10 - Space Track 4000 IOM Manual

Spacetrack
4000
Installation, operation
and
maintenance manual
Revision 4.0
Spacetrack Manual
Spacetrack 4000
Manual
Revision 4.0
Revision Comments DATE

01 Multi board based System FEB 1996
02 SP4000 based System APR 1997
03 ADU Module based System JAN 1998
04 1U BDU based System MAR 1999
SIG DATE
ENGINEER
AUTHORISED
QA/SAFETY
Spacetrack Manual
SAFETY PRECAUTIONS
LIFTING SPACETRACK TERMINALS

It is important to recognise that a fully assembled Spacetrack
platform has a high centre of gravity. If a complete system with
radome is to be lifted, take care in keeping the system
balanced. Undue care may endanger personnel or cause
damage to the system.
Use only the eight leg lifting strops provided. Under no
circumstances should spreader bars be used.
Attach the strops to the lifting eye bolts provided around the
circumference of the baseplate.
Spacetrack 4000
Section 1
Safety
Spacetrack 4000 Manual
Table Of Contents
TABLE OF CONTENTS ....................................................................................................... 1
1.1 ELECTRICAL SAFETY
1.1.1 Antenna controller..................................................................................................... 3

1.1.2 ADU Module ............................................................................................................. 3
1.2 ENVIRONMENTAL ......................................................................................................... 3
1.3 INSTALLATION.............................................................................................................. 4
1.4 TELECOMMUNICATIONS TERMINAL EQUIPMENT DIRECTIVE................................. 4
1.5 EMC................................................................................................................................ 4
1.6 ENVIRONMENTAL ......................................................................................................... 4
Rev: 04 Section 1 - 1
1.0 SAFETY PRECAUTIONS
1.1 Electrical Safety

1.1.1 Antenna Controller
The Spacetrack Antenna controller module is rated for operation over the
range 55 – 240 Volts AC and 48 to 380 Volts DC. The module consumes a
maximum power of 15 Watts, and draws a maximum current of 200mA.
The User should observe the following instructions:-
The Antenna Controller is fitted with two fuses, one for each phase. The
fuses are contained on the PCB internal to the module.
The fuses should only be replaced with T1A 20mm fuses.
The module has an active electronic safety mechanism, the fuses are
designed only to clear in catastrophic failure conditions.
For continued safety, always replace the fuses with the correct type.
1.1.2 ADU Module

The above deck module is a sealed unit and should never be opened under
any circumstances. Return the module in the event of a failure.
1.2 Environmental
The Antenna Control System is designed to be operated in a controlled
environment. The unit should not be operated where conditions exceed 50°C,
precipitation, condensation, or humid atmospheres exceeding 95%RH,
altitudes (non pressurised) greater than 2000 meters, excessive dust or
vibration, flammable gases. Corrosive or explosive atmospheres.
1.3 Installation
The installation and connection to the line supply must be made in
compliance to local and national wiring codes and regulations, observing high
standards of workmanship.
The Antenna Control System is designed for connection to a power system

that has separate earth, line and neutral conductors. The equipment is not
designed for connection to power systems that do provide a direct connection
to a safety earth.
1.4 Telecommunications terminal equipment directive

In accordance with the Telecommunications Terminal Equipment Directive
91/262/EEC, this equipment should not be directly connected to the Public
Telecommunications Network.
1.5 EMC (Electromagnetic Compatibility)

To ensure the Antenna Rotator System provides the highest protection
against interfering / being interfered with, by adjacent equipment, it is
necessary to observe the following precautions:
· Connections to the receive ports (BNC female connectors) should only be
made using good quality coaxial cable – for example RG58/U. Any
unused receive ports should be terminated with the provided 50 Ohm
termination plugs.
· All cabling to and from the modules should be fully shielded with a
continuous shield, (either foil, braid, or both) must be used. All shields
must be properly terminated, as per the installation diagrams.
· The equipment must only be operated with the cover in place.
1.6 Lifting Spacetrack Terminals

It is important to recognise that a fully assembled Spacetrack platform has a
high centre of gravity. If a complete system with radome is to be lifted, take
care in keeping the system balanced. Undue care may endanger personnel
or cause damage to the system.
Use only the eight leg lifting strops provided. Under no circumstances should
spreader bars be used.
Attach the strops to the lifting eye bolts provided around the circumference of
the baseplate.
Spacetrack 4000
Section 2
Operator's Manual
Operator’s Manual
Table Of Contents
2.1 INTRODUCTION ........................................................................................................... 2
2.2 THE BELOW DECK UNIT ............................................................................................. 3
2.2.1 Reading the display screen ....................................................................................... 3

2.2.2 Viewing the system position ...................................................................................... 4
2.2.3 Viewing the vessels position and heading ................................................................. 4
2.2.4 Viewing the system log ............................................................................................. 5
2.2.5 Viewing the system error status................................................................................. 5
2.3 RECOVERING A LOST SIGNAL .................................................................................... 6
2.3.1 Confirm that the Signal is Lost: ................................................................................. 6

2.3.2 Confirm that the Power is ON: .................................................................................. 6
2.3.3 Check for Mast or Derrick Eclipse: ............................................................................ 6
2.3.4 Enter New Ship’s Navigation Information: ................................................................. 6
2.3.5 Automatic Re-Aquisition............................................................................................ 7
2.3.6 Manual Re-Acquisition .............................................................................................. 8
2.4 RECOVERING AFTER POWER DOWN ......................................................................... 9
2.5 CABLE UNWRAP ......................................................................................................... 10
Operator’s Manual
2.1 Introduction
This Radio Operator's Manual is provided as a basic guide to the operation of
the Spacetrack Stabilised Antenna Platform.
The primary function of the Spacetrack system is to keep a dish antenna,

mounted on a moving vessel such as a ship at sea, pointed very accurately at
a satellite as the vessel moves underneath it.
In a typical installation, Spacetrack hardware is located in the following

places:-
· THE SHIP'S DECK: a radome is located on the ship's deck, and contains
the majority of the hardware, including the Stabilised Platform controlled
by the ADU (Above Deck Unit) electronics, Antenna, Antenna Feed, and
Radio Equipment, as shown in Figure 1. In general, ship's personnel
will not be required to work on equipment located in the radome.
· THE RADIO ROOM: the satellite communications rack, which is usually in
the Radio Room, will contain the BDU (Below Deck Unit) and associated
communications equipment. The BDU controls the Spacetrack Stabilised
Antenna and consists of a 1U Spacetrack 4000 Antenna Control Unit
Figure 2 shows a typical BDU module. Ship's personnel will occasionally
need to use the BDU to help the Stabilised Platform re-acquire a lost
Satellite Signal.
Operator’s Manual
2.2 The Below Deck Unit

The Below Deck Equipment (BDE) consists of the Spacetrack 4000 below
deck unit (BDU) and the interface termination panel. The BDU is an integral
part of the Spacetrack system, which runs the control program and provides
the user interface. The BDU must therefore remain switched on for the
system to operate.
The operator should familiarise themselves with the display screen and
status signals given by the BDU and the associated communications
equipment. They may also be required to carry out routine procedures. These
are described in the later sub sections. To carry out the routine procedures
the user must be able to access the basic control functions of the BDU
interface, these are described in the following paragraphs.
2.2.1 Reading the display screen

A typical layout of the BDU Display Screen is shown below, this is where the
system displays information to the operator. The top line contains the system
mode and the receive level. The bottom line displays the system time and
date. The display changes depending on the mode of operation and also to
allow the user to change the system parameters.
Tracking AGC
38.4%
02:20:19 MONDAY march 08 1999
Operator’s Manual
2.2.2 Viewing the system position

In order to maintain a communications link, the Spacetrack system must be
accurately pointed at the satellite. To view the position of the system, press
the Main button to select the main menu then press the 1 button to select
the display menu. Select the 1 button again to select the display axis
position option. The display will now show the following information, which
details the physical pointing angle of the antenna and the received signal
level.
AXIS : AZIMUTH – 167.4° AGC -

45.4%
ELEVATION – 24.1°
POLARISATION – 0.0°
2.2.3 Viewing the vessels position and heading

The Spacetrack system will automatically find and lock onto the correct
satellite, to achieve this the system must have accurate information regarding
the vessel’s position and heading. To view the position and heading of the
vessel, press the Main button to select the main menu then press the 1
button to select the display menu. Select the 3 button to select the host
position option. The display will now show the following information.
HOST : HEADING - 342.4°

LATITUDE – 57.1° N LONGITUDE –
2.11° W
The information displayed must match the actual position and heading of the
host vessel, otherwise the automatic find function may not operate correctly.
Operator’s Manual
2.2.4 Viewing the system log

The system maintains a complete log of all events that occur, an event is
classified as a mode change, an error, or an operator action such as a
remote access. To view the log, press the Main button to select the main menu
then press the 3 button to select the log menu and select the 1 button to
choose the view function. The display will now show the log entries
sequentially, to move forward to the next log entry press the button, to
move back press the button. To move to the end of the log press the
button, while to move to the start of the log press the button. A
typical log screen is shown below.
08:59:24 Monday march 08 000094

Mode changed to track
Each entry is time stamped, the stamp is displayed on the top left line. The
log entry number is displayed on the top right line; while the actual entry is
displayed on the bottom line.
2.2.5 Viewing the system error status

The Spacetrack system will automatically identify and display any errors that
may occur within the system. To display the error status, press the Main button
to select the main menu. If there are any errors present the main menu will
contain the option 5 – Errors, if there are no errors the system will only
display 4 options. If the Error option is available press the 5 button to
select the error menu; the display will now show an abbreviated display of the
active errors. An explanation of the abbreviated codes follows.
MTR – Indicates that a motor error is active, to determine which motor is at
fault the system will display either –
A – Azimuth
E – Elevation
P – Polarisation
C – Coarse Azimuth.
HDN – The satellite is not visible form the current Latitude and Longitude.
GPS – The GPS position information is not available to the system.
CMPS – The heading information is not available to the system.
ADU – The below deck control module has lost contact with above deck
equipment in the radome.
Operator’s Manual
UNWP – Indicates that the communications link will be unavailable for

several minutes while the system performs a cable unwrap (Non
slipring systems only).
2.3 Recovering A Lost Signal

There are many reasons why the satellite signal might be lost, therefore it is
not always a simple procedure to recover after the signal drops out. In most
cases the system, given enough time, will be able to re-acquire the signal
automatically, but there are some situations where the operator will need to
intervene. A good step-by-step approach to solving a loss-of-signal problem
is outlined in Sections 2.3.1 through 2.3.5, below:
2.3.1 Confirm that the Signal is Lost:

Loss of a telephone or data line does not necessarily mean that the satellite
link is lost. A lost link can be confirmed by
· The BDU indicates the system is not in track mode.
· The BDU display is flashing, indicating an error.
If the system reports track mode, but the modem is indicating a receive fault,
the system may be tracking the wrong satellite. Change the system to FIND
mode for automatic re-acquisition as detailed in section 2.3.5. If the same
problem persists, follow the instructions in section 2.3.6 for manual re-
acquisition.
2.3.2 Confirm that the Power is ON:

The loss of power to any part of the system will result in a loss of signal.
Look at the error message screen, if there is no “ADU” error, then the ADU
Power is present in the radome and the ADU to BDU communication link is
functioning. If there is an “ADU” error, read section 2.4 Recovering After
Power Down
2.3.3 Check for Mast or Derrick Eclipse:

When the heading of the ship or platform is such that a mast or derrick comes
between the antenna or the satellite, it is not possible to use the satellite
communications equipment. Check for the situation by comparing the current
ship’s heading to the chart of Eclipsing Headings provided specifically for
your installation.
2.3.4 Enter New Ship’s Navigation Information:

If the ship has changed it’s heading or location significantly since the last
time the system acquired the satellite, it may be necessary to type in the new
Operator’s Manual
heading and location for the vessel. To achieve this, press the Main button to
select the main menu, press the 2 button to select the change menu, and
press the 3 button to select the location menu.
· To alter the latitude, press the 1 button and enter the correct latitude.
· To alter the longitude, press the 2 button and enter the correct
longitude.
· To alter the heading, press the 3 button and enter the correct heading.
Note: All latitudes and longitudes are entered using the normal
conventions, i.e. north and east are positive.
If there is a GPS or heading source attached to the system, the display will
show a message indicating that there is an active source available, and the
attempt to change the value will be prevented.
Note: If there is not a GPS or heading unit installed, it is good practice,

when the ship changes location or heading, to type in the new co-
ordinates, even if the satellite signal has not been lost. To achieve
this, follow the above procedures for entering new navigation
information. Entering new information will not effect the system’s
current performance, but if a loss of signal occurs at a later time, the
system will re-acquire the signal without operator intervention.
2.3.5 Automatic Re-Acquisition

If the system is not in manual mode the communications link will
automatically be restored as soon as the initial problem that caused the loss
of tracking is rectified. The Spacetrack System will go through the following
modes when automatically re-acquiring the signal.
· FIND – The system is in the process of moving to point towards the

general area where the satellite can be found. It calculates the satellite
position from the satellite longitude and the host vessel position and
heading.
· SEARCH – The system is pointing towards the general area where the
satellite can be found, and is in the process of searching for a signal
which is above the threshold value.
· LOCK – The system has found the signal above the threshold value and
is in the process of locking on to the satellite.
Operator’s Manual
· TRACK – The system has locked onto the satellite and is in the normal
tracking mode.
The stabilised platform will automatically keep searching for the satellite
signal until found.
2.3.6 Manual Re-Acquisition

If the system has been searching for more than five minutes, and the system
has not entered lock mode, the operator may try to find the satellite manually.
This is only possible if the azimuth and elevation settings for the satellite are
known.
Note: An AGC value above the threshold does not guarantee the signal
originates from the correct satellite.
Proceed as follows to re-acquire manually:
· Press the Manual

button to select manual mode.
· The Spacetrack System can now be moved in azimuth and elevation axis
by use of the cursor keys.
· When the system is in the correct position and the AGC value has risen
Track
above the threshold, press the button to engage track mode.
The system will now enter a LOCK mode and on completion of a locking
sequence, enter TRACK mode.
Operator’s Manual
2.4 Recovering After Power Down

After power to the Stabilised Platform has been shut off, the system should
be re-started as follows:
· Restore AC power to the radome and to the BDU. Usually this is just a
matter of restoring power to the Uninterruptible Power Supply.
· Wait for a short period of time as the system goes through INITIALISE
mode. At the end of the sequence, the system will try to find the satellite. It
will do this automatically, using the most recent information it has about
the current location and heading of the ship. If this information is not
correct, follow the instructions in Section 2.3.4 to insert new information.
· Wait for a further five minutes. If the system has not re-acquired the signal
after this time, follow the instructions in Section 2.3.6.
Operator’s Manual
2.5 Cable Unwrap

(Not Applicable Where Sliprings Are Fitted)
If the vessel on which the Spacetrack is installed rotates through more than
360° in heading, and the system is installed with the cable unwrap option, it
may be necessary for the Stabilised Platform to do a cable unwrap. A cable
unwrap means that the Platform will stop tracking the satellite, rotate 360
degrees in the same direction as the ship, so that the cables running up to
the platform are unwound. After the cables are unwrapped, the Platform will
automatically re-acquire the Satellite Signal.
Before the Platform performs a Cable Unwrap, it warns the operator with the
error message "UNWP" in the error status screen, so that communication
links, telephone calls, etc. can be terminated gracefully. If the warning is
ignored and the ship continues to change heading, the Platform will
automatically do a Cable Unwrap.
When you see an unwrap warning message, you should respond as follows:
· Inform current communications users that the communications link will be
dropping out
· Press the Main button to select the main menu, press the 2 button to
select the change menu, and press the 1 button to select the mode
menu, then select the 4 button to select unwrap mode.
· Wait a few minutes, after which the system should re-acquire the signal
automatically. If, however, the ship has changed heading during the
unwrap sequence; and there is no heading source, the Stabilised Platform
may not re-acquire the signal automatically. It may be therefore necessary
to enter the new heading. To achieve this, follow the instructions in Section
2.3.4.
Spacetrack 4000
Section 3
Field Technician's Manual
Spacetrack Field Tech Manual
TABLE OF CONTENTS
3.1 EQUIPMENT OVERVIEW............................................................................................... 4
3.1.1 ADU Module ............................................................................................................. 4

3.1.2 Coarse Azimuth and Gimbal Assembly ..................................................................... 5
3.1.3 Pedestal Wiring ........................................................................................................ 6
3.1.4 BDU Module ............................................................................................................. 7
3.1.4.1 Spacetrack 4000 Antenna Controller Module Layout ...................................................... 7
3.1.4.2 Below Deck Interface Panel ............................................................................................ 8
3.1.5 Sensors .................................................................................................................... 9
3.1.6 Technology Overview ............................................................................................. 10
3.1.6.1 Control System Overview .............................................................................................. 10
3.1.6.2 Satellite Orbital Mechanics........................................................................................... 11
3.1.7 Control System Operation....................................................................................... 13
3.1.7.1 Operation...................................................................................................................... 13
3.1.7.1.1 Sensors ................................................................................................................................. 13
3.1.7.1.2 Normal and Instrument Angles. ............................................................................................. 14
3.1.7.1.3 Sensor Processing. ................................................................................................................ 14
3.1.7.1.3.1 The Torque Loop. .......................................................................................................... 14
3.1.7.1.3.1.1 PID. ........................................................................................................................ 14
3.1.7.1.3.2 The Velocity Loop.......................................................................................................... 16
3.1.7.1.4 Motors .................................................................................................................................. 16
3.1.7.1.5 Inertia ................................................................................................................................... 16
3.1.7.1.6 System modes ....................................................................................................................... 17
3.1.7.2 Satellite Acquisition. ..................................................................................................... 18
3.1.7.2.1 Tracking Sources................................................................................................................... 19
3.1.7.2.2 Input Attenuation and Acquisition Threshold......................................................................... 20
3.1.7.2.2.1 Setting the Attenuation and Threshold Manually. ........................................................... 20
3.1.7.2.2.2 Automatic Attenuation Setting. ...................................................................................... 20
3.1.7.2.3 Acquisition Angles................................................................................................................ 21
3.1.7.2.3.1 Inclined Satellite Acquisition. ........................................................................................ 21
3.1.7.2.3.2 Trim Angles................................................................................................................... 21
3.1.7.2.3.3 Modem CD. ................................................................................................................... 22
3.1.7.3 Satellite Tracking.......................................................................................................... 23
3.1.7.3.1 Polar Tracking. ..................................................................................................................... 24
3.1.7.3.1.1 Linear Polar Tracking .................................................................................................... 24
3.1.7.3.1.2 Circular Polar Tracking.................................................................................................. 24
3.1.7.3.2 Scan Parameters.................................................................................................................... 25
3.1.7.3.2.1 Search Parameters.......................................................................................................... 25
3.1.7.3.2.2 Lock Parameters. ........................................................................................................... 25
3.1.7.3.2.3 Track Parameters. .......................................................................................................... 27
3.1.7.3.3.1 Size Adjustment............................................................................................................. 30
3.1.7.3.3.2 Speed Adjustment .......................................................................................................... 30
3.1.7.4 Smart and Active Weights. ............................................................................................ 31
3.1.7.4.1 Smartweights. ....................................................................................................................... 32
3.1.7.4.2 Active Weights...................................................................................................................... 33
3.1.7.5 Redundant Configuration. ............................................................................................. 34
3.1.7.6 System Log.................................................................................................................... 34
3.1.7.7 Auxiliary Communication Port...................................................................................... 35
3.2 ASSEMBLY AND INSTALLATION ............................................................................... 36
3.2.1 Site Survey ............................................................................................................. 36
3.2.2 Assembling The Platform........................................................................................ 36

3.2.3 Deck Installation ..................................................................................................... 37
3.2.4 Assembling the BDU............................................................................................... 38
3.2.5 Electrical Connections ............................................................................................ 38
3.2.6 Eclipsing Headings Chart ........................................................................................ 39
3.2.7 Installation Checklist ............................................................................................... 39
3.2.8 Demobilisation ........................................................................................................ 39
3.3 INITIALISATION........................................................................................................... 39
3.3.1 Initialising The System ............................................................................................ 40

3.3.2 Setting the Coarse Azimuth .................................................................................... 41
3.3.2.1 Set the coarse azimuth limit switch................................................................................ 42
3.3.2.2 Set the coarse azimuth ADT .......................................................................................... 42
3.3.3 Mechanical Unwrap Limit ........................................................................................ 43
3.3.4 Setting the Gimbal Motor Potentiometers................................................................ 43
3.3.5 Balancing the platform. ........................................................................................... 44
3.3.5.1 Platform Balance. ......................................................................................................... 44
3.3.5.2 Gimbal Balance. ........................................................................................................... 46
3.3.5.3 Active Weights. ............................................................................................................. 46
3.3.5.4 Smart Weights. .............................................................................................................. 46
3.3.6 Setting the Inertias.................................................................................................. 47
3.3.7 Setting Up The RF Equipment ................................................................................ 48
3.3.8 Set-up The Tracking Receiver ................................................................................ 48
3.3.9 Setting the Signal Threshold ................................................................................... 49
3.3.10 Lock-On Test ........................................................................................................ 50
3.3.11 Initialisation Checklist............................................................................................ 50
3.4 TROUBLESHOOTING.................................................................................................. 51
3.4.1 Error Messages....................................................................................................... 51

3.4.2 Fault Finding........................................................................................................... 55
3.4.3 Checking Individual System Components ............................................................... 61
3.4.3.1 ADU/BDU Comms Link ................................................................................................ 61
3.4.3.2 Gimbal Motor ............................................................................................................... 62
3.4.3.3 Coarse Azimuth Motor .................................................................................................. 63
3.4.3.4 Motor Pots .................................................................................................................... 63
3.4.3.5 Coarse Azimuth ADT..................................................................................................... 64
3.4.3.6 Velocity Sensors............................................................................................................ 65
3.4.3.7 Inclinometers ................................................................................................................ 65
3.4.3.8 ADU Module Power ...................................................................................................... 65
3.4.3.9 BDU Module Power ...................................................................................................... 66
3.4.3.10 Internal Tracking Receiver.......................................................................................... 66
3.4.4 Checking Sensor and Motor Polarity ....................................................................... 66
3.5 COMPONENT REPLACEMENT ................................................................................... 68
3.5.1 Replacing an Inclinometer Block ............................................................................. 68

3.5.2 Replacing a Gimbal Motor Potentiometer................................................................ 68
3.5.3 Replacing the Coarse Azimuth ADT ........................................................................ 69
3.5.4 Replacing the Coarse Azimuth Motor ...................................................................... 69

3.5.5 Replacing the Coarse Azimuth Limit Switch ............................................................ 69
3.5.6 Replacing A Gimbal Motor ...................................................................................... 70
3.5.7 Replacing the ADU Module ..................................................................................... 70
3.5.8 Replacing The BDU Module.................................................................................... 70
3.5.9 Replacing the RF equipment................................................................................... 71
3.6 MAINTENANCE............................................................................................................ 72
3.6.1 Lubrication .............................................................................................................. 72

3.6.2 Inspection for Loose Bolts....................................................................................... 72
3.6.3 Corrosion Prevention .............................................................................................. 72
3.6.4 ADU Module Care................................................................................................... 72
3.1 Equipment Overview

This Field Technician's Manual is provided as a guide to the installation,
maintenance, and troubleshooting of the Spacetrack Stabilised Antenna
Platform. This manual is intended to be used in conjunction with Section 1 -
Radio Operator's Manual and the Appendices, which includes drawings.
The primary function of the Spacetrack system is to keep an antenna,
mounted on a moving vessel such as a ship at sea, pointed very accurately at
a satellite as the vessel moves underneath it.
In a typical installation, Spacetrack hardware is located in the following
places:
THE SHIP'S DECK
A radome is located on the ship's deck, and contains the majority of
the hardware, including the Stabilised Platform. This is controlled by
the ADU (Above Deck Unit) electronics, Antenna, Antenna Feed, and
Radio Equipment, as shown in Figure 1 and as described in Sections
3.1.1 through 3.1.5, below. In general, ship's personnel will not be
required to work on equipment located in the radome.
THE RADIO ROOM
The satellite communications rack, which is usually in the Radio Room,
will contain the BDU (Below Deck Unit) and the associated
communications equipment. The BDU controls the Spacetrack
Stabilised Antenna and consists of the Spacetrack 4000 Interface.
Figure 2 shows a typical BDU module. Ship's personnel may be
required, in exceptional circumstances, to use this module to help the
Stabilised Platform re-acquire a lost Satellite Signal.
Each Spacetrack terminal is individually configured to the specific
requirements of the customer, and while this manual explains the most
common Spacetrack configurations, there may be circumstances where the
terminal design varies slightly from the description given.
3.1.1 ADU Module

Figure 4 shows the ADU Module, which is attached to the platform side rail.
Note: The module contains velocity sensors and must therefore be
oriented on the system correctly. A small diagram on the front of the
module indicates the direction in which it should be mounted on the
side rail.
The three external circular connectors are for connecting the mains power,
signal wiring and motor power. Always ensure when connecting the cables to
the module, that the connectors are fully screwed onto the module. There
may also be a fourth connector, depending on hardware revision, which is
used to control the active weights.
The module electronics are fully protected from the harsh marine atmosphere
when the lid is sealed. A silica desiccator removes any moisture that might be
present inside the module. An indication of the amount of moisture that the
desiccant has soaked up is shown on the front of the module. The indicator
shows a 30 and 50-percentage value, which will change colour according to
the moisture content of the desiccant. Blue indicates that the moisture
content is below 50 percentage while pink indicates that it is above this value.
If the 50 value turns pink the module should not be stored in cold and damp
locations.
Fans located on the top and bottom edges of the module ensure a flow of air
through the module. This keeps the power components operating
temperature, at a reasonable level. This air however, does not come in
contact, with any of the signal electronics.
An Earth strap is located next to J3, the mains input, which should be
securely bonded to the Spacetrack frame.
The module electronics processes the information from the various sensors in
the system and passes the information to the BDU. The module also provides
the signals to drive the system motors on command from the BDU. Three
velocity sensors inside the module sense velocity in the azimuth, elevation
and polar axis.
Since the velocity sensors within the module may be damaged by mechanical
shock, a device on the module indicates if the module has been subject to
excessive shock. If the shock indicator is red the module should be rejected.
Note: As the module electronics are sealed from the atmosphere and
contain no user serviceable parts, do not remove the module lid. If a
problem with the ADU module is suspected, it should be replaced with a
complete new module, and returned for failure analysis. warranty void if
the module has been opened by non-DMS personnel.
3.1.2 Coarse Azimuth and Gimbal Assembly

The pedestal provides the mechanical interface to the vessel on which the
Spacetrack is mounted. Attached to the pedestal is the coarse azimuth drive
assembly which provides a large range of motion in which the much more
accurate gimbal motors can control the stabilised platform (see Figure 1)
Connected to the coarse azimuth drive assembly is the coarse azimuth
Angular Displacement Transducer (ADT) which provides the coarse azimuth
axis angular position information.
The coarse azimuth motor drives around the gimbal support tower, which
supports the gimbal. The gimbal provides the necessary degrees of freedom
to stabilise the platform, on which the antenna is mounted. Three motors on
the gimbal move the platform in azimuth (side to side), elevation (up and
down), and polarisation (rotation about the axis parallel to the antenna bore
sight).
By controlling the platform in the three axes the antenna can be pointed very
accurately at geosynchronous satellites (geostationary or inclined satellites),
permitting a communications link to be maintained regardless of the vessel’s
motion.
The gimbal motors are driven by a high frequency PWM (Pulse Width
Modulation) signal, the duty cycle is proportional to the amount of torque
desired. The coarse azimuth motor is also driven by a PWM signal.
An inclinometer module (see Figure 17) and a wiring interconnection plate
(see Figure 6) are attached to the gimbal support tower. The inclinometer
module houses the two inclinometers (see Section 3.1.5), and a power
resistor for the coarse azimuth motor.
A wiring interconnection plate provides a means of easily connecting the
cable loom, which runs along the platform arms and gimbal, to the sliprings
(or to the baseplate junction boxes, if no sliprings are present).
If the system does not have slip rings, (i.e. the cables go straight through the
centre of the pedestal), the coarse azimuth movement is limited to a physical
maximum rotation of ±350 degrees from the centre line of the vessel, before a
cable unwrap occurs. The exact unwrap points are set as a parameter in the
control software (see Section 4.1.2.2.8 for details). The transducer shaft is
geared, so that as the Gimbal Support Tower rotates 360 degrees, the
transducer shaft only rotates 170.53 degrees. There is also a Coarse Azimuth
Limit Switch - a trip switch, which is normally on, and which is switched off by
a pin on the ADT gear cog. A secondary mechanical limit stop is fitted as a
fail-safe assurance that the platform will not over-wrap its cables.
The system is simplified if it is supplied with sliprings. Each cable passing
through the pedestal is connected to a pair of rings that are electrically
connected, but can slide over one another. This allows the Gimbal Support
Tower to rotate without the requirement for cable unwrapping. On these
systems the coarse azimuth ADT shaft rotates the same amount as the
Gimbal Support Tower, there are no limit switches, mechanical stops, and the
unwrap feature is unnecessary.
3.1.3 Pedestal Wiring

See Figure 6 for details of the gimbal cable loom. Figures 7A and 7B details
the pedestal wiring and Figure 10 details the cross deck wiring from the BDU
to the pedestal.
The ADU interface panel is located on the gimbal support tower, which,
provides connections for the radome mains supply and the communications
link to the BDU. The cross deck co-axial transmit, receive and spare cables
are also terminated on an interface plate with N type connectors.
The interface panel also serves to provide a connection for the M & C
console. This allows system operation and diagnostic functions to be
performed in the radome.
3.1.4 BDU Module

Figure 2 shows the BDU Module, which is normally installed in a 19 inch rack
in the Radio Operator's room. Other communication equipment may also be
mounted in this rack. The BDU module requires full-length support when
mounted in the rack.
The BDU Module is an integral part of the Spacetrack system. It must
therefore remain switched on and connected for the system to operate.
The BDU module provides the user interface to the system through a
membrane front panel keyboard/LCD; and also through a monitor and control
serial connection to a console. The BDU controls the tracking platform,
processing the navigation and feedback signals to maintain a
communications link.
3.1.4.1 Spacetrack 4000 Antenna Controller Module Layout

The front of the enclosure has a membrane keypad and a LCD display. The
LCD panel displays information to the user and also allows the user to
change, in conjunction with the keypad, the system parameters and
operation. When idle the module displays the system mode, the received
AGC level, and also the time and date.
The rear of the enclosure has two male BNC connectors, one IEC mains
connector and two D type interface connectors. See Figure 8 and Section 3.5
for details of how to wire the unit into the system. The connector functions are
as follows:
· 70MHz BNC Connector - Receiver Input. This input is used to provide
the satellite feedback signal, which allows the system to determine where
the peak AGC signal is, and so maintain the best signal level. The 70MHz
input may be derived from the external communications equipment and is
usually the main system IF frequency. The user may select a wide
bandwidth or a narrow bandwidth detector.
· L Band BNC Connector - Receiver Input. The system may also accept a
L Band signal to track with. The L Band signal is down converted to 70
MHz and processed using either the narrow or wide band detector.
· IEC Mains Connector - Mains input. Provides power to the module.
· Interface - This connector is used to interface the BDU module to the
ship’s electronics and ADU, via the below deck interface panel. The below
deck interface panel expands the D type connections to terminal blocks
grouped in the appropriate functions.
· M&C - This connection provides an interface to the monitor and control
console, which allows the user to control the system remotely using a
serial terminal.
3.1.4.2 Below Deck Interface Panel

The interface panel expands the interface connector on the back of the BDU
module to terminal blocks, which provides a more convenient connection to
the module.
· CN1 – Interface. This connector is connected to the BDU module interface
connector, and is the expansion cable.
· CN2 – Cross Deck Cable. This connects to the ADU and must always
remain connected for the system to function. If this link is not present, the
ADU will switch off the power to all the motors on the stabilised antenna.
The link uses two balanced pairs (RS422 signal levels) and three RS232
monitor and control wires, see Appendix E, the table of connections for
core assignment. The two balanced pairs are:
1. Transmit to ADU (ADU A & ADU B).
2. Receive from ADU (ADU Y & ADU Z).
The transmit and receive data rate is 38400baud, which is optically
isolated.
The RS232 lines are not necessary, if system control in the radome is not
required. See Figure 10 for cross deck connection details.
· CN3 – Syncro. The syncro connector may be used to provide a syncro
heading input, see Appendix C for the interface ratings. See Figure 9 for
connection details.
· CN4 – Stepper. This connection provides an interface to a gyro compass,
allowing the vessel heading information to be automatically updated. It will
accept a positive or negative referenced gyro output. See Figure 9 for
details of how to connect to a gyro compass.
· CN5 - NMEA. This optional connection provides an interface to the host
vessel’s NMEA data sources. The NMEA data sources provide position
and heading information to the system in a digital format. The system can
accept either RS232 or RS422 data format, the selection is performed by
the user in software, or by the system automatically on boot. See Figure 9
and 23 for details of how to connect to NMEA sources to the system.
· CN6 - AGC. If an external dc voltage is available, which is proportional to
the signal level received from the satellite; this may be connected to the
AGC input to allow the system to track. The system accepts dc levels of 0
to +10V. See Figure 22 for connection details.
· CN7 – Status. The status connector may be used to connect two
Spacetrack systems into a redundant pair configuration. See Figure 22 for
connection details.
· CN8 – Misc. The Miscellaneous connector is used to provide status
information to external equipment and also to control the operation of the
tracking platform. See Figure 22 for connection details. The provided
signals are:
1. Modem CD. To enable the system to discriminate between closely

located satellites, it is possible to connect the modem demodulator
lock signal to the interface panel. When the system locks onto the
correct satellite, the modem will also lock onto the down converted
signal, indicating through the demodulator locked output that the
correct satellite has been acquired. To use the modem CD input,
connect the demodulator locked, (normally open connection), to the
modem CD signal and ground connections on CN8. See Section
3.1.7.2.3.3.
2. Offline In. The offline input is a logic level input, which may be used
to switch the system into the offline state. This should be utilised in
redundant systems, where it is desirable to program the non active
system to a known position and status. The control system treats
offline mode in the same manner as manual mode. To enable offline
switching, the input must be enabled, via the monitor and control
console.
3. Track Out. The track out signal is a logic level output which indicates
when the control system is in track mode.
4. Error Out. The error out signal is a logic level output, which
indicates when the system has an error active. This signal may be
interfaced into an external monitoring system or DCS.
· CN9 – Aux Port. The auxiliary port is a spare RS232 format serial port,
which may be used to access remote equipment through the M&C console.
See Figure 22 and figure 8 for connection details.
· CN10 – M&C input Connector. The M&C connector is used to attach the
interface panel to the control module.
· CN11 – M&C Connector. The M&C connector is used to attach a console
to the system. See Figure 19 for connection details.
3.1.5 Sensors
With all options installed, there are ten sensors providing information to the
control system.
· Three Velocity Sensors - azimuth, elevation and polar. These are located
in the ADU Module (See Section 3.1.1) and produce a voltage proportional
to their angular velocity.
· Three Gimbal Motor Potentiometers - fine azimuth, elevation and polar.
The ADT’s couple with each gimbal axis, and feedback the exact angular
positions of the motors. They must be initially set so that the system has a
central position reference. (See Section 3.3.4 for details on how this is
achieved).
· A Coarse Azimuth Angular Displacement Transducer (ADT) - This is
located in the centre of the pedestal just beneath the gimbal support. The
sensor is powered by +12V, -12V and a precision voltage reference of
+10V. The sensor returns a 0 to +10V signal proportional to the rotation of

the gimbal support.
· Two Inclinometers - roll and pitch. These are located on the inclinometer
module attached to the left gimbal support arm and return a voltage
proportional to their angle relative to the local horizon.
· An Optional Feed Motor Potentiometer - If an active feed is fitted, the
potentiometer connects to the motorised feed arrangement and returns a
voltage proportional to the angular position of the OMT assembly.
3.1.6 Technology Overview

3.1.6.1 Control System Overview
The minimum distance from the surface of the Earth to a satellite in
geosynchronous orbit is 36000 km. This distance is measured relative to a
location on the Earth’s surface directly below the satellite. Moving 1km from
this reference point, the change in angle required, to remain pointed at the
satellite alters by less then 2/1000’s of a degree. On the other hand, the half
power beam width of a 2.4 meter Ku band antenna (a typical configuration for
a Spacetrack system) is 0.3°. What this illustrates is that, if an Earth based
antenna points 0.15° away from the satellite, the received signal power will
be half the power that would be received, if the antenna was pointing directly
at the satellite. This highlights that, rotation is more critical in terms of
stabilising the antenna than linear motion. Linear motion only plays a part in
the forces acting on the stabilised platform, which act through the gimbal
centre. If the centre of gravity for the platform is not at the physical gimbal
centre then the linear motion of the pedestal will result in a rotational force on
the platform. The platform, must therefore, be carefully balanced.
Once the platform is balanced, it will maintain its orientation due to inertia.
The forces disturbing this equilibrium are friction and residual imbalances.
This is where the Spacetrack control system takes effect. The antenna is
stabilised by measuring platform rotation and applying a counter balancing
force. The gimbal motors are free floating until a counter balancing force is
required and demand signals are applied to them.
The signals from the velocity sensors and the motor potentiometers are
combined, which gives the control system the information necessary to
stabilise and position the antenna.
There is actually a great deal more to Spacetrack stabilisation. In fact, the
Spacetrack system actively tracks the satellite position by monitoring a
beacon or automatic gain control (AGC) signal from the satellite, continuously
seeking to maximise the signal level.
There are three steps involved in tracking the satellite. These are: moving to
the general orientation to find the satellite, performing an expanding spiral
search centred on the presumed orientation and locking onto the satellite
once the AGC signal exceeds the threshold value.
3.1.6.2 Satellite Orbital Mechanics.

