CX6DD Rotator Controller for Yaesu 5400.
The following pages, detail a modified version of Fernando’s CX6DD rotor controller,
which I have modified to interface directly with the Yaesu series of az / el rotors, to
enable tracking of NOAA satellites.
When coupled with David Taylor’s excellent WXTrack, which has recently been
modified to drive this controller,(or several other amateur tracking programs, using
Wispdde), the combination provides a cheap and accurate method of antenna tracking.
I have included in this document, pcb designs, schematics and some pictures of the
prototype.
The pcbs have been designed as pth, but with some difficulty they could be made
unplated and soldered both sides.
I can supply the pcbs and the programmed pic if required, or the hex file is available
from Fernando’s site http://www.chasque.apc.org/franky/6ddrc/6ddrceng.htm
Anyone wishing to contact me can do so at gramar@netaccess.co.nz
Wxtrack can be downloaded from David’s site……
http://www.david-taylor.pwp.blueyonder.co.uk/software/
Graham Langton 16 Nov 2001
the following:
The recommended calibration procedure for the CX6DD rotor controller is
cx6dd_cal.txt
& PARAM .'RESET' will appear on the display and the
controller will store default data into the non-volatile memory.
This will let the controller indicate some values for Az. & El
although they will not be calibrated yet. After the reset the display
will show 'Remote' indicating that the controller is expecting data to be
entered from the serial port.
mode. Initially 'Azimuth' is displayed indicating that the Az
rotor will be manually controlled with the UP/DN keys. This can be
switched to 'Elevation' by depressing the 'PARAM' key. In this mode
Az & El values will be displayed continuously (take into accound that this
indication will not be calibrated at first) and unlike in 'Remote' mode
no stop positions will be regarded. This means that you can
make your rotors reach mechanical stops!.
antennas are pointing north.
Calibration mode. The desired calibration parameter will be
selected by repeatedly depressing the PARAM key.The first time,
Az.Zero will be selected.
data into non-volatile memory by holding down the SHIFT key
and depressing the PARAM key for at least 1 second.
Now an Az of 0.0 should be indicated in the display (Elev
indication doesn't matter yet). If Az is not 0.0 then the Az.Zero
data was not correctly stored, repeat steps 4&5 carefully.
pointing North again (full turn) or South (1/2 turn) if
exact-north is not possible.
keys,if they are pointing South enter 180.0 etc. Store data by
holding down SHIFT and depressing PARAM key at least for 1 second.
indication is not correct repeat steps 8&9 carefully.
over the Elevation rotor. Turn the Elev rotor until the
antennas are in their ormal-horizontal position (not upside-down),
this position will be 0 deg. elevation.
select El.Zero parameter with PARAM key.
memory by holding SHIFT and depressing PARAM at least for a second.
1- Turn-on the controller while depressing the four keys, SHIFT, UP, Dn
2- Hold down the SHIFT key and depress the UP key to enter the Manual
3- Turn the Az rotor counterclockwise (seen from the sky) until the
4- Hold down the SHIFT key and depress the UP key to enter the
5- Enter a value of 0.0 (for North) with UP/DN keys and then store this
6- Go back to Manual mode by holding down SHIFT and depressing DN key.
7- While in Manual mode turn the Az rotor clockwise until antennas are
8- Enter Calibration mode and select Az.Scale calibration parameter.
9- If antennas are pointing North enter a value of 360.0 with UP/DN
10-Go back to Manual mode and verify a correct Az indication. If
11-While in Manual mode depress the PARAM key in order to take control
12-Enter Calibration mode by holding SHIFT and depressing UP and then
13-Enter a value of 0.0 with UP/DN keys and store into non-volatile
otherwise repeat steps 12&13.
rotor.Turn the Elev rotor with the UP key until the antennas are
horizontal up-side-down,this position will be 180.0 deg Elevation.
PARAM during 1 second.
otherwise repeat steps 16&17.
stores the amount that the rotor keeps moving after
de-energized, It is used in the Remote mode to increase the
pointing accuracy of the controller. This parameter is not
initialized on reset, so it is advisable to manually initialize.
