Moog MPT-90 Product Manual

MPT- 90 PAN AND TILT POSITIONER PRODUCT MANUAL

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WARNING

IT IS REQUIRED THAT YOU READ AND FOLLOW ALL INSTRUCTIONS IN THIS MANUAL BY NOT FOLLOWING THE INSTRUCTIONS IN THIS MANUAL MAY RESULT IN DAMAGE TO THE EQUIPMENT OR OPERATOR

MOOG

Phone: (847) 498-0700 Email: moogs3service@moog.com

LIMITED WARRANTY

Products manufactured by SELLER are warranted at time of shipment to be free from defects in material and workmanship

under normal use and service. This warranty is only applicable to any of SELLER’s products which BUYER returns to

SELLER within one (1) year from the date of initial delivery, and which SELLER determines to be defective within the terms of this warranty.

Commercial Off-The-Shelf (OTS) products delivered by SELLER are warranted at time of shipment to be free from defects in material and workmanship under normal use and service. This warranty is only applicable to any of OTS Products delivered by SELLER which BUYER returns to SELLER within ninety (90) days from the date of initial delivery, and which SELLER determines to be defective within the terms of this warranty. SELLER's obligations, with respect to such applicable warranty returns, are limited to repair, replacement, or refund of the purchase price actually paid for the product, at SELLER's sole option.

SELLER shall bear round-trip shipment costs of defective Items found to be covered by this warranty. Unless otherwise agreed, the BUYER shall bear any additional costs which SELLER incurs for repair, dismantling, installation, and transport as a result of the Product being located in a place other than the destination stated in the Contract or, if no destination is stated, the place of delivery.

Replaced or repaired parts or Products will carry only the unexpired portion of the original warranty as of the date of notice to SELLER of the warranty defect. Defective Products or parts thereof may be replaced with either new, factory refurbished, or

remanufactured parts. Defective parts, which have been replaced, shall become the SELLER’s property. This warranty does

not extend to any product sold by SELLER which has been subjected to misuse, neglect, accident, improper installation, or a use for purposes not included or not in accordance with operational maintenance procedures and instructions furnished by SELLER, or which has been repaired or altered by BUYER or persons other than SELLER or which has been damaged by secondary causes, including but not limited to, improper voltages, adverse environment conditions, improper signals, or products which have had their serial number or any part thereof altered, defaced, or removed . Fuses, air filters, desiccants, and lamps shall be excluded from the provisions of this warranty, and as to these Items no warranty, expressed or implied, is made by SELLER. SELLER liability does not cover normal wear and tear or deterioration.

THE FOREGOING, WARRANTY IS IN LIEU OF ALL OTHER WARRANTIES, INCLUDING, BUT NOT LIMITED TO, WRITTEN, EXPRESS, IMPLIED OR STATUTORY WARRANTIES.

IMPLIED WARRANTIES OF FITNESS FOR A PARTICULAR PURPOSE AND MERCHANTABILITY AND DESIGN WARRANTIES ARE SPECIFICALLY EXCLUDED AND SHALL NOT APPLY.

SELLER'S OBLIGATIONS AND BUYER'S REMEDIES WITH RESPECT TO DEFECTIVE OR NONCONFORMING PRODUCTS ARE SOLELY AND EXCLUSIVELY AS STATED HEREIN.

At the time of purchase, the SELLER grants to the BUYER, the option to procure a one or two years warranty extension for selected custom products at the prices specified in the SELLER’s proposal/contract.

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TABLE OF CONTENTS

SECTION OR PAGE PARAGRAPH TITLE NUMBER

1.0 INTRODUCTION .................................................................................. 6

1.1 SCOPE .................................................................................................................... 6

1.2 CUSTOMER SUPPORT ............................................................................................... 6

1.3 DEFINITIONS, ABBREVIATIONS AND ACRONYMS .......................................... 7

1.4 CONVENTIONS USED IN THIS MANUAL ....................................................................... 8

1.5 SYSTEM DIMENSIONS ............................................................................................... 9

2.0 THEORY OF OPERATION......................................................................... 10

2.1 MODELS ................................................................................................................ 10

2.2 MECHANICAL ......................................................................................................... 10

2.3 POSITION .............................................................................................................. 10

2.4 DRIVE ................................................................................................................... 11

2.5 ELECTRONICS ........................................................................................................ 11

2.6 LIMITS ................................................................................................................... 12

3.0 MPT -90 MODELS ................................................................................ 13

3.1 PAN AND TILT DESCRIPTION ................................................................................... 14

3.1.1 System Input Power – All Models ........................................................................................... 15

3.1.2 IP and Serial Control of Positioner – All Models ..................................................................... 17

3.1.3 Additional Serial Control of Positioner – All Models ............................................................... 18

3.1.4 General Purpose I/O Pass Through & Chassis Ground All Models ....................................... 19

3.1.5 Model 8-PB133, 10/100 Ethernet Ports 1 & 2 ........................................................................ 20

3.1.6 Model 8-PB151, Gigabit Ethernet Base to Port 1 Payload ..................................................... 21

3.1.7 Serial Control Communication to ports ................................................................................... 22

3.1.8 Camera Lens Accommodations .............................................................................................. 23

3.1.9 Video Signal ............................................................................................................................ 24

3.2 MOOG PAN AND TILT CONTROL CIRCUIT BOARD DESCRIPTION ................................. 25

3.2.1 Control Circuit Board Configuration ........................................................................................ 25

3.2.1.1 Circuit Card Access ................................................................................................................. 25

3.2.1.2 PBC Jumper Settings: ............................................................................................................. 29

NOTE All jumper settings, the screened dot is Pin 1. Refer to Figure 10 below. ............................................. 29

3.3 PCB SWITCH SETTINGS ......................................................................................... 32

3.3.1 S2 switch settings for serial communication ports .................................................................. 32

3.3.2 S4 switch settings for serial communication ports .................................................................. 34

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4.0 INSTALLATION ....................................................................................... 35

4.1 UNPACK AND INSPECT ............................................................................................ 35

4.2 QUICK START GUIDE .............................................................................................. 35

4.3 INSTALLATION PROCEDURES - MECHANICAL ............................................................ 35

4.3.1 Site Location ............................................................................................................................ 35

4.3.2 Caution on Mobile Mounting ................................................................................................... 36

4.3.3 MPT-90 Installation ................................................................................................................. 37

4.4 INSTALLATION PROCEDURES – ELECTRICAL ............................................................. 38

4.4.1 Connector installation .............................................................................................................. 38

4.5 MATING RECEPTACLE CONNECTOR WIRING ............................................... 40

4.6 MPT-90 SETUP AND ADJUSTMENT PROCEDURES .................................................... 43

5.0 MOOG PTZ WEB INTERFACE INTERNAL WEB GUI ...................... 44

5.1 CONNECTING THE MPT-90 TO A COMPUTER ................................................ 44

5.2 CONNECTING THE MPT-90 TO A NETWORK .................................................. 46

5.3 MOOG PTZ WEB INTERFACE ........................................................................... 47

6.0 SERVICING / MAINTENANCE ........................................................... 56

6.1 MANUALLY ROTATING THE WORM DRIVE SHAFT (PAN OR TILT) ................................ 56

6.2 INTERNAL ACCESS ................................................................................................. 56

6.3 LIMIT RING (HARD STOP) ADJUSTMENT ................................................................... 57

6.4 DRIVE CHAIN TENSION ADJUSTMENT....................................................................... 60

6.5 PAN AND TILT BEARINGS ........................................................................................ 61

6.6 BACKLASH ............................................................................................................. 61

6.6.1 Backlash Test .......................................................................................................................... 62

6.6.2 Backlash Adjustment ............................................................................................................... 62

7.0 MAINTENANCE & REPAIR ............................................................... 64

7.1 ROUTINE MAINTENANCE ......................................................................................... 64

7.1.1 Fresh Water Wash .................................................................................................................. 64

7.1.2 Inspection Intervals ................................................................................................................. 64

7.1.3 Lubrication ............................................................................................................................... 64

7.1.4 Inspection Items ...................................................................................................................... 65

8.0 FAULT ISOLATION ........................................................................... 66

8.1 INTRODUCTION ...................................................................................................... 66