Satellites may be placed along many different paths, or orbits, as they
revolve around the Earth. The plane of these orbits can be equatorial, polar,
or inclined. A polar orbit has a plane that is more or less parallel to the
Earth’s polar axis, while the plane of a geostationary orbit is equatorial in
nature, lying parallel to the Earth’s equator. Orbits that are offset in degrees
from the Earth’s equatorial plane are called inclined orbits.
The communications satellites in geostationary orbit are located above the
equator, in an assigned nominal orbit, and revolve around the Earth at the
same rate as the Earth rotates on its axis. To an observer, or satellite
antenna, on the ground these satellites appear to be stationary. However,
geostationary satellites are constantly being subjected to forces such as the
gravitational attraction of the Sun and the Moon, the radiation force from
sunlight, (the solar wind); and the Earth’s gravitational field, all of which
create a tendency for any stationary satellite to drift away from its assigned
sub satellite point over the Earth’s equator.
meridian
international
date line
Geostationary
arc
subsatellite
point
The satellites stay in geostationary orbit, due to the interaction of the Earth’s
gravitational pull and the satellite’s momentum. The satellite’s rotational
momentum produces a centrifugal force, which would, if unchecked, throw the
satellite away from the Earth. This centrifugal force is balanced by the
gravitational pull of the Earth on the satellite.
Under normal conditions, the satellites use station keeping manoeuvres to
keep the satellite located within a box, which is usually dimensioned ±0.1
degrees in the North/South direction and ±0.05 degrees in the East/West

direction.
As the satellites age, their store of onboard fuel decreases. To extend the
satellite’s operational life, the satellite operators often change the satellite’s
orbit to an inclined orbit. Inclined orbits use less fuel as the satellite is only
restricted in the East / West direction. The North / South direction is allowed
to wander, the amount of movement is termed the satellite inclination.
Inclined orbits use much less station keeping fuel as the majority of fuel is
expended in counteracting the Sun / Moon pull, which produces the North /
South movement. The East / West position must be strictly maintained to
ensure that co-located satellites do not interfere with each other. Inclined
orbits are termed geosynchronous rather than geostationary. The difference
is illustrated below:
Geosynchronuos
Satellite
N
Geostationary
Satellite
Geostationary
Orbit
Geosynchronuos
Orbit
All satellites as they move in orbit, trace a Figure of eight around their
nominal celestial position. The satellite operators try to minimise the size of
the pattern in geostationary satellites, by using station keeping manoeuvres.
The Figure of eight pattern is produced by the gravitational pull of the Sun
and Moon, the solar wind and the shape of the Earth. A view of the satellite
orbit, exaggerated for clarity is illustrated below:
West East North
Inclined Orbit
Normal Orbit
South
2 degree
spacing
Inclined satellites suffer from the problem that, as the satellites moves in
orbit, the footprint also moves on the Earth’s surface. To counteract this
effect, the satellite physically tilts the antenna, thus resetting the footprint.
The tilt is often referred to as the Comsat Manoeuvre, after the company that
developed the idea.
All communications satellites carry one or more types of beam antennas:
global, hemispheric, zone and spot. Each beam pattern is tailored to a
specific application. The beam pattern determines the power that any location
on the Earth ‘sees’ from the satellite, and also how far a vessel can move
from the footprint centre, while still receiving adequate power to provide
communications services.
3.1.7 Control System Operation

3.1.7.1 Operation
The following Sections explain the components, which are combined to
produce the Spacetrack stabilisation system.
3.1.7.1.1 Sensors
The system uses a combination of velocity sensors, ADTs and inclinometers
to provide the stabilisation process. Each sensor is used in different methods,
depending on the system mode of operation. The sensor functions are:
· Velocity Sensors – The velocity sensors produce a voltage proportional
to the angular rate of rotation of the sensor. The sensors are based on
piezo-electric prisms, which distort during rotation, due to the effect of
gravity. The prism distortion produces a voltage, due to the piezo effect,
which is measured as a direct function of rotation.
· Inclinometers – The inclinometers are used to measure the tilt of the

sensor, referenced to the local horizon. The sensor is based on a cell
containing an electrolytic fluid. As the cell is tilted, plates measure the
change in capacitance, which is converted to a dc voltage and used as a
measure of the sensor tilt.
· ADTs – The ADTs, (Angular Displacement Transducers), are high quality
potentiometers. The ADTs are fixed to each axis of the system to provide
pointing information relative to the base of the Spacetrack terminal.
3.1.7.1.2 Normal and Instrument Angles

In operation, the system works with two frames of reference. The normal
frame of reference is derived, by integrating the velocity output, produced by
the velocity sensors to produce an inertial position. This position is used in
track and lock mode, and is called the normal angles.
The second frame of reference is derived, by combining the inclinometer
output with the ADT readings, to produce a pointing angle referenced to the
local horizon. This angle is used to acquire the satellite, and is called the
instrument angle.
3.1.7.1.3 Sensor Processing

The process that is executed by the control system is intricate, and involves
complex digital signal processing routines. The control system has two
process functions, which may be adjusted to tailor the control system to the
mechanical assembly. These are the torque loop and the velocity sensor
input loop. All the sensors are digital filtered before use by the control
system, with characteristics that are designed for each particular sensor.
3.1.7.1.3.1 The Torque Loop

The torque loop is used to adjust the output characteristics of the demand
signal to the motors. Adjusting the torque loop will affect how fast or how slow
the system will respond to an event in all modes. There are two variables,
which may be altered in the torque loop, these are the filter length and the
filter cut off frequency.
The filter length sets the phase delay introduced by the filter, while the cut off
frequency adjust the amplitude response for the filter as plotted against
frequency. In normal operation the cut off frequency is set to a value which is
suitable for the terminal inertia. The phase delay may then be used to tune
out any resonant modes, which may be exhibited by the mechanical structure.
3.1.7.1.3.1.1 PID
The output torque is processed in a PID servo loop. The PID loop may be
used to characterise the control system to suit the mechanical arrangement.
The PID loop has three parameters:
· Proportional Gain. – The proportional component represents the
difference between the desired and actual antenna position.
· Integral Gain – The integral component represents the period of time the
system has been trying to position the antenna at the desired position.
The integral component slowly increases the desired torque until the
antenna position matches the desired position. The integral component
eliminates any steady state error.
· Derivative Gain – The derivative gain is a measure of the instantaneous
change in antenna position. The derivative term may be used to give an
initial torque ‘kick’, to start the antenna moving.
The PID ratios are usually calculated by the control system but are also
manually selectable, although an intimate knowledge of the control system is
required. Adjusting the PID ratio is not recommended, incorrectly set
parameters will result in an inoperative system.
3.1.7.1.3.2 The Velocity Loop

The velocity loop is used to adjust the input characteristics of the tracking
position loop. Adjusting the velocity loop will directly effect the tracking
response of the system. There are two variables, which may be altered in the
velocity loop, these are the filter length and the filter cut off frequency.
The filter length sets the phase delay introduced by the filter, while the cut off
frequency adjusts the amplitude response for the filter as plotted against
frequency. In normal operation, the velocity filter is disabled, this allows the
system to operate with true phase and amplitude information.
3.1.7.1.4 Motors
The system uses high power, low speed dc torque motors to position the
antenna. The motors are driven by a high frequency pulse width modulation
signal, the average of which is directly proportional to the torque produced by
the motor. The torque applied to the motors, is the output of the torque filter
loop, and is proportional to the velocity required to position the antenna
correctly. If there is no error term present in the system, the motors will be
free floating; torque is only applied to correct position errors.
3.1.7.1.5 Inertia
The inertia parameters are a measure of the weight of the antenna. The
inertia parameters are used as a scaling factor, which determines how much
torque to apply to the motors to produce a set velocity, in essence the inertia
settings are gain parameters. The moment of Inertia of a mass is defined as:
Inertia = Mass ´ Radius 2
The effect of the square term, is that mass, which is further away from the
gimbal centre has the greatest contribution to the torque required to move the
antenna. In simple terms a small weight at the end of an arm is equivalent to
a large weight close the gimbal centre. The gimbal centre is important,
because if the dish and arms structure is perfectly balanced, the centre of
gravity is located exactly where the three axis cross. This means the inertia
seen by the motors is measured from this point.
The inertia setting differs, depending primarily upon the dish size and to a
lesser effect upon the transceiver equipment. The inertia settings may be
derived via three methods, the standard method is that the control system
estimates the inertia based on a table of preferred values and other settings
such as filter characteristics. The control system may also calculate the
inertia during the balance routine, or the user may enter a value for each
axis. Setting the inertia manually is not recommended, without in depth
knowledge of the tracking system.
To set the inertia manually, the easiest method is to observe the box pattern
the antenna traces, when the system has been configured for standard track
size and speed settings. See Section 3.1.7.3.2.3 for a list of the standard
settings. The box pattern produced for different inertia settings is shown
below.
Inertia set too low, Inertia and track speed

Inertia set too high
or track speed too high correctly set
The above method may only be used when the host vessel is not moving.
The box pattern may be easily observed using a laser pointer.
An alternative method is to use a spectrum analyser, which has been
configured for zero span, centred upon the tracking frequency. The desired
response should be 0.5dB of tracking ripple using the standard track
parameters.
3.1.7.1.6 System modes

The control system has several modes of operation. These are:
· INITIALISE - This mode is automatically entered when the control
program starts. During initialise mode the system estimates the dc offset
of the velocity sensors, and allows all the system sensors to reach
operating temperature. The control system will remain in initialise mode
for 30 seconds, then automatically enter FIND mode. However, if the
system parameters are incorrect and the calculated satellite position is not
visible, the system will enter MANUAL mode and display a hidden alarm,
on completion of INITIALISE mode.
· MANUAL - In manual mode, the antenna can be driven to any position
using the cursor keys. The system will not track in this mode.
· FIND - In find mode the antenna moves to point at the calculated position
for the satellite. The position is calculated from the vessel position and the
satellite longitude information provided. Once the antenna is in position, it
will enter SEARCH Mode. The initial co-ordinates may also be specified
by the operator.
· SEARCH - Once FIND mode has roughly positioned the antenna, the
system will be pointing at the approximate position in the sky where the
satellite can be found. The system will now start an expanding spiral
search of the sky in that area. When the AGC signal rises above the
THRESHOLD value, the system will enter LOCK mode. If the system does
not find an AGC signal above the THRESHOLD value within a set time, it
will re-centre the scan and begin the sequence again.
· LOCK - Once SEARCH mode has located the satellite, the system will
lock onto the position which provides the strongest signal. If the AGC
signal drops below the THRESHOLD value, the system will revert to
SEARCH mode.
· TRACK - Once LOCK mode has been successfully completed, the system
will enter TRACK mode and track the satellite for as long as the AGC
signal stays above the THRESHOLD value. If the AGC signal drops below
the THRESHOLD value, the system will revert to LOCK mode.
· UNWRAP - This mode is only available on systems without sliprings. In
unwrap mode, the system rotates 360° in the direction required to unwrap
the cables running through the centre of the pedestal. If the antenna
elevation is above 30°, the elevation will drop to 30° as it turns. Once this
manoeuvre has completed, the system will enter FIND mode.
· DIAGNOSTICS – DIAGNOSTIC mode is used to calibrate the system and
also to detect and solve any problems that may exist within the system. In
DIAGNOSTIC mode the user has full control over the motors, while the
sensor readings are displayed along with statistics, detailing the sensor
behaviour.
· MONITOR – MONITOR mode provides the same functions as
DIAGNOSTIC mode except that direct control of the terminal is not
possible. MONITOR mode works in conjunction with the previous mode to
display the sensor and motor demands, while the system is operating.
MONITOR mode is useful for monitoring the system for subtle faults.
The normal sequence of operation is: Initialise, Find, Search, Lock then
Track. The system will repeat the find and search sequence indefinitely until
the correct satellite is found. If the system locks onto the incorrect satellite,
the modem carrier detect function will reset the system mode back to find
mode. This is attributed to the unlikely hood, of two identical carriers, at the
same frequency, on adjacent satellites.
3.1.7.2 Satellite Acquisition

To acquire and track the satellite, the system must have some means of
determining when, and how accurately, the antenna is pointed at the satellite.
This feedback signal is derived form the signal level received by the down
conversion equipment.
3.1.7.2.1 Tracking Sources

The system has several different sources of tracking information, these are:
· External Interface: The external interface may be used to interface the
Spacetrack systems to down conversion trains which have no standard IF
frequencies or to systems such as D.A.M.A. which provide a peaking
signal. The external interface may also be used with some modems,
although this depends very much on the processing delay of the modem.
In general an EbNo indication signal has too long a processing delay to
be useful, although in some cases the Spacetrack receiver delay variable
may be adjusted to take the modem processing delay into account. The
systems ability to track using a modem feedback signal must be
considered on an individual basis.
· Narrowband Receiver: The narrowband receiver is designed to track
either a beacon signal or a modulated data carrier, at a 70MHz IF
scheme. The transfer characteristics of the internal narrowband receiver
is listed in Appendix C.
· Wideband Receiver: The wideband receiver is designed to track a whole
transponder, at a 70MHz IF scheme. The wideband receiver is useful for
tracking densely populated transponders, which allow the average
transponder level to be used, rather than the power in an individual
carrier. This has the advantage that the inbound carrier does not rely on
the Earth station that is providing the tracking beacon or carrier. The
wideband may also be used in conjunction with the L Band down
converter to provide satellite TV tracking. The transfer characteristics of
the wideband receiver are listed in Appendix C.
· L Band Down Converter: The L Band down converter is not a detector,
but a frequency translator, that shifts an L Band signal to a 70MHz IF
scheme. The L Band down converter is usually used with the wide band
detector and a TV LNB. The down converter does not require a dc block.
· ADU: The ADU tracking source is provided for backward compatibility with
previous generations of Spacetrack equipment.
If the external interface is activated, the system may require to be configured
to match the processing delay of the AGC source. The receiver delay is
important if the AGC source is a modem; this is due to the fact that most
modems output an indication of the EbNo level, rather than an indication of
the absolute received signal level. The modem introduces considerable delay
when calculating the EbNo Figure. To overcome this problem, the Spacetrack
can compensate for the modem delay, using the receiver delay parameter.
The receiver delay parameter is dimensioned in seconds, and allows the
control system to match the angle, that the maximum signal level was
observed at, to the processing delay.
Note: Not all modems are suitable for using as a tracking source, and must
be evaluated on an individual model basis. The user must also be aware
when setting the delay parameters, that there is a ghost setting, with which
the system will operate, but with impaired tracking. This value is equal to the
time required to complete two sides of the box, and may be deduced from the
track size and speed parameters. Only users with an in-depth knowledge of
the tracking system should utilise the receiver delay parameter.
The internal detectors require a delay setting of zero to operate correctly.
3.1.7.2.2 Input Attenuation and Acquisition Threshold.

With all tracking sources, the levels must be carefully matched to allow the
system to distinguish between background noise and the satellite signature.
The level at which the system determines the presence of a satellite is called
the threshold. The threshold may be illustrated graphically below:
Carriers
Threshold Threshold
Pedestal Pedestal
Antenna not pointed at the satellite Antenna pointed at the satellite
When the antenna is not pointed at the satellite there is no power above the
threshold level, while on satellite, the carriers protrude above the threshold.
The pedestal is background noise, which is amplified across the frequency
range of the amplifier.
The system has two methods of positioning the on and off satellite levels,
these are adjusting the threshold or adjusting the detector input attenuation.
3.1.7.2.2.1 Setting the Attenuation and Threshold Manually.

If the levels are set manually, the user selects an input attenuation, which
provides suitable on and off satellite AGC readings. This attenuation then
stays fixed, while the threshold is set to indicate the on and off transition
point.
3.1.7.2.2.2 Automatic Attenuation Setting.

If the system is set to auto attenuation mode, the threshold is set to a fixed
value, usually around 20%, while the input attenuation is adjusted to position
the top of the pedestal just below the threshold when off satellite.
The auto attenuation mode is actually more complicated than described. The
full description follows. Read this section only if you wish to gain an
insight into the process that the system executes.
With the threshold set, (as standard), to 20%, the auto attenuation algorithm
adjusts the input attenuation to bias the received level between 0 and 10%.
This calibrates the noise floor of the pedestal to under 10%. The signal
strength must rise above the threshold, 20%, before the system recognises
the presence of the satellite. The on and off signal level must therefore rise
by at least 10%, which equates to 4dB. 4dB is generally the lowest C/N
usable by most modems.
In operation the input attenuation is not adjusted unless the signal rises
above 95%, in which case attenuation is added immediately to maintain the
signal below 95%. If the signal falls below 5%, attenuation is immediately
subtracted.
To accommodate for fades, the system will subtract attenuation at a rate of
1dB every 30 seconds, if the average signal falls below 25%. The system
averages the received level for 5 seconds, to ensure tracking dips or
temporary beam obstruction does not trigger an attenuation change.
3.1.7.2.3 Acquisition Angles

The system may be configured to acquire the satellite in two different
methods. The standard method is that the system calculates the bearing to
the satellite using the host vessel’s latitude and longitude and the satellite
longitude. Alternatively the user may disable the automatic angle calculation
and set the acquisition angle manually.
If the system is set to calculate the acquire angles, and polar tracking is
enabled, the calculation is performed continuously, while the polar angle is
adjusted to peak the polarisation. With this method, the azimuth and
elevation angles are derived from the strongest satellite position, while the
polar angle is calculated.
The acquisition angles are specified relative to true North. The control
software compensates for the vessel’s heading when positioning the antenna.
3.1.7.2.3.1 Inclined Satellite Acquisition.

The satellite longitude is automatically modified, if inclined parameters are
entered for the satellite; the polarisation is adjusted to compensate for the
variable polarisation skew.
If the system acquire angle calculation routine is disabled, the polarisation
angle will not be corrected as the vessel’s position changes, or as the
satellite skews in orbit.
3.1.7.2.3.2 Trim Angles

Trim angles are used to modify the calculated pointing angle, to take into
account inaccuracies introduced by the system calibration.
Trim angles may be enabled or disabled. If the trim angles are enabled, the
system notes the difference in angle, where the satellite was found at,
compared to the calculated angle. This trim angle is then used in subsequent
finds, to modify the theoretical value to allow the satellite to be found quickly.
Since adjacent satellite orbits are closely located, the trim angles are
bounded to stop the system locating the next satellite in orbit during the find
process. The bounding angles are user selectable, but should be set to, less
than the co-satellite spacing. The co-satellite spacing is usually 2°.
The trim angles are cleared if:
· The system mode is changed to manual.
· The vessel latitude or longitude is changed.
· The satellite longitude is changed.
· The user clears the trim angles.
· The system is reset to find mode, via the modem CD logic.
· The trim angles are disabled.
· The manual acquisition angles are enabled or disabled.
The trim angles are also used to correct the displayed angles if the satellite
being tracked, is verified as the correct satellite, through the modem CD lock
indicator.
3.1.7.2.3.3 Modem CD
The modem CD indicator is used to indicate to the system, that the correct
satellite has been located. This is often necessary due to the closely located
orbits of co-located satellites. It is extremely unlikely to have two identical
carriers located at the same frequency on two co-located satellites, therefore
if the modem locks up, then it is a good indication of acquisition success. The
output is usually derived from the modem’s demodulator locked indicator.
The user may set a demodulator lock period and a glitch period. The
demodulator lock period, is the length of time the modem requires to
synchronise with the far end modem. The modem demodulator locked output
will not indicate a modem lock until the training sequence is complete, thus
the Spacetrack must delay any decision, as to whether the correct satellite
has been acquired until this time period has elapsed. The time required for
the modem to lock may be derived from the manufacturer’s data, or measured
directly, with a safety margin.
The glitch period is designed to defeat contact bounce and modem glitches.
This period should be set for about one second, the Spacetrack will not
respond to a modem lock fail signal, if the lock indicator was previously high,
until the glitch period has elapsed.
The connections for a selection of modems is listed below:
Modem Interface Panel CN8
Type Connector Ground Modem CD

Connection Connection
ComTech CDM-500 Alarms Pin 7 Pin 8
EF SDM309 Fault J7 Pin 8 Pin 9
Fairchild SM2800 Fault J6 Pin 15 Pin 16
Paradise Datacom P230 Alarms Pin 3 Pin 10
Paradise Datacom P400 Alarms Pin 2 Pin 3
3.1.7.3 Satellite Tracking

The system tracks the satellite using a step tracking algorithm. The step track
method is also sometimes called Staircase Tracking. The algorithm involves
moving the antenna and measuring whether the signal level decreases or
increases. The antenna is continually moved by fractions of a degree,
monitoring for the strongest signal level. The staircase algorithm may be
shown graphically as:
Carrier
Signal
Step Tracking Algorithm Strength
The step tracking algorithm is implemented by using a box method, where the
antenna is moved left in azimuth, up in elevation, right in azimuth and finally
down in elevation. This movement produces a box around the boresight
position. On each side of the box, the system measures the received signal
strength, looking for the peak signal on each axis. The peak signal from
azimuth and elevation is then set as the boresight vector. Every consecutive
box is centred on the boresight produced by the previous box. The system
thus continually optimises the boresight angle with each complete box
motion, and tracks the satellite as the motion of the vessel disturbs the
antenna from the boresight angle.
3.1.7.3.1 Polar Tracking

The Spacetrack system may be configured to optimise the polarisation angle
automatically. There are two main methods of communicating with the
satellite, these are circular polarisation and linear polarisation. The linear
polarisation method is also split into horizontal and vertical polarisation.
The polarisation describes the relationship between the electrical and
magnetic fields as they travel through space. The different polarisations are
used to provide frequency re-use and so maximise the available bandwidth
available to the satellite operator and user.
3.1.7.3.1.1 Linear Polar Tracking

The Spacetrack system is only required to optimise the polarisation angle for
linear polarised communication schemes. The polarisation correction is
designed to compensate for the incident beam mismatch angle, caused by
the difference in vessel and satellite longitude; and due to the polarisation
skew caused by inclined satellites. The Spacetrack can compensate the
polarisation angle using a combination of the polarisation axis and an active
feed if fitted.
Using the polarisation axis to compensate for the polar angle is not
recommended due to the limited range of motion available to the
polarisation axis, which may also be required to compensate for the
host vessel’s motion.
An active feed is a feed and an OMT arrangement, which are fitted on a plate
which can rotate when driven by a motor. The system can use the active feed
to rotate the OMT physically and thus compensate for any polarisation
correction required. The active feed method is recommended for vessels,
which travel large distances and require polarisation compensation.
3.1.7.3.1.2 Circular Polar Tracking

If the Spacetrack system is configured as a circularly polarised system, the
polar axis is held at zero degrees and any active feed is not used.
3.1.7.3.2 Scan Parameters

The scan parameters are used by the control software to generate the box
scan pattern. The system uses the same box pattern for search, lock and
track operations. The dimensions and velocity of the box pattern may be
adjusted for each mode.
3.1.7.3.2.1 Search Parameters

The search parameters are used exclusively in search mode. The scan size
determines the largest box dimension that the system will use to locate the
satellite. During SEARCH mode, the system initially starts scanning for the
satellite using the lock parameter box dimension, which is increased until the
box is the same size as the search box. If the satellite has not been located
before the box dimensions equal the search size, the box size collapses back
to the lock size, and the process repeats.
The scan size should be dimensioned slightly less than the co-satellite orbit
separation. This parameter is usually set to 2°.
The scan speed may be set to a velocity that allows the satellite to be located
quickly, the default setting is 0.4°s-1.
3.1.7.3.2.2 Lock Parameters

The lock parameters are used to initially locate the satellite boresight, and to
allow the system to characterise the sensors, before the more exacting track
mode is engaged.
The lock parameters are used exclusively in lock mode. The system will
calculate parameters automatically based on the system configuration. The
user may also enter parameters manually, although this is not recommended.
The lock size and speed are mainly dependent upon the frequency band and
the dish size. The following table illustrates sample recommended values.
· C Band Systems:
Dish Size (m) Lock Size (°) Lock Speed (°s-1)

1.2 0.84 0.43
1.8 0.56 0.37
2.4 0.42 0.30
3.0 0.34 0.23
3.75 0.27 0.15
· Ku Band Systems:
Dish Size (m) Lock Size (°) Lock Speed (°s-1)

1.2 0.36 0.43
1.8 0.24 0.37
2.4 0.18 0.30
3.0 0.14 0.23
3.75 0.12 0.15
3.1.7.3.2.3 Track Parameters

The track parameters are used to position the antenna pointing directly at the
satellite boresight. The track parameters are used exclusively in track mode.
The system will calculate the parameters automatically, based on the system
configuration. The user may also enter parameters manually, although this is
not recommended. The track size and speed are mainly dependent upon the
frequency band and the dish size. The system inertia also has a direct effect
on the tracking performance, see Section 3.1.7.1.5 for details on setting the
inertia. The following table illustrates sample recommended values.
· C Band Systems:
Dish Size (m) Track Size (°) Track Speed (°s-1)

1.2 0.49 0.49
1.8 0.32 0.42
2.4 0.24 0.35
3.0 0.19 0.28
3.75 0.16 0.20
· Ku Band Systems:
Dish Size (m) Track Size (°) Track Speed (°s-1)

1.2 0.24 0.49
1.8 0.16 0.42
2.4 0.12 0.35
3.0 0.10 0.28
3.75 0.08 0.20
The system tracking may also be optimised by observing the tracking

response using a spectrum analyser, zero-spanned on the tracking
frequency. The system should exhibit 0.5dB tracking ripple in moderate
weather. The oscillogram below shows a typical tracking trace obtained from
a construction barge operating in the North Sea.
To set-up a spectrum analyser to display a zero spanned carrier, it is
necessary to reduce the span and re-centre the carrier in several stages.
This is due to frequency drift in the satellite, the down conversion equipment
and in the spectrum analyser. The oscillogram below was produced with the
following spectrum analyser settings:
· Span – 0Hz
· Sweep – 30 seconds
· RBW – 30KHz
· VBW – 30Hz
· Video Averaging - Off
3.1.7.3.3 Weather Optimisation.

The weather adjustment function determines how, the control system modifies
the tracking algorithm to accommodate for bad weather. In general, there are
two conflicting requirements, imposed upon the tracking algorithm. In calm
weather the track size should be small and the track speed slow, to allow the
system to produce the best tracking loss response. In bad weather, the track
size must be large and the speed high to allow the system to find the exact
boresight quickly in the presence of external disruptive forces on the gimbal.
In essence, the quicker the track box is completed, the more often the
boresight optimisation process is executed, but also the box definition will be
poorer. The two requirements can be resolved by adjusting the track
parameters, according to the weather conditions, this may be achieved
through the weather adjustment facility.
Note: Only experienced system users, who have an intimate
understanding of the system operation, should use the weather
adjustment facility. The weather adjustment facility may be disabled if
required.
3.1.7.3.3.1 Size Adjustment

The weather size adjustment factor determines how the track size is modified
in relation to the prevailing weather conditions. The following algorithm
determines the track size:
Weather Adjusted Track Size = Track Size + Size Expansion
Where:
Weather Adjusted Track Size = the box size performed by the control
system.
Track Size = the track size as calculated by the system, in relation to the dish
size and frequency band, or as set by the user.
Size expansion = the expansion as calculated by the system, as follows:
Size Expansion = Track Size * (User Size Expansion/10.0) * Weather Index
Where:
Track Size = the track size as calculated by the system, in relation to the dish
User Size Expansion = the expansion factor as set by the user.
Weather Index = the prevailing weather index, as calculated by the
system. The weather index is the amount of vessel motion, measured in
degrees, over the last sixty seconds.
For example, an expansion factor of 0.25 will increase the track size from a
calm weather size of 0.12° to 0.15° in 10° sea states.
3.1.7.3.3.2 Speed Adjustment

The weather speed adjustment factor determines how the track speed is
modified in relation to the prevailing weather conditions. The following
algorithm determines the track speed:
Weather Adjusted Track Speed = Track Speed + Speed Expansion
Where:
Weather Adjusted Track Speed = the velocity at which the scan box is
performed by the control system.
Track Speed = the track speed as calculated by the system, in relation to the
dish size and frequency band, or as set by the user.
Speed expansion = the expansion as calculated by the system, as follows:
Speed Expansion = Track Speed * (User Speed Expansion/100.0) * Weather Index
Where:
Track Speed = the track speed as calculated by the system, in relation to the
User Speed Expansion = the expansion factor as set by the user.
Weather Index = the prevailing weather index, as calculated by the
For example, an expansion factor of 0.85 will increase the track speed from a
calm weather size of 0.35°s-1 to 0.38°s-1 in 10° sea states.
3.1.7.4 Smart and Active Weights.

The Spacetrack system derives the majority of the stabilisation action from
the inherent inertia of the system. The main forces, which degrade the
stabilisation process, are physical imbalance and friction. The degradation
produced by friction is controlled by the manufacturing process, while the
imbalance force is entirely dependant on the set-up of the terminal.
It therefore follows that, any device, which can eliminate human influence and
error from the process, is extremely desirable. The Spacetrack system may
be equipped with either smart or active weights to provide an automatic
balancing function. The Smartweights are usually located in the elevation and
polarisation plane, while the active weights are located in all three planes of
rotation.
Polarisation
Smart Weight
Elevation Smart
Weight
Smart Weight Arrangement.
3.1.7.4.1 Smartweights.
Smartweights consist of a heavy weight on a linear slide. The weight is
moved in response to a detected imbalance. The Smartweights have integral
electronics, which sense the PWM duty cycle of the instantaneous applied
power to the motor. The instantaneous power is integrated to produce a
measure of the applied power over the last period of time. If the system is not
in balance the power integrated will be biased either positively or negatively,
(due to the system applying power to correct the static imbalance). When the
imbalance reaches a set trip level the weight is moved to correct the
imbalance.
Top to Bottom
Active Weight
Left to Right
Active Weight
Front to Back
Active Weight
Active Weight Arrangement.
3.1.7.4.2 Active Weights.

Active weights perform exactly the same function as the Smartweights, except
the electronics are located in the ADU module and the control logic is
performed in the software control loop. Since the active weights are
controlled directly by the control software, they are used to balance the
system during the balance routine, to produce a universal balance. During
operation the system integrates the output torque and moves the active
weights to point balance the system. A universal balance is a balance that
allows the terminal to float at any angle; whilst with a point balance, the
system will sit at one angle only, usually the operating angle.
3.1.7.5 Redundant Configuration.

If the host vessel has multiple blind spots, it is possible to install two
Spacetrack systems on the vessel, to provide uninterruptible communications
capability. The systems may be configured to work either in parallel, or in
unison. The parallel system operation is achieved using an external
redundancy switch panel, which controls the communication equipment. If the
systems are configured to work in unison, one terminal is designated the
master terminal, while the second terminal is designated the slave terminal.
In master-slave operation, the slave terminal functions within designated
blind spots, (termed occluded angles). Out with the occluded angles, the
master terminal is engaged as the tracking terminal. The occluded angles
may be programmed through the M&C console. The master terminal controls
which terminal is active and which terminal is dormant. To ensure the
communications link is not disrupted, it is possible to configure the system to
swap tracking terminals only if both terminals are currently tracking.
The master-slave configuration requires additional wiring to link the two
systems, this is illustrated in Figure 24.
In unison mode of redundant operation, there are three occluded ranges. If
the heading lies within any of the occluded ranges, the master’s relay output
is switched from the Normally Closed contact to the Normally Open contact.
The master’s relay output is connected to the slave’s Offline input. The
slave’s Offline input switches the slave between normal mode of operation
and the offline mode. In normal mode of operation the slave will acquire and
track the satellite as normal. The slave will continue to track the satellite until
the signal level drops below the threshold. The slave terminal will then
interrogate the Offline input to determine the next mode of operation. With
this operational strategy, the Offline input will not force a tracking slave
terminal offline, and thus the communications link will not be prematurely
disrupted. The master terminal will operate in the same manner as if the
slave terminal were not present. RF equipment switching should be
performed externally using the appropriate switch technology wired to the
spare relay contacts.
Unison operation may be used to provide deterministic antenna usage and
will prevent radiation into the ship’s structure.
3.1.7.6 System Log

The system log is used to store events that the control system regards as
important and may warrant user attention. The log may contain information
relating to mode changes, errors, user actions, automated messages and
monitor messages. The types of messages are detailed below:
· Mode Changes – The system records each mode change, to allow the
user to examine the link performance and the system’s operation.
· Errors – If the control system detects an error, the error is logged to allow
a non-transient record and to allow the system’s history to be examined.
· User Actions – Certain user actions are recorded to allow a record of the
systems configuration to be maintained.
· Automated Messages – Automated messages occur when the system
initialises, or during other tasks which require user feedback, such as
Balance mode.
· Monitor Messages – Monitor messages are generated by the system
supervisor module. The system supervisor module monitors all the
systems parameters, scanning for error conditions such as faulty sensors
or invalid values. This function is useful to provide early detection of faulty
sensors, before the sensor fails completely.
The log holds 180 entries. When the log is full, any additional messages
will be discarded. The log may be accessed from the front panel or via the
M&C console. See Appendix F for a listing and description of the log
messages.
3.1.7.7 Auxiliary Communication Port.

The auxiliary communications port is a spare serial port, which may be used
to interface the BDU module to any additional offshore equipment. The
equipment may then be accessed through the M&C console, as if a local
connection were present, this enables remote access to the attached
equipment.
The auxiliary communications port may be attached to any modem,
multiplexer or RF equipment, which has an M&C interface. The auxiliary
communications port may also be extended through a code switch to allow
access to more than one device.
The auxiliary communications port may be configured to match the link
parameters of the target equipment. There may exist a difference in data
rates between the M&C console and the auxiliary serial port. The BDU
module has internal buffers to compensate for the difference in data rates.
The internal buffers will only compensate if the data throughput is low. If the
throughput is sustained, buffer overruns will occur and data will be lost. The
receive data buffer length is 2K bytes, while the transmit data buffer length is
80 bytes.
To access the auxiliary serial port, the interface must first be opened. While
the port is open, it is not possible to access any other Spacetrack M&C
functions; Spacetrack M&C functions are only available when the auxiliary
port is closed. See Figure 22 for connection details.
3.2 Assembly and Installation

The Spacetrack platform and radome will generally be delivered fully
assembled, but the following Sections summarise how to assemble the
Spacetrack platform and radome, assuming they arrive unassembled. If the
system does arrive fully assembled double check that there are no parts
missing and that no damage has occurred in transit.
Before the assembly is considered complete, fill out the checklist mentioned
in Section 3.2.7 to make sure that nothing has been omitted. Section 3.2.8
gives a similar checklist for use when demobilising a Stabilised Platform,
which has been in operation on a vessel.
3.2.1 Site Survey

Before sending the Spacetrack equipment to the vessel, a site survey should
be done. The following should be kept in mind when selecting a physical
location on the deck for the radome equipment:
· Visibility: The Spacetrack needs a clear line of sight to the satellite for
most vessel headings.
· Vibration: High vibrations can impair performance. Choose a location as
far from vibrating equipment as possible.
· Cable Runs: The installation is easier if the Radome is situated close to
the Radio Room
· Antennas: Do not site in direct line with radar energy or near high power
short wave transmitting antennas.
· Heat Emissions: Ensure site is well away from sources of heat, e.g.
engine exhausts and gas flares.
3.2.2 Assembling The Platform

During assembly of the Stabilised Platform, the following points should be
kept in mind:
· Stainless steel hardware should be used, to avoid corrosion in the marine
environment
· Lockwashers, locknuts, or Loctite should be used on all threaded fasteners
because of the high vibration level common on vessels.
· Particular care should be taken not to damage the ADU Module. Always
check the module indicators for shock and moisture ingress. Reject if the
maximum shock has been exceeded.
The system may require assembly. Check the following points, carrying out
any tasks that are required:
1) Lift the unit onto the baseplate using the eyebolts supplied.
2) If the system baseplate has three rubber vibration mounts fitted, use the
three longer bolts to bolt through them taking care to fit the three large
washers on the underside of the mount and the three shorter bolts to
screw into the tapped base via the spacer provided. If the system
baseplate has no rubber vibration mounts fitted, the system should be
bolted directly to the baseplate using the six bolts supplied.
3) Fit the antenna to the mounting frame.
4) Install the ADU Module, taking care to orient the box correctly. The
correct orientation is shown on the face of the module.
5) Install all other platform equipment, such as the Antenna Feed, LNA,
and RF unit.
6) Install all Spacetrack cables following Figures 6 & 7. Ensure that all
components and cables are securely strapped down, or it will not be
possible to balance the platform. Ensure cables from the gimbal support
tower to the antenna support arms have enough length and flexibility to
ensure that the antenna can move freely in all directions.
7) Take care in controlling the motion of the platform while adding weights
to balance the antenna, watch for an indication that the platform is
nearly balanced. Complete the balancing process, by following the
instructions in Section 3.3.5.
8) Assemble the radome on to the baseplate, around the system. There
are four eye bolts which will be provided, use these in place of four
normal bolts when bolting the radome to the baseplate. They are used
for the attachment of bungee cords when lifting or transporting the
system fully assembled.
9) Use the four bungee cords supplied to attach the antenna and rear
cross member to the four eye bolts in the radome floor.
3.2.3 Deck Installation

The Spacetrack pedestal, which holds the dome above the deck, should be
securely welded to the deck of the vessel. Ensure the pedestal is correctly
aligned with the heading of the vessel. See the plan view of the Spacetrack
platform in Figure 1. With the system fully assembled on the radome
pedestal, the antenna should be in this position relative to the baseplate
when pointing in the direction of the heading of the vessel.
Note: The access hatch is located between the pedestal and the aft of the
vessel.
Particular care must be taken when lifting the system. To avoid endangering
personnel or damage to the system, the following precautions must be
adhered to.
It is important to recognise that a fully assembled Spacetrack platform has a
high centre of gravity. During lifting, take care to keep the system balanced.
Use only the eight legged lifting strops provided.
Under No Circumstances should spreader bars be used. Only trained

banksmen should give lifting instructions to the Crane Operator.
Before attaching the strops, ensure the eye bolts around the circumference of
the baseplate are screwed in and are vertical (so they will not twist when the
upward force from the strops is applied). Lay out the strops on the ground
and ensure there are no twists or knots in their length. The crane should lift
up the strops, and lower them over the radome, until there is enough length
for the strops to be attached to the eye bolts. Attach each strop leg to an eye
bolt, ensuring the following:
· shackles are tightened securely
· the legs are not intertwined above the radome
Once the slack has been taken up in the strop, ensure that:
· the strops lie flat against the radome, with no twisting
· the strops go up over the radome vertically. Straighten any strops that are
at a slant.
Lift the system onto its pedestal ensuring the dome is pointing in the correct
direction and the locating pegs are fully in place.
3.2.4 Assembling the BDU

The Spacetrack 4000 Interface and BDU PC should be installed in a 19” rack,
along with any other associated communications equipment. The BDU
module requires slides or supports along the length of the module to support
the rear of the module when mounted. Electrical connections to the BDU are
described in Section 3.2.5.
The BDU module should arrive with the control software pre-installed and
automatically run on power up.
3.2.5 Electrical Connections

Figure 11 is a wiring diagram showing how the Spacetrack pedestal should
be connected to the BDU and the modem. Figure 7B shows where the mains
should be connected to. The following points are important:
1. Generally, in the Radome, AC power is required to be connected to the
two junction boxes located in the radome, (see Figure 1). UPS power is
connected to the junction box which powers the ADU Module and RF
equipment. Raw mains is connected to the other junction box, this powers
auxiliary equipment such as lighting.
2. The UPS can be located inside the Radio Room, so that it can provide
power both to the communications equipment in the indoor unit, and to the
above deck equipment. There is also the advantage that power to the
radome can be switched off from indoors.
3. Check the ADU Module is set for the appropriate mains voltage.
Figure 8 is a diagram showing how the BDU Interface should be connected. A
cable loom will be provided to connect the BDU module to the Interface
Panel. Figure 23 shows the additional connections for an optional GPS
receiver input. Figure 9 shows the additional connections for an optional
heading input.
Ensure all cables are identified and installed neatly.
3.2.6 Eclipsing Headings Chart

In some installations, there will be certain headings of the vessel, which will
make it impossible for the antenna to lock onto the satellite, because of
physical structures on the vessel eclipsing the signal. It is good practise to
calculate ahead of time, which headings will be troublesome, and warn the
radio operator accordingly.
Figure 15 is an example of an Eclipsing Headings Chart, such as you might
provide the radio operator, and Figure 16 is a copy of a blank chart. For each
installation, take a photocopy of the blank chart found in Appendix A, fill in
the headings that apply, and leave it with the radio operator.
3.2.7 Installation Checklist

When the assembly and installation are complete, photocopy the Installation
Checklist found in Appendix B, complete all Sections, and include it in the
unit documentation package.
3.2.8 Demobilisation
If it is necessary to remove a Spacetrack Pedestal from a vessel photocopy
the Demobilisation Checklist found in Appendix B, complete all Sections, and
include it in the unit documentation package.
Note: Lifting instructions provided in Section 3.2.3 equally apply when
demobilising a system, and must be adhered to.
3.3 Initialisation
Once the Stabilised Platform has been installed, and connected to the
vessels compass and GPS, it is necessary to configure various parts of the
system to match the specific vessel conditions. Sections 3.3.1 through 3.3.11
below, describe the various initialisation and calibration procedures. The
procedures should be completed, in the order described.
Ensure that you are familiar with the Spacetrack 4000 equipment (see
Section 1) and the console software (see Section 4), before commencing the
initialisation procedure. The Operators Manual also provides a basic guide to

the operation of the system.
When you have completed the initialisation tasks, use the checklist
mentioned in Section 3.3.11 to ensure that none of the tasks have been
missed.
3.3.1 Initialising The System

Although the system can be initialised with the monitor and control terminal
located in the radio room, it is easier if a console terminal is in the dome
during initial set-up.
1) Remove the mains input lead at the ADU Module interconnection plate
and at the BDU module.
2) Switch on the power at the Uninterruptible Power Supply (UPS), and
measure the mains voltage. Confirm that the ADU module is configured
to operate at this voltage. The ADU module has a data plate next to the
J3, the mains connector (see Figure 4), which specifies the operating
voltage that the module is set for.
3) Switch off the UPS.
4) Connect the console terminal to the above deck interface panel, and
ensure the terminal emulation software is active.
5) Re-connect the mains input lead first to the ADU Module and then to the
BDU Module.
6) Switch on the UPS.
7) Log into the monitor and control port, the default password is
FACTORYkSETUP.
8) Once the BDU module has established a connection to the ADU
Module, select the diagnostic option from the mode menu. Keystroke
sequence M65.
9) Systems Without Sliprings Only: check the coarse azimuth limit
switch. See Section 3.3.2.1
10) Adjust the coarse azimuth ADT. (See Section 3.3.2.2)
11) Systems Without Sliprings Only check the mechanical stop. See
Section 3.3.3
12) Check the potentiometers for each gimbal motor have not moved in
transit and are set correctly . (See Section 3.3.4.)
13) Check the system is balanced. (See Section 3.3.5.)
14) Reboot the control module, Keystroke sequence M67Y.
15) Wait for the Control System to enter initialise mode, and select the real-
time display, Keystroke sequence M71. Step 16 should be carried out
during INITIALISE Mode. The Control Program will remain in initialise
mode for 30 seconds.
16) Confirm the antenna moves to an elevation of approximately 30

degrees, polarisation 0 degrees and the fine azimuth remains in centre
of gimbal support and stays in this position.
17) Wait for the INITIALISE mode to expire and change to manual mode.
Keystroke sequence kM64.
18) Move the antenna to several positions using the cursor keys. Check the
antenna follows the cursor commands in all directions. Ensure the
coarse azimuth motor also functions in both directions, by rotating the
fine azimuth axis by hand, until the coarse azimuth attempts to centre
the fine azimuth axis.
19) Ensure the main system parameters match the above deck
configuration. A system summary may be obtained by typing kM18, from
which the correct parameters may be compared. The main system
parameters are:
· Dish Size, (to change see Section 4.1.2.2.8.1).
· Tracking Source And Frequency, (to change see Section
4.1.2.2.2).
· Frequency Band (C or Ku) , (to change see Section 4.1.2.2.8.2).
· Satellite Longitude, (to change see Section 4.1.2.5.1).
· System auto configuration settings. (Keystroke sequence kM71ff.
Ensure all auto configuration variables are enabled.) To change see
Section 4.1.2.2.1.
See Section 4 to alter or enable any variables, which display as
incorrect.
20) Set-up the RF equipment. (See Section 3.3.7)
21) Perform a lock on test. (See Section 3.3.10)
22) Perform power balancing, cross polar correction procedures as
appropriate. The tests performed will vary with the satellite operator.
23) Confirm all bolts and cables are tightly secured and the system is
perfectly balanced. (See Section 3.3.5)
24) Complete the Initialisation Checklist. See Section 3.3.11.
3.3.2 Setting the Coarse Azimuth

The Coarse Azimuth ADT is located in the centre, between the gimbal
support struts, directly below the gimbal (see Figures 1 and 14). The Coarse
Azimuth ADT must be calibrated so that the control system knows the relative
direction of the gimbal support tower to the bow of the vessel. Continuous
(with sliprings) systems vary from unwrap systems as described in Section
3.1.2. The calibration of the coarse azimuth differs in the following manner.
· Unwrap Systems - the coarse azimuth ADT calibration voltage is +5.0V
(i.e. the ADT is set to produce +5.0V when the antenna is pointing at the
bow of the vessel and the coarse azimuth is in the centre of its mechanical
limits). The coarse azimuth electrical limit switch must be set, and the
mechanical stop must be checked for correct operation.
· Slipring systems - the coarse azimuth ADT calibration voltage is 0.0V (i.e.
the ADT is set to read 0.0V when the antenna is pointing at the bow of the
vessel), there are no limit switches.
Although the calibration voltages are different, the diagnostics software will
automatically adjust the calibration set point according to the terminal
configuration; therefore, the ADT should always be calibrated to give a zero
error reading. The system should be aligned with the vessel heading (i.e. the
sides of the square plate that the pedestal stands on, are parallel with the
vessel's heading). This gives an indication of the ships heading from inside
the radome, when setting the coarse azimuth.
3.3.2.1 Set the coarse azimuth limit switch

This procedure does not apply to systems with sliprings
· The ADU module should be switched off
· Turn the gimbal support by hand, so it is in line with the heading of the
vessel. i.e. with the antenna in the centre of the fine azimuth travel, the
antenna will point exactly at the vessel’s bow. Ensure the gimbal support is
in the centre of its travel between the mechanical stop.
· The micro switch trip peg should now be located 180° from the micro
switch, as shown in Figure 14. If this is not the case, the coarse azimuth
mounting plate must be removed. The limit switch, coarse azimuth ADT
gear cog and the ADT are mounted on this plate. Line up the micro switch
trip peg exactly 180° from the micro switch and replace the coarse azimuth
mounting plate.
3.3.2.2 Set the coarse azimuth ADT

· The ADU module should be switched on.
· Connect the M&C console to the above deck interface panel in the
radome. Set the system into diagnostics mode, Keystroke sequence kM64.
· Turn the gimbal support by hand, so that it is in line with the heading of the
vessel. i.e. with the antenna in the centre of the fine azimuth travel, the
antenna points directly at the heading of the vessel.
· If the system has no sliprings, ensure the gimbal support is in the centre of
its travel between the mechanical stops.
· Loosen the three screws locking the ADT in position just enough to allow
the ADT to turn by hand.
· Check the angle reading for the Coarse Az in the Error column on the
console. This displays the difference between the signal received and the
calibration reference point, the value should be set to zero.
· Tighten the transducer in place and recheck the error reading is zero.
· Reboot the control module. , Keystroke sequence kM67Y. If the fine
azimuth pot has been calibrated, confirm, during INITIATIALISE Mode, on
the console display that the azimuth of the antenna is the same as the
vessel heading. If the fine azimuth has not been calibrated, confirm this is
true after calibrating the fine azimuth.
3.3.3 Mechanical Unwrap Limit

This procedure does not apply to systems with sliprings
Warning! The mechanical unwrap limit mechanism should never be
altered unless the adjustment is required. Incorrectly moving the
mechanism will cause the coarse azimuth drive to stop before the
electrical limit switch trips, causing damage to the system.
· Ensure the coarse azimuth limit switch, and the coarse azimuth ADT
calibration has been checked first.
· The system should now be correctly calibrated to check the mechanical
unwrap limit.
· Check the mechanical unwrap limit is set correctly by turning the gimbal
support in both directions until the gimbal support is prevented from
turning by the mechanical stop. The gimbal support should turn the same
amount in both directions from the ADT calibration reference position.
· It is extremely important to ensure the mechanical stop occurs after the
electrical limit switch has tripped.
· If this is not the case, the mechanism needs to be moved to the correct
position.
· Finally, recheck that the mechanical stop occurs after the electrical limit
switch has tripped.
3.3.4 Setting the Gimbal Motor Potentiometers

Each of the gimbal axes has a potentiometer coupled to its shaft. These give
an indication of the angular displacement of the antenna frame.
The ADTs are all set in the following manner
· Connect the M&C console to the above deck interface panel in the
radome. Set the system into diagnostics mode, Keystroke sequence kM64.
· Move the platform to the reference position, for the potentiometer to be
calibrated.
Fine azimuth - centre of travel between the gimbal support.
Elevation - orthogonal to the pedestal.
Polarisation - orthogonal to the pedestal.
· Check the angle reading for the potentiometer to be calibrated, in the Error
column on the console. This displays the difference between the signal
received and the calibration reference point.
· If the error is not zero, proceed with the following.
1. Loosen the screws for each of the three cleats, holding the potentiometer
in position, by just enough so the pot will turn by hand.
2. With the antenna in its reference position given above, turn the
potentiometer until the error shown in the diagnostics display is 0.
3. Fix the potentiometer in position by tightening the cleats, to firmly grip the
potentiometer.
4. Recheck the Error reading
3.3.5 Balancing the platform

3.3.5.1 Platform Balance
It is vital that the system is properly balanced - i.e. with the motors off, the
system should sit stationary at any angle. A poorly balanced system will
cause more stress on the motors, and impaired tracking ability.
For balancing, there are a number of weights, on the antenna support and
side rails, that can be moved or changed. Mounted on each side rail is a
weight that slides away or towards the antenna; and a weight that slides up,
or down. On the antenna support, there is a weight on a U-bracket, which
slides right or left. The position of the balance weights is illustrated in Figure
1.
Before the balance procedure is initiated, any Smartweights installed must be
reset to their centre of travel and switched off. This will allow the Smartweight
the full range of travel with which to balance the terminal when in operation.
The aim of balancing is to move the centre of gravity of the arms / antenna
arrangement to the centre of the gimbal. It can be simplified by splitting the
system into the three orthogonal axes and visualising each as a seesaw
arrangement.
· Horizontal - moves the centre of gravity behind, or in front of the gimbal
centre.
· Polar - moves the centre of gravity to the right, or to the left side of the
gimbal centre.
· Vertical - moves the centre of gravity above, or below the gimbal centre.
Balancing each of the axes is described below. The procedure may require
several iterations before the system is accurately balanced. This may be
tested by moving the platform to any position. After releasing the platform, the
dish should stay at the desired angle or rotate very slowly from its position.
Check this in several positions.
Before starting the balancing procedure, ensure that:
· The system is in diagnostic mode, Keystroke sequence kM64.

