60.3 --O! !-----! !--+-! R ! -CH-Q 2.4 +---+ +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+PB 175 -PB 175 C:ARECIBST.S5D LEN=91 Segment 9 close all brakes +---+ F 10.7 = F 10.7 -F 10.7 ---!>=1! emergency off -F 30.7 ---! ! F 30.7 = F 30.7 -F 33.5 ---! ! collision protection GD-CH -F 59.1 ---! ! +------+ F 33.5 = F 33.5 -F 59.5 --O! !--+-! R ! -CH-Q 2.3 position CH: emergency limit +---+ ! +------+ F 59.1 = F 59.1 ! +------+ CH: power supply failure +-! R ! -CH-Q 2.4 F 59.5 = F 59.5 +------+ CH: required conditions for operation Q 2.3 = CH-Q 2.3 release brake CH 11 Q 2.4 = CH-Q 2.4 release brake CH 12 Segment 10 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+PB 220 -PB 220 C:ARECIBST.S5D LEN=35 Segment 1 ******************************************************************************* I N T E R F A C E T O S R C V I A C P 5 8 1 ******************************************************************************* :A -F 16.2 watchdog failure CP581 :S -F 100.2 ........................................ :A -F 16.3 data failure CP581 :S -F 100.3 ........................................ :A -F 16.4 initialization failure CP581 :S -F 100.4 ........................................ :*** Segment 2 failure +---+ -F 16.0 F 0.6 = F 0.6 -F 0.6 ---!>=1! +-----+ failure reset -F 135.7 ---! !----!R ! F 135.7 = F 135.7 +---+ ! ! CP581 command: failure reset +---+ ! ! F 16.0 = F 16.0 -F 16.2 ---!>=1! ! ! fault interface CP581 -F 16.3 ---! ! ! ! F 16.2 = F 16.2 -F 16.4 ---! !----!S Q!- watchdog failure CP581 +---+ +-----+ F 16.3 = F 16.3 data failure CP581 F 16.4 = F 16.4 initialization failure CP581 Segment 3 communication some data, e.g. the actual positions, will be transferred in the interrupt routine OB11. Only data which anyhow are actualized in the background loop will be transferred in the main program only. +---+ +------+ F 16.4 = F 16.4 -F 16.4 --O! & !--+-! JC ! -PB 223 initialization failure CP581 +---+ +------+ PB 223 = PB 223 communication with CP581 (background) Segment 4 +------+ DB 222 = DB 222 +-! C ! -DB 222 data from CP581 +------+ Segment 5 watchdog CP581 +-----+ F 16.4 = F 16.4 DW 3 --!< F! initialization failure CP581 ! ! +---+ F 16.2 = F 16.2 KB 0 --! Q!----! & ! watchdog failure CP581 +-----+ ! ! +------+ -F 16.4 --O! !--+-! S ! -F 16.2 +---+ +------+ Segment 6 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 221 -PB 221 C:ARECIBST.S5D LEN=18 Segment 1 ******************************************************************************* SENDING OF DATA TO SRC VIA CP581/II (every 20 ms) ******************************************************************************* +------+ DB 221 = DB 221 +-! C ! -DB 221 data for CP581 +------+ Segment 2 prepare data FB 230 = FB 230 -FB 230 prepare data for CP581 (interrupt) +--------------+ ! DATTO581 ! +--------------+ Segment 3 hand over data to CP581/II FY 176 = FY 176 FB 126 PAFE byte SEND-ALL CP 581 +--------------+ ! SEND-A ! 0,24 --!SSNR PAFE!-- -FY 176 0,0 --!A-NR ! DW 150 --!ANZW ! +--------------+ Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 222 -PB 222 C:ARECIBST.S5D LEN=26 Segment 1 ******************************************************************************* RECEIVE DATA FROM SRC VIA CP 581 ******************************************************************************* +------+ DB 222 = DB 222 +-! C ! -DB 222 data from CP581 +------+ Segment 2 receive data from CP581 FY 177 = FY 177 FB 127 PAFE byte RECEIVE-ALL CP 581 +--------------+ ! REC-A ! 0,24 --!SSNR PAFE!-- -FY 177 0,0 --!A-NR ! DW 118 --!ANZW ! +--------------+ Segment 3 axis reset requests :C -DB 222 data from CP581 :A D 10.5 :S -F 130.3 computer command: reset failure Az :A D 12.5 :S -F 130.4 computer command: reset failure GD :A D 14.5 :S -F 130.5 computer command: reset failure CH :*** Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+PB 223 -PB 223 C:ARECIBST.S5D LEN=22 Segment 1 ******************************************************************************* COMMUNICATION WITH CP581 (in main program [background loop]) ******************************************************************************* +------+ DB 221 = DB 221 +-! C ! -DB 221 data for CP581 +------+ Segment 2 prepare data FB 235 = FB 235 -FB 235 prepare data for CP581 (background loop) +--------------+ ! DATTO581 ! +--------------+ Segment 3 +------+ DB 222 = DB 222 +-! C ! -DB 222 data from CP581 +------+ Segment 4 receive data from CP581 FB 231 = FB 231 -FB 231 evaluate data from CP581 +--------------+ ! DATFR581 ! +--------------+ Segment 5 failure reset +---+ F 0.6 = F 0.6 -F 0.6 ---!>=1! +------+ failure reset -F 135.7 ---! !--+-! R ! -F 16.0 F 135.7 = F 135.7 +---+ ! +------+ CP581 command: failure reset ! +------+ F 16.0 = F 16.0 +-! R ! -F 16.2 fault interface CP581 ! +------+ F 16.2 = F 16.2 ! +------+ watchdog failure CP581 +-! R ! -F 16.3 F 16.3 = F 16.3 +------+ data failure CP581 Segment 6 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 51 -FB 51 C:ARECIBST.S5D LIB=20051 LEN=39 Segment 1 Name :DBLOESCH Decl :DB I/Q/D/B/T/C: B :JU =M001 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 52 -FB 52 C:ARECIBST.S5D LIB=20052 LEN=50 Segment 1 Name :COPYDW Decl :QDBW I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KY Decl :ZDBW I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KY Decl :ANZ I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF :JU =M001 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 59 C:ARECIBST.S5D LEN=11 Segment 1 Name :NIX :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 61 -FB 61 C:ARECIBST.S5D LIB=20061 LEN=109 Segment 1 ******************************************************************************* Calculation of parameters for Setpoint Limiter DBNR: data block for setpoint limiter Format:integer 16 bit VMAX: max. velocity [units/s] integer 16 bit TZ/S: cycle time of velocity loop [s] floating point AMAX: max. acceleration [units/s**2] floating point FAKV: velocity reduction factor floating point ******************************************************************************* Name :SETP-PAR Decl :DBNR I/Q/D/B/T/C: B Decl :VMAX I/Q/D/B/T/C: I BI/BY/W/D: W Decl :AMAX I/Q/D/B/T/C: I BI/BY/W/D: W Decl :TZ/S I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KG Decl :FAKV I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KG Decl :FAKA I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KG :JU =M001 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 62 -FB 62 C:ARECIBST.S5D LIB=20062 LEN=90 Segment 1 ******************************************************************************* P I - P O S I T I O N C O N T R O L L E R ******************************************************************************* Name :PI-LOOP Decl :PACT I/Q/D/B/T/C: I BI/BY/W/D: D Decl :PDES I/Q/D/B/T/C: I BI/BY/W/D: D Decl :VDES I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :DBNR I/Q/D/B/T/C: B :JU =M001 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 64 -FB 64 C:ARECIBST.S5D LIB=20064 LEN=24 Segment 1 ******************************************************************************* Reset of control loop memories ******************************************************************************* Name :LOOP-RES Decl :DBNR I/Q/D/B/T/C: B :JU =M001 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 66 -FB 66 C:ARECIBST.S5D LIB=20066 LEN=159 Segment 1 ******************************************************************************* This FB generates a motion profile towards the desired position stated at DES. The output to the position loop is ACT (both valued format DD/KF). An auxiliary DB has to be defined at DBAU. FB66 uses DW30 thru 55 of this DB. Further conventions: - ACT and DES are assumed to be located in DB50. - Parameters to be defined in DB187 before calling FB66: . DD50, format KG: max. acceleration in units per sec**2 . DD52, format KG: max. position increment per cycle in units . DD54, format KG: increase of increment per cycle, in units ******************************************************************************* Name :SETP-LIM Decl :DBAU I/Q/D/B/T/C: B Decl :DES I/Q/D/B/T/C: I BI/BY/W/D: D Decl :ACT I/Q/D/B/T/C: Q BI/BY/W/D: D :JU =M001 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 68 -FB 68 C:ARECIBST.S5D LIB=20068 LEN=72 Segment 1 ******************************************************************************* This FB generates a ramp from a commanded setpoint step ACT: last actual setpoint DES: final desired setpoint INCR: max. allowable velocity increment (range 0 ... +1024) OUT: address of analog output ******************************************************************************* Name :RATERAMP Decl :ACT I/Q/D/B/T/C: I BI/BY/W/D: W Decl :DES I/Q/D/B/T/C: I BI/BY/W/D: W Decl :INCR I/Q/D/B/T/C: I BI/BY/W/D: W Decl :OUT I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF :JU =M001 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 69 -FB 69 C:ARECIBST.S5D LIB=20069 LEN=58 Segment 1 ******************************************************************************* This FB generates a ramp from a commanded setpoint step ACT: last actual setpoint DES: final desired setpoint INCR: increment to be added ******************************************************************************* Name :POS-RAMP Decl :ACT I/Q/D/B/T/C: Q BI/BY/W/D: D Decl :DES I/Q/D/B/T/C: I BI/BY/W/D: D Decl :INCR I/Q/D/B/T/C: I BI/BY/W/D: D :JU =M001 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 173 -FB 173 C:ARECIBST.S5D LIB=20173 LEN=55 Segment 1 ******************************************************************************* * CHECKSUM adds n data words (n defined by DWNO), beginning at DW1 in the * * data block stated at DBNR. All words are considered to be 16 bit * * integers, with the MSB representing the sign. * * The lower 16 bit of the sum are transferred to the output at CHKS. * ******************************************************************************* Name :CHKSUM Decl :DBNR I/Q/D/B/T/C: B Decl :DW1 I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :DWNO I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :CHKS I/Q/D/B/T/C: Q BI/BY/W/D: W :JU =M001 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 180 -FB 180 C:ARECIBST.S5D LEN=122 Segment 1 ******************************************************************************* Velocity setpoints in RATE mode for individual axes ******************************************************************************* Name :RATEMODE :C -DB 150 drive datas :*** Segment 2 Az velocity setpoint :AN -F 54.0 AZ: move command cw :AN -F 54.1 AZ: move command ccw :ON -F 7.0 Az: RATE mode :JC =NO :C -DB 50 Positions :JU -FB 62 position control loop Name :PI-LOOP PACT : DD 56 bending compensation PDES : DD 148 VDES : KF +208 DBNR : -DB 184 control loop parameters Az Bending Comp. :C -DB 150 drive datas :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 194 DES : DW 208 INCR : DW 70 OUT : KF +153 :L DW 153 :L KH 0000 :T -QW 246 bending compensation Az :L DW 202 :L DW 71 add velocity offset :+F :T DW 202 RATE :JU -FB 68 velocity ramp generator velocity ramp Name :RATERAMP ACT : DW 191 DES : DW 202 INCR : DW 20 OUT : KF +150 :L DW 150 :T -QW 240 velocity setpoint Az :A -F 0.0 always "0" := -F 7.7 Az: no operation NO :*** Segment 3 GD velocity setpoint :AN -F 55.0 GD: move command up :AN -F 55.1 GD: move command down :ON -F 8.0 GD: RATE mode :JC =NO :L DW 204 :CSW :T DW 217 invert velocity setpoint :L DW 72 :+F add velocity offset :T DW 217 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 180 -FB 180 C:ARECIBST.S5D LEN=122 :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 192 velocity setpoint DES : DW 217 INCR : DW 30 OUT : KF +151 :L DW 151 :T -QW 242 velocity setpoint GD :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 195 variable torque bias DES : DW 210 INCR : DW 69 OUT : KF +154 :L DW 154 :T -QW 248 torque bias GD :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 196 gravity compensation DES : DW 212 INCR : DW 68 OUT : KF +155 :L DW 155 :T -QW 250 gravity compensation GD :A -F 0.0 always "0" := -F 8.7 GD: no operation NO :*** Segment 4 CH velocity setpoint :AN -F 56.0 CH: move command up :AN -F 56.1 CH: move command down :ON -F 9.0 CH: RATE mode :JC =NO :L DW 206 :L DW 73 add velocity offset :+F :T DW 206 :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 193 velocity setpoint DES : DW 206 INCR : DW 40 OUT : KF +152 :L DW 152 :T -QW 244 velocity setpoint CH :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 197 torque bias / gravity comp. CH11 DES : DW 214 INCR : DW 69 OUT : KF +156 :L DW 156 :T -QW 252 torque bias & gravity compensation CH 11 :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 198 torque bias / gravity comp. CH12 DES : DW 216 INCR : DW 69 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 180 -FB 180 C:ARECIBST.S5D LEN=122 OUT : KF +157 :L DW 157 :T -QW 254 torque bias & gravity compensation CH 12 :A -F 0.0 always "0" := -F 9.7 CH: no operation NO :*** Segment 5 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 181 -FB 181 C:ARECIBST.S5D LEN=189 Segment 1 ******************************************************************************* Control Loop For Axis Preset Mode ******************************************************************************* Name :PRESET :*** Segment 2 Az position loop :O( :AN -F 7.1 01 Az: PRESET mode :AN -F 7.2 01 Az: STOW mode :) 01 :O( :AN -F 54.0 01 AZ: move command cw :AN -F 54.1 01 AZ: move command ccw :) 01 :JC =CONT :O -F 54.2 AZ: setpoint enable :JC =GO :L KB 0 no more command: :C -DB 150 drive datas rate setpoint zero :T DW 202 :JU =RATE GO :C -DB 50 Positions :JU -FB 66 setpoint limiter Name :SETP-LIM DBAU : -DB 181 control loop parameters Az setpoint limiter DES : DD 70 ACT : DD 170 :JU -FB 62 position control loop Name :PI-LOOP PACT : DD 20 position loop PDES : DD 170 VDES : KF +201 DBNR : -DB 181 control loop parameters Az : RATE : :C -DB 50 Positions :JU -FB 62 position control loop Name :PI-LOOP PACT : DD 56 bending compensation PDES : DD 148 VDES : KF +208 DBNR : -DB 184 control loop parameters Az Bending Comp. :C -DB 150 drive datas :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 194 ramp for bending compensation DES : DW 208 INCR : DW 70 OUT : KF +153 :L DW 153 :L KH 0000 :T -QW 246 bending compensation Az : NOBE :C -DB 150 drive datas +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 181 -FB 181 C:ARECIBST.S5D LEN=189 :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 191 velocity ramp DES : DW 202 INCR : DW 20 OUT : KF +150 :L DW 150 :T -QW 240 velocity setpoint Az :A -F 0.0 always "0" := -F 7.7 Az: no operation CONT :*** Segment 3 GD position loop :O( :AN -F 8.1 01 GD: PRESET mode :AN -F 8.2 01 GD: STOW mode :) 01 :O( :AN -F 55.0 01 GD: move command up :AN -F 55.1 01 GD: move command down :) 01 :JC =CONT :O -F 55.2 GD: setpoint enable :JC =GO :L KB 0 no more command: :C -DB 150 drive datas rate setpoint = zero :T DW 204 :JU =RATE GO :C -DB 50 Positions :JU -FB 66 setpoint limiter Name :SETP-LIM DBAU : -DB 182 control loop parameters GD DES : DD 72 ACT : DD 172 :JU -FB 62 position control loop Name :PI-LOOP PACT : DD 22 PDES : DD 172 VDES : KF +203 DBNR : -DB 182 control loop parameters GD : RATE :C -DB 150 drive datas :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 196 gravity compensation DES : DW 212 INCR : DW 68 OUT : KF +155 :L DW 155 :T -QW 250 gravity compensation GD : :C -DB 150 drive datas :L DW 204 :CSW :T DW 217 invert velocity setpoint :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 192 velocity setpoint +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 181 -FB 181 C:ARECIBST.S5D LEN=189 DES : DW 217 INCR : DW 30 OUT : KF +151 :L DW 151 :T -QW 242 velocity setpoint GD :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 195 variable torque bias DES : DW 210 INCR : DW 69 OUT : KF +154 :L DW 154 :T -QW 248 torque bias GD :A -F 0.0 always "0" := -F 8.7 GD: no operation CONT :*** Segment 4 CH position loop :O( :AN -F 9.1 01 CH: PRESET mode :AN -F 9.2 01 CH: STOW mode :) 01 :O( :AN -F 56.0 01 CH: move command up :AN -F 56.1 01 CH: move command down :) 01 :JC =CONT :O -F 56.2 CH: setpoint enable :JC =GO :L KB 0 no more command: :C -DB 150 drive datas rate setpoint = zero :T DW 206 :JU =RATE GO :C -DB 50 Positions :JU -FB 66 setpoint limiter Name :SETP-LIM DBAU : -DB 183 control loop parameters CH DES : DD 74 ACT : DD 174 :JU -FB 62 position control loop Name :PI-LOOP PACT : DD 24 PDES : DD 174 VDES : KF +205 DBNR : -DB 183 control loop parameters CH : RATE :C -DB 150 drive datas :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 193 velocity setpoint DES : DW 206 INCR : DW 40 OUT : KF +152 :L DW 152 :T -QW 244 velocity setpoint CH :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 197 torque bias / grav.comp. CH11 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 181 -FB 181 C:ARECIBST.S5D LEN=189 DES : DW 214 INCR : DW 69 OUT : KF +156 :L DW 156 :T -QW 252 torque bias & gravity compensation CH 11 :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 198 torque bias / grav.comp. CH12 DES : DW 216 INCR : DW 69 OUT : KF +157 :L DW 157 :T -QW 254 torque bias & gravity compensation CH 12 :A -F 0.0 always "0" := -F 9.7 CH: no operation CONT :*** Segment 5 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 182 -FB 182 C:ARECIBST.S5D LEN=238 Segment 1 ******************************************************************************* Control Loop For Program Track Mode ******************************************************************************* Name :PRTRLOOP :*** Segment 2 Az position loop :ON -F 7.3 Az: PROGRAM TRACK mode :O( :AN -F 54.0 01 AZ: move command cw :AN -F 54.1 01 AZ: move command ccw :) 01 :JC =CONT :O -F 54.2 AZ: setpoint enable :JC =GO :L KB 0 no more command: :C -DB 150 drive datas rate setpoint zero :T DW 202 :JU =RATE GO :C -DB 50 Positions :AN -F 13.5 Program Track: move to first position :JC =NORM :JU -FB 66 setpoint limiter Name :SETP-LIM DBAU : -DB 181 control loop parameters Az movement to first position: DES : DD 70 controlled preset ACT : DD 170 :C -DB 150 drive datas :L KF +0 :T DW 180 :C -DB 50 Positions NORM :AN -F 13.5 Program Track: move to first position :JC -FB 194 Program Track ramp Name :PT-RAMP ACT : DD 170 Pr.Tr. path STA : DD 138 INCR : DD 126 CNT : DW 1 :JU -FB 62 position control loop Name :PI-LOOP PACT : DD 20 position loop PDES : DD 170 VDES : KF +201 DBNR : -DB 181 control loop parameters Az : RATE : :C -DB 50 Positions :JU -FB 62 position control loop Name :PI-LOOP PACT : DD 56 bending compensation PDES : DD 148 VDES : KF +208 DBNR : -DB 184 control loop parameters Az Bending Comp. :C -DB 150 drive datas :JU -FB 68 velocity ramp generator +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 182 -FB 182 C:ARECIBST.S5D LEN=238 Name :RATERAMP ACT : DW 194 ramp for bending compensation DES : DW 208 INCR : DW 70 OUT : KF +153 :L DW 153 :L KH 0000 :T -QW 246 bending compensation Az : NOBE :C -DB 150 drive datas :L DW 201 :L DW 180 :+F :T DW 201 add velocity feedforward :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 191 velocity ramp DES : DW 202 INCR : DW 20 OUT : KF +150 :L DW 150 :T -QW 240 velocity setpoint Az :A -F 0.0 always "0" := -F 7.7 Az: no operation CONT :*** Segment 3 GD position loop :ON -F 8.3 GD: PROGRAM TRACK mode :O( :AN -F 55.0 01 GD: move command up :AN -F 55.1 01 GD: move command down :) 01 :JC =CONT :O -F 55.2 GD: setpoint enable :JC =GO :L KB 0 no more command: :C -DB 150 drive datas rate setpoint = zero :T DW 204 :JU =RATE GO :C -DB 50 Positions :AN -F 13.5 Program Track: move to first position :JC =NORM :JU -FB 66 setpoint limiter Name :SETP-LIM DBAU : -DB 182 control loop parameters GD movement to first position: DES : DD 72 controlled preset ACT : DD 172 :C -DB 150 drive datas :L KB 0 :T DW 181 :C -DB 50 Positions NORM :AN -F 13.5 Program Track: move to first position :JC -FB 194 Program Track ramp Name :PT-RAMP ACT : DD 172 Pr.Tr. path STA : DD 140 INCR : DD 128 CNT : DW 1 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 182 -FB 182 C:ARECIBST.S5D LEN=238 :JU -FB 62 position control loop Name :PI-LOOP PACT : DD 22 PDES : DD 172 VDES : KF +203 DBNR : -DB 182 control loop parameters GD : RATE :C -DB 150 drive datas :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 196 gravity compensation DES : DW 212 INCR : DW 68 OUT : KF +155 :L DW 155 :T -QW 250 gravity compensation GD : :C -DB 150 drive datas :L DW 203 :L DW 181 :+F :T DW 203 add feedforward :L DW 204 :CSW :T DW 217 invert velocity setpoint : :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 192 velocity setpoint DES : DW 217 INCR : DW 30 OUT : KF +151 :L DW 151 :T -QW 242 velocity setpoint GD :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 195 variable torque bias DES : DW 210 INCR : DW 69 OUT : KF +154 :L DW 154 :T -QW 248 torque bias GD :A -F 0.0 always "0" := -F 8.7 GD: no operation CONT :*** Segment 4 CH position loop :ON -F 9.3 CH: PROGRAM TRACK mode :O( :AN -F 56.0 01 CH: move command up :AN -F 56.1 01 CH: move command down :) 01 :JC =CONT :O -F 56.2 CH: setpoint enable :JC =GO :L KB 0 no more command: :C -DB 150 drive datas rate setpoint = zero :T DW 206 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 182 -FB 182 C:ARECIBST.S5D LEN=238 :JU =RATE GO :C -DB 50 Positions :AN -F 13.5 Program Track: move to first position :JC =NORM :JU -FB 66 setpoint limiter Name :SETP-LIM DBAU : -DB 183 control loop parameters CH movement to first position: DES : DD 74 controlled preset ACT : DD 174 :C -DB 150 drive datas :L KB 0 :T DW 182 :C -DB 50 Positions NORM :AN -F 13.5 Program Track: move to first position :JC -FB 194 Program Track ramp Name :PT-RAMP ACT : DD 174 Pr.Tr. path STA : DD 142 INCR : DD 130 CNT : DW 1 :JU -FB 62 position control loop Name :PI-LOOP PACT : DD 24 PDES : DD 174 VDES : KF +205 DBNR : -DB 183 control loop parameters CH : RATE :C -DB 150 drive datas :L DW 205 :L DW 182 :+F :T DW 205 add feedforward :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 193 velocity setpoint DES : DW 206 INCR : DW 40 OUT : KF +152 :L DW 152 :T -QW 244 velocity setpoint CH :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 197 torque bias / grav.comp. CH11 DES : DW 214 INCR : DW 69 OUT : KF +156 :L DW 156 :T -QW 252 torque bias & gravity compensation CH 11 :JU -FB 68 velocity ramp generator Name :RATERAMP ACT : DW 198 torque bias / grav.comp. CH12 DES : DW 216 INCR : DW 69 OUT : KF +157 :L DW 157 :T -QW 254 torque bias & gravity compensation CH 12 :A -F 0.0 always "0" +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 182 -FB 182 C:ARECIBST.S5D LEN=238 := -F 9.7 CH: no operation CONT :*** Segment 5 increase 20 ms counter :C -DB 50 Positions :L DW 1 :ADD BN +1 :T DW 1 :*** Segment 6 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+FB 184 -FB 184 C:ARECIBST.S5D LEN=176 Segment 1 ******************************************************************************* FB 184 restores auxiliary memories and "old" buffer contents in case of no operation of the resp. drives. ******************************************************************************* Name :NO-OP :C -DB 50 Positions :*** Segment 2 phi_old = phi_act :O -F 7.7 Az: no operation :O -F 7.0 Az: RATE mode :JC =M001 :JU =M002 M001 :C -DB 50 Positions Az :L DD 20 :T DD 120 :T DD 138 :L KB 1 :-D :T DD 170 M002 :O -F 8.7 GD: no operation :O -F 8.0 GD: RATE mode :JC =M003 :JU =M004 M003 :C -DB 50 Positions GD :L DD 22 :T DD 122 :T DD 140 :L KB 1 :-D :T DD 172 M004 :O -F 9.7 CH: no operation :O -F 9.0 CH: RATE mode :JC =M005 :JU =M006 M005 :C -DB 50 Positions CH :L DD 24 :T DD 124 :T DD 142 :L KB 1 :-D :T DD 174 M006 : :*** Segment 3 phi_des = phi_act :C -DB 50 Positions :A( :O -F 7.7 01 Az: no operation :O -F 7.0 01 Az: RATE mode :) 01 :AN -F 7.3 Az: PROGRAM TRACK mode :JC =M001 :JU =M002 M001 :L DD 20 Az :T DD 70 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 184 -FB 184 C:ARECIBST.S5D LEN=176 M002 :A( :O -F 8.7 01 GD: no operation :O -F 8.0 01 GD: RATE mode :) 01 :AN -F 8.3 GD: PROGRAM TRACK mode :JC =M003 :JU =M004 M003 :L DD 22 GD :T DD 72 M004 :A( :O -F 9.7 01 CH: no operation :O -F 9.0 01 CH: RATE mode :) 01 :AN -F 9.3 CH: PROGRAM TRACK mode :JC =M005 :JU =M006 M005 :L DD 24 CH :T DD 74 M006 : :*** Segment 4 v_des = v_old = 0 :C -DB 150 drive datas :AN -F 7.7 Az: no operation :JC =AX-2 :L KB 0 Az :T DW 150 :T DW 153 :T DW 191 :T DW 194 :T DW 201 :T DW 202 :T DW 208 :T -QW 246 bending compensation Az :A -F 63.3 motor heating on Az :JC =AX-2 :T -QW 240 velocity setpoint Az AX-2 :AN -F 8.7 GD: no operation :JC =AX-3 :L KB 0 GD :T DW 151 :T DW 154 :T DW 155 :T DW 192 :T DW 203 :T DW 204 :T -QW 242 velocity setpoint GD :T -QW 248 torque bias GD :A -F 63.4 motor heating on GD :JC =AX-3 :T -QW 250 gravity compensation GD AX-3 :AN -F 9.7 CH: no operation :JC =WEIT :L KB 0 CH :T DW 152 :T DW 156 :T DW 157 :T DW 193 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 184 -FB 184 C:ARECIBST.S5D LEN=176 :T DW 205 :T DW 206 :T -QW 244 velocity setpoint CH :A -F 63.5 motor heating on CH :JC =WEIT :T -QW 252 torque bias & gravity compensation CH 11 :T -QW 254 torque bias & gravity compensation CH 12 WEIT : :*** Segment 5 phi_inc = phi_inc_act :A -F 7.3 Az: PROGRAM TRACK mode :A -F 13.5 Program Track: move to first position :O -F 7.1 Az: PRESET mode :O -F 7.2 Az: STOW mode :JC =M001 :C -DB 150 drive datas :L DW 191 v_act_Az :JU -OB 220 extend sign 16-->32 bit (KF format) :FDG :C -DB 181 control loop parameters Az :L DD 56 * fact_phi_inc_Az :XG :T DD 42 = phi_inc_act_Az M001 :A -F 8.3 GD: PROGRAM TRACK mode :A -F 13.5 Program Track: move to first position :O -F 8.1 GD: PRESET mode :O -F 8.2 GD: STOW mode :JC =M002 :C -DB 150 drive datas :L DW 192 v_act_GD :JU -OB 220 extend sign 16-->32 bit (KF format) :FDG :C -DB 182 control loop parameters GD :L DD 56 * fact_phi_inc_GD :XG :T DD 42 = phi_inc_act_GD M002 :A -F 9.3 CH: PROGRAM TRACK mode :A -F 13.5 Program Track: move to first position :O -F 9.1 CH: PRESET mode :O -F 9.2 CH: STOW mode :JC =M003 :C -DB 150 drive datas :L DW 193 v_Act_CH :JU -OB 220 extend sign 16-->32 bit (KF format) :FDG :C -DB 183 control loop parameters CH :L DD 56 * fact_phi_inc_CH :XG :T DD 42 = phi_inc_act_CH M003 : :*** Segment 6 reset aux. flags :AN -F 7.7 Az: no operation :JC =M001 :A -F 0.1 always "1" Az :R -F 60.4 Az: feedarm bending compensation activ M001 :AN -F 8.7 GD: no operation +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 184 -FB 184 C:ARECIBST.S5D LEN=176 :JC =M002 : GD M002 :AN -F 9.7 CH: no operation :JC =M003 : CH M003 : :*** Segment 7 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 186 -FB 186 C:ARECIBST.S5D LEN=303 Segment 1 ******************************************************************************* Program Track Control ******************************************************************************* Name :PRTR-CON :*** Segment 2 clear stack :AN -F 136.7 clear Program Track stack command :JC =CONT :L KB 0 :T -FW 192 program track stack pointer :C -DB 50 Positions :T DW 1 reset 20 ms counter :A -F 0.0 always "0" := -F 136.7 clear Program Track stack command :A -F 0.1 always "1" :S -F 13.3 Program Track: no next sample found :S -F 13.4 Program Track: no more valid data :A -F 13.5 Program Track: move to first position :R -F 13.5 Program Track: move to first position :BEU CONT :*** Segment 3 continue only after start-up :AN -F 13.2 Program Track: start-up done :BEC :*** Segment 4 actual time :C -DB 11 Time :L DD 9 :C -DB 224 program track aux. DB :T DD 2 :*** Segment 5 t_k reached? :L DD 2 :L DD 4 :-D if (t_act - t_k) > 12h: :C -DB 11 Time :L DD 18 :<=D :JC =NORM :L DD 16 next position beyond midnight! :C -DB 224 program track aux. DB consider t_act - 24h :L DD 2 :TAK :-D t_act - 24h :L DD 4 if < t_k: not reached := t_k: :=D t_k+1 is beyond midnight :JC =GOON :TAK add 24 h to d_t :C -DB 11 Time :L DD 16 :+D :C -DB 50 Positions :T DD 229 GOON : :JU -FB 195 position increment calculation Name :POS-INCR NEW : FD 210 Az ACT : FD 228 INCR : FD 240 TIME : DD 229 :JU -FB 195 position increment calculation Name :POS-INCR NEW : FD 214 GD ACT : FD 232 INCR : FD 244 TIME : DD 229 :JU -FB 195 position increment calculation Name :POS-INCR NEW : FD 218 CH ACT : FD 236 INCR : FD 248 TIME : DD 229 :*** Segment 12 transfer new data :L FD 240 :T DD 126 phi_inc_Az :A -F 136.1 Program Track: standstill Az :JC =NOAZ :C -DB 224 program track aux. DB :L DD 10 :C -DB 50 Positions :T DD 138 phi_sta_Az_new :JU =GD NOAZ :L DD 170 no Az position: :T DD 138 phi_des = phi_act :AN -F 136.4 Program Track: no Az position :JC =GD :L KG +0000000+00 :T DD 126 phi_inc = 0 :T FD 240 GD :L FD 244 :T DD 128 phi_inc_GD :A -F 136.2 Program Track: standstill GD :JC =NOGD +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 186 -FB 186 C:ARECIBST.S5D LEN=303 :C -DB 224 program track aux. DB :L DD 12 :C -DB 50 Positions :T DD 140 phi_sta_GD_new :JU =CH NOGD :L DD 172 no GD position: :T DD 140 phi_des = phi_act :AN -F 136.5 Program Track: no GD position :JC =CH :L KG +0000000+00 :T DD 128 phi_inc = 0 :T FD 244 CH :L FD 248 :T DD 130 phi_inc_CH :A -F 136.3 Program Track: standstill CH :JC =NOCH :C -DB 224 program track aux. DB :L DD 14 :C -DB 50 Positions :T DD 142 phi_sta_CH_new :JU =CONT NOCH :L DD 174 no CH position: :T DD 142 phi_des = phi_act :AN -F 136.6 Program Track: no CH position :JC =CONT :L KG +0000000+00 phi_inc = 0 :T DD 132 :T FD 248 CONT : :L KB 1 :T DW 1 20 ms counter :*** Segment 13 calculation of feedforward :C -DB 150 drive datas :JU -FB 196 ROT signal adaption Name :PT-FFW DBNR : -DB 150 drive datas INCR : FD 240 Az VMAX : DW 74 VFFW : DW 180 :JU -FB 196 ROT signal adaption Name :PT-FFW DBNR : -DB 150 drive datas INCR : FD 244 GD VMAX : DW 33 VFFW : DW 181 :JU -FB 196 ROT signal adaption Name :PT-FFW DBNR : -DB 150 drive datas INCR : FD 248 CH VMAX : DW 43 VFFW : DW 182 :*** Segment 14 search next valid sample :AN -F 13.6 Program Track: next sample found :JC -FB 191 Program Track: use next data set Name :PRTR-NEX +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+FB 186 -FB 186 C:ARECIBST.S5D LEN=303 :*** Segment 15 no more data :AN -F 13.6 Program Track: next sample found :A -F 13.3 Program Track: no next sample found :S -F 13.4 Program Track: no more valid data :AN -F 13.6 Program Track: next sample found := -F 13.3 Program Track: no next sample found :*** Segment 16 set evaluation flag +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! S ! -F 13.7 always "1" +---+ +------+ F 13.7 = F 13.7 Program Track: next sample evaluated Segment 17 reset "no position" flags :AN -F 136.4 Program Track: no Az position :A -F 13.7 Program Track: next sample evaluated :R -F 136.1 Program Track: standstill Az :AN -F 136.5 Program Track: no GD position :A -F 13.7 Program Track: next sample evaluated :R -F 136.2 Program Track: standstill GD :AN -F 136.6 Program Track: no CH position :A -F 13.7 Program Track: next sample evaluated :R -F 136.3 Program Track: standstill CH :*** Segment 18 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+FB 187 -FB 187 C:ARECIBST.S5D LEN=148 Segment 1 ******************************************************************************* P R O G R A M T R A C K S T A R T _ U P ******************************************************************************* Name :PRTR-STA :*** Segment 2 search first data with t > t_act :C -DB 11 Time :L DD 9 :T FD 250 t_act :L KB 0 :T -FW 192 program track stack pointer reset pointer :JU -FB 192 Program Track: search next data set Name :PTSEARCH FIND : -F 13.2 Program Track: start-up done TIME : FD 250 :AN -F 13.2 Program Track: start-up done := -F 13.3 Program Track: no next sample found := -F 13.4 Program Track: no more valid data :A -F 13.4 Program Track: no more valid data :R -F 13.5 Program Track: move to first position :*** Segment 3 no valid samples found :AN -F 13.4 Program Track: no more valid data :JC =CONT if so: :C -DB 50 Positions phi_des = phi_act :AN -F 7.3 Az: PROGRAM TRACK mode :JC =GD :L DD 20 Az :T DD 70 GD :AN -F 8.3 GD: PROGRAM TRACK mode :JC =CH :L DD 22 GD :T DD 72 CH :AN -F 9.3 CH: PROGRAM TRACK mode :JC =HALT :L DD 24 CH :T DD 74 HALT :BEU CONT :*** Segment 4 store t_1, phi_1 :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L DD 0 :C -DB 224 program track aux. DB :T DD 4 t_1 :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L DD 2 :C -DB 224 program track aux. DB :T DD 10 phi_Az_1 :C -DB 223 program track data :L -FW 192 program track stack pointer +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 187 -FB 187 C:ARECIBST.S5D LEN=148 :JU -OB 180 enter DW0 offset :L DD 4 :C -DB 224 program track aux. DB :T DD 12 phi_GD_1 :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L DD 6 :C -DB 224 program track aux. DB :T DD 14 phi_CH_1 :*** Segment 5 search next sample with t > t_1 :L DD 4 :T FD 250 t_1 :JU -FB 192 Program Track: search next data set Name :PTSEARCH FIND : -F 13.6 Program Track: next sample found TIME : FD 250 :*** Segment 6 store t_2, phi_2 :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L DD 0 :C -DB 224 program track aux. DB :T DD 20 t_2 :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L DD 2 :C -DB 224 program track aux. DB :T DD 22 phi_Az_2 :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L DD 4 :C -DB 224 program track aux. DB :T DD 24 phi_GD_2 :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L DD 6 :C -DB 224 program track aux. DB :T DD 26 phi_CH_2 :*** Segment 7 time difference t_2 - t_1 :L DD 20 :L DD 4 :-D :C -DB 50 Positions :T DD 229 :L KB 0 if d_t < 0: :>=D t_2 is beyond midnight :JC =CONT :TAK add 24 h to d_t :C -DB 11 Time :L DD 16 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 187 -FB 187 C:ARECIBST.S5D LEN=148 :+D :C -DB 50 Positions :T DD 229 CONT :*** Segment 8 transfer first position :AN -F 13.5 Program Track: move to first position :JC =CONT :AN -F 7.3 Az: PROGRAM TRACK mode :JC =GD :C -DB 224 program track aux. DB :L DD 10 :C -DB 50 Positions :T DD 70 Az :L DD 20 :T DD 170 GD :AN -F 8.3 GD: PROGRAM TRACK mode :JC =CH :C -DB 224 program track aux. DB :L DD 12 :C -DB 50 Positions :T DD 72 GD :L DD 22 :T DD 172 CH :AN -F 9.3 CH: PROGRAM TRACK mode :JC =CONT :C -DB 224 program track aux. DB :L DD 14 :C -DB 50 Positions :T DD 74 CH :L DD 24 :T DD 174 CONT :*** Segment 9 reset velocity feedforward :C -DB 150 drive datas :L KB 0 :T DD 180 :T DW 182 :*** Segment 10 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 190 -FB 190 C:ARECIBST.S5D LEN=29 Segment 1 ******************************************************************************* Absolute difference of two (Double) values OUT = ABS (Z1 - Z2) ******************************************************************************* Name :DIFFABS Decl :Z1 I/Q/D/B/T/C: I BI/BY/W/D: D Decl :Z2 I/Q/D/B/T/C: I BI/BY/W/D: D Decl :OUT I/Q/D/B/T/C: Q BI/BY/W/D: D :L =Z1 Z1 :L =Z2 - Z2 :-D :L KB 0 :TAK :<=D :JC =POS :CSD change sign if < 0 POS :T =OUT ABS (Z1-Z2) :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 191 -FB 191 C:ARECIBST.S5D LEN=55 Segment 1 ******************************************************************************* Program Track Mode evaluation of next data set ******************************************************************************* Name :PRTR-NEX :*** Segment 2 search for next valid data set :C -DB 224 program track aux. DB :L DD 20 :T FD 250 new time t_k :JU -FB 192 Program Track: search next data set Name :PTSEARCH FIND : -F 13.6 Program Track: next sample found TIME : FD 250 :*** Segment 3 transfer data of next data set :C -DB 224 program track aux. DB :L DD 20 :T DD 4 t_k = t_k+1 :L DD 22 :T DD 10 phi_1_k = phi_1_k+1 :L DD 24 :T DD 12 phi_2_k = phi_2_k+1 :L DD 26 :T DD 14 phi_3_k = phi_3_k+1 : :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L DD 0 :C -DB 224 program track aux. DB :T DD 20 new t_k+1 :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L DD 2 :C -DB 224 program track aux. DB :T DD 22 new phi_1_k+1 :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L DD 4 :C -DB 224 program track aux. DB :T DD 24 new phi_2_k+1 :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L DD 6 :C -DB 224 program track aux. DB :T DD 26 new phi_3_k+1 CONT :*** Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 191 -FB 191 C:ARECIBST.S5D LEN=55 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 192 -FB 192 C:ARECIBST.S5D LEN=89 Segment 1 ******************************************************************************* Program Track Mode Search For Next Valid Stack Position ******************************************************************************* Name :PTSEARCH Decl :FIND I/Q/D/B/T/C: Q BI/BY/W/D: BI Decl :TIME I/Q/D/B/T/C: I BI/BY/W/D: D :*** Segment 2 time :L =TIME :T FD 200 actual time :C -DB 11 Time :L DD 16 :T FD 210 (24 h in ms) :-D :T FD 204 t_act - 24 h :L DD 18 :T FD 214 (12 h in ms) :*** Segment 3 search for next valid data set :L -FW 192 program track stack pointer :T -FW 194 aux. stack pointer LOOP :JU FB 59 Name :NIX :C -DB 223 program track data :L -FW 192 program track stack pointer :JU -OB 180 enter DW0 offset :L FD 210 time of next data set :L DD 0 : 24 h --> leave it :JC =NEXT :L KB 0 : leave it :JC =NEXT :A( :L DD 0 01 if t_k > actual time :L FD 200 01 :>D 01 :) 01 :A( :L DD 0 01 and (t_k - t_act) <= 12h: :L FD 200 01 :-D 01 :L FD 214 01 :<=D 01 :) 01 :JC =USE use it! :A( or: :L DD 0 01 :L FD 204 01 if t_k > (t_act - 24h) :>D 01 :) 01 :A( :L DD 0 01 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 192 -FB 192 C:ARECIBST.S5D LEN=89 :L FD 204 01 :-D 01 and (t_k -[t_act-24h]) <= 12h: :L FD 214 01 :<=D 01 :) 01 :JC =USE use it! NEXT :L -FW 192 program track stack pointer :ADD BN +8 else: increase stack pointer :T -FW 192 program track stack pointer CHK :L -FW 194 aux. stack pointer :!=F if searched through whole stack :JC =NONE --> finish search :TAK :L KF +1024 :<=F pointer < 1024: continue search :JC =LOOP :L KB 0 :T -FW 192 program track stack pointer else: set pointer to zero :JU =CHK and continue search USE :A -F 0.1 always "1" := =FIND set aux. flag :JU =CONT NONE :A -F 0.0 always "0" := =FIND :BEU CONT :*** Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 193 -FB 193 C:ARECIBST.S5D LEN=32 Segment 1 ******************************************************************************* Potentiometer Hysteresis ******************************************************************************* Name :POTIHYST Decl :POTI I/Q/D/B/T/C: I BI/BY/W/D: W Decl :HYST I/Q/D/B/T/C: I BI/BY/W/D: W Decl :N><0 I/Q/D/B/T/C: Q BI/BY/W/D: BI :L KB 0 hysteresis :L =POTI input value :<=F :JC =POS :CSW change sign if < 0 POS :L =HYST :>=F if input > hyst: set flag :S =N><0 :TAK :L =HYST :<0 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 194 -FB 194 C:ARECIBST.S5D LEN=35 Segment 1 ******************************************************************************* Generation of linearly interpolated Program Track Path ACT: actual setpoint STA: setpoint at last position/time sample INCR: increment to be added CNT: cycle counter (software cycles since last update of "STA" ******************************************************************************* Name :PT-RAMP Decl :ACT I/Q/D/B/T/C: Q BI/BY/W/D: D Decl :STA I/Q/D/B/T/C: I BI/BY/W/D: D Decl :INCR I/Q/D/B/T/C: I BI/BY/W/D: D Decl :CNT I/Q/D/B/T/C: I BI/BY/W/D: W :*** Segment 2 ramp generator :L =STA :T FD 160 :L =CNT :FDG no. of cycles :L =INCR :XG * increment :GFD :L FD 160 + starting position :+D :T =ACT = new actual setpoint :*** Segment 3 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 195 -FB 195 C:ARECIBST.S5D LEN=40 Segment 1 ******************************************************************************* Position increment calculation for program track mode ******************************************************************************* Name :POS-INCR Decl :NEW I/Q/D/B/T/C: I BI/BY/W/D: D Decl :ACT I/Q/D/B/T/C: I BI/BY/W/D: D Decl :INCR I/Q/D/B/T/C: Q BI/BY/W/D: D Decl :TIME I/Q/D/B/T/C: I BI/BY/W/D: D :C -DB 50 Positions :*** Segment 2 time difference :L =TIME d_t :FDG :T DD 225 float (d_t) :*** Segment 3 increment calculation :L =NEW new des. position :L =ACT - act. des. position :-D = d_phi :FDG d_phi :L DD 225 : d_t [ms] ::G :L KG +2000000+02 * 20 :XG :T =INCR = pos. incr. per 20 ms :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 196 -FB 196 C:ARECIBST.S5D LEN=36 Segment 1 ******************************************************************************* Calculation of velocity feedforward ******************************************************************************* Name :PT-FFW Decl :DBNR I/Q/D/B/T/C: B Decl :INCR I/Q/D/B/T/C: I BI/BY/W/D: D Decl :VMAX I/Q/D/B/T/C: I BI/BY/W/D: W Decl :VFFW I/Q/D/B/T/C: Q BI/BY/W/D: W :DO =DBNR :*** Segment 2 feedforward The feedforward is calculated as follows: INCR * 50 / VMAX * 1024 pos. increment * 50 / vmax * 1024 per 20 ms cycles units/s max. output /s at vmax :L =INCR increment per 20ms :L KG +5120000+05 * 50 * 1024 :XG :L =VMAX :FDG : vmax ::G :GFD = vdes :T =VFFW (range -1024 ... +1024) :*** Segment 3 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 197 -FB 197 C:ARECIBST.S5D LEN=52 Segment 1 ******************************************************************************* FB 197 filters out any change at "IN" that is shorter than the time stated at "TIME". After this time the changes will become effective at "OUT". ******************************************************************************* Name :BUFFER Decl :IN I/Q/D/B/T/C: I BI/BY/W/D: W Decl :ZWI I/Q/D/B/T/C: Q BI/BY/W/D: W Decl :OUT I/Q/D/B/T/C: Q BI/BY/W/D: W Decl :TIME I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KT Decl :TIMR I/Q/D/B/T/C: T :*** Segment 2 any change at "IN"? :L =OUT :L =IN :!=F :BEC no --> return :T FW 200 :*** Segment 3 change status :L FW 200 :L =ZWI status at "IN" same as :!=F during last cycle? :JC =SAME :A -F 0.0 always "0" if not, start filter time again. :SD =TIMR :A -F 0.1 always "1" :LW =TIME :SD =TIMR :L FW 200 :T =ZWI store "IN" in intermediate mem. SAME :*** Segment 4 transfer new status to "OUT" :AN =TIMR :BEC ... if filter time has passed :L FW 200 :T =OUT :A -F 0.0 always "0" :SD =TIMR reset timer :*** Segment 5 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 198 -FB 198 C:ARECIBST.S5D LEN=43 Segment 1 ******************************************************************************* Only one bit of the data word at "IN" may be set. Otherwise "FAUL" is set. ******************************************************************************* Name :BITCHECK Decl :IN I/Q/D/B/T/C: I BI/BY/W/D: W Decl :FAUL I/Q/D/B/T/C: Q BI/BY/W/D: BI :*** Segment 2 Bit check :L =IN :T FW 200 input word :L KB 0 :T FY 202 :T FY 204 LOOP : :AN F 200.7 :JC =VOID bit = zero :L FY 202 :I 1 else: :T FY 202 increase counter VOID :L FW 200 :SLW 1 :T FW 200 :L FY 204 :I 1 :T FY 204 :L KB 15 :<=F :JC =LOOP loop until 16 bits are checked :L FY 202 :L KB 1 :>F := =FAUL fault if more than one bit set :*** Segment 3 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 199 C:ARECIBST.S5D LEN=43 Segment 1 ******************************************************************************* FB 199 checks the position setpoint at POS whether it is in the specified range. The limited output is OUT. The limits are stated at LPOS and LNEG. ******************************************************************************* Name :POSLIMIT Decl :POS I/Q/D/B/T/C: I BI/BY/W/D: D Decl :OUT I/Q/D/B/T/C: Q BI/BY/W/D: D Decl :LPOS I/Q/D/B/T/C: I BI/BY/W/D: D Decl :LNEG I/Q/D/B/T/C: Q BI/BY/W/D: D Decl :DBNR I/Q/D/B/T/C: B :*** Segment 2 limit input position :DO =DBNR :L =POS :L =LPOS :<=D :JC =NEXT IF (POS > LPOS): :T =OUT OUT = LPOS :BEU NEXT :TAK :L =LNEG :>=D :JC =NORM IF (POS < LNEG): :T =OUT OUT = LNEG :BEU NORM :TAK ELSE: OUT = POS :T =OUT :*** Segment 3 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 200 -FB 200 C:ARECIBST.S5D LEN=19 Segment 1 ******************************************************************************* * General Functions * ******************************************************************************* Name :ALLGFUNK :*** Segment 2 buffer battery supervision Supervision of the Lithium battery inside the power supply module. :L RS 2 interruption stack info. :T FW 200 :A -F 0.6 failure reset :R -F 199.0 battery fault :A F 200.5 battery fault :S -F 199.0 battery fault :*** Segment 3 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 201 -FB 201 C:ARECIBST.S5D LEN=37 Segment 1 ******************************************************************************* L A M P T E S T ******************************************************************************* Name :LAMPTEST :*** Segment 2 auxiliary flags :O -DC-I1.6 PB Lamp Test :ON -F 0.7 first program cycle finished := -F 18.3 lamp test active :AN -DC-I1.6 PB Lamp Test :A -F 18.3 lamp test active reset flag (1 cycle) := F 254.0 :L KM 00000000 11111100 :T FW 220 output mask 1 :CFW :T FW 222 output mask 2 :*** Segment 3 lamp test :A -DC-I1.6 PB Lamp Test :JC =TEST :L KH 0000 no test: :L FW 2 reset all LEDs :JU =ENDE TEST :L KH FFFF test: set all LED outputs :T FW 2 :L KH 8888 test: set BCD displays to 8888 :T FW 2 ENDE :*** Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 207 -FB 207 C:ARECIBST.S5D LEN=419 Segment 1 ******************************************************************************* Functions to be performed during cold restart of CPU (by RUN/STOP and RESTART switches) ******************************************************************************* Name :COLD-STA :*** Segment 2 generate DBs :L KF +100 :G -DB 10 Test :L KF +31 :G -DB 11 Time :L KF +45 :G -DB 21 PCU communication :L KF +256 :G -DB 50 Positions :L KF +256 :G -DB 150 drive datas :L KF +256 :G DB 160 :L KF +256 :G DB 170 :L KF +256 :G -DB 221 data for CP581 :L KF +151 :G -DB 222 data from CP581 :L KF +1036 :G -DB 223 program track data :L KF +51 :G -DB 224 program track aux. DB :L KF +50 :G -DB 250 test output parameters :*** Segment 3 transfer system data from EPROM :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 151,50 drive data Az ZDBW : KY 150,1 ANZ : KF +10 :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 151,60 drive data GD ZDBW : KY 160,1 ANZ : KF +10 :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 151,70 drive data CH ZDBW : KY 170,1 ANZ : KF +10 :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 151,150 limits ZDBW : KY 50,150 ANZ : KF +16 :JU -FB 52 copy DWs +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 207 -FB 207 C:ARECIBST.S5D LEN=419 Name :COPYDW QDBW : KY 151,87 various drive data ZDBW : KY 150,67 ANZ : KF +8 :C -DB 151 drive system parameters :L DD 39 brake release/set delay :C -DB 150 drive datas :T DD 18 :C DB 160 :T DD 18 :C DB 170 :T DD 18 :*** Segment 4 position data :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 151,5 ZDBW : KY 50,100 Az ANZ : KF +9 :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 151,24 El ZDBW : KY 50,110 ANZ : KF +7 :C -DB 50 Positions :L KB 0 :T DD 148 always zero :L KH 0036 :T DW 216 360.0000 degr :L KH EE80 :T DW 217 :L KH 0003 :T DW 220 :L KH 0D40 :T DW 221 20.0000 degr :C -DB 150 drive datas :L KF +1024 :T DD 63 +1024 :L KF -1024 :JU -OB 220 extend sign 16-->32 bit (KF format) :T DD 65 -1024 :*** Segment 5 velocities and accelerations :C -DB 151 drive system parameters :L DD 1 :C -DB 150 drive datas :T DD 2 vmax Az :C -DB 151 drive system parameters :L DD 20 :C DB 160 :T DD 2 vmax El :C DB 170 :T DD 2 :C -DB 151 drive system parameters :L DW 4 :C -DB 150 drive datas :T DW 11 speed in prelimit range +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 207 -FB 207 C:ARECIBST.S5D LEN=419 :C -DB 151 drive system parameters :L DW 23 :C DB 160 :T DW 11 :C DB 170 :T DW 11 :C -DB 151 drive system parameters CALCULATIONS FOR AZIMUTH :L DW 1 ======================== :FDG :T FD 204 float (vmax) :L DW 3 :FDG amax :L FD 204 : vmax ::G = dv/vmax per sec :L KG +5000000+02 : 50 ::G = dv/vmax per 20 ms :L KG +1024000+04 * 1024 :XG = d(incr) per 20 ms :GFD :C -DB 150 drive datas :T DW 20 max velocity increment per cycle : :L KG +1024000+04 1024 :L FD 204 : vmax ::G :T DD 21 = speed calibration factor : :L FD 204 vmax [units/s] :L KG +2010000-01 * 0.02 :XG :GFD :FDG :C -DB 50 Positions :T DD 2 = max. position increment : :C -DB 151 drive system parameters CALCULATIONS FOR GD/CH :L DW 20 ====================== :FDG :T FD 204 float (vmax) :L DW 22 :FDG amax :L FD 204 : vmax ::G = dv/vmax per sec :L KG +5000000+02 :50 ::G = dv/vmax per 20ms :L KG +1024000+04 * 1024 :XG = d(incr) per 20ms :GFD :C -DB 150 drive datas :T DW 30 max velocity increment per cycle :T DW 40 : :L KG +1024000+04 1024 :L FD 204 : vmax ::G :T DD 31 = speed calibration factor :T DD 41 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 207 -FB 207 C:ARECIBST.S5D LEN=419 : :L FD 204 vmax :FDG :L KG +2010000-01 * 0.02 :XG :GFD :FDG :C -DB 50 Positions :T DD 4 = max. pos.increment per cycle :*** Segment 6 control loop parameters :L KB 60 :G -DB 181 control loop parameters Az :L KB 60 :G -DB 182 control loop parameters GD generate aux. DBs for :L KB 60 position loops :G -DB 183 control loop parameters CH :L KB 60 :G -DB 184 control loop parameters Az Bending Comp. : :L KB 30 :G -DB 189 control loop auxiliary DB :C -DB 180 control loop standard parameters :L DD 3 ki :L KG +2000000-01 * 0.02 s :XG :L DD 1 - kp :-G :C -DB 189 control loop auxiliary DB :T DD 1 = q_Az_Preset : :C -DB 180 control loop standard parameters :L DD 13 ki :L KG +2000000-01 * 0.02 s :XG :L DD 11 - kp :-G :C -DB 189 control loop auxiliary DB :T DD 3 = q_Az_PrTr : :C -DB 180 control loop standard parameters :L DD 23 ki :L KG +2000000-01 * 0.02 s :XG :L DD 21 - kp :-G :C -DB 189 control loop auxiliary DB :T DD 7 = q_GD_Preset : :C -DB 180 control loop standard parameters :L DD 33 ki :L KG +2000000-01 * 0.02 s :XG :L DD 31 - kp :-G :C -DB 189 control loop auxiliary DB :T DD 9 = q_GD_PrTr +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 207 -FB 207 C:ARECIBST.S5D LEN=419 : :C -DB 180 control loop standard parameters :L DD 43 ki :L KG +2000000-01 * 0.02 s :XG :L DD 41 - kp :-G :C -DB 189 control loop auxiliary DB :T DD 13 = q_CH_Preset_biassed : :C -DB 180 control loop standard parameters :L DD 53 ki :L KG +2000000-01 * 0.02 s :XG :L DD 51 - kp :-G :C -DB 189 control loop auxiliary DB :T DD 15 = q_CH_PrTr : :C -DB 180 control loop standard parameters :L DD 63 ki :L KG +2000000-01 * 0.02 s :XG :L DD 61 - kp :C -DB 189 control loop auxiliary DB :T DD 23 =q_CH_Preset_1mot : :C -DB 180 control loop standard parameters :L DD 73 ki :L KG +2000000-01 * 0.02 s :XG :L DD 71 :-G - kp :C -DB 189 control loop auxiliary DB :T DD 19 = q_Az_bending_comp : :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 180,71 load loop parameters for ZDBW : KY 184,1 bending compensation ANZ : KF +7 :L DD 19 :C -DB 184 control loop parameters Az Bending Comp. :T DD 8 :*** Segment 7 setpoint limiter parameters :C -DB 151 drive system parameters :JU -FB 61 calculate setpoint limiter parameters AZIMUTH Name :SETP-PAR DBNR : -DB 181 control loop parameters Az VMAX : DW 1 AMAX : DW 3 TZ/S : KG +2000000-01 FAKV : KG +1000000+01 FAKA : KG +5000000+00 : :JU -FB 61 calculate setpoint limiter parameters GREGORIAN DOME +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+FB 207 -FB 207 C:ARECIBST.S5D LEN=419 Name :SETP-PAR DBNR : -DB 182 control loop parameters GD VMAX : DW 20 AMAX : DW 22 TZ/S : KG +2000000-01 FAKV : KG +9500000+00 FAKA : KG +1000000+01 : :JU -FB 61 calculate setpoint limiter parameters CARRIAGE HOUSE Name :SETP-PAR DBNR : -DB 183 control loop parameters CH VMAX : DW 20 AMAX : DW 22 TZ/S : KG +2000000-01 FAKV : KG +9500000+00 FAKA : KG +1000000+01 : :*** Segment 8 clear Program Track stack :JU -FB 51 clear DB Name :DBLOESCH DB : -DB 223 program track data :JU -FB 51 clear DB Name :DBLOESCH DB : -DB 224 program track aux. DB :*** Segment 9 Time :C -DB 11 Time :L KB 9 measured delay when transferring :T DD 3 time from CP581 to CPU928 :L KB 10 experimentally found offset :T DD 14 Program Track Time Offset :L KH 0526 :T DW 16 :L KH 5C00 :T DW 17 DD16 = 24 h in ms :L DD 16 :SSD 1 :T DD 18 12 h in ms :*** Segment 10 cable car interlock limits :C -DB 151 drive system parameters :L DW 170 :L KF +100 :XF :C -DB 50 Positions :T DD 176 limit cw :C -DB 151 drive system parameters :L DW 171 :L KF +100 :XF :C -DB 50 Positions :T DD 178 limit ccw :*** Segment 11 parameters for feedforward :C -DB 151 drive system parameters :L DW 20 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+FB 207 -FB 207 C:ARECIBST.S5D LEN=419 :C -DB 150 drive datas :T DW 33 v_max_GD :T DW 43 v_max_CH :*** Segment 12 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 7! +------------------------------------------------------------------------------+FB 208 -FB 208 C:ARECIBST.S5D LEN=161 Segment 1 ******************************************************************************* FB 208 resets all automatic functions ******************************************************************************* Name :RESET :*** Segment 2 reset after restart/power-up :A -F 0.7 first program cycle finished :JC =NORE not in axis mode :L KB 0 :T FW 120 PCU commands :T FW 122 " :T FW 124 " :T FD 130 comp. commands :T FD 134 " :T FW 138 " :T FY 61 local move requests :T FY 62 GD aux modes :T FY 13 Pr.Tr. flags :T -FW 192 program track stack pointer :C -DB 222 data from CP581 :T DD 5 reset input buffer from CP581 :T DD 10 :T DD 12 :T DD 14 :T DW 20 :T DW 21 :T DW 22 : :A -F 0.0 always "0" := -F 60.0 Az: AUX n1 := -F 60.1 Az: AUX n2 := -F 60.2 CH: AUX n1 := -F 60.3 CH: AUX n2 := -F 63.3 motor heating on Az := -F 63.4 motor heating on GD := -F 63.5 motor heating on CH :SD -T 159 Az: delay motor heating on after Stop :SD -T 169 GD: delay motor heating on after Stop :SD -T 179 CH: delay motor heating on after Stop :C -DB 21 PCU communication :T DW 3 NORE :*** Segment 3 setpoints :A -F 0.7 first program cycle finished :JC =NORE only after restart :C -DB 150 drive datas :L KB 0 :T DD 201 :T DD 203 :T DD 205 :T DD 207 :T DD 209 :T DD 211 :T DD 213 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 208 -FB 208 C:ARECIBST.S5D LEN=161 :T DD 215 :T -QW 240 velocity setpoint Az :T -QW 242 velocity setpoint GD :T -QW 244 velocity setpoint CH :T -QW 246 bending compensation Az :T -QW 248 torque bias GD :T -QW 250 gravity compensation GD :T -QW 252 torque bias & gravity compensation CH 11 :T -QW 254 torque bias & gravity compensation CH 12 NORE :*** Segment 4 control loops :A -F 7.7 Az: no operation :JC -FB 64 reset control loop memory Name :LOOP-RES DBNR : -DB 181 control loop parameters Az :A -F 8.7 GD: no operation :JC -FB 64 reset control loop memory Name :LOOP-RES DBNR : -DB 182 control loop parameters GD :A -F 9.7 CH: no operation :JC -FB 64 reset control loop memory Name :LOOP-RES DBNR : -DB 183 control loop parameters CH :A -F 7.7 Az: no operation :JC -FB 64 reset control loop memory Name :LOOP-RES DBNR : -DB 184 control loop parameters Az Bending Comp. :*** Segment 5 commands Az :C -DB 222 data from CP581 :A -F 11.5 axis failure reset Az :A -F 7.7 Az: no operation :ON -F 0.7 first program cycle finished :O -F 4.1 Az: local control (pulse) :O -F 4.3 Az: PCU control (pulse) :O -F 4.5 Az: Computer control (pulse) :JC =REAZ :JU =NOAZ REAZ :L KB 0 :T DR 10 :A -F 0.0 always "0" := -F 41.4 Az: preset position reached := -F 61.0 local move request Az cw := -F 61.1 local move request Az ccw := -F 131.0 computer command: move Az cw := -F 131.1 computer command: move Az ccw := -F 132.0 computer command: Az RATE := -F 132.1 computer command: Az PRESET := -F 132.2 computer command: Az STOW := -F 132.3 computer command: Az PROGRAM TRACK := -F 121.0 PCU mode: Azimuth := -F 122.4 PCU command: move Az pos. := -F 122.5 PCU command: move Az neg. NOAZ :*** Segment 6 commands GD :C -DB 222 data from CP581 :A -F 11.6 axis failure reset GD +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 208 -FB 208 C:ARECIBST.S5D LEN=161 :A -F 8.7 GD: no operation :ON -F 0.7 first program cycle finished :O -F 5.1 GD: local control (pulse) :O -F 5.3 GD: PCU control (pulse) :O -F 5.5 GD: Computer control (pulse) :JC =REGD :JU =NOGD REGD :L KB 0 :T DR 12 :A -F 0.0 always "0" := -F 42.4 GD: preset position reached := -F 61.2 local move request GD up := -F 61.3 local move request GD down := -F 131.2 computer command: move GD up := -F 131.3 computer command: move GD down := -F 133.0 computer command: GD RATE := -F 133.1 computer command: GD PRESET := -F 133.2 computer command: GD STOW := -F 133.3 computer command: GD PROGRAM TRACK := -F 121.1 PCU mode: Gregorian Dome := -F 122.6 PCU command: move GD pos. := -F 122.7 PCU command: move GD neg. NOGD :*** Segment 7 commands CH :C -DB 222 data from CP581 :A -F 11.7 axis failure reset CH :A -F 9.7 CH: no operation :ON -F 0.7 first program cycle finished :O -F 6.1 CH: local control (pulse) :O -F 6.3 CH: PCU control (pulse) :O -F 6.5 CH: Computer control (pulse) :JC =RECH :JU =NOCH RECH :L KB 0 :T DR 14 :A -F 0.0 always "0" := -F 43.4 CH: preset position reached := -F 61.4 local move request CH up := -F 61.5 local move request CH down := -F 131.4 computer command: move CH up := -F 131.5 computer command: move CH down := -F 134.0 computer command: CH RATE := -F 134.1 computer command: CH PRESET := -F 134.2 computer command: CH STOW := -F 134.3 computer command: CH PROGRAM TRACK := -F 121.2 PCU mode: Carriage House := -F 123.0 PCU command: move CH pos. := -F 123.1 PCU command: move CH neg. NOCH :*** Segment 8 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 209 -FB 209 C:ARECIBST.S5D LEN=119 Segment 1 ******************************************************************************* FUNCTIONS DURING COLD OR WARM RESTART ******************************************************************************* Name :ANLAUF :*** Segment 2 auxiliary flags :A -F 0.0 always "0" :AN -F 0.0 always "0" := -F 0.0 always "0" always zero : :O -F 0.1 always "1" :ON -F 0.1 always "1" := -F 0.1 always "1" always high :*** Segment 3 reset start flag :AN -F 0.0 always "0" :A -F 0.0 always "0" := -F 0.7 first program cycle finished :SD -T 11 start cycle time measurement :*** Segment 4 reset particular faults +---+ +------+ F 0.1 = F 0.1 -F 0.1 ---! & !--+-! R ! -F 19.1 always "1" +---+ ! +------+ F 19.1 = F 19.1 ! +------+ no initilization PCU interface +-! R ! -F 19.6 F 19.6 = F 19.6 ! +------+ data from PCU received ! +------+ F 16.4 = F 16.4 +-! R ! -F 16.4 initialization failure CP581 +------+ Segment 5 auxiliary flags :L KB 0 :C -DB 21 PCU communication :T DW 21 PCU data received :L KB 60 :G -DB 12 flag memory create auxiliary data blocks :L KB 50 :G -DB 224 program track aux. DB :*** Segment 6 Initialize PCU interface :C -DB 21 PCU communication :JU FB 125 Name :SYNCHRON SSNR : KY 0,0 BLGR : KY 0,4 PAFE : -FY 170 fault byte "start-up PCU interface" :JU FB 124 Name :RESET SSNR : KY 0,0 reset error area in DPRAM A-NR : KY 0,200 of CP524 PAFE : DR 39 :L KB 0 :T DD 6 reset ANZW of SEND to CP524 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 209 -FB 209 C:ARECIBST.S5D LEN=119 :O F 170.0 fault :O D 39.0 :S -F 19.0 PCU interface fault :*** Segment 7 reset commands FB 208 = FB 208 -FB 208 function reset +--------------+ ! RESET ! +--------------+ Segment 8 Synchronization CP581 :A -F 0.0 always "0" :SD -T 1 start-up time CP581 reset timer WAIT : :JU FB 125 Name :SYNCHRON SSNR : KY 0,24 BLGR : KY 0,6 PAFE : -FY 174 PAFE byte SYNCHRON CP 581 :A F 174.0 fault: :L KT 060.2 start timeout 60s :SD -T 1 start-up time CP581 :A F 174.0 :AN -T 1 start-up time CP581 :JC =WAIT loop until timeout :A F 174.0 :S -F 16.4 initialization failure CP581 :*** Segment 9 switch on and reset cycle time :L KB 15 :JU OB 152 switch on measurement :L KB 8 :JU OB 152 reset old statistics :*** Segment 10 cycle time statistics :L KB 15 :JU OB 152 start measurement :L KB 8 :JU OB 152 reset old statistics :*** Segment 11 encoder interface data Bits 0 ... 3: selected baud rate for encoders 1 ... 4. 0: 125 kbit/s 1: 1 Mbit/s :L KM 00000000 00000000 :T FW 200 :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 209 -FB 209 C:ARECIBST.S5D LEN=119 Segment 12 Initialization WF705 F 2.0 = F 2.0 FB 130 dummy flag +--------------+ DB 51 = DB 51 ! ANL-705 ! aux. DB for WF705 module -DB 51 --!DBBG FEHL!-- -F 2.0 +4096 --!GE 1 ! +0 --!GE 2 ! +0 --!GE 3 ! +4096 --!GE 4 ! +0 --!GE 5 ! +0 --!GE 6 ! +4096 --!GE 7 ! +0 --!GE 8 ! +0 --!GE 9 ! +4096 --!GE10 ! +0 --!GE11 ! +0 --!GE12 ! +220 --!ADR ! FW 200 --!BAUD ! +--------------+ Segment 13 initialization fault +---+ +------+ F 2.0 = F 2.0 -F 2.0 ---! & !--+-! S ! -F 48.1 dummy flag +---+ +------+ F 48.1 = F 48.1 initialization fault WF705 Segment 14 max. cycle time :L KF +500 :JU OB 221 :*** Segment 15 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 210 -FB 210 C:ARECIBST.S5D LEN=443 Segment 1 ******************************************************************************* Control of Jack Drive INB : input byte PCUP/PCUN: PCU commands Positive/Negative movement COMP/COMN: computer commands Positive/negative movement OUTB : output byte NA=0 : speed = zero MOD2 : special mode <<<< not used! STAT : axis status ON : brake hold during deceleration NUMM : axis no. ENC : encoder status LIMS : axis limit status MODE : operating mode T1...T5 : axis specific timers ******************************************************************************* Name :SERVO Decl :INB I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :PCUP I/Q/D/B/T/C: I BI/BY/W/D: BI Decl :PCUN I/Q/D/B/T/C: I BI/BY/W/D: BI Decl :COMP I/Q/D/B/T/C: I BI/BY/W/D: BI Decl :COMN I/Q/D/B/T/C: I BI/BY/W/D: BI Decl :T1 I/Q/D/B/T/C: T Decl :T2 I/Q/D/B/T/C: T Decl :NA=0 I/Q/D/B/T/C: I BI/BY/W/D: BI Decl :OUTB I/Q/D/B/T/C: Q BI/BY/W/D: BY Decl :MOD2 I/Q/D/B/T/C: I BI/BY/W/D: BI Decl :STAT I/Q/D/B/T/C: Q BI/BY/W/D: BY Decl :ON I/Q/D/B/T/C: Q BI/BY/W/D: BI Decl :NUMM I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :ENC I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :T3 I/Q/D/B/T/C: T Decl :LIMS I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :T4 I/Q/D/B/T/C: T Decl :MODE I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :T5 I/Q/D/B/T/C: T :LW =NUMM axis no. :T FY 206 :L KB 1 :!=F :JC =EINS :TAK :L KB 2 :!=F :JC =ZWEI :TAK :L KB 3 :!=F :JC =DREI :JU =CONT EINS :L KB 150 DB# for axis #1 :T FW 224 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 210 -FB 210 C:ARECIBST.S5D LEN=443 :JU =CONT ZWEI :L KB 160 DB# for axis #2 :T FW 224 :JU =CONT DREI :L KB 170 DB# for axis #3 :T FW 224 CONT :*** Segment 2 mode :L =MODE :L KB 1 :!=F := F 253.5 local mode :TAK :L KB 4 :!=F := F 253.6 PCU mode :TAK :L KB 16 :!=F := F 253.7 computer mode :*** Segment 3 restore data :L =INB :T FY 200 input parameters :L =OUTB :T FY 201 output parameters :L =LIMS :T FY 254 limit status :L =STAT :T FY 255 axis status :A =MOD2 := F 202.3 special mode :A =PCUP := F 202.4 PCU command positive :A =PCUN := F 202.5 PCU command negative :A =COMP := F 202.6 comp. command positive :A =COMN := F 202.7 comp. command negative :L =ENC :T FY 207 encoder status :C -DB 150 drive datas :L FY 206 axis no. :SLW 1 *2 :L KF +199 +199 :+F :T FW 250 = DW (200 + (2*axis#) - 1) :DO FW 250 :L DD 0 FW220: setpoint :T FD 220 FW222: setpoint output :L FY 206 :L KF +3 :XF axis no. * 3 :I 217 :T FW 208 first DW of three aux. DWs :DO FW 208 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 210 -FB 210 C:ARECIBST.S5D LEN=443 :L DD 0 :T FD 210 "STO1" :L FW 208 :I 2 :T FW 208 third DW :DO FW 208 :L DW 0 :T FW 203 "STO2": old status :*** Segment 4 failure :A F 200.6 :R F 255.0 reset servo failure :R F 255.5 reset motor overtemp. :R F 255.6 reset encoder readout fault :R F 255.7 reset brake failure :R F 207.2 reset runaway :R F 207.3 reset no speed after enable :A =T1 :AN F 200.3 no drive-up signal from ampl. :ON F 200.2 amplifier fault/overtemp. :ON F 200.5 DC bus / breakers fault := F 202.2 --> failure :S F 255.0 :AN F 200.4 :S F 255.5 motor overtemp. :O F 255.0 :O F 255.5 motor overtemp. :O F 255.6 transducer failure :O F 255.7 brake failure :O F 207.2 runaway :O F 207.3 no speed after enable := F 253.0 drive summary fault :AN F 253.0 :JC =OK :L KH 0000 with fault :T FW 220 :DO FW 250 :T DD 0 - setpoints zero OK :*** Segment 5 check setpoint polarity setpoint polarity will not be evaluated in PRESET modes :L FW 220 :L KB 0 :F := F 253.1 setpoint positive :A F 202.3 :R F 202.1 :R F 253.1 :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 210 -FB 210 C:ARECIBST.S5D LEN=443 Segment 6 enable positive movement +---+ F 253.5 ---! & ! +---+ F 200.0 ---! !-----!>=1! +---+ ! ! +---+ ! ! F 253.6 ---! & ! ! ! F 202.4 ---! ! ! ! F 202.1 --O! !-----! ! +---+ ! ! +---+ ! ! F 253.7 ---! & ! ! ! F 202.6 ---! ! ! ! +---+ F 202.1 --O! !-----! !-----! & ! +---+ +---+ ! ! F 254.4 --O! ! F 254.5 --O! ! F 253.0 --O! ! +------+ F 200.7 ---! !--+-! = ! F 203.0 +---+ +------+ Segment 7 enable negative movement +---+ F 253.5 ---! & ! +---+ F 200.1 ---! !-----!>=1! +---+ ! ! +---+ ! ! F 253.6 ---! & ! ! ! F 202.5 ---! ! ! ! F 253.1 --O! !-----! ! +---+ ! ! +---+ ! ! F 253.7 ---! & ! ! ! F 202.7 ---! ! ! ! +---+ F 253.1 --O! !-----! !-----! & ! +---+ +---+ ! ! F 254.0 --O! ! F 254.5 --O! ! F 253.0 --O! ! +------+ F 200.7 ---! !--+-! = ! F 203.1 +---+ +------+ Segment 8 release brake :DO FW 224 :C DB 0 axis specific DB :O F 201.0 :O F 201.1 :L DW 5 brake opening time :SD =T1 :A =T1 :A =T5 after warning time: :AN F 253.0 release brake after allowing := F 203.5 time T1 for drive-up :S F 203.4 set deceleration flag :*** Segment 9 brake supervision +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 210 -FB 210 C:ARECIBST.S5D LEN=443 brake failure if no feedback of brake limit switch after opening time :A F 201.7 :AN F 254.7 if no "brake released" feedback :O or :AN F 201.7 not closed though not activated :AN F 254.6 :L DW 1 :SD =T4 then after brake release time: :A =T4 :S F 255.7 set fault! :*** Segment 10 setpoint :A F 203.6 brake release command :A F 254.7 and brakes open := F 203.7 ---> enable setpoint :C -DB 150 drive datas :O F 253.0 fault :ON F 203.7 no setpoint enable :JC =ZERO :A F 202.3 axis or position control :JC =MODE :A F 253.7 :JC =COMP :A F 253.6 :JC =PCU :L DW 50 local control :AN F 203.1 :JC =POSL :CSW change sign for neg. movement POSL :T FW 222 :AN F 203.0 :AN F 203.1 :JC =ZERO :JU =GO01 PCU :L DW 60 PCU control :T FW 222 :JU =GO01 COMP :AN F 202.6 computer control :AN F 202.7 :JC =ZERO :L FW 220 :T FW 222 :JU =GO01 MODE :L FW 220 mode #2 :T FW 222 GO01 : :L FW 222 :L KB 0 :!=F check desired direction :JP =DIRP . positive :JN =DIRN . negative :JC =ZERO . zero DIRN := -F 2.0 dummy flag speed zero if neg. movement :A F 254.0 requested beyond neg. limit :JC =ZERO :JU =PRE DIRP := -F 2.0 dummy flag or positive movement requested +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+FB 210 -FB 210 C:ARECIBST.S5D LEN=443 :A F 254.4 beyond positive limit :JC =ZERO PRE :DO FW 224 :C DB 0 :O F 203.1 :O F 202.1 check prelimit :JC =LIMN :AN F 254.3 prelimit range :JC =GO02 with positive speed: :L FW 222 :L DW 11 : limited velocity: :L DW 11 setpoint limitation :T FW 222 :JU =GO02 LIMN :AN F 254.1 prelimit range :JC =GO02 with negative speed: :L DW 11 :CSW :L FW 222 :<=F if /desired velocity/ :JC =GO02 > /limited velocity/ :L DW 11 :CSW setpoint limitation :T FW 222 :JU =GO02 ZERO :L KB 0 :T FW 222 setpoint zero :JU =GO05 GO02 :L KF -1024 check for limit :L FW 222 . min (-1024) :<=F :JC =POS2 :TAK :T FW 222 POS2 :L KF +1024 . max (+1024) :<=F :JC =GO05 :T FW 222 GO05 :C -DB 150 drive datas :L FW 250 :I 1 increase DW counter :T FW 250 :L FW 222 :DO FW 250 :T DW 0 transfer setpoint :*** Segment 11 engage brake :DO FW 224 :C DB 0 axis specific DB :AN F 203.0 :AN F 203.1 :L DW 4 max. deceleration time after :SP =T3 move request disappears :AN F 203.0 after drive disable :AN F 203.1 leave brake open +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+FB 210 -FB 210 C:ARECIBST.S5D LEN=443 :A( :O =NA=0 01 until speed is zero :ON =T3 01 but max. for t3 :) 01 :R F 203.4 :A F 203.4 --> brake "hold" command := =ON after drive disable :O F 203.4 :O F 203.5 brake release or hold command := F 203.6 --> release brake! :A F 254.5 :R F 203.4 :R F 203.5 set brakes with emergency limit :R F 203.6 :R F 201.7 :*** Segment 12 drive operation supervision Approx. 