8.2 MECHANICAL OR ELECTRICAL ................................................................................. 66

8.3 MECHANICAL FAULT ISOLATION ............................................................................... 67

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8.4 ELECTRICAL FAULT ISOLATION ................................................................................ 67

TABLE OF FIGURES

FIGURE TITLE PAGE

Figure 1: Identification Label ................................................................................................ 6

Figure 2: MPT-90 Definitions ............................................................................................... 7

Figure 3: MPT-90 Dimensions ............................................................................................. 9

Figure 4: Feature Comparison Table ................................................................................. 14

Figure 5: Pan & Tilt Unit Major Components ...................................................................... 15

Figure 6: Accessing the Circuit Board ................................................................................ 26

Figure 7: Circuit Board ....................................................................................................... 26

Figure 8: Circuit Board Components I ................................................................................ 27

Figure 9: Circuit Board Components II ............................................................................... 28

Figure 10: Jumper Locations .............................................................................................. 29

Figure 11: PCB Switches ................................................................................................... 32

Figure 12: Mounting Base .................................................................................................. 37

Figure 13: Worm Drive ....................................................................................................... 56

Figure 14: Tilt Limit Ring (Hard Limit) Adjustment.............................................................. 58

Figure 15: Pan Limit Ring (Hard Limit) Adjustment ............................................................ 59

Figure 16: Drive Chain ....................................................................................................... 60

Figure 17: Drive Chain Adjustment .................................................................................... 61

Figure 18: Pan & Tilt Axis Backlash Test & Adjustment ..................................................... 63

Figure 19: AeroShell 64 ..................................................................................................... 65

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Model Number Serial Number

1.0 INTRODUCTION

The purpose of this manual is to provide the MPT-90 Moog Pan and Tilt operator with the required information necessary to install, operate, troubleshoot and maintain, the MPT-90 to a level approved by the manufacturer, Moog Inc.

1.1 Scope

Read these instructions before installing or operating the MPT-90 Pan and Tilt. This manual provides basic installation and operation information. In order to use this document, the reader must have a basic knowledge of Windows-based PC computers and adequate mechanical ability.

1.2 Customer support

If information beyond the scope of this manual is required, or you require assistance with the setup, operation, maintenance, and troubleshooting of this product, refer to this document. If you still have questions, please contact us at:

Moog, Inc.

Sensor and Surveillance Sales and Marketing Northbrook, IL USA 60062 Telephone: 1-800-247-6563 (847) 498-0700 Email: moogs3service@moog.com

To help us better assist you we recommend that you are at the equipment and ready with all available details including model & serial number before contacting Moog. Refer to Figure 1.

Figure 1: Identification Label

The identification label is attached to the underside of the positioner.

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1.3 DEFINITIONS, ABBREVIATIONS AND ACRONYMS

Figure 2: MPT-90 Definitions

Front: the front of the P&T is the side with the Chain Drive under the cover. Most

Moog P&T units have a label on the left side (although shown on right side in the depiction above) pointing toward the front. Refer to Figure 2.

Zero (0°) Azimuth: typically, the center of azimuth rotation on non-continuous units,

“0° Azimuth” is when the base connector is orientated opposite of the chain side. When positioned at 0° a cable connected to the base connector would egress out the “back” of the unit, 180° away from the front.

Left & Right – the left and right side are considered from the perspective of a camera.

With a camera mounted toward the front, an observed video image would

providing the perspective: to “Pan Left”, you would move the positioner

Counter Clock Wise (CCW) as viewed from the top. Moving to the right or CW increments the degree heading while moving to the left or CCW will decrement the heading in degrees.

Up & Down – moving upward means the table top is moving toward the rear of the

unit and the indicated position would increment as the elevation increases. Moving downward would decrement the position in degrees.

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WARNING

IMPROPER USE OF THIS PRODUCT CAN CAUSE SEVERE BODILY INJURY OR DAMAGE THE EQUIPMENT.

CAUTION

IMPROPER USE OF THIS PRODUCT CAN DAMAGE THE EQUIPMENT.

Base connector – on base of unit, in a fixed position related to its mounting flange,

egressing out opposite the front at 180°.

The following list of acronyms are used in this manual:

DC Direct Current EIA Electronic Industry Association GIG-E Gigabit Ethernet, aka 1000BASE-T GUI Graphic User Interface HD-SDI High Definition-Serial Digital Interface in Inches I/O Input / Output lbs. Pounds mm millimeters MPT Moog Pan & Tilt PCB Printed Circuit Board P & T Pan & Tilt, also known as Positioner TIA Telecommunications Industry Association VAC Volts Alternating Current VDC Volts Direct Current VRMS Volts Root Mean Square

1.4 Conventions Used in this Manual

Boldface highlights key user interface components. WARNING, CAUTION,

and NOTE highlight statements that identify potential hazards that may occur if this equipment is not used properly.

NOTE

Notes contain important information about the product or procedure.

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1.5 System Dimensions

Dimensions are per the Figure 3.

Figure 3: MPT-90 Dimensions

This drawing shows the overall dimensions for both the standard base model and the taller HD-SDI version models.

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NOTE

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2.0 THEORY OF OPERATION

2.1 Models

The MPT-90 is available is several Continuous rotation versions or in a NonContinuous configuration. The continuous rotation versions utilize an electrical slip ring assembly to allow for 360 degrees of pan rotation capability while providing connectivity to the positioner and payload. Overall connectivity between the base connector and the payload ports is limited by the number of conductors in the slip ring, and models vary based on the types of signal passed through the slip ring.

The Non-Continuous configuration is limited in azimuth rotation, but is factory default set to 435° of total rotation, with the indicated 0° being the center of

that rotation. The user may set “limit rings” internal to the positioner that will

activate switches to reduce the amount of azimuth travel if desired. Limit rings are also standard on the tilt mechanism for all models, set at ±90° from the

table top’s horizontal position. Additionally, all units have software adjustable

travel limits.

2.2 Mechanical

Each axis of rotation is rigidly attached to a large 60 tooth helical gear. These gears are meshed with a worm gear (essentially a 1 tooth gear) that is part of a steel shaft supported by tapered roller bearings, mounted in an aluminum “carrier”. The bearings are pre-loaded to prevent lateral play, and the carrier position is adjustable allowing the worm optimum mesh with helical gear, with negligible backlash. With the exception of the backlash in the worm drive, the pan & tilt axis of motion cannot move unless the worm gear is driving it. This allows the payload to be locked in position even when power is removed. Mechanical drive mechanisms for Pan and Tilt axis of motion are nearly identical, with the exception of slight differences in the chain drive sprocket ratios.

2.3 Position

Position is measured by incremental encoders mounted on-axis to the main helical gear which read/report actual position inclusive of any system

backlash. Each encoder utilizes an “index” signal that occurs once per

revolution. This index signal is used during the factory installation homing routine and calibrates the axis of motion 0° azimuth and 0° elevation absolute position. Position is stored in memory when powered down, allowing the positioner to know its position when powered up. Since worm gears of this ratio lock the unit into position, no movement is expected in an unpowered state, however, each time the axis of motion crosses the index pulse, the unit will recalibrate position based on the initial homing cycle.

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2.4 Drive

The drive mechanism consists of two 1.8° stepper motors, driven by a 10:1 micro-step motor driver. The motor drivers are provided with DC source voltage, and enable, direction and pulse signals. 2000 pulses are required for the motor to turn 1 revolution. Each motor has a 12 tooth sprocket to drive the worm-carriers via a chain drive. The chain is tensioned with an adjustable idler, and the chains drive the carriers mentioned above. The pan carrier uses a 28 tooth sprocket where the tilt uses a 30 tooth sprocket, giving the tilt a slight increase in ratio reduction.

2.5 Electronics

The controller provides two fundamental types of moves: open loop “jog”

moves where the user specifies direction and velocity, and automated moves where the controller is managing the move. Stepper motors require starting at a nominally low speed, and may then be accelerated by increasing the frequency of the pulse to the motor driver. In jog mode, the unit will begin a move at a pre-determined speed and accelerate to the commanded speed. When the jog command is terminated, the pulses stop quickly decrease in frequency to zero, preventing an abrupt stop.