· The cables are not restricting or impeding movement
· The platform does not rest against its mechanical stops. The platform must
be free floating while the following procedure is carried out.
a) Horizontal balance of the platform:

· With the antenna pointing horizontally, watch the direction the
elevation rotates when released.
· If the antenna elevation rotates downward, the centre of gravity is
forward of the gimbal centre, towards the antenna, and needs to be
moved back. Move the front to back weight towards the rear. If
required, add weight to the rear or remove weight from the front.
· If the antenna elevation rotates upward, the centre of gravity is at the
rear, behind the gimbal, and needs to be moved forwards. Move the
front to back weight towards the antenna. If required, add weight to
the front or remove weight from the rear.
· When moving or changing the weights, bear in mind the effect this
will have on the other axes. Try to ensure the weights, when moved
from one side of the structure to the other, are the same distance
from the gimbal centre to prevent changing the polar balance.
b) Polar balance of the platform
· With the antenna pointing horizontally, watch the direction the
polarisation rotates when released.
· If the antenna rotates to the right side, the centre of gravity is to the
right of the gimbal. Move the left to right weight to the left. If required,
add weight to the left side or remove weight from the right side.
· If the antenna rotates to the left side, the centre of gravity is to the left
of the gimbal. Move the left to right weight to the right. If required, add
weight to the right side or remove weight from the left side.
will have on the other axes. Try to ensure that the weights, when
moved from one side of the structure to the other, are the same
distance from the gimbal centre to prevent changing the horizontal
balance.
c) Vertical balance of the platform:
· With the antenna pointing vertically upwards, watch the direction the
elevation rotates when released.
· If the antenna moves further back, with the rear cross rail striking the
pedestal, the centre of gravity is towards the top of the antenna.
Move the top to bottom weight towards the bottom of the antenna. If
required, add weight to the bottom of the antenna or remove weight
from the top of the antenna.
· If the antenna moves the other direction towards a normally

horizontally pointing position, the centre of gravity is towards the
bottom of the antenna. Move the top to bottom weight upwards
towards the top of the antenna. If required, add weight to the top of
the antenna or remove weight from the bottom of the antenna.
will have on the other axes. Try to ensure the weights, when moved
are the same distance from the centre of the gimbal.
Remember that the addition or moving of any equipment cables supported by
the gimbal will require the system to be re-balanced.
If the system appears to change balance often, check for anything on the
system, which may be loose or could move.
The system should be balanced with the minimum of weight required. Simply
adding weights at each stage will not result in a viable tracking system, try to
optimise the weight distribution at each stage, rather than continuously
adding weight.
3.3.5.2 Gimbal Balance

If the elevation axis will balance perfectly at both the horizontal and vertical
positions, but not at the 45 degrees position; then it is possible that the
gimbal balance is not correct. On the gimbal cage, there are two weights,
which are positioned to counterbalance the azimuth motor. These weights
may be used to achieve a perfect balance at all angles. When the system is
balanced at the horizontal and vertical positions, adjust the gimbal weights
until a balance is achieved at 45 degrees. The process of balancing, at all
three angles may be required to be repeated, until a universal balance is
achieved.
3.3.5.3 Active Weights

Although systems with active weights will automatically balance the system at
the selected operating angle, the active weights have a limited effect.
Therefore it is necessary to ensure that the system is properly balanced
before operation. The active weights can not compensate for a poor
balance. The active weights require no set-up procedure.
3.3.5.4 Smart Weights

Although systems with smart weights will automatically balance the system at
the selected operating angle, the smart weights have a limited effect.
Therefore it is necessary to ensure that the system is properly balanced
before operation. The smart weights can not compensate for a poor
balance. The smart weights differ from active weights, in that, they are
operate totally independently from the control system. The set up procedure
differs depending on the version of the Smart weight to be calibrated, the
smart weight version may be determined by the text on the corner of the PCB.
The smart weights require the following set up procedure:
1. Change the system mode to diagnostics.
2. Using a multimeter place the black probe on TP1 and the red on TP2
and adjust VR21 to read -200mV.
3. Move the red probe to TP3 and adjust VR22 to read +200mV.
4. During operation, if the smart weight moves more than one sixth of its
travel from the centre lines the terminal must be re-balanced to allow the
smart weight to sit in the centre of its travel. When re-balancing ensure
the smart weight is in the centre of its travel. This can be achieved
through the direction switch on the end of the smart weight.
5. Observe the smart weight at intervals, through a twenty four-hour
period, to ensure correct operation.
The previous procedure is based on a version one Smartweight. If the system

is equipped with version two Smartweights, the set-up must be performed to
produce ±6V. Version two Smartweights may be identified by the version text
on the corner of the PCB.
A more graphical description of how to balance a system may be found in
Appendix G.
3.3.6 Setting the Inertias

Generally the system will automatically calculate the correct inertias, either
by estimating or by measuring the inertia directly. In the unlikely case that
neither method produces an acceptable result, the following methodology
may be applied to determine a user inertia setting.
Continue with this Section only if you wish to override the control system and
set your own inertias. This is not recommended and may result in a non
functional terminal.
The inertias must be set correctly, badly set inertias will impair tracking
ability.
It may be visually observed when the inertias are set correctly. During track
mode, the aim is to ensure that the box shape that the antenna moves
through is a perfect square. If the box is circularly distorted, then the inertias
are set too low, or the tracking speed is too high. If there is an overshoot at
the corners of the box, then the inertias are set too high.
Observing the tracking pattern using the received tracking signal on a zero
spanned spectrum analyser is also a good method of optimising the inertias
in the field. See Section 3.1.7.1.5 for more details.
3.3.7 Setting Up The RF Equipment

As each terminal is designed for specific customer requirements, the RF
equipment will vary depending on the installation. See the RF equipment
manuals for details of set-up.
The following general points should be noted though.
· Ensure the transmit RF waveguide is securely connected all the way from
the RF transceiver to the feed.
· The RF equipment transmits microwave radiation. Do not work in the dome
while the system is transmitting.
· Check the focal length of the antenna. The focal length depends on the
size of the dish and may be confirmed with Data Marine Systems technical
support, telephone 44 (0)1224 773727.
· If any of the RF equipment or cables on the stabilised platform requires
moving, including rotation of the feed, the system must be re-balanced.
see Section 3.3.5.
· The RF equipment must be programmed, with the correct receive
parameters before the system will operate.
· Do not switch the transmit carrier on, until it is confirmed that the system is
tracking the correct satellite, and the satellite operator has granted
permission to radiate. The modem transmit should be set, to switch on only
when the modem detects, and locks onto, a receive carrier.
3.3.8 Set-up The Tracking Receiver

If the receiver is external to the BDU, follow the manufacturers instructions for
details on any set up required. A 0V to +10V dc signal will be required. If the
internal receiver is to be utilised, the user may choose from either the integral
wideband or narrowband. Generally, the wideband detector is used for
heavily populated transponders, or when there are no beacon signals
available. The narrowband detector is used for either tracking the receive
carrier, or a dedicated tracking beacon. Both types require a set up routine.
· Frequency - The frequency of operation of the Narrowband Receiver is
set using either the front panel or the M&C console. The frequency used
may be that of the received data carrier (usually the same as the modem
receive frequency), or a beacon signal. To set the tracking frequency using
the M&C console, type kM1111, and enter the desired frequency. The
selected frequency band must match the cabled connections at the back of
the BDU module.
· Attenuation – In normal operation the system will automatically select the
correct attenuation to match the operating conditions. If the user disables
the automatic attenuation setting then the user must set sensible values for
both the input attenuation and the acquire threshold.
The following procedure only applies if the user wishes to set the attenuation
manually. Note that setting an attenuation value will automatically
disable the system automatic attenuation determination feature. This is
not recommended and may result in a non functional terminal.
· With the antenna off satellite, adjust the attenuation until the AGC signal
is just above zero.
· With the system in Manual Mode, point the antenna at the satellite, using
the cursor keys wyxz. View the received signal strength in the real-time
display, Keystroke sequence kM71.
· If the signal rises above 80%, adjust the attenuation so the
maximum signal strength is around 80%. The attenuation may be
adjusted with the following Keystroke sequence, narrowband
detector, kM1112, or wideband detector, kM1122.The system will
not track if the signal strength is at full scale (100%). By biasing, the
maximum signal strength at no more than 80%, allows some leeway
for an increase in signal strength.
· The attenuation may require adjusting once the system is in Track Mode,
as the system will often find the satellite boresight more accurately.
3.3.9 Setting the Signal Threshold

The Threshold value is used by the control system to determine which AGC
values indicates a satellite signal, and which indicates background noise. If,
for example, the threshold is set to 20%, then the system will go into LOCK
Mode as soon as the AGC value becomes greater than 20%. This would be
a problem if the radio equipment outputs an AGC Value of 50% when the
antenna is pointed away from the satellite, therefore it is important to use the
correct threshold value.
In normal operation, the threshold remains fixed, while the system
automatically adjusts the input attenuation to provide the correct receive
level. The following procedure should only be followed if the system is set to
track from the external interface or if the user wishes to set the threshold
manually. Note that setting a incorrect threshold value may cause the
system automatic acquire feature to function incorrectly.
· Before setting the Threshold, test the system as follows:
· With the system in Manual Mode, point the antenna at the satellite, and
watch the AGC value in the real-time display. Record the AGC value
that is indicated when the antenna is pointing at the satellite.
· Move the antenna off satellite, and record the AGC value when the
signal is completely lost.
· When you have recorded both these values, set the threshold as follows:
1. Select a point higher than the "lost" value but well below the "found"
value. If, for example, the "lost" value is 5% and the "found" value is 20%,
then a Threshold of 10% would be a good setting. This value may need
adjusting once the system is in track mode, as the system will often find
the peak satellite signal more accurately.
2. Alter the attenuation setting by typing, kM33. Enter the desired threshold
and press f.
Be aware that additional equipment loading the IF signal will affect the
signal level
3.3.10 Lock-On Test
The best way to confirm that all the stored initialisation values are correct, is
to reboot the control module, Key stroke sequence kM67Y, and confirm that
the system automatically re-acquires the signal.
Monitor the system, for a period of time, as it tracks the satellite. The AGC
signal reading should remain reasonably constant.
3.3.11 Initialisation Checklist

When the system initialisation is complete, photocopy the Initialisation
Checklist in Appendix B, complete it, and include it in the unit documentation
package.
3.4 Troubleshooting
Should a fault occur in the system, this Section may be used as a guide to
locating the likely cause of the fault, and provide guidance on how to rectify
the problem.
If the system is not operating correctly, first check for any error messages
that may be displayed by the control program. Section 3.4.1 lists the most
common error messages that may occur, along with a brief explanation of
what the error means. Some plausible explanations are also offered. A full
listing of all log messages is listed in Appendix F. Section 3.4.2 gives some
suggestions for locating a fault, should no error messages be displayed.
Finally, Section 3.4.3 describes how to check individual system components,
if any part of the system is suspected faulty.
The system will aid the fault detection process by continuously monitoring all
operating conditions and sensors. Any unusual events, which may indicate an
error or a faulty sensor, are logged in the system log. In this manner prior
warning may be obtained if a sensor is developing a fault. The full list of
monitor messages is contained in Appendix F.
3.4.1 Error Messages

The system displays active errors on a special display screen on both the
M&C console, and on the BDU module LCD display. The system log, stores
any previous errors that may have occurred, along with a time stamp
indicating when the error occurred. The log may be accessed from either the
module front panel or from the console interface.
The console error display may be accessed with the following key sequence
kM72.
The BDU module error display may be accessed with the following key
sequence Main 5 . If there are no active errors, the error display option will
not be available.
The following is a list of the most common error messages that may appear.
The message that appears for each display type is shown next to the symbol
for the display method.
Indicates errors shown on the BDU module.

Yes 7 8 9 Track
Ent er
Main No
Prev 4 5 6 Manual
Spacetrack Antenna Controller
+/ - 0 1 2 3 Aux
Indicates errors shown on the M&C console.
BDU to ADU Link Error

ADU
Yes Track
Ent er 7 8 9
No Manual
Main Prev 4 5 6
+/ - 0 1 2 3 Aux
ADU module data not present.

This message appears when the BDU is no longer receiving messages
from the ADU. This may be caused by a faulty link (see Section 3.4.3.1) or
no power to the ADU module (see Section 3.4.3.8).
· Azimuth Motor Error
MTR A
Yes 7 8 9 Track
Ent er
No Manual
Main Prev 4 5 6
+/ - 0 1 2 3 Aux
Azimuth Motor error.

Indicates that the fine azimuth gimbal motor is not in its expected position.
This may be due to the motor not moving (short circuit, open circuit or
faulty motor - see Section 3.4.3.2), the motor may not have the torque
required to keep up with the movement required (see Section 3.4.3.2), or a
faulty potentiometer (see Section 3.4.3.4). This message may also be
cause by a poor balance.
· Elevation Motor Error
MTR E
Yes Track
Ent er 7 8 9
Main No
Prev 4 5 6 Manual
+/ - 0 1 2 3 Aux
Elevation Motor error.

Indicates that the elevation gimbal motor is not in its expected position.
· Polarisation Motor Error
MTR P
Yes Track
Ent er 7 8 9
Main No
Prev 4 5 6 Manual
+/ - 0 1 2 3 Aux
Polarisation Motor error.

Indicates that the polarisation gimbal motor is not in its expected position.
· Coarse Azimuth Motor Error
MTR C
Yes Track
Ent er 7 8 9
Main No
Prev 4 5 6 Manual
+/ - 0 1 2 3 Aux
Coarse Azimuth Motor error.
Indicates that the coarse azimuth motor is not in its expected position. This
may be due to the motor not moving (short circuit, open circuit or faulty
motor - see Section 3.4.3.3), or a faulty ADT(see Section 3.4.3.5).
· Step by Step Heading Information not present.
CMPS
Yes Track
Ent er 7 8 9
No Manual
Main Prev 4 5 6
+/ - 0 1 2 3 Aux
Compass heading information not present.

Indicates an invalid code has been received from the step by step
interface. This may be due to a faulty link, a faulty gyro, or the gyro may
not be switched on. See Figure 9 for details on the step by step compass
connection to the BDU Interface Panel.
· NMEA Heading Information not present.
CMPS
Yes Track
Ent er 7 8 9
Main No
Prev 4 5 6 Manual
+/ - 0 1 2 3 Aux
NMEA heading information not present.

Indicates that the system has not received a heading update in the
required time period. This may be due to a faulty compass, or a faulty
connection to the BDU Interface Panel. An enabled NMEA source, which
does not output any excepted messages, may also cause this error, (non
supported NMEA messages are ignored). See Appendix D for supported
messages, and Figure 9 for wiring details.
· Syncro Heading Information not present.
CMPS
Yes 7 8 9 Track
Ent er
Main No
Prev 4 5 6 Manual
+/ - 0 1 2 3 Aux
Syncro heading information not present.

Indicates that the system can not demodulate the syncro heading
information to produce a valid heading. This may be due to a faulty
compass, or a faulty connection to the BDU Interface Panel. See Figure 9
for wiring details.
· GPS Position Information not present.
GPS
Yes Track
Ent er 7 8 9
Main No
Prev 4 5 6 Manual
+/ - 0 1 2 3 Aux
GPS location information not present.

No valid data has been received from the GPS in the required time. This
may be due to a faulty connection between the GPS receiver and the BDU
interface panel, or a faulty GPS. The message may also be caused by a
GPS receiver, which does not have a current position fix, in which case
most GPS receivers null the output data string. See Figure 23 for details
on the GPS connection to the BDU Interface. Appendix D lists the
accepted NMEA data formats.
· The Satellite is not visible.
HDN
Yes Track
Ent er 7 8 9
Main No
Prev 4 5 6 Manual
+/ - 0 1 2 3 Aux
Satellite is not visible.

The calculated satellite position is below the horizon. Recheck the
parameters for vessel position and the satellite longitude are correct. See
Section 4.1.2.6 for details on changing parameters. A non obtainable
polarisation angle may also cause a hidden alarm, if the system is
configured for linear polarisation.
· The System is unwrapping.
UNWP
Yes Track
Ent er 7 8 9
No Manual
Main Prev 4 5 6
+/ - 0 1 2 3 Aux
Unwrap warning angle reached.

This message applies to unwrap system only and indicates that an
unwrap is in progress or is imminent.
The system log may also contain error messages, which are not listed above,
these messages are listed and explained in detail in Appendix F.
3.4.2 Fault Finding

If no errors are reported, the faults that may occur will generally fall into one
of three areas, as shown below. Should any component in the system appear
faulty, use Section 3.4.3 to help pinpoint the exact cause.
The system does not change into TRACK mode after the mode is
changed to FIND.
· Try to find the satellite in MANUAL mode. This should help narrow
down the exact cause of the problem.
· Check that the antenna is moving as expected. If not, read
the Check Parameters and Check Sensors Sections below.
· Does the AGC value varying as expected ?. If not, read the
Check AGC Section below
· If the satellite can be found in MANUAL Mode, was the
system searching in the correct area of the sky in SEARCH
Mode? If not, read the Check Parameters and the Check
Sensors Sections below.
· Does the system stay pointed at the satellite when left for an
extended period of time, (approximately five minutes), ?. The
system is capable of maintaining, in manual mode, a
communications link for long periods of time, if the vessel
motion is not excessive. This usually indicates that the
stabilisation is functioning correctly and the fault does not lie
with the above deck platform sensors or module.
· Check AGC.
· If the AGC does not rise significantly above zero, check the
following
Þ Check the RF unit is powered up. The RF unit power
lead should connect to the Mains Out Connector on
the ADU Module. See Figure 6.
Þ Check the receive IF signal is connected to the
tracking receiver.
Þ Check the receiver is set up correctly. See Section
3.3.8 for details on setting up an internal or external
receiver.
Þ Check the wiring to the RF unit. Refer to the
manufacturers manual for details.
Þ Check the RF unit is set up correctly. Refer to the
· Check that the antenna is not obstructed. Check that nothing
is permanently or temporarily blocking the signal.
· If the internal narrowband tracking receiver is selected,

double check that the tracking frequency is correct. See
Section 3.3.8 for details.
· Double check the allocated receive frequency with the aid of
a spectrum analyser if possible.
· Check the RF unit is correctly configured. Refer to the
· Check with the service provider that the Earth station
outbound carrier is present.
· Check Parameters. See Section 4.1 for details on changing
parameters.
· If the user has set the attenuation manually, check the
THRESHOLD parameter is set correctly. See Section 3.3.9
· If the user has set the search parameters manually, check
the SEARCH SIZE and SEARCH SPEED parameters are set
correctly. See Section 3.1.7.3.2.1 for details.
· If the user has set the lock parameters manually, check the
LOCK SIZE and LOCK SPEED parameters are set correctly.
See Section 3.1.7.3.2.2 for details.
· Check the vessel's latitude, longitude and heading are
correct. See Section 4.1.2.8.2 for details. If the vessel does
not have a NMEA source of latitude and longitude, these
parameters must be entered every time the vessel moves
location. See Section 4.1.2.6 for details.
· If the system is set to acquire using user calculated angles,
check these are correct. See Section 4.1.2.4.4 for details.
· Check the satellite longitude is correctly set.
· Check that the vessel has not sailed out of the satellite
footprint and also that there is sufficient coverage available.
· Check that the vessel has not sailed into an area where the
antenna polarisation is incorrect.
· Check Sensors
· Check the gimbal motor potentiometers. See Section 3.4.3.4
· Check the coarse azimuth ADT. See Section 3.4.3.5.
· Check, the three velocity sensors. See Section 3.4.3.6
· Check the inclinometers. See Section 3.4.3.7
The system changes to TRACK mode after FIND, but tracks badly
(modem drops in and out, AGC signal varies by a large amount, or the
EbNo fluctuates) or drops out of TRACK mode.
· Check AGC
· Check that the THRESHOLD value is not set too high. See
Section 3.3.9 for details on setting the THRESHOLD value.
· Check that the tracking receiver has been set up correctly.
See Section 3.3.8 for details of internal receivers. Refer to
manufacturers manual for any external receivers.
· Check Balance
· Check that the system is balanced correctly. See Section
3.3.5 and Appendix G for details. Incorrectly balanced
systems account for the majority of tracking problems.
· Check Parameters
· If the user has set the inertia values manually, check the
Inertia values. Check the antenna is tracing a clean edged
square box during its scan. See Section 3.3.6 for details.
· If the user has set the track parameters manually, check that
the TRACK SPEED and TRACK SIZE parameters are set
correctly. See Section 3.1.7.3.2.3 for details.
· If the vessel is moving, check that its location and heading
are correctly displayed. If a compass or GPS is connected to
the system, check the correct interface has been selected.
See Section 4.1.2.2.4 for details on setting these parameters.
· Check Sensors.
· Check the gimbal motor potentiometers. See Section 3.4.3.4.
· Check the coarse azimuth ADT. See Section 3.4.3.5.
· Check the three velocity sensors. See Section 3.4.3.6.
· Check the inclinometer readings. See Section 3.4.3.7
· Check the gimbal motors temperature. See Section 3.4.3.2
· Check the antenna has a clear view of the satellite (i.e. nothing is
temporarily blocking the antenna).
The system changes to TRACK mode and tracks, but the modem does
not indicate lock.
· Check that the modem is wired correctly. See Figure 11 for details
of the transmit and receive IF signal wiring for the modem.
· Check the modem is configured correctly. Refer to manufacturers
manual and the satellite operator for details.
· Check the AGC level
· If the AGC value on the BDU display is 100%, check the
following
Þ Check the attenuation setting of the receiver. See

Section 3.1.7.2.2.
· Does the AGC level fall when off satellite? If not, check the
following
Þ Is the receiver set up correctly. see Section 3.1.7.2.1.
· If the user has set the attenuation parameter manually, check the
AGC threshold. Has the threshold been set too low ? See Section
3.3.9 for details.
· Check the system has acquired the correct satellite, or is the system
tracking something other than a satellite?, (the sun, during sun spot
season!) Confirm this by trying to acquire the satellite in Manual
Mode.
The displayed heading does not follow the vessel heading correctly.
· Step by Step Output Compass
1. Ensure the heading source is configured for a step by step compass. See
Section 4.1.2.2.4.1.2.
2. The system heading does not match the vessel heading. The step by step
heading source is not absolute, it only indicates a change in heading from
the previous heading. Reset the system heading to the same reading as
the vessel heading, and observe the heading for a period of time to
ensure the headings do not diverge.
3. The system does not display gyro errors but the heading diverges from
the correct heading. This is usually solved by swapping step A and step
B, at the BDU interface panel.
4. The system displays gyro errors and the heading tracks the vessel
heading but with a varying offset. The step by step compass outputs a
gray code sequence, this means that only certain code sequences are
valid. The invalid codes are all outputs high or all outputs low. Check the
interface does not output this sequence.
5. Heading does not change. Some repeater outputs do not step all the way
down to zero volts, for example the output levels may be +12V low and
+70V high. To overcome this problem insert a zener diode, equal to the
offset (i.e. 12V in the example), in series with the common connection.
The diode should drop the zener breakdown voltage across itself, if the
zener only drops 0.7V, reverse the diode. The power rating of the diode
should be sufficient to ensure the body of the diode does not get too hot.
6. Measure the voltage at the step by step terminal connector CN4. If all the
steps measure 0V with respect to the common connection, check the
repeater fuses and the cable between the repeater and the interface
panel.
· 1:1 Syncro Output Compass
1. Ensure the heading source is configured for a 1:1 syncro compass. See
Section 4.1.2.2.4.1.3.
2. The system heading changes in the opposite direction to the vessel. Swap
S1 and S2 to resolve this problem
3. The system heading changes in the correct direction as the vessel, but is
incorrect by an offset of 60, 180 or 300 degrees. Swap R1 and R2 to
resolve this problem.
incorrect by an offset of 120 or 240 degrees. If the offset is 120 degrees
swap S1 with S2, S2 with S3 and S3 with S1 to resolve this problem. If the
offset is 240 degrees swap S1 with S3, S2 with S1 and S3 with S2 to
5. The system heading does not change with the vessel heading. Measure
between R1 and R2 at the BDU interface panel connector CN3, The
voltage should read around 26V AC or 115V AC. If there is no voltage,
check the repeater fuse or the cable between the repeater and the
interface panel.
between S1 and S2, S2 and S3 and S3 and S1 at the BDU interface panel
connector CN3, The voltage should read between 0V and 20V AC, (26V
reference) or between 0V and 90V AC, (115V reference). If there is no
voltage, check the repeater fuse or the cable between the repeater and
the interface panel. If the voltage is close to 0V wait until the vessel has
made a large turn and recheck. A voltage continuously close to 0V
indicates a problem with the repeater.
· 360:1 Syncro Output Compass
1. Ensure the heading source is configured for a 360:1 syncro compass. See
Section 4.1.2.2.4.1.4.
2. The system heading does not match the vessel heading. Enter the
vessel’s heading see Section 4.1.2.6.4.
3. The system heading changes in the opposite direction to the vessel. Swap
S1 and S2 to resolve this problem
incorrect by an offset of 60, 180 or 300 degrees. Swap R1 and R2 to
incorrect by an offset of 120 or 240 degrees. If the offset is 120 degrees
swap S1 with S2, S2 with S3 and S3 with S1 to resolve this problem. If the
offset is 240 degrees swap S1 with S3, S2 with S1 and S3 with S2 to
between R1 and R2 at the BDU interface panel connector CN3, The
voltage should read around 26V AC or 115V AC. If there is no voltage,
check the repeater fuse or the cable between the repeater and the
interface panel.
between S1 and S2, S2 and S3 and S3 and S1 at the BDU interface panel
connector CN3, The voltage should read between 0V and 20V AC, (26V
reference) or between 0V and 90V AC, (115V reference). If there is no
voltage, check the repeater fuse or the cable between the repeater and
the interface panel. If the voltage is close to 0V wait until the vessel has
made a large turn and recheck. A voltage continuously close to 0V
indicates a problem with the repeater.
· NMEA Output Compass
1. Ensure the heading source is configured for a NMEA output compass.
See Section 4.1.2.2.4.1.5 and 4.1.2.2.4.1.6.
2. The system heading does not change. This indicates that the system is
not receiving any messages that contain heading information. Check the
output NMEA message formats with those accepted, which are listed in
Appendix D.
3. The system heading does not change. Check the cabling between the
repeater and the BDU interface panel.
4. The system heading does not change. Check the output data rate, stop,
parity bits and physical interface format, (RS232 or RS422), matches the
configuration in the BDU module, see Section 4.1.2.2.4.1.7.
5. The system heading does not change. Verify the compass data stream
output using a console configured to the correct communication format,
paralleled with the CN5 connections.
The displayed location does not follow the vessel location correctly.
· NMEA Output GPS.
1. Ensure the position source is configured for a NMEA GPS. See Section
4.1.2.2.4.2.1 and 4.1.2.2.4.2.2.
2. The system position does not change. This indicates that the system is
not receiving any messages that contain position information. Check the
output NMEA message formats with those accepted, which are listed in
Appendix D.
3. The system position does not change. Check the cabling between the
repeater and the BDU interface panel.
4. The system position does not change. Check the output data rate, stop,
parity bits and physical interface format, (RS232 or RS422), match the
configuration in the BDU module, see Section 4.1.2.2.4.2.3.
5. The system position does not change. Verify the GPS data stream output
using a console, configured to the correct communication format,
paralleled with the CN5 connections.
6. The system position does not change. Verify the GPS receiver has a valid
fix. Some receivers invalidate the message content if they loose contact
with the required number of satellites.
3.4.3 Checking Individual System Components
3.4.3.1 ADU/BDU Comms Link
The link from the BDU Interface panel connector CN2 to the ADU interface
panel connector CN2 consists of two, optically isolated, twisted pairs, as
described below.
ADU A and ADU B lines transmit information from the BDU to the ADU at
38400 baud using the RS422 physical protocol. Approximately 50 packets of
information are sent per second. Each packet is checked for errors using a
Cyclic Redundancy Check (CRC). If these connections are faulty, the ADU
module will not receive any information, or discard any information that fails
the CRC. If no error free information is received, the ADU will shut down the
power to all the motors. The sensor information will continue to be sent by the
ADU module to the BDU module. If the ADU to BDU link is intact the BDU
module will flag this error as an ADU low receive rate or an ADU link fault.
ADU Y and ADU Z lines transmit information from the ADU to the BDU at
38400 baud using the RS422 physical protocol. Approximately 100 packets of
information are sent per second. Each packet is checked for errors using a
Cyclic Redundancy Check (CRC). If these connections are faulty, the BDU
module will not receive any information, or discard any information that fails
the CRC. If no error free information is received, the control system will
display an ADU error, usually accompanied by motor errors.
The link is optically isolated, no ground is required.
Check the following to confirm the communications link is at fault.
· Check the BDU module is powered up.
· Check the ADU Module power is on, see Section 3.4.3.8 for checking the
ADU Module power.
· Select diagnostics mode via the M&C console, keystroke sequence kM64,
see Section 4.1.2.7.5 for a detailed description of diagnostic mode. Briefly,
Diagnostic mode shows information on the data being sent between the
above and below deck modules. This information is especially useful if the
problem is not affecting all of the received packets.
· Check the data link from the BDU module to the ADU module is correct.
The packets count displayed should be larger then 45.
· Check the data link from the ADU module to the BDU module is correct.
The packets count displayed should be larger then 90.
· Check the voltage levels at the BDU interface panel and also at the ADU
interface panel. See Appendix E for a list of connector pin outs and their
expected voltage levels. Recheck these voltages with the ADU attached to
the BDU and also with the BDU disconnected from the ADU.
See Section 3.5 for replacing any components that may appear faulty.
3.4.3.2 Gimbal Motor

Before assuming a gimbal motor is faulty, a number of checks should be
carried out to ensure that the motor is receiving the correct power.
It is unlikely that a motor would fail and very unlikely that more than one
motor would fail at the same time. If there appears to be problems with more
than one motor, suspect the pedestal wiring, the ADU module or an ADU /
BDU communications link problem.
· Check the motor is connected correctly. See Figure 6 for details of
how the motors are wired.
· Check there is a voltage present at the connector to the motor. The
signal present, is a PWM signal at 20kHz, and will only be a
constant dc signal at +100% or -100% demand. If the motor wiring
has been checked, remove the appropriate motor connector.
Measure the motor supply voltage at the connector with the
negative meter probe to the negative output and the positive meter
probe to the positive output, (see Appendix E for pinout details).
Change the motor demand via the diagnostics software (see
Section 4.1.2.7.5.3.3). Although the signal is pulse width modulated,
a dc voltage meter will average this signal and indicate the voltage
changing from +VBUS at +100% demand, to 0V at zero demand,
and to the negative of +VBUS at -100% demand. Incorrect voltages
indicate a problem with the motor amplifier in the ADU module.
Replace the ADU module as detailed in Section 3.5.7. Sophisticated
meters may also be able to measure frequency, in which case the
meter should indicate a frequency greater than 20KHz. Please note
that this usually represents the upper limit of most meters, therefore
the reading may not be wholly accurate.
· Check the operation of the motor using the diagnostics program. If
the motor appears to function using the diagnostics program, but
not in the control program, check the motor pot calibration. See
Section 3.4.3.4.
· Check the temperature of the motor. If it is too hot to touch for any
length of time, check the system balance (see Section 3.3.5). Check
that the gimbal moves freely, over the entire axis range of motion.
Pay special attention for changes in friction, or mechanical kicks, as
the axis is rotated.
· Check the wiring from P2 on the ADU module to the appropriate
motor, for evidence of damage. See Figure 6 for wiring details.
· If after all the above checks, the motor appears faulty, follow the
instructions in Section 3.5.6 for replacing the motor.
3.4.3.3 Coarse Azimuth Motor

Check the gimbal motors are functioning. If they are not, read Section 3.4.3.2.
· Check the coarse azimuth is enabled in software. See Section
4.1.2.2.9.
· Check the motor is connected correctly. See Figure 6 for details of
how the coarse azimuth motor is connected.
· Unwrap systems - check if the electrical limit switch has tripped or
the system is against its mechanical stop. See Figure 14 for a layout
of the coarse azimuth set-up.
· Check the brakes located on the terminal body; to ensure the brake
body has clearance from the slide way, and is not jamming the
terminal movement.
· Check there is a voltage present at the motor. If the motor wiring
has been checked, on the inclinometer termination plate, connect a
multimeter positive probe to the positive output wire, and the
negative probe to the negative output wire (see Appendix E for pin
outs). Select diagnostic mode via the M&C console. Switch the
motor on in a clockwise direction (see Section 4.1.2.7.5.3.4), the
voltage reading should be +VBUS. Switch the motor on in a counter
clockwise direction, the voltage should be the negative of +VBUS.
Switch the motor off, the voltage should be zero. If the test fails,
retry the procedure with the red motor wire disconnected. Failure
again, would indicate a problem with the motor amplifier in the ADU
module; replace the ADU module as detailed in Section 3.5.7.
· Check the coarse azimuth drive is free to turn by switching off the
coarse azimuth motor and turning the gimbal support tower by hand.
It will be stiff, but possible to rotate.
· Check the coarse azimuth drive chain is connected.
· Check the wiring from P2 on the ADU module to the inclinometer
module, for evidence of damage. See Figure 6 for wiring details.
· Check the operation of the motor using the diagnostics program. If
the motor appears to function using the diagnostics program, but
not in the control program, check the coarse azimuth ADT
calibration. See Section 3.4.3.5.
· If after all the above checks, the motor appears faulty, follow the
instructions in Section 3.5.4 for replacing the motor.
3.4.3.4 Motor Pots
If the motor potentiometers appear faulty, check the following
· Check the potentiometer calibration. See Section 3.3.4.
· Move the antenna around in all directions for a period of time and
recheck the potentiometer calibration. If the ADT is not calibrated
check that the fixing screws are tight, otherwise replace the
potentiometer. See Section 3.5.2 for details.
· Check the wiring from P1 on the ADU module to the appropriate
potentiometer, for evidence of damage. See Figure 6 for wiring
details.
· Check the voltages at the potentiometer connector. See Appendix E
for pin outs and voltages expected. If the voltage reference is not
+10V, disconnect all connectors which output this reference until the
voltage reference returns to +10V. This should isolate the sensor,
which is causing the fault. If the voltage reference is still not +10V,
replace the ADU module as detailed in Section 3.5.7.
· Select diagnostic mode on the BDU module (see Section 4.1.2.7.5).
Check the potentiometer is giving correct readings at all angles.
· Check the potentiometer reading increases in the correct direction
(see Section 3.4.4). If the readings increase in wrong direction, the
potentiometer is faulty.
· Check the noise reading for the potentiometer in the diagnostics
program. While the antenna is stationary, it should be no more than
1 count. The vessel must obviously be stationary to perform this
test, even slight vessel motion will produce noise counts.
3.4.3.5 Coarse Azimuth ADT
If the coarse azimuth ADT appears faulty, check the following
· Check the ADT calibration. See Section 3.3.2.2.
· Move the gimbal support tower around in both directions, and
recheck the potentiometer calibration. If the calibration is not
correct, check the lock screws are tight, and that the coarse azimuth
drive mechanics are making contact at all points, otherwise replace
the ADT. See Section 3.5.3 for details.
· Check the wiring from P1 on the ADU module to the coarse azimuth
ADT, for evidence of damage. See Figure 6 for wiring details.
· Check the voltages at the coarse azimuth ADT connector. See
Appendix E for pin outs and the voltages expected. If any output
voltage appears incorrect, remove all connectors, which use that
voltage until the voltage returns to its correct value. This will isolate
the sensor causing the problem. If the voltage does not return to its
correct value, replace the ADU module as detailed in Section 3.5.7.
· Select diagnostics mode on the BDU module (see Section
4.1.2.7.5). Check that the ADT is giving correct readings at all
angles.
· Check that the ADT reading increases in the correct direction (see
Section 3.4.4).
· Check the noise reading for the ADT in the diagnostics program.
The noise should not be no more than 1 count.
3.4.3.6 Velocity Sensors
If the velocity sensors are possibly causing a problem, check the following
· Ensure the ADU module is correctly oriented and securely attached.
· Select the diagnostics mode on the BDU module (see Section
4.1.2.7.5). Check the velocity sensor is returning a sensible value,
and that the value deflects positive in the correct direction (see
Section 3.4.4). Also check the sensor readings deflect both positive
and negative for similar physical movements.
· With the gimbal stationary, check that the noise reading is less than
1 count. As the velocity sensors measure rotation relative to the
local horizon, this check is obviously not possible if the vessel is
moving, but the noise count may still be indicative of a problem.
· See Section 3.5.7 for details on replacing the ADU Module.
3.4.3.7 Inclinometers
If the inclinometers are suspected of causing a problem, check the following
· Check that the inclinometers are installed in the correct orientation.
The writing on its face should be the correct way up for reading.
· Check that the wiring is correct. See Figure 6 for wiring details.
· Check that the voltages present at the connector. See Appendix E
for pinouts, and details of what the voltages should be present.
· Select diagnostics mode on the BDU module (see Section 4.1.2.7.5)
and check that the readings are correct. Check that the readings
also display a noise reading of less than 1 counts when there is no
motion in the system, or on the host vessel. This check is obviously
not possible if the vessel is moving, but the noise count may still be
helpful.
· Loosen the inclinometer fixing screws and check that physical
rotation of the sensor matches the desired reading deflection as
listed in Section 3.4.4.
3.4.3.8 ADU Module Power

· Check that the mains is correctly connected to the system and is
switched on. Check that the mains wiring to the junction box, (see
Figure 7B), and that the mains lead is connected to the ADU
module, (see Figure 4).
· Check all the wiring to the ADU Module. There may be a short
circuit caused by a wiring / component failure.
· ADU / BDU communications link. If the ADU is not receiving error
free information from the BDU, the ADU will switch off the motor
power. See Section 3.4.3.1
· If all the above checks prove acceptable, see Section 3.5.7 for
details on replacing the ADU module.
3.4.3.9 BDU Module Power

· The LCD display indicates when power is applied to the module. If
the display is blank, then the BDU module is faulty, or the BIOS is
active. See Section 3.5.8 for details on replacing the BDU module,
see Section 4.1.3 for details on the BIOS.
3.4.3.10 Internal Tracking Receiver

If the internal tracking receiver is suspected of causing a problem, check the
following
· Check the receiver is set up correctly. See Section 3.3.8
· Apply an input level using a signal generator or modem, using a CW
carrier, to the appropriate input. Check the AGC reading responds
in sympathy to the transfer specification in Appendix E. Care
should be observed when applying the input signal, so that the
applied level never exceeds, a composite or carrier level, of
minus 10dBm. Exceeding this level will cause the detectors to
fail and invalidate any warranty. Modem outputs are usually at a
relatively high level, therefore attenuation pads will normally be
required.
· See Section 3.5.8 for details on replacing the BDU module.
3.4.4 Checking Sensor and Motor Polarity

In order for the system to function correctly, the sensors must return the
correct polarity of voltage for the direction that the platform rotates and the
motors must drive in the correct direction. This Section lists the checks
required to ensure the sensor and motor polarities are correct.
Note: The directions CW (clockwise) and CCW (counter clockwise) refer to
the rotation of the platform as viewed from the rear of the motor or sensor for
the axis in question.
Select diagnostics mode on the BDU module and check the following. See
Section 4.1.2.7.5 for details on diagnostics mode and the meaning of the
abbreviated sensor names.
· Az Pot Turn platform CCW to increase displayed count

· El Pot Turn platform CCW to increase displayed count
· Pz Pot Turn platform CW to increase displayed count
· Az RS Turn platform CW to increase displayed count
· El RS Turn platform CW to increase displayed count
· Pz RS Turn platform CCW to increase displayed count
· Coarse Az Turn platform CW to increase displayed count
· Feed Turn CW to increase displayed count
· Az Motor >127 demand will turn motor CCW

· EL Motor >127 demand will turn motor CCW
· Pz Motor >127 demand will turn motor CCW
· CA Motor Positive direction will turn gimbal tower CCW

· Feed Motor Positive direction will turn motor CW
3.5 Component Replacement

This Section details how to replace various components of the Spacetrack
Stabilised Antenna Platform. Ensure the component has been inspected
using the checks in Section 3.4.3, before replacing any suspected faulty
components.
Any faulty components should be returned to Data Marine Systems Ltd for
failure analysis and logging.
3.5.1 Replacing an Inclinometer Block

To replace a faulty inclinometer block (see Figures 17 and 18), remove the
mains power to the ADU.
1. Remove connector CN4 from the inclinometer block.
2. Unscrew the three terminals connecting the coarse azimuth motor.
3. Remove the four screws holding the block to the gimbal support tower.
4. Screw the replacement inclinometer block into position.
5. Reconnect the coarse azimuth motor wires, using Figure 18 as a
reference.
6. Reconnect CN4, ensuring that the connector is fully screwed in.
3.5.2 Replacing a Gimbal Motor Potentiometer

1. Turn the ADU power off.
2. Unscrew the connector from the potentiometer.
3. Unscrew the three cleats that hold the pot in position and remove the pot,
taking care not to lose the nylon coupling between the potentiometer and
motor shaft.
4. Fit the brass coupling to the end of the replacement pot.
5. Test the pot and for fit, by holding in place, inserting the nylon coupling
and screwing the pot in place using the three cleats. The nylon coupling
should have a very small amount of play. No play, will cause mechanical
stress, but too much play will allow the coupling to slip. On the azimuth
and elevation axis, this amount of play can be altered by adjusting the pot
coupling shaft. Tighten the lock nut when finished adjusting the
potentiometer shaft.
6. Check the pot shaft is in line with the shaft. Any skew may cause
mechanical stress.
7. Once all the components are fitted correctly, remove the pot and apply
Loctite to the pot brass coupling grub screw.
8. Screw the replacement pot in place.
9. Check that the pot turns freely with the motor.

