ETS-Lindgren 2090 User Manual

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Model 2090 Series

Multi-Device

Controller

MANUAL

©ETS-Lindgren, April, 2006 Revision G – P# 399199

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Model 2090 Multi-Device Controller

ETS-Lindgren reserves the right to make changes to any products herein to improve functioning or design. Although the information in this document has been carefully reviewed and is believed to be reliable, ETS-Lindgren does not assume any liability arising out of the application or use of any product or circuit described herein; nor does it convey any license under its patent rights nor the rights of others.

No part of this document may be copied by any means

without written permission from ETS-Lindgren L.P.

Revision Description Date

A Initial Release December, 1995 B Revision February, 1996 C Revision April, 1997 D Revision October, 1997 E Revision January, 1998 F Revision April, 2001 G Add Option 1 Section. Update warranty and

April, 2006

template to current standards.

E-Mail & Internet Addresses

support@ets-lindgren.com

http://www.ets-lindgren.com

USA

1301 Arrow Point Drive

Cedar Park, TX 78613 USA

Tel. +1.512.531.6400 Fax +1.512.531-6500

Finland

Mekaanikontie 1, 27510, Eura, Finland

Tel. +358.2.838.330

Fax +358.2.865.1233

Japan

4-2-6, Kohinata

Bunkyo-ku, Tokyo 112-0006 Japan

Tel. +81.3.3813.7100 Fax +81.3.3813.8068

China

1917-1918 Xue Zhixuan Building

No. 16 Xue Qing Road

Haidian District

Beijing Postcode: 100083 China

Tel. +86.010.827.55304 Fax +86.010.827.55307

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TABLE OF CONTENTS

ODEL 2090 QUICK REFERENCE.................................................................................................................... 7

KEYBOARD NAVIGATION................................................................................................................................9

INTRODUCTION.............................................................................................................................................. 11

APPLICATIONS........................................................................................................................................... 12

FEATURES ................................................................................................................................................. 13

STANDARD CONFIGURATION..................................................................................................................... 16

OPTIONAL FEATURES......................................................................................................................... 17

PREPARATION FOR USE ................................................................................................................................. 19

UNPACKING THE CONTROLLER ................................................................................................................. 19

FRONT PANEL DESCRIPTION...................................................................................................................... 20

STANDARD BACK PANEL DESCRIPTION .................................................................................................... 29

OPTIONAL BACK PANEL DESCRIPTION...................................................................................................... 31

POWER REQUIREMENTS ............................................................................................................................ 32

RACK MOUNTING...................................................................................................................................... 33

DEVICE CONNECTIONS.............................................................................................................................. 33

OPTIONAL DEVICE CONNECTIONS............................................................................................................. 35

GPIB INTERCONNECTIONS........................................................................................................................ 36

INITIALIZATION ............................................................................................................................................. 37

STARTUP ................................................................................................................................................... 37

EDITING PARAMETERS .............................................................................................................................. 40

CONFIGURING FOR USE............................................................................................................................. 43

MODEL 2090 PARAMETER LIST .................................................................................................................... 45

OPERATION ................................................................................................................................................... 55

MANUAL OPERATIONS .............................................................................................................................. 55

USING LOCAL FUNCTIONS ...................................................................................................................... 56

USING POSITION FUNCTIONS ................................................................................................................. 56

USING LIMIT FUNCTIONS ........................................................................................................................ 58

USING THE SCAN FUNCTION.................................................................................................................... 59

USING THE STEP FUNCTIONS ................................................................................................................... 60

CHANGING POLARIZATION........................................................................................................................ 60

POLARIZATION VIOLATION AND LIMITS.................................................................................................... 63

CHANGING SPEEDS.................................................................................................................................... 63

USING AUXILIARY CONTROL FUNCTIONS ................................................................................................. 66

USING A BORE SIGHT TOWER.................................................................................................................... 67

USING AN AIR FLOTATION TURNTABLE .................................................................................................... 69

USING A REVERBERATION PADDLE........................................................................................................... 69

USING A MULTI-AXIS POSITIONER............................................................................................................ 70

REMOTE OPERATIONS ............................................................................................................................... 71

USING THE GPIB COMMAND SET WITH THE MODEL 2090............................................................................ 73

BACKWARD COMPATIBILITY..................................................................................................................... 73

GETTING STARTED WITH THE GPIB .......................................................................................................... 74

TYPICAL FLOW OF CODE:.......................................................................................................................... 75

CODE SAMPLE 1........................................................................................................................................ 76

CODE SAMPLE 2........................................................................................................................................ 77

GPIB STATUS REPORTING ........................................................................................................................ 82

APPENDIX A: MODEL 2090 GPIB COMMAND REFERENCE .......................................................................... 97

LIST OF MODEL 2090 GPIB COMMANDS................................................................................................ 98

ALPHABETICAL LIST OF MODEL 2090 GPIB COMMANDS .................................................................... 101

APPENDIX B: MAINTENANCE ..................................................................................................................... 137

NVRAM BATTERY BACKUP................................................................................................................... 137

INSTALLING FLASH ROMS...................................................................................................................... 140

FLASH UPGRADING THE MODEL 2090..................................................................................................... 147

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FLASH UPGRADING MOTOR BASES ......................................................................................................... 150

APPENDIX C: MODEL 2090 ERROR CODE REFERENCE............................................................................... 157

ERROR CODES......................................................................................................................................... 157

TROUBLESHOOTING ERROR CODES......................................................................................................... 158

APPENDIX D: PARAMETER SETTINGS ......................................................................................................... 165

PARAMETER SETTING FOR AMS-8050 AND 2188 SERIES MAPS............................................................ 165

WARRANTY STATEMENT:................................................................................................................... 167

TECHNICAL SUPPORT .................................................................................................................................. 173

EUROPEAN COMMUNITY DECLARATION OF CONFORMITY .......................................................................... 175

INDEX.......................................................................................................................................................... 177

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FIGURES

Figure 1 Model 2090 Front Panel...................................................................................................... 20

Figure 2 Model 2090 Device Control Block Figure 3 Model 2090 Standard Back Panel Figure 4 Model 2090 Option 1 Back Panel Figure 5 Bore sight geometry for standard bore sight tower Figure 6 Status Reporting Model Figure 7 Model 2090 Motherboard

...................................................................................................... 83

................................................................................................ 139

Figure 8 Universal Device Controller Upgrade Utility Figure 9 MB-V Flash Upgrade Utility

.................................................................................. 21

..................................................................................... 29

..................................................................................... 31

.................................................... 68

........................................................... 149

.......................................................................................... 153

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NOTICE : This product and related documentation must be reviewed for familiarization

with safety markings and instructions before operation..

SAFETY SYMBOL DEFINITIONS

REFER TO MANUAL

When product is marked with this symbol refer to instruction manual for additional information.

CAUTION

HIGH VOLTAGE

Indicates the presence of hazardous voltage. Unsafe practices could result in severe personal injury or death.

PROTECTIVE EARTH GROUND (SAFETY GROUND)

Indicates protective earth terminal. You should provide an uninterruptible safety earth ground from the main power source to the product input wiring terminals, power cord, or supplied power cord set.

CAUTION

Denotes a hazard. Failure to follow instructions could result in minor personal injury and/or property damage. Included text gives proper procedures.

GENERAL SAFETY CONSIDERATIONS

WARRANTY

FUSE

2A:250

G P I B G P I B G P I B G P I B

BEFORE POWER IS APPLIED TO THIS INSTRUMENT, GROUND IT PROPERLY through the protective conductor of the AC power cable to a

power source provided with protective earth contact. Any interruption of the protective (grounding) conductor, inside or outside the instrument, or disconnection of the protective earth terminal could result in personal injury.

BEFORE SERVICING: CONTACT EMC TEST SYSTEMS – servicing (or modifying) the unit by yourself may void your warranty. If you attempt to service the unity by yourself, disconnect all electrical power before starting. There are voltages at many points in the instrument which could, if contacted cause personal injury. Only trained service personnel should perform adjustments and/or service procedures upon this instrument. Capacitors inside this instrument may still be CHARGED

even when the instrument is disconnected from its power source. TO AVOID A SAF ETY HAZARD, replace fuses with the same current

rating and type (normal blow, time delay, etc.). Order any replacement parts direct from ETS.

TO AVOID UNDUE MECHANICAL STRESS on the GPIB I/O CONNECTOR, limit connector stacking to no more than three cables on one connector.

ONLY QUALIFIED PERSONEL should operate (or service) this equipment.

IN EVENT OF EMERGENCY push the Model 2090 STOP button and

STOP

power unit down.

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MODEL 2090 QUICK REFERENCE

Error List

E001 E002 E003 E004 E005 E006 E007 E008 E009 E010 E011 E012 E100 E101 E102 E103 E104 E996

E997 E998 E999

Errors less than cause of the error condition should be corrected before continuing. The remaining errors may indicate th at the 2090 requires service. If one of these errors occurs, power off the unit for several seconds and power it back on. If the error recurs, contact EMC Test Systems, L.P. for service.

NVM Initialization Error – Parameters restored to factory defaults due to dead battery. Motor not moving – Device stalled due to overload, power problems, or failure. Device will not stop – Device continued moving for too long after motion was disabled. Device moving wrong direction – Device wired wrong, failing, or reverse delay too short. Hard Limit hit – Device has reached a mechanical limit. Polarization limits violation – Tower polarized outside allowed target polarization limits. Communicat ion lost – No comm. w/ device; power off, fiber disconnected, or failure. Flotation violation – Attempt to disengage air flotation while turntable is in motion. Encoder failure – Detected changes in position consistent with an encoder problem. Trigger failure Overheat Error – Motor or control board over temperature Relay Failure – Motor drive control relays not switching properly ROM test error – ROM has been detected as being corrupt. RAM test error – RAM has been detected as being corrupt. NVM test error – NVM has been detected as being corrupt. Low Power test error – Power test failed. GPIB test error – GPIB test failed.

BERR Error Uninitialized Interrupt Spurious Interrupt Invalid Interrupt Error

E100 can be cleared by pressing any key on the front panel to acknowledge the error. The

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Parameter List

P1 P2

P3 P4 Polarization offset: (±50 cm) -or- Bore Sight separation distance: (3, 10, or 30 m) P5

P8 P9 B1

S0 S1-S8 PCLr OSCLr OC ZERO BASE ACC TEP SND

Device Type: (0 = rotational positioner, 1 = linear positioner)

Device Sub-Type: (0 = Standard Turntable/Tower, 1 = Air Flotation Turntable/Bore Sight Tower, 2 = Two Speed Turntable)

SCAN cycle count: (1-999 complete scans, 0 = infinite scan)

Bore sight correction table: (0 = standard, 1 = alternate) -or- Turntable rotation mode: (0 = Continuous, 1 = Non-continuous) Motor reverse delay: (0.1 – 99.9 seconds) GPIB Address: (0-30) Bit 0, STEP limits – (0 = INC/DEC limited by hard limits, 1 = INC/DEC limited by soft limits) Bit 1, Quick Stop – (0 = normal deceleration, 1 = fast deceleration (variable speed only)) Encoder calibration: Encoder counts per meter/revolution (1-9999). Typical values are:

Towers: Default = 2000, 2075 = 1620; Turntables: Default = 3600, 2065 = 3665 , 2081 = 3608, 2088 = 4500 (4800*), 5901 = 6000 (6400*), MAPS = 4500. * Early revisions.

STEP speed setting: (-1 = disabled, 0-255 (variable speed devices only) Speed setting: (0-255 (variable speed devices only) Clear Parameters: Restores this device to factory default. Clear Overshoot: Clears overshoot compensation values for this device. Overshoot Compensation Enable/Disable: (On = enabled, OFF = disabled) Zero Reference : Initiates a zero pulse reference scan on equipped devices. Motor base firmware revision: For informational purposes only. Acceleration: Time in seconds for motorbase to reach full speed (variable speed devices only) Temperature monitor: Displays motor and control board temperature. Motorbase sound setting: (0 = No sounds, 1 = remote control only, 2 = errors enabled, 3 = all

sounds enabled).

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KEYBOARD NAVIGATION

To return to local operation – when RMT indicator lit, pressing LOCAL restores local operation. To initiate/stop motion – press UP/CW or DOWN/CCW under POSITION to start motion. Press

SCAN to toggle scan mode on or off. Press and hold INC or DEC keys under STEP, when the display shows the current position, to initiate motion while the key is pressed. Press STOP under POSITION to stop motion. To change mast polarization – press the POLARIZATION/FLOAT/SPEED button under POSITION, while the display shows the current position, to toggle the polarization. Polarizing the tower while the boom is above or below the limits of the target polarization will cause and error E006. To change air flotation turntable flotation – press the POLARIZATION/FLOAT/SPEED button under POSITION to toggle the flotation. Deflating the table while in motion will cause an error E008. To change speed selection – on a variable speed device, press the LOCAL key while in local mode and viewing the current position to display the current speed selection. Press INCRM and DECRM under LIMIT to scroll up or down through the available speeds. For variable speed turntables, press the POLARIZATION/FLOAT/SPEED button under POSITION to scroll through the available speeds. For two-speed turntables, press the POLARIZATION/FLOAT/SPEED button under POSITION to toggle between high and low speeds. To view limits – press UP/CW, DOWN/CCW, or CURRENT POSITION under LIMIT to display the associated value. To view limits for the opposite polarization – with the desired limit displayed, press the POLARIZATION/FLOAT/SPEED button under POSITION. The tower will remain at the current polarization, but the display will change to the limit for the other polarization. The POLARIZATION indicator will flash to indicate that the display does not represent the actual state of the device. To view parameters – press PARAM under CONFIG to display the current parameter. Repeatedly pressing PARAM will scroll through the parameter list. While a parameter is displayed, pressing INC or DEC under STEP will scroll up or down through the available parameters. To edit limits or parameters – with the desired limit, position, or parameter visible in the display, press ENTER under LIMIT to enter edit mode. Pressing INCRM or DECRM under LIMIT will also enter edit mode and immediately change the first digit. The active digit will flash, and pressing INCRM or DECRM will increase or decrease that value. For values with multiple digits, pressing the LOCAL key while the display is flashing will shift to the next higher digit in the display. Once the desired value is entered into the display, press ENTER to store the data. Pressing any other non-edit key will exit the edit mode, discarding the value, and activate the associated function. For parameter function calls (PCLr, OSCLr, & ZERO), pressing ENTER will ask for confirmation (SURE). Pressing enter again will activate the function.