In automated moves, the microcontroller determines which direction it must go, then manages the move by controlling acceleration, running at the commanded speed during the move while monitoring position. The start speed, acceleration rate and maximum move speed are user adjustable. When the unit arrives at a pre-determined distance from the commanded position, a deceleration process begins, slowing the unit to a stop at the intended destination. User may set the distance from the final destination where the slow down process starts. These adjustments allow the user to tailor the motion profile to optimize for the type and size of the payload. For example, you may wish to position a short range camera system with more aggressive moves than a satellite dish, due to its size. A more complete description of adjustments is in the protocol manual.

Additional electronic capabilities provide inner-connections between the multiple serial ports on the unit, allowing the user to command the positioner and payloads using various command methods.

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2.6 Limits

Elevation range of motion may be limited in all models both electronically and mechanically. Additionally, non-continuous rotation models have limit settings

for the azimuth range of motion. “Soft Limits” are software settable, and are

primary method used to limit motion. The P&T units are shipped with the soft limits set at the maximum range of motion, although the range of motion may be limited by using the included software. Soft limits should always be set a minimum of 0.2° beyond any position to be stored as a preset position; the user should not set a preset position on a soft limit. Please refer to the MN00307 Moog PTZ Controller Software Manual for instructions on how to set the soft limits.

Mechanical switches to limit travel (“hard limits”) are provided on the elevation

for continuous rotation models, and on both axis of motion for non-continuous

models. These consist of plastic, moveable, color coded “trip rings” that

trigger a microswitch that tells the microcontroller to stop motion in that direction, while allowing reverse motion. These should be considered a

secondary method of limiting motion, as there are software limits (“soft limit”)

provided as well. The default setting for the hard limits is slightly beyond the default soft limit setting at the maximum range of normal motion for the positioner and the user should not attempt to increase the range of motion without consultation with the factory. Additionally, it is recommended that hard limits should always be set at minimum 2° beyond the soft limits. It is not necessary for the user to adjust the hard limit settings unless they wish to provide a secondary, redundant method of assuring the unit not travel beyond the soft limits.

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3.0 MPT -90 MODELS

MPT models are designed to have the maximum amount of features and flexibility in connectivity based on our experience in remote controlled positioners. The MPTs

feature two “Payload Port” connectors (one per side) that allow the user to wire their

payloads to the positioner providing multiple power and control options.

All models provide the following conductivity to EACH of the payload ports:

 Four 8-Amp conductors designed for power (up to 210 VDC, 240 VAC) to the

payloads. These conductors are shared between the two payload ports and the base connector

 Two analog (±12 VDC) variable speed drivers designed to drive Zoom and

Focus motors, but may be used for other devices such as low power motors or lighting.

 Two analog inputs, designed to read position potentiometers for Z/F lenses.

These are useful when combining with stored positions to assure consistent camera framing of objects of interest.

 One Auxiliary power source, configurable for 12 or 24 VDC, with on/off

switchable control

 One Auxiliary power source, configurable for 5 or 12 VDC, with on/off

switchable control

 Three serial ports, providing single ended (RS232) or differential (RS422)

communication between payloads.

Additionally, there are IP and Video signal paths between the base connector and the payload port. In continuous rotation models, these signals pass through the integrated slip ring, which creates limitations to the number of signals and bandwidth that can pass through. The non-continuous rotation model (8PA166) does not have these limitation, and therefore has the higher bandpass GigE and HD-SDI video connections on each payload port.

Each 10/100 IP signal path requires four conductors, while a GigE IP signal path requires eight conductors. HD-SDI video requires different wiring and a higher caliber of slip ring than conventional analog EIA - RS170 video, but not all budgets can accommodate the higher cost of the HD-SDI slip ring.

For these reasons, several models have been created in various configurations, and the table below shows the comparisons:

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Figure 4: Feature Comparison Table

3.1 Pan and Tilt Description

The Pan & Tilt Unit is constructed of aluminum with stainless steel hardware. The Pan & Tilt Housing (with Access Covers to provide access to the interior) encloses the Pan & Tilt Motors, Chain & Gear Drive Assemblies, user settable Limit Rings (hard stops), position encoders, and the main Control Circuit Board which has multiple configurable options. Please refer to Figure 5 below for component identification.

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Figure 5: Pan & Tilt Unit Major Components

MPT-90 Wiring Signal Description

3.1.1 System Input Power – All Models

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CAUTION

DO NOT CONNECT TO VOLTAGES HIGHER THAN 28 VDC WITHOUT RECONFIGURING.

Pin #

Signal

Description

45 & 52

System Power

+ (Positive)

Pins 45 & 52 supply positive (+) power to the P&T positioner, as well as controlled payload power features and heaters. Due to the size of the contacts, two pins are necessary; connect together external to the positioner. Power should be between 24 to 28 VDC, and we recommend an external 15A fuse.

50 & 51

System Power – (Negative)

Pins 50 & 51 connect return (-) power from the P&T positioner, as well as controlled payload power and heaters. Due to the size of the contacts, two pins are necessary; connect together external of the positioner. Power should be between 24 to 28 VDC. Note this is insulated from chassis ground, but may be connected to chassis ground external to the positioner if desired.

53

Chassis GND

Chassis Ground – isolated from power

The positioner is powered by 24-28 VDC, although it may be reconfigured for 28-48

VDC. It is highly recommended that you fuse the + power supply. Verify correct polarity before applying power. The power of the system is isolated from chassis.

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Pin #

Serial Control

Description

10

Serial Tx+ (TXD)

RS422/485 (or RS232) transmit (configurable)

33

Serial Tx-

RS422/485 transmit

11

Serial Rx+ (RXD)

RS422/485 (or RS232) receive (configurable)

34

Serial Rx-

RS422/485 receive

12

Signal ground

RS422/232, connected to system power negative, isolated from chassis.

Pin #

IP Control

Description

14

TX+_D1 ██

10/100 IP Control White/Orange T568B, typical RJ45 connector

36

TX-_D1 ██

15

RX+_D2 ██

10/100 IP Control White/Green T568B, typical RJ45 connector

37

RX-_D2 ██

10/100 IP Control Green T568B, typical RJ45 connector

3.1.2 IP and Serial Control of Positioner – All Models

Above communication ports may be used for control and settings of positioner and/or payloads ports. Differential serial communication may be set to full or half duplex, configurable in settings. Communication to from base connector to payload ports is supported (see protocol document).

“Transmit” and “Receive” are from the perspective of the positioner (DCE). Colors

shown for IP signals per EIA/TIA 568B are to aid or reference external wiring to the ports and do not represent actual color of conductors inside the positioner.

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Pin #

Serial Control

Description

Pin #

16

Serial Tx+ (TXD)

RS422/485 (or RS232) transmit (software configurable)

n/c

33

Serial Tx-

RS422/485 transmit

n/c

11

Serial Rx+ (RXD)

RS422/485 (or RS232) receive (configurable)

n/c

34

Serial Rx-

RS422/485 receive

n/c

12

Signal ground

Serial signal ground, connected to system power negative, isolated from chassis.

n/c

Serial Tx+ (TXD)

RS422/485 (or RS232) transmit (software configurable)

16

n/c

Serial Tx-

RS422/485 transmit

33

n/c

Serial Rx+ (RXD)

11

n/c

Serial Rx-

RS422/485 receive

34

n/c

Signal ground

Serial signal ground, connected to system power negative, isolated from chassis.

12

3.1.3 Additional Serial Control of Positioner – All Models

Additional serial communication ports are provided that allow payload devices to control the positioner. An example of this may be a camera assembly equipped with a video encoder. “Transmit” and “Receive” are from the perspective of the positioner (DCE).

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Left Pins

Base

Pins

Signal

Description

Right

Pins

46

General I/O

User supplied power to payloads. 8A max.

46

47

General I/O

User supplied power to payloads. 8A max.

47

48

General I/O

User supplied power to payloads. 8A max.

48

49

General I/O

User supplied power to payloads. 8A max.

49

53

Chassis GND

Chassis Ground.