10.Screw the connector onto the potentiometer.
11.Set up the pot as described in Section 3.3.4.
12.Check the balance is still correct. See Section 3.3.5.
3.5.3 Replacing the Coarse Azimuth ADT

1. Turn the ADU power off and remove the connector on the Coarse Azimuth
ADT, and remove the transducer itself, by unscrewing the three cleats that
hold the ADT in place.
2. Remove the cog, or coupling, from the shaft of the faulty ADT and fit the
cog, or coupling, to the replacement ADT.
3. Replace the Coarse Azimuth ADT, and tighten the cleats.
4. Replace the connector.
5. Set up the ADT as described in Section 3.3.2.2.
3.5.4 Replacing the Coarse Azimuth Motor

1. Turn off the power to the ADU module
2. Unscrew the coarse azimuth motor wires from the inclinometer block
terminals (see Figure 18).
3. The motor is fixed to the system with four bolts. Loosen these bolts and
remove the motor.
4. Remove the belt / chain coupling from the faulty motor and attach to the
new motor.
5. Screw the new motor to the fixing point, but allow the motor to slide in the
slot.
6. Replace the belt / chain over the pulley, ensuring the belt is seated in the
teeth or groove of the cog correctly.
7. Tighten the coarse azimuth motor bolts.
8. Rewire the motor to the inclinometer block. See Figure 18 for wiring details
3.5.5 Replacing the Coarse Azimuth Limit Switch

Only applicable for systems with an unwrap feature
1. Before replacing the switch, turn off the power to the ADU module.
2. Remove the coarse azimuth mounting plate from the centre of the gimbal
support tower.
3. Disconnect the cable from the limit switch.
4. Remove the limit switch from the mounting bracket.
5. Install the replacement limit switch.

6. Reconnect the cable to the limit switch.
7. Set up the coarse azimuth as detailed in Section 3.3.2
3.5.6 Replacing A Gimbal Motor

1. Turn off all power and secure the antenna, in a position that the motor can
be worked on.
2. Remove the connector to the motor (and to the pot, if the polar motor is
being removed).
3. Polar motor only: Loosen the grub screw, which clamps the motor drive
shaft.
4. Unbolt the motor. The new motor may require the coupling and flange
plate from the faulty motor.
5. Fit the replacement motor.
6. Replace the connector to the new motor.
7. If a polar motor is to be replaced, ensure the new motor has an ADT fitted
to the rear shaft. Calibrate the new polar motor potentiometer as detailed
in Section 3.3.4.
8. Check that the balance is still correct. See Section 3.3.5.
3.5.7 Replacing the ADU Module

Caution: The ADU module is heavy. Removing the ADU module will cause
the system to become unbalanced. Ensure the antenna is fully secured
before starting work and seek assistance, so that the module may be held in
place while removing and tightening the bolts.
1. Turn off all power and secure the antenna in a position that, the module
can be worked on.
2. Remove the three connectors from the module.
3. While supporting the module in place, remove the mounting bolts.
4. Inspect the replacement module before fitting. Check the module shock
indicator, reject the module if the maximum shock has been exceeded. See
Figure 4.
5. Check the system balance is still correct. See Section 3.3.5.
3.5.8 Replacing The BDU Module

1. Switch off the power to the BDU Module.
2. Remove the BDU module from the rack.
3. Remove all connectors and the Earth bond strap, from the rear of the BDU
module.
4. Replace the faulty module with the new module.
5. Replace all connectors, taking care to screw the D type pillar bolts in
firmly. Securely attach the Earth bond strap.
6. Replace the unit in the rack, and apply power.
3.5.9 Replacing the RF equipment

The RF equipment may come in a variety of different configurations. Please
see the relevant RF equipment manuals for replacement procedures.
The following general points should be noted though.
· The RF equipment transmits microwave radiation. Do not work in the
radome while the system is transmitting.
· Switch off the power to the ADU and to the RF transceiver, and ensure that
the antenna is fully secured before starting work. Removing any equipment
will cause the system to become dangerously unbalanced. Seek
assistance when removing or installing a RF transceiver.
· Always rebalance the system after moving or replacing any RF equipment,
mounted on the stabilised platform.
· Ensure the transmit RF co-ax or waveguide is securely connected, from
the RF transceiver to the feed before powering up the new RF equipment.
· The RF equipment must be programmed with the correct receive
parameters, before the system will track.
3.6 Maintenance
The maintenance requirements of the Stabilised Platform are minimal, the
most important items are inspection for loose bolts, and corrosion prevention.
A thorough maintenance inspection should be performed yearly at a
minimum.
Before performing any maintenance procedures, obtain a photocopy of the
Maintenance Checklist in Appendix B, and complete the form as each task is
completed. Keep the completed checklist with unit documentation.
3.6.1 Lubrication
There is no lubrication requirement for the Spacetrack system. All bearings
are sealed and pre-lubricated.
Do NOT attempt to lubricate the gimbal bearings or any part of the Coarse
Azimuth Drive Assembly.
3.6.2 Inspection for Loose Bolts

All bolts should be secured by Loctite or lock washers. Check for loose bolts
in the locations listed on the checklist, and if necessary, add lockwashers or
Loctite.
3.6.3 Corrosion Prevention

Before the Spacetrack unit leaves the factory, all metal surfaces are
protected from marine corrosion, either with a marine paint system, or by the
application of an anti-corrosion metal protector.
A visual inspection should be performed, to locate areas of corrosion or
exposed metal. Corrosion should be removed, if possible, and exposed
metal either painted, with Marine Primer, or coated with an anti-corrosion
substance.
If there are indications that the equipment has been mistreated, the specific
details should be recorded on the checklist.
3.6.4 ADU Module Care
Inspect the shock indicator on the ADU module. If the module has received
an impact exceeding the shock rating, replace the ADU module.
Spacetrack 4000
Section 4
Software Reference
Software Reference
TABLE OF CONTENTS
4.0 INTRODUCTION ............................................................................................................ 6
4.1 MENU STRUCTURE....................................................................................................... 6
4.1.1 Front Panel Menus.................................................................................................... 6

4.1.1.1 Display Menu.................................................................................................................. 7
4.1.1.1.1 Axis Position Option. .............................................................................................................. 8
4.1.1.1.2 AGC Statistics Option............................................................................................................. 8
4.1.1.1.3 Host Vessel Option. ................................................................................................................ 8
4.1.1.1.4 Instrument Angle Option. ........................................................................................................ 9
4.1.1.2 Change Menu.................................................................................................................. 9
4.1.1.2.1 Change Mode Menu................................................................................................................ 9
4.1.1.2.2 Operate Menu. ...................................................................................................................... 10
4.1.1.2.2.1 Tracking Source Menu. .................................................................................................. 10
4.1.1.2.2.1.1 Beacon Receiver Menu. .......................................................................................... 10
4.1.1.2.2.1.2 Wide Band Menu.................................................................................................... 11
4.1.1.2.2.2 Date Menu..................................................................................................................... 11
4.1.1.2.3 Location Menu. ..................................................................................................................... 12
4.1.1.2.4 Scan Parameters Menu.......................................................................................................... 12
4.1.1.2.5 Axis Inertia Menu. ................................................................................................................ 12
4.1.1.2.6 Navigation Sources Menu...................................................................................................... 13
4.1.1.2.6.1 Heading Source Menu.................................................................................................... 13
4.1.1.2.6.2 GPS Source Menu.......................................................................................................... 14
4.1.1.3 log Menu....................................................................................................................... 14
4.1.1.4 Information Menu. ........................................................................................................ 15
4.1.1.5 Error Display................................................................................................................ 16
4.1.2 Monitor and Console Menus.................................................................................... 16
4.1.2.1 Software Versions.......................................................................................................... 17
4.1.2.2 Configuration Menu...................................................................................................... 17
4.1.2.2.1 Automatic Configuration ....................................................................................................... 17
4.1.2.2.1.1 Automatic System Configuration .................................................................................... 18
4.1.2.2.1.2 Automatic Heading Configuration .................................................................................. 18
4.1.2.2.1.3 Automatic Location Configuration.................................................................................. 18
4.1.2.2.1.4 Automatic Track Parameter Configuration...................................................................... 18
4.1.2.2.1.5 Automatic Lock Parameter Configuration ....................................................................... 18
4.1.2.2.1.6 Automatic Search Parameter Configuration .................................................................... 19
4.1.2.2.1.7 Automatic Inertia Configuration ..................................................................................... 19
4.1.2.2.1.8 Automatic Filter Configuration....................................................................................... 19
4.1.2.2.2 AGC Source.......................................................................................................................... 19
4.1.2.2.2.1 Narrow Band Menu........................................................................................................ 20
4.1.2.2.2.1.1 Narrow Band Detection Frequency.......................................................................... 20
4.1.2.2.2.1.2 Input Attenuation .................................................................................................... 20
4.1.2.2.2.1.3 Automatic Attenuation ............................................................................................ 20
4.1.2.2.2.2 Wide Band Menu........................................................................................................... 21
4.1.2.2.2.2.1 Wide Band Centre Frequency.................................................................................. 21
4.1.2.2.2.2.2 Input Attenuation .................................................................................................... 21
4.1.2.2.2.2.3 Automatic Attenuation ............................................................................................ 21
4.1.2.2.2.3 External Interface........................................................................................................... 22
4.1.2.2.2.4 ADU AGC ..................................................................................................................... 22
4.1.2.2.2.5 Receiver Processing Delay ............................................................................................. 22
4.1.2.2.3 Modem CD ........................................................................................................................... 22
4.1.2.2.3.1 Enable / Disable Modem CD Logic ................................................................................ 22
4.1.2.2.3.2 Activation Period ........................................................................................................... 23
4.1.2.2.3.3 Glitch Period.................................................................................................................. 23
4.1.2.2.4 Navigation ............................................................................................................................ 23
4.1.2.2.4.1 Heading Source Menu.................................................................................................... 23
Software Reference
4.1.2.2.4.1.1 Enable / Disable Step Input..................................................................................... 23

4.1.2.2.4.1.2 Step Compass Steps Per Degree .............................................................................. 24
4.1.2.2.4.1.3 Enable / Disable 1:1 Syncro Input............................................................................ 24
4.1.2.2.4.1.4 Enable / Disable 360:1 Syncro Input........................................................................ 24
4.1.2.2.4.1.5 Enable / Disable NMEA RS232 Input ..................................................................... 24
4.1.2.2.4.1.7 NMEA Baud Rate Menu ......................................................................................... 24
4.1.2.2.4.1.7.1 300 Baud ......................................................................................................... 25
4.1.2.2.4.1.7.2 1200 Baud ....................................................................................................... 25
4.1.2.2.4.1.7.3 2400 Baud ....................................................................................................... 25
4.1.2.2.4.1.7.4 4800 Baud ....................................................................................................... 25
4.1.2.2.4.1.7.5 9600 Baud ....................................................................................................... 25
4.1.2.2.4.1.7.6 19200 Baud ..................................................................................................... 25
4.1.2.2.4.2 Location Source Menu ................................................................................................... 25
4.1.2.2.4.2.3 NMEA Baud Rate Menu ......................................................................................... 26
4.1.2.2.4.2.3.1 300 Baud ......................................................................................................... 26
4.1.2.2.4.2.3.2 1200 Baud ....................................................................................................... 26
4.1.2.2.4.2.3.3 2400 Baud ....................................................................................................... 26
4.1.2.2.4.2.3.4 4800 Baud ....................................................................................................... 26
4.1.2.2.4.2.3.5 9600 Baud ....................................................................................................... 26
4.1.2.2.4.2.3.6 19200 Baud ..................................................................................................... 28
4.1.2.2.5 Active Weight Control........................................................................................................... 28
4.1.2.2.5.1 Enable / Disable Active Weights .................................................................................... 28
4.1.2.2.5.2 Integration Period........................................................................................................... 28
4.1.2.2.5.3 On Period ...................................................................................................................... 28
4.1.2.2.6 System Date and Time .......................................................................................................... 28
4.1.2.2.6.1 Date............................................................................................................................... 29
4.1.2.2.6.2 Time .............................................................................................................................. 29
4.1.2.2.6.3 Day of Week .................................................................................................................. 29
4.1.2.2.7 Redundancy Control.............................................................................................................. 29
4.1.2.2.7.1 Enable / Disable Redundant Pair Configuration.............................................................. 30
4.1.2.2.7.2 Enable / Disable External Offline Facility ...................................................................... 30
4.1.2.2.7.3 Enable / Disable Slave Online If Not Tracking ............................................................... 30
4.1.2.2.7.4 Occluded Angles Menu .................................................................................................. 30
4.1.2.2.7.4.1 Range 1 Upper ........................................................................................................ 30
4.1.2.2.7.4.2 Range 2 Upper ........................................................................................................ 31
4.1.2.2.7.4.3 Range 3 Upper ........................................................................................................ 31
4.1.2.2.7.4.4 Range 1 Lower........................................................................................................ 31
4.1.2.2.7.4.5 Range 2 Lower........................................................................................................ 31
4.1.2.2.7.4.6 Range 3 Lower........................................................................................................ 31
4.1.2.2.8 Above Deck Equipment......................................................................................................... 31
4.1.2.2.8.1 Dish Size ....................................................................................................................... 31
4.1.2.2.8.2 Frequency Band Menu ................................................................................................... 32
4.1.2.2.8.2.1 C Band ................................................................................................................... 32
4.1.2.2.8.2.2 Ku Band ................................................................................................................. 32
4.1.2.2.8.3 Coarse Azimuth Upper Limit ......................................................................................... 32
4.1.2.2.8.4 Coarse Azimuth Lower Limit ......................................................................................... 32
4.1.2.2.8.5 Coarse Azimuth Enable / Disable ................................................................................... 32
4.1.2.2.8.6 Motors Menu ................................................................................................................. 33
4.1.2.2.8.6.1 Torque Constant...................................................................................................... 33
4.1.2.2.8.6.2 Azimuth Positive Torque Limit ............................................................................... 33
4.1.2.2.8.6.3 Azimuth Negative Torque Limit .............................................................................. 33
4.1.2.2.8.6.4 Elevation Positive Torque Limit .............................................................................. 34
4.1.2.2.8.6.5 Elevation Negative Torque Limit............................................................................. 34
4.1.2.2.8.6.6 Polarisation Positive Torque Limit .......................................................................... 34
4.1.2.2.8.6.7 Polarisation Negative Torque Limit......................................................................... 34
4.1.2.2.9 View Summary ..................................................................................................................... 34
4.1.2.3 Tracking Menu.............................................................................................................. 36
4.1.2.3.1 Tracking Window Size .......................................................................................................... 36
4.1.2.3.2 Tracking Window Speed ....................................................................................................... 36
4.1.2.3.3 Polarisation Menu ................................................................................................................. 36
4.1.2.3.3.1 Enable / Disable Feed Polarisation Correction................................................................ 36
Software Reference
4.1.2.3.3.2 Feed Positive Limit ........................................................................................................ 36

4.1.2.3.3.3 Feed Negative Limit....................................................................................................... 37
4.1.2.3.3.4 Feed Set-up Menu.......................................................................................................... 37
4.1.2.3.3.4.1 Offset...................................................................................................................... 37
4.1.2.3.3.4.2 Positive Count......................................................................................................... 37
4.1.2.3.3.4.3 Negative Count ....................................................................................................... 38
4.1.2.3.3.4.4 Total Rotation ......................................................................................................... 38
4.1.2.3.3.4.5 Static Accuracy ....................................................................................................... 38
4.1.2.3.3.5 Enable / Disable Polar Axis Polarisation Correction ....................................................... 38
4.1.2.3.3.6 Polar Axis Positive Limit ............................................................................................... 39
4.1.2.3.3.7 Polar Axis Negative Limit.............................................................................................. 39
4.1.2.3.4 Weather Adjustment Menu.................................................................................................... 39
4.1.2.3.4.1 Enable / Disable Weather Parameter Adjustment ........................................................... 39
4.1.2.3.4.2 Size Adjustment............................................................................................................. 41
4.1.2.3.4.3 Speed Adjustment .......................................................................................................... 41
4.1.2.4 Acquisition Menu .......................................................................................................... 42
4.1.2.4.1 Locking Parameters Menu..................................................................................................... 42
4.1.2.4.1.1 Lock Window Size ......................................................................................................... 43
4.1.2.4.1.2 Lock Window Speed ...................................................................................................... 43
4.1.2.4.2 Search Parameters Menu....................................................................................................... 43
4.1.2.4.2.1 Search Window Size ...................................................................................................... 43
4.1.2.4.2.2 Search Window Speed ................................................................................................... 43
4.1.2.4.3 Acquire Threshold................................................................................................................. 44
4.1.2.4.4 Automatic Acquire Angle Calculation.................................................................................... 44
4.1.2.4.5 Manual Azimuth Angle ......................................................................................................... 44
4.1.2.4.6 Manual Elevation Angle........................................................................................................ 44
4.1.2.4.7 Manual Polarisation Angle .................................................................................................... 44
4.1.2.4.8 Trim Parameters Menu.......................................................................................................... 45
4.1.2.4.8.1 Azimuth Trim Angle ...................................................................................................... 45
4.1.2.4.8.2 Elevation Trim Angle..................................................................................................... 45
4.1.2.4.8.3 Enable / Disable Automatic Trim Angles........................................................................ 45
4.1.2.4.8.4 Maximum Azimuth Trim Angle ..................................................................................... 45
4.1.2.4.8.6 Maximum Elevation Trim Angle .................................................................................... 45
4.1.2.4.8.7 Zero all Trim Angles...................................................................................................... 47
4.1.2.5 Satellite Menu............................................................................................................... 47
4.1.2.5.1 Mean Longitude .................................................................................................................... 47
4.1.2.5.2 Inclination............................................................................................................................. 47
4.1.2.5.3 Inclination Growth ................................................................................................................ 47
4.1.2.5.4 Manoeuvre Constant ............................................................................................................. 48
4.1.2.5.5 Epoch Date ........................................................................................................................... 48
4.1.2.5.6 Epoch Time........................................................................................................................... 48
4.1.2.6 Host Platform Menu...................................................................................................... 48
4.1.2.6.1 Vessel Name......................................................................................................................... 49
4.1.2.6.2 Longitude.............................................................................................................................. 49
4.1.2.6.3 Latitude ................................................................................................................................ 49
4.1.2.6.4 Heading ................................................................................................................................ 49
4.1.2.7 System Mode Menu ....................................................................................................... 49
4.1.2.7.1 Balance................................................................................................................................. 50
4.1.2.7.2 Find ...................................................................................................................................... 51
4.1.2.7.3 Track .................................................................................................................................... 51
4.1.2.7.4 Manual ................................................................................................................................. 51
4.1.2.7.5 Diagnostics ........................................................................................................................... 52
4.1.2.7.5.1 Front Panel Control Keys ............................................................................................... 52
4.1.2.7.5.2 Monitor and Control Console Antenna Control Keys. ..................................................... 52
4.1.2.7.5.2.1 Active Weight Control Keys.................................................................................... 53
4.1.2.7.5.3 Real time screen ............................................................................................................ 53
4.1.2.7.5.3.1 Sensor Information.................................................................................................. 55
4.1.2.7.5.3.2 Communication Link Information............................................................................ 56
4.1.2.7.5.3.3 Gimbal Motor Demands.......................................................................................... 57
4.1.2.7.5.3.4 Coarse Azimuth and Feed Motor Status................................................................... 57
4.1.2.7.6 Monitor................................................................................................................................. 58
4.1.2.7.7 Hardware Reboot .................................................................................................................. 58
4.1.2.8 M&C Console Menu ..................................................................................................... 58
4.1.2.8.1 Auxiliary Serial Port Menu ................................................................................................... 58
Software Reference
4.1.2.8.1.1 Baud Rate ...................................................................................................................... 58

4.1.2.8.1.1.1 300 Baud ................................................................................................................ 59
4.1.2.8.1.1.2 1200 Baud .............................................................................................................. 59
4.1.2.8.1.1.3 2400 Baud .............................................................................................................. 59
4.1.2.8.1.1.4 4800 Baud .............................................................................................................. 59
4.1.2.8.1.1.5 9600 Baud .............................................................................................................. 59
4.1.2.8.1.1.6 19200 Baud ............................................................................................................ 59
4.1.2.8.1.2 Data Length ................................................................................................................... 59
4.1.2.8.1.2.1 7 Data Bits.............................................................................................................. 59
4.1.2.8.1.2.2 8 Data Bits.............................................................................................................. 60
4.1.2.8.1.3 Stop Bits........................................................................................................................ 60
4.1.2.8.1.3.1 1 Stop Bits .............................................................................................................. 60
4.1.2.8.1.3.2 2 Stop Bits .............................................................................................................. 60
4.1.2.8.1.4 Parity Bits...................................................................................................................... 60
4.1.2.8.1.4.1 1 No Parity.............................................................................................................. 60
4.1.2.8.1.4.2 2 Even Parity .......................................................................................................... 60
4.1.2.8.1.4.3 3 Odd Parity............................................................................................................ 60
4.1.2.8.1.5 Open Serial Port ............................................................................................................ 62
4.1.2.8.2 Realtime Status Display ........................................................................................................ 62
4.1.2.8.2.1 Basic Real Time Status Display ..................................................................................... 62
4.1.2.8.2.2 Advanced Real Time Status Display............................................................................... 63
4.1.2.8.2.3 Configuration Real Time Status Display......................................................................... 64
4.1.2.8.3 Realtime Error Display.......................................................................................................... 66
4.1.2.8.4 Update Rate .......................................................................................................................... 66
4.1.2.8.5 Parameters Menu .................................................................................................................. 67
4.1.2.8.5.1 Baud Rate ...................................................................................................................... 67
4.1.2.8.5.1.1 300 Baud ................................................................................................................ 67
4.1.2.8.5.1.2 1200 Baud .............................................................................................................. 67
4.1.2.8.5.1.3 2400 Baud .............................................................................................................. 67
4.1.2.8.5.1.4 4800 Baud .............................................................................................................. 67
4.1.2.8.5.1.5 9600 Baud .............................................................................................................. 67
4.1.2.8.5.1.6 19200 Baud ............................................................................................................ 67
4.1.2.8.5.2 Data Length ................................................................................................................... 69
4.1.2.8.5.2.1 7 Data Bits.............................................................................................................. 69
4.1.2.8.5.2.2 8 Data Bits.............................................................................................................. 69
4.1.2.8.5.3 Stop Bits........................................................................................................................ 69
4.1.2.8.5.3.1 1 Stop Bits .............................................................................................................. 69
4.1.2.8.5.3.2 2 Stop Bits .............................................................................................................. 69
4.1.2.8.5.4 Parity Bits...................................................................................................................... 69
4.1.2.8.5.4.1 1 No Parity.............................................................................................................. 69
4.1.2.8.5.4.2 2 Even Parity .......................................................................................................... 70
4.1.2.8.5.4.2 2 Odd Parity............................................................................................................ 70
4.1.2.8.5.5 ANSI Terminal .............................................................................................................. 70
4.1.2.8.6 System Log Menu ................................................................................................................. 70
4.1.2.8.6.1 View Log....................................................................................................................... 70
4.1.2.8.6.2 Download Log................................................................................................................ 70
4.1.2.8.6.3 Clear Log....................................................................................................................... 71
4.1.2.8.7 Password............................................................................................................................... 71
4.1.2.8.7.1 Change Password ........................................................................................................... 71
4.1.2.8.7.2 Enable / Disable Password ............................................................................................. 71
4.1.2.8.8 Download Menu.................................................................................................................... 71
4.1.2.8.8.1 Inactive Bank Status....................................................................................................... 73
4.1.2.8.8.2 Download to Inactive Bank ............................................................................................ 73
4.1.2.8.8.3 Activate Inactive Bank ................................................................................................... 73
4.1.2.8.8.4 Enter Inactive Bank Keycode.......................................................................................... 73
4.1.2.8.8.5 Parameters Menu ........................................................................................................... 74
4.1.2.8.8.5.1 Download Parameters File ...................................................................................... 74
4.1.2.8.8.5.2 Upload Parameters File........................................................................................... 74
4.1.2.8.8.5.3 Activate Downloaded Parameters ............................................................................ 75
4.1.2.8.8.5.4 Load Default Parameters ......................................................................................... 75
4.1.2.8.8.5.5 Clear Module History.............................................................................................. 75
4.1.2.8.9 Lock out front panel .............................................................................................................. 75
4.1.2.9 Servo Menu................................................................................................................... 76
4.1.2.9.1 Inertias Menu........................................................................................................................ 76
Software Reference
4.1.2.9.1.1 Azimuth Inertia .............................................................................................................. 76

4.1.2.9.1.2 Elevation Inertia............................................................................................................. 76
4.1.2.9.1.3 Polarisation Inertia......................................................................................................... 76
4.1.2.9.1.4 Clear Balance Inertias .................................................................................................... 77
4.1.2.9.2 Compensation Menu ............................................................................................................. 77
4.1.2.9.2.1 Torque Filter Corner Frequency ..................................................................................... 77
4.1.2.9.2.2 Torque Filter Taps ......................................................................................................... 77
4.1.2.9.2.3 Enable / Disable Torque Filter ....................................................................................... 77
4.1.2.9.2.4 Velocity Filter Corner Frequency ................................................................................... 77
4.1.2.9.2.5 Velocity Filter Taps ....................................................................................................... 78
4.1.2.9.2.6 Enable / Disable Velocity Filter ..................................................................................... 78
4.1.2.9.3 PID Ratios ............................................................................................................................ 78
4.1.2.9.3.1 Proportional ................................................................................................................... 78
4.1.2.9.3.2 Integral .......................................................................................................................... 78
4.1.2.9.3.3 Differential .................................................................................................................... 78
4.1.2.10 Log Out....................................................................................................................... 79
4.1.3 BIOS Menus ........................................................................................................... 79
4.1.3.1 Download to bank 1 ...................................................................................................... 79
4.1.3.2 Enter bank 1 keycode .................................................................................................... 80
4.1.3.3 Download to bank 2 ...................................................................................................... 80
4.1.3.4 Enter bank 2 keycode .................................................................................................... 80
4.1.3.5 Mark bank 1 active ....................................................................................................... 80
4.1.3.6 Mark bank 2 active ....................................................................................................... 81
4.1.3.7 Start active bank ........................................................................................................... 81
4.1.3.8 Start bank 1 .................................................................................................................. 81
4.1.3.9 Start bank 2 .................................................................................................................. 81
4.1.3.10 Get bank status ........................................................................................................... 81
Software Reference
4.0 INTRODUCTION
This manual is intended to be used in conjunction with Section 2 - Operator's
Manual and Section 3 - Field Technician's Manual.
The Operator's Manual describes the normal operation of the Control System,
but omits some of the extended control features that are available. The
following Subsections are provided as a reference for these extended
features.
4.1 Menu Structure.

Control of the Spacetrack Satellite Tracking System is achieved through the
front panel or via a console connected to the M&C port. The range of options
available from the front panel is restricted to allow the unit to be situated in a
non-secure area. The remote terminal access allows full control and
configuration of the system. An ANSI terminal or emulator is required to
access the monitor and control functions.
4.1.1 Front Panel Menus

The front panel menu structure is shown in figure twenty. Menus are selected
by pressing the numerical key displayed next to the menu option. The
keyboard is buffered, allowing the user to type as far ahead as they can
remember, without having to wait for the menus to be displayed.
There are several dedicated keys as well as the standard numerical key pad.
The dedicated keys provide short cuts to functions relevant to the loaded
software. The control module is a generic product, thus some keys may not
be valid for all applications.
Access to the menu system is gained by pressing the Main key, the LCD panel
usually displays the date, the time, the current AGC value and the system
mode. The default display is shown below:
Tracking
AGC 35.4%
11:27:51 Tuesday March 30 1999
No /
Main
To view the default display, press the key then the Prev key.
Pressing the Main key displays the main menu. The layout of the main menu is
shown below:
Software Reference
Main : 1=DISPLAY 2=CHANGE

3=LOG 4=INFO 5= ERRORS
To access the display functions press the 1 key on the keyboard, the
system will then display the option to select a display mode. The menu
threads are shown in figure twenty, all options are permanently available,
apart from the Errors option in the main display, which, is only available when
an error is present.
There are several options available from the front panel, which allow the user
to view and edit parameters. These options will display the current value of
the parameter to edit, along with a copy of the parameter. The user then
enters the new value for the parameter using the numerical keys; and the
/ keys to select the character to enter. When satisfied with the new
Yes /
value, pressing the Enter Key will submit the value to the system. The system
will query the user, as to whether they are sure they wish to change the
Yes /
parameter, and on selection of the Enter key, the parameter will become
No /
active. To abandon an edit, simply press the Prev key at any point in the edit
process.
All parameters have bounds that must be adhered to, for example a heading
bearing of 450° makes no sense. The system will therefore limit the value of
the parameter, such that the value displayed on the screen, is within the valid
bounds at all times.
For example, if the current heading is 290°, and the user wishes to change
the heading to 350°, the user must change the 9 to a 5, before changing the 2
to a 3. If this sequence were not followed, the displayed parameter would be
390°, which is an invalid heading. Using this method ensures the integrity of
the system data, and ensures the user is aware of the nature of the
parameter.
Main
Pressing the key at any time, returns the user to the top of the menu
No /
structure, while pressing the Prev key at this point, will display the default
screen.
The menu structure is designed as an inverted ‘tree’, where the main menu is
the trunk and each option ‘branches’ down the tree. To move back up the tree
No /
and return to the previous menu press the Prev key, to return to the main
Main
menu press the key.
4.1.1.1 Display Menu.
To access the main menu, press Main

for the main menu, and 1 for the
display menu.
Software Reference
Selecting the display menu, from the main menu, presents the user with a
choice of display functions, these are shown below:
Display: 1=axis position 2=agc stats

3=host 4=instrument angles
4.1.1.1.1 Axis Position Option
To access the axis position display, press Main for the main menu, 1 for the
display menu, and 1 for the axis position real time screen.
The axis position displays the current normal angles for the azimuth,
elevation and polarisation axis. The display is real time and is updated three
times a second. See section 3.1.7.1.2 for an explanation of the displayed
angles.
axis: AZIMUTH – 167.4° AGC –

34.5%
4.1.1.1.2 AGC Statistics Option
To access the AGC statistics display, press Main for the main menu, 1 for
the display menu, and 2 for the AGC statistics real time screen.
The AGC statistics display option shows the system availability and the last
signal drop out time and date. The availability is displayed real time and is
calculated as the follows:
Total seconds tracking
System tracking percentage = x 100
Total seconds active
AGC Stats: availability – 98.5%

Last signal loss – 11:27:51 Tuesday March
30
4.1.1.1.3 Host Vessel Option
To access the host vessel display, press Main for the main menu, 1 for the
display menu, and 3 for the host vessel real time screen.
Software Reference
The host vessel position displays the current vessel latitude, longitude and
heading. The display is real time and is updated three times a second.
HOST: HEADING – 325.4°

LATITUDE – 57.5 n LONGITUDE
– 2.1 W
4.1.1.1.4 Instrument Angle Option
To access the instrument angle display, press Main for the main menu, 1 for
the display menu, and 4 for the instrument angle real time screen.
The instrument angle display shows the current instrument angles for the
azimuth, elevation and polarisation axis. The display is real time and is
updated three times a second. See section 3.1.7.1.2 for an explanation of the
displayed angles.
INSTRUMENT POSITION: AZIMUTH –

167.4°
4.1.1.2 Change Menu
To access the change menu, press Main

change menu.
Selecting the change menu, from the main menu, presents the user with a
choice of functions, used for modifying the system behaviour. These are
shown below:
CHANGE: 1=mode 2=operate 3=location

4=scan 5=inertia 6=nav
4.1.1.2.1 Change Mode Menu
To access the change mode menu, press Main for the main menu, 2 for the
change menu, and 1 for the mode menu.
The change mode menu allows the user to select the system operating mode.
See section 3.1.7.1.6 for a detailed description of each mode. The unwrap
option is only available if the system is configured as a non-slipring terminal.
On selecting a mode which will terminate track mode, the user is asked to
confirm the choice before the system mode is changed.
Software Reference
MODE: 1=track 2=manual 3=find

4=unwrap
4.1.1.2.2 Operate Menu
To access the operate mode menu, press Main for the main menu, 2 for the
change menu, and 2 for the operate menu.
The operate menu allows the user to change the most commonly used
parameters. Refer to section 3.1.7 for an explanation of each parameter.
Selecting options 1,2,4 and 5 will select the parameter entry display mode,
which will allow the user to alter the parameter’s value.
operating: 1=threshold 2=feed offset

3=tracking source 4=time 5=date
4.1.1.2.2.1 Tracking Source Menu
To access the tracking source menu, press Main for the main menu, 2 for
the change menu, 2 for the operate menu, and 3 for the tracking source
menu.
The tracking source menu allows the user to change the tracking feedback
source. See section 3.1.7.2.1 for a description of each of the available
options. Selecting an option will change the active AGC source, if the option
selected is not the currently active AGC source, the user will be asked to
confirm the choice before the system proceeds to the next menu display. On
confirmation, the AGC source is altered and the user may then program the
selected receiver. Note that the system must not be in track mode, when
the AGC source is changed, otherwise a loss of track may be incurred.
Tracking source: 1=beacon receiver

2=wide band detector 3=external 4=adu
4.1.1.2.2.1.1 Beacon Receiver Menu
To access the beacon receiver menu, press Main for the main menu, 2 for
the change menu, 2 for the operate menu, 3 for the tracking source
menu, and 1 for the beacon receiver menu.
Software Reference
The beacon receiver menu allows the user to program the internal beacon
receiver to the correct frequency. The options to change the attenuation and
to enable / disable the auto attenuation feature must be used with care. See
section 3.1.7.2.2 for more details. Note that the system must not be in
track mode, when any parameters are changed. Otherwise, a loss of
track may be incurred. Selecting options 1,2 and 3 will select the parameter
entry display mode, which will allow the user to alter the parameter’s value.
beacon receiver: 1=input attenuation

2=detection frequency 3=auto attenuation
4.1.1.2.2.1.2 Wide Band Menu.
To access the wide band menu, press Main for the main menu, 2 for the
change menu, 2 for the operate menu, 3 for the tracking source menu,
and 2 for the wide band menu.
The wide band receiver menu allows the user to program the internal wide
band receiver to the correct frequency. The options to change the attenuation
and to enable / disable the auto attenuation feature must be used with care.
See section 3.1.7.2.2 for more details. Note the system must not be in
track mode, when any parameters are changed. Otherwise, a loss of
track may be incurred. Selecting options 1,2 and 3 will select the parameter
entry display mode, which will allow the user to alter the parameter’s value.
Wide band detector: 1=input attenuation

2=detection frequency 3=auto attenuation
4.1.1.2.2.2 Date Menu
To access the date menu, press Main for the main menu, 2 for the change
menu, 2 for the operate menu, and 5 for the date menu.
The date source menu allows the user to change the system date. Selecting
options 1,2,3 and 4 will select the parameter entry display mode, which will
allow the user to alter the parameter’s value.
date: 1=date 2=month 3=year 4=day
Software Reference
4.1.1.2.3 Location Menu
To access the location menu, press Main for the main menu, 2 for the
change menu, and 3 for the location menu.
The location menu allows the user to change the vessel’s position and
heading. The satellite longitude may also be changed through the location
menu. Refer to section 3.1.7.2.3 for an explanation of how each parameter is
used by the control system.
Note the system may refuse to allow a parameter to be changed if there is a
better source of information available. For example the system will use the
position reported by a GPS receiver, in preference to a user determined
location. To override the priority scheme, it is necessary to disable the source
input, see sections 4.1.1.2.6.1 and 4.1.1.2.6.2 for details.
Selecting any option will select the parameter entry display mode, which will
Location: 1=latitude 2=longitude

3=heading 4=satellite longitude
4.1.1.2.4 Scan Parameters Menu.
To access the scan parameters menu, press Main for the main menu, 2 for
the change menu, and 4 for the scan parameters menu.
The scan parameters menu allows the user to change the search, locking and
track mode parameters. Refer to section 3.1.7.3 for an explanation of the
method used by the control system to peak the AGC feedback signal.
Note: If the system is programmed to automatically calculate the scan
parameters, manually altering a scan parameter will disable the automatic
configure function. Incorrectly programming the system may adversely effect
the system’s tracking.
Scan: 1=find size 2=find speed 3=lock

size
4=lock speed 5=track size 6=track speed
4.1.1.2.5 Axis Inertia Menu
To access the axis inertia parameters menu, press Main for the main menu,
2 for the change menu, and 5 for the inertia parameters menu.
Software Reference
The axis inertia menu allows the user to change the inertia setting for each
axis. Refer to section 3.1.7.1.5 for an explanation of how the inertia
parameters are used by the control system.
Note: If the system is programmed to automatically calculate the inertia
parameters, manually altering an inertia value will disable the automatic
configure function. Incorrectly programming the system may adversely effect
the system’s tracking.
Inertia: 1=azimuth
2=elevation 3=polarisation
4.1.1.2.6 Navigation Sources Menu
To access the navigation sources menu, press Main for the main menu, 2
for the change menu, and 6 for the navigation sources menu.
The navigation source menu presents the user with a choice of which
navigation source menu to select.
nav: 1=compass 2=gps
4.1.1.2.6.1 Heading Source Menu
To access the navigation source menu, press Main for the main menu, 2 for
the change menu, 6 for the navigation source menu, and 1 for the
heading source menu.
The heading source menu presents the user with a choice of heading source
inputs, selecting a source will toggle the state of that source. For example, if
the stepper source is currently active, selecting the stepper option will disable
the stepper input. The user is prompted to confirm the choice before the
source is changed. The heading source may be changed at any time, or
during any system mode. See section 3.1.7.2.3 for a description of how the
heading source is processed by the control system; appendix D lists the
accepted NMEA format messages.
Note: If the system is programmed to automatically configure the heading
input, manually selecting an input will disable the automatic configure
function for the heading source. Incorrectly programming the system may
adversely effect the satellite acquisition function.
Software Reference
Heading source: 1=232 nmea 2=422

nmea
3=stepper 4=syncro 1:1 5=syncro 360:1
4.1.1.2.6.2 GPS Source Menu
To access the GPS source menu, press Main for the main menu, 2 for the
change menu, 6 for the navigation source menu, and 2 for the GPS
source menu.
The location source menu presents the user with a choice of vessel position
source inputs, selecting a source will toggle the state of that source. For
example, if the 232 NMEA source is currently active, selecting the 232 NMEA
option will disable the 232 NMEA input. The user is prompted to confirm the
choice before the source is changed. The location source may be changed at
any time or during any system mode. See section 3.1.7.2.3 for a description
of how the location source is processed by the control system; appendix D
lists the accepted NMEA format messages.
Note: If the system is programmed to automatically configure the position
input, manually selecting an input will disable the automatic configure
function for the location source. Incorrectly programming the system may
adversely effect the satellite acquisition function.
Heading source: 1=232 nmea 2=422

nmea
4.1.1.3 Log Menu
To access the log menu, press Main

for the main menu, and 3 for the log
menu.
Selecting the log menu, from the main menu, presents the user with a choice
of functions, used for manipulating the system log. These are shown below:
Log: 1=view 2=clear
Selecting the view function allows the system log to be scrolled through, with
one entry displayed at a time. Each entry is time stamped and numbered, an
example entry is shown below. To scroll through the log entries, press the
key to advance forward an entry, and the key to go back one entry.
Software Reference
To move to the first entry, press the key, while to select the last entry
press the key. See section 3.1.7.6 for a description of the log’s function,
and appendix F for a list of possible log entries.
12:59:07 Tuesday march 30

