Section 3

Spacetrack 4000
Section 3
Field Technician's
Manual
Data Marine Systems Ltd
Spacetrack Field Tech Manual
TABLE OF CONTENTS
TABLE OF CONTENTS..........................................................................................................................................1
3.1 EQUIPMENT OVERVIEW ...............................................................................................................................3
3.1.1 ADU M ODULE ............................................................................................................................................. 3
3.1.2 COARSE A ZIMUTH AND GIMBAL A SSEMBLY ......................................................................................... 4
3.1.3 PEDESTAL W IRING...................................................................................................................................... 5
3.1.4 BDU M ODULE .............................................................................................................................................. 6
3.1.4.1 Spacetrack 4000 Antenna Controller Module Layout ...............................................................6
3.1.4.2 Below Deck Interface Panel.............................................................................................................7
3.1.5 SENSORS......................................................................................................................................................... 8
3.1.6 TECHNOLOGY OVERVIEW .......................................................................................................................... 9
3.1.6.1 Control System Overview..................................................................................................................9
3.1.6.2 Satellite Orbital Mechanics.............................................................................................................9
3.1.7 CONTROL SYSTEM OPERATION ............................................................................................................. 12
3.1.7.1 Operation...........................................................................................................................................12
3.1.7.1.1 Sensors ......................................................................................................................................... 12
3.1.7.1.2 Normal and Instrument Angles................................................................................................. 12
3.1.7.1.3 Sensor Processing. ..................................................................................................................... 12
3.1.7.1.3.1 The Torque Loop................................................................................................................. 13
3.1.7.1.3.2 The Velocity Loop............................................................................................................... 13
3.1.7.1.4 Motors .......................................................................................................................................... 13
3.1.7.1.5 Inertia ............................................................................................................................................ 13
3.1.7.1.6 System modes .............................................................................................................................. 14
3.1.7.2 Satellite Acquisition........................................................................................................................16

3.1.7.2.1 Tracking Sources. ....................................................................................................................... 16
3.1.7.2.2 Input Attenuation and Acquisition Threshold...................................................................... 17
3.1.7.2.2.1 Setting the Attenuation and Threshold Manually......................................................... 17
3.1.7.2.3 Acquisition Angles. ................................................................................................................... 17
3.1.7.2.3.1 Modem CD............................................................................................................................ 18
3.1.7.3 Satellite Tracking. ...........................................................................................................................19

3.1.7.3.1 Polar Tracking.............................................................................................................................. 20
3.1.7.3.1.1 Linear Polar Tracking .......................................................................................................... 20
3.1.7.3.1.2 Circular Polar Tracking........................................................................................................ 20
3.1.7.3.2 Scan Parameters. ......................................................................................................................... 20
3.1.7.3.2.1 Search Parameters................................................................................................................ 21
3.1.7.3.2.2 Lock Parameters................................................................................................................... 21
3.1.7.3.2.3 Track Parameters.................................................................................................................. 22
3.1.7.4 Active Weights...................................................................................................................................24

3.1.7.4.1 Active Weights........................................................................................................................... 25
3.1.7.5 System Log.........................................................................................................................................26

3.1.7.6 Auxiliary Communication Port.....................................................................................................26
3.2 ASSEMBLY AND INSTALLATION............................................................................................................27
3.2.1 SITE SURVEY .............................................................................................................................................. 27
3.2.2 A SSEMBLING THE PLATFORM ................................................................................................................. 27
3.2.3 DECK INSTALLATION ............................................................................................................................... 28
3.2.4 A SSEMBLING THE BDU............................................................................................................................. 29
3.2.5 ELECTRICAL CONNECTIONS.................................................................................................................... 29
3.2.6 ECLIPSING HEADINGS CHART .................................................................................................................. 30
3.2.7 INSTALLATION CHECKLIST ..................................................................................................................... 30
3.2.8 DEMOBILISATION ...................................................................................................................................... 30
3.3 INITIALISATION ............................................................................................................................................30
Rev: 04.1
Section 3 - 1
3.3.1 INITIALISING THE SYSTEM ...................................................................................................................... 31

3.3.2 SETTING THE COARSE A ZIMUTH........................................................................................................... 32
3.3.2.1 Set the coarse azimuth limit switch...............................................................................................33
3.3.2.2 Set the coarse azimuth ADT............................................................................................................33
3.3.3 M ECHANICAL UNWRAP LIMIT ............................................................................................................... 34
3.3.4 SETTING THE GIMBAL M OTOR POTENTIOMETERS ........................................................................... 34
3.3.5 BALANCING THE PLATFORM................................................................................................................... 35
3.3.5.1 Platform Balance..............................................................................................................................35
3.3.5.2 Gimbal Balance................................................................................................................................37
3.3.6 SETTING THE INERTIAS ........................................................................................................................... 37
3.3.7 SETTING UP THE RF EQUIPMENT .......................................................................................................... 37
3.3.8 SET -UP THE TRACKING RECEIVER......................................................................................................... 38
3.3.9 SETTING THE SIGNAL THRESHOLD........................................................................................................ 38
3.3.10 LOCK-ON TEST ......................................................................................................................................... 39
3.3.11 INITIALISATION CHECKLIST ................................................................................................................. 39
3.4 TROUBLESHOOTING...................................................................................................................................39
3.4.1 ERROR M ESSAGES....................................................................................................................................... 40
3.4.2 FAULT FINDING ......................................................................................................................................... 42
3.4.3 CHECKING INDIVIDUAL SYSTEM COMPONENTS.................................................................................. 47
3.4.3.1 ADU/BDU Comms Link ...................................................................................................................47
3.4.3.2 Gimbal Motor....................................................................................................................................48
3.4.3.3 Coarse Azimuth Motor....................................................................................................................49
3.4.3.4 Motor Pots.........................................................................................................................................50
3.4.3.5 Coarse Azimuth ADT........................................................................................................................51
3.4.3.6 Velocity Sensors ...............................................................................................................................51
3.4.3.7 Inclinometers.....................................................................................................................................51
3.4.3.8 ADU Module Power.........................................................................................................................52
3.4.3.9 BDU Module Power.........................................................................................................................52
3.4.3.10 Internal Tracking Receiver..........................................................................................................52
3.4.4 CHECKING SENSOR AND M OTOR POLARITY ........................................................................................ 53
3.5 COMPONENT REPLACEMENT..................................................................................................................54
3.5.1 REPLACING AN INCLINOMETER BLOCK ................................................................................................ 54
3.5.2 REPLACING A GIMBAL M OTOR POTENTIOMETER ............................................................................. 54
3.5.3 REPLACING THE COARSE A ZIMUTH ADT............................................................................................ 55
3.5.4 REPLACING THE COARSE A ZIMUTH M OTOR....................................................................................... 55
3.5.5 REPLACING THE COARSE A ZIMUTH LIMIT SWITCH .......................................................................... 55
3.5.6 REPLACING A GIMBAL M OTOR .............................................................................................................. 56
3.5.7 REPLACING THE ADU M ODULE............................................................................................................. 56
3.5.8 REPLACING THE BDU M ODULE ............................................................................................................. 56
3.5.9 REPLACING THE RF EQUIPMENT ........................................................................................................... 57
3.6 MAINTENANCE...............................................................................................................................................57
3.6.1 LUBRICATION ............................................................................................................................................. 57
3.6.2 INSPECTION FOR LOOSE BOLTS............................................................................................................... 58
3.6.3 CORROSION PREVENTION......................................................................................................................... 58
3.6.4 ADU M ODULE CARE ................................................................................................................................ 58
Section 3 - 2
Rev: 04.1
3.1 EQUIPMENT OVERVIEW
This Field Technician's Manual is provided as a guide to the installation,

maintenance, and troubleshooting of the Spacetrack Stabilised Antenna
Platform. This manual is intended to be used in conjunction with Section 1 Radio Operator's Manual and the Appendices, which includes drawings.
The primary function of the Spacetrack system is to keep an antenna, mounted
on a moving vessel such as a ship at sea, pointed very accurately at a satellite
as the vessel moves underneath it.
In a typical installation, Spacetrack hardware is located in the following places:
THE SHIP'S DECK
A radome is located on the ship's deck, and contains the majority of the
hardware, including the Stabilised Platform. This is controlled by the ADU
(Above Deck Unit) electronics, Antenna, Antenna Feed, and Radio
Equipment, as shown in Figure 1 and as described in Sections 3.1.1
through 3.1.5, below. In general, ship's personnel will not be required
to work on equipment located in the radome.
THE RADIO ROOM
The satellite communications rack, which is usually in the Radio Room,
will contain the BDU (Below Deck Unit) and the associated
communications equipment. The BDU controls the Spacetrack Stabilised
Antenna and consists of the Spacetrack 4000 Interface. Figure 2 shows a
typical BDU module. Ship's personnel may be required, in exceptional
circumstances, to use this module to help the Stabilised Platform reacquire a lost Satellite Signal.
Each Spacetrack terminal is individually configured to the specific requirements
of the customer, and while this manual explains the most common Spacetrack
configurations, there may be circumstances where the terminal design varies
slightly from the description given.
3.1.1 ADU Module