500 ms (latest) after drive enable motor must be turning. :L KB 0 :L FW 222 :<=F :JC =POS :CSW POS : abs (v_des) :T FW 224 :A( :L FW 224 01 :L KB 10 01 :>F 01 no check if v_des < 0.001 :) 01 :A F 203.5 brake released :A F 203.7 setpoint enabled :A F 207.1 speed zero :AN F 207.4 (except after preset) :L DW 6 :SD =T2 after supervision time: :A =T2 :S F 207.3 set "no speed" flag! :*** Segment 13 drive enabled :A( :O F 201.0 01 :O F 201.1 01 :) 01 :A =T5 := F 255.3 drive enabled flag :*** Segment 14 warning time :O F 203.0 :O F 203.1 after move request :L DW 7 :SD =T5 :A( :O F 203.0 01 :O F 203.1 01 :) 01 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 7! +------------------------------------------------------------------------------+FB 210 -FB 210 C:ARECIBST.S5D LEN=443 :AN =T5 := F 201.6 warning signal :*** Segment 15 enable outputs Amplifier enable will be set after a move command. Disabling will be after slow down of the drives and setting of the brakes. :C -DB 150 drive datas :A F 203.0 :A =T5 :S F 201.0 drive enable pos. :A F 203.1 :A =T5 :S F 201.1 drive enable neg. :A F 203.7 :S F 201.2 setpoint enable :AN F 203.0 :AN F 203.1 :AN F 203.6 :A F 254.6 :R F 201.0 reset :R F 201.1 drive enable signals :R F 201.2 :A F 203.6 := F 201.7 release brake CONT :*** Segment 16 runaway / no motion +---+ F 207.2 ---!>=1! +------+ F 207.3 ---! !--+-! = ! F 255.4 +---+ +------+ Segment 17 transfer new parameters :L FY 200 :T FY 204 last status of input byte :L FW 203 new status :DO FW 208 :T DW 0 into "STO2" :L FY 201 :T =OUTB outputs :L FY 207 :T =ENC encoder status :L FY 255 :T =STAT drive status :*** Segment 18 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 8! +------------------------------------------------------------------------------+FB 211 -FB 211 C:ARECIBST.S5D LEN=265 Segment 1 ******************************************************************************* FB211 prepares the information required at the "INB" input of FB210 ******************************************************************************* Name :INPUT210 Decl :AXIS I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :DB I/Q/D/B/T/C: B Decl :INB I/Q/D/B/T/C: Q BI/BY/W/D: BY :DO =DB :*** Segment 2 axis no. :LW =AXIS :T FY 200 :*** Segment 3 reset aux. flags :L KB 0 :T FY 201 :T FD 202 :T FD 206 :*** Segment 4 axis #1 :L FY 200 :L KB 1 :> limit Segment 3 no compensation Feedarm bending compensation is not possible if one of the two azimuth encoders has failed. :AN -F 48.5 encoder fault Az 1 :AN -F 48.6 encoder fault Az 2 :JC =COMP no compensation with encoder :L KB 0 failure: :T DD 56 d_phi = zero :A -F 0.0 always "0" := -F 60.4 Az: feedarm bending compensation activ := -F 60.5 Az: feedarm bending > limit :BEU COMP :*** Segment 4 position deviation :L DD 26 :L DD 28 :-D :T DD 56 d_phi_Az = phi_Az1 - phi_Az2 :L KB 0 :TAK : threshold: :>D :JZ =ZERO :S -F 60.4 Az: feedarm bending compensation activ set "active" flag :JU =LIM ZERO :A -F 0.1 always "1" if zero: reset "active" flag :R -F 60.4 Az: feedarm bending compensation activ LIM :L DD 58 :L DW 103 if actual bending > limit: :>D :S -F 60.5 Az: feedarm bending > limit set flag :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 212 -FB 212 C:ARECIBST.S5D LEN=50 Segment 6 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 213 -FB 213 C:ARECIBST.S5D LEN=51 Segment 1 ******************************************************************************* G R A V I T Y C O M P E N S A T I O N A torque feedforward depending on the actual position is added to the output of the velocity controller. Since the max. angle for both Gregorian Dome and Carriage House #1 is 20 degr, a linear compensation can be used. The actual position is stated at "POS". The integer value (KF) at "PART" (max. 100) defines the percentage of the gravity compensation compared to 100% torque. The setpoint that has to go to the analog output module is "OUT". ******************************************************************************* Name :GRAVCOMP Decl :POS I/Q/D/B/T/C: I BI/BY/W/D: D Decl :PART I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :OUT I/Q/D/B/T/C: Q BI/BY/W/D: W :*** Segment 2 parameters :L =POS :FDG :T FD 200 actual position :L KF -100 :LW =PART :<=F check percentage for range :JC =OK1 (-100...100) :TAK :JU =LOAD OK1 :L KB 100 :<=F :JC =OK2 :JU =LOAD OK2 :TAK LOAD :JU -OB 220 extend sign 16-->32 bit (KF format) load percentage :FDG :T FD 204 :*** Segment 3 calculate gravity compensation The gravity compensation is calculated as follows: OUTPUT = act. angle * (max. output / max. angle) * (percentage / 100) (KF) 1024 200000 100 = act. angle * percentage * 5.12E-05 = max. 1024 :L FD 200 position [0.0001 degr] :L FD 204 * percentage :XG :L KG +5120000-04 * 5.12E-05 :XG :GFD :T FW 208 :T =OUT = output :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 213 -FB 213 C:ARECIBST.S5D LEN=51 Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 214 -FB 214 C:ARECIBST.S5D LEN=53 Segment 1 ******************************************************************************* T O R Q U E B I A S The torque bias will be reduced liearly at higher elevation angles. The actual position is stated at "POS". The integer value (KF) at "PART" (max. 100) defines the percentage of the gravity compensation compared to 100% torque. The setpoint that has to go to the analog output module is "OUT". ******************************************************************************* Name :TORQBIAS Decl :POS I/Q/D/B/T/C: I BI/BY/W/D: D Decl :PART I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :OUT I/Q/D/B/T/C: Q BI/BY/W/D: W :*** Segment 2 parameters :L DD 220 20 degr :L =POS - actual position :-D :FDG :T FD 200 = distance from max. :L KF -100 :LW =PART :<=F check percentage for range :JC =OK1 (-100...100) :TAK :JU =LOAD OK1 :L KB 100 :<=F :JC =OK2 :JU =LOAD OK2 :TAK LOAD :JU -OB 220 extend sign 16-->32 bit (KF format) load percentage :FDG :T FD 204 :*** Segment 3 calculate torque bias The torque bias is calculated as follows: OUTPUT = dist. from max. * (max. output/max. angle) * (percentage / 100) (KF) 1024 200000 100 = act. angle * percentage * 5.12E-05 = max. 1024 :L FD 200 distance from max[0.0001 degr] :L FD 204 * percentage :XG :L KG +5120000-04 * 5.12E-05 :XG :GFD :T FW 208 :T =OUT = output :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 214 -FB 214 C:ARECIBST.S5D LEN=53 Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 215 -FB 215 C:ARECIBST.S5D LEN=87 Segment 1 ******************************************************************************* Load stow positions as desired position ******************************************************************************* Name :STOW-POS :*** Segment 2 Azimuth :AN -F 7.2 Az: STOW mode :JC =CONT :C -DB 151 drive system parameters :L DD 180 transfer stow position :C -DB 50 Positions :T DD 70 CONT :*** Segment 3 Gregorian Dome :AN -F 8.2 GD: STOW mode :JC =CONT :C -DB 151 drive system parameters :L DD 182 transfer stow position :C -DB 50 Positions :T DD 72 CONT :*** Segment 4 Carriage House :AN -F 9.2 CH: STOW mode :JC =CONT :C -DB 151 drive system parameters :L DD 184 transfer stow position :C -DB 50 Positions :T DD 74 CONT :*** Segment 5 positions reached? :O -F 7.2 Az: STOW mode :O -F 8.2 GD: STOW mode :O -F 9.2 CH: STOW mode :JC FB 225 Name :ARRIVED :*** Segment 6 Stow Position Az :AN -F 7.2 Az: STOW mode :JC =CONT :C -DB 151 drive system parameters :L DD 180 :T FD 250 :C -DB 50 Positions :JU -FB 190 absolute difference of two values Name :DIFFABS Z1 : FD 250 Az position within Z2 : DD 20 stow position +/- 0.001 deg.? OUT : FD 240 :L FD 240 :L KB 10 :<=D if so: set stow position flag :S -F 63.0 stow position Az CONT :*** Segment 7 Stow Position GD +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 215 -FB 215 C:ARECIBST.S5D LEN=87 :AN -F 8.2 GD: STOW mode :JC =CONT :C -DB 151 drive system parameters :L DD 182 :T FD 250 :C -DB 50 Positions :JU -FB 190 absolute difference of two values Name :DIFFABS Z1 : FD 250 GD position within Z2 : DD 22 stow position +/- 0.0003 degr? OUT : FD 240 :L FD 240 :L KB 3 :<=D if so: set stow position flag :S -F 63.1 stow position GD CONT :*** Segment 8 Stow Position CH :AN -F 9.2 CH: STOW mode :JC =CONT :C -DB 151 drive system parameters :L DD 184 :T FD 250 :C -DB 50 Positions :JU -FB 190 absolute difference of two values Name :DIFFABS Z1 : FD 250 CH position within Z2 : DD 24 stow position +/- 0.0003 degr? OUT : FD 240 :L FD 240 :L KB 3 :<=D if so: set stow position flag :S -F 63.2 stow position CH CONT :*** Segment 9 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 216 -FB 216 C:ARECIBST.S5D LEN=177 Segment 1 ******************************************************************************* D E T E R M I N A T I O N O F A X I S P O S I T I O N LIMS : input byte containing limit switch signals DW1 : first DW in DB50 with jack related limits POSB : flag byte with jack positions STAT : axis status byte BRAK : brake open signal ******************************************************************************* Name :AXIS-LIM Decl :POS I/Q/D/B/T/C: I BI/BY/W/D: D Decl :LIMS I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :DW1 I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :POSB I/Q/D/B/T/C: Q BI/BY/W/D: BY Decl :STAT I/Q/D/B/T/C: Q BI/BY/W/D: BY Decl :BRAU I/Q/D/B/T/C: I BI/BY/W/D: BI Decl :MODE I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :BRZU I/Q/D/B/T/C: I BI/BY/W/D: BI :C -DB 50 Positions :*** Segment 2 aux. data :LW =DW1 :T FW 230 first DW# containing limits :D 180 :SRW 2 :T FW 232 axis # :*** Segment 3 restore positions :L =POS :T FD 200 actual position :DO FW 230 :L DD 0 :T FD 214 pos. travel limit (deg*10E-04) :L FW 230 :I 2 increase DW counter :T FW 230 :DO FW 230 :L DD 0 :T FD 210 neg. travel limit (deg*10E-04) :L =LIMS limit switch positions :T FY 205 :L =POSB old limit status :T FY 206 :L =STAT old axis status :T FY 204 :L =MODE :T FY 207 :*** Segment 4 calculate prelimits :L FW 232 axis # :L KB 0 :!=F :JC =AZ :L KB 110 GD, CH: DW# = 110 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 216 -FB 216 C:ARECIBST.S5D LEN=177 :JU =GO10 AZ :L KB 100 Az: DW# = 100 GO10 : :T FW 234 = DW# for prelimit distance :DO FW 234 :L DW 0 :T FW 218 prelimit distance :L FD 210 neg. limit :L FW 218 + prelimit distance :+D :T FD 220 = neg. prelimit :L FD 214 pos. limit :L FW 218 - prelimit distance :-D :T FD 224 = pos. prelimit :*** Segment 5 limit positions :O( :L FD 200 01 :L FD 210 01 :<=D 01 position beyond neg. soft limit :) 01 :ON F 205.2 limit switch neg. :ON F 205.5 emergency limit neg. :S F 206.0 = limit neg. :O( :L FD 200 01 :L FD 214 01 :>=D 01 position beyond pos. soft limit :) 01 :ON F 205.4 limit switch pos. :ON F 205.6 emergency limit pos. :S F 206.4 = limit pos. :O( :L FD 200 01 :L FD 220 01 :<=D 01 position beyond neg. prelimit :) 01 :ON F 205.1 prelimit switch := F 206.1 = prelimit neg. :O( :L FD 200 01 :L FD 224 01 :>=D 01 position beyond pos. prelimit :) 01 :ON F 205.3 prelimit switch := F 206.3 = prelimit pos. :*** Segment 6 limit hysteresis :L FW 234 :I 1 :T FW 234 DW# of limit hysteresis :DO FW 234 :L DW 0 :T FW 228 limit hysteresis :L FD 210 neg. limit :L FW 228 + hysteresis +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 216 -FB 216 C:ARECIBST.S5D LEN=177 :+D :T FD 210 = end of neg. limit area :L FD 214 pos. limit :L FW 228 - hysteresis :-D :T FD 214 = end of pos. limit area :*** Segment 7 limit area left :A( :L FD 200 01 :L FD 210 01 :>=D 01 neg. limit area left :) 01 :A F 205.2 and no more limit switch signal :A F 205.5 :R F 206.0 --> reset limit status :A( :L FD 200 01 :L FD 214 01 :<=D 01 pos. limit area left :) 01 :A F 205.4 and no more limit switch signal :A F 205.6 :R F 206.4 --> reset limit status :*** Segment 8 emergency limit +---+ F 10.4 = F 10.4 F 205.5 --O!>=1! +---+ limit override active F 205.6 --O! !-----! & ! +---+ ! ! +---+ ! ! -F 10.4 --O!>=1! ! ! +------+ F 207.2 --O! !-----! !--+-! = ! F 206.5 +---+ +---+ +------+ Segment 9 operating range +---+ F 206.0 --O! & ! F 206.1 --O! ! F 206.3 --O! ! F 206.4 --O! ! +------+ F 206.5 --O! !--+-! = ! F 206.2 +---+ +------+ Segment 10 brake :A =BRAU brake released (current relay) := F 206.7 :A =BRZU brake engaged := F 206.6 :*** Segment 11 data converter fault +---+ +------+ F 204.6 ---! & !--+-! = ! F 204.6 +---+ +------+ Segment 12 store information :L FY 206 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 216 -FB 216 C:ARECIBST.S5D LEN=177 :T =POSB :L FY 204 :T =STAT :*** Segment 13 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 217 -FB 217 C:ARECIBST.S5D LEN=72 Segment 1 ******************************************************************************* H E A T I N G O F D R I V E M O T O R S In order to prevent the drive motors from corrosion due to moisture inside the motors, a small current will be applied to the windings in STOP mode. ******************************************************************************* Name :MOT-HEAT Decl :AXIS I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KS :*** Segment 2 Azimuth :O( :LW =AXIS 01 call for Az axis :L KS AZ 01 :>=D :JC =LPGD :TAK LPGD :T DD 184 min (GD_max; GD_max_2) :L DD 194 :L DD 206 :<=D :JC =LNG1 :TAK LNG1 :L DD 208 :<=D :JC =LNG2 :TAK LNG2 :T DD 186 max (GD_min; GD_min_2 & 3) :*** Segment 10 select CH limits :L DD 196 :L DD 210 :>=D :JC =LPCH :TAK LPCH :T DD 188 min (CH_max; CH_max_2) :L DD 198 :L DD 212 :<=D :JC =LNC1 :TAK LNC1 :L DD 214 :<=D :JC =LNC2 :TAK LNC2 :T DD 190 max (CH_min; CH_min_2 & 3) :*** Segment 11 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 219 -FB 219 C:ARECIBST.S5D LEN=127 Segment 1 ******************************************************************************* FB 219 checks whether the Az Drive is within the limits specified at "LIM1" (cw) and "LIM2" (ccw), including the identical ranges +180 degr, +360 degr and +540 degr. If the Az Drive is within the interlock area, the "IN" flag is set. ******************************************************************************* Name :CARLIMIT Decl :LIM1 I/Q/D/B/T/C: I BI/BY/W/D: D Decl :LIM2 I/Q/D/B/T/C: I BI/BY/W/D: D Decl :IN I/Q/D/B/T/C: Q BI/BY/W/D: BI :C -DB 50 Positions :*** Segment 2 limits :L DD 216 360 degr :SSD 1 : 2 :T DD 218 = 180 degr :L =LIM1 nominal limit cw :L DD 50 + offset :+D :T FD 200 area 1 - cw :L DD 218 :+D :T FD 210 area 2 - cw :L DD 218 :+D :T FD 220 area 3 - cw :L DD 218 :+D :T FD 230 area 4 - cw :L FD 200 :L DD 218 :-D :T FD 240 area 5 - cw (0 deg) :L =LIM2 nominal limit ccw :L DD 50 + offset :+D :T FD 204 area 1 - ccw :L DD 218 :+D :T FD 214 area 2 - ccw :L DD 218 :+D :T FD 224 area 3 - ccw :L DD 218 :+D :T FD 234 area 4 - ccw :L FD 204 :L DD 218 :-D :T FD 244 area 5 - ccw (0 deg) :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 219 -FB 219 C:ARECIBST.S5D LEN=127 Segment 3 position in area 1 +-----+ DD 20 --!<= D! ! ! +---+ FD 200 --! Q!----! & ! +-----+ ! ! +-----+ ! ! DD 20 --!>= D! ! ! ! ! ! ! +------+ FD 204 --! Q!----! !--+-! = ! F 208.0 +-----+ +---+ +------+ Segment 4 position in area 2 +-----+ DD 20 --!<= D! ! ! +---+ FD 210 --! Q!----! & ! +-----+ ! ! +-----+ ! ! DD 20 --!>= D! ! ! ! ! ! ! +------+ FD 214 --! Q!----! !--+-! = ! F 208.1 +-----+ +---+ +------+ Segment 5 position in area 3 +-----+ DD 20 --!<= D! ! ! +---+ FD 220 --! Q!----! & ! +-----+ ! ! +-----+ ! ! DD 20 --!>= D! ! ! ! ! ! ! +------+ FD 224 --! Q!----! !--+-! = ! F 208.2 +-----+ +---+ +------+ Segment 6 position in area 4 +-----+ DD 20 --!<= D! ! ! +---+ FD 230 --! Q!----! & ! +-----+ ! ! +-----+ ! ! DD 20 --!>= D! ! ! ! ! ! ! +------+ FD 234 --! Q!----! !--+-! = ! F 208.3 +-----+ +---+ +------+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 219 -FB 219 C:ARECIBST.S5D LEN=127 Segment 7 position in area 5 (0 deg) +-----+ DD 20 --!<= D! ! ! +---+ FD 240 --! Q!----! & ! +-----+ ! ! +-----+ ! ! DD 20 --!>= D! ! ! ! ! ! ! +------+ FD 244 --! Q!----! !--+-! = ! F 208.4 +-----+ +---+ +------+ Segment 8 Az Drive in interlock area :O F 208.0 :O F 208.1 :O F 208.2 :O F 208.3 :O F 208.4 := =IN :*** Segment 9 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 220 -FB 220 C:ARECIBST.S5D LEN=72 Segment 1 ******************************************************************************* EVALUATION OF POSITIONS FB220 includes the features "no motion" and "runaway". ******************************************************************************* Name :POS-EV Decl :POS I/Q/D/B/T/C: I BI/BY/W/D: D Decl :OLD I/Q/D/B/T/C: Q BI/BY/W/D: D Decl :ENC I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :LIM I/Q/D/B/T/C: Q BI/BY/W/D: W :C -DB 50 Positions :*** Segment 2 restore data :L =ENC :T FY 160 :L =POS :T DD 238 actual position :*** Segment 3 change of position The position difference between two program cycles will be checked. If it is greater than the limit specified at "LIM", the "NMAX" flag is set. :L =OLD old position :T DD 240 :JU -FB 190 absolute difference of two values Name :DIFFABS Z1 : DD 238 Z2 : DD 240 OUT : DD 242 abs (phi_old - phi_new) :L DD 242 :L =LIM :<=D :JC =OK :A -F 0.1 always "1" d_phi > limit: :AN F 160.0 set fault (not after loading :S F 160.2 new position offsets) OK :*** Segment 4 irreasonable encoder value A faulty encoder is assumed if the difference between two subsequent encoder readouts is greater than four times the runaway limit. :AN F 160.2 :JC =CONT :L =LIM :SLW 2 runaway limit * 4 :L DD 242 position difference :>=D :JC =CONT :A -F 0.1 always "1" set flag if :AN F 160.0 difference too big :S F 160.5 (not after loading offsets) CONT :*** Segment 5 zero speed :L DD 242 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 220 -FB 220 C:ARECIBST.S5D LEN=72 :L KB 0 :!