To use auxiliary devices – press the 1-4 button under AUX CONTROL to toggle the associated auxiliary port on or off.

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Keyboard Navigation Model 2090 Multi-Device Controller

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INTRODUCTION

The Model 2090 Multi-Device Positioning Controller is designed for use with ETS-Lindgren positioning devices such as antenna towers, turntables, reverberation paddles, multi-axis positioners, etc. to accomplish a variety of tests for EMC compliance, antenna pattern measurements, and more.

The Controller allows the user to synchronize the simultaneous, yet independent movement of two primary devices such as towers or turntables in either manual or remote GPIB modes while controlling the on/off operation of up to four auxiliary devices.

Each primary device is interfaced to the Model 2090 through a bi-directional fiber optic interface using a proprietary command protocol. Auxiliary devices use a single-pole double-throw RF relay to control simple on/off operation. The connection type is SMA.

The front panel of the Model 2090 provides the interface for two separate and complete device controllers, each with identical displays and function keys. The function keys let the user configure device specific parameters, adjust limit and position settings, and control device motion. Numeric displays and status indicators are provided for each device interface to show positioning and operational information, as well as device parameter settings. In addition to the two primary device interfaces, there is an auxiliary control interface for four auxiliary devices. This interface provides

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Introduction Model 2090 Multi-Device Controller

keys and indicators to allow the user to manually toggle the auxiliary devices on or off.

Control of all devices may be accomplished either in the manual or remote modes through the use of the GPIB (IEEE 488 standard interface bus) port located on the rear panel. Each primary device is identified by a unique GPIB address that the controller recognizes, allowing each positioning device to function as a separate device on the GPIB bus.

APPLICATIONS

RADIATED EMISSIONS TESTING

The Model 2090 is used to control ETS-Lindgren towers and turntables during manual or fully automated radiated emissions testing. The controller is capable of controlling the tower height scan and antenna polarization functions and the turntable rotation function from the operator's station during remotely controlled or manual measurements. This capability satisfies the technical measurement requirement to search in azimuth and over a specified height range to detect the maximum of the signal sourced in the equipment under test.

SITE ATTENUATION MEASUREMENTS

The Model 2090 allows for the remote control of the height search of all ETS-Lindgren towers during site attenuation testing. With this capability, the user can maximize the signal level detected at each measurement frequency within the required height search range.

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PATTERN ANALYSIS

With the Model 2090, the user can have manual or automated control of the turntable rotation function or the ortho (elevation) and azimuth functions of a Multi-Axis Positioning System (MAPS) from an operator's station during antenna pattern measurement.

REVERBERATION CHAMBERS

The Model 2090 can provide precise step control of all ETS-Lindgren reverberation paddles for mode-tuned operation, or continuous rotation variable speed control for mode-stirred operation.

FEATURES

FIBER OPTIC INPUT/OUTPUT LINES

• Eliminate unwanted RF signals generated over wire cables.

• Each primary device cable contains two fiber optic lines (transmit/receive).

• Each auxiliary device cable contains one fiber optic line (transmit only).

• Fiber optic connectors (device and auxiliary) on the back panel are metal ST connectors that are reliable and easy to use.

MULTI-DEVICE CONTROL

• Duplicate front panel controls permit simultaneous and synchronized control of two primary devices and four auxiliary devices in both manual and remote modes.

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COMPATIBILITY

• Compatible with the a variety of commercial software including the following:  Hewlett Packard Commercial Radiated EMI

Measurement Software (HP Part # 85876A).

 Rohde & Schwarz ES-K1 Emissions Software  Quantum Change Tile software

• Backward compatible with previous ETS-Lindgren Models 1050, 1060 and 1090 Controller GPIB command sets (See Appendix A for settings).

• Compatible with the ETS-Lindgren Model 2190 Virtual Controller GPIB command set and VCS interface.

SEEK/SCAN FUNCTIONS

• SEEK: Allows for movement of device under control to a target position (valid through GPIB only).

• SCAN: Allows for movement of device under control cyclically between pre-programmed limits.

TARGET OVERRUN CORRECTION FEATURE

• Constantly monitors inertia induced target overrun. A special algorithm continually adjusts subsequent positioning to minimize overrun, allowing for proper device positioning during tests.

SPECIAL LIMIT SETTING FEATURE

• When used to control a tower, upper and lower limits can be set independently for both horizontal and vertical polarizations.

• Prevents element damage at upper or lower limit due to a change in polarization.

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Model 2090 Multi-Device Controller

GPIB INTERFACE

• Complies with IEEE 488 industry standards (488.1 and

488.2 compatible).

• All front panel functions can be exercised using GPIB commands while in the remote mode.

• Provides additional capabilities not available from the front panel, including a variety of SEEK commands.

UNIVERSAL POWER SUPPLY

• Auto ranging - automatically senses supply voltage (no user selection necessary).

• Accepts any AC power source input within the range of 115/230 VAC, 50/60 Hz.

RACK MOUNTING

• Standard rack width.

• 3 U rack size.

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Introduction Model 2090 Multi-Device Controller

STANDARD CONFIGURATION

ELECTRICAL

Voltage

Frequency 44-440 Hz

Fuse 2 A, 250 VAC Time Delay

Power Inlet IEC 320

Interface GPIB (IEE 488)

I/O Ports Fiber Optic, 2 lines each, 2 primary devices

Batteries 3 Size “AAA” 1.5 V DC Alkaline (type

PHYSICAL

Width

Depth 38.0 cm (with handles)

Height 13.3 cm

Weight 4.5 kg

Towers: 1mm ± 1 cm Turntables: 0.1 degree ± 1 degree Reverb: 0.1 degree ± 1 degree MAPS: 0.1 degree ± 1 degree

Position Resolution Positioning Accuracy with

90-250 VAC

Fiber Optic, 1 line each, 4 auxiliary devices

EN92 or equivalent), user replaceable (for parameter backup)

43.8 cm

17.25 in

13.5 in

5.25 in

10.0 lbs

Overshoot Compensation

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Model 2090 Multi-Device Controller

OPTIONAL FEATURES

Option 1 I/O Ports:

RF Switch, SPDT, four auxiliary devices

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PREPARATION FOR USE

UNPACKING THE CONTROLLER

The ETS-Lindgren Model 2090 Multi-Device Controller is shipped with an instruction manual, power cord, and appropriate packing material to prevent damage. Carefully remove the Model 2090 and its accessories from the shipping container. Save the packing material for storage and shipping. Check to make sure all contents are intact and report any missing items to the factory. After verifying the contents, proceed with the setup process. Before connecting, configuring, or using the Model 2090, the user should become familiar with the available controls and connections. The following sections describe the front and back panels of the unit.

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FRONT PANEL DESCRIPTION

CURRENT POSITION

DEVICE TWO

DOWN

CCW

ENTER

UP CW

MODEL 2090 MULTI-DEVICE CONTROLLER

AUX CONTROL

132

RMT

8. 8. 8. 8. 8. 8. 8. 8. 8. 8.

ADDR

PARAM DOWN

CURRENT

UP CW

POSITION

INCRM DECRM

ENTER

DEVICE ONE

CCW

UP CW

STOP

HOR / UP / FAST VERT / DN / SLOW

DOWN

RMT ADDR

INC

PARAM

CCW

DECPOLARIZATION / FLOAT / SPEE D

UP CW

INCRM DECRM

1 42 3

gure 1 Model 2090 Front Panel Fi

1. CK – Provides input keys

AUXILIARY CONTROL BLO

and indicators for the four auxiliary control ports. Pressing a key will toggle the corresponding auxiliary output and indicator on or off.

2. s the user

DEVICE ONE CONTROL BLOCK – Provide

STOP

HOR / UP / FAST VERT / DN / SLOW

DOWN

POWER

INC

CCW

DECPOLARIZATION / FLOAT / SPEED

interface for Primary Device 1.

3. DEVICE TWO CONTROL BLOCK – Provides the user

interface for Primary Device 2.

4. POWER CONTROL BLOCK – Provides the power

toggle switch and power indicator. Power is enabled with the switch depressed. The power indicator should light a few moments after depressing the power switch.

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PARAM

RMT

ADDR

INCRM DECRM

DEVICE ONE

8. 8. 8. 8. 8.

CURRENT POSITION

DOWN

CCW

ENTER

STOP DOWN

HOR / UP / FAST VERT / DN / SLOW

CCW

INC

DECPOLARIZATION / FLOA T / SPEED

Figure 2 Model 2090 Device Control Block

1. LOCAL KEY AND INDICATORS

LOCAL key – The LOCAL key is a multi-function key

which has a different behavior depending on the status of the Model 2090. a. Pressing the LOCAL key while the corresponding

primary device is in remote control mode (RMT indicator lit) will return the controller to local control mode.

b. For a variable speed device, pressing the LOCAL key

while in local mode and viewing the position displays will activate the speed selection mode, causing the current speed selection to be displayed momentarily in the primary display. The INCRM and DECRM keys can then be used to adjust the speed selection.

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c. In edit mode (see below), pressing the LOCAL key

will shift the display digit being edited to the next higher digit.

RMT (REMOTE) indicator – This indicator will be lit as long as the corresponding primary device is under remote GPIB control. The front panel keys (except the LOCAL key) of this primary device will be disabled while in remote mode.

NOTE: While user input and control is disabled, the remaining keys may still be used to acknowledge an error condition while in remote control mode.

ADDR (ADDRESSED) indicator – This indicator will strobe to indicate GPIB bus activity while in remote control mode.

2. CONFIGURATION

PARAM (PARAMETER) key – Pressing this key will

stop all device motion and display the current entry of the configuration parameter list for this primary device in the corresponding display window. Repeatedly pressing this key will advance to the next parameter in the list.

3. LIMIT KEYS AND INDICATORS

UP/CW key – Pressing this key will display the upper limit

for the current polarization of a tower, or the clockwise limit of a turntable, reverberation paddle, or MAPS in the corresponding numerical display. UP/CW indicator – Lights to indicate that the numerical display represents the upper limit of a tower, or the clockwise limit of a turntable, reverberation paddle, or MAPS.

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CURRENT POSITION key – Pressing this key will display the current position of the primary device in the corresponding display. CURRENT POSITION indicator – Lights to indicate that the numerical display represents the current position of the primary device. This is the default state. DOWN/CCW key – Pressing this key will display the upper limit for the current polarization of a tower, or the counterclockwise limit of a turntable, reverberation paddle, or MAPS in the corresponding display. DOWN/CCW indicator – Lights to indicate that the numerical display represents the lower limit of a tower, or the counterclockwise limit of a turntable, reverberation paddle, or MAPS. ENTER key – Pressing this key toggles the edit mode on or off. With the edit mode off, pressing ENTER will initiate edit mode for the currently displayed limit or parameter. Pressing ENTER while in edit mode will store the modified limit or parameter and exit edit mode.

NOTE: This key only works when the device is not in motion.

INCRM (INCREMENT) key – Pressing this key will increment the currently highlighted digit of the limit, position, parameter, or speed selection in the display window. For limits, position, and parameters, if the Model 2090 is not already in edit mode, it will automatically switch to edit mode.

NOTE: With the exception of changing the speed selection, this key only works when the device is not in motion.

DECRM (DECREMENT) key – Pressing this key will decrement the currently highlighted digit of the limit,

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position, parameter, or speed selection in the display window. For limits, position, and parameters, if the Model 2090 is not already in edit mode, it will automatically switch to edit mode.

NOTE: With the exception of changing the speed selection, this key only works when the device is not in motion.

4. POSITION KEYS AND INDICATORS

UP/CW key – Pressing this key will command the

associated primary device to move in the UP or CLOCKWISE direction. Actual motion will depend on the current state of the device and the controller. UP/CW indicator – Lights solid to indicate that the device is moving in the UP or CLOCKWISE direction. Flashes to acknowledge user key-press of the UP/CW key and to indicate that the target motion is in the UP or CLOCKWISE direction during reverse delay operations. STOP key – Pressing this key will command the associated primary device to stop motion. Variable speed devices will decelerate to their minimum speed before disabling the drive. STOP indicator – Lights solid to indicate that the device is stopped. Flashes to acknowledge user key-press of the STOP key and during deceleration of variable speed devices. DOWN/CCW key – Pressing this key will command the associated primary device to move in the DOWN or COUNTERCLOCKWISE direction. Actual motion will depend on the current state of the device and the controller. DOWN/CCW indicator – Lights solid to indicate that the device is moving in the DOWN or COUNTER-

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CLOCKWISE direction. Flashes to acknowledge user keypress of the DOWN/CCW key and to indicate that the target motion is in the DOWN or COUNTERCLOCKWISE direction during reverse delay operations. POLARIZATION/FLOAT/SPEED key – This key has a variety of behaviors depending on the attached primary device type: a. For towers, pressing this key toggles the tower boom

between horizontal and vertical polarization when the display shows the current position; and toggles the display between horizontal and vertical limit displays when showing an upper or lower limit.

b. For air-flotation turntables, pressing this key floats or

lowers the turntable on its air cushions. The turntable cannot be dropped while in motion.

c. For two speed turntables, pressing this key toggles the

turntable between fast and slow speed.

d. For standard variable speed turntables, pressing this key

advances the selected speed setting to the next preset speed selection.

HOR/UP/FAST indicator – This indicator has a variety of behaviors depending on the attached primary device type: a. For towers, this indicator lights solid to indicate that the

tower is polarized horizontally. This indicates the status of the polarization solenoid only, and may or may not reflect the actual position of the tower’s cross boom at any given instant. This indicator flashes to indicate that the display is showing the upper or lower limit for the horizontal polarization, while the tower is still polarized vertically.

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b. For air-flotation turntables, this indicator lights solid to

show that the air flotation solenoid has been activated.

c. For two speed turntables, this indicator lights solid to

show that the turntable motor is set to high speed.

d. For standard variable speed turntables, this indicator

lights in a binary fashion with the VERT/DN/SLOW indicator to represent the least significant bits of the current speed selection. See the section on “OPERATION” for more information on this display.