001
setup : default parameters loaded
Selecting the clear option erases the log permanently, this operation is not
reversible. The user is queried to confirm the operation, before the log is
cleared.
4.1.1.4 Information Menu
To access the information menu, press Main

for the main menu, and 4 for
the information menu.
Selecting the information menu, from the main menu, allows the used to view
the configuration information relating to the system, and the loaded software
version.
info: 1=version 2=view config
Selecting option 1, the view version option, displays a screen, which lists the
current software version and revision. An example version screen is shown
below.
Spacetrack 4000 mar 30 1999 12:44:21
Selecting the view configuration function, allows the system configuration to

be scrolled through, with one entry displayed at a time, an example entry is
shown below. To scroll through the log entries press the key to advance
forward an entry in time, and the key to go back one entry.
Polarisation inertia – 54.8

Active receiver – wide band
Software Reference
4.1.1.5 Error Display
To access the error display, press Main

error display.
If an error is active within the system, the display will show an option 5 –
Errors, in the main menu. Selecting the error option will display a real time
screen listing the active errors. Each error and the displayed text is listed in
section 3.4.1
4.1.2 Monitor and Console Menus

The monitor and control menu structure is shown in figure twenty one. Menus
are selected by pressing the numerical key displayed next to the menu
option. The keyboard is buffered, allowing the user to type as far ahead as
they can remember, without having to wait for the menus to be displayed.
Access to the menu system is gained by connecting a console to the M&C
connection port either at the BDU interface panel CN11 or at the ADU
interface panel CN3. See figures 5 and 7 for details.
The preferred console emulation is ANSI X3.64, which allows extensive
display formats and command editing. The system is accessible using a TTY
terminal, although the real time display features will be unavailable; and the
user will also not be able to correct typing mistakes. It is therefore highly
recommended to use an ANSI terminal. To ensure the system uses the
correct control codes, there is an option for selecting the console type.
The monitor and control interface is security protected by a password. The
password is user selectable, and may also be disabled; the default password
is FACTORYkSETUP, the password is case sensitive. The default password
is all in upper case letters.
The following subsections describe the options available through the M&C
system, and the procedure for accessing the options. A brief description of
the parameter, or a link to an explanation is also provided. The access
keystrokes assume that the system is not currently displaying a real time
screen, to exit any of the real time screens press the k key.
All parameters have bounds which must be adhered to, for example a
heading bearing of 450° makes no sense; therefore the system will limit the
value of the parameter. The bounds checking is performed when the user
presses the f key. If the value entered is incorrect, the system will prompt the
user to re-enter the parameter, the acceptable range of values are also
displayed for reference.
The menu structure is designed as an inverted ‘tree’, where the main menu is
the trunk and each option ‘branches’ down the tree. To move back up the tree
and return to the previous menu press the P key, to return to the main menu
press the M key.
The system uses several different data types to present and process the
various system parameters. The system uses primarily floating point
Software Reference
numbers, text strings and flags. A flag is a Boolean variable, much like a
switch, which may be either ON (TRUE) of OFF (FALSE), there is no other
state.
On line help is available for some modes, which is obtained by pressing the ?
key.
4.1.2.1 Software Versions

The software versions, displays the revision and build date of all the software
components contained within the Spacetrack system.
To access the software version press M0. A sample software version report is
included below:
Spacetrack 4000 Mar 30 1999 12:44:36

BIOS Serial Number 2, Version 1
Manufacture Date 16:00:00 Friday February 19 1999
Connected to a 80C167 ADU Module with auto balance capability
ADU Module hardware version 1.0, software version 1.0
The first line indicates the build version of the BDU module control software.
The second line indicates the build version of the BDU module BIOS and also
the module serial number.
The third line lists the BDU module manufacture date.
The fourth line states which type of ADU the BDU is controlling.
The fourth line indicates the ADU hardware and software versions.
4.1.2.2 Configuration Menu

The configuration menu allows the user access to the system settings which
must be configured during the initial installation, but which are rarely required
in service.
The configuration menu is accessed via the following keystroke sequence
M1.
4.1.2.2.1 Automatic Configuration

The automatic configuration menu holds the flags, which indicate, which
parameters the system should automatically configure, and which parameters
the user wishes to set manually. Note: disabling any of the automatic
configuration features should only be attempted by experienced users,
an incorrectly configured system may not provide adequate service to
maintain a communications link.
Typing M10 accesses the automatic configuration menu.
Software Reference
4.1.2.2.1.1 Automatic System Configuration

The automatic system configuration flag is the global configuration variable. If
the automatic system configuration flag is FALSE, the system will ignore all
other entries in this menu, and will not attempt to configure the system in any
manner. If this flag is disabled, the user must set sensible values for all
parameters.
The automatic system configuration flag is accessed via the following
keystrokes M100.
4.1.2.2.1.2 Automatic Heading Configuration

The automatic heading configuration variable determines whether the system
will try to select the correct heading input at boot. If the variable is disabled
the user must select the heading type manually. If there is no heading source
available, the user must enter the heading manually.
The automatic heading configuration flag is accessed via the following
keystrokes M101.
4.1.2.2.1.3 Automatic Location Configuration

The automatic location configuration variable determines whether the system
will try to select the correct location source input at boot. If the variable is
disabled the user must select the location type manually. If there is no
location source available, the user must enter the vessel’s latitude and
longitude manually.
The automatic location configuration flag is accessed via the following
keystrokes M102.
4.1.2.2.1.4 Automatic Track Parameter Configuration

The automatic track parameter configuration variable determines whether the
system will try to select the correct tracking scan size and speed at boot. The
system calculates the track size and scan based on the down link frequency
band, and the dish size. If the variable is disabled the user must enter the
track size and speed manually.
The automatic track parameter configuration flag is accessed via the
following keystrokes M103.
4.1.2.2.1.5 Automatic Lock Parameter Configuration
Software Reference
The automatic lock parameter configuration variable determines whether the

system will try to select the correct locking scan size and speed at boot. The
system calculates the lock size and scan based on the down link frequency
band, and the dish size. If the variable is disabled the user must enter the
lock size and speed manually.
The automatic lock parameter configuration flag is accessed via the following
keystrokes M104.
4.1.2.2.1.6 Automatic Search Parameter Configuration

The automatic search parameter configuration variable determines whether
the system will try to select the correct search scan size and speed at boot.
The system calculates the search size and scan based on the down link
frequency band, and the dish size. If the variable is disabled the user must
enter the search size and speed manually.
The automatic search parameter configuration flag is accessed via the
4.1.2.2.1.7 Automatic Inertia Configuration

The automatic inertia parameter configuration variable determines whether
the system will try to select the correct inertia values at boot. The system
calculates the inertia parameters based on the dish size and the filter
settings. If the variable is disabled the user must select the axis inertia
manually.
The automatic inertia parameter configuration flag is accessed via the
4.1.2.2.1.8 Automatic Filter Configuration

The automatic filter parameter configuration variable determines whether the
system will try to select the correct filter tap length and cut off frequency
values at boot. The system calculates the filter parameters based on the dish
size and the PID loop settings. If the variable is disabled the user must select
the filter configuration manually.
The automatic filter parameter configuration flag is accessed via the following
keystrokes M107.
4.1.2.2.2 AGC Source

The AGC Source configuration menu holds the flags and parameters, which
determine the feedback source the system should employ. For a description
of the feedback sources see section 3.1.7.2.1.
Software Reference
If the user selects a menu option, which does not relate to the currently active
tracking source, the system prompts the user, whether they wish to change
the tracking source to the selected option. If the user confirms the choice the
sub menu relating to the tracking source will become available, otherwise the
non-active tracking source menu will not be available. Note: the system
should not be tracking when the feedback tracking source is changed,
otherwise a loss of service may occur.
Typing M11 accesses the AGC Source menu.
4.1.2.2.2.1 Narrow Band Menu

The narrow band configuration menu holds the flags and parameters, which
configure the narrow band detector. For a description of the narrow band
receiver see section 3.1.7.2.1. Note: the system should not be tracking
when the narrow band detector parameters are changed, otherwise loss
of service may occur.
Typing M111 accesses the narrow band parameter menu.
4.1.2.2.2.1.1 Narrow Band Detection Frequency

The narrow band detection frequency sets the centre frequency of the
beacon receiver detector.
The narrow band detection frequency is accessed via the following
keystrokes M1111.
4.1.2.2.2.1.2 Input Attenuation

The narrow band input attenuation sets the input attenuation of the beacon
receiver detector. Note: setting an input attenuation manually, will disable
the automatic attenuation feature. The user will be responsible for
setting the correct input attenuation, detection threshold and also for
maintaining the correct levels. It is not recommended to set an input
attenuation manually.
The narrow band input attenuation is accessed via the following keystrokes
M1112.
4.1.2.2.2.1.3 Automatic Attenuation

The narrow band automatic input attenuation flag determines whether the
system will automatically select the most appropriate attenuation setting,
based on the input RF power level. Note: disabling the automatic
attenuation feature, will mean the user is responsible for setting the
correct input attenuation, detection threshold and also for maintaining
Software Reference
the correct levels. It is not recommended to disable the automatic input

attenuation.
See section 3.1.7.2.2.2 for an explanation of the automatic attenuation
determination routine.
The narrow band input automatic attenuation flag is accessed via the
4.1.2.2.2.2 Wide Band Menu

The wide band configuration menu holds the flags and parameters, which
configure the wide band detector. For a description of the wide band receiver
see section 3.1.7.2.1. Note: the system should not be tracking when the
wide band detector parameters are changed, otherwise loss of service
may occur.
Typing M112 accesses the wide band parameter menu.
4.1.2.2.2.2.1 Wide Band Centre Frequency

The wide band detection frequency sets the centre frequency of the wide
band detector. If the user enters a 70MHz IF scheme frequency, the system
will select the hardware default frequency of 70MHz; it is only possible to
program an L Band centre frequency.
The wide band detection frequency is accessed via the following keystrokes
M1121.
4.1.2.2.2.2.2 Input Attenuation

The wide band input attenuation sets the input attenuation of the wide band
detector. Note: setting an input attenuation manually, will disable the
automatic attenuation feature. The user will be responsible for setting
the correct input attenuation, detection threshold and also for
maintaining the correct levels. It is not recommended to set an input
attenuation manually.
The wide band input attenuation is accessed via the following keystrokes
M1122.
4.1.2.2.2.2.3 Automatic Attenuation

The wide band automatic input attenuation flag determines whether the
system will automatically select the most appropriate attenuation setting,
based on the input RF power level. Note: disabling the automatic
attenuation feature, will mean the user is responsible for setting the
correct input attenuation, detection threshold and also for maintaining
Software Reference
the correct levels. It is not recommended to disable the automatic input

attenuation.
See section 3.1.7.2.2.2 for an explanation of the automatic attenuation
determination routine.
The wide band input automatic attenuation flag is accessed via the following
keystrokes M1123.
4.1.2.2.2.3 External Interface

The external interface flag enables the external interface as the source of the
tracking feedback information.
Typing M113 accesses the external interface flag.
4.1.2.2.2.4 ADU AGC

The ADU AGC flag enables the AGC demodulated by the ADU as the source
of the tracking feedback information.
Typing M114 accesses the ADU AGC flag.
4.1.2.2.2.5 Receiver Processing Delay

The receiver processing delay variable, sets the time lag introduced by the
level detection equipment. This variable is intended for use with modems with
an AGC level indication. All internal detectors require a setting of 0 for this
parameter.
Typing M115 accesses the receiver processing delay.
4.1.2.2.3 Modem CD
The modem CD configuration menu holds the flags and parameters, which
configure the modem’s demodulator lock indicator used by the control
system. For a description of the modem CD processing see section
3.1.7.2.3.3.
Typing M12 accesses the modem CD parameter menu.
4.1.2.2.3.1 Enable / Disable Modem CD Logic

The Modem CD flag enables the modem CD logic within the control program.
If the flag is enabled the system will use the modem CD indicator, to
determine whether the correct satellite has been located.
The Modem CD flag is accessed by typing M121.
Software Reference
4.1.2.2.3.2 Activation Period

The activation period is the time in seconds the system will wait, before
interrogating the modem, to determine whether the correct satellite has been
located. The activation period is designed to allow the modem to synchronise
to its counterpart on the far end.
Typing M122 accesses the activation period.
4.1.2.2.3.3 Glitch Period

The glitch period is the time in seconds the system will wait, before deciding
that the modem has lost lock. The glitch period is designed to defeat contact
bounce and noise.
Typing M123 accesses the glitch period.
4.1.2.2.4 Navigation
The navigation menu allows the user to select which navigation sources are
available to the control system. In normal operation the system will
automatically configure the navigation input selection at system boot.
Incorrectly setting the navigation inputs will impair the system’s ability
to locate the satellite.
Typing M13 accesses the navigation menu.
4.1.2.2.4.1 Heading Source Menu

The heading menu allows the user to select which heading source the control
system should utilise. In normal operation the system will automatically
configure the heading input selection at system boot.
Typing M131 accesses the heading menu.
4.1.2.2.4.1.1 Enable / Disable Step Input

The step input flag enables the stepper compass as the source of the
heading information. On enabling the step by step input, all other heading
sources will be disabled. The step by step interface is not an absolute
heading indicator, the user must enter the correct heading, see section
4.1.2.6.4 for details.
Typing M1311 accesses the step by step heading flag.
Software Reference
4.1.2.2.4.1.2 Step Compass Steps Per Degree

The step compass steps per degree variable sets the heading increment /
decrement angle applied to the heading when the step by step interface code
changes. The standard setting is six steps per degree.
Typing M1312 accesses the stepper compass step per degree variable.
4.1.2.2.4.1.3 Enable / Disable 1:1 Syncro Input

The 1:1 syncro input flag enables the syncro compass as the source of the
heading information. On enabling the syncro input, all other heading sources
will be disabled.
Typing M1313 accesses the syncro heading flag.
4.1.2.2.4.1.4 Enable / Disable 360:1 Syncro Input

The 360:1 syncro input flag enables the syncro compass as the source of the
heading information. On enabling the syncro input, all other heading sources
will be disabled. The 360:1 syncro interface is not an absolute heading
indicator, the user must enter the correct heading, see section 4.1.2.6.4 for
details.
Typing M1314 accesses the 360:1 syncro flag.
4.1.2.2.4.1.5 Enable / Disable NMEA RS232 Input

The NMEA RS232 input flag enables the NMEA 232 interface as the source
of the heading information. On enabling the NMEA input, all other heading
sources will be disabled. See appendix D for accepted NMEA messages.
Typing M1315 accesses the NMEA 232 input flag.

of the heading information. On enabling the NMEA input, all other heading
4.1.2.2.4.1.7 NMEA Baud Rate Menu

The NMEA baud rate menu allows the user to select which baud rate the
heading source is using. In normal operation the system will automatically
configure the baud rate at system boot.
Software Reference
Typing M1317 accesses the NMEA Baud rate menu.
4.1.2.2.4.1.7.1 300 Baud

Set the NMEA heading input to 300 Baud.
Typing M13171 accesses the 300 NMEA Baud rate option.
4.1.2.2.4.1.7.2 1200 Baud

4.1.2.2.4.1.7.3 2400 Baud

4.1.2.2.4.1.7.4 4800 Baud

4.1.2.2.4.1.7.5 9600 Baud

4.1.2.2.4.1.7.6 19200 Baud

4.1.2.2.4.2 Location Source Menu

The location menu allows the user to select which location source the control
system should utilise. In normal operation the system will automatically
configure the location input selection at system boot.
Typing M132 accesses the location menu.
Software Reference
of the location information. On enabling the NMEA input, all other location

of the location information. On enabling the NMEA input, all other location
4.1.2.2.4.2.3 NMEA Baud Rate Menu

The NMEA baud rate menu allows the user to select which baud rate the
location source is using. In normal operation the system will automatically
configure the baud rate at system boot.
Typing M1323 accesses the NMEA Baud rate menu.
4.1.2.2.4.2.3.1 300 Baud

4.1.2.2.4.2.3.2 1200 Baud

4.1.2.2.4.2.3.3 2400 Baud

4.1.2.2.4.2.3.4 4800 Baud

4.1.2.2.4.2.3.5 9600 Baud

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4.1.2.2.4.2.3.6 19200 Baud

4.1.2.2.5 Active Weight Control

The active weight menu allows the user to customise the operation of the
active weights. Experienced users, who have a good understanding of
the active weight operation, should only attempt customisation. For
more details see section 3.1.7.4.
Typing M14 accesses the active weight menu.
4.1.2.2.5.1 Enable / Disable Active Weights

The active weight flag enables or disables the active weights. If the flag is
disabled the system will not attempt to balance the system, either during
balance mode or during normal operation.
The active weight flag is accessed by typing M141.
4.1.2.2.5.2 Integration Period

The active weight integration period, is the length of time the system will
integrate the output torque, before determining which way to move the
weight. The torque imbalance must exceed five percent before the system will
attempt to compensate for the imbalance. The time is measured in seconds,
for more details see section 3.1.7.4.2.
The integration period is not used in balance mode.
Typing M142 accesses the active weight integration period.
4.1.2.2.5.3 On Period
The active weight on period, is the length of time the system will move the
active weights to compensate for an imbalance. The on time is fixed and not
proportional to the imbalance measured. The time is measured in seconds,
for more details see section 3.1.7.4.2.
The on period is not used in balance mode.
Typing M143 accesses the active weight on period.
4.1.2.2.6 System Date and Time

The system date and time menu allows the user to set the current date and
time. The system uses the date and time to find inclined satellites and to time
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stamp events. The system also displays the time on the front panel and in the
real time screens. The time and date should always be set correctly.
Typing M15 accesses the system date and time menu.
4.1.2.2.6.1 Date
The system date option is entered as DD:MM:YYYY where:
DD is days, 1 to 31
MM is months, 1 to 12
YYYY is years, any valid year.
Typing M151 accesses the system date option.
4.1.2.2.6.2 Time
The system time option is entered as HH:MM where:
HH is hours, 1 to 23 in 24 hour format

MM is seconds, 1 to 59
Typing M152 accesses the system time option.
4.1.2.2.6.3 Day of Week

The system day of the week option is formatted such that Monday is day 1,
and Sunday is day 7.
Typing M153 accesses the system day of the week option.
4.1.2.2.7 Redundancy Control

The redundancy control menu may be used to customise the system to work
in a master slave configuration. The redundant pair configuration is designed
to allow two Spacetrack systems to work in a coherent manner on a vessel,
which requires two systems, due to blind spots etc. For more details see
section 3.1.7.5.
Typing M16 accesses the redundancy control menu.
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4.1.2.2.7.1 Enable / Disable Redundant Pair Configuration

The redundant pair configuration flag enables, or disables the system to work
as the master in a redundant pair configuration. The master should have the
redundant pair flag enabled, and the external offline flag disabled for correct
operation. The slave should have the redundant pair flag disabled, and the
external offline flag enabled for correct operation.
Typing M161 accesses the redundant pair configuration flag.
4.1.2.2.7.2 Enable / Disable External Offline Facility

The external offline facility flag enables, or disables the system to work as the
slave in a redundant pair configuration. The master should have the
redundant pair flag enabled, and the external offline flag disabled for correct
operation. The slave should have the redundant pair flag disabled, and the
external offline flag enabled for correct operation. The external offline facility
may also be used to remotely switch a Spacetrack terminal into and out of
operational mode. This may be required in some circumstances.
Typing M162 accesses the external offline facility configuration flag.
4.1.2.2.7.3 Enable / Disable Slave Online If Not Tracking

The slave online if not tracking flag may be used to override the occluded
angle logic, to ensure that the slave terminal is in the active state, should the
master terminal fail. This is achieved by forcing the slave terminal online, if
the master terminal is not in track mode, on a heading where the master
should be active.
Typing M163 accesses the slave online if not tracking configuration flag.
4.1.2.2.7.4 Occluded Angles Menu

The occluded angles menu is used to specify which angles the master
terminal is occluded, and thus which headings the slave terminal should be
active. There are three ranges, which have an upper and lower angle, the
angles are specified relative to the vessels bow. For more details see section
3.1.7.5.
The occluded angles menu is accessed by typing M164.
4.1.2.2.7.4.1 Range 1 Upper

The Range 1 upper angle is the end angle of the first occluded range.
The occluded angles option is accessed by typing M1641.
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4.1.2.2.7.4.2 Range 2 Upper

The Range 2 upper angle is the end angle of the second occluded range.
4.1.2.2.7.4.3 Range 3 Upper

The Range 3 upper angle is the end angle of the third occluded range.
4.1.2.2.7.4.4 Range 1 Lower

The Range 1 lower angle is the start angle of the first occluded range.
4.1.2.2.7.4.5 Range 2 Lower

The Range 2 lower angle is the start angle of the second occluded range.
4.1.2.2.7.4.6 Range 3 Lower

The Range 3 lower angle is the start angle of the third occluded range.
4.1.2.2.8 Above Deck Equipment

The above deck equipment menu allows the user to specify the above deck
equipment configuration. Incorrectly setting any parameter in the above
deck equipment menu will mean the system will not track the satellite.
The above deck equipment menu is accessed by typing M17.
4.1.2.2.8.1 Dish Size

The dish size parameter is specified in meters and should be configured to
match the reflector’s dimensions. It is essential to set the correct dish size to
allow the automatic configuration functions to operate correctly.
The dish size variable is accessed by typing M171.
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4.1.2.2.8.2 Frequency Band Menu

The frequency band menu allows the user to specify the communications
downlink frequency. It is essential to set the correct frequency band to allow
the automatic configuration functions to operate correctly.
The frequency band menu is accessed by typing M172.
4.1.2.2.8.2.1 C Band
The C Band option configures the downlink frequency to be within the C Band
frequency range.
The C Band variable is accessed by typing M1721.
4.1.2.2.8.2.2 Ku Band
The Ku Band option configures the downlink frequency to be within the Ku
Band frequency range.
Typing M1722 accesses the Ku Band variable.
4.1.2.2.8.3 Coarse Azimuth Upper Limit

The Coarse azimuth upper limit specifies the positive unwrap angle. The
unwrap angle is the coarse azimuth angle at which the system will stop
tracking and perform a cable unwrap. The angle is specified in degrees from
the centre of coarse azimuth rotation. For more details see section 3.1.2
Typing M173 accesses the coarse azimuth upper limit variable.
4.1.2.2.8.4 Coarse Azimuth Lower Limit

The Coarse azimuth lower limit specifies the negative unwrap angle. The
unwrap angle is the coarse azimuth angle at which the system will stop
tracking and perform a cable unwrap. The angle is specified in degrees from
the centre of coarse azimuth rotation. For more details see section 3.1.2
Typing M174 accesses the coarse azimuth lower limit variable.
4.1.2.2.8.5 Coarse Azimuth Enable / Disable

The Coarse azimuth flag enables or disables the coarse azimuth motor. In
normal operation, the coarse azimuth motor must be enabled. Note:
Disabling the coarse azimuth will result in loss of tracking on a vessel
that rotates, and is not recommended.
Software Reference
The coarse azimuth flag is accessed by typing M175.
4.1.2.2.8.6 Motors Menu

The motors menu is used to specify the gimbal motor characteristics to the
control system. See section 3.1.7.1.4 for more details.
The motors menu is accessed by typing M176.
The motors menu contains entries for the maximum and minimum torque the
system may apply to the motors. These functions are used to interface the
ADU module to motors, which if fully driven, would push the ADU current
amplifiers into current limit. When the amplifiers current limit the applied
torque is modulated at a frequency of several Hertz, and the perceived drive
torque is disrupted. To determine the optimum setting for a non-standard
motor package, the user should set the system into diagnostics mode, and
restrain the antenna so that it cannot move. The user should then increase
the demand to the target motor, a step at a time until the amplifier current
limits. The current limiting action is readily observable. This procedure should
be applied for both the positive and negative torque directions, and for each
motor that is non-standard. The observed torque threshold, in counts, along
with a safety margin of 10 counts should be programmed for the applicable
motor. The safety margin allows for the reactive nature of the load and for the
extra load that is imposed when all three amplifiers are operational.
4.1.2.2.8.6.1 Torque Constant

The torque constant specifies the current to torque transfer ratio of the
motors. The torque constant is sometimes called the Kt factor; this parameter
should be set to 1.0 for the standard motor / terminal configuration.
The torque constant is accessed by typing M1761.
4.1.2.2.8.6.2 Azimuth Positive Torque Limit

The azimuth torque positive limit specifies the maximum torque the system
may apply to the azimuth motor. This parameter is useful to prevent the
current amplifiers in the ADU module from current limiting, when the ADU
module is used with a non-standard motor package.
The azimuth positive torque limit is accessed by typing M1762.
4.1.2.2.8.6.3 Azimuth Negative Torque Limit

The azimuth torque negative limit specifies the maximum negative torque the
system may apply to the azimuth motor. This parameter is useful to prevent
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the current amplifiers in the ADU module from current limiting, when the ADU
The azimuth negative torque limit is accessed by typing M1763.
4.1.2.2.8.6.4 Elevation Positive Torque Limit

The elevation torque positive limit specifies the maximum torque the system
may apply to the elevation motor. This parameter is useful to prevent the
current amplifiers in the ADU module from current limiting, when the ADU
Typing M1764 accesses the elevation positive torque limit.
4.1.2.2.8.6.5 Elevation Negative Torque Limit

The elevation torque negative limit specifies the maximum negative torque
the system may apply to the elevation motor. This parameter is useful to
prevent the current amplifiers in the ADU module from current limiting, when
the ADU module is used with a non-standard motor package.
Typing M1765 accesses the elevation negative torque limit.
4.1.2.2.8.6.6 Polarisation Positive Torque Limit

The polarisation torque positive limit specifies the maximum torque the
system may apply to the polarisation motor. This parameter is useful to
Typing M1766 accesses the polarisation positive torque limit.
4.1.2.2.8.6.7 Polarisation Negative Torque Limit

The polarisation torque negative limit specifies the maximum negative torque
the system may apply to the polarisation motor. This parameter is useful to
Typing M1767 accesses the polarisation negative torque limit.
4.1.2.2.9 View Summary

The view summary menu option displays the most common configuration
parameters on a single screen. A sample configuration screen is listed below,
along with a line by line dissection. The line numbers, at the left of the
screen, are for reference only.
1. Spacetrack 4000 Mar 30 1999 12:44:33 – DMS Test System
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2. AGC Source - Narrow Atten - 0.00dB Freq - 70.00MHz Rx Delay - 0.00

3. Modem CD Detection - Enabled Modem CD Activation Period - 60.00s
4. Heading Source - Disabled Step Size - 6.00 Location Source – Disabled
5. System Time - 08:33:20 Monday April 05 1999
6. Require Password - Enabled Password - ****
7. Track Size - 0.10 Speed - 0.35 Dish Size - 2.40, Ku Band
8. Feed Tracking - Disabled +ve Limit - 120.00 -ve Limit - -120.00
9. Axis Tracking - Disabled +ve Limit - 20.00 -ve Limit - -20.00
10. Lock Size - 0.20 Speed - 0.35 Search Size - 2.00 Speed - 0.40
11. Acquire Threshold - 15.00 Automatic Angle Calc – Enabled
12. Manual Az - 172.00 Manual El - 24.00 Manual Pz - 0.00
13. Sat LNG - 10.00E Inc - 0.0 IGR - 0.0 CC - 0.0 Epoch - 00:00 00/00/00
14. Vessel LNG - 2.11W LAT - 57.12N Heading - 0.00
15. Az Inertia - 48.00 El Inertia - 50.00 Pz Inertia - 46.00, Estimated
16. Torque Filter Corner Freq - 5.00, 11 Torque Filter Enabled
17. Rate Sensor Filter Corner Freq - 20.00, 5 Rate Sensor Filter Disabled
18. Trim offsets - Max Az 2.00, EL 5.00, Current Az 0.00, EL 0.00
Line 1 shows the system time and date, along with the vessel’s name.
Line 2 shows the AGC configuration.
Line 3 lists the modem CD configuration.
Line 4 details the navigation configuration.
Line 5 lists the system time and date.
Line 6 shows the password configuration.
Line 7 lists the track parameters and above deck configuration. Note that if
the weather compensation feature is enabled, the currently active parameters
will differ from those displayed. To view the active parameters, view the main
real time screen; key sequence M171ff.
Line 8 shows the motorised feed configuration
Line 9 shows the polar axis tracking configuration
Line 10 lists the locking and search parameters
Line 11 details the acquisition parameters.
Line 12 lists the manual acquisition angles.
Line 13 shows the target satellite parameters.
Line 14 lists the vessel’s current position and heading.
Line 15 shows the axis inertia. The inertia derivation method is shown at the
end of the line. Estimated means the system has calculated the inertia
based on the dish size. Calculated inertias are settings that have been
derived, by the system, using the balance procedure. User inertias are
parameters entered by the user.
Line 16 details the torque filter setting.
Line 17 details the velocity sensors filter parameters.
Line 18 lists the maximum and the current trim angle settings for the azimuth
and elevation axis.
Software Reference
4.1.2.3 Tracking Menu

The tracking menu allows the user access to the system tracking settings.
The tracking settings are generally best left to the control system to
determine, only in exceptional circumstances should the user alter the track
parameters. Incorrectly configured tracking parameters will impair the
systems ability to provide a communications link.
The tracking menu is accessed via the following keystroke sequence M2.
4.1.2.3.1 Tracking Window Size

The tracking window size determines the peaking deflection angle the system
will adopt, in order to optimise the boresight calculation. The angle is
specified in degrees. For more details see section 3.1.7.3.2.3. In general the
system will calculated the angle required to produce 0.5dB of signal level
change, based on the dish size and the down link frequency band.
Typing M21 accesses the tracking window size variable.
4.1.2.3.2 Tracking Window Speed

The tracking window speed determines the velocity the antenna will move at
to trace the box pattern. The variable is specified in degrees per second. For
more details see section 3.1.7.3.2.3. In general, the system will calculated the
speed required, from the track size, the antenna inertia and a table of
preferred values.
Typing M22 accesses the tracking window speed variable.
4.1.2.3.3 Polarisation Menu

The polarisation menu allows the user access to the polarisation control
mechanism. Polarisation control is achieved using either an active feed, or
the polarisation axis, or a combination of the active feed and the polarisation
axis. See section 3.1.7.3.1 for more details.
The polarisation menu is accessed via the following keystroke sequence
M23.
4.1.2.3.3.1 Enable / Disable Feed Polarisation Correction

The feed polarisation control flag determines whether the system will
compensate the incident polarisation using an active feed. If the flag is
enabled the active feed mechanism will be activated.
Typing M231 accesses the feed polarisation correction flag.
4.1.2.3.3.2 Feed Positive Limit
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The feed positive limit specifies the maximum polarisation, positive angle
correction to be performed by the feed. If the polarisation axis scheme is also
enabled, any remaining correction will be compensated using the polarisation
axis.
Typing M232 accesses the feed positive limit.
4.1.2.3.3.3 Feed Negative Limit

The feed negative limit specifies the maximum polarisation, negative angle
correction to be performed by the feed. If the polarisation axis scheme is also
enabled, any remaining correction will be compensated using the polarisation
axis.
Typing M233 accesses the feed negative limit.
4.1.2.3.3.4 Feed Set-up Menu

The feed set-up menu is designed to allow the user to customise the system
for different makes of feed mechanisms. The feed set-up menu should
normally only be required during the initial calibration stage.
The feed set-up menu is accessed via the following keystroke sequence
M234.
4.1.2.3.3.4.1 Offset
The feed offset may be used to compensate for physical misalignment of the
OMT. The offset is usually derived from system commissioning cross-polar
measurements. The feed offset may also be used to re-align the polarisation
axis with the horizontal; where the desired polarisation correction is applied
to a static feed, and the feed offset entered as the physical feed angle. The
two rotations will cancel and the polar axis will be positioned at the horizontal.
It is essential to ensure the polarisation axis is horizontal to allow the axis to
compensate, for an equal amount of vessel motion in both directions. The
angle is entered in positive and negative degrees from the centre of feed
rotation.
The feed offset is accessed via the following keystroke sequence M2341.
4.1.2.3.3.4.2 Positive Count

The feed positive count is the diagnostics count reading obtained when the
active feed is rotated fully in the positive direction. The positive count
variable is used to provide the control system with the feed assembly
calibration information necessary for operation.
Software Reference
The feed positive count is accessed via the following keystroke sequence
M2342.
4.1.2.3.3.4.3 Negative Count

The feed negative count is the diagnostics count reading obtained when the
active feed is rotated fully in the negative direction. The negative count
variable is used to provide the control system with the feed assembly
calibration information necessary for operation.
The feed negative count is accessed via the following keystroke sequence
M2343.
4.1.2.3.3.4.4 Total Rotation

The feed total rotation is the total angle, in degrees, the feed moves through
from the negative end stop to the positive end stop. The total rotation angle is
used to calibrate the feed assembly angles.
The total rotation angle is accessed via the following keystroke sequence
M2344.
4.1.2.3.3.4.5 Static Accuracy

The static accuracy variable is the angle, in degrees, that the control system
uses to determine how accurately the feed must be positioned. This variable
is used to prevent the feed ‘hunting’, where the feed moves continuously.
Setting too low, a static accuracy variable will reduce the life of the feed
motor assembly. The static accuracy will differ from feed model to model, and
must be determined on an individual basis. The angle should be chosen, as
the smallest angle that allows the feed to stay stationary during system
operation.
The static accuracy angle is accessed via the following keystroke sequence
M2345.
4.1.2.3.3.5 Enable / Disable Polar Axis Polarisation Correction

The polar axis polarisation correction flag enables, or disables, polarisation
correction using the polarisation axis. The required angle to compensate for
the incident polarisation skew is used as the mean polarisation axis angle.
The polarisation axis compensation scheme must be used in conjunction with
the feed offset to ensure the mean polarisation angle is zero degrees.
Enabling the polarisation axis correction scheme is not recommended
due to the restricted polar axis movement available, which is also used
to compensate for vessel motion.
Software Reference
The polar axis polarisation correction flag is accessed via the following
keystroke sequence M235.
4.1.2.3.3.6 Polar Axis Positive Limit

The polar axis positive limit is the maximum positive angle the system will
attempt to compensate for, using the polarisation axis. If the required skew
angle is greater then the limit set, then a satellite hidden warning will be
issued, and the incident polarisation angle, as seen by the antenna and the
satellite, will be incorrect.
The polar axis positive limit is accessed via the following keystroke sequence
M236.
4.1.2.3.3.7 Polar Axis Negative Limit

The polar axis negative limit is the maximum negative angle the system will
attempt to compensate for, using the polarisation axis. If the required skew
angle is greater then the limit set, then a satellite hidden warning will be
issued, and the incident polarisation angle, as seen by the antenna and the
satellite, will be incorrect.
The polar axis negative limit is accessed via the following keystroke
sequence M237.
4.1.2.3.4 Weather Adjustment Menu

The weather adjustment menu determines how, the control system modifies
the tracking algorithm to accommodate for bad weather. In general, there are
two conflicting requirements, imposed upon the tracking algorithm. In calm
weather, the track size should be small and the track speed slow, to allow the
system to produce the best tracking loss response. In bad weather, the track
size must be large and the speed high to allow the system to find the exact
boresight quickly in the presence of external disruptive forces on the gimbal.
In essence, the quicker the track box is completed, the more often the
boresight optimisation process is executed, but also the box definition will be
poorer. The two requirements can be resolved by adjusting the track
parameters, according to the weather conditions, this may be achieved
through the weather adjustment facility.
Only experienced system users, who have an intimate understanding of
the system operation, should use the weather adjustment facility.
The weather adjustment menu is accessed via the following keystroke
sequence M24.
4.1.2.3.4.1 Enable / Disable Weather Parameter Adjustment
Software Reference
The weather adjustment flag enables, or disables, the track parameter

optimisation routine.
The weather adjustment flag is accessed via the following keystroke
sequence M241.
Software Reference
4.1.2.3.4.2 Size Adjustment

The weather size adjustment factor determines how the track size is modified
in relation to the prevailing weather conditions. The following algorithm
determines the track size:
Weather Adjusted Track Size = Track Size + Size Expansion
Where:
Weather Adjusted Track Size = The box size performed by the control
system.
Track Size = The track size as calculated by the system, in relation to the dish
Size expansion = The expansion as calculated by the system, as follows:
Size Expansion = Track Size * (User Size Expansion / 10.0) * Weather Index
Where:
Track Size = The track size as calculated by the system, in relation to the dish
User Size Expansion = The expansion factor as set by the user.
Weather Index = The prevailing weather index, as calculated by the
For example, an expansion factor of 0.25 will increase the track size from a
calm weather size of 0.12° to 0.15° in 10° sea states.
For flexibility, the expansion factor may be positive or negative to allow the
size to be compressed rather than expanded, in adverse conditions. This is
not recommended.
The weather size adjustment factor is accessed via the following keystroke
sequence M242.
4.1.2.3.4.3 Speed Adjustment

The weather speed adjustment factor determines how the track speed is
modified in relation to the prevailing weather conditions. The following
algorithm determines the track speed:
Software Reference
Weather Adjusted Track Speed = Track Speed + Speed Expansion
Where:
Weather Adjusted Track Speed = The velocity at which the scan box is
performed by the control system.
Track Speed = The track speed as calculated by the system, in relation to the
Speed expansion = The expansion as calculated by the system, as follows:
Speed Expansion = Track Speed * (User Speed Expansion / 100.0) * Weather Index
Where:
Track Speed = The track speed as calculated by the system, in relation to the
User Speed Expansion = The expansion factor as set by the user.
Weather Index = The prevailing weather index, as calculated by the
For example, an expansion factor of 0.85 will increase the track speed from a
calm weather size of 0.35°s-1 to 0.38°-1 in 10° sea states.
For flexibility, the expansion factor may be positive or negative to allow the
speed to be decreased rather than increased, in adverse conditions. This is
not recommended.
The weather speed adjustment factor is accessed via the following keystroke
sequence M243.
4.1.2.4 Acquisition Menu

The acquisition menu allows the user access to the system acquisition
settings. The acquisition settings are used by the system to locate and lock
onto the desired satellite.
The acquisition menu is accessed via the following keystroke sequence M3.
4.1.2.4.1 Locking Parameters Menu

The locking menu allows the user access to the system locking settings. The
locking settings are generally best left to the control system to determine,
only in exceptional circumstances should the user alter the lock parameters.
Incorrectly, configured locking parameters will impair the systems
ability to find the satellite.
Software Reference
The locking menu is accessed via the following keystroke sequence M31.
4.1.2.4.1.1 Lock Window Size

The locking window size determines the peaking deflection angle the system
will adopt, in order to optimise the boresight calculation. The angle is
specified in degrees. For more details see section 3.1.7.3.2.2. In general the
system will calculated the angle required to produce 0.75dB of signal level
change, based on the dish size and down link frequency band.
The locking window size variable is accessed by typing M311.
4.1.2.4.1.2 Lock Window Speed

The locking window speed determines the velocity the antenna will move at
to trace the box pattern. The variable is specified in degrees per second. For
speed required, from the lock size, the antenna inertia and a table of
preferred values.
Typing M312 accesses the locking window speed variable.
4.1.2.4.2 Search Parameters Menu

The search menu allows the user access to the system search settings. The
search settings are generally best left to the control system to determine, only
in exceptional circumstances should the user alter the search parameters.
Incorrectly, configured search parameters will impair the systems ability
to find the satellite.
The search menu is accessed via the following keystroke sequence M32.
4.1.2.4.2.1 Search Window Size

The search window size determines the magnitude of the scan the system will
perform to locate the satellite. For more details see section 3.1.7.3.2.1. In
general, the system will calculated the angle required from the co-satellite
location spacing.
Typing M321 accesses the search window size variable.
4.1.2.4.2.2 Search Window Speed

The search window speed determines the velocity the antenna will move at to
trace the box pattern. The variable is specified in degrees per second. For
speed required, from the search size, the antenna inertia and a table of
preferred values.
Software Reference
Typing M322 accesses the search window speed variable.
4.1.2.4.3 Acquire Threshold

The acquire threshold is the level, the satellite feedback signal must rise
above, before the system recognises the presence of a satellite. The control
system will use the threshold, in conjunction with the automatic attenuation
feature, to control satellite acquisition. The threshold is normally only
required to be adjusted by the user, if an external AGC source is used. The
threshold is specified in percentage full scale. Adjusting the threshold
when the automatic attenuation feature is active may result in impaired
satellite acquisition. See section 3.1.7.2.2 for more details.
Typing M33 accesses the acquire threshold variable.
4.1.2.4.4 Automatic Acquire Angle Calculation

The automatic angle calculation flag determines whether the system will use
the vessel’s latitude, longitude, heading and the target satellite longitude to
calculate the acquisition angles. If the flag is disabled the user must enter
manual acquisition angles, this function is only useful for vessels which do
not move location regularly.
Typing M34 accesses the automatic angle calculation flag.
4.1.2.4.5 Manual Azimuth Angle

The manual azimuth angle is the angle, relative to true North, where the
satellite is located.
Typing M35 accesses the manual azimuth angle.
4.1.2.4.6 Manual Elevation Angle

The manual elevation angle is the angle, relative to the local horizon, where
the satellite is located.
Typing M36 accesses the manual elevation angle.
4.1.2.4.7 Manual Polarisation Angle

The manual polarisation angle is the angle, relative to the local horizon,
which the system must compensate for, to correct the satellite radiation
plane.
Typing M37 accesses the manual elevation angle.
Software Reference
4.1.2.4.8 Trim Parameters Menu

The trim menu allows the user to manipulate the satellite acquisition trim
parameters. The trim parameters correct for calibration inaccuracies in the
system sensor set-up. See section 3.1.7.2.3.2 for more details.
The trim menu is accessed via the following keystroke sequence M38.
4.1.2.4.8.1 Azimuth Trim Angle

The azimuth trim angle is the offset to be added to the theoretical azimuth
angle to locate the satellite.
The azimuth trim angle is accessed via the following keystroke sequence
M381.
4.1.2.4.8.2 Elevation Trim Angle

The elevation trim angle is the offset to be added to the theoretical elevation
angle to locate the satellite.
The elevation trim angle is accessed via the following keystroke sequence
M382.
4.1.2.4.8.3 Enable / Disable Automatic Trim Angles

The automatic trim flag enables, or disables, the use of the trim algorithm
when locating the satellite.
The automatic trim flag is accessed via the following keystroke sequence
M383.
4.1.2.4.8.4 Maximum Azimuth Trim Angle

The maximum azimuth trim angle, is the maximum offset, the system can
generate. The system determines the offset upon correct satellite acquisition.
If the angle determined is larger than the maximum offset, the angle will be
limited to the maximum trim angle. The offset must be set lowered than the
co-satellite longitude difference.
The maximum azimuth trim angle is accessed via the following keystroke
sequence M384.
4.1.2.4.8.6 Maximum Elevation Trim Angle

The maximum elevation trim angle, is the maximum offset, the system can
generate. The system determines the offset upon correct satellite acquisition.
Software Reference
If the angle determined is larger than the maximum offset, the angle will be
limited to the maximum trim angle.
The maximum elevation trim angle is accessed via the following keystroke
sequence M385.
Software Reference
4.1.2.4.8.7 Zero all Trim Angles

Selecting this option will set all calculated and user set trim angles to zero.
The system will then use the theoretical angles only to find the satellite.
The zero all trim angles option is accessed via the following keystroke
sequence M386.
4.1.2.5 Satellite Menu

The satellite menu allows the user access to set the target satellite
parameters. The menu includes options for inclined satellite operation, which
for the majority of systems will not be required. See section 3.1.6.1 for more
details on inclined satellites and section 3.1.7.2.3.1 for more details on
inclined satellite acquisition. For geostationary satellites the mean longitude
parameter and inclination only, is required. The mean longitude is the angle
measured from the International Date Line. For example, the orbital slot
owned by Intelsat at 328° East is entered as 32° west, while the 10° East
Eutelsat orbital slot is entered as 10° East. Generally most satellite orbits are
specified as either east or west of the International Date Line; or measured,
in the easterly direction, from the International Date Line.
The satellite menu is accessed via the following keystroke sequence M4.
4.1.2.5.1 Mean Longitude

The satellite mean longitude is the mean orbital location of the target satellite
and is specified in degrees. The system uses the satellite longitude in the
satellite acquisition routine, and in the polar skew calculations.
The satellite mean longitude is accessed via the following keystroke
sequence M41.
4.1.2.5.2 Inclination
The satellite inclination is the inclination of the target satellite and is specified
in degrees. Geostationary satellites require an inclination of zero. The system
uses the satellite inclination in the satellite acquisition routine, and in the
polar skew calculations.
The satellite inclination is accessed via the following keystroke sequence
M42.
4.1.2.5.3 Inclination Growth

The satellite inclination growth is the growth rate of the inclination of the
target satellite, and is specified in degrees per day. Geostationary satellites
require an inclination growth rate of zero. The system uses the satellite
Software Reference
inclination in the satellite acquisition routine, and in the polar skew

calculations.
The satellite inclination is accessed via the following keystroke sequence
M43.
4.1.2.5.4 Manoeuvre Constant

The manoeuvre constant, (Comsat constant), is specified by the satellite
operator, and is used in the satellite acquisition calculations.
The manoeuvre constant is accessed via the following keystroke sequence
M44.
4.1.2.5.5 Epoch Date

The epoch date is the date of the ascending node, and is used in the satellite
acquisition calculations. The epoch date is entered as DD:MM:YYYY, where:
DD is the date, 1 to 31.