53

3.1.4 General Purpose I/O Pass Through & Chassis Ground All Models

The General Purpose I/O conductors are typically used for powering devices connected to Port 1 and/or Port 2. The conductor connected to pins 46 are twisted together with the conductor connected to pins 49, likewise 47 & 48 are paired. These are conductors through the slip ring on continuous models, allowing high current (up to 8A continuously) connections to the payload. Both left and right side ports are connected to the base allowing a single user supplied power supply to power loads on both sides, assuming they are of the same voltage. The maximum continuous current rating through the slip ring is 8 amps, meaning the sum of both the left and right side through any one conductor is not to exceed 8A. The slip ring is rated up to 210VDC, and may be used for AC current with a 500 VRMS dielectric strength in all combinations. Chassis Ground is internally connected to the mechanical chassis of the positioner, and is available on all three connectors. Chassis ground is not internally connected to any of the General Purpose I/O ports, but may be connected externally if desired.

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Left Pins

Base

Pins

Signal

T-568B

Description

Right

Pins

2

TX+_D1 ██

Ethernet User 10/100 “A” to port 1

n/c

26

TX-_D1 ██

n/c

3

RX+_D2 ██

n/c

27

RX-_D2 ██

n/c

20

TX+_D1 ██

Ethernet User 10/100 “C” to port 2

2

n/c

41

TX-_D1 ██

26

n/c

21

RX+_D2 ██

3

n/c

42

RX-_D2 ██

27

3.1.5 Model 8-PB133, 10/100 Ethernet Ports 1 & 2

Typical 10/100 Ethernet connections require 2 sets of Twisted Pair (TP) conductors, 4 conductors total. Gig-E Ethernet connections require 4 sets of TP, a total of 8 conductors. Due to limitations of the conductor availability in the slip ring, the MPT series allocates 8 conductors between the base connector and the payload ports. Therefore, these conductors may be configured as two 10/100 Ethernet ports, one to each side (Model 8-PB133 depicted above) or as a single Gig-E signal path to either side (See next two pages). Colors shown for IP signals per EIA/TIA 568B are to aid or reference external wiring to the ports and do not represent actual color of conductors inside the positioner.

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Left Pins

Base

Pins

Signal

T-568B

Description

Right Pins

2

BI_DA+ ██

Ethernet User GigE Base to port 1

n/c

26

BI_DA- ██

n/c

3

BI_DB+ ██

n/c

27

BI_DB- ██

n/c 4 4

BI_DC- ██

n/c

28

BI_DC+ ██

n/c 5 5

BI_DD+ ██

n/c

29

BI_DD- ██

n/c

3.1.6 Model 8-PB151, Gigabit Ethernet Base to Port 1 Payload

Gig-E Ethernet connections require 4 sets of TP, a total of 8 conductors, so in this configuration there is a single GigE provision wired to Port 1.

Colors shown for IP signals per EIA/TIA 568B are to aid or reference external wiring to the ports and do not represent actual color of conductors inside the positioner.

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Left Pins

Signal

Description

Right

Pins

10

Serial Tx+ (Txd)

10

33

Serial Tx-

33

11

Serial Rx+ (Rxd)

11

34

Serial Rx-

34

12

Signal ground

12

7

Serial Tx+ (Txd)

7

31

Serial Tx-

31

8

Serial Rx+ (Rxd)

8

32

Serial Rx-

32

13

Signal ground

13

3.1.7 Serial Control Communication to ports

These connections connect the control from Moog Main Controller to the payloads. This provides a method of communicating from the system control signal path to the payloads via the 62H command as found in the protocol document. The serial ports may be user configurable as either single ended (RS232) or differential (RS422). All signal ground wires are connected to the systems negative input power supply.

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Left Pins

Signal Name

Description

Signal Name

Right

Pins

20

Zoom + (Cam1)

PWM motor drive pair designed for Zoom Lens Drive

Zoom + (Cam 2)

20

41

Zoom – (Cam 1)

Zoom – (Cam 2)

41

21

Focus + (Cam 1)

PWM motor drive pair designed for Focus Lens Drive

Focus + (Cam 2)

21

43

Focus – (Cam 1)

Focus – (Cam 2)

43

22

Z/F +3VDC

V source for position feedback

Z/F +3 VDC

22

44

Z/F ground

Return for position feedback

Z/F ground

44

23

Z Position Sense (Cam 1)

Connect to Z position pot wiper

Z Position Sense (Cam 2)

23

44

F Position Sense (Cam 1)

Connect to F position pot wiper

F Position Sense (Cam 2)

44

3.1.8 Camera Lens Accommodations

The positioner controller provides four proportionally controlled, bi-directional PWM motor drivers suited to drive camera lenses with motorized zoom and focus. Most of these style lenses also have potentiometers incorporated to provide a relative sensing of the Z & F position. Use of the Z & F motor drivers with the potentiometer position feedback to allow stored presets that encompass Az, El, Z & F for easy camera integration. Zoom motors should be connected to the Zoom + & Zoom - pins, while Focus motors should be connected to the Focus + & Focus – pins. Position feedback potentiometers are typically used as voltage dividers, with the supply voltage (Z/F +3VDC & Z/F ground) connected across the two potentiometers. The potentiometers wipers should be connected to the Zoom Position Sense and Focus Position Sense respectfully.

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Left Pins

Base

Pins

Description

Right Pins

25

Video 1 coaxial

n/c

30

Video 2 coaxial

30

3.1.9 Video Signal

Signal paths suitable for video run from each of the port connectors (one per side) to the base. These are suitable for RS170 video signals.

Special connector pins compatible with standard RG179 75Ω coaxial cable

are in the package with the included base and port connectors.

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CAUTION

DO NOT CONNECT TO VOLTAGES HIGHER THAN 28 VDC WITHOUT RECONFIGURING.

3.2 Moog Pan and Tilt Control Circuit Board Description

Power and communication to control the P&T is provided through the 53-Pin base connector. The Moog Pan & Tilt microprocessor / circuit control board processes all communication, position information, and presents it through the communication buss via the Protocol. The system may be controlled either by a serial or IP connection.

Power supplied is a minimum 24 VDC providing power to the Control Circuit Board to control the two (2) stepper motors drivers (1 for Pan Axis and 1 for Tilt Axis), as well as regulated and unregulated power to the side mounted payload ports. Note the Positioner may be supplied higher voltages for extended performance if configured to do so on the Control Circuit Board. DO NOT APPLY MORE THAN 28 VDC to the unit without first configuring the PCB to accept higher voltage.

The Control communication is processed on the control circuit board providing control and status information on the communication buss. Also connected to main controller are two incremental position encoders, an optical encoder is used of the Pan Axis motion and a magnetic encoder is used for the Tilt Axis motion.

The Control Circuit Board is attached vertically to the inside of the Pan & Tilt Housing and can be accessed by removing the Rear Access Cover. The Control Circuit Board must be accessed to configure P&T input voltage selection, voltage selection and method of communication to the payload ports.

The Control Circuit Board has a number of switches and jumpers to allow various configurations of power and communication options. The following section outlines PCB configuration to allow various configurations.

3.2.1 Control Circuit Board Configuration

3.2.1.1 Circuit Card Access

1. Remove the sixteen 5/16” hex head bolts holding the rear cover. Place the cover aside, assuring not to damage the O-Ring gasket, mating surface or paint. Locate the Ethernet cable on the left side of the board and release the cable from the connector port. Refer to Figure 6.

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Ethern et Cable

Main Circuit Board

Figure 6: Accessing the Circuit Board

2. Loosen the two #1 Philips head screws at the top of the board; these screws are retained with a small O-Ring between the PCB and the bracket; turn only enough to release the bracket. You may need to pull the bracket outward to allow the board to swing downward. Refer to Figure 7 below.

Figure 7: Circuit Board

3. The PCB has multiple switches and jumpers providing options that are used for customer configuration. The options are:

 Setting input voltage range  Communication settings for primary control of the MPT-90  Communication settings for secondary control of the MPT-90  Communication settings for Payload control  Voltage settings for Port Payload power  Voltage and high-side/low-side switching of Auxiliary Port power

Refer to Figures 7 and 8.

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Figure 8: Circuit Board Components I

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COMM SERIAL SETTINGS S2

Figure 9: Circuit Board Components II

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Jumper P1, shown

without jumper for clarity

Dot indicates pin 1

3.2.1.2 PBC Jumper Settings: NOTE

All jumper settings, the screened dot is Pin 1. Refer to Figure 10 below.