PARAM.This parameter will be fine-tuned later by observing the
14-Go back to Manual mode and verify a correct El indication of 0.0,
15-While in Manual mode depress PARAM key to take control over the El
16-Enter Calibration mode and select El.Scale parameter.
17-Enter a value of 180.0 and store data holding SHIFT and depressing
18-Go back to Manual mode and verify a correct Elevation indication,
19-Enter Calibration mode and select Az.Inert parameter. This parameter
20-Enter a value of 1.0 and store by holding SHIFT and depressing
Page 1
behaviour of the system in remote mode.
step 20,this will be fine tuned later if required.
Az.Inert is reached again and verify the value of 1.0 is stored.
21-Still in Calibration mode select El.Inert parameter.
22-Initialize this parameter to 1.0 in a similay way as described in
23- Still in Calibration mode depress PARAM key repeatedly until
24- Follow the same procedure to verify stored El.Inert parameter.
modes.
El.Stop- and El.Stop+ are initialized to 0, 360, 0 and 180
degrees respectively. It is not recommended to modify these
parameters unless your antenna system requires so. Take into
account that when these parameters are selected in Calibration mode,the
current rotor position is indicated and not the stored parameter value.
Fernando Mederos - CX6DD August-2001
This completes controller calibration for operation in Manual and Remote
NOTE: During the reset procedure, the parameters Az.Stop-, Az.Stop+,
Page 2
Part Number Qty Description Supplier
111375 1 M24C01 serial eeprom Farnell
790060 1 Pic14000-04 Farnell
290415 1 Socket DIN pcb 8pin Farnell
290373 1 Socket DIN pcb 5pin 60deg Farnell
151145 4 ITT push button DT6 Farnell
657511 1 Xtal 3.000mhz RS comp
2 20 pin ribbon sockets Various
2 20 pin ribbon plugs Various
1 Sn74ls642 Various
1 16x2 LCD module to suit
Front pcb
This parts list is not comprehensive and only lists the more difficult to obtain
or pcb critical parts.
I have used Farnell part numbers as an indicator only ,as parts may be sourced
from your local supplier, but specs if required are in the Farnell catalogue
Notes
1- Connections between the 8pin DIN socket and the Yaesu control box are pin to
pin, ie pin1 on controller is connected to 1 on the Yaesu control box etc.
2- Connections between the 5pin DIN socket and the comms port on the PC are
DB9 pin3 connected to DIN pin 4&5, DB9 pin5 connected to DIN pin 2.
3- Max voltage from AZ/EL pots on Yaesu control should be adjusted to between
4.8 and 5.0v.
4- Configuration bits when programming the Pic14000 are….OSC = HS,
WDT= OFF, PWRT= ON, CODE PROT=OFF
Various
Dish Alignment using Wxtrack
Note: This procedure is intended to be used in conjunction with the Calibration Procedure
found on page 10 of this document.
1 Turn dish manually (using Yaesu control box) fully ccw to mechanical stop.
2 Turn dish manually 2 or 3 degrees cw, set az zero=0.0 on controller.
3 Mark both sections ( stationary and moving) of the azimuth rotator, with a vertical
felt pen line.
4 Turn dish manually cw until felt pen marks line up again, set az scale=360.0
5 Rotate dish manually (elevation) to mechanical stop on “down” position.
6 Rotate dish manually “up” 1 or 2 degrees, check with straight edge and level
indicator across face of dish to ensure horizontal, mechanically adjust if
necessary.
7 Set el zero=0.0 on controller.
8 Rotate dish through 180 degrees towards “up”, check with straight edge and level
and adjust to “horizontal pointing” using manual controls on Yaesu control box.
9 Set el =180.0 on controller.
10 Wait for a fine day, using “point at” function in Wxtrack, select “sun” and allow
dish to point at where sun “should” be. Mechanically adjust dish to point so that
the shadow of the feed is in the centre of the dish.
11 Repeat the above procedure with the dish flipped , by changing the azimuth stop
setting (this should normally be set to north stop), and checking the shadow of the
feed again. If there is some difference, average the error using the antenna offset
boxes.
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