Chapter 2 - Adapter Hardware

2.1 INTRODUCTION

This chapter describes the hardware implementation of Guide Probes, Calibration Unit, Reference Unit and Dichroic Mirror.

For a description of the signals connected to the adapter LCU VME system, refer to Section 2.6. For a connection list of all the computer I/O signals, refer to Section 2.7. For maintenance information and a list of drawings related to this chapter, refer to Section 2.10 and Section 2.11.

2.2 MACCON CONTROLLER

2.2.1 Overview

The control of all axes in the adapter is built around 4-Channel Controller Boards from MACCON. Two Boards are required to handle all the functions.

2.2.2 Hardware

All functions are controlled by the Adapter LCU. Eight of the motor units of the adapter are equiped with incremental encoders and controlled by two Maccon Motion Controller boards. The remaining motors are controlled by three VME4SE-X1 Version -01 Servo Amplifier boards. The motor controllers are located in the VME chassis together with the Interlock board and the Acromag Digital I/O board. (Refer to Section 2.5). Motor Controllers and Drivers are coupled by a Backplane Connection through a 96-pin DIN 41612 connector. The encoders and limit switches have their own supplies. The VME Chassis and Power Supply Chassis are mounted on the adapter itself.

Guide Probe LCU - Function Overview

2.2.3 Position-controlled Axes

The position information is given by incremental encoders type MINIROD 420/1000. The encoder signals are connected to the Maccon Controller board via the Backplane Connector. No brake is provided with the motor, so that during operation it must remain under servo loop control. Therefore all axes are controlled in parallel mode. No tacho is provided (for mechanical reasons). There is no velocity loop; only a position loop.

The reference voltage leaving the control card is fed via a current amplifier to the motor. Two limit switches are provided at each mechanical end of the motion. One of these is also used for initialisation. A full description of the initialisation is given in Section 2.4.

2.2.4 ON/OFF-controlled Axes

DM - Dichroic Folding Mirror

The Dichroic Folding Mirror only has two positions, in (at upper HW limit) and out (at lower HW limit). It splits the light beam to the autoguider camera and reflect one part of the light beam to the CCD camera which is used for image analysis.

• Motion Voltage controlled by the Amplifier No.8

• Motor stops when it reaches the limit.

• Voltage reference is kept.

RU and RUT - Reference Unit and Reference Unit Turret.

The Reference Unit consists of the reference Unit Turret (wheel) which is mounted on a moving platform. This platform (RU) moves parallel to the GP1T and GP1Y unit and the position is always between these two units.

The Reference Unit Turret is a wheel with three positions, pin hole, fully open and reference light. The reference light is a LED which is turned on if the wheeel is in this position, respectively turned off when not in this position.

• Motion Voltage controlled by Amplifiers No.3 (RU) and No.9 (RUT)

• Two bits of Amplifier No.9 give the position code for one of the possible positions.

• The motor will move until the two sensors mounted on the turret match the required position.

• The stop function is implemented in the Interlock board. The software can also read the current position.

2.2.5 Interlock

The Interlock Card takes care of all limit switches plus the collision detectors. As the two Guide Probes and the Calibration unit share a common field, and as the Turret could be squeezed between Guide Probe 1 and Trombone 1, a hardware interlock is implemented in order to avoid collisions. Each limit switch acts on the interlock; their status can also be read by the computer.

The interlock functions which are dependant on the hardware lower limit or hardware upper limit switches can be active to any time of the normal operation of the nttad. E.g. if the guide probe 1 or guide probe 2 are in the field, the calibration unit upper hardware limit is active, in order to prevent any movement of the calibration unit and vice versa. This is part of the normal operation. Nevertheless the nttad software should not try to start a movement if the respective interlock function is active. The interlock function is evaluated by the position of the involved motor unit (if they are on lower limit or not) and the software calculates whether a real limit switch is active or an interlock condition and returns the appropiate (Error) reply. The functions to check the interlock conditions are located in the file nttadMotionMot.c

Interlock Latch

In case of collision between the two Guide Probes, a latch is set which allows the motors to go backwards only. The signal cgp1gp2i gives the status of the latch. The computer resets the latch when any of guide probe axes X are back at the negative limit: rescgp1gp2o (minimum width:10 microsec). A manual reset is also provided on the front panel of the Interlock Card. A software safety is also implemented and takes care of the restricted area of each axis during normal operation.