VERT/DN/SLOW indicator – This indicator has a variety of behaviors depending on the attached primary device type: e. For towers, this indicator lights solid to indicate that the

tower is polarized vertically. This indicates the status of the polarization solenoid only, and may or may not reflect the actual position of the tower’s cross boom at any given instant. This indicator flashes to indicate that the display is showing the upper or lower limit for the vertical polarization, while the tower is still polarized horizontally.

f. For air-flotation turntables, this indicator lights solid to

show that the air flotation solenoid has been deactivated.

g. For two speed turntables, this indicator lights solid to

show that the turntable motor is set to low speed.

h. For standard variable speed turntables, this indicator

lights in a binary fashion with the HOR/UP/FAST indicator to represent the least significant bits of the current speed selection. See the section on “OPERATION” for more information on this display.

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5. STEP KEYS

INC (INCREASE) key – This key has two functions:

a. Pressing this key while viewing position information

will command the associated primary device to move in the UP or CLOCKWISE direction until the key is released. Actual motion will depend on the current state of the device and the controller.

b. Pressing this key while viewing the parameter list will

move up the parameter list by one entry, allowing the user to scroll back through the parameter list.

DEC (DECREASE) key – This key has two functions: a. Pressing this key while viewing position information

will command the associated primary device to move in the DOWN or COUNTERCLOCKWISE direction until the key is released. Actual motion will depend on the current state of the device and the controller.

b. Pressing this key while viewing the parameter list will

move down the parameter list by one entry, allowing the user to scroll forward through the parameter list (same as pressing the PARAM key).

6. SCAN KEY AND INDICATOR

SCAN key – This key toggles the scan mode on or off.

When activated, the associated primary device will move between the upper/clockwise and lower/counterclockwise limits for the number of cycles specified by the scan cycle parameter,

P3. See the “MODEL 2090 PARAMETER

LIST” for more information. SCAN indicator – This indicator is lit as long as the scan mode is activated.

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7. UNIT INDICATORS

cm indicator – This indicator is lit for devices configured

as towers, to indicate that the position and limit information is displayed in centimeters. deg indicator – This indicator is lit for devices configured as turntables, to indicate that the position and limit information is displayed in degrees.

8. PRIMARY DISPLAY

This five digit, seven-segment display provides the primary feedback for the user interface. It is used to display current position information, limit settings, parameter settings, speed selection, error messages, and other alphanumeric messages.

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Model 2090 Multi-Device Controller Model 2090 Multi-Device Controller

STANDARD BACK PANEL DESCRIPTION

LINE INPUT

FUSE

2 A: 250 V T

115/230 V

50/ 60 Hz

100 VA MAX.

IEEE 488

GPIB

CAUTION

For laborator y use by qualified per sonnel.

ATTENT ION

Pour emploi par le personnel de labora toire.

AUXILIARY CONTROL

AUX 1 AUX 2

AUX 3 AUX 4

DEVICE INTERFACE

DEVICE 2

IN IN

OUT OUT

DEVICE 1

Figure

3 4 5 6

3 Model 2090 Standard Back Panel

1. AC POWER FUSE – This is the AC power fuse holder.

Replace the fuse with the power off and the power cord disconnected from the unit, and only with a fuse of the same rating. Failure to do so may cause personal injury or instrument damage and will void the warranty.

2. ER INLET – This is the IEC 320 power inlet.

IEC POW

Attach an appropriate power cord between this inlet and the power mains. This is a grounded outlet and provides the safety earth ground for the instrument. Never attempt to defeat the safety features of the device. Doing so may cause personal injury or instrument damage and will void the warranty.

GPIB PORT – This is the IEEE 488 GPIB interface port.

It is used to connect the Model 2090 to a PC

or other GPIB

bus controlling device using a standard GPIB cable.

AUXILIARY CONTROL – These are the ST-type fiber

optic output connectors for the four auxiliary device

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controls. They provide simple on/off control for remote devices fitted with an auxiliary device input.

DEVICE 2 INTERFACE – These are the ST-type fiber

optic I/O co

nnectors for primary device number two. One channel of a duplex fiber optic cable connects from the OUT connector of the controller to the IN connector of the primary interface of a device (tower, turntable, e

cond channel connects from the OUT connector of the

tc.). The

primary interface of the device to the IN connector of the controller.

NOTE: Older motor base designs do not have a secondary fiber optic interface. The secondary interface on newer devices is currently reserved for future expansion.

DEVICE 1 INTERFACE – These are the ST-type fiber optic I/O co

nnectors for primary device number one. One channel of a duplex fiber optic cable connects from the OUT connector of the controller to the IN connector of the primary interface of a device (tower, turntable, e

tc.). The second channel connects from the OUT connector of the primary interface of the device to the IN connector of the controller.

NOTE: Older motor base designs do not have a secondary fiber optic interface. The secondary interface on newer devices is currently reserved for future expansion.

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OPTIONAL BACK PANEL DESCRIPTION

uxiliary Control

Switches

NC C NO

SW 1

SW 2

SW 3

SW 4

Figure 4 Model 2090 Option 1 Back Panel

AUXILIARY CONTROL – Auxiliary devices use a single-pole double-throw RF relay to control simple

on/off operation. The connection type is SMA.

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POWER REQUIREMENTS

The Model 2090 accepts any AC power source input within the range of 115-230 VAC, 50/60 Hz. It is not necessary to select a voltage. To apply AC power, use the threeconductor power cable that is shipped with the controller. When connected from the IEC 320 power inlet to an appropriate AC power source, the instrument chassis will be connected to the earth ground.

CAUTION: Before switching on, connect the protective earth terminal of this instrument to the protective conductor of the power cord. The power cord should only be

connected to a socket outlet provided with a protective earth contact. Do not use an extension cord without a protective earth connector. Never attempt to defeat any

safety feature of an electrical device or serious injury may result.

The Model 2090's configuration and current settings are backed-up by non-volatile RAM (NVM). The NVM retains these settings in the event of power loss or power down. Three (3) AAA alkaline batteries, located internally, are needed for this memory back up. Refer to the procedure in the section “NVRAM Battery Backup” in Appendix B: Maintenance, for more information on replacing these batteries.

NOTE: It is recommended that the batteries be replaced annually to reduce the risk of potential memory loss.

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RACK MOUNTING

DEVICE CONNECTIONS

The Model 2090 controller can be ordered with a rack mount option (Part # 540037). This option can be either factory or field installed. The rack mount option provides capability for installing the controller in a universal E. I. A.

48.26 cm (19.0 in) rack. A rack height of 13.34 cm (5.25 in) is required.

Any combination of primary devices (towers, turntables, reverberation paddles, MAPS, etc.) can be connected to the two Device Interface ports located on the rear panel of the controller. For easy set up of an EMC facility, it is recommended that the tower be connected to the Device 1 interface port and the turntable be connected to the Device 2 interface port, since these are the controller's default settings. Reverberation paddles and each axis of the MultiAxis Positioner behave similar to turntables, and should be configured as such. Primary device connection is accomplished by way of a dual fiber cable included with the device. This cable terminates into two ST connectors that are identical at both ends. The cable is symmetrical; either end can be connected to the controller. A fiber optic cable that is connected to the IN port of a device should, at the other end, be connected to the primary OUT port of the motor base. A fiber connected to the OUT port of the device should, at the other end, be connected to the primary IN port of the motor base. Older motor base designs have only one fiber optic connector pair, while the newest motor

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base interface provides a secondary interface reserved for future expansion.

Additional devices (for example: Remote Air Polarized Tripods, LISNs, EUTs, etc.) can be connected in any sequence to the four Auxiliary Control Ports (located on the rear panel). If there are less than four auxiliary devices connected to the controller, it is recommended (not required) that these devices be connected in numerical order, starting with the Auxiliary Control Port 1. The Auxiliary Ports are also standard ST fiber optic connectors. Auxiliary Port Enabled products, such as air polarized tripods, are provided with a single fiber cable with ST connectors at both ends. Either end may be attached to the

2090.

NOTE: Fiber optic cabling for each device should not be allowed to hang unsupported from the rear panel of this controller. The fibers and connectors are easily broken if twisted or bent too much. Keep the fiber optic cables as straight as possible from the connector to the protective sheath.

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OPTIONAL DEVICE CONNECTIONS

SW 1

NC C NO

Auxiliary devices use a single-pole, double-throw RF relay to control simple on/off operation. The connection type is SMA.

SW 2

Additional devices (for example: CMU, Analyzers, dual polarized horn antennas, etc.).

SW 3

SW 4

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GPIB INTERCONNECTIONS

The Model 2090 is compatible with the General Purpose Interface Bus as described in the IEEE 488.1/488.2 standard. A "D" connector has been provided on the 2090 rear panel for connection to a GPIB bus.

NOTE: When making this connection, do not stack more than three cables on any one connector. This eliminates undue mechanical stress on the connector and rear panel. Also, be sure to screw the two-connector lock-screws finger tight to avoid a loose connection during operation.

NOTE: The controller's talker/listener bus address can be set through the front panel. Instructions on how to perform this operation may be found in “Initialization” under the subsection “Configuring For Use”.

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INITIALIZATION

STARTUP

The devices that will be controlled by the Model 2090 must be properly connected to the controller before applying power to the unit. If nothing is connected to the Model 2090 when power is applied the Device One and Device Two displays will show dashes (-----).

The Model 2090 controller has a power-up diagnostic/selftest to check for internal problems found during initialization. During this period, the all display indicators will flash on for several seconds to allow a visual inspection, and then the firmware revision number will be displayed in the left-hand (Device One) display window as r X.XX where X.XX is the version number. If an internal error is found during the startup sequence, an error message "EXXX" will appear in the Device One display, where XXX is the error code.

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RECOVERABLE ERRORS:

The following errors indicate a recoverable problem that may require user intervention. These errors can be cleared by pressing any key on the front panel to acknowledge the error. These errors can also be cleared remotely through the GPIB Status reporting structure described in the section “USING THE GPIB COMMAND SET WITH THE MODEL 2090” subsection “GPIB Status Reporting”.

E001

E100

E101

E102

E103 E104

NVM Initialization Error. Parameter settings were lost and restored to factory defaults. This error usually indicates that the NVM backup batteries are dead and should be replaced. See the procedure in the section “NVRAM Battery Backup” in Appendix B: Maintenance, for more information.

SYSTEM TEST FAILURES:

The following errors are of a more serious nature and may indicate that service is needed. In the event of such an error, power off the unit for several seconds and power it back on. If the error recurs, contact ETS for service.

ROM test error: ROM has been detected as being corrupt. RAM test error: RAM has been detected as being corrupt. NVM test error: NVM has been detected as being corrupt. Low Power Test error: Power test failed. GPIB Test error: GPIB test failed.

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HARDWARE ERRORS:

The following errors are not limited to the startup process, and should not occur under normal operation. In the event of such an error, power off the unit for several seconds and power it back on. If the error recurs, contact ETS for service.

E996 E997 E998 E999

BERR Error Uninitialized Interrupt Spurious Interrupt Invalid Interrupt Error

Refer to “Appendix B” for more information on error conditions and possible causes.

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EDITING PARAMETERS

The Model 2090 provides a versatile user interface for editing configuration parameters, limits, and the current position, by allowing several keys to perform multiple duties. Prior to editing any settings, all device motion should be stopped. The Model 2090 will automatically stop device motion when configuration parameters are displayed, and prevent the editing of limit and position values while in motion, but the user should avoid attempting to modify these values while equiptment is in motion to avoid unexpected results.

To edit the limits or current position settings, select the appropriate limit or position by pressing the corresponding button under the LIMIT key group. The associated indicator should light and the display will show the corresponding value. For a tower, the 2090 provides two sets of limits, one for horizontal polarization and one for vertical, in order to protect antenna elements from damage due to accidental polarization at the top or bottom of the mast. Pressing the POLARIZATION key while the upper or lower limit is displayed will switch the display to show the corresponding limit for the opposite polarization, without changing the tower polarization. To indicate that the displayed value and polarization is not the current polarization, the indicator light by the POLARIZATION key will flash on and off. While in this state, the limit can be changed using the limit edit keys just the same as any other parameter.

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NOTE: In order to toggle the polarization of the tower from the front panel, the display must be showing the current position, and not either limit.

To edit a configuration parameter, press the PARAM key to display the current parameter. Pressing the PARAM key repeatedly will scroll down through the parameter list, showing each parameter in turn. While viewing a parameter, the STEP keys (INC/DEC) may be used to scroll up or down the parameter list. This reduces the effort necessary to scan through a long parameter list using the PARAM key. Pressing any of the LIMIT/POSITION selection keys will return the display to that selection. Pressing any of the remaining motion keys will return the display to the current position and execute that motion. Pressing the PARAM key again will return to the last displayed parameter in the list, allowing easy transition between parameter adjustment and device operation.

Once the desired limit, position or parameter is visible in the display window, pressing INCRM, DECRM, or ENTER will toggle into edit mode. The lowest adjustable digit will flash on and off. Pressing the LOCAL key for that device will switch the flashing digit to the next higher digit. In this way, it is possible to rapidly adjust any digit of a multi-digit parameter or limit.

NOTE: Some parameters only have one digit, or a fixed range of selections. For those parameters, such as bore sight separation distance, the whole entry to be changed will flash. Other parameters consist of single on/off toggles

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or activate specific controller functions. The edit behavior of these parameters is described in the parameter table.

Using the LOCAL key to select the appropriate digit and the INCRM and DECRM key to adjust the setting, any value can be entered quickly. Once the desired value is shown in the display, pressing ENTER will store the new value. Pressing any key other than LOCAL, INCRM, DECRM, or ENTER will exit the edit mode without saving the value and perform the action associated with that key.

When editing limits or the current position setting, the 2090 will not allow the current position to be set outside the software limits, nor can the upper or lower limits be adjusted below or above, respectively, the current position or each other.

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CONFIGURING FOR USE

Before using the Model 2090, it must be configured to match the primary devices connected to it. To the Model 2090, all primary devices are generic motor bases, with the ability to move in two directions, report an encoder position, and perform a few other basic functions. To activate behavior specific to a certain type of device, i.e. a bore sight tower or a two-speed turntable, it is necessary to enter additional information into the Model 2090’s configuration parameters table. The previous section describes the process for entering these parameters. This section describes each parameter and their typical settings. The default factory preset configuration is given below.

