4m. Blanco TCS Upgrade: Signals and Interfaces August 22,2007 4m. Blanco TCS Upgrade: Signals and Interfaces Eduardo Mondaca

Agenda Present TCS System System Block Diagram Wanted Configuration How we do the change?

Present TCS Main System VME Chassis VME Interface Drive Interface Power Supplies

VME Chassis

VME Chassis Connectors Processor Panel PMAC PMAC: Programmable Multi-Axis Controller

Agenda Present TCS System System Block Diagram Wanted Configuration How we do the change?

Present System Block Diagram 9 DOME Encoders 23 Focus Handpaddle (Screen Room) VME 9100D Card #1 VME 9100D Card #2 18 21 RA Abs. Encoders Guider Table Focus & Guider Interface Card (A5) x position y position Focus ON / OFF RS-232 A Port Guider Motors 23 B Port DEC Abs. Encoders LAMPS C Port IR/BS Control VME Bus 5 DEC Inc. Encoders SAT_CLOK Guider Corrections RS232 / RS485 Converter CPU (Heurikon) PMAC Card 5 RS-485 DEC Inc. Encoders IR Instruments Coordinates RS232 / RS485 Converter RS-485 RS-232 RA Servos SMC Based Subsystems RS232 / RS485 Converter RS-485 RS-232 DEC Servos VME Chassis

Agenda Present TCS System System Block Diagram Wanted Configuration How we do the change?

Hardware Wanted Architecture Instrument Adapter (PC) Instruments (ISPI, Hydra, DECAM, etc.) Ethernet Operator GUI (PC) CFADC (SMC) 4MAP (PC) F8 SEC (SMC) ROT 4M (SMC) IMAN (PC) Ethernet/ Serial Converter RS-485 DOME Interface TCS APP + TCS Kernel (PC) Comp Lamp Interface Dome/ Utility (PC) To Ra/Dec Motors Interlocks Mount (PC) Mount Interface Encoders Guider Interface HandPaddle Time

Dome/Utility Interface Rack Evolution Actual Rack VME Chassis Future Rack Not Used TCS App + TCS Kernel (PC) VME Interface Dome/Utility (PC) Dome/Utility Interface Not Used Mount Control (PC with PMAC) Drive Interface Not Used Mount Control Interface Power Supplies Power Supplies

Agenda Present TCS System System Block Diagram Wanted Configuration How we do the change?

GOALS Changes should be done in steps that permit to return quickly to the last state if something fails. Minimize the impact on the normal telescope operation (e.g. Calibrations during daytime).

Current Signal Flow Encoder Signals (Incremental and Absolute) VME Chassis Front Panel SMC and other signals (Serial, Interlock, etc) Control Output Signals (Servos, Lamps, etc)

Patch Panel Concept Inputs Inputs Panel: Connectors VME Chassis Panel: Wiring Inputs Inputs Multiplexing Panel: Connectors VME Chassis Outputs Outputs Outputs Inputs Present Signals New Signals access

Patch Panel: Example for Mount Encoder Inputs Encoder Inputs Panel: Connectors VME Chassis Other Inputs Other Inputs Control Outputs Other Outputs Mount Control Outputs Mount PC With PMAC Encoder Inputs

Patch Panel To/From VME Chassis To/From Telescope Patch Connectors

4m. Blanco TCS Upgrade: Servo Power Drivers Eduardo Mondaca

Agenda Present Servo System Present Control Loops Wanted Configuration August 22,2007 Agenda Present Servo System Present Control Loops Wanted Configuration Some Delta Tau Options What do we get?

Present Servo Racks and the Mount Control Loop TCS on VME Chassis Mount Encoders VME 9100 RA Manual Slew Tach1 M1 RA Servo Rack Abs. RA Inc. RA Slew/Track Select. Tach 2 M2 RA Speed Ref. VME PMAC DEC Speed Ref. Tach 3 DEC Servo Rack M3 Slew/TrackSelect. Abs. DEC Inc. DEC Heurikon Processor Tach 4 M4 DEC Manual Slew VME 9100

Servo Racks DEC Servo Rack RA Servo Rack

Servo Drivers Schematics Slew Control PMAC Interface Card Velocity Comparator Card Alarm Control Card 50 VDC Power Supply Power Drivers DC Current Amplifier Control Card Motors and Tacho- Generators

Servos Functions /Cards PMAC Interface Slew interface Slew control Velocity comparator Alarm Control DC Current Amplifier Control CardPMAC interface

Agenda Current Servo System Servos Control Loops Wanted Configuration August 22,2007 Agenda Current Servo System Servos Control Loops Wanted Configuration Some Delta Tau Options What do we get?

Present Driver Control Block 50 VDC Noise Compensation PMAC/Manual Slew/Track Reference F Slew/Track Sel. M-1 Tach1 Preload Circuit Voltage Feedback - + + - + + + Current Power Driver Σ Σ Σ Σ - F - Current Feedback Σ F From Tach2 To M-2 Loop -1 F: Filters From Tach2 From Tach-2

Agenda Current Servo System Servos Control Loops Wanted Configuration August 22,2007 Agenda Current Servo System Servos Control Loops Wanted Configuration Some Delta Tau Options What do we get?

Current Servo Racks and the Mount Control Loop Encoders Mount PC and Interfaces Tach1 RA Manual Slew M1 RA Power Amplifier Abs. RA Inc. RA RA Voltage Reference Tach 2 M2 PCI PMAC DEC Power Amplifier Tach 3 DEC Voltage Reference M3 Abs. DEC Inc. DEC DEC Manual Slew Tach 4 M4

Agenda Current Servo System Servos Control Loops Wanted Configuration August 22,2007 Agenda Current Servo System Servos Control Loops Wanted Configuration Some Delta Tau Options What do we get?

UMAC: Universal Multi-Axes Controller Delta Tau Products Compact UMAC UMAC: Universal Multi-Axes Controller Geobrick

Agenda Current Servo System Servos Control Loops Wanted Configuration August 22,2007 Agenda Current Servo System Servos Control Loops Wanted Configuration Some Delta Tau Options What do we get?

We Get Eliminate wire wrap cards. More efficient Power Devices. Less dissipation. Update some obsolete components. Simplified Logic for alarms using PLC. Adjustment could be done digitally. Cabling Simplification.

Time Line for Electronics Activities August 22,2007 Time Line for Electronics Activities

Electronics Timeline D&I = Design and Implementation Conceptual Design 2008 2009 2010 Jul-Sep 07 Oct-Dec 07 Jan-Mar 08 Apr-Jun 08 Jul-Sep 08 Oct-Dec 08 Jan-Mar 09 Apr-Jun 09 Jul-Sep 09 Oct-Dec 09 Jan-Mar 10 Conceptual Design Purchases Mount Interfaces and Power Drivers Encoder Tests Mount Tuning SMC Tests TCS Application Tests Support Dome/Utility Interface D&I DOME Tests Guider Interface D&I Guider Tests Instruments Interfaces D&I Instruments Tests Commis. EM 60% ET 30% ED 30% D&I = Design and Implementation