Figure 4 shows the ADU Module, which is attached to the platform side rail.
Note: The module contains velocity sensors and must therefore be
oriented on the system correctly. A small diagram on the front of the
module indicates the direction in which it should be mounted on the side
rail.
The three external circular connectors are for connecting the mains power, signal
wiring and motor power. Always ensure when connecting the cables to the
module, that the connectors are fully screwed onto the module. There may also
be a fourth connector, depending on hardware revision, which is used to control
the active weights.
Rev: 04.1
Section 3 - 3
The module electronics are fully protected from the harsh marine atmosphere
when the lid is sealed. A silica desiccator removes any moisture that might be
present inside the module. An indication of the amount of moisture that the
desiccant has soaked up is shown on the front of the module. The indicator
shows a 30 and 50-percentage value, which will change colour according to the
moisture content of the desiccant. Blue indicates that the moisture content is
below 50 percentage while pink indicates that it is above this value. If the 50
value turns pink the module should not be stored in cold and damp locations.
Fans located on the top and bottom edges of the module ensure a flow of air
through the module. This keeps the power components operating temperature,
at a reasonable level. This air however, does not come in contact, with any of the
signal electronics.
An Earth strap is located next to J3, the mains input, which should be securely
bonded to the Spacetrack frame.
The module electronics processes the information from the various sensors in
the system and passes the information to the BDU. The module also provides
the signals to drive the system motors on command from the BDU. Three velocity
sensors inside the module sense velocity in the azimuth, elevation and polar
axis.
Since the velocity sensors within the module may be damaged by mechanical
shock, a device on the module indicates if the module has been subject to
excessive shock. If the shock indicator is red the module should be rejected.
Note: As the module electronics are sealed from the atmosphere and
contain no user serviceable parts, do not remove the module lid. If a
problem with the ADU module is suspected, it should be replaced with a
complete new module, and returned to DMS for failure analysis. DMS will
not honour any warranty claim if the module has been opened by non
DMS personnel.
3.1.2 Coarse Azimuth and Gimbal Assembly
The pedestal provides the mechanical interface to the vessel on which the
Spacetrack is mounted. Attached to the pedestal is the coarse azimuth drive
assembly which provides a large range of motion in which the much more
accurate gimbal motors can control the stabilised platform (see Figure 1)
Connected to the coarse azimuth drive assembly is the coarse azimuth Angular
Displacement Transducer (ADT) which provides the coarse azimuth axis angular
position information.
The coarse azimuth motor drives around the gimbal support tower, which
supports the gimbal. The gimbal provides the necessary degrees of freedom to
stabilise the platform, on which the antenna is mounted. Three motors on the
gimbal move the platform in azimuth (side to side), elevation (up and down), and
polarisation (rotation about the axis parallel to the antenna bore sight).
Section 3 - 4
Rev: 04.1
By controlling the platform in the three axes the antenna can be pointed very
accurately at geosyncronous satellites (geostationary or inclined satellites),
permitting a communications link to be maintained regardless of the vessels
motion.
The gimbal motors are driven by a high frequency PWM (Pulse Width
Modulation) signal, the duty cycle is proportional to the amount of torque desired.
The coarse azimuth motor is also driven by a PWM signal.
An inclinometer module (see Figure 17) and a wiring interconnection plate (see
Figure 6) are attached to the gimbal support tower. The inclinometer module
houses the two inclinometers (see Section 3.1.5), and a power resistor for the
coarse azimuth motor.
A wiring interconnection plate provides a means of easily connecting the cable
loom, which runs along the platform arms and gimbal, to the sliprings (or to the
baseplate junction boxes, if no sliprings are present).
If the system does not have slip rings, (i.e. the cables go straight through the
centre of the pedestal), the coarse azimuth movement is limited to a physical
maximum rotation of 350 degrees from the centre line of the vessel, before a
cable unwrap occurs. The exact unwrap points are set as a parameter in the
control software (see Section 4.1.2.2.8 for details). The transducer shaft is
geared, so that as the Gimbal Support Tower rotates 360 degrees, the
transducer shaft only rotates 170.53 degrees. There is also a Coarse Azimuth
Limit Switch - a trip switch, which is normally on, and which is switched off by a
pin on the ADT gear cog. A secondary mechanical limit stop is fitted as a failsafe assurance that the platform will not over-wrap its cables.
The system is simplified if it is supplied with sliprings. Each cable passing
through the pedestal is connected to a pair of rings that are electrically
connected, but can slide over one another. This allows the Gimbal Support
Tower to rotate without the requirement for cable unwrapping. On these systems
the coarse azimuth ADT shaft rotates the same amount as the Gimbal Support
Tower, there are no limit switches, mechanical stops, and the unwrap feature is
unnecessary.
3.1.3 Pedestal Wiring

See Figure 6 for details of the gimbal cable loom. Figures 7A and 7B details the
pedestal wiring and Figure 10 details the cross deck wiring from the BDU to the
pedestal.
The ADU interface panel is located on the gimbal support tower, which, provides
connections for the radome mains supply and the communications link to the
BDU. The cross deck co-axial transmit, receive and spare cables are also
terminated on an interface plate with N type connectors.
The interface panel also serves to provide a connection for the M & C console.
This allows system operation and diagnostic functions to be performed in the
radome.
Rev: 04.1
Section 3 - 5
3.1.4 BDU Module

Figure 2 shows the BDU Module, which is normally installed in a 19 inch rack in
the Radio Operator's room. Other communication equipment may also be
mounted in this rack. The BDU module requires full length support when mounted
in the rack.
The BDU Module is an integral part of the Spacetrack system. It must
therefore remain switched on and connected for the system to operate.
The BDU module provides the user interface to the system through a membrane
front panel keyboard/LCD; and also through a monitor and control serial
connection to a console. The BDU controls the tracking platform, processing the
navigation and feedback signals to maintain a communications link.
3.1.4.1 Spacetrack 4000 Antenna Controller Module Layout
The front of the enclosure has a membrane keypad and a LCD display. The LCD
panel displays information to the user and also allows the user to change, in
conjunction with the keypad, the system parameters and operation. When idle
the module displays the system mode, the received AGC level, and also the time
and date.
The rear of the enclosure has two male BNC connectors, one IEC mains
connector and two D type interface connectors. See Figure 8 and Section 3.5 for
details of how to wire the unit into the system. The connector functions are as
follows:
70MHz BNC Connector - Receiver Input. This input is used to provide the
satellite feedback signal, which allows the system to determine where the
peak AGC signal is, and so maintain the best signal level. The 70MHz input
may be derived from the external communications equipment and is usually
the main system IF frequency. The user may select a wide bandwidth or a
narrow bandwidth detector.
L Band BNC Connector - Receiver Input. The system may also accept a
L Band signal to track with. The L Band signal is down converted to 70 MHz
and processed using either the narrow or wide band detector.
IEC Mains Connector - Mains input. Provides power to the module.
Interface - This connector is used to interface the BDU module to the ships
electronics and ADU, via the below deck interface panel. The below deck
interface panel expands the D type connections to terminal blocks grouped in
the appropriate functions.
M&C - This connection provides an interface to the monitor and control
console, which allows the user to control the system remotely using a serial
terminal.
Section 3 - 6
Rev: 04.1
3.1.4.2 Below Deck Interface Panel

The interface panel expands the interface connector on the back of the BDU
module to terminal blocks, which provides a more convenient connection to the
module.
CN1 Interface. This connector is connected to the BDU module interface
connector, and is the expansion cable.
CN2 Cross Deck Cable. This connects to the ADU and must always
remain connected for the system to function. If this link is not present, the ADU
will switch off the power to all the motors on the stabilised antenna. The link
uses two balanced pairs (RS422 signal levels) and three RS232 monitor and
control wires, see Appendix E, the table of connections for core assignment.
The two balanced pairs are
1. Transmit to ADU (ADU A & ADU B).
2. Receive from ADU (ADU Y & ADU Z).
The transmit and receive data rate is 38400baud, which is optically isolated.
The RS232 lines are not necessary, if system control in the radome is not
required. See Figure 10 for cross deck connection details.
CN4 Stepper. This connection provides an interface to a gyro compass,
allowing the vessel heading information to be automatically updated. It will
accept a positive or negative referenced gyro output. See Figure 9 for details
of how to connect to a gyro compass.
CN5 - NMEA. This optional connection provides an interface to the host
vessels NMEA data sources. The NMEA data sources provide position and
heading information to the system in a digital format. The system can accept
either RS232 or RS422 data format, the selection is performed by the user in
software, or by the system automatically on boot. See Figure 9 and 23 for
details of how to connect to NMEA sources to the system.
CN6 - AGC. If an external dc voltage is available, which is proportional to the
signal level received from the satellite; this may be connected to the AGC
input to allow the system to track. The system accepts dc levels of 0 to +10V.
See Figure 22 for connection details.
CN8 Misc. The Miscellaneous connector is used to provide status
information to external equipment and also to control the operation of the
tracking platform. See Figure 22 for connection details. The provided signals
are:
1. Modem CD. To enable the system to discriminate between closely
located satellites, it is possible to connect the modem demodulator lock
signal to the interface panel. When the system locks onto the correct
satellite, the modem will also lock onto the down converted signal,
indicating through the demodulator locked output that the correct satellite
has been acquired. To use the modem CD input, connect the demodulator
locked, (normally open connection), to the modem CD signal and ground
connections on CN8. See Section 3.1.7.2.3.3.
Rev: 04.1
Section 3 - 7
2. Track Out. The track out signal is a logic level output which indicates
when the control system is in track mode.
3. Error Out. The error out signal is a logic level output, which indicates
when the system has an error active. This signal may be interfaced into an
external monitoring system or DCS.
CN9 Aux Port. The auxiliary port is a spare RS232 format serial port, which
may be used to access remote equipment through the M&C console. See
Figure 22 and figure 8 for connection details.
CN10 M&C input Connector. The M&C connector is used to attach the
interface panel to the control module.
CN11 M&C Connector. The M&C connector is used to attach a console to
the system. See Figure 19 for connection details.
3.1.5 Sensors
With all options installed, there are ten sensors providing information to the
control system.
Three Velocity Sensors - azimuth, elevation and polar. These are located in
the ADU Module (See Section 3.1.1) and produce a voltage proportional to
their angular velocity.
Three Gimbal Motor Potentiometers - fine azimuth, elevation and polar.
The ADTs couple with each gimbal axis, and feedback the exact angular
positions of the motors. They must be initially set so that the system has a
central position reference. (See Section 3.3.4 for details on how this is
achieved).
A Coarse Azimuth Angular Displacement Transducer (ADT) - This is
located in the centre of the pedestal just beneath the gimbal support. The
sensor is powered by +15V, -15V and a precision voltage reference of +10V.
The sensor returns a 0 to +10V signal proportional to the rotation of the
gimbal support.
Two Inclinometers - roll and pitch. These are located on the inclinometer
module attached to the left gimbal support arm and return a voltage
proportional to their angle relative to the local horizon.
An Optional Feed Motor Potentiometer - If an active feed is fitted, the
potentiometer connects to the motorised feed arrangement and returns a
voltage proportional to the angular position of the OMT assembly.
Section 3 - 8
Rev: 04.1
3.1.6 Technology Overview

