RESEARCH CONCEPTS RC3000 manual

RC3000 MOBILE ANTENNA CONTROLLER USER’S MANUAL Contents subject to change 1 December 2005 RESEARCH CONCEPTS INC. 5420 Martindale Road Shawnee, Kansas 66218-9680 USA VOICE: (913) 422-0210 FAX: (913) 422-0211 www.researchconcepts.com support@researchconcepts.com Serial No________[...]

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REVISION HISTORY DATE MODIFICATION SOFTWARE VERSION 8 March 1999 Preliminary document 1.00 13 April 1999 Initial Release 1.04 1 June 1999 Update 1.07 13 March 2000 Software Update 1.16 15 November 2002 Chapter 2 Update 1.37 10 January 2003 Appendix E Update 1.38 3 January 2005 Manual Format Update 1.46 1 December 2005 Software Update 1.55[...]

WARRANTY INFORMATION Research Concepts, Inc.(RCI) warrants to the origi nal purchaser, this product shall be free from defects in material and workmanship for one year, unless expr essed otherwise, from the date of the original purchase. During the warranty period, RCI will provide, free of charge, both parts and labor necessary to correct such def[...]

TABLE OF CONTENTS 1.0 INTRODUCTION ................................................................................................................................................. 1 1.1 M ANUAL O RGANIZATION ..................................................................................................................................... 1 1.2 R[...]

3.0 DETAILED OPERATION ......................................................................................................... ....................... 63 3.1 O PERATION O VERVIEW ............................................................................................................................... ....... 63 3.1.1 Modes ..................[...]

3.3.2.5 Limits Maintenance ............................................................................................................................................. 123 3.3.2.6 GPS Serial Port Dia gnostics ............................................................................................ .................................... 124 3.3.2.[...]

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RC3000 Antenna Controller Chapter 1 Introduction 1 1.0 INTRODUCTION The RC3000 antenna controller is designed for use with elevation over azimuth antennas on mobile satellite uplink vehicles. The RC3000 assists both t he technically-oriented and the non-technical operator of a mobile satellite antenna system by automating t he process of locating a[...]

RC3000 Antenna Controller Chapter 1 Introduction 2 MANUAL CONVENTIONS Throughout the manual, representations of screens the user will see will be shown in the boxed format that follows: AZIM: 0.0 STOW SS1: 50 MANUAL ELEV: -67.5 STOW SAT:TELSTAR 402 POL: 0.0 SPD:FAST CST <0-9>JOG ANTENNA <MODE>MENU 14:25:47 The following table shows typi[...]

RC3000 Antenna Controller Chapter 1 Introduction 3 1.2 RC3000 Features The RC3000 antenna controller is designed to automate the operation of mobile (both vehicle mounted and deployable) mounts. Features provided include: - Automatic azimuth and elevati on pointing solution calculation - Optional GPS receiver for determi nation of antenna latitude [...]

RC3000 Antenna Controller Chapter 1 Introduction 4 Softw are Configuration. The software configuration (SW:) field is presented in the form RC3K-ab-xyz: RC3K-(Mount Manufacturer/Model #)-(Nav S ensor Option)(Tracking Option)(Remote Option) Descriptions of the software configuration desi gnations are provided in the following tables: Mount Manufactu[...]

RC3000 Antenna Controller Chapter 1 Introduction 5 1.3 Theory of Operation The RC3000 performs its functions via digital and anal og electronic equipment interfaced to the antenna’s motor drive and position feedback systems. This equipment is controlled through embedded software algorithms run by the RC3000’s microcontroller. This section provi[...]

RC3000 Antenna Controller Chapter 1 Introduction 6 - performs communications between the microcontroller and the three (GPS, compass, remote control) serial channels - performs analog to digital conversion of drive position and signal strength inputs - performs automatic antenna movement algorithm s (locate, stow, recall, track, etc) FEATURE BOARD [...]

RC3000 Antenna Controller Chapter 1 Introduction 7 1.3.3 Operational Overview The RC3000 allows easy antenna operation via its menu based user interface. The screen displayed to the user is based on the current controller mode. Controller modes are divided into two major groups: operational and programming (see mode map in section 3.1.1). The opera[...]

RC3000 Antenna Controller Chapter 1 Introduction 8 Programming Group Functions The programming group modes provide for initial confi guration of the controller and also provide screens to aid in maintenance and troubleshooting of the controller. Configuration mode screens allow the user to cust omize and calibrate the operation of the RC3000 for us[...]

RC3000 Antenna Controller Chapter 1 Introduction 9 1.3.4 Antenna Pointing Solution The position (latitude and longitude) of the mount and t he longitude of a selected satellite are required to calculate a pointing vector from t he mount to the selected satellite. Given the mount’s latitude and longi tude and the pointing vector to t he satellite,[...]

RC3000 Antenna Controller Chapter 1 Introduction 10 The azimuth portion of the pointing vector is calculat ed with respect to local true North. The fluxgate compass is used to determine the heading of the center line of azimuth travel and the required movement in the azimuth axis is calculated. In the above example a true heading of 135 degrees to [...]

RC3000 Antenna Controller Chapter 1 Introduction 11 1.3.5 Timekeeping There are several versions of time (system, sidereal, referenced and GPS) discussed within this manual. System time is maintained by the RC3000’s real time clock. The real-time clock is backed up by battery so that system time is available as soon as the RC 3000 powers up. The [...]

RC3000 Antenna Controller Chapter 1 Introduction 12 In the azimuth axis, movement in one direction is disabled when clockwise and counterclockwise limit switches are activated. There is al so typically a region in the center of azimuth travel indicating that the azimuth axis is in a position that will allow for mo ving the elevation axis dow n to t[...]