2090 Default Configuration:

Parameter Value Description

P1 P2 P3 P4 P5 P8 P9 B1

S0 S1 S2 S3 S4 S5 S6 S7 S8 Oc

ACC

1 0 000 00 0

0.5 8 000 2000

-1 31 63 95 127 159 191 223 255 On

2.0

Tower Standard (non-bore sight) tower Infinite scan count 0 cm polarization offset Standard bore sight correction

0.5 second reverse delay Primary GPIB address 8 User options disabled 2000 encoder counts per meter Step speed = run speed Speed 1 ~12.5% of max speed Speed 2 ~25% of max speed Speed 3 ~37.5% of max speed Speed 4 ~50% of max speed Speed 5 ~62.5% of max speed Speed 6 ~75% of max speed Speed 7 ~87.5% of max speed Speed 8 = max speed Overshoot compensation enabled Acceleration = 2 seconds

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SND

Remote sounds enabled

Lower Limit: 050.0 cm Upper Limit: 400.0 cm Current Position: 100.0 cm

Parameter Value Description

P1 P2 P3 P5 P8 P9 b1

S0 S1 S2 S3 S4 S5 S6 S7 S8

Oc ACC SND

0 0 000 1

2.5 9 000 3600

-1 31 63 95 127 159 191 223 255 On

2.0 1

Turntable Standard turntable Infinite scan count Non-continuous rotation

2.5 second reverse delay Primary GPIB address 9 User options disabled 3600 encoder counts per meter Step speed = run speed Speed 1 ~12.5% of max speed Speed 2 ~25% of max speed Speed 3 ~37.5% of max speed Speed 4 ~50% of max speed Speed 5 ~62.5% of max speed Speed 6 ~75% of max speed Speed 7 ~87.5% of max speed Speed 8 = max speed Overshoot compensation enabled Acceleration = 2 seconds Remote sounds enabled

CCW Limit: 000.0 degrees CW Limit: 360.0 degrees Current Position: 180.0 degrees

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MODEL 2090 PARAMETER LIST

The following table describes each parameter and the available settings. In general, the term “tower” will be used to refer to any linear positioning device, and the term “turntable” will refer to any rotational positioner.

Parameter Description

Refers to the principal type of device to be controlled:

0 = Turntable, Reverberation Paddle, MAPS, or other rotational

positioner.

1 = Tower or other linear positioner.

Refers to model specific features of device to be controlled:

0 = Standard Turntable / Tower 1 = Air Flotation Turntable / Bore Sight Tower 2 = Two Speed Turntable

NOTE: Parameter P2 for a turntable no longer supports a setting 3 = Variable Speed Turntable/Tuner, which was introduced in V 2.25. Instead, the 2090 now checks what type of motor base is attached and automatically enables variable speed if it is available.

Refers to SCAN cycle count in full cycles:

1-999 = Number of complete circuits to perform from one limit

to the other and back again.

000 = Infinite scan count; scan mode does not automatically

terminate.

The Model 2090 also supports a half-cycle scan count through the GPIB interface.

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Refers to two different tower corrections, depending on the tower

type:

For a standard tower, this value represents the polarization offset, in the range of ±50 cm, applied to the tower position reading when the polarization is changed. This parameter allows for correction of the antenna height changed caused when centerline rotation is not available or not in use.

For a bore sight tower, this parameter is used to enter the bore sight separation distance corresponding to the configuration of the tower. This value can be 3, 10, or 30 meters, and configures the 2090 to correct for the difference in height between the carrier position and the actual antenna position.

For bore sight towers, refers to the bore sight mast height correction:

0 = Standard bore sight towers 1 = Custom or alternate bore sight tower

Currently, all six-meter tall 2070 series bore sight towers use the default correction table. The alternate selection provides a correction table for a shorter five-meter tower with a different cam mechanism. In future revisions, the 2090 may provide support for other bore sight tower designs either by adding additional tables or by allowing the user to download the appropriate correction table for the attached tower.

For turntables, refers to turntable rotation mode:

0 = Continuous 1 = Non-continuous

In the continuous mode of operation a turntable is allowed unlimited movement. The counter readout is from 0 to 359.9 and the software limits are ignored in this mode of operation. This is the desired setting for reverberation paddles.

NOTE: For turntables equipped with hardware limits, they must be disengaged for this mode to work correctly.

In the non-continuous mode, the turntable motion is restricted between the upper and lower software limits. These limits are adjustable between –999.9 to 999.9.

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Refers to the motor reverse delay, in seconds. This parameter allows

setting the reverse delay used between direction changes. This is the period of time for which the motor must remain off before allowing it to move in the other direction. For split-phase motors, it is critical that the motor come to a complete stop prior to reversing direction, or the motor will continue moving in the same direction and cause a Moving Wrong Direction error ( damage may be caused to the motor or device from reversing the motor too quickly. This parameter should be used with care. If in doubt use the factory default setting.

Refers to the primary GPIB address for each device. Valid values are

in the range from 1 to 30 (0 is normally reserved for the controller in charge; i.e. the computer). Each device must have a unique GPIB address.

Refers to bit-wise parameter number one. This parameter provides

selective enabling of several customizable parameters. The bits are displayed in increasing order from right to left. Unless otherwise indicated, a value of 0 indicates that the option is disabled and a value of 1 indicates it is enabled. The two bits currently defined for

Refers to the encoder calibration parameter. This setting is used to

convert the encoder count values returned from a motor base into the corresponding centimeter or degree position reading. For towers, the number represents the number of encoder counts per meter. For turntables, it represents the number of counts per revolution. Using this parameter, a variety of standard, retrofit, and custom devices can be used. The settings for various products are listed below:

E004). For other motors, physical

b1 are:

Bit 0 – Limits STEP controls (INC/DEC) to only allow motion

within the soft limits instead of the hardware limits of the motor base.

Bit 1 – Provides a quick stop option for the STEP controls

(INC/DEC) on variable speed devices. Enabling this bit (setting it to 1) will bypass the deceleration ramp on variable speed motor bases, stopping them as quickly as possible. NOTE: This option should be used with

caution, since it is possible to cause damage to the device or equipment attached to the device.

Model 2075 Mini-Mast: 1620 All other EMCO 2070 series towers: 2000

Model 2065 LoPro Turntable: 3665

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Model 2081 Turntables: 3608 Model 2088 EuroPro Turntable: 4500* Model 5901 Mode Tuner: 6000** Multi-Axis Positioning System: 4500 All other model 2060/2080 series turntables: 3600 All other current ETS-Lindgren rotational devices:3600

*Early revisions of the Model 2088 used 4750 for the Euroshield

versions and 4800 for the U.S. version. **Early revisions of the Model 5901 Mode Tuner used 6400.

If the device is not listed, or the given value does not appear to work correctly, the encoder calibration value can be determined using the following procedure:

FOR TOWERS,

1. Set the encoder calibration value to 1000.

2. Insure that the tower is positioned to allow at least a meter of travel in the upward direction at an easily measurable height, and then set the current position reading to 000.0.

NOTE: It will be necessary to adjust the lower limit setting to allow this.

3. Using the STEP keys, adjust the height of the carrier until it is one meter above the start point.

4. Record the reading of the display, ignoring the decimal point (i.e. 200.0 would be 2000). This is the encoder calibration value. NOTE: If the value is below 1000, the

resolution of the encoder is low and thus the 2090 will not provide 0.1 cm resolution, even though the display shows that digit. If the value has gone past 9999, the encoder has too many counts per meter and the 2090 can not correct for it. In this case, contact ETS for assistance.

5. Enter this value for the encoder calibration value and reset the limits and position information.

6. Test the tower by moving it a known distance and comparing the display to the measured distance traveled. It may be necessary to adjust the encoder calibration value up or down slightly depending on the result.

FOR TURNTABLES,

1. Set the encoder calibration value to 3600.

2. Insure that the turntable is positioned to allow more than a full revolution of travel in the clockwise direction and use the STEP keys to run the turntable clockwise a few degrees to remove any play in the table.

3. Mark the current location of the turntable a

ainst the ground

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Refers to the speed setting for variable speed devices when the STEP

(INC/DEC) keys are used.

This parameter is only visible for variable speed devices. See the next entry for more information on speed settings.

ring (masking tape works well), and set the current position reading to 000.0.

4. Using the STEP keys, rotate the turntable clockwise until it is again aligned with the mark on the ground ring. For best results, the last motion should always be in the clockwise direction to insure that any play in the gearing between the motor and encoder is accounted for.

5. Record the reading of the display, ignoring the decimal point (i.e. 360.0 would be 3600). This is the encoder calibration value. NOTE: If the value is below 3600, the

resolution of the encoder is low and thus the 2090 will not provide 0.1 degree resolution, even though the display shows that digit. If the value has gone past 9999, the encoder has too many counts per meter and the 2090 can not correct for it. In this case, contact ETS for assistance.

6. Enter this value for the encoder calibration value and reset the limits and position information.

7. Test the turntable by moving it a complete revolution and comparing the alignment marks. It may be necessary to adjust the encoder calibration value up or down slightly depending on the result. NOTE: When scanning between

limits, it is not uncommon to have a small discrepancy between the absolute position of the table and the display on the 2090. This is because reversing the direction of rotation reverses any gear play between the encoder and the table top, allowing that play to be visible in the positioning accuracy.

-1 Disabled. The STEP keys will cause the device to

move at the same speed as the other motion keys.

0-255 Defines the speed setting for motion caused from

the STEP keys. This allows the STEP keys to be used for fine adjustment at a constant speed, while having all other motion governed by the selected speed setting.

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Refers to the eight possible preset speed settings for variable speed

S1-S8

devices. Each of these parameters can be set to any value from 0 to 255, with the resulting device speed being given approximately by the formula:

Speed = N (MaxSpeed – MinSpeed) / 255 + MinSpeed

Where N is the speed setting from 0 to 255.

Each speed setting has its own individual overshoot compensation value to provide proper overshoot correction for each speed selection. However, the new ramp control provided by the 2090 and the enhanced MB-IV motor base firmware will normally make overshoot compensation unnecessary. The device will decelerate prior to reaching the target value and creep in at the minimum speed.

NOTE: It is the nature of variable speed drives that there is a minimum speed at which the motor will operate. All ETS-Lindgren variable speed devices are factory adjusted to insure that the device will be able to operate properly in this range under normal load conditions. However, under heavy load or other unexpected conditions, it may be necessary to increase the minimum speed settings. Below this setting, the motor will not be able to cause

WARRANTY

rotation, but will be active until a Motor Not Moving error (E002) occurs. WARNING: Never operate any device in a stalled

condition. Doing so can cause damage to the drive unit and will invalidate the warranty! Always insure that the minimum speed

setting specified in the S0-S8 parameters is above the minimum value at which the device will operate under normal load.

These parameters are only visible for variable speed devices. Invokes the Parameter Clear menu option. Pressing the ENTER key

PCLr

will display

SURE in the display. Pressing ENTER a second time

will clear the parameters for this device to their factory defaults. Pressing any other key will abort the operation and perform the associated action.

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Invokes the Overshoot Clear menu option. Pressing the ENTER key

OSCLr

will display SURE in the display. Pressing ENTER a second time will clear the overshoot compensation values for this device. Pressing any other key will abort the operation and perform the associated action.

On occasion, certain motion error conditions, such as hardware limit hit (E005), can cause the overshoot compensation values to become corrupted, resulting in erratic behavior. The most common symptom of this is that each time the device is commanded to move it will move halfway to the target and stop. At this point, the automatic updating of the overshoot compensation values is overridden and can only be corrected by manually clearing the values. Once cleared, the normal overshoot compensation will be restored after several motion cycles of the device.

Refers to the Overshoot Compensation Enable/Disable parameter.

Pressing the INCRM and DECRM keys will toggle this between overshoot compensation being on or off. Pressing the ENTER key

On/OFF

will save the selected setting.

For variable speed devices with creep capability, overshoot compensation is not needed and will interfere with normal table operation in the case of occasional overshoot events. Also, some software designed to work with older ETS-Lindgren controllers provide their own form of overshoot compensation. This can typically be disabled within the software to allow the 2090 to control overshoot compensation, but this parameter can also be used to allow the software to provide the compensation instead.

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Invokes the Zero Reference menu option. Pressing the ENTER key

ZERO

will display

SURE in the display. Pressing ENTER a second time will

initiate a zero search sequence. Pressing any other key will abort the operation and perform the associated action.

Once initiated, the search sequence will move the device in the DOWN/CCW direction until the zero point is detected. The current position setting is then adjusted to represent the absolute position with respect to the zero pulse. NOTE: Overshoot will normally result

in the displayed position being somewhat less than zero. This is normal, and the position is correct. Pressing any motion control key,

or encountering a motion error while the sequence is in progress, will abort the scan and return the device to normal operation.

This parameter is only available on motor bases that provide an absolute zero reference pulse.

Provides the firmware version of the motor base for information

BASE

purposes only. Pressing the ENTER key will toggle between the BASE parameter display and the motor base firmware version number. The possible displays are as follows:

2090 Indicates older (pre-1997) motor base firmware,

which only supports standard up/down/polar settings through a simple binary communication protocol. (MB-III)

HH Two digit hexadecimal number – Indicates 2190

compatible motor base firmware. This firmware provides more intelligent control from within the motor base, reducing the communications overhead between the motor base and controller. (MB-III)

XX.XXx Decimal version number (of the form

1.07a, for

example) – Indicates the MB-IV motor base interface board, which is capable of flash upgrades and enhanced functionality.

Ennul Indicates the controller is in emulation mode.

This is the acceleration setting for variable speed devices. The

ACC

number setting represents the time in seconds for the positoiner to reach full speed. For high inertial loads a longer acceleration time might be required.

This displays the motor and control board temperatures denoted by

TEP

“a“ and “b“. Toggle between the two by pushing the INCRM and DECRM buttons.

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This is the sound configuration setting for the motorbase speaker.

SND

The motorbase can output audible indications for errors, movement, and remote control feedback. 0 = All sounds disabled, 1 = Key press sounds enabled for hand control function, 2 = Error indications enabled, 3 = Motion sounds enabled. With all sounds enabled the motorbase will emit an audible noise if any error condition should arise and a warning indication during movement.