3.2.1.2.1 P1 Input Power: The positioner requires 24 to 28 VDC to operate, with positive current applied

to pins 45 & 52 and power return through pins 50 & 51 of the base connector. Note that due to current limitations of the pins in the base connector, the user must apply power to both pairs of pins to assure proper operation. In the event that two separate power supplies are used, you must connect the two negative wires (pins 50 & 51) together.

Figure 10: Jumper Locations

The MPT product may be configured to operate on 28-70 VDC by changing the PCB P1 jumper setting. To reconfigure to operation on voltages higher than 28 VDC, you must move the jumper on P1 (located in the upper right corner of the Moog Controller PCB) from the default position of 1-2 to the 2-3 position. The dot screened on the PCB indicates pin 1.

NOTE The 24 VDC is passed to the payload ports, and is not regulated if the input power is in the default configuration. If the P&T is configured for higher voltage usage, the 24 VDC payload power is regulated.

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3.2.1.2.2 P45

P45 is used to select the voltage available on “Aux1 Power” (pin 36 on Payload Port 1). In the default mode with the jumper on pins 1-2, pin 36 of Payload Port 1 will have the P&T source voltage (*typically +24 VDC) available with respect to pin 14. Moving the jumper to pins 2-3 will reduce this to +12 VDC regulated.

3.2.1.2.3 P48

P48 is used to select the voltage available on “Aux2 Power” (pin 37 on Payload Port 1). In the default mode with the jumper on pins 1-2, pin 37 of Payload Port 1 will have the P&T source voltage (*typically +24 VDC) available with respect to pin 15. Moving the jumper to pins 2-3 will reduce this to +12 VDC regulated.

3.2.1.2.4 P57

P57 is used to select the voltage available on “Payload 3 (pin 45 of Payload Port 1). In the default mode with the jumper on pins 1-2, pin 45 of Payload Port 1 will have +12 VDC regulated power available with respect to pin 50. Moving the jumper to pins 2-3 will reduce this to +5 VDC regulated.

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3.2.1.2.5 P59

P59 is used to select the voltage available on “Payload 4 (pin 45 of Payload Port 2). In the default mode with the jumper on pins 1-2, pin 45 of Payload Port 2 will have +12 VDC regulated power available with respect to pin 50. Moving the jumper to pins 2-3 will reduce this to +5 VDC regulated.

3.2.1.2.6 P53

P53 is used to reconfigure how Aux 3 (Pins 36 & 14 of Payload 2) power switching works. In the default mode, the + supply voltage (Pin 36, 12 or 5 VDC configurable) may be switched ON/OFF by the controller. Reconfiguring P53 allows the – return side (pin 14) to be switched in an “open collector” configuration. Although useful in some applications, do not use this if your payload is otherwise connected back to ground.

3.2.1.2.7 P56

P56 is used to reconfigure how Aux 4 (Pins 37 & 15 of Payload 2) power switching works. In the default mode, the + supply voltage (Pin 37, 12 or 5 VDC configurable) may be switched ON/OFF by the controller. Reconfiguring P53 allows the – return side (pin 15) to be switched in an “open

collector” configuration. Although useful in some applications, do not use this

if your payload is otherwise connected back to ground.

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3.3 PCB Switch Settings

The PCB has two user configurable eight position switches (Figure 11, S2, S4) used to configure the serial communication ports. These ports are typically used to control the positioner, or the payloads attached to the positioner.

Figure 11: PCB Switches

3.3.1 S2 switch settings for serial communication ports

S2 configures the user control serial ports on the base and payload ports. Set for the desired serial communication mode. Note that in RS485 mode, termination should be ON for the last unit in the chain.

BASE PAYLOAD PAYLOAD

CONNECTOR PORT 1 PORT2 RS422 RS232 PINS PINS PINS Serial Tx+ (TXD) 10 16 16 Serial Tx- 33 38 38 Serial Rx+ (RXD) 11 17 17 Serial Rx- 34 39 39 Signal Ground (Gnd) 12 18 18

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The first three switch positions on S2 configure the serial connection on the base connector pins in the table above.

S2 switch setting for RS232 at base S2 switch setting for RS 422 at base

S2 switch setting for RS-485 4-wire at base S2 switch setting for RS-485 2-wire at base

The last 3 switch positions on S2 configured the serial connection on Port 1 pins in the table above:

S2 switch setting for RS232 at port 1 S2 switch setting for RS 422 at port 1

S2 switch setting for RS485 4-wire S2 switch setting for RS485 2-wire at port 1 at port 1

Switch position 4 should be in the “ON” position to enable the serial connection on

Port 2 pins in the table above. Note that this port may be configured for RS232 or RS422 via software.

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S4 Switch setting for RS232 at Port 1 S4 Switch setting

S4 Switch setting for RS422 at Port 1 S4 Switch

S2 switch setting to enable port 2 serial.

3.3.2 S4 switch settings for serial communication ports

S4 configures additional serial connections at the payload ports. Set for the desired serial communication mode. Note that in RS485 mode, termination should be ON for the last unit in the chain.

PAYLOAD PAYLOAD

PORT 1 PORT 2

RS422 RS232 PINS PINS

Serial Tx+ (TXD) 10 10 Serial Tx- 33 33

Serial Rx+ (RXD) 11 11 Serial Rx- 34 34 Signal Ground Gnd 12 12

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CAUTION

TWO PEOPLE ARE REQUIRED TO MOVE OR LIFT THE MPT-90, DROPPING IT COULD DAMAGE THE MPT-90

WARNING

THE MPT-90 PRODUCES SIGNIFICANT TORQUE IN BOTH THE PAN AND TILT MODES THAT CAN CAUSE INJURY IF YOU ATTEMPT TO STOP IT WITH YOUR HANDS OR BODY

WARNING

DO NOT MOUNT THE MPT-90 (MOBILE OR STATIONARY) SUCH THAT IT WILL CONTACT POWER LINES. IF THE MPT-90 DOES CONTACT POWER LINES IT COULD INJURE THE INSTALLER OR DAMAGE THE MPT-90.

4.0 INSTALLATION

4.1 Unpack and Inspect

Carefully unpack and examine the MPT-90 for signs of physical damage, particularly dented or broken parts, damage to wire harness, distortion of the tilt table or covers. If any signs of damage are observed, notify the freight carrier immediately for a claim. Retain all of the packaging material.

4.2 Quick Start Guide

Upon opening the box containing the MPT-90 refer to the Moog Quick

Start Guide (CC36600) for instructions and for the MPT-90 packing list.

NOTE

One Test Cable, part number CC36117-6 is included in each shipment regardless of the number of MPT-90 assemblies shipped. It is not recommended that the Moog supplied test cable be used for a permanent installation. The test cable should be retained for bench setup and troubleshooting should it become necessary.

4.3 Installation Procedures - Mechanical

4.3.1 Site Location

Select a mounting location that will provide the desired maximum movement of the Pan & Tilt angles without coming in contact with or striking any objects in their sweep paths.

NOTE

An arrow on the side of the Pan & Tilt indicates the direction the front of the unit is facing.

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Limit Rings (Hard Stops) are provided to limit the degree of travel in the tilt path. The pan travel is continuous and the tilt travel can be narrowed from the maximum of 180° (±90° from horizon) to a lesser value.

4.3.2 Caution on Mobile Mounting

When using a Pan & Tilt in mobile applications, transporting an unsupported system payload can cause mechanical overloading due to the shock and vibration associated with movement over normal road surfaces.

These forces can be amplified further if travelling off-road, or if the positioner system is mounted on a moveable platform such as a boom arm or telescopic mast. In certain conditions, these dynamic forces added to the normal P&T payload can have a cumulative effect and ultimately cause structural failure of the positioner.

When designing transportable systems, make sure the payload is secured during transit to assure that shock and vibration is not transmitted to the tilt arm or table top by an unsupported load.

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4.3.3 MPT-90 Installation

The Mounting Base (6.0” diameter) is drilled with six (6) .39” diameter mounting holes on a 5.0” diameter bolt circle. Using the mounting holes,

fasten the base to a stable platform using (recommended) 5/16” high strength stainless steel bolts, washers, and nuts. Refer to Figure 12.