3.1.6.1 Control System Overview
The minimum distance from the surface of the Earth to a satellite in
geosynchronous orbit is 36000 km. This distance is measured relative to a
location on the Earths surface directly below the satellite. Moving 1km from this
reference point, the change in angle required, to remain pointed at the satellite
alters by less then 2/1000s of a degree. On the other hand, the half power beam
width of a 2.4 meter Ku band antenna (a typical configuration for a Spacetrack
system) is 0.3. What this illustrates is that, if an Earth based antenna points
0.15 away from the satellite, the received signal power will be half the power
that would be received, if the antenna was pointing directly at the satellite. This
highlights that, rotation is more critical in terms of stabilising the antenna than
linear motion. Linear motion only plays a part in the forces acting on the
stabilised platform, which act through the gimbal centre. If the centre of gravity
for the platform is not at the physical gimbal centre then the linear motion of the
pedestal will result in a rotational force on the platform. The platform, must
therefore, be carefully balanced.
Once the platform is balanced, it will maintain its orientation due to inertia. The
forces disturbing this equilibrium are friction and residual imbalances. This is
where the Spacetrack control system takes effect. The antenna is stabilised by
measuring platform rotation and applying a counter balancing force. The gimbal
motors are free floating until a counter balancing force is required and demand
signals are applied to them.
The signals from the velocity sensors and the motor potentiometers are
combined, which gives the control system the information necessary to stabilise
and position the antenna.
There is actually a great deal more to Spacetrack stabilisation. In fact, the
Spacetrack system actively tracks the satellite position by monitoring a beacon
or automatic gain control (AGC) signal from the satellite, continuously seeking to
maximise the signal level.
There are three steps involved in tracking the satellite. These are: moving to the
general orientation to find the satellite, performing an expanding spiral search
centred on the presumed orientation and locking onto the satellite once the AGC
signal exceeds the threshold value.
3.1.6.2 Satellite Orbital Mechanics.
Satellites may be placed along many different paths, or orbits, as they revolve
around the Earth. The plane of these orbits can be equatorial, polar, or inclined.
A polar orbit has a plane that is more or less parallel to the Earths polar axis,
while the plane of a geostationary orbit is equatorial in nature, lying parallel to the
Earths equator. Orbits that are offset in degrees from the Earths equatorial
plane are called inclined orbits.
The communications satellites in geostationary orbit are located above the
equator, in an assigned nominal orbit, and revolve around the Earth at the same
Rev: 04.1
Section 3 - 9
rate as the Earth rotates on its axis. To an observer, or satellite antenna, on the
ground these satellites appear to be stationary. However, geostationary
satellites are constantly being subjected to forces such as the gravitational
attraction of the Sun and the Moon, the radiation force from sunlight, (the solar
wind); and the Earths gravitational field, all of which create a tendency for any
stationary satellite to drift away from its assigned subsatellite point over the
Earths equator.
meridian
international
date line
Geostationary
arc
subsatellite
point
The satellites stay in geostationary orbit, due to the interaction of the Earths
gravitational pull and the satellites momentum. The satellites rotational
momentum produces a centrifugal force, which would, if unchecked, throw the
satellite away from the Earth. This centrifugal force is balanced by the
gravitational pull of the Earth on the satellite.
Under normal conditions, the satellites use station keeping manoeuvres to keep
the satellite located within a box, which is usually dimensioned 0.1 degrees in
the North/South direction and 0.05 degrees in the East/West direction.
As the satellites age, their store of onboard fuel decreases. To extend the
satellites operational life, the satellite operators often change the satellites orbit
to an inclined orbit. Inclined orbits use less fuel as the satellite is only restricted in
the East / West direction. The North / South direction is allowed to wander, the
amount of movement is termed the satellite inclination. Inclined orbits use much
less station keeping fuel as the majority of fuel is expended in counteracting the
Sun / Moon pull, which produces the North / South movement. The East / West
position must be strictly maintained to ensure that co-located satellites do not
Section 3 - 10
Rev: 04.1
interfere with each other. Inclined orbits are termed geosyncronous rather than
geostationary. The difference is illustrated below:
Geosynchronuos
Satellite
N
Geostationary
Satellite
Geostationary
Orbit
Geosynchronuos
Orbit
All satellites as they move in orbit, trace a Figure of eight around their nominal
celestial position. The satellite operators try to minimise the size of the pattern in
geostationary satellites, by using station keeping manoeuvres. The Figure of
eight pattern is produced by the gravitational pull of the Sun and Moon, the solar
wind and the shape of the Earth. A view of the satellite orbit, exaggerated for
clarity is illustrated below:
West
East
North
Inclined Orbit
Normal Orbit
2 degree
spacing
South
Inclined satellites suffer from the problem that, as the satellites moves in orbit, the
footprint also moves on the Earths surface. To counteract this effect, the satellite
physically tilts the antenna, thus resetting the footprint. The tilt is often referred to
as the Comsat Manoeuvre, after the company that developed the idea.
All communications satellites carry one or more types of beam antennas: global,
hemispheric, zone and spot. Each beam pattern is tailored to a specific
Rev: 04.1
Section 3 - 11
application. The beam pattern determines the power that any location on the
Earth sees from the satellite, and also how far a vessel can move from the
footprint centre, while still receiving adequate power to provide communications
services.
3.1.7 Control System Operation

3.1.7.1 Operation
The following Sections explain the components, which are combined to produce
the Spacetrack stabilisation system.
3.1.7.1.1 Sensors
The system uses a combination of velocity sensors, ADTs and inclinometers to
provide the stabilisation process. Each sensor is used in different methods,
depending on the system mode of operation. The sensor functions are:
Velocity Sensors The velocity sensors produce a voltage proportional to

the angular rate of rotation of the sensor. The sensors are based on piezoelectric prisms, which distort during rotation, due to the effect of gravity. The
prism distortion produces a voltage, due to the piezo effect, which is
measured as a direct function of rotation.
Inclinometers The inclinometers are used to measure the tilt of the sensor,
referenced to the local horizon. The sensor is based on a cell containing an
electrolytic fluid. As the cell is tilted, plates measure the change in
capacitance, which is converted to a dc voltage and used as a measure of
the sensor tilt.
ADTs The ADTs, (Angular Displacement Transducers), are high quality

potentiometers. The ADTs are fixed to each axis of the system to provide
pointing information relative to the base of the Spacetrack terminal.
3.1.7.1.2 Normal and Instrument Angles.

In operation, the system works with two frames of reference. The normal frame of
reference is derived, by integrating the velocity output, produced by the velocity
sensors to produce an inertial position. This position is used in track and lock
mode, and is called the normal angles.
The second frame of reference is derived, by combining the inclinometer output
with the ADT readings, to produce a pointing angle referenced to the local
horizon. This angle is used to acquire the satellite, and is called the instrument
angle.
3.1.7.1.3 Sensor Processing.
The process that is executed by the control system is intricate, and involves
complex digital signal processing routines. The control system has two process
functions, which may be adjusted to tailor the control system to the mechanical
assembly. These are the torque loop and the velocity sensor input loop. All the
Section 3 - 12
Rev: 04.1
sensors are digital filtered before use by the control system, with characteristics
that are designed for each particular sensor.
3.1.7.1.3.1 The Torque Loop.
The torque loop is used to adjust the output characteristics of the demand signal
to the motors. Adjusting the torque loop will affect how fast or how slow the
system will respond to an event in all modes. There are two variables, which may
be altered in the torque loop, these are the filter length and the filter cut off
frequency.
The filter length sets the phase delay introduced by the filter, while the cut off
frequency adjust the amplitude response for the filter as plotted against
frequency. In normal operation the cut off frequency is set to a value which is
suitable for the terminal inertia. The phase delay may then be used to tune out
any resonant modes, which may be exhibited by the mechanical structure.
3.1.7.1.3.2 The Velocity Loop.
The velocity loop is used to adjust the input characteristics of the tracking
position loop. Adjusting the velocity loop will directly effect the tracking response
of the system. There are two variables, which may be altered in the velocity loop,
these are the filter length and the filter cut off frequency.
The filter length sets the phase delay introduced by the filter, while the cut off
frequency adjusts the amplitude response for the filter as plotted against
frequency. In normal operation, the velocity filter is disabled, this allows the
system to operate with true phase and amplitude information.
3.1.7.1.4 Motors
The system uses high power, low speed dc torque motors to position the
antenna. The motors are driven by a high frequency pulse width modulation
signal, the average of which is directly proportional to the torque produced by the
motor. The torque applied to the motors, is the output of the torque filter loop, and
is proportional to the velocity required to position the antenna correctly. If there is
no error term present in the system, the motors will be free floating; torque is only
applied to correct position errors.
3.1.7.1.5 Inertia
The inertia parameters are a measure of the weight of the antenna. The inertia
parameters are used as a scaling factor, which determines how much torque to
apply to the motors to produce a set velocity, in essence the inertia settings are
gain parameters. The moment of Inertia of a mass is defined as:
Inertia = Mass Radius 2
The effect of the square term, is that mass, which is further away from the gimbal
centre has the greatest contribution to the torque required to move the antenna.
In simple terms a small weight at the end of an arm is equivalent to a large
Rev: 04.1
Section 3 - 13
weight close the gimbal centre. The gimbal centre is important, because if the
dish and arms structure is perfectly balanced, the centre of gravity is located
exactly where the three axis cross. This means the inertia seen by the motors is
measured from this point.
The inertia setting differs, depending primarily upon the dish size and to a lesser
effect upon the transceiver equipment. The inertia settings may be derived via
three methods, the standard method is that the control system estimates the
inertia based on a table of preferred values and other settings such as filter
characteristics. The control system may also calculate the inertia during the
balance routine, or the user may enter a value for each axis. Setting the inertia
manually is not recommended, without in depth knowledge of the tracking
system.
To set the inertia manually, the easiest method is to observe the box pattern the
antenna traces, when the system has been configured for standard track size
and speed settings. See Section 3.1.7.3.2.3 for a list of the standard settings.
The box pattern produced for different inertia settings is show below.
Inertia set too low,

or track speed too high
Inertia and track speed

correctly set
Inertia set too high
The above method may only be used when the host vessel is not moving. The
box pattern may be easily observed using a laser pointer.
An alternative method is to use a spectrum analyser, which has been configured
for zero span, centred upon the tracking frequency. The desired response should
be 0.5dB of tracking ripple using the standard track parameters.
3.1.7.1.6 System modes
The control system has several modes of operation. These are:
INITIALISE - This mode is automatically entered when the control

program starts. During initialise mode the system estimates the dc offset
of the velocity sensors, and allows all the system sensors to reach
operating temperature. The control system will remain in initialise mode
for 30 seconds, then automatically enter FIND mode. However, if the
system parameters are incorrect and the calculated satellite position is
not visible, the system will enter MANUAL mode and display a hidden
alarm, on completion of INITIALISE mode.
Section 3 - 14
Rev: 04.1
MANUAL - In manual mode, the antenna can be driven to any position

using the cursor keys. The system will not track in this mode.
FIND - In find mode the antenna moves to point at the calculated position
for the satellite. The position is calculated from the vessel position and the
satellite longitude information provided. Once the antenna is in position, it
will enter SEARCH Mode. The initial co-ordinates may also be specified
by the operator.
SEARCH - Once FIND mode has roughly positioned the antenna, the
system will be pointing at the approximate position in the sky where the
satellite can be found. The system will now start an expanding spiral
search of the sky in that area. When the AGC signal rises above the
THRESHOLD value, the system will enter LOCK mode. If the system
does not find an AGC signal above the THRESHOLD value within a set
time, it will re-centre the scan and begin the sequence again.
LOCK - Once SEARCH mode has located the satellite, the system will
lock onto the position which provides the strongest signal. If the AGC
signal drops below the THRESHOLD value, the system will revert to
SEARCH mode.
TRACK - Once LOCK mode has been successfully completed, the

system will enter TRACK mode and track the satellite for as long as the
AGC signal stays above the THRESHOLD value. If the AGC signal drops
below the THRESHOLD value, the system will revert to LOCK mode.
UNWRAP - This mode is only available on systems without sliprings. In

unwrap mode, the system rotates 360 in the direction required to unwrap
the cables running through the centre of the pedestal. If the antenna
elevation is above 30, the elevation will drop to 30 as it turns. Once this
manoeuvre has completed, the system will enter FIND mode.
DIAGNOSTICS DIAGNOSTIC mode is used to calibrate the system

and also to detect and solve any problems that may exist within the
system. In DIAGNOSTIC mode the user has full control over the motors,
while the sensor readings are displayed along with statistics, detailing the
sensor behaviour.
MONITOR MONITOR mode provides the same functions as

DIAGNOSTIC mode except that direct control of the terminal is not
possible. MONITOR mode works in conjunction with the previous mode to
display the sensor and motor demands, while the system is operating.
MONITOR mode is useful for monitoring the system for subtle faults.
The normal sequence of operation is: Initialise, Find, Search, Lock then Track.
The system will repeat the find and search sequence indefinitely until the correct
satellite is found. If the system locks onto the incorrect satellite, the modem
carrier detect function will reset the system mode back to find mode. This is
attributed to the unlikely hood, of two identical carriers, at the same frequency, on
adjacent satellites.
Rev: 04.1
Section 3 - 15
3.1.7.2 Satellite Acquisition.