Using the technique described previously, adjust the necessary parameters so that they match the configuration of the attached devices. Typical configurations are likely to require adjusting parameters

P1, P2, and C at a minimum.

Bore sight towers will also require the setting of parameter

P4 to set the separation distance. The remaining

parameters are generally set to cover user preferences or custom configurations.

NOTE: Do not change parameters of a device while another device is in operation. Doing so will cause the other device to stop motion.

Once the parameters have been configured for each device, check and adjust the limits as necessary. Remember to adjust the limits for both horizontal and vertical polarizations on towers.

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OPERATION

MANUAL OPERATIONS

The front panel of the Model 2090 provides the interface for two separate and complete device controllers, each with identical displays and function keys. By default, both controllers are in manual (LOCAL) mode unless given any command from a device on the GPIB bus (usually a computer with a GPIB card installed). When in the remote mode the RMT indicator light will remain on and the ADDR indicator light will strobe with bus activity. Pressing the LOCAL key, for Device 1 or 2, will return only the specific device to local mode. Auxiliary devices are always available from both the front panel of the Model 2090 and the GPIB interface, regardless of the remote or local state of the primary devices.

In manual mode, the motion and behavior of the attached devices can be controlled through the front panel user interface. The front panel controls allow the user to move the primary device in between software limits, either continuously or momentarily in one direction, or to automatically scan from one limit to the other and back again. Where supported by the attached hardware, it also allows the user to change device specific functions like polarization, speed, and flotation state.

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USING LOCAL FUNCTIONS

Pressing the LOCAL function key will cause the Model 2090 to exit remote mode, unless the unit has been remotely set to the Remote With Lockout State (RWLS) using the appropriate GPIB command codes (refer to the documentation provided with the controlling GPIB device for information on setting RWLS). When the controller exits remote mode, it enters manual mode and remains there until it receives the next GPIB command. Unless given a GPIB command, the controller will automatically be in the manual mode of operation. It is not possible to enter remote mode by pressing the LOCAL key.

USING POSITION FUNCTIONS

While in manual mode, the POSITION keys control the continuous motion of the attached device.

TO MOVE UP/CLOCKWISE

To initiate continuous motion in the upward or clockwise direction, press the UP/CW key under the POSITION key group. If the device is not moving and is below the upper/clockwise software limit (viewed by pressing the UP/CW key in the LIMIT group), the UP/CW indicator will light and the device will start moving in that direction. If the device is already moving in the same direction, it will continue moving to the upper/clockwise soft limit. If the device is moving in the opposite direction, the UP/CW indicator light will flash to indicate that the 2090 has recognized the command. The device will decelerate (if

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equipped with variable speed control) and then the STOP motion indicator will illuminate for the Reverse Delay period (see Parameter

P8) before moving in the requested

direction. At that point, the UP/CW indicator will light solid. In all cases, motion will continue until the device reaches the soft limit, the hardware limit (if equipped), or until another motion command is issued.

TO MOVE DOWN/COUNTERCLOCKWISE

To initiate continuous motion in the downward or counterclockwise direction, press the DOWN/CCW key under the POSITION key group. If the device is not moving and is above the lower/counterclockwise software limit (viewed by pressing the DOWN/CCW key in the LIMIT group), the DOWN/CCW indicator will light and the device will start moving in that direction. If the device is already moving in the same direction, it will continue moving to the lower/counterclockwise soft limit. If the device is moving in the opposite direction, the DOWN/CCW indicator light will flash to indicate that the 2090 has recognized the command. The device will decelerate (if equipped with variable speed control) and then the STOP motion indicator will illuminate for the Reverse Delay period (see Parameter

P8) before moving in

the requested direction. At that point, the DOWN/CCW indicator will light solid. In all cases, motion will continue until the device reaches the soft limit, the hardware limit (if equipped), or until another motion command is issued.

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TO STOP MOTION

To stop device motion, press the STOP key. The device will decelerate (if equipped with variable speed control), with the STOP motion indicator flashing to acknowledge the key press, and then the motor drive will be disabled and the STOP indicator will illuminate solid.

USING LIMIT FUNCTIONS

To set the lower/counterclockwise limit for the device under control, press the DOWN/CCW key under LIMIT. The indicator above this key will light. Set the limit by pressing the INCRM and DECRM keys under LIMIT until the desired limit is shown on the display. Then, press the ENTER key. To set the upper/clockwise limit for the same device press the UP/CW key under LIMIT. The indicator light above this key will light. Set the limit by pressing the INCRM and DECRM keys under LIMIT until the desired limit is show on the display. Press the ENTER key. To check the current position of the device under control press the CURRENT POSITION key under LIMIT. The indicator above this key will light and the device’s current position will appear on the display.

NOTE: Two sets of upper and lower tower limits can be set for horizontal and vertical antenna polarization. When modifying these limits, keep in mind that only the limit of the current polarization is being changed.

NOTE: The current position cannot be changed to a value greater than the upper limit or less than the lower limit.

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USING THE SCAN FUNCTION

The lower limit must always be less than or equal to the upper limit.

The SCAN key controls the cyclic motion of the attached device. The SCAN function allows continuous scanning of devices from one to an infinite number of cycles. The SCAN function begins by moving to the closest limit, then, from that point, the 2090 begins counting cycles. A cycle is defined as movement from one limit to the other and back again. The number of cycles that the device will perform is defined in parameter

P3. The SCAN function

can be terminated by pressing the SCAN button a second time (same behavior as pressing STOP) or by issuing any other motion command.

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USING THE STEP FUNCTIONS

The STEP functions can move a device in “momentary” increments using the toggle keys under STEP. These keys allow “jogging” the device to a more exact position. These keys are as follows:

INC Moves the device up or clockwise. DEC Moves the device down or counterclockwise.

The controller will move the device in the desired direction as long as the key is pressed. When the key is released, the device will stop. The corresponding motion indicators under the POSITION control group will light to indicate the actual motion. Under the default configuration, the STEP keys are not restricted by the software limits. Thus they can be used for adjusting position outside the soft limit settings during configuration. Optionally, the Model 2090 can be configured to restrict the motion to stay within the soft limits using parameter

b1. This parameter also allows

configuring the STEP keys to use a “fast stop” option on variable speed devices, which will eliminate the normal deceleration in favor of a much quicker deceleration curve. This can be used to improve the jog response of a device with a long deceleration. In addition, parameter

S0 can be

used to specify a fixed speed for use by the STEP keys.

CHANGING POLARIZATION

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For towers equipped with air polarization, pressing the POLARIZATION key, while the current position is shown in the display, will toggle the state of the air solenoid valve in the motor base. The HOR or VERT indicator will light to indicate the state of the solenoid. If the Polarization Offset (parameter

P4 on a standard tower) is non-zero, the

value will be added or subtracted from the current position depending on the target polarization. In moving from horizontal to vertical polarization, the value will be subtracted, since the antenna will rotate from being the offset distance above the centerline of the boom to being that distance to the side. In moving from vertical to horizontal, the value will be added to the current position.

The actual motion of the polarization mechanism is determined by various factors, including available air pressure and flow control settings on the air polarization piston cylinder. There is no feedback to indicate that the cross boom has completed the polarization cycle. The user should allow a certain amount of time for the polarization cycle to complete before continuing testing, or use visual feedback (i.e. from a camera system) to verify that the polarization operation has completed.

If the current position at the target polarization is outside the limits of the target polarization, the Model 2090 will generate a Polarization Limits Violation (

E006) error and

not allow the tower to polarize. As described in the configuration information, the Model 2090 provides two sets of limits, one for each polarization, designed to protect antenna elements from damage. (The Model 2090 provides

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a small overshoot tolerance on this value, so, for example, a current position of 99.5 will not cause an error when switching to a polarization where the limit is 100.0.) Refer to the section on “Editing Parameters” under “Initialization” for information on checking or changing the limits for the target polarization. In addition to a difference in limits, the use of the Polarization Offset (

P4) on a

standard tower could make it so that the current position at the target polarization is outside the limits, even though the displayed current position is within the target limits. See above for a description of the polarization offset.

NOTE: In order to toggle the polarization of the tower from the front panel, the display must be showing the current position, and not either limit.

NOTE: While the 2090 will allow the tower to be polarized while in motion, it is strongly recommended that the device only be polarized while stationary. The added stress on the tower mechanism and the antennas increases the chance of damage to both. Always insure that the applied weight and overhung load of the antenna are within the specifications of the tower prior to polarizing.

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POLARIZATION VIOLATION AND LIMITS

A common source of confusion is the Polarization Limits Violation (

E006) ) designed to protect antenna elements

from damage. The 2090 allows the user or a program to set separate limits for horizontal and vertical polarizations. However, attempting to polarize the tower when the current position is outside the limits for the target polarization will generate a polarization violation. (The 2090 provides a small overshoot tolerance on this value, so a current position of 99.5 will not cause an error when switching to a polarization where the limit is 100.0.) Previously, there was no way to solve a polarization violation from the front panel other than to move the tower carrier and try to polarize again. The 2090 now supports a limit toggle option that allows the user to inspect and adjust the limit for the other polarization. While viewing either the upper or lower limit (by pressing the UP or DOWN buttons under LIMIT), pressing the POLARIZATION key will toggle the display to show the corresponding limit for the other polarization without changing the tower polarization. To indicate that the displayed value and polarization is not the current polarization, the indicator light by the POLARIZATION key will flash on and off. While in this state, the limit can be changed using the limit edit keys just the same as any other parameter. In order to toggle the

polarization of the tower from the front panel, the display must be showing the current position, and not either limit.

CHANGING SPEEDS

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For two speed turntables, pressing the SPEED key will toggle the speed control relay in the motor base. The FAST or SLOW indicator will light to indicate the state of the speed relay. The actual speed set by these two positions is dependent on the turntable design.

For variable speed devices, the selection of the preset speed from the front panel is accomplished slightly differently, since the POLARIZATION / FLOTATION / SPEED key may have other uses. Pressing the LOCAL key while the Model 2090 is in local mode (and not editing a parameter) will display the currently selected preset speed (

SPD 1

through SPD 8) in the 7-segment display. The display will remain for several seconds and then return to displaying the current position. While the speed display is visible, pressing the INCRM or DECRM keys under the LIMIT group will increase or decrease the speed selection by one setting. Each time the INCRM or DECRM keys are pressed, the speed display period will be extended, so it is easy to scroll up and down through the list of preset speeds. Refer to the section on “Editing Parameters” under “Initialization” for information on adjusting the preset speed values.

For a Standard Turntable with variable speed capability, (previously selected as a Variable Speed Turntable by setting

P2 = 3), the SPEED key also provides the ability to

cycle between the eight preset speeds described above. For each press of the button, the turntable will change to the next speed setting. The FAST and SLOW polarization

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indicators will light to represent the lower two bits of the speed selection in a binary fashion as shown below:

Speed 1 or 5: Both off Speed 2 or 6: Top on, bottom off Speed 3 or 7: Top off, bottom on Speed 4 or 8: Both on

For all devices, each speed setting has its own individual overshoot compensation value to provide proper overshoot correction for each speed selection. Thus, the Model 2090 can properly compensate for two speed devices that have different overshoot for each speed. However, the deceleration ramp control provided by variable speed devices will normally make overshoot compensation unnecessary. The device will decelerate prior to reaching the target value and creep in at the minimum speed. For these devices, it is recommended that the

OC parameter be

used to disable overshoot compensation.

NOTE: While the 2090 will allow changing of the speed selection while the device is in motion, doing so is likely to cause targeting errors which may result in overshoot or undershoot of the target position.

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USING AUXILIARY CONTROL FUNCTIONS

The four auxiliary control ports on the rear panel of the Model 2090 allow the connection of additional devices (for example: Remote Air Polarized Tripods, LISNs, EUTs, etc.) to the controller. The auxiliary control outputs provide four non-interrelated fiber optic ON/OFF signals that can either respond to GPIB commands when in the remote mode, or can be toggled ON and OFF from the front panel while in the manual mode.

NOTE: The auxiliary controls can be used for custom applications requiring a simple ON/OFF signal by using readily available TTL output fiber optic receivers.

While in manual mode, auxiliary devices may be toggled ON and OFF by pressing the AUX CONTROL key on the front panel of the controller that corresponds to the desired auxiliary device port. Both the keys and the ports are numbered one through four. When the indicator above the device key is lit, the auxiliary device output is turned ON. When the indicator above the device key is not lit, the auxiliary device output is turned OFF. While in remote mode, auxiliary devices can be turned ON and OFF by using the appropriate GPIB command (see “Remote Operations”). The auxiliary devices can be controlled using the GPIB address of either primary device.

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USING A BORE SIGHT TOWER

To configure a Bore Sight tower, do the following:

Set

P1 to 1 ; Define device as a tower P2 to 1 ; Bore Sight Tower

Set

P3 to 3, 10, or 30 ; Select distance to EUT

Set

P5 to 0 or 1 ; Select type of bore sight

Set

When in Bore Sight Mode, the height reported by the Model 2090 is an adjusted height. This height is based on the carrier height, boom length, and the distance to the EUT. The shuttle height is the height that is normally reported on the Model 2090. The boom length (the distance between the pivot point and the antenna position) is always assumed to be one meter in length. The antenna position is assumed to be the location of the phase center of the antenna or whichever point is used to measure the adjusted height. The distance to the EUT is the distance in meters between the antenna position at the base point and the equipment being tested. The base point for beginning calculating the Adjusted Height is at one meter. Therefore the Bore Sight compensation is disabled under one meter.

The 2090 provides a correction lookup table for the standard 2070 series towers (6 m mast) and an alternate table for a custom tower design (5 m mast). Future firmware revisions will be made to support any other bore sight tower designs.

The following diagram shows the factors that come into being when calculating the adjusted height for a standard 2070 series tower:

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MET

RRIER HEIGHT CA

ADJUSTED HEIGHT

DISTANCE T O EUT

Figure 5 Bore sight geometry for standard bore sight tower

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USING AN AIR FLOTATION TURNTABLE

To configure an Air Flotation turntable do the following:

Set P1 to 0 ; Define device as a turntable

P2 to 1 ; Air Floatation Turntable

Set

The Air Flotation turntable works the same as a normal turntable with one exception. This exception is the UP/ DOWN feature related to the Flotation. To prevent the turntable from moving prior to the air being applied, the Model 2090 automatically causes the air to raise the turntable from the ground when a movement function is given. A three second delay is provided to ensure that turntable flotation has occurred prior to movement.