RC3000 Antenna Controller Chapter 1 Introduction 13 The Fast/Slow Transition parameter defines how far away from a target position the RC3000 will switch from fast to slow motor speed. The Coast R ange defines where the RC3000 will de-energize the motor drive to allow the mount’s inertia to coast into the target position. The Max Error parameter [...]

RC3000 Antenna Controller Chapter 1 Introduction 14 1.3.8 Magnetic Variation In order to calculate satellite pointing solutions, the m ount’s orientation with respect to true North must be known. The RC3000 uses the fluxgate compass to measure the local horizontal component of the earth’s magnetic field. The earth’s magnetic field is very irr[...]

RC3000 Antenna Controller Chapter 1 Introduction 15 1.3.9 System Performance The performance achieved by the RC3000 in locating and tracking satellites is dependent on the mechanical tolerances of the mount, the correctness of the installation and the accuracy of the various sensors. The largest source of error for the system is due to errors in de[...]

RC3000 Antenna Controller Chapter 1 Introduction 16 1.4 Specifications RC3000A RC3000B Physical Size 19.0 inches x 3.5 inches x 17.5 inches Weight 19 lbs 13 lbs Input Power 115/230 VAC switchable 50/60Hz; 50W max Idle;850W max Antenna Moving; optional universal input 115 OR 230 VAC 50/60Hz; 50W max Idle;850W max Antenna Moving Fusing 115 VAC, 8Amp [...]

RC3000 Antenna Controller Chapter 2 Installation 17 2.0 INST ALLA TION Proper installation is important if the full capability and accuracy of the RC3000 is to be realized. The procedures that follow will insure the optimum level of performance from all sensors and the system in general. Installation will be more efficient if each step in the physi[...]

RC3000 Antenna Controller Chapter 2 Installation 18 2.1 Equipment Mounting This section describes the physical mounting requirements for the RC3000 and optional sensor units. Wiring requirements are di scussed in section 2.2. 2.1.1 RC3000 Antenna Controller NOTE: The RC3000 unit should not be installed in the rack until the final step of the Initia[...]

RC3000 Antenna Controller Chapter 2 Installation 19 2.1.2 GPS Receiver The optional GPS receiver (RC3000GPS) should be m ounted in a position (such as the truck’s roof) where it has an unobstructed view of the horizon and sky. It should be mounted outside of the reflector when in a stowed position, with the connector (on the underside) towards th[...]

RC3000 Antenna Controller Chapter 2 Installation 20 2.1.3 Fluxgate Compass The optional fluxgate compass unit (RC3000FG) should be placed on the roof of the vehicle away from ferrous metals, electric motors , and any equipment that generates magnetic fields such as air conditioners, generators, and traveling wave tube (TWT ) amplifiers. Experience [...]

RC3000 Antenna Controller Chapter 2 Installation 21 Stand on the roof of the vehicle wi th a standard magnetic compass. Sl owly lower the compass to the proposed fluxgate mounting location on the vehicle without changing the orientation (or heading) of the compass body. If the needle of the compass swings as the compass is lowered to the mounting l[...]

RC3000 Antenna Controller Chapter 2 Installation 22 2.1.4 Electronic Clinometer The electronic clinometer (also referred to as the inclinometer) should be positioned on the mount structure in an orientation that a llows the inclinometer’s linear range of movement to rotate through the antenna’s RF boresight operational range. Determining the co[...]

RC3000 Antenna Controller Chapter 2 Installation 23[...]

RC3000 Antenna Controller Chapter 2 Installation 24 2.2 Electrical Connections This section provides cabling requirements for inte rfacing to the RC3000. Note that cables should be made long enough to allow the unit to be open while still connected to the system. The following sections supply a schedule of connection r equirements. Note that the pi[...]

RC3000 Antenna Controller Chapter 2 Installation 25 2.2.1 Power Entry J6 is an IEC male power connector on the ba ckpanel for supplying AC power to the RC3000. The RC3000 is shipped from the factory with a line co rd appropriate for the line voltage selected. If the line cord received with the unit is not appropriate for the power available at the [...]

RC3000 Antenna Controller Chapter 2 Installation 26 2.2.2 Motor Drive J7 is an MS3102A22-20S (Female on backpanel) connector, which terminates three motor cables. The minimum wire size for these cables is 16AWG. The RC3000A is designed to drive 12 to 36 volt DC az imuth, elevation, and polarization motors. The absolute maximum allowed motor current[...]

RC3000 Antenna Controller Chapter 2 Installation 27 2.2.3 Drive Sense J1 (DB-15 Female on backpanel) receives posit ion sense from the azimuth and polarization potentiometers and the elevation inclinometer. Normally, it is not necessary to modify the sensors on the antenna. The antenna manufacturer should insure that the antenna is compatible with [...]

RC3000 Antenna Controller Chapter 2 Installation 28 2.2.4 Limit Switches J3 (DB-15 Female on backpanel) connects to the azimuth stow, elevati on stow, elevation up and elevation down limit switches. The + side of each limit switch circuit supplies 12 VDC. This 12 VDC supply is protected by a resettable fuse rated at 250 mA. The azimuth stow switch [...]

RC3000 Antenna Controller Chapter 2 Installation 29 2.2.5 Signal Strength J2 (DB-15 Female on backpanel) connects to receiv ers, modems, etc., to provide signal strength indication for autopeaking and tracking. J2 also supports 4 bits of digital I/O and various bus voltages that allow for future expansion. The received signal strength from the syst[...]

RC3000 Antenna Controller Chapter 2 Installation 30 2.2.6 Navigation Sensors J9 (DB-37 Female on backpanel) provides four RS- 232 ports to connect the optional fluxgate compass and up to 3 GPS receivers. Route the cable away from electrically noisy devices (motors, air conditioners, etc.) to av oid unnecessary problems. Original RC3000s A DB-37 to [...]