Enable

The enable acts on the Interlock Card. The computer can enable all motors, or disable them in the following cases:

• Amplifier over temperature.

• Amplifier output in short circuit or power supply failure,

In this situation the motor would run away, and the computer would lose control of the axis. To prevent this, a limit is set to the Current Position Error. Position error maximum: 12,000 incremental counts.

2.3 LCU BOARDS HARDWARE SETUP

SLOT 1 - Motorola CPU

• No setting

SLOT 4 - Servo Amplifier VME4SA #3

• Base address: Short I/O 0x3300
• Backplane address: 3
• Maccon address: No controller
• Component adapter values (Speed loop PID - Parameters):

SLOT 5 - Motion Controller MAC4/INC #1

• Maccon address: 0xC10000
• Backplane address: 1
• Amplifier address: Short I/O 0x3100

SLOT 6 - Servo amplifier VME4SA #1

• Base address: Short I/O 0x3100
• Backpalne address: 1
• Maccon address: 0xC10000
• Component adapter values (Speed loop PID - parameters):

SLOT 7 - Motion controller MAC4/inc #2

• Maccon address: 0xC20000
• Backpalne address: 2
• Amplifier address: Short I/O 0x3200

SLOT 8 - Servo amplifier VME4SA #2

• Base adderss: Short I/O 0x3200
• Backplane address: 2
• Maccon address: 0xC20000
• Component adapter values (Speed loop PID - parameters):

SLOT 9 - Digital I/O Acromag 9481

• Base address: Short I/O 0x1000
• Jumper settings:
  • J1 - J8: Jumper set (TTL compability in/out)
  • J9 - J16: Short circuit (Enable all output drivers)
  • J17: Base address:
    • 1-2: Out
    • 3-4: Out
    • 5-6: In
    • 7-8: Out
    • 9-10: Out
    • 11-12: Out
  • J19: Jumper set (AM 27&29)
  • J20: Jumper set (Assert sysfail after power-up)
  
  

2.3 PARAMETER SETTING

All the motors controlled by a MACCON controller need tuning of the servo loop parameters and can be individually set for each axis. All the parameters are configured in the DB of the motor library.

2.3.1 General Parameters

Adapter A Initialization Values

* GP1T at position 160[mm] -1460[mA]

* GP1T at position 106[mm] -1000[mA]

* GP1T at position 155[mm] - 571[mA]

Adapter B Initialization Values

2.3.2 Servo Loop Gain

The parameters for the proportional gain (Kp) integral gain (Ki) an differential gain (Kd) are listed in the following tables. The two sides of the adapter control software have slightly different final settings. They depend on other factors such as: PER, K, encoder resolution, current loop gain; which are identical for all axes.

The following values can be used as a first approximation:

State	Proportional gain	Integral gain	Differential gain
Steady state	15,000	500	200,000

The position ramp is up to 6, 000 incremental counts/second (6mm/s).

2.3.3 Adapter A

Global settings:

guide probe head postion	330000
guide probe width	107000
guide probe touch position	227000
reference unit guide probe y axis touch position	438000
reference unit guide probe 1 trombone touch position	-5000

The actual configuration setting:

Unit	Kp (proportional_gain)	Ki (integral_gain)	Kd (differential_gain)	Centre field	Tolerance	Searchspeed (low)	Searchspeed (high)	Zero Pulse Position	SW UL
GP1X	7500	15	150000	167.2	3	300	4000	1500	172500
GP1Y	12000	40	150000	165.2	3	300	4000	1500	321500
GP1T	50000	40	150000	124.0	3	-	-	1500	219000
GP2X	10000	400	150000	168.9	3	1200	8000	1500	173500
GP2Y	8000	40	150000	171.1	3	1200	8000	1500	322500
GP2T	30000	40	150000	122.0	3	-	-	1500	222500
RU	20000	30	150000	249.25	3	-	-	1500	434000
CU	12000	40	150000	382.0	3	-	-	1500	382000

PER = 1ms; K = 2; SPE = 4000; MOTOR VOLTAGE = +/- 17V.