To acquire and track the satellite, the system must have some means of
determining when, and how accurately, the antenna is pointed at the satellite.
This feedback signal is derived form the signal level received by the down
conversion equipment.
3.1.7.2.1 Tracking Sources.
The system has several different sources of tracking information, these are:
External Interface: The external interface may be used to interface

the Spacetrack systems to down conversion trains which have no
standard IF frequencies or to systems such as D.A.M.A. which provide
a peaking signal. The external interface may also be used with some
modems, although this depends very much on the processing delay of
the modem. In general an EbNo indication signal has too long a
processing delay to be useful, although in some cases the Spacetrack
receiver delay variable may be adjusted to take the modem
processing delay into account. The systems ability to track using a
modem feedback signal must be considered on an individual basis.
Narrowband Receiver: The narrowband receiver is designed to

track either a beacon signal or a modulated data carrier, at a 70MHz
IF scheme. The transfer characteristics of the internal narrowband
receiver is listed in Appendix C.
Wideband Receiver: The wideband receiver is designed to track a

whole transponder, at a 70MHz IF scheme. The wideband receiver is
useful for tracking densely populated transponders, which allow the
average transponder level to be used, rather than the power in an
individual carrier. This has the advantage that the inbound carrier
does not rely on the Earth station that is providing the tracking beacon
or carrier. The wideband may also be used in conjunction with the L
Band down converter to provide satellite TV tracking. The transfer
characteristics of the wideband receiver are listed in Appendix C.
L Band Down Converter: The L Band down converter is not a

detector, but a frequency translator, that shifts an L Band signal to a
70MHz IF scheme. The L Band down converter is usually used with the
wide band detector and a TV LNB. The down converter does not
require a dc block.
If the external interface is activated, the system may require to be configured to

match the processing delay of the AGC source. The receiver delay is important if
the AGC source is a modem; this is due to the fact that most modems output an
indication of the EbNo level, rather than an indication of the absolute received
signal level. The modem introduces considerable delay when calculating the
EbNo Figure. To overcome this problem, the Spacetrack can compensate for
the modem delay, using the receiver delay parameter. The receiver delay
parameter is dimensioned in seconds, and allows the control system to match
the angle, that the maximum signal level was observed at, to the processing
delay.
Section 3 - 16
Rev: 04.1
Note: Not all modems are suitable for using as a tracking source, and must be
evaluated on an individual model basis. The user must also be aware when
setting the delay parameters, that there is a ghost setting, with which the system
will operate, but with impaired tracking. This value is equal to the time required to
complete two sides of the box, and may be deduced from the track size and
speed parameters. Only users with an in-depth knowledge of the tracking system
should utilise the receiver delay parameter.
The internal detectors require a delay setting of zero to operate correctly.
3.1.7.2.2 Input Attenuation and Acquisition Threshold.
With all tracking sources, the levels must be carefully matched to allow the
system to distinguish between background noise and the satellite signature. The
level at which the system determines the presence of a satellite is called the
threshold. The threshold may be illustrated graphically below:
Carriers
Threshold
Threshold
Pedestal
Pedestal
Antenna not pointed at the satellite
Antenna pointed at the satellite
When the antenna is not pointed at the satellite there is no power above the
threshold level, while on satellite, the carriers protrude above the threshold. The
pedestal is background noise, which is amplified across the frequency range of
the amplifier.
The system has two methods of positioning the on and off satellite levels, these
are adjusting the threshold or adjusting the detector input attenuation.
3.1.7.2.2.1 Setting the Attenuation and Threshold Manually.
When the levels are set manually, the user selects an input attenuation, which
provides suitable on and off satellite AGC readings. This attenuation then stays
fixed, while the threshold is set to indicate the on and off transition point.
3.1.7.2.3 Acquisition Angles.
The system may be configured to acquire the satellite in two different methods.
The standard method is that the system calculates the bearing to the satellite
using the host vessels latitude and longitude and the satellite longitude.
Alternatively the user may disable the automatic angle calculation and set the
acquisition angle manually.
If the system is set to calculate the acquire angles, and polar tracking is enabled,
the calculation is performed continuously, while the polar angle is adjusted to
peak the polarisation. With this method, the azimuth and elevation angles are
derived from the strongest satellite position, while the polar angle is calculated.
Rev: 04.1
Section 3 - 17
The acquisition angles are specified relative to true North. The control software
compensates for the vessels heading when positioning the antenna.
3.1.7.2.3.1 Modem CD.
The modem CD indicator is used to indicate to the system, that the correct
satellite has been located. This is often necessary due to the closely located
orbits of co-located satellites. It is extremely unlikely to have two identical carriers
located at the same frequency on two co-located satellites, therefore if the
modem locks up, then it is a good indication of acquisition success. The output
is usually derived from the modems demodulator locked indicator.
The user may set a demodulator lock period and a glitch period. The
demodulator lock period, is the length of time the modem requires to
synchronise with the far end modem. The modem demodulator locked output will
not indicate a modem lock until the training sequence is complete, thus the
Spacetrack must delay any decision, as to whether the correct satellite has been
acquired until this time period has elapsed. The time required for the modem to
lock may be derived from the manufacturers data, or measured directly, with a
safety margin.
The glitch period is designed to defeat contact bounce and modem glitches.
This period should be set for about one second, the Spacetrack will not respond
to a modem lock fail signal, if the lock indicator was previously high, until the
glitch period has elapsed.
Section 3 - 18
Rev: 04.1
The connections for a selection of modems is listed below:
Modem
Interface Panel CN8

Type
Connector
Ground
Connection
Modem CD
Connection
ComTech CDM-500
Alarms
Pin 7
Pin 8
EF SDM309
Fault J7
Pin 8
Pin 9
Fairchild SM2800
Fault J6
Pin 15
Pin 16
Fairchild SM2900
Fault J10
Pin 15
Pin 16
Fairchild SM3000
Fault J7
Pin 15
Pin 16
Fairchild SM4000
Fault J7
Pin 15
Pin 16
Paradise Datacom P230
Alarms
Pin 3
Pin 10
Paradise Datacom P400
Alarms
Pin 2
Pin 3
3.1.7.3 Satellite Tracking.

The system tracks the satellite using a step tracking algorithm. The step track
method is also sometimes called Staircase Tracking. The algorithm involves
moving the antenna and measuring whether the signal level decreases or
increases. The antenna is continually moved by fractions of a degree, monitoring
for the strongest signal level. The staircase algorithm may be shown graphically
as:
Carrier
Step Tracking Algorithm
Rev: 04.1
Signal
Strength
Section 3 - 19
The step tracking algorithm is implemented by using a box method, where the
antenna is moved left in azimuth, up in elevation, right in azimuth and finally down
in elevation. This movement produces a box around the boresight position. On
each side of the box, the system measures the received signal strength, looking
for the peak signal on each axis. The peak signal from azimuth and elevation is
then set as the boresight vector. Every consecutive box is centred on the
boresight produced by the previous box. The system thus continually optimises
the boresight angle with each complete box motion, and tracks the satellite as
the motion of the vessel disturbs the antenna from the boresight angle.
3.1.7.3.1 Polar Tracking.
The Spacetrack system may be configured to optimise the polarisation angle
automatically. There are two main methods of communicating with the satellite,
these are circular polarisation and linear polarisation. The linear polarisation
method is also split into horizontal and vertical polarisation.
The polarisation describes the relationship between the electrical and magnetic
fields as they travel through space. The different polarisations are used to
provide frequency re-use and so maximise the available bandwidth available to
the satellite operator and user.
3.1.7.3.1.1 Linear Polar Tracking
The Spacetrack system is only required to optimise the polarisation angle for
linear polarised communication schemes. The polarisation correction is
designed to compensate for the incident beam mismatch angle, caused by the
difference in vessel and satellite longitude; and due to the polarisation skew
caused by inclined satellites. The Spacetrack can compensate the polarisation
angle using a combination of the polarisation axis and an active feed if fitted.
Using the polarisation axis to compensate for the polar angle is not
recommended due to the limited range of motion available to the
polarisation axis, which may also be required to compensate for the host
vessels motion.
An active feed is a feed and an OMT arrangement, which are fitted on a plate
which can rotate when driven by a motor. The system can use the active feed to
rotate the OMT physically and thus compensate for any polarisation correction
required. The active feed method is recommended for vessels, which travel large
distances and require polarisation compensation.
3.1.7.3.1.2 Circular Polar Tracking
If the Spacetrack system is configured as a circularly polarised system, the polar
axis is held at zero degrees and any active feed is not used.
3.1.7.3.2 Scan Parameters.
The scan parameters are used by the control software to generate the box scan
pattern. The system uses the same box pattern for search, lock and track
operations. The dimensions and velocity of the box pattern may be adjusted for
each mode.
Section 3 - 20
Rev: 04.1
3.1.7.3.2.1 Search Parameters.

The search parameters are used exclusively in search mode. The scan size
determines the largest box dimension that the system will use to locate the
satellite. During SEARCH mode, the system initially starts scanning for the
satellite using the lock parameter box dimension, which is increased until the box
is the same size as the search box. If the satellite has not been located before
the box dimensions equal the search size, the box size collapses back to the
lock size, and the process repeats.
The scan size should be dimensioned slightly less than the co-satellite orbit
separation. This parameter is usually set to 2.
The scan speed may be set to a velocity that allows the satellite to be located
quickly, the default setting is 0.4s-1.
3.1.7.3.2.2 Lock Parameters.
The lock parameters are used to initially locate the satellite boresight, and to
allow the system to characterise the sensors, before the more exacting track
mode is engaged.
The lock parameters are used exclusively in lock mode. The system will calculate
parameters automatically based on the system configuration. The user may also
enter parameters manually, although this is not recommended. The lock size and
speed are mainly dependent upon the frequency band and the dish size. The
following table illustrates sample recommended values.
C Band Systems:
Rev: 04.1
Dish Size (m)
Lock Size ()
Lock Speed (s-1)
1.2
0.84
0.43
1.8
0.56
0.37
2.4
0.42
0.30
3.0
0.34
0.23
3.75
0.27
0.15
Section 3 - 21
Ku Band Systems:
Dish Size (m)
Lock Size ()
Lock Speed (s-1)
1.2
0.36
0.43
1.8
0.24
0.37
2.4
0.18
0.30
3.0
0.14
0.23
3.75
0.12
0.15
3.1.7.3.2.3 Track Parameters.
The track parameters are used to position the antenna pointing directly at the
satellite boresight. The track parameters are used exclusively in track mode. The
system will calculate the parameters automatically, based on the system
configuration. The user may also enter parameters manually, although this is not
recommended. The track size and speed are mainly dependent upon the
frequency band and the dish size. The system inertia also has a direct effect on
the tracking performance, see Section 3.1.7.1.5 for details on setting the inertia.
The following table illustrates sample recommended values.
C Band Systems:
Section 3 - 22
Dish Size (m)
Track Size ()
Track Speed (s-1)
1.2
0.49
0.49
1.8
0.32
0.42
2.4
0.24
0.35
3.0
0.19
0.28
3.75
0.16
0.20
Rev: 04.1
Ku Band Systems:
Dish Size (m)
Track Size ()
Track Speed (s-1)
1.2
0.24
0.49
1.8
0.16
0.42
2.4
0.12
0.35
3.0
0.10
0.28
3.75
0.08
0.20
The system tracking may also be optimised by observing the tracking response
using a spectrum analyser, zero-spanned on the tracking frequency. The system
should exhibit 0.5dB tracking ripple in moderate weather. The oscillogram below
shows a typical tracking trace obtained from a construction barge operating in
the North sea.
To set-up a spectrum analyser to display a zero spanned carrier, it is necessary
to reduce the span and re-centre the carrier in several stages. This is due to
frequency drift in the satellite, the down conversion equipment and in the
spectrum analyser. The oscillogram over page was produced with the following
spectrum analyser settings:
Span 0Hz
Sweep 30 seconds
RBW 30KHz
VBW 30Hz
Video Averaging - Off
Rev: 04.1
Section 3 - 23
3.1.7.4 Active Weights.