RC3000 Antenna Controller Chapter 2 Installation 31 2.2.7 Accessories J8 (9 pin DB-Receptacle) is an accessory connector. It contains pins that s upport the following functions of the RC3000: High-power-amplifier (HPA) disable, system alarm contact closure output, 1 pulse-per- second output (optional depending on GPS in-use), and a circuit that can[...]

RC3000 Antenna Controller Chapter 2 Installation 32 2.2.8 RF Autopeak J11 (Type F Female connector on backpanel) is the input to the RF Autopeak circuit. This input accepts the output of an LNB (950-2150MHZ, -50 to –5dBm.) The RF autopeak module inside the RC3000 produces an output proportional to the broadband energy received. The RF autopeak ci[...]

RC3000 Antenna Controller Chapter 2 Installation 33 2.2.9 Hand Held Remote J10 (DB-25 Female on backpanel) connects to the optional hand-held remote control (RC3000HRC) which allows antenna jog operations independent of the fr ont panel. The remote control is housed in a 3” x 6” x 1.75” aluminum case. The remote cont rol should be connected t[...]

RC3000 Antenna Controller Chapter 2 Installation 34 The RC3000HRC places all of the antenna move functions and antenna limit indicators into the operator’s hand. The LEDs on the remote switch- pad indicate the antenna limit status: Azimuth Axis: STOW, CCW Limit, CW Limit. Elevation Axis: STOW, Up Limit, Down Limit. Polarization Axis: CCW Limit, C[...]

RC3000 Antenna Controller Chapter 2 Installation 35 2.2.10 Pulse Sensors NOTE: Pulse sensors are typically only installed on some mounts in order to mechanize the optional inclined orbit tracking feature. This section may be skipped if pulse sensors are not present. In order to obtain higher resolution azimuth and el evation axis position f eedback[...]

RC3000 Antenna Controller Chapter 2 Installation 36 and falling edges must not exceed 65535, 2) the durati on of the high and low segments of the waveform must be at least 10 milliseconds, 3) the high level of the waveform must be 4.5 to 5.7 volts, and 4) the low level of the waveform must be 0.0 to 0.5 volts. A number of manufacturers make sensors[...]

RC3000 Antenna Controller Chapter 2 Installation 37 Position count errors due to improper use of the position sense line’s shield is one of the most frequent problems encountered during the installation of the RC 3000. Here are the problems that are encountered: 1) A shielded cable was not used for the position sense wires. 2) The shield is not c[...]

RC3000 Antenna Controller Chapter 2 Installation 38 2.2.11 Remote Control J5 (DB-9 Female on backpanel) allows for optional remote control (RC3000CRC) of the RC3000. The RC3000 may be configured to communicate either by the RS-232 or the RS-422 / RS-485 standards. The RC3000 is shipped from the factory configured for RS-422/RS-485 operation. Origin[...]

RC3000 Antenna Controller Chapter 2 Installation 39 2.2.12 Waveguide Switch J12 (DB-15 Female on backpanel) connects the opti onal waveguide switch (RC3KF-WG-DRV1) module to a waveguide switch of the type shown in the following diagram. Drive Out 1,2 provide 28 VDC to energize the waveguide switch. NOTE: The RC3000 (3.2.1.2) assumes the w aveguide [...]

RC3000 Antenna Controller Chapter 2 Installation 40 2.2.13 Resolver Inputs Original RC3000s When the optional resolver input board (RC3000RSLVR ) is required, J12 (DB15 Male on backpanel) is used for azimuth and elevati on position information. Second Generation RC3000s Individual connectors (DB-9 Female on back panel) are provided as needed for ea[...]

RC3000 Antenna Controller Chapter 2 Installation 41 2.3 Initial Configuration Whereas Final Calibration (section 2.4) requires an open area with an unobstructed view of satellites, initial configuration may be done in any area ( possibly a shop environment) where the antenna may be moved throughout its entire range of travel. At this point, the ins[...]

RC3000 Antenna Controller Chapter 2 Installation 42 Azimuth/Elevation/Polarization Calibration . The next three steps calibrate the mount’s elevation, azimuth and polarization axes. Place the RC3000 in MA NUAL mode. Values for the azimuth, elevation and polarization axes should be displayed, though t hey may not be reasonable since calibration ha[...]

RC3000 Antenna Controller Chapter 2 Installation 43 2.3.2 Elevation Calibration Steps to perform elevation calibration will be descri bed starting with the elevation axis in the stowed position. STEP 1.- STOW Limit Confirmation With the elevation axis in the stowed position, go to the Limits Ma intenance screen (3.3.2.5) to confirm that the ELEV ST[...]

RC3000 Antenna Controller Chapter 2 Installation 44 STEP 3a. – Inclinometer Reference Voltage To perform this step, raise the antenna until the reflecto r is in the reference position appropriate for this mount (see Appendix B). For the majority of mounts, the reference position corresponds to having the reflector’s face vertical. This angle ca[...]

RC3000 Antenna Controller Chapter 2 Installation 45 STEP 4. Elevation Scale Factor Calibration This step is performed to characterize the out put signal from the elevation inclinometer. 1) With the elevation axis in t he reference position, note the angle (using an accurate inclinometer placed on the mount itself not the angle displayed on the RC30[...]

RC3000 Antenna Controller Chapter 2 Installation 46 NOTE: an alternate method for calculating the output signal from the inclinometer is to use the data supplied by the inclinometer manufacturer for each individual inclinometer and multiply by the gain (0.823) in the RC3000’s circuitry. (example: 59.27 mV/deg * 0.823 = 48.78 ) STEP 5. Up Limit Co[...]

RC3000 Antenna Controller Chapter 2 Installation 47 2.3.3 Azimuth Calibration Steps to perform azimuth calibration will be described st arting with the azimuth axis in the stowed position and the elevation axis above the DOWN limit. Movement in the azimuth axis is not allowed until the elevation DOWN limit switch is inactive. The mount should be mo[...]