2.3.4 Adapter B

Global settings:

guide probe head postion	330000
guide probe width	106000
guide probe touch position	219000
reference unit guide probe y axis touch position	438000
reference unit guide probe 1 trombone touch position	-3000

The actual configuration setting:

Unit	Kp (proportional_gain)	Ki (integral_gain)	Kd (differential_gain)	Centre field	Tolerance	Searchspeed (low)	Searchspeed (high)	Zero Pulse Position	SW UL
GP1X	10000	50	150000	167.3	3	600	4000	1500	169500
GP1Y	10000	50	150000	161.1	3	600	4000	2000	322000
GP1T	10000	50	150000	130.5	3	-	-	2000	220000
GP2X	15000	50	150000	165.8	3	1200	6000	2000	170000
GP2Y	15000	50	150000	164.9	3	1200	6000	2000	326000
GP2T	15000	50	150000	123.0	3	-	-	2000	222000
RU	7500	50	100000	254.0	5	-	-	1500	438000
CU	5000	30	50000	375.0	3	-	-	2000	375500

PER = 1ms; K = 2; SPE = 4000; MOTOR VOLTAGE = +/- 17V.

Steady State Current After Positioning

Set by software to a minimal value:

• Typical is GPY = 250mA, CU = 250mA.
• Other axis 50mA to 150mA.

2.3.5 Motion Ranges

The total range is defined by the optical requirements:

Side A

Side B

2.4 OPERATION

Convention.

A positive move on each unit implies:

• A positive velocity reference.

• An encoder counter counting up.

• A positive move makes the mechanics move away from the motor.

• A negative move makes the mechanics move closer to the motor.

• The positive limit switch is away from motor.

• The negative limit switch is close to motor.

• The PARKING position is defined close to motor (negative limit).

2.4.1 Initialisation Sequence

• Guide probe 1-2 axis X---- at motor side.

• Calibration unit ---- at motor side.

• Guide probe 1-2 axis T---- at motor side.

• Reference unit, Folding mirror and Guide probe 1-2 axis Y---- at motor side.

This sequence should prevent any collision during the initialisation procedure. From then on, the initialisation of any axis can be done. The computer arbitarily sets upperLimitPos to the maximum possible, and moves the axis negative until it reaches the limit. This is the PARKING position. The first zero pulse after leaving the limit, sets the position counter to zero.

2.4.2 Colision prevention

The mechanical layout of the nttad hardware allows the movement of several motor units which share the same physical area. This is a part of the features of nttad and part of normal operation. The following units can be move concurrently and may collide:

• Guide probe 1 (X, Y axis) and guide probe 2 (X, Y axis):cgp1gp2i

• Guide probe 1 trombone unit and reference unit:crugp1ti

• Guide probe 1 Y axis and reference unit:crugp1yi

• Calibration unit and guide probe 1 (2):they shall never be moved concurrently

The nttad software dynamically checks at a start or during a movement whether a collision may occur, and in the latter rejects or stops the corresponding motor unit.

2.4.3 Collision Between the Two Guide Probes

To go out of interlock:

• Set axis GPX1 and GPX2 back to negative limit.

• Reset axis

• Initialise X axis.

• Initialise Y axis.

2.4.4 Collision of Reference Unit with Guide Probe 1

To go out of the interlock:

• Move Trombone and Y axis to the negative limit.

• Move Reference unit axis to the negative limit.

• Initialise Trombone, Y axis and Reference unit.
  

2.5 TEST TOOLS

Any function can be tested with ESO software commands or terminal mode.

2.6 SIGNAL DESCRIPTIONS

The signals in the adapter subsystem are divided into the following groups that indicate where the signals originate (inputs to the computer), or where they are routed (outputs from the computer).

• Collision signals.

• Calibration unit signals.

• Folding mirror signals.

• Guide Probe signals.

• Reference unit signals.

• Miscellaneous signals (ie. not part of any other group defined here).

2.6.1 Collision Signals

If a collision between guide probe 1 and 2 is detected, the collision detected latch is set. This latch can be cleared by the signal rescgp1gp2o The other collision signals are not latched.

NAME	TYPE	DESCRIPTION
cgp1gp2i	rtUINT32S	Collision detected between probe 1 and probe 2
.	DI*1	Collision detected between ref. unit and
		guide probe 1, axis Trombone
AACORUGP1Y*	DI*1	Collision detected between ref. unit and
		guide probe 1, axis Y
AACORESET*	DO*1	Reset the GP1 and 2 collision detected latch

2.6.2 Calibration Unit Signals

2.6.3 Folding Mirror Signals (for CCD Camera)

The folding mirror is moved with an on/off motor, ie. no position control is provided. Therefore, the computer output is a motor voltage reference.