MM is the month, 1 to 12.
YYYY is the year, any valid year.
The Epoch date may represent any valid date.

The epoch date is accessed via the following keystroke sequence M45.
4.1.2.5.6 Epoch Time

The epoch time is the time of the ascending node, and is used in the satellite
acquisition calculations. The epoch time is entered as HH:MM, in 24 hour
format, where:
HH is the hour, 0 to 23.

MM is the minute, 0 to 59.
The Epoch time may represent any valid time.

The epoch date is accessed via the following keystroke sequence M46.
4.1.2.6 Host Platform Menu

The host platform menu allows the user to alter the vessel’s position and
heading. The vessel position and heading is used in the acquisition
calculation, see section 3.1.7.2.3.
Software Reference
The host platform menu is accessed via the following keystroke sequence
M5.
4.1.2.6.1 Vessel Name

The vessel name sets the M&C prompt, so that the user knows the vessel’s
identification on remote login. The vessel name may be up to 20 characters
long, and may contain text, number and space characters.
The vessel name is accessed via the following keystroke sequence M51.
4.1.2.6.2 Longitude
The host vessel longitude is the current vessels position, entered as degrees
and minutes. If a location source is active, the system will refuse to allow the
longitude to be altered This is because there is a more reliable source of
information available.
The host vessel’s longitude is accessed via the following keystroke sequence
M52.
4.1.2.6.3 Latitude
The host vessel latitude is the current vessels position, entered as degrees
and minutes. If a location source is active, the system will refuse to allow the
latitude to be altered. This is because there is a more reliable source of
information available.
The host vessel’s latitude is accessed via the following keystroke sequence
M53.
4.1.2.6.4 Heading
The host vessel heading is the current vessels heading, entered as decimal
degrees. If an absolute heading source is active, the system will refuse to
allow the heading to be altered This is because there is a more reliable
source of information available. Note: not all sources of heading are absolute,
some are incremental, and require the initial heading angle to be entered.
The host vessel’s heading is accessed via the following keystroke sequence
M54.
4.1.2.7 System Mode Menu

The mode menu allows the operator to disengage the system’s automatic
operation cycle and manually control the terminal operation. See section
3.1.7.1.6 for a detailed description of each mode.
Software Reference
If the system is currently in track mode, attempting to enter a mode, which

would disengage track mode, and thus disrupt the communications link, is
queried before track mode is disengaged.
On selecting a new mode, the M&C terminal operation is changed to a
suitable real-time display for the selected mode.
The mode menu is accessed via the following keystroke sequence M6.
4.1.2.7.1 Balance
The balance mode command initiates the gimbal automatic balance routine.
The results of the balance routine are written to the system log, if the system
is equipped with active weights, the weights will be moved to balance the
terminal. The balance routine may only be performed in calm sea states, if
the weather is too rough, the system will not enter balance mode. If the
system is equipped with active weights, the software will attempt to balance
the terminal using up to five iterations, unless a suitable balance is achieved
in fewer stages. If the system is not equipped with balance weights, the
imbalance percentage is written to the system log. The imbalance directions
are illustrated below:
Move weight in these

directions to compensate for
positive imbalance
Software Reference
Balance mode also calculates the terminal inertia settings for all three gimbal
axis. The system will only calculate the inertia settings if the balance routine
indicates that the terminal is sufficiently balanced to produce accurate inertia
settings. On successful inertia calculation, the axis inertias are automatically
altered to the calculated value.
Balance mode is accessed via the following keystroke sequence M61.
4.1.2.7.2 Find
The find mode command initiates the normal automatic find, search, lock and
track cycle of operation. Find mode clears all previous satellite acquisition
information, calculates a new satellite vector and moves to that angle.
Find mode is accessed via the following keystroke sequence M62.
4.1.2.7.3 Track
The track mode command is used to manually bypass the find and search
sequence. If the AGC value is above the threshold value the system will enter
lock mode and, on successful completion of lock mode, enter track mode. If
the AGC is below the threshold value, the system will initiate the normal find,
search, lock and track cycle of operation. The track mode command is usually
used in conjunction with manual mode, to initially find the satellite, and then
track mode is used to lock onto the satellite.
Track mode is accessed via the following keystroke sequence M63.
4.1.2.7.4 Manual
The manual mode command sets the terminal into a mode of operation where
the user can position the antenna using, the cursor keys in the M&C console,
and the arrow keys on the front panel. Manual mode is used to test the
system operation, and may also be used to manually find the satellite, before
track mode is engaged. The following keys may be used, in manual mode:
Front Panel Control.

Yes Track
Ent er 7 8 9
Main No
Prev 4 5 6 Manual
+/ - 0 1 2 3 Aux
Moves the terminal left by 0.1°.
Moves the terminal right by 0.1°.
Moves the terminal up by 0.1°.
Moves the terminal down by 0.1°.
Software Reference
Holding a direction key down produces slow movements, medium

movements, and then rapid movements, with several seconds delay between
rates. This allows the antenna to be quickly and accurately positioned.
Monitor and Control Console Manual Keys.
w Move the terminal up 0.1°.

y Move the terminal down 0.1°.
z Move the terminal left 0.1°.
x Move the terminal right 0.1°.
Rotate the antenna clockwise 0.1°.
Rotate the antenna counter clockwise 0.1°.
? Displays help prompt.
Manual mode is accessed via the following keystroke sequence M64.
4.1.2.7.5 Diagnostics
The diagnostics mode command sets the terminal into a mode of operation
where the user can test the operation of the antenna. Diagnostic mode is
used to verify the system integrity.
4.1.2.7.5.1 Front Panel Control Keys

Front Panel Diagnostic Control.
Yes Track
Ent er 7 8 9
Main No
Prev 4 5 6 Manual
+/ - 0 1 2 3 Aux
There are no facilities for controlling the terminal in diagnostics mode using
the front panel.
Monitor and Control Console Diagnostic Keys.
4.1.2.7.5.2 Monitor and Control Console Antenna Control Keys.

A Selects azimuth as the active axis.
E Selects elevation as the active axis.
P Selects polarisation as the active axis.
Increase the applied demand level to the active axis.
Decrease the applied demand level to the active axis.
Software Reference
g Apply full positive demand.

d Apply full negative demand.
C Toggle coarse azimuth motion.
H Toggle feed motion.
Z Emergency stop.
4.1.2.7.5.2.1 Active Weight Control Keys.

Top to bottom weight.
U Move the weight up.
D Move the weight down.
Front to back weight.

F Move the weight forward.
B Move the weight backward.
Left to right weight.

L Move the weight left.
R Move the weight right.
? Displays help prompt.
Operation of the antenna in diagnostic mode is performed one axis at a time.

To control the antenna, select the desired axis by pressing A, E or P
respectively. To move the antenna press the g key, to reverse the direction
press the d key. To stop the antenna, press the Z key. The demand may also
be increased incrementally, by pressing the key and decreased
incrementally using the key. Z stops all the motors.
The coarse azimuth and feed are operated by pressing the C and H key
respectively. The direction of travel for each motor is toggled through
clockwise, counter clockwise and no motion with each press of the key.
4.1.2.7.5.3 Real time screen

Diagnostic mode shares a real time screen with monitor mode, a sample
display is shown below. This display provides help to the user in diagnosing
any faults in the system.
Software Reference
Caution: Only use this mode where visual contact with the antenna is
possible.
Software Reference
Spacetrack 4000 Mar 30 1999 12:44:44 - No Config
Mode Diagnostics Modem CD Present

Time 16:20:24 AGC 0.0
Min Mean Max Noise Error

Az Pot 624 624 625 1 -0112
El Pot 586 586 586 0 0182
Pz Pot 698 698 698 0 -0186
Fd Pot 558 558 558 0 -0046
Caz Pot 527 527 527 0 -0527
Az RS 471 472 472 1 0040

El RS 499 499 500 1 0013
Pz RS 581 581 582 1 -0069
AGC 28 30 33 5
Pitch 518 518 519 1 -0006
Roll 502 503 503 1 0009
* Az Demand 000 BDU ADU

El Demand 000 Correct 095 Correct 054
Pz Demand 000 Incorrect 000 HW Error 000
Caz Demand OFF CRC Errors 000 SW Error 000
Fd Demand OFF Frames Started 095
The realtime display shows the following information:

· sensor information from the ADU - readings, noise levels and calibration
information
· comms link statistics
· gimbal motor demands – which may be changed by the user. This
function should only be used while the user is in the radome.
· coarse azimuth and feed motor status – which may be altered by the user.
4.1.2.7.5.3.1 Sensor Information

The Main part of the screen is taken up with displaying information on the ten
sensors contained within the system and the AGC.
· Az Pot - The fine azimuth motor potentiometer reading.
· El Pot - The elevation motor potentiometer reading.
· Pz Pot - The polarisation motor potentiometer reading.
· Az RS – The azimuth velocity sensor reading.
· El RS – The elevation velocity sensor reading.
· Pz RS – The polarisation velocity sensor reading.
· Pitch – The pitch inclinometer reading.
Software Reference
· Roll – The roll inclinometer reading.

· AGC – The AGC signal reading of selected AGC source.
· Coarse Az – The coarse azimuth ADT reading
· Feed – The feed potentiometer reading
For each sensor, there are five columns of information

· Min – The minimum reading observed during one second. This reading is
a digital count generated by the A/D converter.
· Mean – The mean signal observed during one second. This reading is a
digital count generated by the A/D converter.
· Max – The maximum signal reading observed during one second. This
reading is a digital count generated by the bit A/D converter.
· Noise - The difference between the Min and Max readings. An indication
of sensor noise.
· Error - The information displayed in this column depends on the sensor.
· Potentiometers and Coarse Azimuth ADT - For these, the information
in this column may be used for calibration. It shows the difference
between the signal received and the calibration reference point for the
potentiometer. The Measurements are in counts.
· Velocity Sensors - For the three velocity sensors, the information is
proportional to the velocity output of the sensor on its axis.
· AGC Signal - For the AGC signal, the information in this column is a
reading corresponding to the signal variation received by the active
AGC source. This may be used to optimise the tracking performance.
4.1.2.7.5.3.2 Communication Link Information

This gives the following statistics about the packets of information received
by the BDU from the ADU.
· Correct - The total number of packets of information received, and having
passed the CRC error check every second. This should be around 95.
· Incorrect - The total number of packets of information received incorrectly,
every second. This should be zero.
· CRC Incorrect - The total number of packets of information received
correctly by the system, but failing the CRC error check, every second.
This should be zero.
· Frames Started - The total number of packet preamble sequencers that
have been received. This should be approximately the same as the
Correct value.
Software Reference
4.1.2.7.5.3.3 Gimbal Motor Demands

Using diagnostic mode, a constant torque may be applied to any gimbal axis.
This demand value is normally 0 (no torque), but can be varied from 100 (full
torque clockwise) to –100 (full torque counter clockwise). This function
should only be used when visual contact with the system is possible.
To change the demand,
1. Press the key indicated by the first letter of the motor you require (i.e. A -
Azimuth, E -Elevation, or P - Polarisation). An asterisk will appear next to
the motor you have selected.
2. The following keys can now be used to change the demand
· , keys change the demand in single steps up or down
· g and d keys change the demand to -100% or +100%
3. To zero all the motor demands simultaneously, press Z.
Do not leave motor demands at a non-zero value for any length of time. The
motor will continue to drive, even when physically restrained by the
mechanics. This will cause overheating and possible damage to the motor.
The status shown on the display is the demand the BDU is instructing the
ADU to apply. The status displayed may not be the same as the demand that
is being applied; as would be the case if a motor amplifier were faulty.
4.1.2.7.5.3.4 Coarse Azimuth and Feed Motor Status

The coarse azimuth and feed motors can be moved using the diagnostic
program.
These motors can be in one of three states
· ON in a clockwise direction
· ON in a counter clockwise direction
· OFF
The state is indicated on the display by CW (clockwise) or CCW (counter
clockwise) following the motor name.
The motor is stepped through these three states by pressing the key
indicated by the first letter of the name for the motor (i.e. C -coarse azimuth,
F -feed)
The status shown on the display is what the demand the BDU is instructing
the ADU to apply. The status displayed may not be the same as the demand
that is being applied; as would be the case if a motor amplifier were faulty.
Diagnostic mode is accessed via the following keystroke sequence M65.
Software Reference
4.1.2.7.6 Monitor
Monitor mode may be used to diagnose system faults, while the control
system operates normally, in essence monitor mode supervises the mode
that was active before the system mode was changed to monitor. For
example, if the system was tracking, and the user changed the mode to
monitor, the system will continue to track the satellite. All normal tracking
action sequences will still be valid. Monitor mode shows the same real time
screen as diagnostics mode, with the exception that, user control of the
motors is not permitted.
Monitor mode is accessed via the following keystroke sequence M66.
4.1.2.7.7 Hardware Reboot

The hardware reboot function restarts the control system, and is equivalent to
a power cycle. If the user wishes to restart the control system, the hardware
reboot option is the preferred manner, rather than disconnecting the power
inlet.
The hardware reboot function is accessed via the following keystroke
sequence M66.
4.1.2.8 M&C Console Menu

The M&C console menu is designed to allow access to the parameters which
relate to the console communication parameters, and to other console
orientated functions.
The monitor and control menu is accessed via the following keystroke
sequence M7.
4.1.2.8.1 Auxiliary Serial Port Menu

The auxiliary serial port menu sets the communications parameters for the
auxiliary serial port and allows the user to access the port and the attached
equipment. See section 3.1.7.7 for a detailed description of the auxiliary
serial port.
The auxiliary serial port menu is accessed via the following keystroke
sequence M70.
4.1.2.8.1.1 Baud Rate

The baud rate menu allows the user to select the auxiliary serial port baud
rate. Typing M701 accesses the baud rate menu.
Software Reference
4.1.2.8.1.1.1 300 Baud

Set the auxiliary serial port data rate to 300 Baud.
Typing M7011 accesses the 300 baud rate option.
4.1.2.8.1.1.2 1200 Baud

4.1.2.8.1.1.3 2400 Baud

4.1.2.8.1.1.4 4800 Baud

4.1.2.8.1.1.5 9600 Baud

4.1.2.8.1.1.6 19200 Baud

4.1.2.8.1.2 Data Length

The data length menu allows the user to select the auxiliary serial port data
length. Typing M702 accesses the auxiliary serial port data length menu.
4.1.2.8.1.2.1 7 Data Bits

Set the auxiliary serial port data length to 7 bits.
Typing M7021 accesses the 7 bit data length option.
Software Reference
4.1.2.8.1.2.2 8 Data Bits

Set the auxiliary serial port data length to 8 bits.
4.1.2.8.1.3 Stop Bits

The stop bits menu allows the user to select the auxiliary serial port stop bit
configuration. Typing M703 accesses the auxiliary serial port stop bit menu.
4.1.2.8.1.3.1 1 Stop Bits

Set the auxiliary serial port stop bits to 1 bit.
Typing M7031 accesses the 1 stop bit option.
4.1.2.8.1.3.2 2 Stop Bits

Set the auxiliary serial port stop bits to 2 bits.
Typing M7032 accesses the 2 stop bits option.
4.1.2.8.1.4 Parity Bits

The parity bits menu allows the user to select the auxiliary serial port parity
bit configuration. Typing M704 accesses the auxiliary serial port parity bit
menu.
4.1.2.8.1.4.1 No Parity
Set the auxiliary serial port parity setting to none.
Typing M7041 accesses the no parity bits option.
4.1.2.8.1.4.2 Even Parity

Set the auxiliary serial port parity setting to even.
Typing M7042 accesses the even parity bits option.
4.1.2.8.1.4.3 Odd Parity

Set the auxiliary serial port parity setting to odd.
Software Reference
Typing M7043 accesses the odd parity bits option.
Software Reference
4.1.2.8.1.5 Open Serial Port

Selecting the open auxiliary serial port activates the auxiliary serial port mode
of operation. All characters typed at the M&C console will be passed directly
to the auxiliary serial port, while any characters received by the auxiliary
serial port will be displayed by the M&C console. To close the auxiliary serial
port type !!!.
The auxiliary serial port has a 2Kbyte receive buffer and a 80 byte transmit
buffer. The buffers may be used to compensate for baud rate differences
between the M&C console and the auxiliary serial port. If the data rates and
throughputs are different by a significant amount, buffer overruns will occur.
Any overrun characters will be ignored.
Typing M705 opens the auxiliary serial port.
4.1.2.8.2 Realtime Status Display

The real time status display is the main information screen available to the
user. The real time display may display three levels of information, basic,
advanced and configuration. Each level is accessed in turn by pressing the f
key.
4.1.2.8.2.1 Basic Real Time Status Display

A sample basic real time screen is shown below:
Spacetrack 4000 Mar 30 1999 12:44:44 – DMS Test System
Mode Search Modem CD Present

Time 15:21:47 AGC 0.1
Inertial Position Vessel

Az 219.16 Pitch 0.24
El 20.68 Roll 0.08
Pz -0.02 LAT 55.00 N
LNG 0.06 E
Satellite Heading 304.00
LNG 32.00 W
The display shows the following information.

· Mode – The current system mode, see section 3.1.7.1.5.
· Time – The current system time
· AGC – The satellite feedback level, see section 3.1.7.2.1.
· Modem CD – The state of the modem demodulator locked signal,
see section 3.1.7.2.3.3. The modem CD may have three states:
I. Present – The modem is locked to the far end.
II. Absent – The modem is not synchronised, the system may
not be tracking the correct satellite.
Software Reference
III. Disabled – The modem CD function is disabled within the

control system.
· Inertial Position – The current antenna pointing angle, see section
3.1.7.1.2 for more details.
I. AZ – The azimuth axis angle, relative to true north.
II. EL – The elevation angle relative to the local horizon.
III. PZ – The polarisation angle relative to the local horizon.
· Satellite – The target satellite data.
I. LNG – The mean satellite longitude, see section 3.1.7.2.3.
· Vessel – The host vessel’s data.
I. Pitch – The instantaneous pitch angle of the vessel, see
section 3.1.7.1.1 for more details.
II. Roll – The instantaneous roll angle of the vessel, see section
3.1.7.1.1 for more details.
III. LAT – The latitude of the vessel as entered by the user or as
indicated by the location source.
IV. LNG – The longitude of the vessel as entered by the user or
as indicated by the location source.
V. Heading – The heading of the vessel as entered by the user
or as indicated by the heading source.
4.1.2.8.2.2 Advanced Real Time Status Display

The advanced real time screen is accessed by typing M71ff. An example
advanced real time display is shown below:

Time 15:24:12 AGC 0.1
Inertial Position ADT Position Vessel

Az 219.60 Az 219.58 Pitch 0.16
El 21.11 El 21.08 Roll 0.08
Pz 0.02 Pz -0.01 LAT 55.00 N
LNG 0.06 E
Satellite Heading 304.00
LNG 32.00 W
Torque Error DC Offset

AZ 038 AZ -0.10 AZ -0.04
EL 030 EL 0.02 EL 0.23
PZ -015 PZ -0.02 PZ -0.23
Imbalance
AZ -19.81
EL -0.27
PZ 1.90
Software Reference
The advanced real time screen displays the same information as the basic
display with the additional information.
· Torque – The instantaneous torque demand value, scaled from –

100% to +100% of full torque.
I. AZ – The azimuth torque.
II. EL – The elevation torque.
III. PZ – The polarisation torque.
· Error – The instantaneous error, scaled in degrees. The error is an
indication of the difference between the current axis position and
the desired axis position.
I. AZ – The azimuth error.
II. EL – The elevation error.
III. PZ – The polarisation error.
· DC Offset – The instantaneous d.c. offset of the velocity sensors.
I. AZ – The azimuth velocity sensor dc offset.
II. EL – The elevation velocity sensor dc offset.
III. PZ – The polarisation velocity sensor dc offset.
· Imbalance – The instantaneous axis imbalance as calculated by
the system for the current angle of operation, in percentage. This
information may be used to balance the terminal manually at the
angle of operation.
I. AZ – The azimuth imbalance.
II. EL – The elevation imbalance.
III. PZ – The polarisation imbalance.
4.1.2.8.2.3 Configuration Real Time Status Display

The configuration real time screen is accessed by typing M71fff. An example
configuration real time display is shown below:

Time 15:25:52 AGC 0.1
AGC Statistics
Availability 13.2 %
Last Signal Loss 13:02:28 Thursday April 08 at 254.76 32.39
Acquire Trim Angles Automatic Configuration

Az 2.00 System Enabled
El -0.23 Heading Enabled
GPS Enabled
Software Reference
Weather Track Parameters Enabled

Index 0.08 Lock Parameters Enabled
Maximum Rate 0.02 Search Parameters Enabled
Track Size 0.13 Inertia Enabled
Track Speed 0.35 Filters Enabled
Attenuation Enabled
The configuration real time screen displays the following additional

information:
· AGC Statistics – Information relating to the systems tracking
performance.
I. Availability - The availability is calculated as the follows:
Total seconds tracking

System tracking percentage = x 100
Total seconds active
II. Last signal loss – The date and time the system last tracked
the satellite. The azimuth and elevation angles the satellite
was located at are also displayed.
· Acquire Trim Angles – The trim angle section displays the
difference between the calculated satellite angle and the angle at
which the satellite was located. The trim angles are an indication of
the accuracy to which the system has been calibrated. See section
3.1.7.2.3.2 for a detailed description of the trim angle function.
I. AZ – The azimuth trim angle.
II. EL – The elevation trim angle.
· Weather – The weather section displays the prevailing weather
conditions. For more details see section 4.1.2.3.4.
I. Index – The weather index is an indication of the vessels
motion, and is used to tune the control loop to the sea state.
II. Maximum Rate – The maximum rate is an indication of the
rate of change in pitch and roll. The maximum rate is used to
tune the control loop to the sea state.
III. Track Size – The track size is the currently active tracking
scan size as calculated by the control system in sympathy
with the sea state. This parameter is only valid if the weather
parameter adjustment flag is enabled, see section 4.1.2.3.4.1.
IV. Track Speed – The track speed is the currently active
tracking scan velocity as calculated by the control system in
sympathy with the sea state. This parameter is only valid if
the weather parameter adjustment flag is enabled, see
section 4.1.2.3.4.1.
Software Reference
· Automatic Configuration – The automatic configuration section

displays the state of the automatic parameter configuration flags.
See section 4.1.2.2.1.
I. System – The global system configuration flag, see section
4.1.2.2.1.1.
II. Heading – The heading configuration flag, see section
4.1.2.2.1.2.
III. Location – The location configuration flag, see section
4.1.2.2.1.3.
IV. Track parameters – The track parameters configuration flag,
see section 4.1.2.2.1.4.
V. Lock parameters – The lock parameters configuration flag,
see section 4.1.2.2.1.5.
VI. Search parameters – The search parameters configuration
flag, see section 4.1.2.2.1.6.
VII. Inertia – The inertia configuration flag, see section
4.1.2.2.1.7.
VIII. Filters – The filters configuration flag, see section 4.1.2.2.1.8.
IX. Attenuation – The auto attenuation configuration flag, see
section 4.1.2.2.2.1.3 and section 4.1.2.2.2.2.3.
4.1.2.8.3 Realtime Error Display

The real time error display shows any errors that may be active. The screen
is updated at the rate set by the update rate variable, see section 4.1.2.8.4.
For an explanation of the error messages that may be displayed, see section
3.4.1.
The real time error display is accessed via the following keystroke sequence
M72.
4.1.2.8.4 Update Rate

The update rate option determines the number of screen updates, per
second, that will be performed. This option is used to match the update time
required to the transfer rate of the M&C link. Low baud rates require a long
time to transfer a screen full of information, therefore, the update rate must be
set low enough to allow a full screen to be transferred. The default value is
one screen of information a second, the update rate is specified in screens
per second.
The update rate variable is accessed via the following keystroke sequence
M73.
Software Reference
4.1.2.8.5 Parameters Menu

The parameter menu sets the communications parameters for the M&C serial
port. The M&C port allows the user to access the extended features of the
control system.
The parameters menu is accessed via the following keystroke sequence M74.
4.1.2.8.5.1 Baud Rate

The baud rate menu allows the user to select the M&C serial port baud rate.
Typing M741 accesses the M&C baud rate menu.
4.1.2.8.5.1.1 300 Baud

Set the M&C serial port data rate to 300 Baud.
4.1.2.8.5.1.2 1200 Baud

4.1.2.8.5.1.3 2400 Baud

4.1.2.8.5.1.4 4800 Baud

4.1.2.8.5.1.5 9600 Baud

4.1.2.8.5.1.6 19200 Baud

Software Reference
Software Reference
4.1.2.8.5.2 Data Length

The data length menu allows the user to select the M&C port data length.
Typing M742 accesses the M&C port data length menu.
4.1.2.8.5.2.1 7 Data Bits

Set the M&C serial port data length to 7 bits.
4.1.2.8.5.2.2 8 Data Bits

Set the M&C serial port data length to 8 bits.
4.1.2.8.5.3 Stop Bits

The stop bits menu allows the user to select the M&C serial port stop bit
configuration. Typing M743 accesses the M&C serial port stop bit menu.
4.1.2.8.5.3.1 1 Stop Bits

Set the M&C serial port stop bits to 1 bit.
4.1.2.8.5.3.2 2 Stop Bits

Set the M&C serial port stop bits to 2 bits.
4.1.2.8.5.4 Parity Bits

The parity bits menu allows the user to select the M&C serial port parity bit
configuration. Typing M744 accesses the M&C serial port stop bit menu.
4.1.2.8.5.4.1 No Parity
Set the M&C serial port parity setting to none.
Typing M7441 accesses the no parity bits option.
Software Reference
4.1.2.8.5.4.2 Even Parity

Set the M&C serial port parity setting to even.
Typing M7442 accesses the even parity bits option.
4.1.2.8.5.4.3 Odd Parity

Set the M&C serial port parity setting to even.
Typing M7443 accesses the odd parity bits option.
4.1.2.8.5.5 ANSI Terminal

The ANSI flag enables, or disables, use of ANSI control codes in the M&C
console. If the M&C terminal flag is disabled, the user will not be able to
correct typing errors; the real time display options will also be invalid. It is not
recommended to use a non ANSI terminal to access the M&C console port.
The ANSI terminal flag is accessed via the following keystroke sequence
M745.
4.1.2.8.6 System Log Menu

The system log menu allows the user access to the system log. The system
log is used to automatically record events and errors. See section 3.1.7.6 for
a detailed examination of the system log.
The system log menu is accessed via the following keystroke sequence M75.
4.1.2.8.6.1 View Log

The view log menu option allows the user access to the system log.
The view log function lists a screen of log entries, if the log contains more
than one screen worth of information, the console will display a MORE prompt.
Pressing any key at the MORE prompt will display the next screen of
information. Each entry is stamped with the time and date the event occurred.
The view log option is accessed via the following keystroke sequence M751.
4.1.2.8.6.2 Download Log

The download log menu option allows the user access to the system log.
The download log option will continuously display log entries, until the entire
log has been displayed. The information will not be paging. The download
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option is useful for transferring the log to a disk file on the M&C console. To
download the log to a disk file, start the console capture option then select
download log from the menu option, close the capture file when the entire log
has been displayed. Each entry is stamped with the time and date the event
occurred.
The view log option is accessed via the following keystroke sequence M752.
4.1.2.8.6.3 Clear Log

The clear log option allows the user clear the system log. The log is only
cleared after the user confirms the action. Clearing the log is not reversible.
The clear log option is accessed via the following keystroke sequence M753.
4.1.2.8.7 Password
The password menu allows the user to change or disable the password
protection feature for the M&C console.
The Password menu is accessed via the following keystroke sequence M76.
4.1.2.8.7.1 Change Password

The change password option allows the user to change the password for the
M&C console. The default password is FACTORYkSETUP, the password is
case sensitive. All characters in the default password are in upper case
letters. The password can comprise of any letter or number character, and
may contain up to 15 characters.
The Change Password option is accessed via the following keystroke
sequence M761.
4.1.2.8.7.2 Enable / Disable Password

The enable password flag allows the user to enable, or disable, the password
protection feature of the M&C console. The default setting is enabled, the
password should only be disabled in secure environments.
The Password Enable flag is accessed via the following keystroke sequence
M762.
4.1.2.8.8 Download Menu

The download menu may be used to download new control software. The
download menu may also be used to upload or download the system
configuration.
The download menu is accessed via the following keystroke sequence M77.
Software Reference
Software Reference
4.1.2.8.8.1 Inactive Bank Status

The inactive bank status option may be used to determine whether the
inactive code bank contains code. To determine whether the inactive bank
contains code, the software compares the bank key code against the bank
contents. If the inactive bank does not contain code, the user will be unable
to activate the bank.
The inactive bank status is accessed via the following keystroke sequence
M771.
4.1.2.8.8.2 Download to Inactive Bank

The download to inactive bank function may be used to load new control
software into the module. The software is transferred using the XMODEM
protocol.
To transfer new software to the module, select the download to inactive bank
option, then start the XMODEM transfer from the M&C console. When the
transfer has been completed, the user will be prompted for the bank key
code. The bank keycode is distributed on the disk cover and takes the form:
0xXXXX:XXXXX
The software will then check the keycode against the memory contents to
ensure that an error free transfer has occurred, and to ensure that the
downloaded code is valid. The console will issue a message stating that the
downloaded code is either corrupted, or indicating that a successful
download has been achieved.
The download function is accessed via the following keystroke sequence
M772.
4.1.2.8.8.3 Activate Inactive Bank

The activate inactive bank functions verifies the inactive bank status, and if
valid, the code banks are swapped so that the inactive bank becomes the
active bank. The previously active bank is designated as the inactive bank.
WARNING - Activating the inactive bank while the system is tracking will
result in a loss of the communication link.
The activate inactive bank function is accessed via the following keystroke
sequence M773.
4.1.2.8.8.4 Enter Inactive Bank Keycode

The inactive bank keycode is a verification sequence that is used to verify
that the memory contents contain valid code instructions. The bank keycode
is distributed on the disk cover and takes the form:
Software Reference
0xXXXX:XXXXX
The software will check the keycode against the memory contents to ensure
that an error free transfer has occurred, and to ensure that the downloaded
code is valid. The console will issue a message stating that the downloaded
code is either corrupt or indicating that a successful download has been
achieved.
The inactive bank keycode is accessed via the following keystroke sequence
M774.
4.1.2.8.8.5 Parameters Menu

The parameters menu may be used to upload or download the system
configuration. This function is used for rapid module configuration, and for
backing up the system configuration. A configuration upload should always
be performed after the system has been commissioned. The configuration
should be stored in a secure location, this will ease the system support
function considerably.
The parameters menu is accessed via the following keystroke sequence
M775.
4.1.2.8.8.5.1 Download Parameters File

The download parameters file option may be used to configure the system
using a parameter file. The system configuration file must be generated either
previously in the system to be configured, or via another control module. The
configuration file contains the entire module set up, which when activated will
characterise the control module. To activate the parameters see section
4.1.2.8.8.5.3.
To configure the system, select the download parameters file option from the
menu, then start a text file download operation from the M&C console. The
system will automatically control the download process and when complete, a
status report will be issued stating the number of parameters parsed and the
number of parameters that were unrecognised. The system will only accept
the download if all parameters were accepted.
The download parameters file option is accessed via the following keystroke
sequence M7751.
4.1.2.8.8.5.2 Upload Parameters File

The upload parameters file option may be used to obtain a system
configuration report. To obtain the system configuration, select text capture to
file in the M&C console, and then select the upload parameter file from the
menu. When the entire configuration has been sent, close the capture file in
the M&C console.
Software Reference
The download parameters file option is accessed via the following keystroke
sequence M7752.
4.1.2.8.8.5.3 Activate Downloaded Parameters

The activate downloaded parameters may be used to activate a parameter
configuration file that has been previously downloaded. If a complete
parameter file is located in memory, the module configuration will be changed
to match the configuration file.
WARNING – A loss of the communication link may result, if the
parameters downloaded are incompatible with the system’s current
physical configuration.
The activate download parameters file option is accessed via the following
4.1.2.8.8.5.4 Load Default Parameters

The load default parameters may be used to reset the module configuration
to the factory default settings.
WARNING – A loss of the communication link will result, if the load
default parameters option is selected while the system is tracking.
The load default parameters option is accessed via the following keystroke
sequence M7754.
4.1.2.8.8.5.5 Clear Module History

The clear module history option may be used to reconfigure the BIOS storage
to enable the control module to be used in another application. The control
module is a generic product which may be used in several different
applications.
WARNING – Clearing the module history will result in a parameter
default the next time the module is rebooted.
The clear module history option is accessed via the following keystroke
sequence M7755.
4.1.2.8.9 Lock out front panel

The lock out front panel flag may be used to disable the front panel, such that
remote access is the only means of controlling the system. This function may
be used where the control module is stored in a non secure location, and
where unauthorised access may cause communication link disruption. The
front panel may also be locked to prevent the remote console from being
Software Reference
logged out, when a front panel key is pressed, This may be necessary for
remote operation in some environments.
The lock out front panel flag is accessed via the following keystroke
sequence M78.
4.1.2.9 Servo Menu

The servo menu allows the user access to the servo loop tuning variables.
The servo options allow considerable system characterisation, and
should only be used by personnel, who have an in-depth knowledge of
the tracking system, and who understand the principles of control
engineering.
The servo menu is accessed via the following keystroke sequence M8.
4.1.2.9.1 Inertias Menu

The inertia menu allows the system inertias to be altered. The inertias are an
indication of the inertia of each axis, and are mainly used to scale the
demand torque. See section 3.1.7.1.5 for a detailed description of the inertia
parameters.
The inertia menu is accessed via the following keystroke sequence M81.
4.1.2.9.1.1 Azimuth Inertia

The azimuth inertia option configures the inertia setting for the azimuth axis.
The azimuth inertia option is accessed via the following keystroke sequence
M811.
4.1.2.9.1.2 Elevation Inertia

The elevation inertia option configures the inertia setting for the elevation
axis.
The elevation inertia option is accessed via the following keystroke sequence
M812.
4.1.2.9.1.3 Polarisation Inertia

The polarisation inertia option configures the inertia setting for the
polarisation axis.
The polarisation inertia option is accessed via the following keystroke
sequence M813.
Software Reference
4.1.2.9.1.4 Clear Balance Inertias

The Clear Balance Inertia function nullifies the result of the balance routine. If
the system calculated the axis inertia during a balance operation, the results
from the routine will be used as the inertia settings, either, until the user
manually alters the inertias, or until the balance results are cleared.
The Clear Balance Inertia function is accessed via the following keystroke
sequence M814.
4.1.2.9.2 Compensation Menu

The compensation menu may be used to tune the torque and velocity sensor
loop. The loop compensation parameters consist of the filter tap length and
the filter 3dB cut off frequency. See section 3.1.7.1.3.1 and section
3.1.7.1.3.2 for a detailed description.
The compensation menu is accessed via the following keystroke sequence
M82.
4.1.2.9.2.1 Torque Filter Corner Frequency

The Torque Filter Corner Frequency sets the torque loop, output filter 3dB cut
off frequency, which modifies the filter’s amplitude response.
The Torque Filter Corner Frequency option is accessed via the following
4.1.2.9.2.2 Torque Filter Taps

The Torque Filter Taps sets the torque loop, output filter tap length, which
modifies the filter’s phase response.
The Torque Filter Taps option is accessed via the following keystroke
sequence M822.
4.1.2.9.2.3 Enable / Disable Torque Filter

The torque filter flag enables, or disables, the torque loop filter.
The torque filter flag is accessed via the following keystroke sequence M823.
4.1.2.9.2.4 Velocity Filter Corner Frequency

The Velocity Filter Corner Frequency sets the velocity loop, input filter 3dB
cut off frequency, which modifies the filter’s amplitude response.
Software Reference
The Velocity Filter Corner Frequency option is accessed via the following
4.1.2.9.2.5 Velocity Filter Taps

The Velocity Filter Taps sets the velocity loop, input filter tap length, which
modifies the filter’s phase response.
The velocity Filter Taps option is accessed via the following keystroke
sequence M825.
4.1.2.9.2.6 Enable / Disable Velocity Filter

The velocity filter flag enables, or disables, the velocity loop filter.
The velocity filter flag is accessed via the following keystroke sequence
M826.
4.1.2.9.3 PID Ratios

The PID ratio menu may be used to alter the servo loop PID ratios. This
menu should only be used by personnel who have control engineering
experience. The PID loop parameters are usually set by the control system,
in sympathy, to the mechanical arrangement. See section 3.1.7.1.3.1.1 for
more details.
The PID menu is accessed via the following keystroke sequence M83.
4.1.2.9.3.1 Proportional
The proportional option may be used to set the proportional error term
contribution to the torque demand signal.
The proportional option is accessed via the following keystroke sequence
M831.
4.1.2.9.3.2 Integral
The integral option may be used to set the integral error term contribution to
the torque demand signal.
The integral option is accessed via the following keystroke sequence M832.
4.1.2.9.3.3 Differential
The differential option may be used to set the differential error term
contribution to the torque demand signal.
Software Reference
The differential option is accessed via the following keystroke sequence

M833.
4.1.2.10 Log Out

The log out option allows the user to close the M&C interface. To access the
M&C interface the user must then, renter the console password. The log out
sequence should always be performed when the user has completed all M&C
console options.
The log out option is accessed via the following keystroke sequence M9.
4.1.3 BIOS Menus

The BIOS interface is a menu system, which allows the control module to be
loaded with application software, which is required to provide the desired
functionality, such as a control module for the Spacetrack series of satellite
tracking terminals. The control module is a generic product, which may be
used for a variety of applications.
The control module consists of a dual code bank arrangement where one
bank may be used to hold the currently operational software. The inactive
bank may be then loaded with, either data, a different application’s code, or a
spare copy of the operational code. The spare bank may be configured while
the operational bank is active, if the operational banks software supports this
functionality. This allows the module to be configured in the field without loss
of service.
The BIOS is primarily used to configure the module during manufacture. The
BIOS may also be used to configure the module for use in another
application.
The BIOS menu options are designed to allow the bank structures to be
modified and the boot, (operational), bank determined.
The BIOS version, build date and hardware status may be obtained by
pressing the V key.
In normal operation, the user will never be required to operate the BIOS.
4.1.3.1 Download to bank 1

The download to bank one function may be used to load new control software
into the module. The software is transferred using the XMODEM protocol.
To transfer new software to the module, select the download to bank one
option, then start the XMODEM transfer from the M&C console. The
download process is controlled by the BIOS and is fully automated with the
M&C console software.
Once the code has been downloaded, the user must enter the keycode to
activate the bank. See section 4.1.3.2 for details.
Software Reference
4.1.3.2 Enter bank 1 keycode

The bank keycode is a verification sequence, which is used to verify that the
memory contents of bank one contain valid code instructions. The bank
keycode is distributed on the disk cover and takes the form:
0xXXXX:XXXXX
code is either corrupted, or indicating that a successful download has been
achieved.
4.1.3.3 Download to bank 2