RC3000 Antenna Controller Chapter 2 Installation 48 STEP 2. Initial Movement. The next step is to move the azimuth axis to conf irm drive and sensor polarit y. Azimuth clockwise and counterclockwise is defined as seen by an obser ver located above the antenna looking down on the antenna. In MANUAL mode, when the AZ CW (6) key of the RC3000 is depre[...]

RC3000 Antenna Controller Chapter 2 Installation 49 Example: at +90 degree reference position the azim uth voltage is 3.86. At the –90 degree reference position the azimuth voltage is 1.14. The azimuth scale factor is calculated as: 180 degrees / (3.86 –1.14) = 66.16 degrees / volt. 66.16 would be entered as the scale factor. STEP 6. Azimuth So[...]

RC3000 Antenna Controller Chapter 2 Installation 50 2.3.4 Polarization Calibration The following steps will require values to be entered in the POLARIZATION CA LIBRATION configuration screen (see 3.3.1.2.4). REF_V:2.50 OFF: 0.0 CONFIG-POL CCW: 90.0 CW: 90.0 SF:41.67 TYPE:2 REF:1 H: -45.0 V: 45.0 AUTO: 1 SET REFERENCE VOLTAGE <2.00 – 3.00> S[...]

RC3000 Antenna Controller Chapter 2 Installation 51 The following diagram shows a typical situation of tw o waveguides that rotate together. Note that the diagram should be considered as if the observer is behind the reflector looking towards the arc of satellites. This representation is relevant for both prime focus and dual reflector antennas. Th[...]

RC3000 Antenna Controller Chapter 2 Installation 52 STEP 4. Clockw ise and Counterclockw ise Limits . Discrete Limit Sw itches . Some mounts may mechanize polariz ation clockwise and counterclockwise limits via actual limit switches. If this is the case , move the polarization axis through its range of motion and verify that the CW and CCW limit in[...]

RC3000 Antenna Controller Chapter 2 Installation 53 2.3.5 Fast/Slow Motor Speed The fast and slow output voltages for your particular mount will be set at the factory and typically will not need to be adjusted. On RC3000B models, there is only one fast/slow adjustment potentiometer on the analog board. On RC3000A models, there are fast/slo w adjust[...]

RC3000 Antenna Controller Chapter 2 Installation 54 2.4 Final Calibration The final calibration steps tune up the system for performing automatic location of satellites. 2.4.1 Compass Calibration Ferrous metal on the vehicle distorts the earth's magnetic field in the vicinity of the vehicle. The flux gate indicates the direction of the dist or[...]

RC3000 Antenna Controller Chapter 2 Installation 55 2.4.2 Azimuth and El evation Alignment This step attempts to discover and compensate for offs ets in azimuth and elevati on position sensing. Offsets may be introduced due to mechani cal tolerances, slight inaccuracies in installation, etc. For example, the compass may not be exactly aligned with [...]

RC3000 Antenna Controller Chapter 2 Installation 56 Elevation Alignment It is fairly easy to observe errors in the elevation calibration. If test data shows that the actual elevation angle that a satellite is f ound is consistently above or below the calculated target, then it can be concluded that an elevation offset should be applied. Enter the a[...]

RC3000 Antenna Controller Chapter 2 Installation 57 2.4.3 Signal Strength Adjustment The RC3000 can sense satellite signal strength via the L-band power detector (2.2.8) or the signal strength input circuits (2.2.5). This section describes how to configure the signal strength input circuits for use with the satellite receivers used for a particular[...]

RC3000 Antenna Controller Chapter 2 Installation 58 2.4.3.3 Signal Strength Channel Calibration This section describes the calibration procedure for a single channel. If two channels are to be used, the procedure will need to be run for each. The procedur e requires multiple steps and some steps are iterative. The procedure also requires the use of[...]

RC3000 Antenna Controller Chapter 2 Installation 59 Adjusting the gain of the AGC channel in step 7 will m odify the offset voltage in step 6. Steps 6 and 7 should be run at least twice and possibly several times until the required adjustments are minimal. NOTE: When correctly adjusted, the display ed signal strength w ill be approximately 50 when [...]

RC3000 Antenna Controller Chapter 2 Installation 60 2.4.4 Pulse Scale Factors The pulse scale factors specify the number of pulse s counted per degrees (in radians) of movement for the azimuth and elevation axis. It is critical that these numbers are accurate since the tracking algorithms use them to determine step sizes (in pulse counts) . Note th[...]

RC3000 Antenna Controller Chapter 2 Installation 61 The azimuth scale factor is obtained by noting the difference in the azimuth pointing solution angles between two satellites and the pulse counts when on the sa tellites. For best results, use satellites that are as far apart as possible and make sure you have positively identified the satellites.[...]