The Spacetrack system derives the majority of the stabilisation action from the
inherent inertia of the system. The main forces, which degrade the stabilisation
process, are physical imbalance and friction. The degradation produced by
friction is controlled by the manufacturing process, while the imbalance force is
entirely dependant on the set-up of the terminal.
It therefore follows that, any device, which can eliminate human influence and
error from the process, is extremely desirable. The Spacetrack system may be
equipped with active weights to provide an automatic balancing function. Active
weights are located in all three planes of rotation.
Section 3 - 24
Rev: 04.1
Top to Bottom
Active Weight
Left to Right
Active Weight
Front to Back
Active Weight
Active Weight Arrangement.

3.1.7.4.1 Active Weights.
Active weights balance the terminal using the electronics are located in the ADU
module and the control logic is performed in the software control loop. Since the
active weights are controlled directly by the control software, they are used to
balance the system during the balance routine, to produce a universal balance.
During operation the system integrates the output torque and moves the active
weights to point balance the system. A universal balance is a balance that allows
the terminal to float at any angle; whilst with a point balance, the system will sit at
one angle only, usually the operating angle.
Rev: 04.1
Section 3 - 25
3.1.7.5 System Log.

The system log is used to store events that the control system regards as
important and may warrant user attention. The log may contain information
relating to mode changes, errors, automated messages and monitor messages.
The types of messages are detailed below:
Mode Changes The system records each mode change, to allow the
user to examine the link performance and the systems operation.
Errors If the control system detects an error, the error is logged to allow
a non-transient record and to allow the systems history to be examined.
Automated Messages Automated messages occur when the system

initialises, or during other tasks which require user feedback, such as
Balance mode.
Monitor Messages Monitor messages are generated by the system

supervisor module. The system supervisor module monitors all the
systems parameters, scanning for error conditions such as faulty sensors
or invalid values. This function is useful to provide early detection of faulty
sensors, before the sensor fails completely.
The log holds 180 entries. When the log is full, any additional messages will
be discarded. The log may be accessed from the front panel or via the M&C
console. See Appendix F for a listing and description of the log messages.
3.1.7.6 Auxiliary Communication Port.
The auxiliary communications port is a spare serial port, which may be used to
interface the BDU module to any additional offshore equipment. The equipment
may then be accessed through the M&C console, as if a local connection were
present, this enables remote access to the attached equipment.
The auxiliary communications port may be attached to any modem, multiplexer
or RF equipment, which has an M&C interface. The auxiliary communications
port may also be extended through a code switch to allow access to more than
one device.
The auxiliary communications port may be configured to match the link
parameters of the target equipment. There may exist a difference in data rates
between the M&C console and the auxiliary serial port. The BDU module has
internal buffers to compensate for the difference in data rates. The internal
buffers will only compensate if the data throughput is low. If the throughput is
sustained, buffer overruns will occur and data will be lost. The receive data buffer
length is 2K bytes, while the transmit data buffer length is 80 bytes.
To access the auxiliary serial port, the interface must first be opened. While the
port is open, it is not possible to access any other Spacetrack M&C functions;
Spacetrack M&C functions are only available when the auxiliary port is closed.
See Figure 22 for connection details.
Section 3 - 26
Rev: 04.1
3.2 ASSEMBLY AND INSTALLATION

The Spacetrack platform and radome will generally be delivered fully assembled,
but the following Sections summarise how to assemble the Spacetrack platform
and radome, assuming they arrive unassembled. If the system does arrive fully
assembled double check that there are no parts missing and that no damage
has occurred in transit.
Before the assembly is considered complete, fill out the checklist mentioned in
Section 3.2.7 to make sure that nothing has been omitted. Section 3.2.8 gives a
similar checklist for use when demobilising a Stabilised Platform, which has
been in operation on a vessel.
3.2.1 Site Survey
Before sending the Spacetrack equipment to the vessel, a site survey should be
done. The following should be kept in mind when selecting a physical location on
the deck for the radome equipment:
Visibility: The Spacetrack needs a clear line of sight to the satellite for most
vessel headings.
Vibration: High vibrations can impair performance. Choose a location as far
from vibrating equipment as possible.
Cable Runs: The installation is easier if the Radome is situated close to the
Radio Room
Antennas: Do not site in direct line with radar energy or near high power
short wave transmitting antennas.
Heat Emissions: Ensure site is well away from sources of heat, e.g. engine
exhausts and gas flares.
3.2.2 Assembling The Platform

During assembly of the Stabilised Platform, the following points should be kept in
mind:
Stainless steel hardware should be used, to avoid corrosion in the marine
environment
Lockwashers, locknuts, or Loctite should be used on all threaded fasteners
because of the high vibration level common on vessels.
Particular care should be taken not to damage the ADU Module. Always
check the module indicators for shock and moisture ingress. Reject if the
maximum shock has been exceeded.
The system may require assembly. Check the following points, carrying out any
tasks that are required:
1) Lift the unit onto the baseplate using the eyebolts supplied.
Rev: 04.1
Section 3 - 27
2) If the system baseplate has three rubber vibration mounts fitted, use the three
longer bolts to bolt through them taking care to fit the three large washers on
the underside of the mount and the three shorter bolts to screw into the tapped
base via the spacer provided. If the system baseplate has no rubber vibration
mounts fitted, the system should be bolted directly to the baseplate using the
six bolts supplied.
3) Fit the antenna to the mounting frame.
4) Install the ADU Module, taking care to orient the box correctly. The correct
orientation is shown on the face of the module.
5) Install all other platform equipment, such as the Antenna Feed, LNA, and RF
unit.
6) Install all Spacetrack cables following Figures 6 & 7. Ensure that all
components and cables are securely strapped down, or it will not be possible
to balance the platform. Ensure cables from the gimbal support tower to the
antenna support arms have enough length and flexibility to ensure that the
antenna can move freely in all directions.
7) Take care in controlling the motion of the platform while adding weights to
balance the antenna, watch for an indication that the platform is nearly
balanced. Complete the balancing process, by following the instructions in
Section 3.3.5.
8) Assemble the radome on to the baseplate, around the system. There are four
eye bolts which will be provided, use these in place of four normal bolts when
bolting the radome to the baseplate. They are used for the attachment of
bungee cords when lifting or transporting the system fully assembled.
9) Use the four bungee cords supplied to attach the antenna and rear cross
member to the four eye bolts in the radome floor.
3.2.3 Deck Installation

The Spacetrack pedestal, which holds the dome above the deck, should be
securely welded to the deck of the vessel. Ensure the pedestal is correctly
aligned with the heading of the vessel. See the plan view of the Spacetrack
platform in Figure 1. With the system fully assembled on the radome pedestal,
the antenna should be in this position relative to the baseplate when pointing in
the direction of the heading of the vessel.
Note: The access hatch is located between the pedestal and the aft of the
vessel.
Particular care must be taken when lifting the system. To avoid endangering
personnel or damage to the system, the following precautions must be adhered
to.
It is important to recognise that a fully assembled Spacetrack platform has a high
centre of gravity. During lifting, take care to keep the system balanced. Use only
the DMS eight legged lifting strops provided.
Section 3 - 28
Rev: 04.1
Under No Circumstances should spreader bars be used. Only trained

banksmen should give lifting instructions to the Crane Operator.
Before attaching the strops, ensure the eye bolts around the circumference of the
baseplate are screwed in and are vertical (so they will not twist when the upward
force from the strops is applied). Lay out the strops on the ground and ensure
there are no twists or knots in their length. The crane should lift up the strops, and
lower them over the radome, until there is enough length for the strops to be
attached to the eye bolts. Attach each strop leg to an eye bolt, ensuring the
following:
shackles are tightened securely
the legs are not intertwined above the radome
Once the slack has been taken up in the strop, ensure that:
the strops lie flat against the radome, with no twisting
the strops go up over the radome vertically. Straighten any strops that are at a
slant.
Lift the system onto its pedestal ensuring the dome is pointing in the correct
direction and the locating pegs are fully in place.
3.2.4 Assembling the BDU

The Spacetrack 4000 Interface and BDU module should be installed in a 19
rack, along with any other associated communications equipment. The BDU
module requires slides or supports along the length of the module to support the
rear of the module when mounted. Electrical connections to the BDU are
described in Section 3.2.5.
The BDU module will arrive with the control software pre-installed and will
automatically execute on power up.
3.2.5 Electrical Connections

Figure 11 is a wiring diagram showing how the Spacetrack pedestal should be
connected to the BDU and the modem. Figure 7B shows where the mains
should be connected to. The following points are important:
1. Generally, in the Radome, AC power is required to be connected to the two
junction boxes located in the radome, (see Figure 1). UPS power is
connected to the junction box which powers the ADU Module and RF
equipment. Raw mains is connected to the other junction box, this powers
auxiliary equipment such as lighting.
2. The UPS can be located inside the Radio Room, so that it can provide power
both to the communications equipment in the indoor unit, and to the above
deck equipment. There is also the advantage that power to the radome can
be switched off from indoors.
Rev: 04.1
Section 3 - 29
3. Check the ADU Module is set for the appropriate mains voltage.
Figure 8 is a diagram showing how the BDU Interface should be connected. A
cable loom will be provided to connect the BDU module to the Interface Panel.
Figure 23 shows the additional connections for an optional GPS receiver input.
Figure 9 shows the additional connections for an optional heading input.
Ensure all cables are identified and installed neatly.
3.2.6 Eclipsing Headings Chart

In some installations, there will be certain headings of the vessel, which will make
it impossible for the antenna to lock onto the satellite, because of physical
structures on the vessel eclipsing the signal. It is good practise to calculate
ahead of time, which headings will be troublesome, and warn the radio operator
accordingly.
Figure 15 is an example of an Eclipsing Headings Chart, such as you might
provide the radio operator, and Figure 16 is a copy of a blank chart. For each
installation, take a photocopy of the blank chart found in Appendix A, fill in the
headings that apply, and leave it with the radio operator.
3.2.7 Installation Checklist