=D :JC =NULL :A -F 0.0 always "0" := F 160.1 change! :JU =CONT NULL :A -F 0.1 always "1" no change: := F 160.1 set zero speed output CONT : :*** Segment 6 store data :L DD 238 :T =OLD new position :L FY 160 :T =ENC encoder byte :*** Segment 7 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 221 -FB 221 C:ARECIBST.S5D LEN=61 Segment 1 ******************************************************************************* E N C O D E R E V A L U A T I O N An offset - stated at "OFFS" - will be added to the encoder readout. If the "LOFF" input is "1", a new offset - its address being specified at "OFFN" will be loaded. An additional internal offset, the "encoder zero offset", will be subtracted from the encoder readout. This result will be multiplied with the scaling factor stated at "FACT". Parameters "ADR" and "OFFN": Format KY (DB#,DW#). ******************************************************************************* Name :POS-OFFS Decl :ENC I/Q/D/B/T/C: I BI/BY/W/D: D Decl :OFFS I/Q/D/B/T/C: I BI/BY/W/D: D Decl :OFFN I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KY Decl :LOFF I/Q/D/B/T/C: I BI/BY/W/D: BI Decl :POS I/Q/D/B/T/C: Q BI/BY/W/D: D Decl :FACT I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KG Decl :ZERO I/Q/D/B/T/C: I BI/BY/W/D: D :C -DB 50 Positions :*** Segment 2 new offset ? :AN =LOFF :JC =CONT :L KB 0 :T FY 164 :LW =OFFN :T FW 165 DB# :L -FW 166 dummy bytes interrupt :SRW 8 :T -FW 166 dummy bytes interrupt DW# :DO -FW 164 dummy bytes interrupt :C DB 0 :DO -FW 166 dummy bytes interrupt :L DD 0 :C -DB 50 Positions :T =OFFS CONT :*** Segment 3 add offsets :L =ENC encoder readout :L =ZERO - encoder value at zero pos. :-D :FDG :LWD =FACT * scaling factor :XG :GFD :L =OFFS + offset :+D :T =POS = actual position :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 221 -FB 221 C:ARECIBST.S5D LEN=61 Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 222 -FB 222 C:ARECIBST.S5D LIB=20222 LEN=37 Segment 1 ******************************************************************************* FB 222 measures the cycle time of the application software. The average time of 256 cycles will be measured and stored in ZYMI (actual) and ZYMX (max. time). Format: KF. ******************************************************************************* Name :CYC-TIME Decl :ZYAK I/Q/D/B/T/C: Q BI/BY/W/D: W Decl :ZYMX I/Q/D/B/T/C: Q BI/BY/W/D: W Decl :ZYMI I/Q/D/B/T/C: Q BI/BY/W/D: W :L KB 1 :JU OB 152 read AKTZYK / LASTZYK :TAK :T =ZYAK :L KB 2 :JU OB 152 read MINZYK/MAXZYK :TAK :T =ZYMX Akku 2 = MAXZYK :L KB 3 :JU OB 152 read AVERAGE/NO. OF CYCLES :T =ZYMI :ON -DC-I1.6 PB Lamp Test :ON -DC-I1.7 PB Failure Reset :JC =GO10 :L KB 8 reset statistics :JU OB 152 GO10 : :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 223 -FB 223 C:ARECIBST.S5D LEN=93 Segment 1 ******************************************************************************* Loading Of Actual Position Loop Parameters ******************************************************************************* Name :LOOPPARA :*** Segment 2 Azimuth :A -F 7.3 Az: PROGRAM TRACK mode :AN -F 13.5 Program Track: move to first position :JC =M001 :JU -FB 52 copy DWs all modes except PROGR.TRACK: Name :COPYDW QDBW : KY 180,1 use PRESET parameters ZDBW : KY 181,1 ANZ : KF +7 :C -DB 189 control loop auxiliary DB :L DD 1 q_Az_Preset :C -DB 181 control loop parameters Az :T DD 8 :JU =M002 M001 :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 180,11 PROGRAM TRACK parameters ZDBW : KY 181,1 ANZ : KF +7 :C -DB 189 control loop auxiliary DB :L DD 3 q_Az_PrTr :C -DB 181 control loop parameters Az :T DD 8 M002 :*** Segment 3 Gregorian Dome :A -F 8.3 GD: PROGRAM TRACK mode :AN -F 13.5 Program Track: move to first position :JC =M001 :JU -FB 52 copy DWs Name :COPYDW all modes except PROGR.TRACK: QDBW : KY 180,21 ZDBW : KY 182,1 use PRESET parameters ANZ : KF +7 :C -DB 189 control loop auxiliary DB :L DD 7 q_GD_Preset :C -DB 182 control loop parameters GD :T DD 8 :JU =M002 M001 :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 180,31 ZDBW : KY 182,1 PROGRAM TRACK parameters ANZ : KF +7 :C -DB 189 control loop auxiliary DB :L DD 9 q_GD_PrTr :C -DB 182 control loop parameters GD :T DD 8 M002 :*** Segment 4 Carriage House +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 223 -FB 223 C:ARECIBST.S5D LEN=93 :A -F 9.3 CH: PROGRAM TRACK mode :AN -F 13.5 Program Track: move to first position :JC =PRTR :A -F 59.2 CH: biassed mode :JC =BIAS :JU -FB 52 copy DWs Name :COPYDW all modes except PROGR.TRACK: QDBW : KY 180,61 ZDBW : KY 183,1 use PRESET parameters ANZ : KF +7 (one motor only) :C -DB 189 control loop auxiliary DB :L DD 23 q_CH_Preset :C -DB 183 control loop parameters CH :T DD 8 :JU =CONT BIAS :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 180,41 ZDBW : KY 183,1 PRESET parameters for biassed ANZ : KF +7 operation :C -DB 189 control loop auxiliary DB :L DD 13 :C -DB 183 control loop parameters CH :T DD 8 :JU =CONT PRTR :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 180,51 ZDBW : KY 183,1 PROGRAM TRACK parameters ANZ : KF +7 :C -DB 189 control loop auxiliary DB :L DD 15 q_CH_PrTR :C -DB 183 control loop parameters CH :T DD 8 CONT :*** Segment 5 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 224 -FB 224 C:ARECIBST.S5D LEN=17 Segment 1 ******************************************************************************* FB224 doubles the gravity compensation for the Carriage House if there is only one motor. ******************************************************************************* Name :CH-GRAV Decl :GRAV I/Q/D/B/T/C: I BI/BY/W/D: W :L =GRAV :SLW 1 :T =GRAV :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 225 C:ARECIBST.S5D LEN=58 Segment 1 ******************************************************************************* Drive standstill after Preset ******************************************************************************* Name :ARRIVED :C -DB 50 Positions :*** Segment 2 Azimuth The window defining when the Azimuth has reached the requested preset position has been increased to 0.0032 degr. This was necessary because of the unaligned azimuth axis at certain Az positions the friction between wheel rims and rail is so high that the drive system with its present tuning cannot reach the requested position +/- 0.0008 degr (+/- 3 arcsec). When the axis gets "stuck" outside the preset window a motion failure will be issued after some time. To avoid this alarm the preset window has been increased temporarily. It should be redefined to 0.0008 degr (command SVD 3) in the segment below after alignment of the azimuth. :JU -FB 190 absolute difference of two values Name :DIFFABS Z1 : DD 20 Z2 : DD 70 OUT : FD 230 :A( :L FD 230 01 :SSD 5 01 abs (d_phi) / 32 :L KB 0 01 :!=D 01 :) 01 :A -F 4.4 Az: Computer control (flag) :AN -F 7.0 Az: RATE mode := -F 41.4 Az: preset position reached CONT :*** Segment 3 Gregorian Dome :JU -FB 190 absolute difference of two values Name :DIFFABS Z1 : DD 22 Z2 : DD 72 OUT : FD 230 :A( :L FD 230 01 :SSD 2 01 abs (d_phi) / 4 :L KB 0 01 :!=D 01 :) 01 :A -F 5.4 GD: Computer control (flag) :AN -F 8.0 GD: RATE mode := -F 42.4 GD: preset position reached CONT :*** Segment 4 Carriage House :JU -FB 190 absolute difference of two values Name :DIFFABS Z1 : DD 24 Z2 : DD 74 OUT : FD 230 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 225 C:ARECIBST.S5D LEN=58 :A( :L FD 230 01 :SSD 2 01 abs (d_phi) / 4 :L KB 0 01 :!=D 01 :) 01 :A -F 6.4 CH: Computer control (flag) :AN -F 9.0 CH: RATE mode := -F 43.4 CH: preset position reached CONT :*** Segment 5 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 226 -FB 226 C:ARECIBST.S5D LEN=29 Segment 1 ******************************************************************************* FB226 uses the previous position as the actual position in case of an encoder readout error. ******************************************************************************* Name :ENC-FAIL :*** Segment 2 Azimuth :AN -F 51.6 Az: encoder fault :JC =M001 :L DD 40 :T DD 20 :T DD 26 :T DD 28 M001 :*** Segment 3 Gregorian Dome :AN -F 52.6 GD: encoder fault :JC =OK :L DD 42 :T DD 22 OK :*** Segment 4 Carriage House #1 :AN -F 53.6 CH: encoder fault :JC =OK :L DD 44 :T DD 24 OK :*** Segment 5 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 227 -FB 227 C:ARECIBST.S5D LEN=155 Segment 1 ******************************************************************************* A U X. F L A G S ******************************************************************************* Name :AUX-FLAG :*** Segment 2 GD-CH collision protection If the collsision protection switch has been hit, movement out of this area is possible only with the "limit override switch". Only unidirectional movement is allowed. :A -CH-17.7 CH: collision protection switch :JC =NORM :L FY 32 COLLISION PROTECTION: :L KM 00000000 00000011 :OW - assume GD to be at lower :C DB 160 limit :T DR 221 :L FY 33 :L KM 00000000 00000011 :OW - assume CH to be at lower :C DB 170 limit :T DR 221 :JU =CONT NORM :L FY 32 NORMAL OPERATION: :C DB 160 :T DR 221 use normal limit information :L FY 33 :C DB 170 :T DR 221 CONT :*** Segment 3 average current Az :C -DB 221 data for CP581 :L KB 0 :A -F 60.1 Az: AUX n2 :JC =AUN1 :L DW 40 :L DW 41 :+F :L DW 42 add currents 1...8 :+F :L DW 43 (AUX_n1 mode: :+F disregard groups 1+5) :A -F 60.2 CH: AUX n1 :JC =AUN2 AUN1 :L DW 44 :+F :L DW 45 :+F :L DW 46 (AUX_n2 mode: :+F disregard groups 4+8) :L DW 47 :+F AUN2 :AN -F 57.2 Az: biassed mode :JC =AUX +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 227 -FB 227 C:ARECIBST.S5D LEN=155 :SSW 1 biassed mode: divide by 2 AUX :SSW 2 AUX and biassed mode: div. by 4 :C -DB 150 drive datas :T DW 28 average current :*** Segment 4 average current GD :C -DB 221 data for CP581 :L DW 48 :L DW 49 :+F :L DW 50 add currents 1...8 :+F :L DW 51 :+F :L DW 52 :+F :L DW 53 :+F :L DW 54 :+F :L DW 55 :+F :A -F 58.2 GD: biassed mode with 8 motors :JC =BIAS :L KF +7 AUX mode: divide by 7 ::F :JU =LOAD BIAS :SSW 3 biassed mode: divide by 8 LOAD :C -DB 150 drive datas :T DW 38 average current :*** Segment 5 average current CH :C -DB 221 data for CP581 :A -F 59.2 CH: biassed mode :JC =BIAS :A -F 60.2 CH: AUX n1 :JC =AUN1 :L DW 56 AUX_n2 mode: :JU =LOAD use current 1 only AUN1 :L DW 57 AUX_n1 mode: :JU =LOAD use current 2 only BIAS :L DW 56 BIASSED mode: :L DW 57 add currents 1...2 :+F :SSW 1 divide by 2 LOAD :C -DB 150 drive datas :T DW 48 average current :*** Segment 6 axis speeds speed scale: for max. speed the following values apply: input voltage: 10 V input module value: 2048 max. speed: Az: 0.43 degr/s GD/CH: 0.044 degr/s 1 bit =: Az: 2.0996 * 10E-04 degr/s GD/CH 2.1484 * 10E-05 degr/s +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 227 -FB 227 C:ARECIBST.S5D LEN=155 :C -DB 150 drive datas :L -IW 160 actual speed Az :SSW 3 :CSW :JU -OB 220 extend sign 16-->32 bit (KF format) :FDG :L KG +2099600+01 :XG :GFD :T DW 29 rate Az [0.0001 degr/s] :L -IW 162 actual speed GD :SSW 3 :JU -OB 220 extend sign 16-->32 bit (KF format) :FDG :L KG +2148400+00 :XG :GFD :T DW 39 rate GD [0.0001 degr/s] :L -IW 164 actual speed CH :SSW 3 :CSW :JU -OB 220 extend sign 16-->32 bit (KF format) :FDG :L KG +2148400+00 :XG :GFD :T DW 49 rate CH [0.0001 degr/s] :*** Segment 7 AUX modes reset AUX mode requests if brake interlock override is not active :C -DB 222 data from CP581 :A -Az-I7.0 Az: brake interlock override activated :JC =AZOV :L KB 0 :T DR 11 cancel Az AUX selection AZOV : :A -GD-I11.0 GD: brake interlock override activated :JC =GDOV :L KB 0 :T DR 13 cancel GD AUX selection GDOV : :A -CH-19.0 CH: brake interlock override activated :JC =CHOV :L KB 0 :T DR 15 cancel CH AUX selection CHOV : :*** Segment 8 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 229 -FB 229 C:ARECIBST.S5D LEN=118 Segment 1 ******************************************************************************* T I M E S Y N C H R O N I Z A T I O N ******************************************************************************* Name :TIME :*** Segment 2 check LCU time for consistency The time received from the LCU is checked for cosistency. The difference between two subsequent values should not exceed 10 seconds, except for the midnight crossover, when it is supposed to be approx. -86400 sec. If there is an unacceptable difference in the LCU time, the new time will be ignored. This check will only be performed in Program Track mode, because it is not relevant in any other mode. :AN -F 7.3 Az: PROGRAM TRACK mode :AN -F 8.3 GD: PROGRAM TRACK mode :AN -F 9.3 CH: PROGRAM TRACK mode :JC =ACCP no check except in PrTr mode :C -DB 222 data from CP581 :L DD 1 last time received from CP581 :C -DB 11 Time :T DD 22 :JU -FB 190 absolute difference of two values Name :DIFFABS Z1 : DD 22 new LCU time Z2 : DD 20 - previous LCU time OUT : DD 24 = (abs) difference :L DD 24 :L KF +10200 :D do not accept new time if :JC =CONT difference is > (1d + 10s) :L KH 3428 :T DW 27 :L KH 0526 DD26 = 86,389,800 :T DW 26 (1 day - 10.2 s) :L DD 24 :L DD 26 do not accept new time if : 10s : ACCP :C -DB 222 data from CP581 :L DD 1 put time received from LCU :C -DB 11 Time into buffer :T DD 20 CONT :*** Segment 3 read time from CP581 :L DD 20 time sent by CP581 (checked) +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 229 -FB 229 C:ARECIBST.S5D LEN=118 :C -DB 222 data from CP581 :L DD 7 + time offset :+D :C -DB 11 Time :T DD 1 = actual time :*** Segment 4 time check :L DD 1 :L DD 12 :>= 0 ? :JC =OK1 :L DD 16 :+D if not, add 24 h :T DD 9 :JU =CONT +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 229 -FB 229 C:ARECIBST.S5D LEN=118 OK1 :L DD 16 :<=D Pr.Tr. time <= 24 h ? :JC =CONT :-D if not, subtract 24 h :T DD 9 CONT :*** Segment 7 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 230 -FB 230 C:ARECIBST.S5D LEN=40 Segment 1 ******************************************************************************* PREPARE DATA TO BE SENT TO CP581 This FB evaluates the data which will be actualized every 20ms ******************************************************************************* Name :DATTO581 :C -DB 11 Time :L DD 1 time when positions were :C -DB 221 data for CP581 captured :T DD 1 :*** Segment 2 actual positions :C -DB 50 Positions :L KF +20 first DW in DB50 :L KY 150,161 intermediate memory (FB) :JU -OB 191 transfer DWs into flag buffer fetch 12bytes (=3DD) ... :C -DB 221 data for CP581 :L KF +60 :JU -OB 190 transfer flags into DBs ... and store in DB221 from DW60 :*** Segment 3 Az encoder readouts with encoder zero offsets subtracted :C -DB 50 Positions :L DD 36 :L DD 107 :-D :C -DB 221 data for CP581 :T DD 66 Az 1 :C -DB 50 Positions :L DD 38 :L DD 107 :-D :C -DB 221 data for CP581 :T DD 68 Az 2 :*** Segment 4 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 231 -FB 231 C:ARECIBST.S5D LEN=243 Segment 1 ******************************************************************************* Evaluation of data sent by CP581 ******************************************************************************* Name :DATFR581 :C -DB 222 data from CP581 :*** Segment 2 reset aux. flags :L KB 0 :T FY 253 reset old commands :T FW 254 :*** Segment 3 general commands :L DW 6 :T FW 250 :A F 251.0 := -F 135.6 CP581 command: power on :A -F 135.6 CP581 command: power on power on command received: :R D 6.0 reset command! :A F 251.1 :S -F 135.7 CP581 command: failure reset :A -F 135.7 CP581 command: failure reset reset command received: :R D 6.1 reset command! :A F 251.2 := -F 65.6 siren off command :A -F 65.6 siren off command siren off command received: :R D 6.2 reset command! :*** Segment 4 reset aux. flags +-----+ KB 0 --! --> !- FD 252 +-----+ Segment 5 operating mode Az F 130.0 = F 130.0 -FB 236 computer mode: Az +--------------+ F 135.0 = F 135.0 ! MODECOMM ! computer movement request: Az positive DD 10 --!COMM SEL !-- -F 130.0 F 135.1 = F 135.1 DW 20 --!RATE POSC!-- -F 135.0 computer movement request: Az negative +201 --!VELO NEGC!-- -F 135.1 T 156 = T 156 FY 41 --!ENC MODE!-- FY 132 Az: RATE --> PRESET switch-over time -T 156 --!T1 AUX !-- FY 137 F 130.3 = F 130.3 ! RESE!-- -F 130.3 computer command: reset failure Az +--------------+ FB 236 = FB 236 evaluate CP581 jack mode command +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 231 -FB 231 C:ARECIBST.S5D LEN=243 Segment 6 operating mode GD F 130.1 = F 130.1 -FB 236 computer mode: GD +--------------+ F 135.2 = F 135.2 ! MODECOMM ! computer movement request: GD positive DD 12 --!COMM SEL !