NAME	TYPE	DESCRIPTION
AAFMVREF	AO*8	Folding mirror, motor voltage reference
AAFMLSP*	DI*1	Folding mirror, positive limit detected
AAFMLSN*	DI*1	Folding mirror, negative limit detected

2.6.4 Guide Probe Signals

The guide probe signals can be divided into :

GP1 - Guide probe signals, system 1.

GP2 - Guide probe signals, system 2.

NAME	TYPE	DESCRIPTION
AAGP1XTREF	AO*12	Probe 1, axis X, torque reference
AAGP1XCUR	AI*8	Probe 1, axis X, motor current
AAGP1XIES	DI*1	Probe 1, axis X, incremental encoder sine signal
AAGP1XIEC	DI*1	Probe 1, axis X, incremental encoder cosine signal
AAGP1XIEZ	DI*1	Probe 1, axis X, incremental encoder zero pulse signal
AAGP1XLSP*	DI*1	Probe 1, axis X, positive limit detected
AAGP1XLSN*	DI*1	Probe 1, axis X, negative limit detected
AAGP1YTREF	AO*12	Probe 1, axis Y, torque reference
AAGP1YCUR	AI*8	Probe 1, axis Y, motor current
AAGP1YIES	DI*1	Probe 1, axis Y, incremental encoder sine signal
AAGP1YIEC	DI*1	Probe 1, axis Y, incremental encoder cosine signal
AAGP1YIEZ	DI*1	Probe 1, axis Y, incremental encoder zero pulse signal
AAGP1YLSP*	DI*1	Probe 1, axis Y, positive limit detected
AAGP1YLSN*	DI*1	Probe 1, axis Y, negative limit detected
AAGP1TTREF	AO*12	Probe 1, axis Trombone, torque reference
AAGP1TCUR	AI*8	Probe 1, axis Trombone, motor current
AAGP1TIES	DI*1	Probe 1, axis Trombone, incremental encoder sine signal
AAGP1TIEC	DI*1	Probe 1, axis Trombone, incremental encoder cosine signal
AAGP1TIEZ	DI*1	Probe 1, axis Trombone, incremental encoder zero pulse signal
AAGP1TLSP*	DI*1	Probe 1, axis Trombone, positive limit detected
AAGP1TLSN*	DI*1	Probe 1, axis Trombone, negative limit detected
AAGP2XTREF	AO*12	Probe 2, axis X, torque reference
AAGP2XCUR	AI*8	Probe 2, axis X, motor current
AAGP2XIES	DI*1	Probe 2, axis X, incremental encoder sine signal
AAGP2XIEC	DI*1	Probe 2, axis X, incremental encoder cosine signal
AAGP2XIEZ	DI*1	Probe 2, axis X, incremental encoder zero pulse signal
AAGP2XLSP*	DI*1	Probe 2, axis X, positive limit detected
AAGP2XLSN*	DI*1	Probe 2, axis X, negative limit detected
AAGP2YTREF	AO*12	Probe 2, axis Y, torque reference
AAGP2YCUR	AI*8	Probe 2, axis Y, motor current
AAGP2YIES	DI*1	Probe 2, axis Y, incremental encoder sine signal
AAGP2YIEC	DI*1	Probe 2, axis Y, incremental encoder cosine signal
AAGP2YIEZ	DI*1	Probe 2, axis Y, incremental encoder zero pulse signal
AAGP2YLSP*	DI*1	Probe 2, axis Y, positive limit detected
AAGP2YLSN*	DI*1	Probe 2, axis Y, negative limit detected
AAGP2TTREF	AO*12	Probe 2, axis Trombone, torque reference
AAGP2TCUR	AI*8	Probe 2, axis Trombone, motor current
AAGP2TIES	DI*1	Probe 2, axis Trombone, incremental encoder sine signal
AAGP2TIEC	DI*1	Probe 2, axis Trombone, incremental encoder cosine signal
AAGP2TIEZ	DI*1	Probe 2, axis Trombone, incremental encoder zero pulse signal
AAGP2TLSP*	DI*1	Probe 2, axis Trombone, positive limit detected
AAGP2TLSN*	DI*1	Probe 2, axis Trombone, negative limit detected