RC3000 Antenna Controller Chapter 2 Installation 62 2.4.5 Operational Presets This section has been included in the outline because it may simplify the user’s day-to-day operation. The user cannot make use of preset truck locations or preset satellites if they are never entered into the memory. This is a straightforward procedure, but one which c[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 63 3.0 DET AILED OPERA TION 3.1 Operation Overview 3.1.1 Modes The functionality of the RC3000 is achieved by placi ng the controller in the desired mode of operation. The figure shows the hierarchy of the RC3000’s m odes. Each mode has a unique display screen that presents the information ap[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 64 3.1.2 Keypad Usage The keypad provides a flexible method of contro lling the functionality of the RC3000. While each RC3000 mode has different requirements for user i nput, the use of the keypad remains consistent throughout all modes. The keypad provides for both specific actions and genera[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 65 KEY LABEL SPECIFIC FUNCTION GENERAL FUNCTION Mode no specific function moment ary push switches between modes within group button held for 3 seconds switches between operational and programming groups Scroll Up/ Angle CT Toggles between potentiometer and pulse az/el position display in Manua[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 66 3.1.3 Data Entry Many RC3000 screens request some type of user input. Th is section provides inst ructions on the entry of various types of data. Selection From List ( <0-9>SELECT ) When the user is prompted to select an action from a displayed list, pressing the numbered key correspon[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 67 3.1.4 Display Layout The following screen shows many elements common to RC3000 mode displays. AZIM: 31561 SS1:625(Ku) TRACK ELEV: 11060 SAT:BRASIL A1 POL: -45.0 H STEP:IDLE 16:03 WAITING FOR NEXT PEAKUP <0>MENU MODE TITLE : in the upper right corner the title of the current RC3000 mode[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 68 3.2 Operating Group Within the operating group of modes exists tw o high level modes – MANUAL and MENU. The MANUAL mode allows the user to manually jog the antenna while the MENU mode allows the user to select the modes that implement the RC3000’s automatic movement features. While in ei[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 69 3.2.1 Manual Mode AZIM: 0.0 STOW SS1: 50 MANUAL ELEV: -42.5 DOWN SAT:TELSTAR 402 POL: 30.0 V SPD:FAST CST <0-9>JOG ANTENNA <MODE>MENU 14:25:47 In MANUAL mode, the user may jog the antenna in a ll three axes. A momentary push of the Mode key will move the controller from the MANUA[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 70 The polarization axis may be moved manually be pressi ng the Pol CCW or Pol CW keys. The axis may also be moved automatically to the predefined horizontal or vertical positions by pressing the H or V keys. In the MANUAL mode, whenever the “5 H/V” key is pr essed the polarization axis wil[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 71 AUXILLARY FUNCTIONS According to the RC3000’s configuration and current conditions, several additional functions may be initiated via the MANUAL mode. 3.2.1.1 Heading Fix From the MANUAL mode the user is given the abilit y to correct the mount’s true heading based on where the selected s[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 72 3.2.1.2 Waveguide Switch For mounts equipped with the optional waveguide swit ch control module, manual control of the waveguide switch may be initia ted via the MANUAL mode. NOTE: The WAVEGUIDE SWITCH configuration item on the System Definition screen (3.3.1.2.1) must be set in order for so[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 73 3.2.2 Menu Mode MENU mode allows the user to select one of listed modes. Pressing the Mode key will move to MANUAL mode. Note: RECALL and DELETE will not be displayed if no satellites are currently STOREd. 1-DEPLOY 2-STOW 3-LOCATE MENU 4-STORE 5-RECALL 6-DELETE 7-POSITION 8-SETTINGS CST <[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 74 3.2.2.1 Deploy The DEPLOY mode automatically moves to the mount ’s predefined “deploy” position. See appendix B for the list of deploy positions for the various mounts supported. The deploy command requires an explicit confirmation in order to initiate antenna movement. <MODE> ME[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 75 3.2.2.2 Stow The STOW mode automatically moves to the mount’s predefined “stow” position. See appendix B for the list of stow positions for t he various mounts supported. Like the DEPLOY mode, STOW requires an exp licit confirmation to initiate movement. <MODE>MENU (DO NOT STOW) [...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 76 3.2.2.3 Locate The LOCATE mode performs a calculation of the pointing angle (1.3.4) to a selected satellite based on the RC3000’s estimate of where the antenna is positi oned (lat/lon) and oriented (true heading). After the calculation is performed the user may initiate an automatic antenn[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 77 If the navigation sensors (GPS and/or compass) ar e not working (or not available), the position information may be entered manually via the POSITION mode (3.2.2.7). SAT: GALAXY 6 74.0W <1>SELECT NEW SAT The SAT: field shows the currently selected sate llite’s name and longitude. Whe[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 78 LONGITUDE: described in decimal degrees (180.0W to 180.0E) INCLINATION: the number of degrees of orbital inclination. If a satellite is described as having an inclination greater than zero, the RC3000 will cons ider it an inclined orbit satellite and subsequently attempt to track its movemen[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 79 3.2.2.3.2 LOCATE Automatic Movement Before automatic movement to the calculated position is initiated, the RC3000 requests that a polarization position be selected. This is so the polarization mechanism will be in the correct position to be able to detect received signal strength. Note: this[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 80 3.2.2.3.3 Azimuth Scanning Autopeak The figure shows the movements made to perform an azimuth scanning (SCAN) operation. This SCAN operation enables the RC3000 to try to compensate fo r any azimuth inaccuracy caused by truck heading calculation errors. 1) as part of the basic LOCATE movement[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 81 several factors to take into consideration. If the range is too narrow, it might not be able to compensate for a heading error. If the range is too wide, it will take the unit slightly longer to lock up, although this is usually not a significant amount of time. There might also be certain s[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 82 3.2.2.3.4 Spiral Search Autopeak The spiral search autopeak operation (SEARCH) per forms somewhat differently from the SCAN operation. Whereas SCAN counts on the fact t hat a non-inclined orbit satellite should be at the calculated elevation, SEARCH must acc ount for the fact that at a parti[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 83 3.2.2.3.5 Terminal Peak Up NOTE: this option is only functional if the mount has been fitted with high resolution pulse or resolver sensors for both the azimuth and elev ation axes. This option will not be available on some mounts w here the ability to fit high resolution sensors is not av a[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 84 3.2.2.4 Store The STORE mode saves a satellite’s name, azimuth and elevation positions, horizontal and vertical polarization positions and RF band in memory for use in later RECALLing the satellite. When the STORE mode is entered, it is assumed that the user has peaked up on the satellite.