-- -F 130.1 F 135.3 = F 135.3 DW 21 --!RATE POSC!-- -F 135.2 computer movement request: GD negative +203 --!VELO NEGC!-- -F 135.3 T 166 = T 166 FY 42 --!ENC MODE!-- FY 133 GD: RATE --> PRESET switch-over time -T 166 --!T1 AUX !-- FY 138 F 130.4 = F 130.4 ! RESE!-- -F 130.4 computer command: reset failure GD +--------------+ FB 236 = FB 236 evaluate CP581 jack mode command Segment 7 operating mode CH F 130.2 = F 130.2 -FB 236 computer mode: CH +--------------+ F 135.4 = F 135.4 ! MODECOMM ! computer movement request: CH positive DD 14 --!COMM SEL !-- -F 130.2 F 135.5 = F 135.5 DW 22 --!RATE POSC!-- -F 135.4 computer movement request: CH negative +205 --!VELO NEGC!-- -F 135.5 T 176 = T 176 FY 43 --!ENC MODE!-- FY 134 CH: RATE --> PRESET switch-over time -T 176 --!T1 AUX !-- FY 139 F 130.5 = F 130.5 ! RESE!-- -F 130.5 computer command: reset failure CH +--------------+ FB 236 = FB 236 evaluate CP581 jack mode command Segment 8 move commands :A -F 135.0 computer movement request: Az positive := -F 131.0 computer command: move Az cw :A -F 135.1 computer movement request: Az negative := -F 131.1 computer command: move Az ccw :A -F 135.2 computer movement request: GD positive := -F 131.2 computer command: move GD up :A -F 135.3 computer movement request: GD negative := -F 131.3 computer command: move GD down :A -F 135.4 computer movement request: CH positive := -F 131.4 computer command: move CH up :A -F 135.5 computer movement request: CH negative := -F 131.5 computer command: move CH down :*** Segment 9 PRESET mode: check positions :AN -F 132.1 computer command: Az PRESET PRESET Az ? :JC =NOAZ :C -DB 222 data from CP581 :L DD 24 read commanded Az position :C -DB 50 Positions :T FD 220 :JU FB 199 check received position Name :POSLIMIT POS : FD 220 OUT : DD 70 accepted position Az LPOS : DD 180 LNEG : DD 182 DBNR : -DB 50 Positions : +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 231 -FB 231 C:ARECIBST.S5D LEN=243 NOAZ :AN -F 133.1 computer command: GD PRESET PRESET GD ? :JC =NOGD :C -DB 222 data from CP581 :L DD 26 read commanded GD position :C -DB 50 Positions :T FD 220 :JU FB 199 check received position Name :POSLIMIT POS : FD 220 OUT : DD 72 accepted position GD LPOS : DD 184 LNEG : DD 186 DBNR : -DB 50 Positions : NOGD :AN -F 134.1 computer command: CH PRESET PRESET CH ? :JC =NOCH :C -DB 222 data from CP581 :L DD 28 read commanded CH position :C -DB 50 Positions :T FD 220 :JU FB 199 check received position Name :POSLIMIT POS : FD 220 OUT : DD 74 accepted position CH LPOS : DD 188 LNEG : DD 190 DBNR : -DB 50 Positions : NOCH :C -DB 222 data from CP581 CONT :*** Segment 10 PRESET mode: new command? :C -DB 50 Positions :AN -F 132.1 computer command: Az PRESET :AN -F 132.2 computer command: Az STOW :JC =NOAZ :L DD 70 :L DD 120 Az :!=D :JC =NOAZ :A -F 7.1 Az: PRESET mode :JC =PRAZ if not yet in Preset: :L DD 20 if new command: :T DD 170 phi_des_act = phi_act PRAZ :L DD 70 :T DD 120 NOAZ :AN -F 133.1 computer command: GD PRESET :AN -F 133.2 computer command: GD STOW :JC =NOGD :L DD 72 :L DD 122 GD :!=D :JC =NOGD :A -F 8.1 GD: PRESET mode :JC =PRGD if not yet in Preset: :L DD 22 if new command: :T DD 172 phi_des_act = phi_act PRGD :L DD 72 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 231 -FB 231 C:ARECIBST.S5D LEN=243 :T DD 122 NOGD :AN -F 134.1 computer command: CH PRESET :AN -F 134.2 computer command: CH STOW :JC =NOCH :L DD 74 CH :L DD 124 :!=D :JC =NOCH :A -F 9.1 CH: PRESET mode :JC =PRCH if not yet in Preset: :L DD 24 if new command: :T DD 174 phi_des_act = phi_act PRCH :L DD 74 :T DD 124 NOCH : :*** Segment 11 PRESET: direction of movement :C -DB 50 Positions :AN -F 132.1 computer command: Az PRESET :AN -F 132.2 computer command: Az STOW :O -F 54.0 AZ: move command cw :O -F 54.1 AZ: move command ccw :O -F 54.6 AZ: warning signal :JC =NOAZ :L DD 20 AZ: :L DD 70 pos. movement requested :D neg. movement requested :R -F 131.0 computer command: move Az cw NOAZ :AN -F 133.1 computer command: GD PRESET :AN -F 133.2 computer command: GD STOW :O -F 55.0 GD: move command up :O -F 55.1 GD: move command down :O -F 55.6 GD: warning signal :JC =NOGD :L DD 22 GD :L DD 72 :D :R -F 131.2 computer command: move GD up neg. movement requested NOGD :AN -F 134.1 computer command: CH PRESET :AN -F 134.2 computer command: CH STOW :O -F 56.0 CH: move command up :O -F 56.1 CH: move command down :O -F 56.6 CH: warning signal :JC =NOCH :L DD 24 CH: :L DD 74 pos. movement requested :D neg. movement requested :R -F 131.4 computer command: move CH up NOCH : :C -DB 222 data from CP581 :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 231 -FB 231 C:ARECIBST.S5D LEN=243 Segment 12 reset "preset & reset" commands :L KM 11111111 00011111 :L DW 10 :AW :T DW 10 Az :L KM 11111111 00011111 :L DW 12 :AW :T DW 12 GD :L KM 11111111 00011111 :L DW 14 :AW :T DW 14 CH :*** Segment 13 clear Program Track stack +-----+ F 136.7 = F 136.7 DW 5 --!!= F! clear Program Track stack command ! ! +------+ KB 1 --! Q!-+-! S ! -F 136.7 +-----+ +------+ Segment 14 reset clear stack command +-----+ KB 0 --! --> !- DW 5 +-----+ Segment 15 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+FB 232 -FB 232 C:ARECIBST.S5D LEN=270 Segment 1 ******************************************************************************* * Evaluation of data received from PCU * * Data are stored in DB 21, DW 21 - 26 * ******************************************************************************* Name :DAFROPCU :C -DB 21 PCU communication :L KB 0 :T FW 254 reset aux. flags :A -F 0.0 always "0" := -F 18.6 PCU not answering :*** Segment 2 reset errors :AN -F 0.6 failure reset :A( :ON -F 19.7 01 PCU connected and operational :ON -F 125.0 01 PCU command: reset :) 01 :JC =NO :A -F 0.0 always "0" :SD -T 13 watchdog PCU reset watchdog timer :A -F 0.1 always "1" :R -F 19.0 PCU interface fault reset PCU errors :R -F 19.2 transfer error PCU-PLC - if PCU is not connected :R -F 19.3 PCU watchdog error - with PCU "Reset" button :R -F 122.0 PCU command: drive on :R -F 122.3 PCU command: go NO :*** Segment 3 data check :L KB 0 :L DW 22 start word (=watchdog) :!=F if zero: alarm := F 255.0 :JC =DOG :A -F 0.0 always "0" :SD -T 13 watchdog PCU check for correct identification :L KH AA55 if not: fault :>32 bit (KF format) :T DD 61 poti input (DD) :JU FB 199 Name :POSLIMIT POS : DD 61 check range OUT : DD 59 LPOS : DD 63 LNEG : DD 65 DBNR : -DB 150 drive datas :JU -FB 193 potentiometer hysteresis Name :POTIHYST POTI : DW 60 poti hysteresis HYST : DW 67 N><0 : -F 120.3 PCU mode: setpoint >< zero :L DW 60 limit PCU velocity :SSW 1 (full scale = 50% of v_max) :T DW 60 GO20 : :L DW 60 :L KB 0 :>=F :JC =SPOS :A -F 0.1 always "1" := F 255.1 selected speed positive :JU =GO30 SPOS :A -F 0.1 always "1" := F 255.0 selected speed negative GO30 : :ON -F 120.3 PCU mode: setpoint >< zero :ON -F 122.3 PCU command: go :JC =HALT :JU =GO40 HALT :L KB 0 :T DW 60 GO40 : :A F 255.0 :A -F 121.0 PCU mode: Azimuth := -F 122.4 PCU command: move Az pos. :A F 255.1 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 232 -FB 232 C:ARECIBST.S5D LEN=270 :A -F 121.0 PCU mode: Azimuth := -F 122.5 PCU command: move Az neg. :A F 255.0 :A -F 121.1 PCU mode: Gregorian Dome := -F 122.6 PCU command: move GD pos. :A F 255.1 :A -F 121.1 PCU mode: Gregorian Dome := -F 122.7 PCU command: move GD neg. :A F 255.0 :A -F 121.2 PCU mode: Carriage House := -F 123.0 PCU command: move CH pos. :A F 255.1 :A -F 121.2 PCU mode: Carriage House := -F 123.1 PCU command: move CH neg. :JU =GO50 ZERO :L KB 0 speed zero: :T FY 123 :C -DB 150 drive datas :T DW 60 :A -F 0.1 always "1" :R -F 122.4 PCU command: move Az pos. :R -F 122.5 PCU command: move Az neg. :R -F 122.6 PCU command: move GD pos. :R -F 122.7 PCU command: move GD neg. GO50 :C -DB 21 PCU communication :*** Segment 9 save data error status +-----+ FY 254 --! --> !- DL 2 +-----+ Segment 10 mode change :L KM 00000011 11111111 :L FW 120 :AW select mode bits of MW120 only :L DW 33 :>=1! F 4.2 = F 4.2 +---+ ! ! Az: PCU control (flag) +---+ ! ! F 121.1 = F 121.1 -F 121.1 ---! & ! ! ! PCU mode: Gregorian Dome -F 5.2 ---! !-----! ! F 5.2 = F 5.2 +---+ ! ! GD: PCU control (flag) +---+ ! ! F 121.2 = F 121.2 -F 121.2 ---! & ! ! ! +------+ PCU mode: Carriage House -F 6.2 ---! !-----! !--+-! = ! -F 2.0 F 6.2 = F 6.2 +---+ +---+ +------+ CH: PCU control (flag) F 2.0 = F 2.0 dummy flag Segment 5 no PCU mode (makes 24V LED at PCU flash) +---+ +------+ F 2.0 = F 2.0 -F 2.0 --O! & !--+-! = ! F 240.6 dummy flag +---+ +------+ Segment 6 axis related data :C -DB 50 Positions :A -F 121.0 PCU mode: Azimuth :JC -FB 234 axis related data for PCU Name :AX-DATA POS : DD 20 R1A2 : KF +0 CURR : KF +28 LIM : FY 31 GO : -F 122.3 PCU command: go OUT : -FW 190 status flags PLC --> PCU STA1 : FY 51 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 233 -FB 233 C:ARECIBST.S5D LEN=102 STA2 : FY 57 : :A -F 121.1 PCU mode: Gregorian Dome :JC -FB 234 axis related data for PCU Name :AX-DATA POS : DD 22 R1A2 : KF +0 CURR : KF +38 LIM : FY 32 GO : -F 122.3 PCU command: go OUT : -FW 190 status flags PLC --> PCU STA1 : FY 52 STA2 : FY 58 : :A -F 121.2 PCU mode: Carriage House :JC -FB 234 axis related data for PCU Name :AX-DATA POS : DD 24 R1A2 : KF +0 CURR : KF +48 LIM : FY 33 GO : -F 122.3 PCU command: go OUT : -FW 190 status flags PLC --> PCU STA1 : FY 53 STA2 : FY 59 :*** Segment 7 transfer status :L FW 120 :L KM 00000011 11111111 any axis selected? :AW :L KB 0 :> PCU NORM :C -DB 21 PCU communication :L FW 240 general status :L -FW 190 status flags PLC --> PCU :OW combine :T DW 12 and transfer :*** Segment 8 checksum DB 21 = DB 21 -FB 173 PCU communication +--------------+ FB 173 = FB 173 ! CHKSUM ! checksum calculation -DB 21 --!DBNR CHKS!-- DW 5 +11 --!DW1 ! +5 --!DWNO ! +--------------+ Segment 9 transfer checksum +-----+ DW 5 --! OW ! ! ! KH 8080 --! !- DW 16 +-----+ +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 233 -FB 233 C:ARECIBST.S5D LEN=102 Segment 10 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 234 -FB 234 C:ARECIBST.S5D LEN=157 Segment 1 ******************************************************************************* Axis related data are prepared to be sent to PCU ******************************************************************************* Name :AX-DATA Decl :POS I/Q/D/B/T/C: I BI/BY/W/D: D Decl :R1A2 I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :CURR I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :LIM I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :GO I/Q/D/B/T/C: I BI/BY/W/D: BI Decl :OUT I/Q/D/B/T/C: Q BI/BY/W/D: W Decl :STA1 I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :STA2 I/Q/D/B/T/C: I BI/BY/W/D: BY :*** Segment 2 load division factor :LW =R1A2 label :L KF +1 1 = ROT :!=F := F 255.7 flag ROT :JC =ROT :L KG +1000000+05 no --> linear axis :T FD 250 --> factor 10000 :JU =GOON ROT :L KG +1000000+04 :T FD 250 ROT: factor 1000 GOON :*** Segment 3 position :L =POS :T FD 200 actual position /KFDD :FDG :T FD 204 actual position /KG :L FD 250 ::G : 10000 (1000) :GFD = pos [grd] :T FW 208 int (pos) :L KF -1 :TAK :<=F :JC =M020 :ADD KF +1 adaption if < (-1) :T FW 208 (cpu 928 specific) M020 :CSW :JU -OB 220 extend sign 16-->32 bit (KF format) :FDG int (pos) * (-1) :L FD 250 :XG * 10000 (1000) :L FD 204 :+G + pos :GFD :T FW 210 = pos .XXX(X) [grad] :A F 255.7 :JC =GOON :L KF +1 linear drives only: ::F reduce by factor <<< not active! GOON :T FW 212 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 234 -FB 234 C:ARECIBST.S5D LEN=157 :L KG +0000000+00 :L FD 204 :<=G change sign if negative :JC =POS :A -F 0.1 always "1" := F 208.6 set sign bits := F 212.6 POS :A -F 0.1 always "1" := F 208.7 := F 212.7 set MSBs of each word :C -DB 21 PCU communication :L FW 208 :T DW 14 transfer into DB :L FW 212 :T DW 15 :*** Segment 4 current max. current reading: 8V = 0.8 * 2048 = 1638.4 max. output: 100.0% = 1000 ==> scaling factor: 1000 / 1638.4 :C -DB 150 drive datas :LW =CURR :T DW 246 :DO DW 246 :L DW 0 load average current :JU -OB 220 extend sign 16-->32 bit (KF format) :FDG :L KG +6103516+00 * (1000/1639) :XG :GFD :T FW 218 :A -F 0.1 always "1" := F 218.7 set MSB :C -DB 21 PCU communication :L FW 218 :T DW 13 transfer to PCU :*** Segment 5 limits / status :L KB 0 :T FW 215 reset aux. flags :L =LIM :T FY 214 limit status :L =STA1 :T FY 217 drive status :L =STA2 :T FY 218 :A F 214.4 := F 216.2 limit up/cw :A F 214.0 := F 216.1 limit down/ccw :A F 214.3 := F 216.4 prelimit up/cw :A F 214.1 := F 216.3 prelimit down/ccw :O F 217.0 :O F 217.4 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 234 -FB 234 C:ARECIBST.S5D LEN=157 :O F 217.5 :O F 217.6 :O F 217.7 :ON F 218.0 := F 216.0 servo failure :A F 217.3 drive enabled :A F 214.7 brake released := F 215.0 drive on :AN F 215.0 := F 215.1 drive off :A F 215.0 drive on :A =GO speed ><0 := F 215.4 go :AN F 215.4 :A F 215.0 := F 215.5 ready :L FW 215 :T =OUT transfer status :*** Segment 6 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 235 -FB 235 C:ARECIBST.S5D LEN=500 Segment 1 ******************************************************************************* PREPARE DATA TO BE SENT TO CP581 This FB evaluates the data which will be actualized in the main program ******************************************************************************* Name :DATTO581 :C -DB 221 data for CP581 :*** Segment 2 delete old dummy information :L KB 0 :T FD 200 :T FD 204 :T FD 220 :T FD 224 :T FD 228 :*** Segment 3 Program Track Stack Pointer +-----+ FW 192 = FW 192 -FW 192 --!SRW 3!- DW 5 program track stack pointer +-----+ Segment 4 general status :O -F 10.6 emergency off from PCU :O -F 10.7 emergency off := F 201.0 :A -F 65.7 siren off := F 201.1 :A -F 10.4 limit override active := F 201.2 :A -F 19.0 PCU interface fault := F 201.3 :A -F 16.0 fault interface CP581 := F 201.4 :A -F 60.5 Az: feedarm bending > limit := F 201.5 :A -F 11.2 mains over-/undervoltage := F 201.7 : :A -F 11.0 drive cabinet 1 overtemperature := F 200.0 :A -F 11.3 drive cabinet 2 overtemperature := F 200.1 :A -F 11.4 drive cabinet 3 overtemperature := F 200.2 :AN -DC-I2.0 +24V power supply ok := F 200.3 :AN -DC-I2.4 24 VDC for brakes ok := F 200.4 :AN -DC-I2.5 PLC fuses ok := F 200.5 :AN -PD-I1.1 power on relay feedback := F 200.6 :AN -PD-I1.2 cabinet doors closed := F 200.7 : +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 235 -FB 235 C:ARECIBST.S5D LEN=500 :L FW 200 :T DW 6 :*** Segment 5 prepare Az data :AN -DC-I3.0 SW: All control locations Az :A -DC-I3.1 SW: Az local only := F 255.0 local only :L FY 60 :L KM 00000000 00000011 :AW :T FW 221 AUX byte :A -Az-I7.0 Az: brake interlock override activated := F 221.0 :*** Segment 6 Az status F 11.5 = F 11.5 -FB 237 axis failure reset Az +--------------+ FB 237 = FB 237 ! AXISSTAT ! axis related data for CP581 FY 7 --!MODE ! FY 4 --!CONT ! F 255.0 --!LOC ! FW 221 --!AUX ! FY 31 --!LIM ! FY 51 --!STAT ! ID 4 --!DRIV ! IW 12 --!POW ! +230 --!DW1 ! +200 --!BUFF ! -F 11.5 --!RESE ! IB 7 --!LIMI ! +--------------+ Segment 7 Add Az specific information :L KB 0 :T FW 220 :A -F 48.5 encoder fault Az 1 := F 221.1 :A -F 48.6 encoder fault Az 2 := F 221.2 :A -F 47.1 Az drive stop because of cable car := F 220.6 :L DW 232 add encoder status :L FW 220 to axis status :OW :T DW 232 : :A -T 26 stop pulse to LCU after switchover Az := D 230.12 :A -F 60.6 Az: pendulum alarm := D 235.15 :*** Segment 8 place data in transfer buffer :L DD 230 :T DD 10 :L DD 232 :T DD 12 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 235 -FB 235 C:ARECIBST.S5D LEN=500 :L DD 234 :T DD 14 :*** Segment 9 prepare GD data / I :AN -DC-I3.2 SW: All control locations GD :A -DC-I3.3 SW: GD local only := F 255.0 local only :L FY 62 :T FW 221 AUX mode :A -GD-I11.0 GD: brake interlock override activated := F 221.0 :*** Segment 10 GD status F 11.6 = F 11.6 -FB 237 axis failure reset GD +--------------+ FB 237 = FB 237 ! AXISSTAT ! axis related data for CP581 FY 8 --!MODE ! FY 5 --!CONT ! F 255.0 --!LOC ! FW 221 --!AUX ! FY 32 --!LIM ! FY 52 --!STAT ! ID 8 --!DRIV ! IW 14 --!POW ! +230 --!DW1 ! +210 --!BUFF ! -F 11.6 --!RESE ! IB 11 --!LIMI ! +--------------+ Segment 11 Add GD specific information :A -T 27 stop pulse to LCU after switchover GD := D 230.12 :AN -CH-17.7 CH: collision protection switch := D 235.15 :*** Segment 12 place data in transfer buffer :L DD 230 :T DD 16 :L DD 232 :T DD 18 :L DD 234 :T DD 20 :*** Segment 13 prepare CH status :AN -DC-I3.4 SW: All control locations CH :A -DC-I3.5 SW: CH local only := F 255.0 : :L KB 0 :T FW 221 :A -F 60.2 CH: AUX n1 := F 222.0 :A -F 60.3 CH: AUX n2 := F 222.1 :A -CH-19.0 CH: brake interlock override activated +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 235 -FB 235 C:ARECIBST.S5D LEN=500 := F 221.0 : :L KH FFFF :T FW 223 :T FW 225 :T FW 230 :A -CH-17.0 Amplifier CH 11 no fault / no overtemp. := F 223.0 :A -CH-17.1 Amplifier CH 11 ready := F 223.1 :A -CH-17.2 Amplifier CH 12 no fault / no overtemp. := F 223.2 :A -CH-17.3 Amplifier CH 12 ready := F 223.3 : :A -CH-17.4 Motor CH 11 no overtemperature := F 225.0 :A -CH-17.5 Motor