When the assembly and installation are complete, photocopy the Installation
Checklist found in Appendix B, complete all Sections, and include it in the unit
documentation package.
3.2.8 Demobilisation
If it is necessary to remove a Spacetrack Pedestal from a vessel photocopy the
Demobilisation Checklist found in Appendix B, complete all Sections, and
include it in the unit documentation package.
Note: Lifting instructions provided in Section 3.2.3 equally apply when
demobilising a system, and must be adhered to.
3.3 INITIALISATION
Once the Stabilised Platform has been installed, and connected to the vessels
compass and GPS, it is necessary to configure various parts of the system to
match the specific vessel conditions. Sections 3.3.1 through 3.3.11 below,
describe the various initialisation and calibration procedures. The procedures
should be completed, in the order described.
Ensure that you are familiar with the Spacetrack 4000 equipment (see Section
1) and the console software (see Section 4), before commencing the
initialisation procedure. The Operators Manual also provides a basic guide to
the operation of the system.
Section 3 - 30
Rev: 04.1
When you have completed the initialisation tasks, use the checklist mentioned in
Section 3.3.11 to ensure that none of the tasks have been missed.
3.3.1 Initialising The System
Although the system can be initialised with the monitor and control terminal
located in the radio room, it is easier if a console terminal is in the dome during
initial setup.
1) Remove the mains input lead at the ADU Module interconnection plate and at
the BDU module.
2) Switch on the power at the Uninterruptable Power Supply (UPS), and
measure the mains voltage. Confirm that the ADU module is configured to
operate at this voltage. The ADU module has a data plate next to the J3, the
mains connector (see Figure 4), which specifies the operating voltage that
the module is set for.
3) Switch off the UPS.
4) Connect the console terminal to the above deck interface panel, and ensure
the terminal emulation software is active.
5) Re-connect the mains input lead first to the ADU Module and then to the BDU
Module.
6) Switch on the UPS.
7) Log into the monitor and control port, the default password is
FACTORYkSETUP.
8) Once the BDU module has established a connection to the ADU Module,
select the diagnostic option from the mode menu. Keystroke sequence M65.
9) Systems Without Sliprings Only: check the coarse azimuth limit switch.
See Section 3.3.2.1
10)Adjust the coarse azimuth ADT. (See Section 3.3.2.2)
11)Systems Without Sliprings Only check the mechanical stop. See Section
3.3.3
12)Check the potentiometers for each gimbal motor have not moved in transit
and are set correctly . (See Section 3.3.4.)
13)Check the system is balanced. (See Section 3.3.5.)
14)Reboot the control module, Keystroke sequence M67Y.
15)Wait for the Control System to enter initialise mode, and select the real-time
display, Keystroke sequence M71. Step 16 should be carried out during
INITIALISE Mode. The Control Program will remain in initialise mode for 30
seconds.
16)Confirm the antenna moves to an elevation of approximately 30 degrees,
polarisation 0 degrees and the fine azimuth remains in centre of gimbal
support and stays in this position.
Rev: 04.1
Section 3 - 31
17)Wait for the INITIALISE mode to expire and change to manual mode.
Keystroke sequence kM64.
18)Move the antenna to several positions using the cursor keys. Check the
antenna follows the cursor commands in all directions. Ensure the coarse
azimuth motor also functions in both directions, by rotating the fine azimuth
axis by hand, until the coarse azimuth attempts to centre the fine azimuth axis.
19)Ensure the main system parameters match the above deck configuration. A
system summary may be obtained by typing kM18, from which the correct
parameters may be compared. The main system parameters are:
Dish Size, (to change see Section 4.1.2.2.8.1).
Tracking Source And Frequency, (to change see Section 4.1.2.2.2).
Frequency Band (C or Ku) , (to change see Section 4.1.2.2.8.2).
Satellite Longitude, (to change see Section 4.1.2.5.1).
System auto configuration settings. (Keystroke sequence kM71ff.

Ensure all auto configuration variables are enabled.) To change see
Section 4.1.2.2.1.
See Section 4 to alter or enable any variables, which display as incorrect.

20)Set-up the RF equipment. (See Section 3.3.7)
21)Perform a lock on test. (See Section 3.3.10)
22)Perform power balancing, cross polar correction procedures as appropriate.
The tests performed will vary with the satellite operator.
23)Confirm all bolts and cables are tightly secured and the system is perfectly
balanced. (See Section 3.3.5)
24)Complete the Initialisation Checklist. See Section 3.3.11.
3.3.2 Setting the Coarse Azimuth

The Coarse Azimuth ADT is located in the centre, between the gimbal support
struts, directly below the gimbal (see Figures 1 and 14). The Coarse Azimuth
ADT must be calibrated so that the control system knows the relative direction of
the gimbal support tower to the bow of the vessel. Continuous (with sliprings)
systems vary from unwrap systems as described in Section 3.1.2. The
calibration of the coarse azimuth differs in the following manner.
Unwrap Systems - the coarse azimuth ADT calibration voltage is +5.0V (i.e.
the ADT is set to produce +5.0V when the antenna is pointing at the bow of
the vessel and the coarse azimuth is in the centre of its mechanical limits).
The coarse azimuth electrical limit switch must be set, and the mechanical
stop must be checked for correct operation.
Slipring systems - the coarse azimuth ADT calibration voltage is 0.0V (i.e. the
ADT is set to read 0.0V when the antenna is pointing at the bow of the
vessel), there are no limit switches.
Section 3 - 32
Rev: 04.1
Although the calibration voltages are different, the diagnostics software will
automatically adjust the calibration set point according to the terminal
configuration; therefore, the ADT should always be calibrated to give a zero error
reading. The system should be aligned with the vessel heading (i.e. the sides of
the square plate that the pedestal stands on, are parallel with the vessel's
heading). This gives an indication of the ships heading from inside the radome,
when setting the coarse azimuth.
3.3.2.1 Set the coarse azimuth limit switch
This procedure does not apply to systems with sliprings
The ADU module should be switched off
Turn the gimbal support by hand, so it is in line with the heading of the vessel.
i.e. with the antenna in the centre of the fine azimuth travel, the antenna will
point exactly at the vessels bow. Ensure the gimbal support is in the centre of
its travel between the mechanical stop.
The micro switch trip peg should now be located 180 from the micro switch,
as shown in Figure 14. If this is not the case, the coarse azimuth mounting
plate must be removed. The limit switch, coarse azimuth ADT gear cog and
the ADT are mounted on this plate. Line up the micro switch trip peg exactly
180 from the micro switch and replace the coarse azimuth mounting plate.
3.3.2.2 Set the coarse azimuth ADT
The ADU module should be switched on.
Connect the M&C console to the above deck interface panel in the radome.
Set the system into diagnostics mode, Keystroke sequence kM64.
Turn the gimbal support by hand, so that it is in line with the heading of the
vessel. i.e. with the antenna in the centre of the fine azimuth travel, the antenna
points directly at the heading of the vessel.
If the system has no sliprings, ensure the gimbal support is in the centre of its
travel between the mechanical stops.
Loosen the three screws locking the ADT in position just enough to allow the
ADT to turn by hand.
Check the angle reading for the Coarse Az in the Error column on the console.
This displays the difference between the signal received and the calibration
reference point, the value should be set to zero.
Tighten the transducer in place and recheck the error reading is zero.
Reboot the control module. , Keystroke sequence kM67Y. If the fine azimuth
pot has been calibrated, confirm, during INITIATIALISE Mode, on the console
display that the azimuth of the antenna is the same as the vessel heading. If
the fine azimuth has not been calibrated, confirm this is true after calibrating
the fine azimuth.
Rev: 04.1
Section 3 - 33
3.3.3 Mechanical Unwrap Limit

This procedure does not apply to systems with sliprings
Warning! The mechanical unwrap limit mechanism should never be
altered unless the adjustment is required. Incorrectly moving the
mechanism will cause the coarse azimuth drive to stop before the
electrical limit switch trips, causing damage to the system.
Ensure the coarse azimuth limit switch, and the coarse azimuth ADT
calibration has been checked first.
The system should now be correctly calibrated to check the mechanical
unwrap limit.
Check the mechanical unwrap limit is set correctly by turning the gimbal
support in both directions until the gimbal support is prevented from turning by
the mechanical stop. The gimbal support should turn the same amount in both
directions from the ADT calibration reference position.
It is extremely important to ensure the mechanical stop occurs after the
electrical limit switch has tripped.
If this is not the case, the mechanism needs to be moved to the correct
position.
Finally, recheck that the mechanical stop occurs after the electrical limit switch
has tripped.
3.3.4 Setting the Gimbal Motor Potentiometers