The download to bank two function may be used to load new control software
into the module. The software is transferred using the XMODEM protocol.
To transfer new software to the module, select the download to bank two
option, then start the XMODEM transfer from the M&C console. The
download process is controlled by the BIOS and is fully automated with the
M&C console software.
Once the code has been downloaded, the user must enter the keycode to
activate the bank. See section 4.1.3.4 for details.
4.1.3.4 Enter bank 2 keycode

The bank keycode is a verification sequence, which is used to verify that the
memory contents of bank two contain valid code instructions. The bank
keycode is distributed on the disk cover and takes the form:
0xXXXX:XXXXX
code is either corrupted, or indicating that a successful download has been
achieved.
4.1.3.5 Mark bank 1 active

The Mark Bank One Active option is used to indicate that bank one should be
used as the boot bank. The bank contents are verified, upon system boot,
and if valid, the bank will be activated. If the bank is corrupt, the BIOS
interface will be activated. Only activate a bank, which has been validated,
via the bank keycode.
Software Reference
4.1.3.6 Mark bank 2 active

The Mark Bank Two Active option is used to indicate that bank two should be
used as the boot bank. The bank contents are verified, upon system boot,
and if valid, the bank will be activated. If the bank is corrupt, the BIOS
interface will be activated. Only activate a bank, which has been validated,
via the bank keycode.
4.1.3.7 Start active bank

The start active bank function verifies the bank that is marked as active, and
if valid, activates the bank. The BIOS software will be unloaded, and the code
in the bank is executed.
4.1.3.8 Start bank 1

The start bank one function verifies that bank one is valid, and if valid,
activates the bank. The BIOS software will be unloaded, and the code in bank
one will be executed. If the control module is rebooted, bank one will not
necessarily be activated upon boot. The bank activated will depend on the
bank that is marked as active. If the bank is corrupted the BIOS will not
activate the bank, and an error message will be issued.
4.1.3.9 Start bank 2

The start bank two function verifies that bank two is valid, and if valid,
activates the bank. The BIOS software will be unloaded, and the code in bank
two will be executed. If the control module is rebooted, bank two will not
necessarily be activated upon boot. The bank activated will depend on the
bank that is marked as active. If the bank is corrupted the BIOS will not
activate the bank, and an error message will be issued.
4.1.3.10 Get bank status

The Get Bank Status option returns the status of both banks. The BIOS will
display whether each bank contains code, and which bank, if any is marked
as active.
Spacetrack Manual Appendices
APPENDIX LISTING
Appendix A ................................................................................Drawings
Appendix B ............................................................................. Check lists
Appendix C .........................................................................Specifications
Appendix D ....................................................... Accepted NMEA formats
Appendix E .............................................................. Table of Connectors
Appendix F .............................................................................Log Entries
Appendix G………….………………………………………………Balancing
Appendix H ...................................................... Configuration File Format
Appendix I..........................................................Customer Customisation
Appendix J...................................................................................... Notes
Rev: 04 Appendix Listing - 1

APPENDIX A: DRAWINGS
Operator Manual Drawings
Figure 1 Above Deck General Arrangement
Figure 2 Spacetrack 4000 Control Module
Field Technician's Manual Drawings

Figure 3 Below Deck General Arrangement
Figure 4 ADU Module Layout
Figure 5 Ship’s Electronics Interface Panel
Figure 6 Gimbal Wiring Schematic
Figure 7 Modular Slipring Wiring
Figure 8 BDE Connection Detail
Figure 9 Heading Source Connection
Figure 10 Cross Deck Cabling
Figure 11 Typical System General Arrangement
Figure 12 ADU Block Diagram
Figure 13 BDU Block Diagram
Figure 14 Coarse Azimuth Rotational Limit Setup
Figure 15 Example Eclipsing Headings Chart
Figure 16 Eclipsing Headings Chart
Figure 17 Inclinometer Module
Figure 18 Inclinometer Module Wiring
Figure 19 Monitor and Control Connection
Figure 20 BDU Front Panel Menu Structure
Figure 21 BDU M&C Menu Structure
Figure 22 Miscellaneous Connection
Figure 23 Location Source Connection
Figure 24 Redundancy Connection
Figure 25 Hand Held Breakout Box
Figure 26 Hand Held Breakout Box Schematic
Rev: 04 Appendix A - 1
APPENDIX B: CHECK LISTS

The following pages contain the checklists used to assemble, initialise and
maintain the Spacetrack Unit. While conducting an assembly, initialisation,
or field service call, take copies of the appropriate checklists, fill them out,
and submit them as part of your service report.
Rev: 04 Appendix B - 1
Installation Checklist
When the assembly and installation are complete, photocopy the following
checklist, fill it out, and include it in the unit documentation package:
Vessel: ______________________________________________
Date: ________________________________________________
Assembler: ___________________________________________
Platform Serial No: _____________________________________
ADU Module Serial No:__________________________________
BDU Antenna Controller Serial No: ________________________
Check the following:

· All assembly screws locked in place (especially screws holding the
weights)
· Vibration mounts in place
· Platform balance correct
· Cables tied to anchors
· Platform free to swing without fouling cables
· All radome screws tightened
· All radome seams sealed
· Radome leak-tested with fire hose
· Base of the radome thoroughly sealed
· Skid welded down.
· Eclipsing Headings chart prepared for the radio operator
· Radome tidy
· Below deck installation neat and tidy
· All cables are identified
· Customer approval of installation
· Onshore support staff informed of installation completion
· Installation drawings Completed
Signature:__________________________ Date:___________
Demobilisation Checklist
If it is necessary to remove a Spacetrack Pedestal from a vessel, be sure to

remember the following:
Caution !
It is important to recognise that a fully assembled Spacetrack platform
has a high centre of gravity. If a complete system with radome is to be
lifted, take care in keeping the system balanced. Undue care may
endanger personnel or cause damage to the system.
Use only the eight leg lifting strops provided. Under no circumstances
should spreader bars be used.
Attach the strops to the lifting eye bolts provided around the
circumference of the baseplate.
· Secure the antenna while the skid is being transported to prevent any
movement that may cause damage.
· If the radome is to be dismantled, wrap any electronics in plastic bubble
wrap to protect it during shipping.
· Take care to protect the Gimbal and Gimbal Support Tower from moisture
during transport.
· Customer approval of demobilisation.
· Onshore support staff informed of demobilisation completion.
Initialisation Checklist
When the initialisation of the system is complete, photocopy the following
checklist, fill it out, and include it in the unit documentation package:
Vessel: ___________________________________
Date: _____________________________________
Assembler: ________________________________
Platform Serial No: __________________________
Check the following:

· BDU interface is up and running correctly?
· Coarse azimuth motor is working?
· All sensors have been calibrated?
· Azimuth readout is the same as the vessel's heading when the antenna is
facing the head of the vessel?
· Lock nuts on the adjustable weights are tight?
· The system automatically re-acquires the signal when the BDU module is
switched off, then on again?
· The tracking performance is acceptable
· Satellite comms link is fully operational
When all initialisation procedures are complete to your satisfaction, make a
final check of all the installed hardware to ensure that there are no "loose
ends":
· Are all the connectors on the ADU module and BDU Interface tightly
inserted?
· Are all wires on the pedestal firmly tied down?
· Is there Loctite or jam nuts on all screws holding the balance weights in
place?
· Are the ADU and BDU installations left in a tidy state ?
Finally, ensure
· Relevant vessel crew are trained in the system operation, and have an up
to date copy of the Operators Manual.
· Customer approval of initialisation
· Onshore support staff informed of initialisation completion
· A disk copy of the configuration has been obtained
· Configuration / Network drawings have been completed
BDU Software Version: ________________________________

Az Inertia: __________________________________________
El Inertia: __________________________________________
Pz Inertia: __________________________________________
Threshold:__________________________________________
Sat Lng: ___________________________________________
Search Size: ________________________________________
Search Speed: ______________________________________
Lock Size: __________________________________________
Lock Speed: ________________________________________
Track Size: _________________________________________
Track Speed: _______________________________________
Compass: __________________________________________
GPS: ______________________________________________
The following parameters are only present on systems without sliprings

+ve Unwrap: ________________________________________
-ve Unwrap: ________________________________________
Signature:_____________________________________ Date:___________
Maintenance checklist
Vessel Name _________________________
All bolts should be secured by Loctite or lock washers. Check for loose bolts
in the following locations, and, if necessary, add lockwashers or Loctite,
Photocopy the list, and use it as a check list.
· Radome is sealed properly.
· All cables in the installation are identified and are in good condition.
· Radome mounting bolts.
· Bolts securing the platform to the floor.
· Bolts securing ADU module to the side rail.
· Bolts securing RF transceiver to the side rail.
· Bolts around the Gimbal Support Frame.
· Bolts holding the platform frame together.
· Bolts holding the counterweights.
· All circular connectors in the radome are fully screwed in place.
Bolts Inspected by:

Date:
Before the Spacetrack unit leaves the factory, all metal surfaces are
protected from marine corrosion either with a marine paint system or by the
application of an anti-corrosion metal protector.
A visual inspection should be done to locate areas of corrosion or exposed
metal. Corrosion should be removed, if possible, and exposed metal painted
with Marine Primer.
If there are indications that the equipment has been mistreated, this should
be recorded.
Corrosion trouble spots:
Evidence of mistreated equipment:
Corrosion inspection done by:

Date:
APPENDIX C: SYSTEM SPECIFICATIONS
Rev: 04 Appendix C - 1
SYSTEM SPECIFICATIONS
The following specifications have been quoted for a typical 2.4m KU band system.
Maximum Vessel Motion
Roll...............................................................................................................8° per sec
Pitch.............................................................................................................8° per sec
Yaw..............................................................................................................8° per sec
Tangential Acceleration .........................................................................................0.5g
Surge/Sway/Heave...................................................................................................1g
Turning Rate .................................................................................................. 12° sec-1
Max Wind Speed On Radome (1 Min Mean)........................................................... 55ms-1
Weight - Stabilised Platform Assembly with Radome ............................................... 550kg
ELECTRICAL SPECIFICATIONS
Mains Input Voltage
ADU Module................................................... Selectable 110/ 230V ± 20% at 50/60Hz

BDU Control Module........................................ 55V - 240V AC at 50/60Hz Autoranging
………………………………………………………………….. 48V - 360V DC Autoranging
Max Power Consumption

ADU Module...................................................................................................... 500VA
BDU Interface...................................................................................................... 13VA
Nominal Power Consumption

ADU Module (assuming typical 2.4m KU Band Terminal)................................... 150VA
BDU interface...................................................................................................... 13VA
ADU/BDU Control Link

Transmission Method .................................................. RS 422, 2 pair optically isolated
ADU/BDU comms link data rate................................................................. 38400 baud
Narrowband Receiver
Input Impedance.................................................................................................... 50W
Input Level Threshold .................................................................................-85 ± 2dBm
Transfer Characteristic .........................................................................2.5 ± 0.5 %dB-1
Capture Range .................................................................. 70 ± 14MHz in 10kHz steps
Frequency Stability........................................................................................ ±100ppm

Detector -6dB Bandwidth................................................................................ ±180kHz
Wideband Receiver
Input Level Threshold ...................................................................................... -60dBm
Transfer Characteristic .....................................Dependant on Transponder Population
Detector -6dB Bandwidth........................................................................... 70 ± 18MHz
L Band Downconverter
Input Level Threshold ...................................................................................... -60dBm
Capture Range (Narrow Band Detector) .............850 MHz to 1900MHz in 10kHz steps
Capture Range (Wide Band Detector) ................ 850 MHz to 1900MHz in 1MHz steps
Detection Method ...................................................... Narrow or Wide Band Selectable
Detector -6dB Bandwidth...........................................Dependant on Selected Receiver
External Receiver AGC Input

Input Impedance..................................................................................................18KW
Input Voltage Range........................................................................................... 0-10V
Auxiliary Outputs
Output Impedance.................................................................................................1KW
Output Voltage Range ........................................................................................... TTL
GPS Input
Data Format ..............................................................................................NMEA-0183
Transmission Method ...................................................................... RS 422 or RS 232
Accepted NMEA Messages ................................................................ See Appendix D
Compass Input
Compass Type ............................................................. Stepping Gyro, Syncro, NMEA
Step Input
Maximum Input Step Voltage............................................................................... ±80V
Minimum Input Step Voltage................................................................................ ±10V
Impedance per Step input...................................................................................5.7KW
Syncro Input
Input Voltage ........................................................ 26V or 115V Autoranging 400Hz 1:1
NMEA Input
Accepted NMEA Messages ................................................................ See Appendix D
Modem CD Input
Input Voltage ..............................Open collector or closed contact(+5V internal pull up)
Input Impedance................................................................................................. >1KW
ENVIRONMENTAL SPECIFICATIONS
IP Ratings
ADU Module......................................................................................................... IP55
BDU Interface (front panel only)............................................................................ IP41
Absolute Maximum & Minimum Operating Temperatures

ADU Electronics ......................................................................................... 0 to +70° C
BDU Electronics ......................................................................................... 0 to +50° C
Absolute Maximum & Minimum Storage Temperatures

ADU Electronics ......................................................................................-25 to +85° C
BDU Electronics ......................................................................................-25 to +85° C
Max Relative Humidity

ADU Electronics ........................................................................ 100% non-condensing
BDU Electronics .......................................................................... 95% non-condensing
APPENDIX D: Accepted NMEA Formats
??GGA (GPS FIX DATA).....................................................................GPGGA

??RMC (RECOMMENDED MINIMUM SPECIFIC GPS / TRANSIT DATA)…..
………………………………………………………………………………..GPRMC
??GLL (GEOGRAPHIC POSITION-LATITUDE / LONGITUDE) .......................
............................................................................................................. GPGGL
??HD? (HEADING) .............................................................................. HDHDT
Rev: 04 Appendix D - 1
??GGA (GPS FIX DATA)

NMEA-0183 Format
Example Format:
GPGGA,hhmmss.ss,ddmm.mmmm,n,dddmm.mmmm,e,q,ss,y.y,a.a,z,g.g,z,t.t,i
iii*CC<CR><LF>
Where:
hhmmss.ss – UTC
hh – hours...............................................................................................00..24
mm – minutes..........................................................................................00..59
ss.ss – seconds ..............................................................................0.00..59.99
ddmm.mmmm,n – latitude
dd – degress ...........................................................................................00..90
mm.mmmm – minutes ...............................................................00.000..59.999
n – direction .....................................................................N – North, S – South
ddmm.mmmm,e – longitude
dd – degress ...........................................................................................00..90
mm.mmmm – minutes ...............................................................00.000..59.999
e – direction ....................................................................... E – East, W –West
q – GPS Quality Indicator ..............................................0 – GPS not available
.............................................................................................1 – GPS available
......................................................................................2 – GPS fix differential
ss – Numbers of satellites being used ....................................................00..12
y.y – HDOP.......................................................................................................
a.a,z – antenna height
a.a – height
z - units ...........................................................................................M – Meters
g.g,z – geoidal separation
g.g – height
z - units ...........................................................................................M – Meters
t.t – age of differential data
iiii – differential reference station.............................................. ID0000 .. 1023
CC – checksum............................................................................... hex 00 .. 7f
The control system parses for commas to allow strings with different precision
to that listed to be used. The control system will ignore the data if the quality
indicator is 0 (No GPS data), an error will be generated by the system despite
the flow of data being present. The control system uses the latitude, longitude
and quality indicator only, all other data is ignore. The checksum is validated
if present, strings with no checksum will be accepted irrespectively as long as
the system can parse sensible data.
The parser will ignore the first two characters of the string to allow talkers
other than a GPS device to be used.
??RMC (RECOMMENDED MINIMUM SPECIFIC GPS / TRANSIT DATA)

NMEA-0183 Format
Example Format:
GPRMC,hhmmss.ss,a,ddmm.mmmm,n,dddmm.mmmm,w,z.z,y.y,ddmmyy,d.d,
v *CC<CR><LF>
Where:
hhmmss.ss – UTC time of position fix
hh – hours...............................................................................................00..24
mm – minutes..........................................................................................00..59
ss.ss – seconds ..............................................................................0.00..59.99
a-status ............................................................................. A - Valid, V - Invalid
dd – degress ...........................................................................................00..90
mm.mmmm – minutes ...............................................................00.000..59.999
ddmm.mmmm,w – longitude
dd – degress ...........................................................................................00..90
mm.mmmm – minutes ...............................................................00.000..59.999
w – direction....................................................................... E – East, W –West
z.z – speed over ground (knots) ..................................................................0.0
y.y – track made good (referenced to true north) .............................0.0..359.9
ddmmyy – UTC date of position fix
dd –day ...................................................................................................01..31
mm – month ............................................................................................01..12
yy-year .....................................................................................................00.99
d.d - magnetic variation (degrees) ....................................................0.0..180.0
v – variation sense.............................................................. E –East, W - West
CC – checksum............................................................................... hex 00 .. 7f
to that listed to be used. The control system will ignore the data if the status
is V (invalid), an error will be generated by the system despite the flow of
data being present. The control system uses the latitude, longitude and
status indicator only, all other data is ignore. The checksum is validated if
present, strings with no checksum will be accepted irrespectively as long as
??GLL (GEOGRAPHIC POSITION-LATITUDE/LONGITUDE)

NMEA-0183 Format
Example Format:
GPGLL,ddmm.mmmm,n,dddmm.mmmm,e,hhmmss.ss,a*CC<CR><LF>
Where:
dd – degress ...........................................................................................00..90
mm.mmmm – minutes ...............................................................00.000..59.999
ddmm.mmmm,e – longitude
dd – degress ...........................................................................................00..90
mm.mmmm – minutes ...............................................................00.000..59.999
e – direction ....................................................................... E – East, W –West
hhmmss.ss – UTC of position fix
hh – hours...............................................................................................00..24
mm – minutes..........................................................................................00..59
ss.ss – seconds ..............................................................................0.00..59.99
a-status ............................................................................. A - Valid, V - Invalid
CC – checksum............................................................................... hex 00 .. 7f
to that listed to be used. The control system will ignore the data if the status
is V (invalid), an error will be generated by the system despite the flow of
data being present. The control system uses the latitude, longitude and
status indicator only, all other data is ignore. The checksum is validated if
present, strings with no checksum will be accepted irrespectively as long as
??HD? (HEADING)
NMEA-0183 Format
Example Format:
HDHDT,hhh.hh,a*CC<CR><LF>
Where:
hhh.hh - Heading ............................................................................0.0 .. 359.9
a – Reference .............................................................. M – Magnetic, T - True
CC – checksum............................................................................... hex 00 .. 7f
to that listed to be used. The control system uses the heading only, magnetic
variations will manifest themselves as antenna pointing errors. The checksum
is validated if present, strings with no checksum will be accepted
irrespectively as long as the system can parse sensible data.
The parser will ignore the first two characters of the string to allow other
talkers devices to be used. I.e.,
HC – Compass Magnetic
HE – Gyro, North Seeking
HN – Gyro, Non-North Seeking
APPENDIX E: TABLE OF CONNECTIONS

This appendix contains four tables. Table one is for Above Deck Connections while tables two, three and four are for Below Deck Connections. The tables
detail pin outs for each connector, and the signals expected on each pin. ADU connections table list where each connector pin is wired to.
Note
1. As different signal types are electrically isolated, the correct ground reference must be used when measuring a signal. This is noted in the last column of
the table.
2. The following voltages are mentioned in the table

TTL levels Nominally 0V low and +5V high. Will work up to around +0.5V low and down to around +2V high.
RS232 signal Nominally +12V low and -12V high. Specification allows signals from ±5V to ±15V.
RS422 signal Nominally 0V low and +5V high (inverse logic for the inverting signal). Must be at least ±2V between balanced pair.
Table E1 - ADU Connections
Connector No. Pin Description Connects To Connector No. Pin Signal Reference
P1 - ADU Module Signal Connector A Inclinometer +V P4 - Inclinometer Module Connector A +12V Signal
B Inclinometer 0V P4 - Inclinometer Module Connector B 0V Signal
C Inclinometer -V P4 - Inclinometer Module Connector C -12V Signal
D Pitch Signal P4 - Inclinometer Module Connector D 60mV per degree from vertical Signal
E Roll Signal P4 - Inclinometer Module Connector E 60mV per degree from vertical Signal
F Az Pot Signal P9 - Azimuth Pot Connector 2 -10V to +10V over 350° range Signal
G El Pot Signal P10 - Elevation Pot Connector 2 0V to +10V over 350° range Signal
H Pz Pot Signal P11 - Polar Pot Connector 2 -10V to +10V over 350° range Signal
J Feed Pot Signal P23 - Motorised Feed Connector F 0V to +10V over 350° range Signal
K Potentiometer 0V P10 - Elevation Pot Connector 3 0V Signal
P23 - Motorised Feed Connector E 0V Signal
L Potentiometer -VREF P9 - Azimuth Pot Connector 3 -10V Signal
Rev: 04 Appendix E - 1
P11 - Polar Pot Connector 3 -10V Signal

M Coarse Azimuth 0V P12 - Coarse Azimuth ADT connector 1 0V Signal
N Coarse Azimuth Signal P12 - Coarse Azimuth ADT connector 2 0V to +10V Signal
P Coarse Azimuth +VREF P12 - Coarse Azimuth ADT connector 3 +10V Signal
R Coarse Azimuth +V P12 - Coarse Azimuth ADT connector 4 +12V Signal
S Coarse Azimuth -V P12 - Coarse Azimuth ADT connector 5 -12V Signal
T Potentiometer +VREF P9 - Azimuth Pot Connector 1 +10V Signal
P10 - Elevation Pot Connector 1 +10V Signal
P11 - Polar Pot Connector 1 +10V Signal
P23 - Motorised Feed Connector D +10V Signal
U ADU Tx - P13 - Interconnection Plate ADU Module Comms B 38.4kbaud RS422 signal Signal
V ADU Tx + P13 - Interconnection Plate ADU Module Comms A 38.4kbaud RS422 signal Signal
W ADU Rx - P13 - Interconnection Plate ADU Module Comms D 38.4kbaud RS422 signal Signal
X ADU Rx + P13 - Interconnection Plate ADU Module Comms C 38.4kbaud RS422 signal Signal
Y AGC - P13 - Interconnection Plate ADU Module Comms F 0-10kHz RS422 signal Signal
Z AGC + P13 - Interconnection Plate ADU Module Comms E 0-10kHz RS422 signal Signal
a Shield P13 - Interconnection Plate ADU Module Comms G 0V Signal
b ADU Comms Shield P13 - Interconnection Plate ADU Module Comms H 0V Signal
d Inclinometer Shield CONNECTED AT ONE END ONLY
P2 - ADU Module Power Connector A Polar Motor -V PWM P7 - Polar Motor Connector H +32V, 20kHz PWM signal Power
B Azimuth Motor +V PWM P5 - Azimuth Motor Connector I +32V, 20kHz PWM signal Power
C Azimuth Motor -V PWM P5 - Azimuth Motor Connector H +32V, 20kHz PWM signal Power
D Elevation Motor +V PWM P6 - Elevation Motor Connector I +32V, 20kHz PWM signal Power
E Elevation Motor -V PWM P6 - Elevation Motor Connector H +32V, 20kHz PWM signal Power
F Coarse Azimuth Shield P4 - Inclinometer Module Connector G +32V, 20kHz PWM signal Power
G Coarse Azimuth -V PWM P4 - Inclinometer Module Connector I +32V, 20kHz PWM signal Power
H Coarse Azimuth +V PWM P4 - Inclinometer Module Connector H +32V, 20kHz PWM signal Power
J Polar Motor +V PWM P7 - Polar Motor Connector I +32V, 20kHz PWM signal Power
K Feed Motor -V PWM P23 - Motorised Feed Connector B +32V, 20kHz PWM signal Power
L Fan +Vbus P20 - Azimuth Motor Fan Connector A +32V DC Power
P21 - Elevation Motor Fan Connector A +32V DC
P22 - Polar Motor Fan Connector A +32V DC
M Fan -Vbus P20 - Azimuth Motor Fan Connector B 0V Power
P21 - Elevation Motor Fan Connector B 0V
P22 - Polar Motor Fan Connector B 0V
N Feed Motor +V PWM P23 - Motorised Feed Connector A +32V, 20kHz PWM signal Power
P Motor Shield P23 - Motorised Feed Connector C 0V Power
P3 - ADU Module Mains Power Connector A Live P8 - Interconnection Plate ADU Module Mains A 115V or 230Vac(not switchable) Mains
B Earth P8 - Interconnection Plate ADU Module Mains B 0V Earth
C Neutral P8 - Interconnection Plate ADU Module Mains C 0V Mains
P4 - Inclinometer Module Connector A Inclinometer +V P1 - ADU Module Signal Connector A +12V Signal
B Inclinometer 0V P1 - ADU Module Signal Connector B 0V Signal
C Inclinometer -V P1 - ADU Module Signal Connector C -12V Signal
D Pitch P1 - ADU Module Signal Connector D 60mV per degree from vertical Signal
E Roll P1 - ADU Module Signal Connector E 60mV per degree from vertical Signal
F NOT CONNECTED
G Coarse Azimuth Shield P2 - ADU Module Power Connector F Power
H Coarse Azimuth +V PWM P2 - ADU Module Power Connector H Power

I Coarse Azimuth -V PWM P2 - ADU Module Power Connector G Power
P5 - Azimuth Motor Connector A NOT CONNECTED

B NOT CONNECTED
C NOT CONNECTED
D NOT CONNECTED
E NOT CONNECTED
F NOT CONNECTED
G NOT CONNECTED
H Coarse Azimuth +V PWM P2 - ADU Module Power Connector C +32V, 20kHz PWM signal Power
I Coarse Azimuth -V PWM P2 - ADU Module Power Connector B +32V, 20kHz PWM signal Power
P6 - Elevation Motor Connector A NOT CONNECTED

B NOT CONNECTED
C NOT CONNECTED
D NOT CONNECTED
E NOT CONNECTED
F NOT CONNECTED
G NOT CONNECTED
H Elevation Motor -V PWM P2 - ADU Module Power Connector E +32V, 20kHz PWM signal Power
I Elevation Motor +V PWM P2 - ADU Module Power Connector D +32V, 20kHz PWM signal Power
P7 - Polar Motor Connector A NOT CONNECTED

B NOT CONNECTED
C NOT CONNECTED
D NOT CONNECTED
E NOT CONNECTED
F NOT CONNECTED
G NOT CONNECTED
H Polar Motor -V PWM P2 - ADU Module Power Connector A +32V, 20kHz PWM signal Power
I Polar Motor +V PWM P2 - ADU Module Power Connector J +32V, 20kHz PWM signal Power
P8 - Interconnection Plate ADU Module Mains A Live P3 - ADU Module Mains Power Connector A 115V or 240Vac(not switchable) Mains
B Earth P3 - ADU Module Mains Power Connector B Earth Earth
C Neutral P3 - ADU Module Mains Power Connector C 0V Mains
P9 - Azimuth Pot Connector 1 Potentiometer +VREF P1 - ADU Module Signal Connector T +10V Signal
2 Az Pot Signal P1 - ADU Module Signal Connector F 10V to +10V over 360° range Signal
3 Potentiometer -VREF P1 - ADU Module Signal Connector L -10V Signal
4 NOT CONNECTED
5 NOT CONNECTED
P10 - Elevation Pot Connector 1 Potentiometer +VREF P1 - ADU Module Signal Connector T +10V Signal
2 El Pot Signal P1 - ADU Module Signal Connector G 0V to +10V over 360° range Signal
3 Potentiometer 0V P1 - ADU Module Signal Connector K 0V Signal
4 NOT CONNECTED
5 NOT CONNECTED
P11 - Polar Pot Connector 1 Potentiometer +VREF P1 - ADU Module Signal Connector T +10V Signal
2 Pz Pot Signal P1 - ADU Module Signal Connector H -10V to +10V over 360° range Signal
3 Potentiometer -VREF P1 - ADU Module Signal Connector L -10V Signal
4 NOT CONNECTED
5 NOT CONNECTED
P12 - Coarse Azimuth ADT connector 1 Coarse Azimuth 0V P1 - ADU Module Signal Connector M 0V Signal
2 Coarse Azimuth Signal P1 - ADU Module Signal Connector N 0V to 10V Signal
3 Coarse Azimuth +VREF P1 - ADU Module Signal Connector P +10V Signal
4 Coarse Azimuth +V P1 - ADU Module Signal Connector R +12V Signal
5 Coarse Azimuth -V P1 - ADU Module Signal Connector S -12V Signal
6 NOT CONNECTED
7 NOT CONNECTED
P13 - Interconnection Plate ADU Module Comms A ADU Tx + P1 - ADU Module Signal Connector V 38.4kbaud RS422 signal Signal
B ADU Tx - P1 - ADU Module Signal Connector U 38.4kbaud RS422 signal Signal
C ADU Rx + P1 - ADU Module Signal Connector X 38.4kbaud RS422 signal Signal
D ADU Rx - P1 - ADU Module Signal Connector W 38.4kbaud RS422 signal Signal
E AGC + P1 - ADU Module Signal Connector Z 0-10kHz RS422 signal Signal
F AGC - P1 - ADU Module Signal Connector Y 0-10kHz RS422 signal Signal
G Shield P1 - ADU Module Signal Connector a 0V Signal
H ADU Comms Shield P1 - ADU Module Signal Connector b 0V Signal
I NOT CONNECTED
J NOT CONNECTED
P14 - Interconnection Plate Spare Mains A Live CONNECTION DEPENDS ON EQPT. USED Mains
B Earth Earth
C Neutral Mains
P15 - Interconnection Plate RF Transceiver Mains A Live CONNECTION DEPENDS ON EQPT. USED Mains
B Earth Earth
C Neutral Mains
P16 - Interconnection Plate RF Transceiver Alarm A Shield CONNECTION DEPENDS ON EQPT. USED
B Wire 1
C Wire 2
P17 - Interconnection Plate RF Transceiver IF Tx CONNECTION DEPENDS ON EQPT. USED
P18 - Interconnection Plate RF Transceiver IF Rx CONNECTION DEPENDS ON EQPT. USED
P19 - Interconnection Plate Spare Coax CONNECTION DEPENDS ON EQPT. USED
P23 - Motorised Feed Connector A Feed Motor +V PWM P2 - ADU Module Power Connector N +32V, 20kHz PWM signal Power
B Feed Motor -V PWM P2 -ADU Module Power Connector K +32V, 20kHz PWM signal Power
C Motor Shield P2 -ADU Module Power Connector P 0V Power
D Potentiometer +VREF P1 - ADU Module Signal Connector T +10V Signal
E Potentiometer 0V P1 - ADU Module Signal Connector K 0V Signal
F Feed Pot Signal P1 - ADU Module Signal Connector J 0V to 10V over 360° range Signal
G NOT CONNECTED
Table E2 – BDU Interface Panel Connections
Connector Pin Function I/O Signal Ground reference
CN1 - BDU Interface 1 BDU Rx Y – BDU receive non inverting input I 38.4kbaud RS422 signal None
2 ADU Tx A – ADU transmit non inverting input I 38.4kbaud RS422 signal None
3 Interface cable shield O 0V Signal
4 GPS Tx Y – GPS transmit non inverting output O Variable baud RS422 signal Signal
5 GPS Rx B – GPS receive inverting input I Variable baud RS422 signal Signal
6 GPS 232 Tx – GPS RS232 transmit output O Variable baud RS232 signal Signal
7 Compass 422 Tx Y – NMEA heading transmit non inverting O Variable baud RS422 signal Signal
8 Compass 422 Rx A – NMEA heading receive non inverting O Variable baud RS422 signal Signal
9 Ground I 0V Signal
10 Compass 232 Rx – NMEA RS232 heading receive input I Variable baud RS232 signal Signal
11 Redundancy Tx – Redundancy RS232 transmit output O Variable baud RS232 signal Signal
13 Syncro R1 – Syncro compass reference positive input I 0V to 26 or 115VAC 400Hz Syncro R0
14 Syncro S2 – Syncro compass phase input 2 I 26 or 115VAC 400Hz Syncro S1 or S3
16 Step 1 – Stepper compass step input phase 2 I 0V (low) or 10V to 80V (High) Dc Step REF
17 Step REF – Stepper compass common input I 0V Step REF
18 BDU Rx Z – BDU receive inverting input I 38.4kbaud RS422 signal None
19 ADU Tx B – ADU transmit inverting input O 38.4kbaud RS422 signal None
20 GPS Tx Z – GPS receive inverting output O Variable baud RS422 signal Signal
21 GPS Rx A – GPS receive non inverting input I Variable baud RS422 signal Signal
23 GPS 232 Rx – GPS RS232 receive input I Variable baud RS232 signal Signal
24 Compass 422 Tx Z – NMEA heading transmit inverting O Variable baud RS422 signal Signal
25 Compass 422 Rx B – NMEA heading receive inverting I Variable baud RS422 signal Signal
26 Compass 232 Tx – NMEA RS232 heading receive output O Variable baud RS232 signal Signal
27 BDU 232 Tx – BDU RS232 transmit output O Variable baud RS232 signal Signal
28 Redundancy Rx – Redundancy RS232 receive input I Variable baud RS232 signal Signal
29 Syncro R0 – Syncro compass reference negative input I 26 or 115VAC 400Hz Syncro R1
30 Syncro S1 – Syncro compass phase input 1 I 0V to 26 or 115VAC 400Hz Syncro S2 or S3
34 Relay 1 N0 – Alarm relay 2 normally open contact I User Selectable
35 Relay 1 NC – Alarm relay 2 normally closed contact I User Selectable
36 Relay 1 C – Alarm relay 2 common contact I User Selectable
40 DIG O 0 – Spare digital output O TTL Signal
41 DIG I 1 – Spare digital input I TTL Signal
42 Error out – Error output signal O TTL Signal
43 Track out – Track output signal O TTL Signal
44 OFFLINE in – Offline input signal I +5V pull up - closed contact Signal
45 Modem CD in – Modem demodulator locked input signal I +5V pull up - closed contact Signal
46 AN 2 – Spare analogue input I 0V to 10V DC Signal
48 SIG GND – Signal ground I 0V Signal
49 EXT AGC – External AGC input I 0V to 10V DC Signal

50 No Connection
CN2 – Cross Deck Cable 1 SHIELD – Cross deck cable shield O 0V Signal
2 CORE 1 – BDU Tx B O 38.4kbaud RS422 signal Signal
3 CORE 2 – BDU Tx A O 38.4kbaud RS422 signal Signal
4 CORE 3 – BDU Rx Z I 38.4kbaud RS422 signal Signal
5 CORE 4 – BDU Rx Y I 38.4kbaud RS422 signal Signal
6 CORE 5 – M&C 232 Tx O Variable Baud RS232 signal Signal
7 CORE 6 – M&C 232 Rx I Variable Baud RS232 signal Signal
8 CORE 7 – M&C 232 GND O 0V Signal
CN3 - Syncro 1 Syncro R2 – Syncro compass reference positive input I 26 or 115VAC 400Hz Syncro R1
CN4 – Stepper 1 Step REF – Stepper compass common input I 0V Step REF
2 Step A – Stepper compass step input phase 1 I 0V (low) or 10V to 80V (High) Dc Step REF
3 Step B – Stepper compass step input phase 2 I 0V (low) or 10V to 80V (High) Dc Step REF
4 Step C – Stepper compass step input phase 3 I 0V (low) or 10V to 80V (High) Dc Step REF
CN5 – NMEA 1 GPS Rx A – NMEA RS422 Heading input I Variable Baud RS422 signal Signal
2 GPS Rx B – NMEA RS422 Heading input I Variable Baud RS422 signal Signal
3 GPS GND I 0V Signal

4 GPS 232 Rx – NMEA RS232 Heading input I Variable Baud RS232 signal Signal
5 Compass 422 Rx A – NMEA RS422 Heading input I Variable Baud RS422 signal Signal
6 Compass 422 Rx B – NMEA RS422 Heading input I Variable Baud RS422 signal Signal
7 Compass GND I 0V Signal
8 Compass 232 Rx – NMEA RS232 Heading input I Variable Baud RS232 signal Signal
CN6 – AGC 1 AGC GND – External AGC Ground ! 0V Signal

2 AGC – External AGC Input ! 0V to 10V Dc Signal
CN7 – Status 1 Relay 0 NC – Alarm relay 1 normally closed contact I User Selectable
3 Relay 0 NO – Alarm relay 1 normally open contact I User Selectable
6 Relay 1 NO – Alarm relay 2 normally open contact I User Selectable
CN8 – Misc 1 Modem CD in – Modem demodulator locked input signal I +5V pull up - closed contact Signal
5 GND I 0V Signal
CN9 – Redundancy 1 Redund Tx out – Redundancy RS232 receive output I Variable baud RS232 signal Signal
2 Redund Rx out – Redundancy RS232 receive input I Variable baud RS232 signal Signal
3 Redund GND I 0V Signal

4 SHIELD I 0V Signal
CN10 – M&C In 1 Not Connected

2 M&C 232 Tx O Variable Baud RS232 signal Signal
3 M&C 232 Rx I Variable Baud RS232 signal Signal
4 Not Connected
5 M&C 232 GND O 0V Signal
6 Not Connected
7 Not Connected
8 Not Connected
9 Not Connected
CN11 – M&C Out 1 Not Connected
4 Not Connected
6 Not Connected
7 Not Connected
8 Not Connected
9 Not Connected
Table E3 – BDU Module Connections
Interface 1 BDU Rx Y – BDU receive non inverting input I 38.4kbaud RS422 signal None
2 ADU Tx A – ADU transmit non inverting input I 38.4kbaud RS422 signal None
3 Interface cable shield O 0V Signal
4 GPS Tx Y – GPS transmit non inverting output O Variable baud RS422 signal Signal
5 GPS Rx B – GPS receive inverting input I Variable baud RS422 signal Signal
6 GPS 232 Tx – GPS RS232 transmit output O Variable baud RS232 signal Signal
7 Compass 422 Tx Y – NMEA heading transmit non inverting O Variable baud RS422 signal Signal
8 Compass 422 Rx A – NMEA heading receive non inverting O Variable baud RS422 signal Signal
10 Compass 232 Rx – NMEA RS232 heading receive input I Variable baud RS232 signal Signal
11 Redundancy Tx – Redundancy RS232 transmit output O Variable baud RS232 signal Signal
13 Syncro R1 – Syncro compass reference positive input I 0V to 26 or 115VAC 400Hz Syncro R0
14 Syncro S2 – Syncro compass phase input 2 I 26 or 115VAC 400Hz Syncro S1 or S3
17 Step REF – Stepper compass common input I 0V Step REF
18 BDU Rx Z – BDU receive inverting input I 38.4kbaud RS422 signal None
19 ADU Tx B – ADU transmit inverting input O 38.4kbaud RS422 signal None
20 GPS Tx Z – GPS receive inverting output O Variable baud RS422 signal Signal
21 GPS Rx A – GPS receive non inverting input I Variable baud RS422 signal Signal
23 GPS 232 Rx – GPS RS232 receive input I Variable baud RS232 signal Signal
24 Compass 422 Tx Z – NMEA heading transmit inverting O Variable baud RS422 signal Signal
25 Compass 422 Rx B – NMEA heading receive inverting I Variable baud RS422 signal Signal
26 Compass 232 Tx – NMEA RS232 heading receive output O Variable baud RS232 signal Signal
27 BDU 232 Tx – BDU RS232 transmit output O Variable baud RS232 signal Signal
28 Redundancy Rx – Redundancy RS232 receive input I Variable baud RS232 signal Signal
40 DIG O 0 – Spare digital output O TTL Signal
41 DIG I 1 – Spare digital input I TTL Signal
45 Modem CD in – Modem demodulator locked input signal I +5V pull up - closed contact Signal
48 SIG GND – Signal ground I 0V Signal
49 EXT AGC – External AGC input I 0V to 10V DC Signal

50 No Connection
M&C 1 DIG 3 O – Spare Digital Output O TTL Signal

4 DIG 4 O – Spare Digital Output O TTL Signal
6 DIG 2 I – Spare Digital Intput I TTL Signal
9 DIG 2 O – Spare Digital Output O TTL Signal
70MHz Core 70MHz input I RF high frequency Signal

Outer RF ground I 0V Signal
L Band Core L Band input I RF high frequency Signal

Outer RF ground I 0V Signal
Mains 1 Live I AC or DC power input Earth

2 Earth I Safety ground Earth
3 Neutral I AC or DC power input Earth
Table E4 – Interconnect Cable Wiring
50 way interface All 50 way cores are connected one to one

9 way M&C interface BDU to BDU interface panel All 9 way cores are connected one to one
9 way M&C Console to BDU interface panel All 9 way cores are connected one to one
APPENDIX F: Log Entries
ADU auto balance capability detected .......................................................3

ADU module data not present....................................................................3
ADU module error cleared .........................................................................3
AGC overload, insert external pads ...........................................................4
Azimuth motor error ...................................................................................4
Azimuth motor error cleared.......................................................................4
Coarse Azimuth motor error.......................................................................4
Coarse Azimuth motor error cleared ..........................................................4
Compass heading information not present ................................................5
Compass heading information cleared.......................................................5
Connected to a 80C167 ADU module........................................................5
Connected to a SP4000 ADU module........................................................5
Elevation limit error cleared........................................................................5
Elevation mechanical limit reached ............................................................6
Elevation motor error .................................................................................6
Elevation motor error cleared.....................................................................6
GPS information error cleared ...................................................................6
GPS location information not present ........................................................6
Insufficient polar compensation available...................................................7
Link lost, System reinitialising.....................................................................7
Log cleared ................................................................................................7
Log full .......................................................................................................7
NMEA heading information not present .....................................................8
NMEA information error cleared.................................................................8
Parameter change: Attenuation .................................................................8
Parameter change: Auto Attenuation .........................................................8
Parameter change: Az Inertia ....................................................................9
Parameter change: Caz Enable Flag .........................................................9
Parameter change: Caz Lower Limit ..........................................................9
Parameter change: Caz Upper Limit ..........................................................9
Parameter change: Compass Type .........................................................10
Rev: 04 Appendix F - 1
Parameter change: El Inertia ...................................................................10