NOTE

Consideration of wind and ice load factors on the Pan & Tilt Unit, and its payload, are important when calculating how solid the mounting platform has to be and the strength required by the mounting bolts.

Figure 12: Mounting Base

1. Place the MPT-90 on the mounting surface. Align the base connector with the back of the mounting surface and make sure that the pan and tilt is pointing in the correct direction.

2. Using an alternating pattern insert six (6) 5/16” high strength stainless steel bolts through the MPT-90 mounting base and mounting surface.

3. Install six (6) washers and nuts on the bolts

4. Torque the nuts to 18-23 ft. lbs.

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CAUTION

CORRECT INSTALLATION OF THE INTERCONNECTING CABLE TO THE BASE CONNECTOR BETWEEN THE CONTROLLER AND THE PAN AND TILT UNIT IS REQUIRED FOR RELIABLE OPERATION OF THE POSITIONING SYSTEM. CABLES SHOULD BE CONSTRUCTED WITH CONSIDERATION OF WEATHER CONDITIONS, AND SEALED AS REQUIRED TO ASSURE TROUBLEFREE SERVICE. MOOG IS NOT RESPONSIBLE FOR POSITIONER DAMAGE DUE TO FAULTY CABLING.

4.4 Installation Procedures – Electrical

4.4.1 Connector installation

Included with the positioner are mating plugs and contacts for the base and two side port connectors. Follow the instructions below to build cables for the installation; additional instructions may be included with the contacts.

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4.5 MATING RECEPTACLE CONNECTOR WIRING

The following charts show the signals connected to the various

pins/conductors on the positioner’s connectors. Note that not all models or

variants use all connections, so check with your model number before constructing wiring harnesses. You may choose to not to use some signals, and therefore not make connections on your cables. It is recommended that you use appropriate cabling sealing methods suitable for the environment of use. This may include potting of the connector, or use of weather sealing sheathing.

Fundamental power and operational communication is shown on the first chart below:

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CAUTION

PRIOR TO OPERATING THE PAN & TILT UNIT OR ACCESSING THE INTERIOR, READ AND BECOME FAMILIAR WITH ALL OF THE SAFETY RECOMMENDATIONS FOUND AT THE BEGINNING OF THIS MANUAL AND ON ANY SAFETY DECAL AFFIXED TO THE INSIDE OR OUTSIDE OF THE UNIT.

4.6 MPT-90 Setup and Adjustment procedures

Prior to operating the Pan & Tilt Unit, perform the following Setup & Adjustment Procedures if necessary:

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5.0 MOOG PTZ WEB INTERFACE INTERNAL WEB GUI

5.1 CONNECTING THE MPT-90 TO A COMPUTER

1) Connect the RJ45 connector labeled “Ethernet Com. to your computer

or Ethernet Switch

2) The MPT-90’s default IP address is 192.168.1.10. Make sure your

computer is on the same subnet; change your private IP address if necessary.

3) Click or press the

Windows key on your keyboard and type “network connections”.

4) Right click on “Local Area Connection” and select “Properties” to open

Local Area Connection Properties. Note that in Windows 8 or 10 naming may be different, such as Ethernet.

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5) Double click on “Internet Protocol Version 4 (TCP/IPv4) to open Internet Protocol Version 4 (TCP/IPv4) Properties.

6) Within the Internet Protocol Version 4 (TCP/IPv4) Properties panel, select “Use the following IP address:” and type in the following: IP address 192.168.1.9 Subnet mask: 255.255.255.0 Default gateway 192.168.1.1 Click OK to save and exit.

7) Open a web browser and type in the IP address of the positioner

(192.168.1.10) into the web browser’s address bar.

NOTE:

Some versions of Microsoft Internet Explorer have issues rendering HTML5 and will no open the page correctly. Use Google Chrome, or Mozilla Firefox.

8) The positioner’s web interface should open.

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5.2 CONNECTING THE MPT-90 TO A NETWORK

1) This method is useful if you do not know the IP address assigned to the positioner.

2) On the Thumb Drive that included this manual is a software utility called “TI Tiva Board Finder”. Install this software on a computer on the same network as the positioner.

3) Launch the application (finder.exe) and the IP addresses of all the positioners on the network will be shown.

4) Open a web browser and type in the IP address of the positioner you want to connect to into the web browser’s address bar. NOTE: Some versions of Microsoft Internet Explorer have issues rendering HTML5 and will no open the page correctly. Use Google Chrome, or Mozilla Firefox.

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5) The positioner’s web interface should open.

5.3 MOOG PTZ WEB INTERFACE

The Moog MPT-90 allows the user to connect and perform fundamental functions and moves via an IP connection on a network. This is a quick method to validate proper motion and primary functions.

NAVIGATION BAR - The Navigation Bar is used to select the page of the Web GUI to select different Web pages. The Navigation Bar appears on all pages and is used to move from one page to another.

PTZ CONTROL - The default page of the MOOG PTZ WEB INTERFACE is the PTZ CONTROL page. Positioner movement, current position, setting presets for both the positioner and payload can be accomplished using this page.

PTZ CONTROL - The PTZ Control page is used to move the positioner.

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CURRENT POSITION WINDOW: The Current Position window displays the current position of the P&T in degrees relative to the “0” position. The Zoom and Focus values represent relative values of the Zoom (pin 23 of the payload ports) and Focus (pin 44 of the payload ports) designed for Zoom & Focus potentiometers used in analog camera lenses. Note that Zoom 1 & Focus 1 are for the Port 1 side and Zoom 2 & Focus 2 are for the Port 2 side. See CAMERA LENS ACCOMODATIONS section.

JOG BUTTONS WINDOW: The Jog buttons allow you to move the P&T in various directions. First, select the speed for the Pan and/or Tilt (move the slider to the right for faster speeds), then press the direction button. The up/down arrows in the box beneath the circular button are designed for driving Zoom 1 & 2 and Focus 1 & 2 motors on lenses that may be connected to ports 1 & 2 respectively. Zoom motors are to be connected to pins 20 & 41, while Focus motors use pins 21 & 43. See CAMERA LENS ACCOMODATIONS section.

MOVE TO POSITION – The Move to Position section allows the user to direct enter a coordinate using a Pan (Azimuth) and Tilt (Elevation) position and execute an automated move to the indicated position, by

pressing the “Move To Entered PT Position” button. Additionally, if you

have a Zoom and Focus lens attached to either payload port 1 or 2 (of both) you may enter those desired positions and the analog motor drivers will reposition the Z&F lens to the appropriate position; in this case, use the

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“Move To Entered PT & ZF Positions” button. Pressing the “Move to Home Position” drives the P&T to the position stored in preset 32. Pressing the “Move to Zero Position” drives the P&T to the 0° pan, 0° tilt

position.

PTZ PRESETS – The PTZ Presets window allow the user to enter a coordinate and store it as a preset, or save the current position as a preset. To store a coordinate as a preset, select the preset address (1 – 32) in

the Preset Number window, then enter the coordinate in the “Pan:” and “Tilt:” windows. Then press “Save Preset Using Entered Position”. If you

have a Z&F lens connected and you wish to save those attributes, press

the “Apply Current Zoom & Focus” button, and the attributes will be saved

to the preset table. To store the current position as a preset, select the preset address (1 -

32) then press the “Save Preset Using Current Positions” button. Again

you may add the Z & F attributes if needed. PAYLOAD PRESETS – The Payload Presets send specific

predetermined serial commands to the selected serial payload port. These are useful for sending specific commands to the payload ports that

may be repeated; an example of this may be to send a “white hot” or “black hot” toggle command to a thermal camera. Special firmware must

be coded to the positioner for these to work and may be developed by Moog upon request. Please contact Moog sales for availability for your application. Example below is for a specific Hitachi camera system.

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PORT CONFIGURATIONS – The Port Configurations page is used to determine the current configuration of main control port and the four payload ports. It summarizes the settings of each port, which are configurable on the individual Control Part and Payload Port settings pages.

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CONTROL PORT SETTINGS – The Control Port settings page allows the user to configure the main communication port to the positioner, including the IP port, Baud Rate, Data Size, Parity, Stop Bits and Flow Control. Shown are the current settings and individual fields to update the characteristics. When updates are submitted, the Web GUI takes the user back to the Port Configurations page.