2.6.5 Reference Unit Signals

NAME	TYPE	DESCRIPTION
AARUTREF	AO*12	Ref. unit, torque reference
AARUCUR	AI*8	Ref. unit, motor current
AARUIES	DI*1	Ref. unit, incremental encoder sine signal
AARUIEC	DI*1	Ref. unit, incremental encoder cosine signal
AARUIEZ	DI*1	Ref. unit incremental encoder zero pulse signal
AARULSP*	DI*1	Ref. unit, positive limit detected
AARULSN*	DI*1	Ref. unit, negative limit detected
AARUTVREF	AO*8	Ref. unit, turret motor voltage reference
AARUTP0	DI*1	Ref. unit, turret position bit 0
AARUTP1	DI*1	Ref. unit, turret position bit 1
AARUTPC0	DO*1	Ref. unit, turret position command bit 0
AARUTPC1	DO*1	Ref. unit, turret position command bit 1

2.6.6 Miscellaneous Signals

NAME	TYPE	DESCRIPTION
AAD1TEMP	DI*1	Driver Board 1 overtemperature warning
AAD2TEMP	DI*1	Driver board 2 overtemperature warning
AAD3TEMP	DI*1	Driver board 3 overtemperature warning
AAENABLE	DO*1	Enable power amplifiers
AAISITON*	DO*1	Camera 1 and 2 power on
AAREFLIGHT*	DO*1	Reference light on

2.7 CONNECTION SCHEDULE

SIGNAL		TSVME 440 No.1, CONN P2, ROW A	TSVME 440 No 1, CONN P2, ROW C
____________________	__________	__________	__________
____________________	__________	__________	__________
____________________	__________	__________	__________
____________________	__________	__________	__________
____________________	__________	__________	__________
____________________	__________	__________	__________
____________________	__________	__________	__________

2.8 INTERLOCK CARD

2.8.1 Description

Single-slot 6U height card.

+15V logic supply for limit switches.

+5V logic supply interlock logic.

2.8.2 Function

Interlock survey between the various axes.

• Collision detector.

• Turret position control.

• Reference light control.

When an interlock takes place, the current motion is disabled and a warning is sent to the computer. A relay contact is opened in the motor line. The LEDS on the front panel displays the interlock status.

• CO-RU-GP1 Y : collision RU and GP1 Y axis.

• CO-RU-GP1 T : collision RU and GP1 trombone.

• CO-GP1-GP2 : collision GP1 and GP2.

2.8.3 Collision Detector

Blades on the guide probe heads.

The two metallic "blades" are included in a Wheatstone bridge. Any imbalance in the bridge (contact with the other blade to ground or to supply voltage) causes an interlock active. As the contact between the two blades may be intermittent (if, for example, the two guide probes are sliding against each other) this intermittent lock is latched and will be reset by the computer only after new initialisation has been carried out.

Reference unit collision detectors

Implemented with proximity switches as for other positive or negative limits, therefore they are also displayed with green LEDs.

2.8.4 Limit Switch Mounting and Adjustment

For increased safety, the proximity sensors are mounted such that they are normally active:

• Permanent metal detection current flowing in the opto-coupler.

• Correct adjustment is done when it switches off in the middle of an encoder turn. As the spindle is 2mm pitch, an adjustment of +/- 0.5mm makes sure that zero pulse will come within the next half of encoder turn.

2.8.5 Table of P1 Signals

Definition: a (*) after a signal name means logically true when voltage level is low.

PIN	ROW	SIGNAL	ROW	SIGNAL
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________
_____	_____	____________________	_____	____________________

2.8.6 Interlock Board - P2 Connector - Pin Assignment

Definition: a (*) after a signal name means logically true when voltage level is low.