[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 85 3.2.2.5 Recall NOTE: RECALL and DELETE modes will not be avail able from MENU if no satellites are currently “stored”. Satellites which have been stored in the controller's non-volatile memory (via STORE) can be recalled from the RECALL mode. Azimuth, elevation, and horizontal and v[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 86 3.2.2.7 Position The POSITION mode allows the user to set t he latitude, longitude and heading of the vehicle for subsequent use in calculating pointing angles to satellites. The first screen that appears shows the current mount position used in the RC3000. Note: Mount “position” consist[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 87 GPS Lat/Lon 37 ° 36N 97 ° 18W WICHITA LAT/LON GPS:38 ° 56N 94 ° 44W 17:36:59 <ENTER>USE GPS LAT/LON <BKSP>EXIT The current lat/lon the gps has calculated is displayed. The UTC the gps is outputting is also displayed to show that the data is being updated. To select this lat/l[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 88 INIT LAT/LON:*INITIALIZING GPS* GETTING LAT/LON FROM GPS The LAT/LON: field initially displays the status of communications with the GPS receiver. The following messages may be displayed: “*INITIALIZING GPS*” – The RC3000 is establis hing communications with the GPS receiver. “*NO GP[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 89 3.2.2.8 Settings The SETTINGS mode provides a way to change the oper ational characteristi cs of the RC3000 without having to go to the configuration group of screens. It al so provides a way to reset a drive error without going to the DRIVE RESET maintenance screen. 1-AUTOPEAK:OFF SETTINGS [...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 90 3.2.2.9 Track The optional TRACK mode may be entered via the ST ORE or RECALL modes if the selected satellite has been described as having a inclined orbit. Details of TRACK mode are available in the separ ate appendix TRK describing inclined orbit tracking. The following descriptions give a[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 91 3.2.2.11 VSAT Mode INTRODUCTION This section details operations of the RC3000’s “VSAT” mode. VSAT mode is intended to be used when the following conditions exist: 1) the mobile satellite terminal is to be run by operators with limited or no satellite communication training or experienc[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 92 VSAT MODE OPERATION After powering up the RC3000, the MENU screen will appear. 1-LOCATE SATELLITE MENU 2-STOW ANTENNA CST <1-2>SELECT <MODE>MANUAL 14:37:23 In VSAT mode, the MENU screen only gives the operator tw o automatic functions that may be performed. LOCATE Selecting <1[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 93 ! LOCATE COMPLETE ! ! CONFIRM RECEIVER STATUS ! <MODE>MENU The operator should confirm that the antenna has been placed on the correct satellite. For example, confirmation could be achieved by recognizi ng if the modem has generated a signal lock. STOW By selecting <2> from MENU,[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 94 3.3 Programming Group The programming group has two high-level modes (CONFIG-MENU and MAINTENANCE ). Both of these modes serve as a menu system for sub-modes below them. Momentarily pressing the Mode key will switch between these modes in a similar fashion as the MANUAL and MENU modes switch[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 95 GROUP TITLE GROUP DESCRIPTION PARA. NORMA L A CCESS ITEMS EXPERT ACCESS PERMISSION SETS EXPERT ACCESS PERMISSION 3.3.1.1.1 LOCATION PRESETS LIST OF PRESET TRUCK LOCATIONS 3.3.1.1.2 SATELLITE PRESETS LIST O F PRESET SATELLITES 3.3.1.1.3 INSTALLA TION ITEMS SYSTEM DEFINITON DEFINE SYSTEM OPTIO[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 96 3.3.1.1 NORMAL ACCESS ITEMS The three configuration groups contained in the “Nor mal” access items allow the user to change items that would typically be required to be changed following system configuration. 3.3.1.1.1 Expert Access Permission EXPERT ACCESS: 0 CONFIG-EXPERT 0-NORMAL/1-IN[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 97 3.3.1.1.2 Preset Locations This group allows the user to customize a list of 20 commonly used mount locations. This list may be used for selecting mount lat/lon in the POSITION mode. LOC#: 1 CONFIG-LOCS NAME:RCI LAT:38 ° 56N LON: 94 ° 45W <SCR> THRU LIST, <ENTER> TO MODIFY DATA[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 98 3.3.1.1.3 Preset Satellites This group allows the user to cu stomize a list of 20 commonly used satellites. The LOCATE mode allows the user to select a satellite (3.2.2 .3.1) from this “preset” list. SAT#: 3 CONFIG-SATS NAME:BRASIL A1 LON: 79.0W POFF:0.0 INCLIN: 2 BAND:0 <SCR> THRU[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 99 3.3.1.2 INSTALLATION ACCESS ITEMS This set of configuration groups a llows the user to modify parameter s that are most typically changed for a particular installation. 3.3.1.2.1 System Definition GPS: 1 CONFIG-SYSTEM COMPASS: 1 SN:1234 WAVEGUIDE:0 MODE: 2 ANT_SIZE: 120 <1>GPS PRESENT [...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 100 3.3.1.2.2 Elevation Calibration REF_V:1.69 OFF: 0.0 CONFIG-ELEV DOWN: 0 UP: 90.0 SF:50.00 LOOK:1 SET REFERENCE VOLTAGE <0.50 – 4.50> REF_V: SET REFERENCE VOLTAGE <0.50 - 4.50> The elev_zero_voltage defines the volt age present when the elevation axis is at its reference positi[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 101 If the mount is equipped with resolvers, two elevati on resolver calibration items are included with the normal inclinometer calibration items. REF_V:1.69 OFF: 0.0 CONFIG-ELEV DOWN: 0 UP: 90.0 SF:50.00 LOOK:1 RES: 0.0 REV:0 SET REFERENCE VOLTAGE <0.50 – 3.50> RES: ELEV RESOLVER O FF[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 102 3.3.1.2.3 Azimuth Calibration REF_V:2.50 FG: 0.0 CONFIG-AZIM CCW:180 CW:180 SF:65.62 DISP:1 SET REFERENCE VOLTAGE <2.00 – 3.00> REF_V: SET REFERENCE VOLTAGE <1.00 - 4.00> The azim_zero_voltage defines the volt age present when the azimuth axis is in its center of motion. See t[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 103 In addition to the normal azimuth calibration items, tw o azimuth resolver calibration items are included. No azimuth reference_voltage or scale_factor items are displayed since no azimuth potentiometer will be present. FG: 0.0 CONFIG-AZIM CCW:180 CW:180 RES: 0.0 REV:0 DISP:1 SET REFERENCE [...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 104 3.3.1.2.4 Polarization Calibration REF_V:2.50 OFF: 0.0 CONFIG-POL CCW: 90.0 CW: 90.0 SF:41.67 TYPE:2 REF:1 H: -45.0 V: 45.0 AUTO: 1 SET REFERENCE VOLTAGE <2.00 – 3.00> REF_V: SET REFERENCE VOLTAGE <2.00 - 3.00> The pol_zero_voltage defines the voltage present when the polariza[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 105 3.3.1.2.5 Signal Strength Factors This screen defines how signal strength inputs are used. See sections 2.2.5 and 2.4.3 for references to the use of signal strength inputs. RF LOCK:0 TIME:0.1 CONFIG-SIG SS1 LOCK:0 TIME:0.1 TH:100 POL:0 SS2 LOCK:0 TIME:0.1 TH:100 POL:0 <0>NEGATIVE <[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 106 3.3.1.2.6 Autopeak This screen defines how the autopeak functions of the LOCATE mode are configured. ON:1 SRCH_AZ: 3 CONFIG-AUTOPEAK SIG:1 SRCH_EL: 3 SCAN_RG: 2 BAND:1 SRCH_TH:200 SCAN_TH:200 TILT:0 AUTOPEAK <0>DISABLED <1>ENABLED <2>+PEAK ON: AUTOPEAK <0>DISABLED &l[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 107 SCAN_TH: SCAN THRESHOLD <0-999> This threshold item defines what the minimum signal strength indication is required for the scan procedure to recognize that a satellite is present. The definition of this value is different depending on whether the L-Band power detector (RF) or one of [...