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PAYLOAD PORT 1, 2 SETTINGS – The Payload Port settings are set on their respective pages. Payload Port settings allows the user to configure the main communication port to the positioner, including the IP port, Baud Rate, Data Size, Parity, Stop Bits and Flow Control. Shown are the current settings and individual fields to update the characteristics. When updates are submitted, the Web GUI takes the user back to the Port Configurations page. Payload Port 1 (shown) and Payload Port 2 operate identically.

NOTE

Serial Port selection method (RS232 / RS422) for Ports 1 & 2 is made by physical Switch Setting on the PCB. (See S2, S4 switching section)

Serial Port selection method for Ports 3 & 4 is made by software selection using Payload Port Settings pages as illustrated below.

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PAYLOAD PORT 3, 4 SETTINGS – The Payload Port settings for Port 3 & 4 are identical to 1 & 2 with the exception that serial type are set by software settings. The Hardware interface selection is made by a pull down menu on the page. Payload Port 3 (shown) and Payload Port 4 operate identically.

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DEVICE CONFIGURATION – The Device Configuration page is used primarily for configuration of the IP setting of the control IP port, and shows the internal firmware versions and MAC address assigned at the factory.

The Device Identification field is user accessible and may be used to give the positioner a unique name on their network to distinguish each positioner from other

devices. The field is 38 characters in length. Type the identification in the “Custom

Name” field and press the “Update Settings” button.

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Device

Configuration

Module Name:

Moog MPT

Network Interface:

DHCP / Auto IP

Static IP address:

0.0.0.0

Default gateway IP address:

0.0.0.0

Subnet mask (used on if static IP is in use):

255.255.255.0

Control

Port

Payload

Port 1

Payload

Port 2

Payload

Port 3

Payload

Port 4

Control and Payload Ports

Baud Rate:

2200000

115200

Data Bits:

8 8 8 8 8

Parity:

none

Stop Bits:

1 1 1 1 1

Flow Control

none

Telnet Session Timeout:

0 0 0 0 0

Telnet Session listen or local port number:

10001

10002

10003

10004

10005

Telnet Session remote port number (when in client mode):

10001

10002

10003

10004

10005

IP address to which a connection will be made when in telnet client mode:

0.0.0.0

Operating mode: telnet server, row protocol

telnet

server, raw

protocol

telnet

server, raw

protocol

telnet

server, raw

protocol

telnet

server, raw

protocol

telnet

server, raw

protocol

Hardware Interface:

none

Restore Factory Defaults: Pressing the “Restore Defaults” button restores the following settings:

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PCB folded down for better view

6.0 SERVICING / MAINTENANCE

6.1 Manually Rotating the Worm Drive Shaft (Pan or Tilt)

1) Adjust the Tilt Table to a horizontal position using the Emulator/GUI software.

NOTE

If positioning using the Emulator/GUI software is impractical, remove the and using a large screwdriver, manually rotate the Tilt Axis Worm Drive Shaft until the Tilt Table is horizontal and clear of the obstructed access cover. Remove the screws and access cover. If necessary, the Pan Axis can be moved using the same procedure.

Figure 13: Worm Drive

6.2 Internal Access

To make adjustments to the drive motors, drive chain, carrier assembly, limit rings and circuit card it will be necessary to remove either the front or back

access covers. NOTE Refer to Figures 3 and 4 Pan & Tilt Major Components

1) Place the MPT-90 Tilt Table in a horizontal (level) position (0°?)

2) Remove AND KEEP the sixteen (16) cover mounting screws & washers in both the Front or Rear Access Covers.

3) Remove the Front Access Cover for access to the Drive Motors/Drive Chains/Carrier Assemblies

4) Remove the Rear Access Cover for access to the Circuit Board and the Tilt Limit Rings.

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CAUTION

DO NOT EXCEED FACTORY SETTINGS

MAXIMUM TILT MOVEMENT IS ± 90 FROM HORIZON (180 total travel) PAN MOVEMENT IS CONTINUOUS

THE UNIT IS FACTORY SET TO THE MAXIMUM TILT TRAVEL DO NOT ATTEMPT TO SET LIMITS GREATER THAN FACTORY SETTING OR DAMAGE WILL OCCUR TO THE PAN AND TILT UNIT!

CAUTION

LIMIT RING ADJUSTMENT MUST ALWAYS BE DONE ON AN ELECTRONIC STATIC DISCHARGE (ESD) BENCH WITH ESD TOOLS AND THE TECHNICIAN MUST USE A GROUNDING STRAP SO AS NOT TO DAMAGE THE CIRCUIT BOARD.

6.3 Limit Ring (Hard Stop) Adjustment

Limit Rings (Hard Stops) are provided to limit the degree of travel in the tilt path. The pan travel is continuous and the tilt travel can be narrowed from the maximum of 180° (± 90° from horizon) to a lesser value.

NOTE

Limit Rings are factory set to the maximum allowable travel prior to delivery. If necessary, set your Limit Rings in your shop to fit your site and then make any final adjustments after the unit has been installed.

 Remove the sixteen (16) cover mounting screws and washers and the

Rear Access Cover. Retain screws and washers for reinstallation.

 Refer to section 3.1.1.1 to move Main Controller PCB. Moving the PCB

will allow access to the trip rings for adjustment. Please take care to not touch the board with a screwdriver or other tool.

 Use a flat blade screwdriver to adjust the red (UP) and blue (DOWN) limit

rings. See Figure 14 below.

 You may need to run the unit to determine the exact positioner of the

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modified limit adjustment. MAKE SURE YOU DO NOT ALLOW THE

TABLE TOP TO GET NEAR THE PCB WHEN MAKING THIS ADJUSTMENT.

 Repeat for azimuth as necessary if so equipped. See Figure 15 below.

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Figure 14: Tilt Limit Ring (Hard Limit) Adjustment

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Figure 15: Pan Limit Ring (Hard Limit) Adjustment

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6.4 Drive Chain Tension Adjustment

The drive chains transmit the drive motor movements to worm drive to move the MPT-90 to the commanded position. Adjust the tension of either the Pan or Tilt Drive Chain as follows:

1) Remove eighteen screws and washer and remove the Front Access Cover.

2) Using a Phillips head screwdriver, loosen the screw at the center of the Chain Idler.

3) Slide the Chain Idler towards the center of the chain to apply tension and away from the center of the chain to loosen tension (see NOTE below).

4) Tighten the screw at the center of the Chain Idler.

5) Replace the Front Access Cover.

NOTE

A small amount of slack in the chain is acceptable without affecting backlash. If the chain is too tight, it may cause binding and/or excessive chain and bearing wear. Do not apply excess tension to the chains.

Figure 16: Drive Chain

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Figure 17: Drive Chain Adjustment

6.5 Pan and Tilt Bearings

The Pan & Tilt motions are carried on sealed, opposed ball bearings. The proper preload on these bearing pairs is factory adjusted and will not require field adjustment.

6.6 Backlash

Backlash is defined as unwanted movement in the Pan and/or Tilt section. Backlash can develop due to excessive center distance between Helical Gear and the Worm Gear or axial movement of the worm.

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CAUTION

BACKLASH ADJUSTMENT MUST ALWAYS BE DONE ON

AN ELECTRONIC STATIC DISCHARGE (ESD) BENCH WITH ESD TOOLS AND THE TECHNICIAN MUST USE A GROUNDING STRAP SO AS NOT TO DAMAGE THE CIRCUIT BOARD.

6.6.1 Backlash Test

Test and adjust backlash on the Pan or Tilt axis as follows:

1) Stop the unit with the Tilt Table in the horizontal position and remove power.

2) To test for Pan backlash, grip the Tilt Table and manually try to rotate the table left and right. Free play should be between 0 and 1/64”.

3) To test for Tilt backlash, grip the Tilt Table and manually try to tilt the table forward and back. Free play should be between 0 and 1/64”.

4) If free play is excessive in any axis, adjust the backlash.

6.6.2 Backlash Adjustment

Backlash adjustment on the Pan or Tilt axis is done as follows:

1) Remove AND KEEP the sixteen (16) cover mounting screws & all

washers and the Rear Access Covers. Protect the paint from chipping.