Pin#	A	C
1	VC2	VC1
2	GND2	GND1
3	BLADE2+	BLADE1+
4	BLADE2-	BLADE1-
5	.	.
6	CO-GP1-GP2-OUT*	CO-GP1-GP2-RESET*
7	.	.
8	RU-LED-OUT	RU-LED-IN*
9	CO-RU-GP1Y-OUT*	CO-RU-GP1Y-IN
10	CO-RU-GP1T-OUT*	CO-RU-GP1T-IN
11	RUT-P0-OUT	RUT-P0-IN
12	RUT-P1-OUT	RUT-P1-IN
13	F10-UL-OUT	.
14	F10-LL-OUT	.
15	F9-UL-OUT	F9-UL-IN
16	F9-LL-OUT	F9-LL-IN
17	F8-UL-OUT	F8-UL-IN
18	F8-LL-OUT	F8-LL-IN
19	F7-UL-OUT	F7-UL-IN
20	F7-LL-OUT	F7-LL-IN
21	F6-UL-OUT	F6-UL-IN
22	F6-LL-OUT	F6-LL-IN
23	F5-UL-OUT	F5-UL-IN
24	F5-LL-OUT	F5-LL-IN
25	F4-UL-OUT	F4-UL-IN
26	F4-LL-OUT	F4-LL-IN
27	F3-UL-OUT	F3-UL-IN
28	F3-LL-OUT	F3-LL-IN
29	F2-UL-OUT	F2-UL-IN
30	F2-LL-OUT	F2-LL-IN
31	F1-UL-OUT	F1-UL-IN
32	F1-LL-OUT	F1-LL-IN

2.9 VME4SA AMPLIFIER LINK

2.10 ADAPTER TEST BOX

For maintenance facilities, a test box is provided.

Functions

• Interlock survey. Any motor can be voltage controlled with a potentiometer. Display of the motor current.

Requirement

• 220V supply to the test box, connector to Radiall 104 (motors + interlock).

• Note: The adapter must be powered with +5V and +/- 15V.

Procedure

• Disconnect the Radiall 104 from the VME chassis, and re-connect to the test box.

• All interlock functions will be displayed on the front panel, and a jumper allows selection of the axis to be moved.

• A potentiometer permits adjustment of motor voltage; a meter displays the instantaneous motor current. Nominal current when motor is moving: 500mA.

• If current approaches 1A, friction is too high and mechanical adjustment is necessary.

• While moving the motor, the encoder output pulses (sine, cosine and zero) can be monitored at connector Cannon 50; reference ground is available at pin 50.

• Note: The interlock survey is done with the standard Interlock Card, but logic of the relay control is made as an OR function.

• IC19 to IC23 are replaced by 75452.

• IC16 and IC17 are replaced by 7406.

IMPORTANT: Before using the Test Box, try the handset on VME4SA Amplifier Board.

The Test Box BYPASSES some Interlock Potections !

YOU MUST KNOW WHAT YOU ARE DOING WHEN USING THE ADAPTER TEST BOX.