CH 12 no overtemperature := F 225.1 : :A -CH-17.6 CH: local axis disable := F 230.4 :A -CH-18.0 CH: power supply no fault := F 231.0 :A -CH-18.1 CH: main contactor on := F 231.2 :A -F 0.0 always "0" := F 231.3 :O -CH-18.3 CH: DC bus voltage ok := F 231.4 :O -CH-18.2 CH: circuit breaker brakes := F 231.6 :*** Segment 14 CH status F 11.7 = F 11.7 -FB 237 axis failure reset CH +--------------+ FB 237 = FB 237 ! AXISSTAT ! axis related data for CP581 FY 9 --!MODE ! FY 6 --!CONT ! F 255.0 --!LOC ! FW 221 --!AUX ! FY 33 --!LIM ! FY 53 --!STAT ! FD 223 --!DRIV ! FW 230 --!POW ! +230 --!DW1 ! +220 --!BUFF ! -F 11.7 --!RESE ! IB 19 --!LIMI ! +--------------+ Segment 15 Add CH specific information :A -T 28 stop pulse to LCU after switchover CH := D 230.12 :AN -CH-17.7 CH: collision protection switch := D 235.15 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 235 -FB 235 C:ARECIBST.S5D LEN=500 :*** Segment 16 place data in transfer buffer :L DD 230 :T DD 22 :L DD 232 :T DD 24 :L DD 234 :T DD 26 :*** Segment 17 reset dummy flags torque scale: for max. torque the folllowing values apply: input voltage: 8 V input module value: 1638 current: 12 A torque: 10.18 Nm torque per bit: 6.2125 * 10E-03 Nm Since the amplifiers supply RMS values only, there are no negative readings. Any negative values are set to zero. :L KB 0 :T FD 200 :T FD 204 :T FD 220 :T FD 224 :*** Segment 18 currents Az torque scale: for max. torque the folllowing values apply: input voltage: 8 V input module value: 1638 current: 12 A torque: 10.18 Nm torque per bit: 6.2125 * 10E-03 Nm Since the amplifiers supply RMS values only, there are no negative readings. Any negative values are set to zero. :L KB 0 :L -IW 128 actual current motor Az 11 :SSW 3 :<=F :JC =CUA1 :CSW CUA1 :T DW 40 :L KB 0 :L -IW 130 actual current motor Az 12 :SSW 3 :<=F :JC =CUA2 :CSW CUA2 :T DW 41 :L KB 0 :L -IW 132 actual current motor Az 51 :SSW 3 :<=F +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 5! +------------------------------------------------------------------------------+FB 235 -FB 235 C:ARECIBST.S5D LEN=500 :JC =CUA3 :CSW CUA3 :T DW 42 :L KB 0 :L -IW 134 actual current motor Az 52 :SSW 3 :<=F :JC =CUA4 :CSW CUA4 :T DW 43 :L KB 0 :L -IW 136 actual current motor Az 41 :SSW 3 :<=F :JC =CUA5 :CSW CUA5 :T DW 44 :L KB 0 :L -IW 138 actual current motor Az 42 :SSW 3 :<=F :JC =CUA6 :CSW CUA6 :T DW 45 :L KB 0 :L -IW 140 actual current motor Az 81 :SSW 3 :<=F :JC =CUA7 :CSW CUA7 :T DW 46 :L KB 0 :L -IW 142 actual current motor Az 82 :SSW 3 :<=F :JC =CUA8 :CSW CUA8 :T DW 47 CONT :*** Segment 19 currents GD :L KB 0 :L -IW 144 actual current motor GD 11 :SSW 3 :<=F :JC =CUG1 :CSW CUG1 :T DW 48 :L KB 0 :L -IW 146 actual current motor GD 12 :SSW 3 :<=F :JC =CUG2 :CSW CUG2 :T DW 49 :L KB 0 :L -IW 148 actual current motor GD 21 :SSW 3 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 6! +------------------------------------------------------------------------------+FB 235 -FB 235 C:ARECIBST.S5D LEN=500 :<=F :JC =CUG3 :CSW CUG3 :T DW 50 :L KB 0 :L -IW 150 actual current motor GD 22 :SSW 3 :<=F :JC =CUG4 :CSW CUG4 :T DW 51 :L KB 0 :L -IW 152 actual current motor GD 31 :SSW 3 :<=F :JC =CUG5 :CSW CUG5 :T DW 52 :L KB 0 :L -IW 154 actual current motor GD 32 :SSW 3 :<=F :JC =CUG6 :CSW CUG6 :T DW 53 :L KB 0 :L -IW 156 actual current motor GD 41 :SSW 3 :<=F :JC =CUG7 :CSW CUG7 :T DW 54 :L KB 0 :L -IW 158 actual current motor GD 42 :SSW 3 :<=F :JC =CUG8 :CSW CUG8 :T DW 55 CONT :*** Segment 20 currents CH torque scale: for max. torque the folllowing values apply: input voltage: 8 V input module value: 1638 current: 12 A torque: 10.18 Nm torque per bit: 6.2125 * 10E-03 Nm Since the amplifiers supply RMS values only, there are no negative readings. Any negative values are set to zero. :L KB 0 :L -IW 168 actual current motor CH 11 :SSW 3 :<=F :JC =CUC1 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 7! +------------------------------------------------------------------------------+FB 235 -FB 235 C:ARECIBST.S5D LEN=500 :CSW CUC1 :T DW 56 :L KB 0 :L -IW 170 actual current motor CH 12 :SSW 3 :<=F :JC =CUC2 :CSW CUC2 :T DW 57 CONT :*** Segment 21 axis speeds :C -DB 150 drive datas :L DW 29 :C -DB 221 data for CP581 :T DW 30 rate Az [0.0001 degr/s] :C -DB 150 drive datas :L DW 39 :C -DB 221 data for CP581 :T DW 31 rate GD [0.0001 degr/s] :C -DB 150 drive datas :L DW 49 :C -DB 221 data for CP581 :T DW 32 rate CH [0.0001 degr/s] :*** Segment 22 positions The actual Az, GD and CH positions will be transferred in the interrupt routine (FB230). :C -DB 50 Positions :L DD 50 :C -DB 221 data for CP581 :T DD 70 position offset Az :C -DB 50 Positions :L DD 52 :C -DB 221 data for CP581 :T DD 72 position offset GD :C -DB 50 Positions :L DD 54 :C -DB 221 data for CP581 :T DD 74 position offset CH :JU -FB 52 copy DWs Name :COPYDW QDBW : KY 50,180 softlimits ZDBW : KY 221,76 ANZ : KF +12 :*** Segment 23 position setpoints :C -DB 50 Positions :L DD 70 Preset setpoint Az :ON -F 7.3 Az: PROGRAM TRACK mode :ON -F 13.5 Program Track: move to first position :JC =AZ1 :C -DB 224 program track aux. DB :L DD 10 actual Pr.Tr.setpoint Az AZ1 :AN -F 7.7 Az: no operation :JC =LOAZ :C -DB 222 data from CP581 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 8! +------------------------------------------------------------------------------+FB 235 -FB 235 C:ARECIBST.S5D LEN=500 :L DD 24 Az STOP: setpoint from LCU LOAZ :C -DB 221 data for CP581 :T DD 88 : :C -DB 50 Positions :L DD 72 Preset setpoint GD :ON -F 8.3 GD: PROGRAM TRACK mode :ON -F 13.5 Program Track: move to first position :JC =GD1 :C -DB 224 program track aux. DB :L DD 12 actual Pr.Tr.setpoint GD GD1 :AN -F 8.7 GD: no operation :JC =LOGD :C -DB 222 data from CP581 :L DD 26 GD STOP: setpoint from LCU LOGD :C -DB 221 data for CP581 :T DD 90 : :C -DB 50 Positions :L DD 74 Preset setpoint CH :ON -F 9.3 CH: PROGRAM TRACK mode :ON -F 13.5 Program Track: move to first position :JC =CH1 :C -DB 224 program track aux. DB :L DD 14 actual Pr.Tr.setpoint CH CH1 :AN -F 9.7 CH: no operation :JC =LOCH :C -DB 222 data from CP581 :L DD 28 CH STOP: setpoint from LCU LOCH :C -DB 221 data for CP581 :T DD 92 :*** Segment 24 time since reset :C -DB 11 Time :L DD 7 :C -DB 221 data for CP581 :T DD 98 :*** Segment 25 input status :L ID 0 :T DD 100 input bytes 0-3 :L ID 4 :T DD 102 input bytes 4-7 :L ID 8 :T DD 104 input bytes 8-11 :L ID 12 :T DD 106 input bytes 12-15 :L ID 16 :T DD 108 input bytes 16-19 :*** Segment 26 output status :L QD 0 :T DD 110 output bytes 0-3 :L QD 4 :T DD 112 output bytes 4-7 :L QD 8 :T DD 114 output bytes 8-11 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 9! +------------------------------------------------------------------------------+FB 235 -FB 235 C:ARECIBST.S5D LEN=500 :L QD 12 :T DD 116 output bytes 12-15 :L QD 16 :T DD 118 output bytes 16-19 :*** Segment 27 analog outputs The status of analog outputs cannot be queried directly. Therefore the values being transferred to the analog outputs are also stored in DB150 in the routines addressing the analog output module. :C -DB 150 drive datas :L DW 150 :SSW 4 :C -DB 221 data for CP581 :T DW 122 :C -DB 150 drive datas :L DW 151 :SSW 4 :C -DB 221 data for CP581 :T DW 123 :C -DB 150 drive datas :L DW 152 :SSW 4 :C -DB 221 data for CP581 :T DW 124 :C -DB 150 drive datas :L DW 153 :SSW 4 :C -DB 221 data for CP581 :T DW 125 :C -DB 150 drive datas :L DW 154 :SSW 4 :C -DB 221 data for CP581 :T DW 126 :C -DB 150 drive datas :L DW 155 :SSW 4 :C -DB 221 data for CP581 :T DW 127 :C -DB 150 drive datas :L DW 156 :SSW 4 :C -DB 221 data for CP581 :T DW 128 :C -DB 150 drive datas :L DW 157 :SSW 4 :C -DB 221 data for CP581 :T DW 129 :*** Segment 28 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 10! +------------------------------------------------------------------------------+FB 236 -FB 236 C:ARECIBST.S5D LEN=194 Segment 1 ******************************************************************************* Evaluation of mode command by CP581 ******************************************************************************* Name :MODECOMM Decl :COMM I/Q/D/B/T/C: I BI/BY/W/D: D Decl :RATE I/Q/D/B/T/C: I BI/BY/W/D: W Decl :SEL I/Q/D/B/T/C: Q BI/BY/W/D: BI Decl :POSC I/Q/D/B/T/C: Q BI/BY/W/D: BI Decl :NEGC I/Q/D/B/T/C: Q BI/BY/W/D: BI Decl :MODE I/Q/D/B/T/C: Q BI/BY/W/D: BY Decl :VELO I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :ENC I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :AUX I/Q/D/B/T/C: Q BI/BY/W/D: BY Decl :T1 I/Q/D/B/T/C: T Decl :RESE I/Q/D/B/T/C: Q BI/BY/W/D: BI :C -DB 222 data from CP581 :*** Segment 2 mode selection :L =COMM :T FD 220 :L FW 222 :L KM 00000000 11111111 :AW :T FW 224 check AUX byte :JU -FB 198 byte check Name :BITCHECK IN : FW 224 FAUL : F 226.0 :L FY 223 :T =AUX AUX control byte :AN F 226.0 :JC =GO20 :L KB 0 if more than one bits set: :T =AUX disregard AUX commands GO20 :L FY 221 operating mode :L KM 00000000 00001111 (bits 0-3) :AW :T FW 222 :JU -FB 198 byte check Name :BITCHECK IN : FW 222 only one bit may be set FAUL : -F 16.3 data failure CP581 :A -F 16.3 data failure CP581 :JC =FAUL :L FY 220 control location :L KM 00000000 00001111 :AW :T FW 222 :JU -FB 198 byte check Name :BITCHECK IN : FW 222 only one bit may be set! FAUL : -F 16.3 data failure CP581 :AN -F 16.3 data failure CP581 :JC =OK +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 236 -FB 236 C:ARECIBST.S5D LEN=194 FAUL :L KB 0 with fault: :T FW 130 reset all commands :T FW 132 :T FW 134 :BEU OK :L FW 220 :L KB 0 :> PRESET :L =MODE :T FY 226 :A F 226.0 RATE active :A( :O F 221.1 01 and PRESET selected: :O F 221.2 01 :O F 221.3 01 :) 01 :L KT 001.0 :SP =T1 start switch-over time :AN =T1 :JC =CONT +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 236 -FB 236 C:ARECIBST.S5D LEN=194 :A -F 0.1 always "1" during this time: := F 221.0 - keep RATE activated :A -F 0.0 always "0" := F 221.1 - deactivate other modes := F 221.2 := F 221.3 :L KB 0 :T FW 230 - set speed to zero CONT : :*** Segment 7 mode byte :L FY 221 operating modes :L KM 00000000 00001111 :AW :L FY 220 control location :SLW 4 :OW :T =MODE :*** Segment 8 speed :ON F 221.0 :ON =SEL :JC =CONT :LW =VELO load speed with rate mode only :T FW 222 DW address in DB150 :C -DB 150 drive datas :L KF +201 :!=F := F 232.1 Az selected :AN F 232.1 :JC =EL :L DD 21 load speed calibration factor :JU =GO50 EL :L DD 31 GO50 :L FW 230 :JU -OB 220 extend sign 16-->32 bit (KF format) commanded speed :FDG :XG * calibration factor :GFD :T FD 226 = speed setpoint :L FW 228 :L KF +1024 :<=F check for range :JC =GO60 :T FW 228 :JU =LOAD GO60 :TAK :L KF -1024 :>=F :JC =GO70 :T FW 228 :JU =LOAD GO70 :TAK LOAD :DO FW 222 :T DW 0 transfer into DB150 CONT :*** +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 236 -FB 236 C:ARECIBST.S5D LEN=194 Segment 9 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 237 -FB 237 C:ARECIBST.S5D LEN=222 Segment 1 ******************************************************************************* Prepare axis related data for CP581 ******************************************************************************* Name :AXISSTAT Decl :MODE I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :CONT I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :LOC I/Q/D/B/T/C: I BI/BY/W/D: BI Decl :AUX I/Q/D/B/T/C: I BI/BY/W/D: W Decl :LIM I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :STAT I/Q/D/B/T/C: I BI/BY/W/D: BY Decl :DRIV I/Q/D/B/T/C: I BI/BY/W/D: D Decl :POW I/Q/D/B/T/C: I BI/BY/W/D: W Decl :DW1 I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :BUFF I/Q/D/B/T/C: D KM/KH/KY/KS/KF/KT/KC/KG: KF Decl :RESE I/Q/D/B/T/C: I BI/BY/W/D: BI Decl :LIMI I/Q/D/B/T/C: I BI/BY/W/D: BY :C -DB 221 data for CP581 :*** Segment 2 restore data :L KB 0 :T FD 200 :T FD 204 reset aux. flags :T FW 208 :LW =DW1 :T FW 250 first DW# in DB221 :LW =BUFF :T FW 252 first DW# of buffer (in DB221) :*** Segment 3 mode :L =STAT :T FY 205 :L =MODE mode byte :L KM 00000000 00001111 (lowest 4 bits only) :AW :T FY 201 :A F 205.3 :JC =RUN :L KB 0 drive not active :T FY 201 --> Stop mode RUN :L =CONT :T FY 210 :O F 210.0 :O F 210.2 := F 200.0 maintenance mode :O F 210.4 := F 200.1 LCU :A F 210.4 :AN =LOC := F 200.2 OCU := F 200.3 MCS :AN -F 19.7 PCU connected and operational := F 200.5 :A =LOC := F 200.6 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FB 237 -FB 237 C:ARECIBST.S5D LEN=222 :L FW 200 :DO FW 250 :T DW 0 DW #1 :*** Segment 4 AUX mode :L =AUX :T FW 202 :L FW 250 increase DW counter :I 1 :T FW 250 :L FW 202 :DO FW 250 :T DW 0 DW #2 :*** Segment 5 axis status :L =LIM :T FY 204 axis limits :L =LIMI :T FY 208 limit inputs :O F 204.5 :ON F 208.5 :ON F 208.6 := F 204.5 emergency limit :A F 204.7 brake released :AN F 204.6 and not engaged := F 204.7 = brake released :A -F 0.0 always "0" := F 204.6 reset bit 6 :L FW 250 axis status already in MB205 :I 1 :T FW 250 increase DW counter :L FW 204 :DO FW 250 :T DW 0 DW #3 :*** Segment 6 load drive status :L =DRIV :T FD 210 :*** Segment 7 amplifier status :L FY 210 invert and swap bytes :CFW (no fault --> fault) :T FY 215 :L FY 211 :CFW :T FY 214 :A F 205.3 if drives are operating: :JC =GO50 use this byte :L FW 214 else: :L KM 01010101 01010101 disregard ready signal :AW :T FW 214 GO50 :L FW 250 :I 1 increase DW counter :T FW 250 :L FW 214 :DO FW 252 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+FB 237 -FB 237 C:ARECIBST.S5D LEN=222 :L DW 0 combine actual status :OW with latched status :DO FW 252 and store this combination :T DW 0 :DO FW 250 :T DW 0 DW #4 :*** Segment 8 motor status :L FY 212 motor status :CFW invert (no fault --> fault) :T FW 216 :L FY 217 :T FY 207 :L FW 250 :I 1 increase DW counter :T FW 250 :L FW 252 :I 1 increase buffer counter :T FW 252 :L FW 206 :DO FW 252 :L DW 0 combine actual status with :OW latched status :DO FW 252 and store this combination :T DW 0 :DO FW 250 :T DW 0 DW #5 :*** Segment 9 equipment status :L =POW :T FW 212 :CFW invert (no fault --> fault) :L KM 00010000 11111111 :AW mask out irrelevant bits :T FW 216 :A F 213.2 except: := F 217.2 use original bits 2 & 3 :A F 213.3 (main contactor on) := F 217.3 :ON F 212.0 := F 217.6 brake 1 :ON F 212.1 := F 217.7 brake 2 :L FW 216 :T FW 208 :L FW 250 :I 1 increase DW counter :T FW 250 :L FW 252 :I 1 increase buffer counter :T FW 252 :L FW 208 :DO FW 252 :L DW 0 :OW combine actual status :DO FW 250 with latched status :T DW 0 and store this combination +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 3! +------------------------------------------------------------------------------+FB 237 -FB 237 C:ARECIBST.S5D LEN=222 :L KM 11101111 11110011 into DW#6 :AW (into buffer without :DO FW 252 "main cont. on" and "SAFE" :T DW 0 bits) :*** Segment 10 failure reset :AN =RESE :JC =CONT :LW =BUFF :T FW 252 set buffer # to initial value :L KB 0 :T FY 254 aux. buffer counter NEXT :L KH 0000 :DO FW 252 :T DW 0 set buffer to 0000 :L FW 252 :I 1 increase buffer # :T FW 252 :L FY 254 :I 1 increase aux. counter :T FY 254 :L KF +10 total 10 buffers :>=F :JC =CONT :JU =NEXT CONT :*** Segment 11 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 4! +------------------------------------------------------------------------------+FB 250 -FB 250 C:ARECIBST.S5D LEN=238 Segment 1 ******************************************************************************* Analog Test Outputs ******************************************************************************* Name :TESTOUTP :*** Segment 2 Test Output #1 - Az pos. :C -DB 50 Positions :L DD 20 :FDG value to be measured :C -DB 250 test output parameters :L DD 2 :-G - value at 0V :L DD 4 ::G : value at 10V :L KG +1024000+04 :XG * output at 10V :GFD :L KF +1024 check for +/- 10V range :<=D :JC =NEXT :JU =LOAD limit to +10V NEXT :TAK :L KF -1024 :JU -OB 220 extend sign 16-->32 bit (KF format) :32 bit (KF format) :32 bit (KF format) :32 bit (KF format) :32 bit (KF format) :32 bit (KF format) :32 bit (KF format) :32 bit (KF format) :D :S -Q 0.4 ...... indicator, whether t_k - t_k-1 : has become greater than 5s :L DD 92 :L DD 94 :<=D :JC =M001 store maximum difference :L DD 92 :T DD 94 M001 : :AN -DC-I1.6 PB Lamp Test reset indicator (Q0.4) and :JC =M002 memory for max. difference :C -DB 222 data from CP581 +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 1! +------------------------------------------------------------------------------+FX 20 C:ARECIBST.S5D LEN=72 :A -F 0.1 always "1" with LAMPTEST pushbutton :R -Q 0.4 ...... :L KB 0 :T DD 94 M002 : :L FD 240 :C -DB 222 data from CP581 :T DD 90 :*** Segment 5 :BE +------------------------------------------------------------------------------+ ! VERTEX ANTENNENTECHNIK GMBH ! ARECIBO SERVO + DRIVE SYSTEM ! ! Duisburg-Homberg ! S5-135U CPU 928B ! +------------------------------------------------------------------------------+ ! Order No. : 10/95034 !Issue: 28.10.1997 T3/WI! ! Software-No.: S1095034C-2.0c !Modified by: Kaus Willmeroth page! ! (C)Copyright All Rights reserved ! Date:12-25-99 2! +------------------------------------------------------------------------------+ [1w