Each of the gimbal axes has a potentiometer coupled to its shaft. These give an
indication of the angular displacement of the antenna frame.
The ADTs are all set in the following manner
Connect the M&C console to the above deck interface panel in the radome.
Set the system into diagnostics mode, Keystroke sequence kM64.
Move the platform to the reference position, for the potentiometer to be
calibrated.
Fine azimuth - centre of travel between the gimbal support.
Elevation - orthogonal to the pedestal.
Polarisation - orthogonal to the pedestal.
Check the angle reading for the potentiometer to be calibrated, in the Error
column on the console. This displays the difference between the signal
received and the calibration reference point.
If the error is not zero, proceed with the following.
1. Loosen the screws for each of the three cleats, holding the potentiometer
in position, by just enough so the pot will turn by hand.
2. With the antenna in its reference position given above, turn the
potentiometer until the error shown in the diagnostics display is 0.
Section 3 - 34
Rev: 04.1
3. Fix the potentiometer in position by tightening the cleats, to firmly grip the
potentiometer.
4. Recheck the Error reading
3.3.5 Balancing the platform.
3.3.5.1 Platform Balance.
It is vital that the system is properly balanced - i.e. with the motors off, the system
should sit stationary at any angle. A poorly balanced system will cause more
stress on the motors, and impaired tracking ability.
For balancing, there are a number of weights, on the antenna support and side
rails, that can be moved or changed. Mounted on each side rail is a weight that
slides away or towards the antenna; and a weight that slides up, or down. On the
antenna support, there is a weight on a U-bracket, which slides right or left. The
position of the balance weights is illustrated in Figure 1.
The aim of balancing is to move the centre of gravity of the arms / antenna
arrangement to the centre of the gimbal. It can be simplified by splitting the
system into the three orthogonal axes and visualising each as a seesaw
arrangement.
Horizontal - moves the centre of gravity behind, or in front of the gimbal centre.
Polar - moves the centre of gravity to the right, or to the left side of the gimbal
centre.
Vertical - moves the centre of gravity above, or below the gimbal centre.
Balancing each of the axes is described below. The procedure may require
several iterations before the system is accurately balanced. This may be tested
by moving the platform to any position. After releasing the platform, the dish
should stay at the desired angle or rotate very slowly from its position. Check
this in several positions.
Before starting the balancing procedure, ensure that:
The system is in diagnostic mode, Keystroke sequence kM64.
The cables are not restricting or impeding movement
The platform does not rest against its mechanical stops. The platform must be
free floating while the following procedure is carried out.
a) Horizontal balance of the platform:
With the antenna pointing horizontally, watch the direction the elevation rotates
when released.
If the antenna elevation rotates downward, the centre of gravity is forward of
the gimbal centre, towards the antenna, and needs to be moved back. Move
the front to back weight towards the rear. If required, add weight to the rear or
remove weight from the front.
Rev: 04.1
Section 3 - 35
If the antenna elevation rotates upward, the centre of gravity is at the rear,
behind the gimbal, and needs to be moved forwards. Move the front to back
weight towards the antenna. If required, add weight to the front or remove
weight from the rear.
When moving or changing the weights, bear in mind the effect this will have on
the other axes. Try to ensure the weights, when moved from one side of the
structure to the other, are the same distance from the gimbal centre to prevent
changing the polar balance.
b) Polar balance of the platform
With the antenna pointing horizontally, watch the direction the polarisation
rotates when released.
If the antenna rotates to the right side, the centre of gravity is to the right of the
gimbal. Move the left to right weight to the left. If required, add weight to the left
side or remove weight from the right side.
If the antenna rotates to the left side, the centre of gravity is to the left of the
gimbal. Move the left to right weight to the right. If required, add weight to the
right side or remove weight from the left side.
the other axes. Try to ensure that the weights, when moved from one side of
the structure to the other, are the same distance from the gimbal centre to
prevent changing the horizontal balance.
c) Vertical balance of the platform:
With the antenna pointing vertically upwards, watch the direction the elevation
rotates when released.
If the antenna moves further back, with the rear cross rail striking the pedestal,
the centre of gravity is towards the top of the antenna. Move the top to bottom
weight towards the bottom of the antenna. If required, add weight to the
bottom of the antenna or remove weight from the top of the antenna.
If the antenna moves the other direction towards a normally horizontally
pointing position, the centre of gravity is towards the bottom of the antenna.
Move the top to bottom weight upwards towards the top of the antenna. If
required, add weight to the top of the antenna or remove weight from the
bottom of the antenna.
the other axes. Try to ensure the weights, when moved are the same distance
from the centre of the gimbal.
Remember that the addition or moving of any equipment cables supported by
the gimbal will require the system to be re-balanced.
If the system appears to change balance often, check for anything on the system,
which may be loose or could move.
The system should be balanced with the minimum of weight required. Simply
adding weights at each stage will not result in a viable tracking system, try to
Section 3 - 36
Rev: 04.1
optimise the weight distribution at each stage, rather than continuously adding
weight.
3.3.5.2 Gimbal Balance.
If the elevation axis will balance perfectly at both the horizontal and vertical
positions, but not at the 45 degrees position; then it is possible that the gimbal
balance is not correct. On the gimbal cage, there are two weights, which are
positioned to counterbalance the azimuth motor. These weights may be used to
achieve a perfect balance at all angles. When the system is balanced at the
horizontal and vertical positions, adjust the gimbal weights until a balance is
achieved at 45 degrees. The process of balancing, at all three angles may be
required to be repeated, until a universal balance is achieved.
3.3.6 Setting the Inertias
The inertias must be set correctly, badly set inertias will impair tracking
ability.
It may be visually observed when the inertias are set correctly. During track
mode, the aim is to ensure that the box shape that the antenna moves through is
a perfect square. If the box is circularly distorted, then the inertias are set too low,
or the tracking speed is too high. If there is an overshoot at the corners of the
box, then the inertias are set too high.
Observing the tracking pattern using the received tracking signal on a zero
spanned spectrum analyser is also a good method of optimising the inertias in
the field. See Section 3.1.7.1.5 for more details.
3.3.7 Setting Up The RF Equipment
As each terminal is designed for specific customer requirements, the RF
equipment will vary depending on the installation. See the RF equipment
manuals for details of set-up.
The following general points should be noted though.
Ensure the transmit RF waveguide is securely connected all the way from the
RF transceiver to the feed.
The RF equipment transmits microwave radiation. Do not work in the dome
while the system is transmitting.
Check the focal length of the antenna. The focal length depends on the size of
the dish and may be confirmed with Data Marine Systems technical support,
telephone 44 (0)1224 773727.
If any of the RF equipment or cables on the stabilised platform requires
moving, including rotation of the feed, the system must be re-balanced. see
Section 3.3.5.
The RF equipment must be programmed, with the correct receive parameters
before the system will operate.
Rev: 04.1
Section 3 - 37
Do not switch the transmit carrier on, until it is confirmed that the system is
tracking the correct satellite, and the satellite operator has granted permission
to radiate. The modem transmit should be set, to switch on only when the
modem detects, and locks onto, a receive carrier.
3.3.8 Set-up The Tracking Receiver
If the receiver is external to the BDU, follow the manufacturers instructions for
details on any set up required. A 0V to +10V dc signal will be required. If the
internal receiver is to be utilised, the user may choose from either the integral
wideband or narrowband. Generally, the wideband detector is used for heavily
populated transponders, or when there are no beacon signals available. The
narrowband detector is used for either tracking the receive carrier, or a
dedicated tracking beacon. Both types require a set up routine.
Frequency - The frequency of operation of the Narrowband Receiver is set
using either the front panel or the M&C console. The frequency used may be
that of the received data carrier (usually the same as the modem receive
frequency), or a beacon signal. To set the tracking frequency using the M&C
console, type kM1111, and enter the desired frequency. The selected
frequency band must match the cabled connections at the back of the BDU
module.
Attenuation The following procedure should be followed to set the correct
attenuation level.
With the antenna off satellite, adjust the attenuation until the AGC
signal is just above zero.
With the system in Manual Mode, point the antenna at the satellite,
using the cursor keys wyxz. View the received signal strength in the
real-time display, Keystroke sequence kM71.
If the signal rises above 80%, adjust the attenuation so the maximum
signal strength is around 80%. The attenuation may be adjusted with
the following Keystroke sequence, narrowband detector, kM1112, or
wideband detector, kM1122.The system will not track if the signal
strength is at full scale (100%). By biasing, the maximum signal
strength at no more than 80%, allows some leeway for an increase in
signal strength.
The attenuation may require adjusting once the system is in Track

Mode, as the system will often find the satellite boresight more
accurately.
3.3.9 Setting the Signal Threshold

The Threshold value is used by the control system to determine which AGC
values indicates a satellite signal, and which indicates background noise. If, for
example, the threshold is set to 20%, then the system will go into LOCK Mode as
soon as the AGC value becomes greater than 20%. This would be a problem if
the radio equipment outputs an AGC Value of 50% when the antenna is pointed
away from the satellite, therefore it is important to use the correct threshold value.
Section 3 - 38
Rev: 04.1
In normal operation, the threshold remains fixed, while the user adjusts the input
attenuation to provide the correct receive level. The following procedure should
only be followed if the system is set to track from the external interface or if the
user wishes to set the threshold manually. Note that setting a incorrect
threshold value may cause the system automatic acquire feature to
function incorrectly.
Before setting the Threshold, test the system as follows:
With the system in Manual Mode, point the antenna at the satellite, and
watch the AGC value in the real-time display. Record the AGC value that is
indicated when the antenna is pointing at the satellite.
Move the antenna off satellite, and record the AGC value when the signal is
completely lost.
When you have recorded both these values, set the threshold as follows:
1. Select a point higher than the "lost" value but well below the "found"
value. If, for example, the "lost" value is 5% and the "found" value is
20%, then a Threshold of 10% would be a good setting. This value may
need adjusting once the system is in track mode, as the system will
often find the peak satellite signal more accurately.
2. Alter the attenuation setting by typing, kM33. Enter the desired
threshold and press f.
Be aware that additional equipment loading the IF signal will affect the signal
level
3.3.10 Lock-On Test
The best way to confirm that all the stored initialisation values are correct, is to
reboot the control module, Key stroke sequence kM67Y, and confirm that the
system automatically re-acquires the signal.
Monitor the system, for a period of time, as it tracks the satellite. The AGC signal
reading should remain reasonably constant.
3.3.11 Initialisation Checklist
When the system initialisation is complete, photocopy the Initialisation Checklist
in Appendix B, complete it, and include it in the unit documentation package.
3.4 TROUBLESHOOTING
Should a fault occur in the system, this Section may be used as a guide to
locating the likely cause of the fault, and provide guidance on how to rectify the
problem.
If the system is not operating correctly, first check for any error messages that
may be displayed by the control program. Section 3.4.1 lists the most common
error messages that may occur, along with a brief explanation of what the error
means. Some plausible explanations are also offered. A full listing of all log
messages is listed in Appendix F. Section 3.4.2 gives some suggestions for
Rev: 04.1
Section 3 - 39
locating a fault, should no error messages be displayed. Finally, Section 3.4.3

describes how to check individual system components, if any part of the system
is suspected faulty.
The system will aid the fault detection process by continuously monitoring all
operating conditions and sensors. Any unusual events, which may indicate an
error or a faulty sensor, are logged in the system log. In this manner prior warning
may be obtained if a sensor is developing a fault. The full list of monitor
messages is contained in Appendix F.
3.4.1 Error Messages
The system displays active errors on a special display screen on both the M&C
console, and on the BDU module LCD display. The system log, stores any
previous errors that may have occurred, along with a time stamp indicating when
the error occurred. The log may be accessed from either the module front panel
or from the console interface.
The console error display may be accessed with the following key sequence
kM72.
The BDU module error display may be accessed with the following key
sequence Main 5 . If there are no active errors, the error display option will not
be available.
The following is a list of the most common error messages that may appear. The
message that appears for each display type is shown next to the symbol for the
display method.
Spacetrack Antenna Controller
Yes
7
Enter
M a iNo
nPrev4
Track
Manual
+/ -
Indicates errors shown on the BDU module.
Aux
Indicates errors shown on the M&C console.
BDU to ADU Link Error

Yes
Enter
7
M a iNo
nPrev4
8
5
9
6
Track
+/ -
Aux
Manual
ADU
ADU module data not present.

This message appears when the BDU is no longer receiving messages from
the ADU. This may be caused by a faulty link (see Section 3.4.3.1) or no
power to the ADU module (see Section 3.4.3.8).
Azimuth Motor Error

Yes
7
Enter
M a iNo
nPrev4
Track
Manual
+/ -
Aux
MTR A
Azimuth Motor error.

Indicates that the fine azimuth gimbal motor is not in its expected position.
This may be due to the motor not moving (short circuit, open circuit or faulty
motor - see Section 3.4.3.2), the motor may not have the torque required to
Section 3 - 40
Rev: 04.1
keep up with the movement required (see Section 3.4.3.2), or a faulty

potentiometer (see Section 3.4.3.4). This message may also be cause by a
poor balance.
Elevation Motor Error

Yes
Enter
7
M a iNo
nPrev4
8
5
9
6
Track
+/ -
Aux
Manual
MTR E
Elevation Motor error.

Indicates that the elevation gimbal motor is not in its expected position. This
may be due to the motor not moving (short circuit, open circuit or faulty motor see Section 3.4.3.2), the motor may not have the torque required to keep up
with the movement required (see Section 3.4.3.2), or a faulty potentiometer
(see Section 3.4.3.4). This message may also be cause by a poor balance.
Polarisation Motor Error

Yes
Enter
7
M a iNo
nPrev4
8
5
9
6
Track
+/ -
Aux
Manual
MTR P
Polarisation Motor error.

Indicates that the polarisation gimbal motor is not in its expected position.
This may be due to the motor not moving (short circuit, open circuit or faulty
motor - see Section 3.4.3.2), the motor may not have the torque required to
keep up with the movement required (see Section 3.4.3.2), or a faulty
potentiometer (see Section 3.4.3.4). This message may also be cause by a
poor balance.
Coarse Azimuth Motor Error

Yes
7
Enter
M a iNo
nPrev4
Track
Manual
+/ -
Aux
MTR C
Coarse Azimuth Motor error.