USING A REVERBERATION PADDLE

To configure a reverberation paddle do the following:

Set

P1 to 0 ; Define device as a turntable P2 to 0 ; Standard Turntable

Set

P5 to 0 ; Continuous Rotation

Set

C to appropriate calibration value. See the

Set section “Model 2090 Parameter List” for the calibration value.

ETS-Lindgren reverberation paddles (mode stirrers/tuners) operate similar to variable speed turntables, although they typically have higher rotational speeds and are used in continuous rotation mode.

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USING A MULTI-AXIS POSITIONER

To configure a MAPS do the following for both devices:

Set

P1 to 0 ; Define device as a turntable P2 to 0 ; Standard Turntable

Set

C to appropriate calibration value. See the

Set section “Model 2090 Parameter List” for the calibration value.

Each axis of an ETS-Lindgren Multi-Axis Positioning System is a single device on the Model 2090. Both devices should be configured as a standard turntable (the Model 2090 will automatically detect the variable speed capability of the MAPS). The main turntable base (azimuth axis) must be configured in non-continuous rotation mode, since the power and control cables for the second axis are run through the center of the first. Depending on the configuration, the ortho (elevation) axis can be continuous or non-continuous. If additional cables are used along this axis, it should be configured for non-continuous rotation.

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REMOTE OPERATIONS

The RMT indicator under LOCAL on the front panel of the controller indicates that the associated device controller is in remote mode. By default, the controller is in manual mode unless given a command from a device on the GPIB bus (usually a computer with a GPIB card installed). When a command from the GPIB device is given, the RMT indicator will light and the ADDR indicator will light to show bus activity. It is not possible to enter remote mode by pressing the LOCAL key. However, pressing the LOCAL key while in remote mode will return the Model 2090 to local mode.

While in remote mode, it is possible to change operational parameters and initiate functions through a series of GPIB commands. A given command (for example: UP or CW) is sent from a GPIB device to the Model 2090 controller. The controller will recognize the address of the device to be controlled, and execute the required function on that device.

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USING THE GPIB COMMAND SET WITH THE MODEL 2090

The ETS-Lindgren Model 2090 controller has a large command set covering all of ETS-Lindgren’s past positioning controllers. The command set from the Models 1050, 1060, and 1090 are incorporated into the Model 2090 along with a variety of new commands. The Model 2090 also supports the same command set as the ETS-Lindgren Model 2190 Virtual Device Controller.

Some of the legacy commands are duplicated while others have gained new meaning. In addition, conformity to the IEEE 488.2 standard requires a more restricted interpretation of some of the commands. See “Appendix A: Model 2090 GPIB COMMAND REFERENCE” for a list of all the commands and their functions.

BACKWARD COMPATIBILITY

The Model 2090 incorporates the command sets of previous ETS-Lindgren controllers. This is intended to allow pre-existing software written for older controllers to run with little or no modification with the Model 2090. The entire Model 1050 and 1060 command set has been reproduced while only a portion of the Model 1090 command set is included. The commands not implemented under the Model 1090 set are mainly those associated with the four-device control. All motion control, limit settings, and basic operations have been maintained. However, the

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IEEE 488.2 standard does not allow one behavior of the older controllers. Sending a position or limit command would set up the controller to respond to all future reads with that value. The IEEE 488.2 standard requires a query/response behavior, where the returned value must be requested first. Thus, on the model 2090, all GPIB reads must be preceded by a write of the associated query command to the device. Programs designed to write the command once and read the result (usually the current position) over and over will not work without modification.

GETTING STARTED WITH THE GPIB

The Model 2090 contains a single GPIB port which has been configured to accept two separate addresses. Valid addresses are in the range of 0 to 30, although 0 is typically reserved for the controller in charge (i.e. the PC). There are no criteria for setting the addresses, other than that they be different from each other, but it is recommend that the address for Device 1 be one address less than for Device 2. The default settings are 8 and 9.

NOTE (on using the N1/N2 numeric modes): Once a mode is selected, it is effective for both devices. N1 mode is backward compatible for the older model ETS-Lindgren controllers, 1050, 1060, and 1090. This mode causes the GPIB to respond to queries with only a 3 digit value which was the maximum resolution of the older controllers. The N2 mode allows one to access the higher degree of display resolution available with the Model 2090 controller. This will give a floating-point response, XXX.X. Note that N1 is

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TYPICAL FLOW OF CODE:

the default setting. The software must issue the N2 command before floating point mode is enabled. The numeric mode is not saved in memory. Thus a program should always issue an N2 command upon startup to place the Model 2090 in floating point mode.

1. Initialize device a. Query ID string to determine model and firmware

version. (Used to determine what features are

supported.) b. Configure status reporting if supported and desired. c. Set numeric mode 2 (requests decimal point). d. Verify current position is within desired limits and

adjust as needed. e. Set software limits as needed.

2. Set scan count, polarization, and/or any other desired motion related parameters.

3. Send GPIB command(s) for desired motion (up, down, seek, scan, etc.)

4. Wait for motion to complete. a. Monitor current position as required. b. Check for operation complete. c. Repeat until motion complete.

5. Repeat step 3-4 until test is complete.

6. Stop all devices.

NOTE: All sample code is written in Visual Basic using the National Instruments GPIB card. This code is intended for illustration purposes only. EMC Test Systems, L.P. makes no claim as to its suitability for any other purpose.

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CODE SAMPLE 1

The following code segment gives a brief example of the scan function implemented using Visual Basic. It will set the limits of both a tower and turntable, set them both for infinite scan count, initiate scan mode on both devices, and monitor the current position for ten seconds.

ibdev 0, 8, 0, T10s, 1, &HC0A, Tower% ' Initialize GPIB interface ibdev 0, 9, 0, T10s, 1, &HC0A, Table%

ibwrt Tower%, "LL 100" ' Set lower limit to 100 cm ibwrt Tower%, "UL 400" ' Set upper limit to 400 cm ibwrt Tower%, "CY 000" ' Set infinite scan count ibwrt Table%, "CL 0" ' Set CCW limit to 0 degrees ibwrt Table%, "WL 359" ' Set CW limit to 359 degrees ibwrt Table%, "CY 000" ' Set infinite scan count

ibwrt Tower%, "SC" ' Scan tower ibwrt Table%, "SC" ' Scan turntable

For Counter = 0 To 100 ' Read position 100 times ibwrt Tower%, "CP?" ' Query tower current position Read$ = Space$(20) ' Initialize buffer to 20 bytes ibrd Tower%, Read$ ' Read response TowerEdit.Text = Val(Read$) ' Display number in edit box ibwrt Table%, "CP?" ' Query turntable current position Read$ = Space$(20) ' Initialize buffer to 20 bytes ibrd Table%, Read$ ' Read response TableEdit.Text = Val(Read$) ' Display number in edit box StartTime = Timer ' Read current timer count While (Timer < StartTime + 0.1) ' Delay 0.1 second DoEvents ' Let Windows do other things Wend Next ' Loop for about 10 seconds

ibwrt Tower%, "ST" ' Stop tower ibwrt Table%, "ST" ' Stop turntable ibonl Tower%, 0 ' Free tower's GPIB port ibonl Table%, 0 ' Free turntable's GPIB port

Note the 0.1 second delay between readings of the devices. The Model 2090 updates the available position information ten times per second, so GPIB queries faster than this rate will return the same information and are simply a waste of processor time. Since the Model 2090 is capable of seeking a target position without intervention of a

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CODE SAMPLE 2

controlling program, the only reason a program needs to check the current position is to update a position display for the user. The user cannot possibly respond to data faster than ten times a second.

This code segment is significantly more advanced. It uses the *OPC? command to determine when a device has quit moving and takes into account possible problems due to overshoot and undershoot. This program performs a complete pre-compliance scan, with both horizontal and vertical polarizations.

Dim TowerDone As Boolean, TableDone As Boolean Dim Angle As Integer, StartTime As Single Dim LastPosition As Single, UpperVertLim As Single Dim Read$

' ' Initialize the tower and turntable '

ibdev 0, 8, 0, T10s, 1, &HC0A, Tower% ' Initialize GPIB interface ibdev 0, 9, 0, T10s, 1, &HC0A, Table%

' ' Set 2090 numeric mode and Upper/CW and Lower/CCW limits for both devices ' Note the use of semicolons to combine commands on one line ' ibwrt Tower%, "N2;LL 100;UL 400" ' Set limits to 100 cm & 400 cm ibwrt Table%, "N2;CL 0;WL 359" ' Set limits to 0 & 359 degrees UpperVertLim = 380 ' Set upper vertical limit to 380 cm ' (Used later in program)

' ' Send both devices to their lower limits and wait until complete '

ibwrt Tower%, "DN" ' Send the tower to the bottom ibwrt Table%, "CC" ' Send the turntable to zero TowerDone = False ' Initialize flags TableDone = False Read$ = Space$(20) ' Initialize buffer

Do ' Update display while waiting ibwrt Tower%, "CP?" ' Query tower current position ibrd Tower%, Read$ ' Read response TowerEdit.Text = Val(Read$) ' Display number in edit box

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ibwrt Table%, "CP?" ' Query turntable current position ibrd Table%, Read$ ' TableEdit.Text = Val(Read$) ' StartTime = Timer ' Read current timer count While (Timer < StartTime + 0.1) ' Delay 0.1 second DoEvents ' Let Windows do other things Wend If (Not TowerDone) Then ibwrt Tower%, "*OPC?" ' Is the tower done moving? ibrd Tower%, Read$ ' Read response TowerDone = Val(Read$) ' =1 if done, 0 if moving End If If (Not TableDone) Then ibwrt Table%, "*OPC?" ' Is the turntable done moving? ibrd Table%, Read$ ' Read response TableDone = Val(Read$) ' =1 if done, 0 if moving End If DoEvents ' Let Windows do other things Loop While Not (TowerDone And TableDone) ' Until both devices stop

ibwrt Tower%, "UV " + Str$(UpperVertLim) ' Set upper vertical limit

Angle = 0

While (Angle < 360) ' ' Polarize the tower horizontally, after insuring that it is above ' the lower limit. (There is a one cm tolerance for polarization ' violation, so we must be sure we're within that value or we'll ' cause an error when we try to polarize.) ' ibwrt Tower%, "CP?" ' Query tower current position ibrd Tower%, Read$ ' Read response LastPosition = Val(Read$) ' Save this position

While LastPosition < 99 ibwrt Tower%, "SK 100" ' Send the tower up to the lower limit Do ' Update display while waiting ibwrt Tower%, "CP?" ' Query tower current position ibrd Tower%, Read$ ' Read response TowerEdit.Text = Val(Read$) ' Display number in edit box StartTime = Timer ' Read current timer count While (Timer < StartTime + 0.1) ' Delay 0.1 second DoEvents ' Let Windows do other things Wend ibwrt Tower%, "*OPC?" ' Is the tower done moving? ibrd Tower%, Read$ ' Read response TowerDone = Val(Read$) ' =1 if done, 0 if moving Loop While Not TowerDone ' Until tower stops

ibwrt Tower%, "CP?" ' Query tower current position ibrd Tower%, Read$ ' Read response LastPosition = Val(Read$) ' Save this value TowerEdit.Text = LastPosition ' Display number in edit box Wend

' ' Change polarization to horizontal '

TowerEdit.Text = "Polarizing" ' Inform user of tower status ibwrt Tower%, "PH" ' Polarize Horizontal

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StartTime = Timer ' Read current timer count While (Timer < StartTime + 3) ' Delay at least 3 sec for polarization DoEvents ' Let Windows do other things Wend

' ' Set up spectrum analyzer for max hold for horizontal scan here... ' ' Scan tower up with tower polarized horizontally ' ibwrt Tower%, "UP" ' Send tower to top Do ' Update display while waiting ibwrt Tower%, "CP?" ' Query tower current position ibrd Tower%, Read$ ' Read response TowerEdit.Text = Val(Read$) ' Display number in edit box ' ' Update analyzer display here... ' StartTime = Timer ' Read current timer count While (Timer < StartTime + 0.1) ' Delay 0.1 second DoEvents ' Let Windows do other things Wend ibwrt Tower%, "*OPC?" ' Is the tower done moving? ibrd Tower%, Read$ ' Read response TowerDone = Val(Read$) ' =1 if done, 0 if moving Loop While Not TowerDone ' Until tower stops

ibwrt Tower%, "CP?" ' Query tower current position ibrd Tower%, Read$ ' Read response TowerEdit.Text = Val(Read$) ' Display number in edit box

' ' Move tower to vertical polarization upper limit before attempting ' to change polarization. (There is a one cm tolerance for polariz ' ation violation, so we must be sure we're within that value or ' we'll cause an error when we try to polarize) '

Do ibwrt Tower%, "SK " + Str$(UpperVertLim) ' Move twr to upr vert lim

Do ' Update display while waiting ibwrt Tower%, "CP?" ' Query tower current position ibrd Tower%, Read$ ' Read response TowerEdit.Text = Val(Read$) ' Display number in edit box StartTime = Timer ' Read current timer count While (Timer < StartTime + 0.1) ' Delay 0.1 second DoEvents ' Let Windows do other things Wend ibwrt Tower%, "*OPC?" ' Is the tower done moving? ibrd Tower%, Read$ ' Read response TowerDone = Val(Read$) ' =1 if done, 0 if moving Loop While Not TowerDone ' Until tower stops

ibwrt Tower%, "CP?" ' Query tower current position ibrd Tower%, Read$ ' Read response LastPosition = Val(Read$) ' Save this value TowerEdit.Text = LastPosition ' Display number in edit box Loop While (LastPosition > UpperVertLim + 1) ' Undershot target, retry

' ' Change polarization to vertical '

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TowerEdit.Text = "Polarizing" ' Inform user of tower status ibwrt Tower%, "PV" ' Polarize Vertical