2.11 DRAWING LIST

TITLE/ SUB-TITLE	SHT NUMBER	LAST UPDATE	DRAWING NUMBER
ADAPTER
- General Assembly	1		NTT30-00-01-A
- Adapter Controller Boxes intercon.	1	14-03-90	INTERCON.SCH
- Intercon. Adapter to Control Rack	1	14-03-90	EXTCAB01.DWG
- Adapter Rotator Cable Routing (Sht 1)	1	17-05-90	ARACAB01.DWG
- Adapter Rotator Cable Routing (Sht 2)	1	17-05-90	ARBCAB01.DWG
- Instrument Room A Cable Routing	1	08-03-90	IRACAB01.DWG
- Instrument Room B Cable Routing	1	08-03-90	IRBCAB01.DWG
- Adapter Interconnection Overview	1	06-03-90	CS-E-1663
- Controller Interconnection Diagram	1	08-05-89	CS-E-1520
- Interlock Principle	1	13-03-90	CS-E-1519
- Interlock General Diagram	1	06-05-89	CS-E-1601
Folding Mirror Control	1	30-03-88	CS-E-1504
Adapter Interconn. Wiring Diagram	1	12-06-90	CS-E-1659
	2	12-06-90
Guide Probe Interlock Card	1	07-12-88	CS-P-1567
	2	13-03-90
	3	06-05-89
	4	06-05-89
	5	10-11-88
Driver Card	1, 2	06-03-90	CS-E-1501
Driver Card PCB Layout	1		CS-P-1501B
Current Amplifier	1	11-04-88	CS-E-1507
VME System Reset Stretcher	1	11-11-88	CS-P-1558
Adapter Supply Chassis
- Wiring Diagram	1	06-03-90	CS-E-1670
- Layout	1	05-07-89	CS-E-1674
Adapter Guide Probe Controller	1/3	06-03-90	CS-E-1672
- Chassis Layout	2/3	28-06-89	CS-E-1672
- Wiring Diagram	3/3	06-03-90	CS-E-1672
- ISIT Remote Power ON/OFF	1	13-02-90	ISITON.SCH
ANTARES
- Layout	1	07-07-89	CS-E-1676
- Control Chassis Wiring	1	06-07-89	CS-E-1675
- 5V Relay	1	12-12-88	CS-P-1532
- Parts List	1	18-07-89
- Image Analysis Head Correction	1	21-11-88	TK512M1A
ADAPTER WIRING LIST
- Subsystem Power Supply Distribution	1	04-09-89	AAPSDIST.SCH
- ISIT 1, 2 Wiring Diagram	1	16-04-90	AAISIT.SCH
- Block Unit Wiring	1	17-01-90	AABLOCKW.SCH
- Guide Probe 1 X Axis	1	02-01-90	AAGP1X'.SCH
- Guide Probe 1 Y Axis	1	24-03-89	AAGP1Y'.SCH
- Guide Probe 1 T Axis	1	24-03-89	AAGP1T'.SCH
- Reference Unit Wiring	1	19-04-89	AARU'.SCH
- Reference Unit Turret Wiring	1	16-03-90	AARUT'.SCH
- Calibration Unit	1	16-03-90	AACU'.SCH
- Guide Probe 2 X Axis	1	16-03-90	AAGP2X'.SCH
- Guide Probe 2 Y Axis	1	19-04-89	AAGP2Y'.SCH
- Guide Probe 2 T Axis	1	24-03-89	AAGP2T'.SCH
- Folding Mirror	1	16-03-90	AAFM'.SCH
Adapter Test Box Front Panel	1	20-09-89	CS-E-1685
Limit Switch Wiring	1	01-11-94	LIMWIR1.DWG
LCU Motor Wiring	1	01-11-94	MOTWIR1.DWG
Encoder Connections	1	13-10-94	PWRENCOD.DWG
Limit and Status Switch	1	13-10-94	PWRLIMSW.DWG
LCU Encoder Wiring (Sht 1)	1	01-11-94	ENCWIR1.DWG
LCU Encoder Wiring (Sht 2)	2	01-11-94	ENCWIR2.DWG
LCU VME 4SA Backplane	1	01-11-94	HARTING1.DWG
VME Layout	1	30-09-94	VME1.DWG
LCU Power Cable	1	20-04-95	PWRCAB1.DWG
LCU Fan Wiring	1	02-11-94	FANWIR.DWG
LCU Test Power Supply	1	28-10-94	PS1.DWG
LCU Power Supply Wiring	1	02-11-94	PSWIR.DWG
LCU Digital I/O Wiring	1	01-11-94	DIGIO.DWG
Interlock RU Collision	1	05-12-94	COLL.DWG
Interlock GP Collision	1	05-12-94	COLL2.DWG
Interlock Turret Position	1	16-11-94	TORRPOS.DWG
Interlock F1/GP1X	1	05-12-94	ILF1.DWG
Interlock F2/GP1Y	1	05-12-94	ILF2.DWG
Interlock F3/GP1T	1	05-12-94	ILF3.DWG
Interlock F4/RU	1	16-11-94	ILF4.DWG
Interlock F5/GP2X	1	05-12-94	ILF5.DWG
Interlock F6/GP2Y	1	16-11-94	ILF6.DWG
Interlock F7/GP2T	1	16-11-94	ILF7.DWG
Interlock F8/CU	1	05-12-94	ILF8.DWG
Interlock F9/FM	1	16-11-94	ILF9.DWG
Interlock F10/RUT	1	16-11-94	ILF10.DWG
Interlock F11/ISITON	1	16-11-94	ILF11.DWG
Interlock F12/RULED	1	16-11-94	ILF12.DWG
Interlock Board (Sht 1)	1	04-11-94	ILBOARD1.DWG
Interlock Board (Sht 2)	2	04-11-94	ILBOARD2.DWG
Relay Interface	1	03-11-94	RELAYB1.DWG
Sensor Board	1	22-11-94	HEADS.DWG
LCU Rear Panel	1	27-09-94	PANEL1.DWG