2) Remove two screws and tip the Circuit Board outward.

3) Cover the board with an ESD bag so as not to damage the board.

4) Decrease tension on the two (2) Carrier Counter Adjustment Screws.

5) Turn the four (4) Carrier Adjustment Screws clockwise until free play is

within limits.

6) Reapply tension on the two (2) Carrier Counter Adjustment Screws.

7) Adjust Backlash:

 To Increase Backlash: Turn the four (4) Carrier Adjustment

Screws counter-clockwise while simultaneously applying tension to the two (2) Carrier Counter Adjustment Screws.

 To Decrease Backlash: Turn the four (4) Carrier Adjustment

Screws slightly counter-clockwise, then turn the two (2) Carrier Counter Adjustment screws counterclockwise, allowing the worm in the carrier to get closer to the large helical gear.

 Then tighten the four (4) Carrier Adjustment Screws while

checking backlash across the complete diameter of the helical gear.

8) Repeat this procedure until the free play is within limits.

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Figure 18: Pan & Tilt Axis Backlash Test & Adjustment

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INTERIOR INSPECTION (CONT)

INSPECTION

ITEM

DESCRIPTION

Cleanliness

Inspect the interior for foreign material/debris such as dust, dirt, or chips. These items can act as an abrasive in the gear lubricant and reduce gear life. Make sure to remove all foreign material. Clean the gears if necessary and reapply gear lubricant.

Worm/Helical Gear & Lubrication

Visually inspect the gears for worn teeth, poor alignment, and chips. Clean and lubricate the worms and worm gears every time the unit is opened (at least every 6 months). AEROSHELL 64 is recommended.

Cover Seals

Replace if missing or damaged. Cover O-Ring seals should be inspected every 6 months and replaced if needed. Lubricate the O-Rings with O-Ring lubricant prior to reattaching an access cover.

Bearings

All bearings are sealed and lubricated for life.

Motors

Motors are lubricated for their design life and require no added lubricant.

Drive Chains

Drive Chains (Pan & Tilt) should be lubricated with AEROSHELL 64.

CAUTION

THIS IS AN EXTREME PRESSURE LUBRICANT DO NOT

SUBSTITUTE. DO NOT MIX WITH ANY OTHER GREASE.

7.0 MAINTENANCE & REPAIR

7.1 Routine Maintenance

Inspect the unit on a regular basis to assure the early detection and correction of any minor problem before it becomes a major problem causing downtime.

The recommended inspection interval is dependent on the unit’s location,

severe weather conditions, or heavy use. The following is a guideline to help establish a planned inspection program for this equipment. The user of this equipment should make the final determination on the inspection intervals.

7.1.1 Fresh Water Wash

The exterior of the Pan & Tilt Unit should be sprayed down every 6 months to reduce damage due to salt spray and/or weather conditions.

7.1.2 Inspection Intervals

The following are the recommended inspection intervals for this equipment:

TYPE OF USE INSPECTION INTERVAL Intermittent 6 months Heavy User defined Severe conditions User defined

7.1.3 Lubrication

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EXTERIOR INSPECTION

INSPECTION

ITEM

DESCRIPTION

Finish

Inspect the exterior finish for signs of damage or wear. Touchup damage if necessary.

Covers

Make sure the access covers are properly secured (i.e., all the bolts are in place and tightened, the cover seals are intact and not worn or damaged, etc.).

Wiring

Inspect the exterior wiring for signs of cracked insulation, frayed or pinched wires, and loose connections.

Mounting

Check that the mounting bolts are securely tightened and the required quantity are in place.

Other Hardware

Check that exterior hardware has not come loose. Tighten if necessary.

INTERIOR INSPECTION

INSPECTION

ITEM

DESCRIPTION

Wiring

Inspect the interior wiring for signs of cracked insulation, frayed or pinched wires, and loose connections.

Loose Hardware

Check that interior hardware has not come loose. Tighten if necessary.

Cleanliness

Inspect the interior for foreign material/debris such as dust, dirt, or chips. These items can act as an abrasive in the gear lubricant and reduce gear life. Make sure to remove all foreign material. Clean the gears if necessary and reapply gear lubricant.

Gear Lubrication

Visually inspect the gears for worn teeth, poor alignment, and chips. Lubricate the worms and worm gears every time the unit is opened.

Cover Seals

Replace if missing or damaged. Cover O-Ring seals should be inspected every 6 months and replaced if needed. Lubricate the O-Rings with commercially available O-Ring lubricant prior to reattaching an access cover.

Bearings

All bearings are sealed and lubricated for life. The four tapered roller bearings in the worm carriers should be lubricated with AeroShell 64 lubricant.

Motors

Motors are lubricated for their design life and require no added lubricant.

Drive Chains

Drive Chains (Pan & Tilt) should be lubricated with AeroShell 64 lubricant.

Figure 19: AeroShell 64

7.1.4 Inspection Items

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8.0 FAULT ISOLATION

NOTE

The Fault Isolation procedures listed in this manual should be performed in conjunction with the Emulator/GUI software included on the CD supplied with this unit. Refer to Section 5.0 for instructions on installing and running the Moog GUI software and installation of the test cable.

8.1 Introduction

A visual inspection of the Pan & Tilt Unit while it is operating will usually reveal if a problem is mechanical or electrical. Users should become familiar with the equipment and report any unusual problems before small problems become major ones. Straightforward, common sense troubleshooting techniques will usually reveal the source of most problems encountered. Users should review the following general information to assist in troubleshooting the Pan & Tilt Unit:

8.2 Mechanical or Electrical

1) Remove the Access Covers

2) Actuate a movement using the Emulator/GUI software to determine if the

Drive Motor is running. If the motor is running, the problem is usually mechanical. If the motor is not running, the problem can be either mechanical or electrical.

3) Mechanically uncouple the motor by removing the Drive Chain from the

sprocket.

NOTE

If the motor operates, the problem is usually mechanical (binding Worm Drive Gears, Drive Chain tension was too strong, etc.).

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MECHANICAL FAULT ISOLATION

PROBLEM

SOLUTION

Loose sprockets caused by sheared drive pins or keys.

 Replace the sheared pin or key.  Re-install the sprocket.  Replace the Carrier Assembly.

Drive Chain has slipped from sprocket.

 Loosen Chain Idler.  Re-spool chain.  Tighten Chain Idler.

Drive Chain is broken.

 Remove and replace the broken Drive Chain.

Binding Gears

 Loosen Drive Chain Tension.  Inspect Worm Drive Shaft/Gears for proper

lubrication.

 Re-align gears. (See Backlash Test & Adjustment

Procedure.)

ELECTRICAL FAULT ISOLATION

PROBLEM

SOLUTION

Drive Motor does not operate.

 Remove the Access Covers.  Check Red light on motor driver module. If Red light

is off (no power at motor drive), check wiring. If wiring is OK, motor driver may be defective. If Red light is on, check for square wave at pin 9 (Step) for input to motor driver. A 5V step waveform should be present during jog, if not, check wiring to main PCB.

Drive Motor does not operate, motor voltage ok.

 Visually inspect the circuitry for any shorts.  Disconnect the motor. Use an ohm meter to check

the cabling and resistance in motor windings (green wire pairs, red wire pairs). Mismatch in resistance between windings or open winding indicates defective motor.

The Pan/Tilt stalls at the Limit Ring activated limit switch.

 Check the limit switch.

The Pan/Tilt does not stop at the Limit Ring actuated limit switch.

 Check the wiring for a short between the normally

closed and common contacts of the tilt limit switch.

 Check the limit switch.

8.3 Mechanical Fault Isolation

After troubleshooting the unit and the problem has been determined to be mechanical, check the following:

8.4 Electrical Fault Isolation

The electrical system consists of the controller, interface cable, and the Pan & Tilt Unit itself. A malfunction in any of these components will cause a system electrical failure. Troubleshooting the Electrical control system is accomplished by using the supplied Windows© -based test software. The test software is a Graphical User Interface (GUI) that allows the user to validate operation and hookup, perform initial setup, set operational parameters, store presets, and operate the unit. (See the Emulator/GUI software included on the CD supplied with this unit.)

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Moog MPT-90 Product Manual

Specifications and Main Features

Frequently Asked Questions

User Manual