StartTime = Timer ' Read current timer count While (Timer < StartTime + 3) ' Delay 3 sec for polarization DoEvents ' Let Windows do other things Wend

ibwrt Tower%, "CP?" ' Query tower current position ibrd Tower%, Read$ ' Read response TowerEdit.Text = Val(Read$) ' Display number in edit box

' ' Set up spectrum analyzer for max hold for vertical scan here... ' ' Scan tower down with tower polarized vertically ' ibwrt Tower%, "DN" ' Send tower to bottom Do ' Update display while waiting ibwrt Tower%, "CP?" ' Query tower current position ibrd Tower%, Read$ ' Read response TowerEdit.Text = Val(Read$) ' Display number in edit box ' ' Update analyzer display here... ' StartTime = Timer ' Read current timer count While (Timer < StartTime + 0.1) ' Delay 0.1 second DoEvents ' Let Windows do other things Wend ibwrt Tower%, "*OPC?" ' Is the tower done moving? ibrd Tower%, Read$ ' Read response TowerDone = Val(Read$) ' =1 if done, 0 if moving Loop While Not TowerDone ' Until tower stops

' ' Move turntable to next angle position '

Angle = Angle + 90 ' Set the new angle ibwrt Table%, "SK " + Str$(Angle) ' And turn the table to it

Do ' Wait until table finishes moving ibwrt Table%, "CP?" ' Query turntable current position ibrd Table%, Read$ ' Read response TableEdit.Text = Val(Read$) ' Display number in edit box StartTime = Timer ' Read current timer count While (Timer < StartTime + 0.1) ' Delay 0.1 second DoEvents ' Let Windows do other things Wend ibwrt Table%, "*OPC?" ' Is the turntable done moving? ibrd Table%, Read$ ' Read response TableDone = Val(Read$) ' =1 if done, 0 if moving Loop While Not TableDone ' Until turntable stops

ibwrt Table%, "CP?" ' Query turntable current position ibrd Table%, Read$ ' Read response TableEdit.Text = Val(Read$) ' Display number in edit box

Wend

' ' Clean up before quitting

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ibwrt Tower%, "ST" ' Stop tower ibwrt Table%, "ST" ' Stop turntable ibonl Tower%, 0 ' Free tower's GPIB port ibonl Table%, 0 ' Free turntable's GPIB port

Note the use of semicolons to combine more than one GPIB command on the same line. Any string of commands can be combined, but only the last query command in the string will be returned for a read. Motion commands will be performed in order just as they would if sent separately. Thus sending "UP;DN" would start the device in the up direction and immediately reverse to the down direction. Sending “UP;*WAI;DN” would cause the Model 2090 to go to the upper limit and then go down to the lower limit once there, but since the *WAI command halts all GPIB command activity until the current motion is complete, it is not possible to monitor the current position or anything else while the device is in motion. For this reason, the *OPC? command (or other related commands) is recommended for this purpose.

Refer to the programming example in the next section for more advanced programming options, including the use of subroutines to reduce the size of program code.

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GPIB STATUS REPORTING

The Model 2090 supports the ANSI/IEEE 488.2 Standard Interface Protocols for GPIB interfaces. As such, it is capable of reporting various device status conditions and requesting service over the GPIB. When used properly, these capabilities allow programmers to develop powerful applications that can handle almost any condition the controller may encounter.

The status reporting method centers around a set of binary registers whose bits are logical flags which indicate the status of various instrument states and error conditions. Each status register is associated with an enable register which allows the user (program) to configure which status flags will generate requests for service from the controller. The primary status register is the Status Byte Register. If the bits of this register, when logically ANDed with the bits of the Service Request Enable Register, are non-zero, a Service Request (SRQ) is issued to the Controller-inCharge (CIC) of the GPIB (that is normally the computer running a program). Each bit of the Status Byte Register indicates the status of other status registers and their enable registers, as well as certain queues. These registers include the Standard Event Status Register, the Device Dependent Error Register, and the Output Queue. Refer to “Appendix A, Model 2090 GPIB Command Reference”, for more details on each of these registers. The format of these registers is laid out in the following figure:

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gure 6 Status Reporting Model

The Service Request Enable Register allows the bits of the Status Byte Register to generate a Service Request. The bit pattern of this register corresponds to that of the Status Byte Register. A Service Re

me one of the bits in the Status Byte Register makes a

ti transiti LSE to TRU bit in the Servic Request Enable Register is TRUE. A

on from FA E while the corresponding

quest is generated any

Service Request will also be generated if a bit in the Status

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Byte Register is T Service Request E FALSE to d program. R value of query the c

TRUE ue to a command from the controlling The *S E GPIB command is used to set the

the regis

urrent s

RUE and the corresponding bit in the

nable Register makes a transition from

ter and the *SRE? command is used to etting.

The S Register is the heart of the status reporting system. represented he service request, a controlling progra attention. The va either b Serial Poll. When

tatus Byte

re.

y issuing t

All other status registers and queues are

This register has the ability to generate a

llowing the controller to inform the

m that a condition exists which needs

e of the Status Byte Register can be read he *STB? command or by performing a reading the register using *STB?, bit six

returns the

Master Summary Status (MSS) bit. When reading the register using a Serial Poll, bit six returns the value of the Request Service (RQS) flag. The following table gives a description of each bit.

Bit

Name Description

0 - Device

Dependent Error (DDE)

Set when the logical AND of the Device Dependent Error Register and the Device Dependent Error Enable Register is non-zero. This is a

2090/2190 specific status bit. 1 - Undefined 2 - Undefined 3 - Undefined 4 -

Message Available (MAV)

5 - ical AND of the Event

Event Status Bit Set when the log (ESB)

Set when there is data in the device

output queue waiting to be read over

the GPIB.

Status Register and the Event Status

Enable Register is non-zero. 6 - Master Summary Set when the logical AND of the

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-or-

7 -

Status (MSS) remaining bits of the Status Byte

returned in response to a *STB? query.

Request Service (RQS)

Set when a Service Request has been

generated (when the controller's GPIB

SRQ line is asserted). This value is

returned in response to a Serial Poll.

Undefined

A GPIB device informs the controlling program

ondition which needs attention by issuing a Service

of a

Request. It does so by asserting the SRQ line of the IEEE 488 bus. The controlling program can then detect that the SRQ line has been asserted and perform a Serial Poll to determine which device or devices are requesting service. If a device is requesting service, bit six of the Serial Poll Response Byte will be TRUE, ot

herwise it will be FALSE. The remaining bits of the Response Byte are the bits of the Status Byte Register. Upon performing a Serial Poll, the SRQ line will be unasserted to allow other devices to request service. The RQS (Request Service) flag is TRUE as long as the SRQ line is asserted.

A Service Request is generated any time one of the bits in the Status Byte Register makes a transition from FALSE to TRUE while the corresponding bit in the Service Request Enable Register is TRUE. A Service Request will also be generated if a bit in the Status Byte Register is TRUE and the corresponding bit in the Service Request Enable Register makes a transition from FALSE to TRUE due to the use of the *SRE GPIB command.

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The Serial Poll Response Byte is the value returned to the controlling program in response to a Serial Poll of the

PIB bus. The value of the response is the value of the

G Status Byte Register of the polled device where bit six is the value of the RQS (Request Service) flag.

A Serial Poll is a GPIB command issued by the controlling program to request that a device on the GP

IB bus return the value of its Status Byte Register. The Serial Poll is used to respond to a Service Request from a device on the GPIB bus.

The Device Dependent Error Enable Register allows the bits of the Device Dependent Error Register to set the DDE bit of the Status Byte Register. The bit pattern of this register corresponds to that of the Device Dependent Error Register. The DDE bit of the Status Byte Register will be TRUE whenever any of the bits in the Device Dependent Error Register and the corresponding bit in the Device Dependent Error Enable Register are both TRUE. Otherwise, the DDE bit is FALSE. The ERE GPIB command is used to set the value of the register and the ERE? command is used to query the current setting.

The Device Dependent Error Register is used to report motion errors or other problems detected by the Model 2090 Multi-Device Controller. The bit pattern of this register corresponds to the front panel errors reported by the Model 2090 and is defined as follows:

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Bit Name Description

1 - Parameters Lost Set at startup if the Model 2090 detects

2 - Motor Not

3 - Motor Not

4 - Moving Wrong

5 - Hard Limit Hit Indicates that the device is unable to

6 - Polarization

7 - Communication

8 - Flotation

9 - Encoder Failure Indicates that the Model 2090 has

10 - Trigger Failure This error indicates that the Model

11 - Overheat This error indicates that the Model

12 - Relay Failure This error indicates that the Model

that previous settings have been lost Indicates a device stuck condition. The

Moving

controller automatically generates a STOP condition to protect the motor. Indicates that the device failed to stop

Stopping

moving when commanded. Indicates that the device moved in the

Direction

opposite direction of that commanded.

move because it is at a hardware limit. Indicates that the tower was told to

Limit Violation

change polarization while it was outside the position limits specified for the new polarization. Indicates that the controller is unable to

Lost

communicate with the device over the fiber optic link. Indicates that an air flotation turntable

Violation

was told to turn flotation off while it was moving.

detected device encoder behavior consistent with a fault in the encoder, its wiring, or connections.

2090 has detected an overflow in the trigger queue register.

2090 has detected that either the motor or control board has exceeded the corresponding maximum temperature.

2090 has detected the motor drive relays are not switching properly.

The remaining bits are undefined. Refer to “Appendix B: Model 2090 Error Code Reference” for more information on troubleshooting error conditions.

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As long as bits are set in this register, any commands related to device motion or position settings will generate an execution error. See the “Standard Event Status Register” information on the next page.

The Standard Event Status Enable Register allows the bits of the Standard Event Status Register to set the ESB bit of the Status Byte Register. The bit pattern of this register corresponds to that of the Standard Event Status Register. The ESB bit of the Status Byte Register will be TRUE whenever any of the bits in the Standard Event Status Register and the corresponding bit in the Standard Event Status Enable Register are both TRUE. Otherwise, the ESB bit is FALSE. The ESE GPIB command is used to set the value of the register and the ESE? command is used to query the current setting.

The Standard Event Status Register is an IEEE 488 Standard Register which reports various device events and error conditions. The bit pattern of this register is as follows:

Bit Name Description

0 - Operation

Complete

Set when the Operation Complete has been armed by issuing *OPC and the device motion has stopped.

1 - Request

Control

Unused. The Model 2090 does not have controller capability

2 - Query Error Set when an attempt is made to read

from the output queue when it is empty.

3 - Device

Dependent Error

Set when a device dependent error occurs, regardless of the ERE value. These errors correspond to front panel error conditions.

4 - Execution

Error

Set when a valid GPIB command is received with

arameters that are out of

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5 - Command

6 - User Request Unused. The Model 2090 does not

7 - Power On Set when the Model 2090 is first

Error

range, or when a device dependent error prevents execution of the command. Set when an invalid GPIB command is received by the controller

support user request functions.

powered on.

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The Output Queue is the buffer which holds information to be returned over the GPIB when a read command is performed. As long as there is information in the Output Queue, the MAV (Message Available) bit of the Status Byte Register will be set.

This symbol represents a logical OR of all of the input bits. As long as any one of the input bits is TRUE, the output will be TRUE. If all of the input bits are FALSE, the output will be FALSE.

These symbols represent a logical AND of the bits of the two registers. If a given bit from both registers is TRUE then the corresponding output is TRUE. If either bit is FALSE then the output is FALSE.

The following section of program code and subroutines illustrates the use of the GPIB status reporting system to detect a number of error conditions on a standard tower. Note the use of subroutines to create modified versions of the commands "ibrd" and "ibwrt" which handle the generation of a service request. This concept can be extended to provide subroutines which handle service requests from any GPIB call. There are also subroutines for handling basic functions of the Model 2090. By breaking up the program in this manner it is possible to handle any condition with ease while at the same time reducing the size of the program code.

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Read$ = Space$(50) ' ' Initialize the tower ' ibdev 0, 8, 0, T10s, 1, &HC0A, Tower% ' Initialize GPIB interface ' ' Make sure this controller supports full error event handling ' ibwrt Tower%, "*IDN?" ' Query the identification string ibrd Tower%, Read$ ' Read response

If (InStr(Read$, 2190) = 0) Then ' Not a 2190 (all 2190's support full ' error event handling) If (InStr(Read$, 2090) = 0) Then ' Not a 2090! MsgBox "The device is not a 2090 controller!", 0, "Error" ibonl Tower%, 0 ' Free tower's GPIB port Exit Sub Else Read$ = Mid$(Read$, InStr(Read$, "REV") + 3, 5) ' Get version number If (Val(Read$) < 2.3) Then Msg$ = "This 2090 has firmware version " + Str$(Val(Read$)) + "." + Chr$(13) Msg$ = Msg$ + "Full error event handling was implemented in version 2.3." + Chr$(13) Msg$ = Msg$ + "Contact the EMCO sales department for a firmware upgrade." MsgBox Msg$, 0, "Invalid Firmware Version" ibonl Tower%, 0 ' Free tower's GPIB port Exit Sub End If End If End If

' ' Set up event handling registers. ' ibwrt Tower%, "*CLS" ' Clear any previous conditions ibwrt Tower%, "*SRE 33" ' Allow ESB and DDE to generate SRQ ibwrt Tower%, "*ESE 52" ' Command, Execution, & Query errors ibwrt Tower%, "ERE 511" ' All defined Device Dependent errors

' ' Set 2090 numeric mode and Upper and Lower limits for tower '

ibwrite Tower%, "N2;LL 100;UL 400" ' Set limits to 100 cm & 400 cm

' ' Note the use of commands "ibwrite" and "ibread" instead of "ibwrt" and "ibrd" ' If an error is generated by the controller, these routines will detect it and ' display an error message for the user. '

SeekPosition 150, Tower%, TowerEdit ' Move to 150.0 cm

' ' Note the use of subroutines to perform certain tasks '

' ' Generate a Polarization Violation Error ' TowerEdit.Text = "Polarizing" ' Inform user of tower status ibwrite Tower%, "PH" ' Polarize horizontal

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ibwrite Tower%, "LV 200" ' Set lower vertical limit TowerEdit.Text = "Polar Violation" ' Inform user of status ibwrite Tower%, "PV" ' Generate Polarization Violation ' Error by polarizing vertically

' ' Generate an Execution Error ' TowerEdit.Text = "Execution Error" ' Inform user of status ibwrite Tower%, "UL 50" ' Setting upper limit < lower limit ' will cause an execution error

' ' Generate a Command Error ' TowerEdit.Text = "Command Error" ' Inform user of status ibwrite Tower%, "Bad command" ' Generate a Command Error

' ' Generate a Query Error ' ibtmo Tower%, T100ms ' Reduce the GPIB timeout TowerEdit.Text = "Query Error" ' Inform user of status ibread Tower%, Read$ ' Generate Query Error by reading ' from the controller when it has ' nothing to say.