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 108 3.3.1.3 Super-User Access Items This set of configuration groups a llows the user to modify parameter s that are not typically changed for a particular installation. Usually these items addre ss parameters that have been pr eviously characterized for a particular mount. The need to access t[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 109 3.3.1.3.2 Azimuth Pot Drive The CONFIG-AZ POT screen contains configuration items for calibrating large automatic azimuth movements based on angle (potentiometer or resolver- based) position feedback. See the Drive System theory section 1.3.7. CONFIG-AZ POT FAST/SLOW: 0.5 COAST: 0.0 MAX ERR[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 110 3.3.1.3.3 Azimuth Pulse Drive The CONFIG-AZ PULSE screen contains items for configuring automatic movements based on sensor count (resolver or pulse) az imuth position feedback. SCALE:2406 CONFIG_AZ PULSE CW:49451 FAST/SLOW: 50 COAST: 5 CCW:16085 MAX ERROR: 3 TRIES: 3 AZIM SCALE FACTOR<1[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 111 3.3.1.3.4 Azimuth Drive Monitoring The items on this screen deal with the background c hecking performed on the azimuth drive system. Note that in this context “slop” may be typica lly considered relating to mechanical hysteresis. CONFIG-AZ MON JAM SLOP: 1 FAST DEADBAND: 1000 RUN SLOP: [...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 112 are received would cause the elev ation position count to decrement when the count should really be incremented because the antenna is really still moving up. The anti-reversal system keeps the antenna from rapidly changing direction. If the antenna has been moving in a given direction, the[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 113 3.3.1.3.5 Elevation Pot Drive CONFIG-EL POT FAST/SLOW: 0.5 COAST: 0.3 MAX ERROR: 0.01 TRIES: 3 SET THRESHOLD <0.0-10.0 DEGREES> The CONFIG_EL POT screen contains configuration items for calibrating elevation movements based on potentiometer position feedback. See the Drive System theo[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 114 3.3.1.3.6 Elevation Pulse Drive SCALE:2406 CONFIG_EL PULSE CW:49451 FAST/SLOW: 50 COAST: 5 CCW:16085 MAX ERROR: 3 RETRY: 3 ELEV SCALE FACTOR<1-32767 PULSES/RADIAN> SCALE: ELEV SCALE FACTOR<1-32767 PULSES/RADIAN > The antenna_elev_constant configurati on item specifies the approx[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 115 3.3.1.3.8 Polarization Drive The CONFIG-POL DRV screen contains configuration items for calibrating polarization movements based on potentiometer position feedback. See t he Drive System theory section 1.3.7. CONFIG-POL DRV FAST/SLOW: 2.0 COAST: 0.3 MAX ERROR: 0.10 TRIES: 3 SET THRESHOLD &l[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 116 3.3.1.3.10 Stow & Deploy Positions The STOW & DEPLOY group allows the user to change the target positions for STOW and DEPLOY movements. AZ_STW: 0.0 AZ_DEP: 0.0 CONFIG-STOW EL_STW: -67.5 EL DEP: 22.3 EL_TIME: 0 PL STW: 0.0 PL_DEP: 0.0 PL_ENABLE:0 AZIMUTH STOW <-180.0/180.0> AZ[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 117 3.3.1.3.11 SHAKE AZ 1: -40.0 2: 50.0 3: 0.0 CONF-SHAKE EL 1: 30.0 2: 40.0 3: -67.5 CYCLE: 100 PL 1: -10.0 2: 10.0 3: 0.0 DELAY: 15 MOVE 1 AZIM <-180.0/180.0> AZ #: MOVE # AZIM <-180.0/180.0> The AZ field allows the user to specify the azimuth target for moves 1, 2 or 3. EL #: MO[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 118 3.3.2 Maintenance Items 1-VOLTS 2-DRIVE 3-TIME 4-SIG MAINT 5-LIMITS 6-GPS COM 7-FG COM 8-MOVETO 9-FG CAL 0-SHAKE .-CI RECORD Z1-GTRv1.55 This screen provides a menu system for selecting the various maintenance screens described in the following paragraphs. Pressing the Mode key from this sc[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 119 3.3.2.1 Analog to Digital Voltage The AD VOLTAGES maintenance screen shows the current voltage levels sensed at the microcontroller’s 4 analog to digital inputs. The voltage will be display ed in the 0.001 to 5.000 range. If the microcontroller sees less than 0.001, it will display “UND[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 120 3.3.2.2 Drive Error Resets 1-AZIM: JAMMED DRIVE RESET 2-ELEV: RUNAWAY 4-RESET PULSE COUNT 3- POL: OK (AZ/EL AT STOW) RESET <1-3>AXIS <4>PULSES <MODE>EXIT The DRIVE RESET maintenance screen provides the wa y to reset drive system errors (JAMMED / RUNAWAY / DRIVE) for each a[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 121 The values for the time parameters may be altered by the actions described next. 1-DATE ENTER DATE DD.MM.YY This action allows the user to manually set the date. The prompt indicates that the / delimiter for date is entered by using the (decimal point) key. 2-TIME ENTER TIME HH.MM.SS This a[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 122 3.3.2.4 Signal Strength Offset Calculator The signal strength offset calculator determines parameters needed to perform the signal strength channel calibration (2.3.5.2) procedure. The user enters observed voltages from receiving equipment and the required offset for both of the RC 3000’s[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 123 3.3.2.5 Limits Maintenance AZIM CW:0 CCW:1 STOW:0 (0-OFF) LIMITS ELEV UP:1 DN:1 STOW:1 (1- ON) ACTIVE POL CW:0 CCW:1 STOW:* <BKSP>MAKE LIMITS INACTIVE <MODE>EXIT The limits maintenance screen shows t he current state of each limit sw itch as sensed by the RC3000’s microcontrol[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 124 3.3.2.6 GPS Serial Port Diagnostics This screen allows the user to ascertain if the GPS receiver is communicating correctly with the RC3000. <BKSP> TO FREEZE DISPLAY GPS COMM $GPRMC,133544,V,3856.0856,N,09444.8377, W,000.0,000.0,080499,003.6,E*7B ≡≡ $GPGGA, 190449,3856.0856,N,0944[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 125 3.3.2.8 MOVETO The MOVETO mode is intended to provide an easy way to move the antenna to a certain position for doing testing such as cutting antenna patterns. This mode is also useful for tuning up automatic movements. AZIM:-123.4 ( 123.4) MOVETO ELEV: 41.5 ( 41.5) <5>SENSOR:PRIMARY [...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 126 3.3.2.9 Fluxgate Calibration Procedure The fluxgate compass calibration procedure is perform ed to compensate for sources of hard and soft iron magnetic deviations from the host mount. Review the discussion on the importance of selecting a suitable site for performing the calibration in sec[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 127 3.3.2.10 Shake The SHAKE mode performs repetitive mount movement s. The SHAKE mode is for support of mount testing and for automatic mount demonstrations such as trade shows. The SHAKE mode is only available if expert access is enabled. The SHAKE mode implements a repetitive sequence of thr[...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 128 3.3.2.11 Configuration Item Record Selecting the Stop/. key from the MAINTENANCE screens triggers a process that will transmit the current configuration item values via the remote control port. If the controller has the remote control option, the values will be transmitted at the baud rate [...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 129 3.4 Alarm Displays The alarm system monitors important system par ameters and flashes a message on the bottom line of the LCD display if an error is found. The parameters monitored include the condition of the lithium battery, status of the azimuth and elevation antenna drive syst ems, and [...]