Parameter change: Feed Offset...............................................................10
Parameter change: Find Size...................................................................10
Parameter change: Find Speed ...............................................................10
Parameter change: Frequency ................................................................11
Parameter change: GPS Type.................................................................11
Parameter change: Heading ....................................................................11
Parameter change: Host Latitude ............................................................11
Parameter change: Host Longitude .........................................................11
Parameter change: Lock Size ..................................................................12
Parameter change: Lock Speed ..............................................................12
Parameter change: Pz Inertia ..................................................................12
Parameter change: Satellite Longitude ....................................................12
Parameter change: Threshold .................................................................13
Parameter change: Track Size.................................................................13
Parameter change: Track Speed .............................................................13
Parameter change: Tracking Source .......................................................13
Polar compensation error cleared............................................................14
Polarisation limit error cleared..................................................................14
Polarisation mechanical limit reached ......................................................14
Polarisation motor error ...........................................................................14
Polarisation motor error cleared...............................................................14
Remote Console logged in.......................................................................15
Remote Console logged out ....................................................................15
Satellite is not visible ................................................................................15
Satellite visible error cleared ....................................................................15
Setup : Default parameters loaded ..........................................................15
Syncro heading information not present ..................................................16
Syncro information error cleared..............................................................16
System Initialised .....................................................................................16
Unwrap warning angle reached ...............................................................16
Unwrap warning cleared ..........................................................................16
VERSION................................................... Error! Bookmark not defined.
Log Entries
The following section lists the most common log entries and their meaning.
Although an attempt has been made to identify the majority of the possible
cause for any errors, there may be other contributing factors, which are not
listed.
Entry:
ADU auto balance capability detected
Description:
The system has determined that the above deck equipment is equipped with
active weights. The system will enable the automatic balance facility and use
the active weights to correct any imbalances.
Entry:
ADU module data not present
Description:
The above to below deck communications link has been disrupted. This error
will cause the system to loose track, resulting in a communications loss. A
severed cable, loose connector, or loss of power to the ADU may cause this
error.
Entry:
ADU module error cleared
Description:
The above to below deck communications link has been restored.
Entry:
AGC overload, insert external pads
Description:
The signal strength demodulated by the internal receivers is too large to be
compensated for, by using the internal attenuators. The user must insert an
external attenuator to correct the signal level. A 10dB or 20dB pad is
recommended. If the signal level is not corrected, the system will track badly,
possibly resulting in a communications link failure.
Entry:
Azimuth motor error
Description:
The system has detected that the azimuth axis is not in the correct position,
this may be due to a physical obstruction or incorrectly set inertia parameters.
Entry:
Azimuth motor error cleared
Description:
The azimuth axis has returned to the correct position, after being obstructed.
Entry:
Coarse Azimuth motor error
Description:
The system has detected that the coarse azimuth axis is not in the correct
position. This may be due to a faulty motor.
Entry:
Coarse Azimuth motor error cleared
Description:
The Coarse Azimuth axis has returned to the correct position.
Entry:
Compass heading information not present
Description:
The system is unable to detect the vessel’s heading due to a compass error.
The cause of the error will vary depending on the type of compass supplying
the heading information.
Entry:
Compass heading information cleared
Description:
The vessel’s heading is available to the system after being unavailable for a
period of time.
Entry:
Connected to a 80C167 ADU module
Description:
The BDU has detected an 80C167 ADU module in the above deck
equipment. This message is for information only.
Entry:
Connected to a SP4000 ADU module
Description:
The BDU has detected a SP4000 ADU module in the above deck equipment.
This message is for information only.
Entry:
Elevation limit error cleared
Description:
The theoretical angle to the satellite is now physically obtainable by the
antenna mechanical structure. The satellite was previously hidden due to the
satellite’s longitude and the vessel’s position.
Entry:
Elevation mechanical limit reached
Description:
The elevation axis has reached the maximum limit of travel. This error may be
caused by incorrectly set acquisition parameters.
Entry:
Elevation motor error
Description:
The system has detected that the elevation axis is not in the correct position,
this may be due to a physical obstruction or incorrectly set inertia parameters.
Entry:
Elevation motor error cleared
Description:
The azimuth axis has returned to the correct position, after being obstructed.
Entry:
GPS information error cleared
Description:
The GPS location source has now resumed providing position data, after a
break in operation.
Entry:
GPS location information not present
Description:
The GPS location source is not providing location information. This may be
due to insufficient satellites visible to the GPS antenna, or a fault with the
GPS unit, or a cabling fault.
Entry:
Insufficient polar compensation available
Description:
The system has insufficient correction available to compensate for the polar
skew. The system will use the maximum available motion in the active feed, if
enabled; and from the polar axis, if enabled, to provide correction. This error
may be caused by incorrect satellite selection, incorrect vessel position co-
ordinates, incorrect active feed calibration information, or incorrectly set polar
axis limit parameters.
Entry:
Link lost, System reinitialising
Description:
The BDU module has lost contact with the above deck for a considerable
period of time, the system will reset itself in an attempt to restore the system
operation. This error may be caused by a power failure to the above deck
equipment, an above deck equipment failure or a faulty cross deck cable.
Entry:
Log cleared
Description:
The user has cleared the log, this message is for information only.
Entry:
Log full
Description:
The system log is full, no further entries will be recorded.
Entry:
NMEA heading information not present
Description:
The NMEA heading information is no longer available to the system, this may
be due to a faulty compass, a faulty repeater or faulty cabling.
Entry:
NMEA information error cleared
Description:
The NMEA heading information is now available to the system after a period
of time, where the system could not determine the vessel’s heading.
Entry:
Parameter change: Attenuation
Description:
The user has changed the attenuation setting, this message is for information
only. The system will disable the auto-attenuation feature, due to the user
over-ride.
Entry:
Parameter change: Auto Attenuation
Description:
The user has changed the auto-attenuation setting, this message is for
information only. The user will now be responsible for setting the correct input
attenuation settings.
Entry:
Parameter change: Az Inertia
Description:
The user has changed the azimuth axis inertia setting, this message is for
information only. The system will disable the auto-inertia configuration
function, due to the user over-ride.
Entry:
Parameter change: Caz Enable Flag
Description:
The user has changed the coarse azimuth enable flag, this message is for
information only. If the flag is disabled the system will be unable to track
vessel heading changes; this function is not recommended.
Entry:
Parameter change: Caz Lower Limit
Description:
The user has changed the coarse azimuth lower limit, this message is for
information only.
Entry:
Parameter change: Caz Upper Limit
Description:
The user has changed the coarse azimuth upper limit, this message is for
information only.
Entry:
Parameter change: Compass Type
Description:
The user has changed the compass type, this message is for information
only.
Entry:
Parameter change: El Inertia
Description:
The user has changed the elevation axis inertia setting, this message is for
Entry:
Parameter change: Feed Offset
Description:
The user has changed the feed offset, this message is for information only.
Entry:
Parameter change: Find Size
Description:
The user has changed the find size; this message is for information only. The
system will disable the auto-find parameter function, due to the user over-
ride. The user will now be responsible for setting sensible find parameters.
Entry:
Parameter change: Find Speed
Description:
The user has changed the find speed; this message is for information only.
The system will disable the auto-find parameter function, due to the user
over-ride. The user will now be responsible for setting sensible find
parameters.
Entry:
Parameter change: Frequency
Description:
The user has changed the internal detector’s centre frequency; this message
is for information only.
Entry:
Parameter change: GPS Type
Description:
The user has changed the GPS type; this message is for information only.
Entry:
Parameter change: Heading
Description:
The user has changed the system’s heading parameter; this message is for
information only.
Entry:
Parameter change: Host Latitude
Description:
The user has changed the system’s latitude parameter; this message is for
information only.
Entry:
Parameter change: Host Longitude
Description:
The user has changed the system’s longitude parameter; this message is for
information only.
Entry:
Parameter change: Lock Size
Description:
The user has changed the lock size; this message is for information only. The
system will disable the auto-lock parameter function, due to the user over-
ride. The user will now be responsible for setting sensible locking
parameters.
Entry:
Parameter change: Lock Speed
Description:
The user has changed the lock speed; this message is for information only.
The system will disable the auto-lock parameter function, due to the user
over-ride. The user will now be responsible for setting sensible locking
parameters.
Entry:
Parameter change: Pz Inertia
Description:
The user has changed the elevation axis inertia setting, this message is for
Entry:
Parameter change: Satellite Longitude
Description:
The user has changed the target satellite longitude, this message is for
information only.
Entry:
Parameter change: Threshold
Description:
The user has changed the system’s acquisition threshold, this message is for
information only. Caution must be observed when altering the threshold to
ensure correct system operation.
Entry:
Parameter change: Track Size
Description:
The user has changed the track size; this message is for information only.
The system will disable the auto-track parameter function, due to the user
over-ride. The user will now be responsible for setting sensible tracking
parameters.
Entry:
Parameter change: Track Speed
Description:
The user has changed the track speed; this message is for information only.
The system will disable the auto-track parameter function, due to the user
over-ride. The user will now be responsible for setting sensible tracking
parameters.
Entry:
Parameter change: Tracking Source
Description:
The user has changed the tracking source; this message is for information
only.
Entry:
Polar compensation error cleared
Description:
The system has determined that the physical motion available to the polar
compensation function is now sufficient.
Entry:
Polarisation limit error cleared
Description:
The target polarisation axis angle is now within the range of motion of the
polarisation axis.
Entry:
Polarisation mechanical limit reached
Description:
The target polarisation axis angle is out with the range of motion of the
polarisation axis.
Entry:
Polarisation motor error
Description:
The system has detected that the polarisation axis is not in the correct
position, this may be due to a physical obstruction or incorrectly set inertia
parameters.
Entry:
Polarisation motor error cleared
Description:
The polarisation axis has returned to the correct position, after being
obstructed.
Entry:
Remote Console logged in
Description:
The system granted access to the remote console, this message is for
information only.
Entry:
Remote Console logged out
Description:
The system disconnected the remote console, this message is for information
only.
Entry:
Satellite is not visible
Description:
The angle calculated to the system is unobtainable. This error may be due to
an elevation angle to the satellite less than zero degrees, (i.e. the satellite is
under the horizon), or a polarisation angle that is not correctable.
Entry:
Satellite visible error cleared
Description:
The angle calculated to the satellite is now feasible.
Entry:
Setup : Default parameters loaded
Description:
The system has detected a corrupt parameter set and has loaded the default
parameter definitions. This message is usually only seen after the code has
been initially downloaded to the module. The module will need to be
configured to match the specific system requirements.
Entry:
Syncro heading information not present
Description:
The system cannot demodulate the syncro information to produce a heading.
This may be due to a faulty compass, incorrect wiring, or a blown repeater leg
fuse.
Entry:
Syncro information error cleared
Description:
The syncro heading information has been restored.
Entry:
System Initialised
Description:
The system has completed the initialisation procedure; this message is for
information only.
Entry:
Unwrap warning angle reached
Description:
The coarse azimuth has reached the unwrap angle, this message is only
available in unwrap configuration systems. The user should terminate all on
going calls, if the vessel will continue to rotate into the unwrap angle.
Entry:
Unwrap warning cleared
Description:
The vessel has rotated out of the coarse azimuth unwrap angle, this message
is only available in unwrap configuration systems.
Entry:
Version
Description:
The system inserts the software version into the log on start-up. The text
inserted will indicate the build date.
APPENDIX G: Balancing
Balancing
In order for Startrack to operate correctly, it is essential that the system is
physically balanced. The tracking performance achieved is directly effected
by how well the system is balanced, a poorly balanced system will track either
very badly or not at all.
To balance the platform, balance weights are added, removed or moved
around the mechanical structure of the Spacetrack.
The process of balancing a system can be simplified significantly if an
analogy for each axis is adopted. Random placement of weight with no
forethought will never achieve an acceptable balance. A simple model of a
see saw may be applied to each axis in isolation, although thought must be
given to what effect the positioning of the weight will have on the other axis.
The model may be visualised as:
Kg Kg
Rev: 04 Appendix G - 1
To balance the see saw in the level position, the weight on the left of the
beam must equal the weight on the right of the beam. However, to balance
the see saw at any angle, the weight must be distributed such that, the weight
above the centre line of the axis equals the weight below the centre line of
the axis. The condition that the weight on the left of the beam must equal that
on the right must also be satisfied simultaneously. This is obviously achieved:
Weight positioned such

that an equal amount
lies above and below
the centre line
Kg Kg
Axis Centre Line
The Startrack mechanical structure may be split into three distinct balancing
axis, each of which may be thought of as a simple see saw. To produce a
perfect universal balance, it is necessary to balance the structure at four
angles only. To ease the handling of the unbalanced mechanical structure, it
is often easier to balance in two stages; an initial rough balance, then a fine
tune balance. The balancing weight positions are as follows:
Polar fine balance

slide weight
Top to bottom
slide weights
Front to back
slide weights
Fastening bolts
Weight
Slide
Elevation
The elevation axis works over the largest angular range, and must therefore
be balanced at two distinct angles, each of which balances a different weight
topology. To balance the elevation axis start, with the axis horizontal and
apply weight to the rear of the dish support arms to balance the weight of the
dish. The weight will usually need to be placed above or below the axis
centre line, depending on the feed and LNB position. The second elevation
balance stage, top to bottom balance, must also be considered at this point.
Initially place two thirds of the required weight in the centre of the horizontal
slider travel and one third in the centre of the top to bottom balance sliders.
The weight should also be distributed between the two support arms, to
achieve a rough balance in the polar axis, which is discussed later. The front
to back elevation balance may be represented as:
LNB
Physical Topoplogy
Top to
bottom slider
Weight is above the
centre line due to
position of LNB, weight
must be placed below
the axis centre line
Front to back slider
behind the pivot point
to compensate.
Move weight
along this line to
balance to
achieve front to
back balance
Back bar
Kg
Kg
Kg
Balance weight
Analogy
Usually the effective centre of gravity will be above the centre line due to the
LNB, but this will vary with the RF equipment fitted to the unit. Once the
structure will sit still at the horizontal with only a small amount of drift up or
down, it is possible to balance the elevation top to bottom. To achieve a top
to bottom balance, place the antenna vertical and adjust the top to bottom
slider weights to ensure that the structure neither drifts forward or backward.
It is not necessary to adjust the front to back sliders at this point, as they are
aligned along the balance centre line and have no effect. Also moving the top
to bottom slider weights will not effect the horizontal balance significantly
because the weight will move at roughly the same radius from the pivot point.
The vertical balance may be represented as:
Physical Topoplogy Analogy

Weight is to the left of
the centre line due to
position of LNB, weight
must be placed to the Move weight
right of the pivot point along this line to
to compensate. balance to
achieve top to
bottom balance
LNB & Back bar
Kg Kg
Kg
Balance weight
When balancing top to bottom it is useful to recognise that gravity ensures

the heaviest side will fall to the lowest point, therefore it is straightforward to
work out which direction the weight must be moved. If it is not possible to
move the weight enough to balance the antenna completely, it is necessary to
return to the front to back balance and adjust the weight distribution from one
third to a more appropriate distribution. The process should then be repeated
until a balance is achieved. When the structure is balanced in both the front
to back and top to bottom directions it is possible to move onto balancing the
polarisation axis.
Polarisation
To balance the polarisation axis, position the antenna horizontally and
change the weight distribution from the left and right support arms, such that
the structure is almost balanced. With practise, this stage is combined with
the elevation axis weight positioning. When moving the weights ensure they
remain the same radius from the pivot point, i.e. the same distance from the
point where the gimbal shafts cross, the desired centre of gravity of the
structure. If this is not possible, move the weights to achieve a rough polar
balance then return to the elevation balance stage. The polar axis may be
fine balanced with the mini slider attached to the antenna cross bar.
Imbalance due to RF Move fine tune

package, LNB, control weight along this
unit and balance line to achieve
weight misplacement polar balance, or
move weight
from opposite
support arm.
Kg
Kg
Balance weight
Once a rough elevation and polar balance is achieved the azimuth axis may
be balanced.
Azimuth
The Azimuth axis is the most difficult to balance, because, when the platform
is horizontal the weight is split into scalar quantities that effect the
polarisation and elevation axis.

Weight is to the left of the centre line
due to position of LNB, RF
equipment, control unit and other
balance weights. Weight must be Move weight
placed to the right of the pivot point along this line to
to compensate. balance to
achieve azimuth
balance
Kg
Kg
Balance weight
The azimuth axis may usually be balanced by moving the balance weights
already placed on the structure, no additions weights are usually necessary
at this point. The effect a weight produces is proportional to the distance from
the pivot point; thus a small weight at the end of the support arms has the
same effect as a large weight closer to the gimbal centre. It is therefore
possible to balance the azimuth axis using the front to back slider weights,
though thought should be given to the front to back balance when this method
is employed. The polar slider weight, and moving weight from one support
arm to the other, is the main method of balancing the azimuth axis.
When all three axes are roughly balanced, it is an iterative process of fine
tuning one axis after another until a satisfactory balance is achieved. Using
this method, it is possible to produce a universal balance. Please note that
although it is relatively easy to produce a point balance, i.e. a balance at one
elevation, azimuth and polar angle only, this type of balance is not suitable
for operation of the Startrack under any conditions. The impulse generated
when the axis is accelerated away from the point angle will cause the control
system to expend great amounts of torque to compensate. The excess
torque will heat the motors significantly and null the natural stabilising inertial
effect of the structure. Point balances must be avoided at all times, but
especially when the host vessel tends to change latitude by significant
amounts.
With practise, it is possible to balance a platform in a very short period of

time, with only a few iterations.
APPENDIX H: Configuration File Format
1.0 INTRODUCTION............................................................................................................. 2
2.0 EXAMPLE CONFIGURATION FILE. .............................................................................. 2
3.0 CONFIGURATION FILE BREAKDOWN. ........................................................................ 5
3.1 Framing text ................................................................................................................ 5

3.2 General Config ............................................................................................................ 5
3.3 System Set-up ............................................................................................................. 5
3.4 Acquisition Set-up........................................................................................................ 6
3.5 Trim Set-up.................................................................................................................. 7
3.6 Tracking Set-up ........................................................................................................... 7
3.7 Tracking Receiver Set-up ............................................................................................ 8
3.8 Servo Set-up................................................................................................................ 8
3.9 Navigation Set-up ........................................................................................................ 9
3.10 Above Deck Set-up .................................................................................................... 9
3.11 Polarisation Set-up................................................................................................... 10
3.12 Vessel Position Set-up ............................................................................................. 11
3.12 Satellite Set-up ........................................................................................................ 11
3.13 M&C Set-up ............................................................................................................. 12
3.14 Modem CD Set-up ................................................................................................... 12
3.15 Redundant Pair Set-up............................................................................................. 13
3.16 Smartweight Set-up ................................................................................................. 14
3.17 Auxiliary Com Port Set-up........................................................................................ 14
Rev: 04 Appendix H - 1
Configuration File Format
1.0 INTRODUCTION
The configuration file is a method of storing the complete system
configuration. The configuration file may also be used to program a terminal
to the desired configuration, using the M&C console to upload / download the
information. The following section describes the configuration file and each
entry in detail.
2.0 EXAMPLE CONFIGURATION FILE

A typical spacetrack configuration file follows:
[DMS Spacetrack 4000 Initialisation File]

[Build VERSION Spacetrack 4000 Mar 29 1999 09:36:48]
[File contains 113 Parameters]
[System]
VesselName = DMS Test Setup
FrequencyBand = 1
DishSize = 2.40
[Auto Config]
SystemAutoConfigure = 1
AutoCompassConfig = 1
AutoGPSConfig = 1
AutoTrackSet = 1
AutoLockSet = 1
AutoSearchSet = 1
AutoInertiaSet = 1
AutoFilterSet = 1
AutoTrimAngles = 1
AutoAttenuation = 1
[Acquisition]
Threshold = 20.00
LockSize = 0.23
LockSpeed = 0.30
SearchSize = 2.00
SearchSpeed = 0.40
UserDefinedAnglesAZ = 172.00
UserDefinedAnglesEL = 24.00
UserDefinedAnglesPZ = 0.00
AutoCalculateAcquireAngles = 1
[Trim]
MaxTrimAZ = 2.00
MaxTrimEL = 2.00
MaxTrimPZ = 2.00
[Tracking]
TrackSize = 0.13
TrackSpeed = 0.35
WeatherScanCompensation = 0
TrackingSpeedExpansion = 0.01
TrackingSizeExpansion = 0.01
DetectorProcessDelay = 0.00
[TrackingReceiver]
InputAttenuation = 19.00
ADUAGC = 0
ExternalAGCSource = 0
ActiveReceiver = 0
CenterFrequency = 70.66
[Servo]
InertiaAZ = 57.87
InertiaEL = 60.92
InertiaPZ = 54.83
ProportionalGain = 1.00
IntegralGain = 0.00
DifferentialGain = 0.00
TorqueFilterEnabled = 1
TorqueFilterCorner = 4.81
TorqueFilterNumberOfTaps = 7
RateSensorFilterEnabled = 0
RateSensorFilterCorner = 20.00
RateSensorFilterNumberOfTaps = 5
[NavigationSetup]
GyroEnabled = 1
StepperStepSize = 6.00
SyncroInputEnabled = 0
Compass232InputEnabled = 0
GPS232InputEnabled = 0
[AboveDeckConfig]
CoarseAzimuthUpperLimit = 300.00
CoarseAzimuthLowerLimit = -300.00
CoarseAzimuthActive = 1
MotorKt = 1.00
TorqueUpperLimitAZ = 255.00
TorqueUpperLimitEL = 255.00
TorqueUpperLimitPZ = 255.00
TorqueLowerLimitAZ = 0.00
TorqueLowerLimitEL = 0.00
TorqueLowerLimitPZ = 0.00
[PolarSetup]
FeedTrackingEnabled = 0
FeedPositiveLimit = 120.00
FeedNegativeLimit = -120.00
FeedOffset = 0.00
FeedPositiveRotation = 1024.00
FeedNegativeRotation = 0.00
FeedTotalRotation = 270.00
FeedStaticAccuracy = 0.50
PolarAxisTracking = 0
PolarAxisPositiveLimit = 20.00
PolarAxisNegativeLimit = -20.00
[Navigation]
HostVesselLatitude = 57.12
HostVesselLongitude = -2.11
TargetHeading = 95.56
[Satellite]
SatelliteLongitude = -10.00
SatelliteLatitude = 0.00
SatelliteRealAscention = 0.00
SatelliteDecrement = 1.57
SatelliteInclinationGrowth = 0.00
SatelliteInclination = 0.00
SatelliteManoeuovre = 0.00
SatelliteEpoch = 0.00
[MandC]
MandCUpdateRate = 1.00
MandCBaudRate = 9600
MandCDataLength = 8
MandCStop = 1
MandCParity = 0
PasswordEnabled = 1
Password = FACTORY SETUP
ANSITerminal = 1
[ModemCD]
ModemCDDelayPeriod = 60.00
ModemCDGlitchPeriod = 3.00
DetectModemCD = 1
[Redundancy]
RedundantPair = 0
SwitchRedundancyNotTracking = 0
ExternalOfflineActive = 0
RedundantRange1Lower = 0.00
RedundantRange1Upper = 0.00
[SmartWeight]
SmartWeightIntegrationPeriod = 60.00
SmartWeightOnPeriod = 1.00
[AuxCommPort]
AuxCommBaudRate = 9600
AuxCommDataLength = 8
AuxCommParity = 0
AuxCommStopBits = 1
[EndofInitialisation]
3.0 CONFIGURATION FILE BREAKDOWN

3.1 Framing text
The following lines are comment lines only, and are used to synchronise the
BDU to the downloaded file. The build version and file contents are listed in
this section.
[DMS Spacetrack 4000 Initialisation File]

[Build VERSION Spacetrack 4000 Mar 29 1999 09:36:48]
[File contains 113 Parameters]
[EndofInitialisation]
3.2 General Configuration

The following lines provide the general system configuration.
[System]
VesselName = DMS Test Setup
FrequencyBand = 1
DishSize = 2.40
The frequency bands are defined as:

1 = Ku Band
2 = C Band
3.3 System Set-up

The following section determines which parts of system configuration, the
software will determine automatically.
[Auto Config]
SystemAutoConfigure = 1
AutoCompassConfig = 1
AutoGPSConfig = 1
AutoTrackSet = 1
AutoLockSet = 1
AutoSearchSet = 1
AutoInertiaSet = 1
AutoFilterSet = 1
AutoTrimAngles = 1
AutoAttenuation = 1
Where:
1 = Auto configuration.
0 = Manual Configuration.
And:
SystemAutoConfigure = The global configuration switch, if this value is zero
then the system will not automatically determine any aspect of it’s
configuration. The user will be responsible for automatically configuring all
parameters.
AutoCompassConfig = Automatic heading configuration.
AutoGPSConfig = Automatic GPS configuration.
AutoTrackSet = Automatic tracking parameter determination.
AutoLockSet = Automatic locking parameter determination.
AutoSearchSet = Automatic search parameter determination.
AutoInertiaSet = Automatic inertia parameter determination.
AutoFilterSet = Automatic filter parameter determination.
AutoTrimAngles = Automatic trim parameter determination.
AutoAttenuation = Automatic attenuation determination.
3.4 Acquisition Set-up

The following section determines the satellite acquisition parameters.
[Acquisition]
Threshold = 20.00
LockSize = 0.23
LockSpeed = 0.30
SearchSize = 2.00
SearchSpeed = 0.40
UserDefinedAnglesAZ = 172.00
UserDefinedAnglesEL = 24.00
UserDefinedAnglesPZ = 0.00
AutoCalculateAcquireAngles = 1
Where:
Threshold = Satellite presence determination level in %.
LockSize = Locking size in degrees
LockSpeed = Locking speed in degrees second-1
SearchSize = Search size in degrees
SearchSpeed = Search speed in degrees second-1
UserDefinedAnglesAZ = User set azimuth acquire angle in degrees.
UserDefinedAnglesEL = User set elevation acquire angle in degrees.
UserDefinedAnglesPZ = User set polarisation acquire angle in
degrees.
AutoCalculateAcquireAngles = If set to 1, the system will automatically
calculate the satellite acquire angles.
3.5 Trim Set-up

The following section determines the satellite offset parameters, from the
theoretical angles.
[Trim]
MaxTrimAZ = 2.00
MaxTrimEL = 2.00
MaxTrimPZ = 2.00
Where:
MaxTrimAZ = The azimuth offset in degrees from the calculated
boresight.
MaxTrimEL = The elevation offset in degrees from the calculated
boresight.
MaxTrimPZ = The polarisation offset in degrees from the calculated
boresight.
3.6 Tracking Set-up
The following section determines the tracking parameters.
[Tracking]
TrackSize = 0.13
TrackSpeed = 0.35
WeatherScanCompensation = 0
TrackingSpeedExpansion = 0.01
TrackingSizeExpansion = 0.01
DetectorProcessDelay = 0.00
Where:
TrackSize = The track size in degrees
TrackSpeed = The track speed in degrees second-1
WeatherScanCompensation = Track size and speed will automatically
be adjusted for the prevailing weather conditions if this value is set to
1.
TrackingSpeedExpansion = The track speed expansion factor, no
units.
TrackingSizeExpansion = The track size expansion factor, no units.
DetectorProcessDelay = The receiver AGC processing delay in
seconds.
3.7 Tracking Receiver Set-up
The following section determines the tracking receiver parameters.
[TrackingReceiver]
InputAttenuation = 19.00
ADUAGC = 0
ExternalAGCSource = 0
ActiveReceiver = 0
CenterFrequency = 70.66
Where:
InputAttenuation = Input attenuation in dB.
ADUAGC = If set to 1, the ADU derived AGC will be used to track with.
ExternalAGCSource = If set to 1, the external interface derived AGC
will be used to track with.
ActiveReceiver = Determines AGC source if the previous two variables
are zero, used to select internal receiver configuration. Where:
0 = Narrow band detector.
1 = Wide band detector.
CenterFrequency = Internal detector frequency setting for both the
internal wide and narrow band detectors. The value is in MHz and is
dimensioned from around 56MHz to 1990MHz.
3.8 Servo Set-up
The following section determines the servo loop parameters.
[Servo]
InertiaAZ = 57.87
InertiaEL = 60.92
InertiaPZ = 54.83
ProportionalGain = 1.00
IntegralGain = 0.00
DifferentialGain = 0.00
TorqueFilterEnabled = 1
TorqueFilterCorner = 4.81
TorqueFilterNumberOfTaps = 7
RateSensorFilterEnabled = 0
RateSensorFilterCorner = 20.00
RateSensorFilterNumberOfTaps = 5
Where:
InertiaAZ = Azimuth inertia, Kgm2
InertiaEL = Elevation inertia, Kgm2
InertiaPZ = Polarisation inertia, Kgm2
ProportionalGain = PID loop, proportional parameter, no units
IntegralGain = PID loop, integral parameter, no units
DifferentialGain = PID loop, differential parameter, no units
TorqueFilterEnabled = If set to 1, the output torque will be digitally

filtered.
TorqueFilterCorner = 3dB torque filter corner frequency, Hz.
TorqueFilterNumberOfTaps = Torque filter number of taps, no units.
RateSensorFilterEnabled = If set to 1, the velocity sensor outputs will
be digitally filtered.
RateSensorFilterCorner = 3dB rate sensor filter corner frequency, Hz.
RateSensorFilterNumberOfTaps = Rate sensor filter number of taps,
no units.
3.9 Navigation Set-up
The following section determines the navigation parameters.
[NavigationSetup]
GyroEnabled = 1
StepperStepSize = 6.00
SyncroInputEnabled = 0
Where:
GyroEnabled = If set to 1, the system will use the step by step
interface to generate the system heading.
StepperStepSize = The number of steps output by the compass for
each degree, no units.
SyncroInputEnabled = If set to 1, the system will use the syncro
Compass232InputEnabled = If set to 1, the system will use the RS232
Compass422InputEnabled = If set to 1, the system will use the RS422
GPS232InputEnabled = If set to 1, the system will use the RS232
interface to determine the system position.
GPS422InputEnabled = If set to 1, the system will use the RS422
interface to determine the system position.
3.10 Above Deck Set-up
The following section determines the above deck parameters.
[AboveDeckConfig]
CoarseAzimuthUpperLimit = 300.00
CoarseAzimuthLowerLimit = -300.00
CoarseAzimuthActive = 1
MotorKt = 1.00
TorqueUpperLimitAZ = 255.00
TorqueUpperLimitEL = 255.00
TorqueUpperLimitPZ = 255.00
TorqueLowerLimitAZ = 0.00
TorqueLowerLimitEL = 0.00
TorqueLowerLimitPZ = 0.00
Where:
CoarseAzimuthUpperLimit = The physical maximum positive rotation
allowed by the coarse azimuth before a unwrap is executed, in
degrees. Applicable to unwrap systems only.
CoarseAzimuthLowerLimit = The physical maximum negative rotation
allowed by the coarse azimuth before a unwrap is executed, in
degrees. Applicable to unwrap systems only.
CoarseAzimuthActive = If set to 1, the coarse azimuth motor is
enabled.
MotorKt = Motor Torque constant, units NmA-1
TorqueUpperLimitAZ = Azimuth amplifier maximum positive demand
value, no units.
TorqueUpperLimitEL = Elevation amplifier maximum positive demand
value, no units.
TorqueUpperLimitPZ = Polarisation amplifier maximum positive
demand value, no units.
TorqueLowerLimitAZ = Azimuth amplifier maximum negative demand
value, no units.
TorqueLowerLimitEL = Elevation amplifier maximum negative demand
value, no units.
TorqueLowerLimitPZ = Polarisation amplifier maximum negative
demand value, no units.
3.11 Polarisation Set-up
The following section determines the polarisation parameters.
[PolarSetup]
FeedTrackingEnabled = 0
FeedPositiveLimit = 120.00
FeedNegativeLimit = -120.00
FeedOffset = 0.00
FeedPositiveRotation = 1024.00
FeedNegativeRotation = 0.00
FeedTotalRotation = 270.00
FeedStaticAccuracy = 0.50
PolarAxisTracking = 0
PolarAxisPositiveLimit = 20.00
PolarAxisNegativeLimit = -20.00
Where:
FeedTrackingEnabled = If set to 1, the system will use the active feed
to provide polarisation correction.
FeedPositiveLimit = Maximum positive feed physical rotation, in

degrees.
FeedNegativeLimit = Maximum negative feed physical rotation, in
degrees.
FeedOffset = Feed offset from indicated zero, in degrees.
FeedPositiveRotation = Maximum positive feed physical rotation, in
system counts.
FeedNegativeRotation = Maximum negative feed physical rotation, in
system counts.
FeedTotalRotation = Feed total rotation, in degrees, used for scaling.
FeedStaticAccuracy = Feed position accuracy required, units are
degrees.
PolarAxisTracking = If set to 1, the system will use the polarisation axis
to provide polarisation correction.
PolarAxisPositiveLimit = Maximum positive polarisation axis rotation, in
degrees.
PolarAxisNegativeLimit = Maximum negative polarisation axis rotation,
in degrees.
3.12 Vessel Position Set-up
The following section determines the vessel’s position.
[Navigation]
HostVesselLatitude = 57.12
HostVesselLongitude = -2.11
TargetHeading = 95.56
Where:
HostVesselLatitude = Current vessel’s latitude, in degrees, minutes
and seconds.
HostVesselLongitude = Current vessel’s longitude, in degrees, minutes
and seconds.
TargetHeading = Current vessel’s heading, in degrees.
3.13 Satellite Set-up
The following section determines the satellite parameters.
[Satellite]
SatelliteLongitude = -10.00
SatelliteLatitude = 0.00
SatelliteRealAscention = 0.00
SatelliteDecrement = 1.57
SatelliteInclinationGrowth = 0.00
SatelliteInclination = 0.00
SatelliteManoeuovre = 0.00
SatelliteEpoch = 0.00
Where:
SatelliteLongitude = The mean satellite longitude, in degrees, minutes
and seconds.
SatelliteLatitude = The current satellite latitude, calculated by the
system and only applies to inclined satellites, units are degrees,
minutes and seconds.
SatelliteRealAscention = The current satellite ascention, calculated by
the system and only applies to inclined satellites, units are degrees.
SatelliteDecrement = The current satellite decrement, calculated by
the system and only applies to inclined satellites, units are degrees.
SatelliteInclinationGrowth = The satellite inclination growth, only
applies to inclined satellites, units are degrees.
SatelliteInclination = The satellite inclination, only applies to inclined
satellites, units are degrees.
SatelliteManoeuovre = The satellite Comsat Manoeuvre constant, only
applies to inclined satellites, units are degrees.
SatelliteEpoch = The satellite Epoch, only applies to inclined satellite.
3.14 M&C Set-up
The following section determines the monitor and control console parameters.
[MandC]
MandCUpdateRate = 1.00
MandCBaudRate = 9600
MandCDataLength = 8
MandCStop = 1
MandCParity = 0
PasswordEnabled = 1
Password = FACTORY SETUP
ANSITerminal = 1
Where:
MandCUpdateRate = Update rate for real time screens, in seconds
MandCBaudRate = Baud rate for M&C console, units are symbols per
seconds.
MandCDataLength = The number of data bits for M&C console, no
units.
MandCStop = The number of stop bits for M&C console, no units.
MandCParity = The number of parity bits for M&C console, no units.
PasswordEnabled = If set to 1, the system will require a password
before access to the M&C console is allowed.
Password = The M&C access password, case sensitive.
ANSITerminal = If set to 1, the M&C terminal will use ANSI control and
formatting commands for display and editing.
3.15 Modem CD Set-up
The following section determines the modem demodulator locked indication

parameters.
[ModemCD]
ModemCDDelayPeriod = 60.00
ModemCDGlitchPeriod = 3.00
DetectModemCD = 1
Where:
ModemCDDelayPeriod = The delay, before the modem indicates

demodulator status, the units are seconds.
ModemCDGlitchPeriod = The delay, before the system processes the
change in modem status signal, the units are seconds.
DetectModemCD = If set to 1, the system will process the modem
demodulator locked signal in the control loop.
3.16 Redundant Pair Set-up
The following section determines the redundant pair configuration.
[Redundancy]
RedundantPair = 0
SwitchRedundancyNotTracking = 0
ExternalOfflineActive = 0
Where:
RedundantPair = If set to 1, the system will generate and respond to
redundant pair signalling.
SwitchRedundancyNotTracking = If set to 1, the master terminal will
force the slave terminal into track mode, independently of the heading,
if the master is not tracking.
ExternalOfflineActive = If set to 1, the system will process the Offline
input signal.
RedundantRange1Lower = Sets the master active first lower range
boundary marker, in degrees.
RedundantRange2Lower = Sets the master active second lower range
RedundantRange3Lower = Sets the master active third lower range
RedundantRange1Upper = Sets the master active first upper range
RedundantRange2Upper = Sets the master active second upper range
RedundantRange3Upper = Sets the master active third upper range

3.17 Smartweight Set-up
The following section determines the active weight configuration.
[SmartWeight]
SmartWeightIntegrationPeriod = 60.00
SmartWeightOnPeriod = 1.00
Where:
SmartWeightIntegrationPeriod = The length of time the system will
integrate the torque demand signals to determine the system
imbalance parameter, units are seconds.
SmartWeightOnPeriod = The length of time the active weights will
move the balance weight, at each attempt. Units are seconds.
3.18 Auxiliary Com Port Set-up

The following section determines the auxiliary com port configuration.
[AuxCommPort]
AuxCommBaudRate = 9600
AuxCommDataLength = 8
AuxCommParity = 0
AuxCommStopBits = 1
Where:
AuxCommBaudRate = Baud rate for M&C console, units are symbols
per seconds.
AuxCommDataLength = The number of data bits for auxiliary com port,
no units.
AuxCommParity = The number of parity bits for auxiliary com port, no
units.
AuxCommStopBits = The number of stop bits for auxiliary com port, no
units.
APPENDIX I: Customer Customisation
Rev: 04 Appendix I - 1
Customer Customisation
There are no customer specific modifications.
Rev: 04 Appendix I - 2
APPENDIX J: Notes
Notes:
Rev: 04 Appendix J - 1
APPENDIX K: Quick Start
Quick Start Guide.
1. Site Survey, Choose a location with the following in mind:

•……………………………………………………………………………Visibility
•…………………………………………………………………………..Vibration
•………………………………………………………………………...Cable runs
•………………………………………………………………………….Antennas
•…………………………………………………………………...Heat emissions
2. Ensure the system is fully assembled with no loose components and is
fully balanced.
3. Site the below deck components in a suitable location.
4. Run the IF, power and control cabling, avoiding the ship’s power cabling
etc.
5. Attach the ship’s compass and GPS to the interface panel.
6. The control cable requires seven cores and a shield connected one to
one.
7. Power up the ADU.
8. Attach a laptop to the above deck interface panel.
9. Power up the BDU.
10. Login to the remote console; the password is FACTORYkSETUPf
11. Enter Diagnostics mode and check the sensor alignment.
12. Calibrate the Smartweight if appropriate.
13. Enter the following parameters:
•………………………………………………………………Tracking frequency
•………………………………………………………………..Satellite longitude
•…………………………Vessel’s heading (only if a compass is not present)
•……………...Vessel’s latitude and longitude (only if a GPS is not present)
14. Reboot the control system, the control system will auto configure all
parameters, including:
•……………………………….Compass source and baud rate if appropriate.
•…………………………………….GPS source and baud rate if appropriate.
•………………………………………………………………………...Scan sizes
•……………………………………………………………………………Inertia’s
•……………………………………………………………….Attenuation setting
15. Configure the RF equipment for the correct transmit and receive
frequency.
16. Configure the modem for the correct service parameters.
17. Perform tracking tests and the link commissioning procedure.
18. Read the manual thoroughly.
Rev: 04 Drawings - 1

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Spacetrack

Revision Comments DATE

LIFTING SPACETRACK TERMINALS

1.1 ELECTRICAL SAFETY

1.1.1 Antenna controller..................................................................................................... 3

1.4 TELECOMMUNICATIONS TERMINAL EQUIPMENT DIRECTIVE................................. 4

1.6 ENVIRONMENTAL ......................................................................................................... 4

1.0 SAFETY PRECAUTIONS

1.1 Electrical Safety

The User should observe the following instructions:-

The fuses should only be replaced with T1A 20mm fuses.

1.1.2 ADU Module

The Antenna Control System is designed for connection to a power system

1.4 Telecommunications terminal equipment directive

1.5 EMC (Electromagnetic Compatibility)

1.6 Lifting Spacetrack Terminals

2.1 INTRODUCTION ........................................................................................................... 2

2.2 THE BELOW DECK UNIT ............................................................................................. 3

2.2.1 Reading the display screen ....................................................................................... 3

2.3.1 Confirm that the Signal is Lost: ................................................................................. 6

2.5 CABLE UNWRAP ......................................................................................................... 10

The primary function of the Spacetrack system is to keep a dish antenna,

In a typical installation, Spacetrack hardware is located in the following

2.2 The Below Deck Unit

2.2.1 Reading the display screen

2.2.2 Viewing the system position

AXIS : AZIMUTH – 167.4° AGC -

2.2.3 Viewing the vessels position and heading

HOST : HEADING - 342.4°

2.2.4 Viewing the system log

08:59:24 Monday march 08 000094

2.2.5 Viewing the system error status

UNWP – Indicates that the communications link will be unavailable for

2.3 Recovering A Lost Signal

2.3.1 Confirm that the Signal is Lost:

2.3.2 Confirm that the Power is ON:

2.3.3 Check for Mast or Derrick Eclipse:

2.3.4 Enter New Ship’s Navigation Information:

Note: If there is not a GPS or heading unit installed, it is good practice,

2.3.5 Automatic Re-Acquisition

· FIND – The system is in the process of moving to point towards the

2.3.6 Manual Re-Acquisition

Proceed as follows to re-acquire manually:

· Press the Manual

2.4 Recovering After Power Down

2.5 Cable Unwrap

TABLE OF CONTENTS ....................................................................................................... 1

3.1 EQUIPMENT OVERVIEW............................................................................................... 4

3.1.1 ADU Module ............................................................................................................. 4

3.2.1 Site Survey ............................................................................................................. 36

3.2.2 Assembling The Platform........................................................................................ 36

3.3.1 Initialising The System ............................................................................................ 40

3.4.1 Error Messages....................................................................................................... 51

3.5.1 Replacing an Inclinometer Block ............................................................................. 68

3.5.4 Replacing the Coarse Azimuth Motor ...................................................................... 69

3.6.1 Lubrication .............................................................................................................. 72

3.1 Equipment Overview

3.1.1 ADU Module

3.1.2 Coarse Azimuth and Gimbal Assembly

3.1.3 Pedestal Wiring

3.1.4 BDU Module

3.1.4.1 Spacetrack 4000 Antenna Controller Module Layout