TowerEdit.Text = GetCurrentPosition(Tower%) ' Show current position

' ' Clean up before quitting '

ibwrite Tower%, "ST" ' Stop tower ibonl Tower%, 0 ' Free tower's GPIB port

' ' This function will return the current position of the specified device. ' Function GetCurrentPosition(device%) As Single Dim Read$ Read$ = Space$(20) ' Initialize a buffer ibwrite device%, "CP?" ' Query device current position ibread device%, Read$ ' Read response GetCurrentPosition = Val(Read$) ' Return value End Function

' ' This function handles service requests detected during reads. ' The GPIB card must be configured for Auto Serial Polls in order ' for this function to work properly. ' Sub ibread(device%, data$) ibrd device%, data$ ' Read data from the GPIB port If (ibsta And RQS) Then ServiceRequest device% ' Handle any request for service End Sub

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' ' This function handles service requests detected during writes. ' The GPIB card must be configured for Auto Serial Polls in order ' for this function to work properly. ' Sub ibwrite(device%, data$) ibwrt device%, data$ ' Write data to GPIB port If (ibsta And RQS) Then ServiceRequest device% ' Handle any request for service End Sub

' ' This function performs a seek to reach a particular position. ' It waits until the seek is completed and updates the display. ' It will attempt to get within one cm/degree of the target value ' and retry up to five times if it fails. ' Sub SeekPosition(Position As Single, device%, DeviceEdit)

Dim count As Integer

count = 0

While count < 5 ibwrite device%, "SK " + Str$(Position) ' Send seek command WaitForStop device%, DeviceEdit ' Wait for completion of seek If Abs(GetCurrentPosition(device%) - Position) < 1 Then Exit Sub count = count + 1 Wend

MsgBox "The device failed to reach its target position after five tries.", 0, "Seek Error"

' ' Note that code could be added to this routine to handle any errors ' generated (such as trying to seek outside of the current limits) '

End Sub

' ' This function responds to a service request by performing a serial poll of ' the affected device and then determining and reporting the cause of the ' service request. This process also clears the error condition from the ' controller. ' Sub ServiceRequest(device%) Read$ = Space$(20) ibrsp device%, spr% ' Serial poll the device to clear RQS ' and determine what caused the SRQ

If (spr% And 32) Then ' A bit in the Event Status Register is set ibwrt device%, "*ESR?" ' Query the Event Status Register ibrd device%, Read$ ' Read response ESR = Val(Read$) ' And get value

If (ESR And 32) Then ' Command Error Msg$ = "The previous command was invalid. This error" + Chr$(13) Msg$ = Msg$ + "is normally caused by a mistake in the program."

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MsgBox Msg$, 0, "Command Error" End If If (ESR And 16) Then ' Execution Error Msg$ = "The previous command had an invalid argument," + Chr$(13) Msg$ = Msg$ + "or a device dependent error condition prevented" + Chr$(13) Msg$ = Msg$ + "the command from being executed. Advanced" + Chr$(13) Msg$ = Msg$ + "programming techniques can avoid this error." MsgBox Msg$, 0, "Execution Error" End If If (ESR And 4) Then ' Query Error Msg$ = "The controller was addressed to talk with nothing," + Chr$(13) Msg$ = Msg$ + "to say. Either there is a mistake in the program" + Chr$(13) Msg$ = Msg$ + "or some other GPIB problem or error condition exists." MsgBox Msg$, 0, "Query Error" End If End If

If (spr% And 1) Then ' A bit in the Device Dependedent Error ' Register is set ibwrt device%, "ERR?" ' Query the DDE Register ibrd device%, Read$ ' Read response DDE = Val(Read$) ' And get value

If (DDE And 2) Then ' Parameters Lost Msg$ = "The controller reported that it has lost its" + Chr$(13) Msg$ = Msg$ + "settings since the last time it was powered on." MsgBox Msg$, 0, "Parameters Lost" End If If (DDE And 4) Then ' Motor Not Moving Msg$ = "The controller reported that the motor is stuck." MsgBox Msg$, 0, "Motor Not Moving" End If If (DDE And 8) Then ' Motor Not Stopping Msg$ = "The controller reported that the motor isn't stopping." MsgBox Msg$, 0, "Motor Not Stopping" End If If (DDE And 16) Then ' Moving Wrong Direction Msg$ = "The controller reported that the motor is moving" + Chr$(13) Msg$ = Msg$ + "in the wrong direction. This is a hardware error." MsgBox Msg$, 0, "Moving Wrong Direction" End If If (DDE And 32) Then ' Hard Limit Hit Msg$ = "The controller reported that the device has" + Chr$(13) Msg$ = Msg$ + "hit a hardware limit. The user must adjust either" + Chr$(13) Msg$ = Msg$ + "the software limit/position settings or the hardware" + Chr$(13) Msg$ = Msg$ + "limit switches. A continuous rotation turntable" + Chr$(13) Msg$ = Msg$ + "should have its hardware limits disabled." MsgBox Msg$, 0, "Hard Limit Hit" End If If (DDE And 64) Then 'Polarization Limit Violation Msg$ = "The controller reported that an attempt was made" + Chr$(13) Msg$ = Msg$ + "to change polarization while the tower was outside" + Chr$(13) Msg$ = Msg$ + "the limit settings for the new polarization. The tower" + Chr$(13) Msg$ = Msg$ + "did not change polarization. This error can be handled" + Chr$(13) Msg$ = Msg$ + "without user intervention by a 'smart' program which is" + Chr$(13) Msg$ = Msg$ + "designed to check current position and limits to insure" + Chr$(13) Msg$ = Msg$ + "that the tower is within limits before polarization." MsgBox Msg$, 0, "Polarization Limit Violation" End If If (DDE And 128) Then 'Communication Lost Msg$ = "The controller has lost communication with the motor base." + Chr$(13) Msg$ = Msg$ + "Check fiber optic cables and power connections." MsgBox Msg$, 0, "Communication Lost"

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End If If (DDE And 256) Then 'Flotation Violation Msg$ = "The controller reported that an attempt was made" + Chr$(13) Msg$ = Msg$ + "to disengage flotation while the air flotation turntable" + Chr$(13) Msg$ = Msg$ + "was moving. The turntable completes the previous operation" + Chr$(13) Msg$ = Msg$ + "but will not accept new commands until the error is cleared." + Chr$(13) MsgBox Msg$, 0, "Flotation Violation" End If

Msg$ = "Checking the error conditions automatically clears them." + Chr$(13) Msg$ = Msg$ + "With the exception of Polarization Limit Violation and" + Chr$(13) Msg$ = Msg$ + "Flotation Violation errors, which can be handled by a" + Chr$(13) Msg$ = Msg$ + "'smart' program, the program should prompt the user to" + Chr$(13) Msg$ = Msg$ + "correct the error condition before proceeding. In the" + Chr$(13) Msg$ = Msg$ + "case of a Communication Lost error, the error message" + Chr$(13) Msg$ = Msg$ + "will continue to be generated as long as the condition" + Chr$(13) Msg$ = Msg$ + "exists and position related commands are being issued" + Chr$(13) Msg$ = Msg$ + "to the controller" + Chr$(13) MsgBox Msg$, 0, "Note on Status Reporting" End If End Sub

' ' This function will use the *OPC? command to determine that the given ' device has completed its motion. It will also update the given ' display during this period. ' Sub WaitForStop(device%, DeviceEdit)

Dim Done As Boolean, LastPosition As Single, CurrentPosition As Single Dim StartTime As Single Dim Read$

Read$ = Space$(20) ' Create a buffer for reads

' ' Wait for operation complete '

Do ' Update display while waiting DeviceEdit.Text = GetCurrentPosition(device%) ' Display current posn StartTime = Timer ' Read current timer count While (Timer < StartTime + 0.1) ' Delay 0.1 second DoEvents ' Let Windows do other things Wend ibwrite device%, "*OPC?" ' Is the device done moving? ibread device%, Read$ ' Read response Done = Val(Read$) ' =1 if done, 0 if moving Loop While Not Done ' Until device stops

DeviceEdit.Text = GetCurrentPosition(device%) ' Display current posn

End Sub

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APPENDIX A: MODEL 2090 GPIB COMMAND REFERENCE

The following is a complete GPIB command reference for the Model 2090 Virtual Controller.

General Notes:

• All parameters should be separated by a white space.

• 1050, 1060 compatibility refers to commands backward compatible with

Models 1050 and 1060.

• 1090, 2090 compatibility refers to commands backward compatible with the Model 1090 and compatible with the Model 2090/2190 command set.

• 2090 compatibility refers to commands that are only compatible with the Model 2090/2190.

• To access the expanded display accuracy of the Model 2090 the software should issue an N2 command.

• GPIB COMMANDS MUST TERMINATE WITH NL, EOI, OR BOTH.

Items in <parameter> are required. Items in [options] are optional.

All GPIB examples assume: Device 1 -- Standard Tower GPIB Address: 8 Device Type: TWR NRM Initialization: CALL ibdev(0, 8, 0, T10s, 1, &HC0A, TowerUD%)

Device 2 -- Standard Turntable GPIB Address: 9 Device Type: TT NRM Initialization: CALL ibdev(0, 9, 0, T10s, 1, &HC0A, TableUD%)

All examples are in Visual Basic format. Refer to the National Instruments NI-

488.2 Function Reference Manual for DOS/Windows for more information on programming the NI GPIB port.

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Appendix A: Model 2090 GPIB Command Reference Model 2090 Multi-Device Controller

LIST OF MODEL 2090 GPIB COMMANDS

1050/51/53 Command Set Supported by 2090:

UP Move Tower Boom Up DN Move Tower Boom Down ST Stop Tower Boom Motion CP Prepares Controller to respond to future reads with the Current Position † UL Prepares Controller to respond to future reads with the Upper Limit † LL Prepares Controller to respond to future reads with the Lower Limit † PV Change Boom Polarization to Vertical PH Change Boom Polarization to Horizontal LD Load either CP, UL, or LL into the controller P? Prepares Controller to respond to future reads with the current polarization †

1060 Command Set Supported by 2090: CW Move Turntable Clockwise CC Move Turntable Counterclockwise ST Stop Turntable Motion CP Prepares Controller to respond to future reads with the Current Position † WL Prepares Controller to respond to future reads with the Clockwise Limit † CL Prepares Controller to respond to future reads with the Counterclockwise limit

†

LD Load either CP, WL, or CL into the controller

† These commands are obsolete as defined. On the models 1050 and 1060, these

commands changed the front panel to display the specified value and prepared the controller to respond to all future reads with that value. This is not compatible with the IEEE 488.2 standard; the program must send the command before each read. For programs which will not be used with a model 1050 or 1060, use the corresponding query commands (command followed by a question mark (?)) listed below.

1090 Command Set Supported by 2090:

Note: The 1050 and 1060 command set may be used as previously noted; the additional functionality of these commands is noted below:

CC Move Turntable counterclockwise CL Set counterclockwise limit CL? Query counterclockwise limit CP Set the current position CP? Query the current position CW Move Turntable clockwise CY Set number of scan cycles CY? Query number of scan cycles DN Move Tower boom down LH Set the horizontal lower limit LH? Query the horizontal lower limit

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Model 2090 Multi-Device Controller

LL Set lower limits (both horizontal and vertical) LL? Query lower limits LV Set vertical lower limit LV? Query the vertical lower limit PH Change boom polarization to horizontal PV Change boom polarization to vertical P? Query state of polarization RTL Return to local SC Scan SK Seek previously specified target ST Stop motion TG Set target for seek TG? Query target for seek UL Set upper limits (both horizontal and vertical) UL? Query upper limit UP Move tower boom up WL Set clockwise limit on turntables WL? Query clockwise limit on turntables

NOTE: The 2090 does not support the majority of the 1090 Expanded Instruction

Set. Those commands which relate to multiple devices are not supported. The Model 2090 controller behaves similar to multiple 1090's with only a single motor base device connected to each.

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Appendix A: Model 2090 GPIB Command Reference Model 2090 Multi-Device Controller

2090 Command Set:

AIR Set flotation mode of an air flotation turntable AUX Set auxiliary control(s) ON/OFF AUX# Set an auxiliary control ON/OFF AUX#? Query the ON/OFF state of an auxiliary control CAL Set the encoder calibration for a device CAL? Query the encoder calibration for a device ERE Set the Device Dependent Error Enable Register ERE? Query the Device Dependent Error Enable Register ERR? Query the Device Dependent Error Register N1 Set numeric mode 1 (1050/60/90 -- xxx) N2 Set numeric mode 2 (2090 -- xxx.x) OFF Set polarization offset for a standard tower OFF? Query polarization offset for a standard tower S# Select speed on two speed/variable speed device S? Query speed selection on a two speed/variable speed device SEP Set separation distance to EUT for bore sight tower SEP? Query separation distance to EUT for bore sight tower SK Seek specified target SKN Seek specified target in negative direction SKP Seek specified target in the positive direction SKR Seek relative to the current position SS# Set speed setting on a variable speed device SS? Query speed setting on a variable speed device TT Select turntable and type TWR Select tower and type TYP? Query device and type UH Set horizontal upper limit UH? Query horizontal upper limit UV Set vertical upper limit UV? Query vertical upper limit

IEEE 488.2 Mandatory Instruction Set:

*CLS Clear Status Register *ESE Set Standard Event Status Enable Register *ESE? Query Standard Event Status Enable Register *ESR? Query Standard Event Status Register *IDN? Query Identity *OPC Arm Operation Complete Flag *OPC? Query Operation Complete *RST Reset *SRE Set Service Request Enable Register *SRE? Query Service Request Enable Register *STB? Query Status Byte Register *TST? Self Test *WAI Wait To continue

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