RC3000 Antenna Controller Chapter 3 Detailed Operation 130 AZ/EL OPTIONS This error (caused by an incorrect checksum) indicate s that the value of at least one of the following CONFIG mode items has been corrupted: Az/El Drive Options Enable, Az/El Fast Slow Threshold , Az/El Retry Attempts , Az/El Fast Deadband, Az/El Slow Deadband , Azim Coast Th[...]

RC3000 Antenna Controller Chapter 4 Troubleshooting 131 4.0 TROUBLESHOOTING This section provides tips for debugging typical pr oblems. There are many interfaces between the RC3000 and position sensors, limit switches, mec hanical components of the mount, other satellite equipment, etc. Some problems are due to interactions that are not readily app[...]

RC3000 Antenna Controller Chapter 4 Troubleshooting 132 After removing the wiring harness from J3, the first thing to check is that 12 VDC is present at the “+” pin of each limit switch. Pins 2,9,10 and 11 should have +12 VDC present (see 2.2.4 – J3 wiring diagram.) NOTE: pin 5 should also have +12 only if pins 11 and 13 are jumpered. If +12 [...]

RC3000 Antenna Controller Chapter 4 Troubleshooting 133 When a manual jog key is released, the axis continues mov ing for about 5 seconds . This condition is indicative of a drive relay failure inside the RC3000. The RC3000 has a “safety” relay in series with the normal drive relays that opens 5 seconds after any commanded movement is stopped. [...]

RC3000 Antenna Controller Chapter 4 Troubleshooting 134 **NO GPS NAV**. This message means that correct data st reams are being received from the GPS, but the received data indicates that the GPS has not yet formulated a navigation solution (latitude and longitude.) Under normal conditions the GPS should generate a navigat ion solution within 4 min[...]

RC3000 Antenna Controller Chapter 5 Drawings & Schem atics 135 5.0 DRA WINGS & SCHEMA TICS ITEM SCHEMATIC NAME # OF PAGES RC3000 Main Enclosure 1 System Interconnects 3K-A2-SYS_CONNECT 6 Digital Board B-3KDIG1B 3 Analog Board B-3KAN5 13 Drive Board B-3KDPB04 6 Resolver Board 3KRLSVR3 3 NOTE: This page is in the manual in order to generate t[...]