Indicates that the coarse azimuth motor is not in its expected position. This
may be due to the motor not moving (short circuit, open circuit or faulty motor see Section 3.4.3.3), or a faulty ADT(see Section 3.4.3.5).
Step by Step Heading Information not present.

Yes
7
Enter
M a iNo
nPrev4
Track
Manual
+/ -
Aux
CMPS
Compass heading information not present.

Indicates an invalid code has been received from the step by step interface.
This may be due to a faulty link, a faulty gyro, or the gyro may not be switched
on. See Figure 9 for details on the step by step compass connection to the
BDU Interface Panel.
NMEA Heading Information not present.

Yes
7
Enter
M a iNo
nPrev4
Track
Manual
+/ -
Aux
CMPS
NMEA heading information not present.
Rev: 04.1
Section 3 - 41
Indicates that the system has not received a heading update in the required
time period. This may be due to a faulty compass, or a faulty connection to the
BDU Interface Panel. An enabled NMEA source, which does not output any
excepted messages, may also cause this error, (non supported NMEA
messages are ignored). See Appendix D for supported messages, and
Figure 9 for wiring details.
GPS Position Information not present.

Yes
Enter
7
M a iNo
nPrev4
8
5
9
6
Track
+/ -
Aux
Manual
GPS
GPS location information not present.

No valid data has been received from the GPS in the required time. This may
be due to a faulty connection between the GPS receiver and the BDU
interface panel, or a faulty GPS. The message may also be caused by a GPS
receiver, which does not have a current position fix, in which case most GPS
receivers null the output data string. See Figure 23 for details on the GPS
connection to the BDU Interface. Appendix D lists the accepted NMEA data
formats.
The Satellite is not visible.

Yes
7
Enter
M a iNo
nPrev4
Track
Manual
+/ -
Aux
HDN
Satellite is not visible.

The calculated satellite position is below the horizon. Recheck the
parameters for vessel position and the satellite longitude are correct. See
Section 4.1.2.6 for details on changing parameters. A non obtainable
polarisation angle may also cause a hidden alarm, if the system is configured
for linear polarisation.
The System is unwrapping.

Yes
7
Enter
M a iNo
nPrev4
Track
Manual
+/ -
Aux
UNWP
Unwrap warning angle reached.

This message applies to unwrap system only and indicates that an unwrap is
in progress or is imminent.
The system log may also contain error messages, which are not listed above,
these messages are listed and explained in detail in Appendix F.
3.4.2 Fault Finding
If no errors are reported, the faults that may occur will generally fall into one of
three areas, as shown below. Should any component in the system appear faulty,
use Section 3.4.3 to help pinpoint the exact cause.
The system does not change into TRACK mode after the mode is
changed to FIND.
Section 3 - 42
Rev: 04.1
Try to find the satellite in MANUAL mode. This should help narrow
down the exact cause of the problem.
Check that the antenna is moving as expected. If not, read the
Check Parameters and Check Sensors Sections below.
Does the AGC value varying as expected ?. If not, read the
Check AGC Section below
If the satellite can be found in MANUAL Mode, was the system
searching in the correct area of the sky in SEARCH Mode? If
not, read the Check Parameters and the Check Sensors
Sections below.
Does the system stay pointed at the satellite when left for an
extended period of time, (approximately five minutes), ?. The
system is capable of maintaining, in manual mode, a
communications link for long periods of time, if the vessel
motion is not excessive. This usually indicates that the
stabilisation is functioning correctly and the fault does not lie
with the above deck platform sensors or module.
Check AGC.
If the AGC does not rise significantly above zero, check the
following
Check the RF unit is powered up. The RF unit power
lead should connect to the Mains Out Connector on the
ADU Module. See Figure 6.
Check the receive IF signal is connected to the tracking
receiver.
Check the receiver is set up correctly. See Section 3.3.8
for details on setting up an internal or external receiver.
Check the wiring to the RF unit. Refer to the
manufacturers manual for details.
Check the RF unit is set up correctly. Refer to the
Check that the antenna is not obstructed. Check that nothing is
permanently or temporarily blocking the signal.
If the internal narrowband tracking receiver is selected, double
check that the tracking frequency is correct. See Section 3.3.8
for details.
Double check the allocated receive frequency with the aid of a
spectrum analyser if possible.
Check the RF unit is correctly configured. Refer to the
Check with the service provider that the Earth station outbound
carrier is present.
Rev: 04.1
Section 3 - 43
Check Parameters. See Section 4.1 for details on changing

parameters.
Check the THRESHOLD parameter is set correctly. See
Section 3.3.9
Check the SEARCH SIZE and SEARCH SPEED parameters
are set correctly. See Section 3.1.7.3.2.1 for details.
Check the LOCK SIZE and LOCK SPEED parameters are set
correctly. See Section 3.1.7.3.2.2 for details.
Check the vessel's latitude, longitude and heading are correct.
See Section 4.1.2.8.2 for details. If the vessel does not have a
NMEA source of latitude and longitude, these parameters must
be entered every time the vessel moves location. See Section
4.1.2.6 for details.
Check the satellite longitude is correctly set.
Check that the vessel has not sailed out of the satellite footprint
and also that there is sufficient coverage available.
Check that the vessel has not sailed into an area where the
antenna polarisation is incorrect.
Check Sensors
Check the gimbal motor potentiometers. See Section 3.4.3.4
Check the coarse azimuth ADT. See Section 3.4.3.5.
Check, the three velocity sensors. See Section 3.4.3.6
Check the inclinometers. See Section 3.4.3.7
The system changes to TRACK mode after FIND, but tracks badly
(modem drops in and out, AGC signal varies by a large amount, or the
EbNo fluctuates) or drops out of TRACK mode.
Check AGC
Check that the THRESHOLD value is not set too high. See
Section 3.3.9 for details on setting the THRESHOLD value.
Check that the tracking receiver has been set up correctly. See
Section 3.3.8 for details of internal receivers. Refer to
manufacturers manual for any external receivers.
Check Balance
Check that the system is balanced correctly. See Section 3.3.5
and Appendix G for details. Incorrectly balanced systems
account for the majority of tracking problems.
Check Parameters
Check the Inertia values. Check the antenna is tracing a clean
edged square box during its scan. See Section 3.3.6 for details.
Section 3 - 44
Rev: 04.1
Check that the TRACK SPEED and TRACK SIZE parameters

are set correctly. See Section 3.1.7.3.2.3 for details.
If the vessel is moving, check that its location and heading are
correctly displayed. If a compass or GPS is connected to the
system, check the correct interface has been selected. See
Section 4.1.2.2.4 for details on setting these parameters.
Check Sensors.
Check the gimbal motor potentiometers. See Section 3.4.3.4.
Check the coarse azimuth ADT. See Section 3.4.3.5.
Check the three velocity sensors. See Section 3.4.3.6.
Check the inclinometer readings. See Section 3.4.3.7
Check the gimbal motors temperature. See Section 3.4.3.2

Check the antenna has a clear view of the satellite (i.e. nothing is
temporarily blocking the antenna).
The system changes to TRACK mode and tracks, but the modem does
not indicate lock.
Check that the modem is wired correctly. See Figure 11 for details of
the transmit and receive IF signal wiring for the modem.
Check the modem is configured correctly. Refer to manufacturers

manual and the satellite operator for details.
Check the AGC level

If the AGC value on the BDU display is 100%, check the
following
Check the attenuation setting of the receiver. See
Section 3.1.7.2.2.
Does the AGC level fall when off satellite? If not, check the
following
Is the receiver set up correctly. see Section 3.1.7.2.1.
Check the AGC threshold. Has the threshold been set too low ? See
Section 3.3.9 for details.
Check the system has acquired the correct satellite, or is the system
tracking something other than a satellite ?, (the sun, during sun spot
season !) Confirm this by trying to acquire the satellite in Manual Mode.
The displayed heading does not follow the vessel heading correctly.
Step by Step Output Compass.
1. Ensure the heading source is configured for a step by step
compass. See Section 4.1.2.2.4.1.2.
Rev: 04.1
Section 3 - 45
2. The system heading does not match the vessel heading. The step
by step heading source is not absolute, it only indicates a change in
heading from the previous heading. Reset the system heading to
the same reading as the vessel heading, and observe the heading
for a period of time to ensure the headings do not diverge.
3. The system does not display gyro errors but the heading diverges
from the correct heading. This is usually solved by swapping step A
and step B, at the BDU interface panel.
4. The system displays gyro errors and the heading tracks the vessel
heading but with a varying offset. The step by step compass
outputs a gray code sequence, this means that only certain code
sequences are valid. The invalid codes are all outputs high or all
outputs low. Check the interface does not output this sequence.
5. Heading does not change. Some repeater outputs do not step all
the way down to zero volts, for example the output levels may be
+12V low and +70V high. To overcome this problem insert a zener
diode, equal to the offset (i.e. 12V in the example), in series with
the common connection. The diode should drop the zener
breakdown voltage across itself, if the zener only drops 0.7V,
reverse the diode. The power rating of the diode should be
sufficient to ensure the body of the diode does not get too hot.
6. Measure the voltage at the step by step terminal connector CN4. If
all the steps measure 0V with respect to the common connection,
check the repeater fuses and the cable between the repeater and
the interface panel.
NMEA Output Compass.
1. Ensure the heading source is configured for a NMEA output
compass. See Section 4.1.2.2.4.1.5 and 4.1.2.2.4.1.6.
2. The system heading does not change. This indicates that the
system is not receiving any messages that contain heading
information. Check the output NMEA message formats with those
accepted, which are listed in Appendix D.
3. The system heading does not change. Check the cabling between
the repeater and the BDU interface panel.
4. The system heading does not change. Check the output data rate,
stop, parity bits and physical interface format, (RS232 or RS422),
matches the configuration in the BDU module, see Section
4.1.2.2.4.1.7.
5. The system heading does not change. Verify the compass data
stream output using a console configured to the correct
communication format, paralleled with the CN5 connections.
6. Check that the compass is not sending magnetic and true heading
messages simultaneously. Since the magnetic heading rarely
Section 3 - 46
Rev: 04.1
matches the true heading this can cause the heading to vary
between two different angles.
The displayed location does not follow the vessel location correctly.
NMEA Output GPS.
1. Ensure the position source is configured for a NMEA GPS. See
Section 4.1.2.2.4.2.1 and 4.1.2.2.4.2.2.
2. The system position does not change. This indicates that the
system is not receiving any messages that contain position
information. Check the output NMEA message formats with those
accepted, which are listed in Appendix D.
3. The system position does not change. Check the cabling between
the repeater and the BDU interface panel.
4. The system position does not change. Check the output data rate,
stop, parity bits and physical interface format, (RS232 or RS422),
match the configuration in the BDU module, see Section
4.1.2.2.4.2.3.
5. The system position does not change. Verify the GPS data stream
output using a console, configured to the correct communication
format, paralleled with the CN5 connections.
6. The system position does not change. Verify the GPS receiver has
a valid fix. Some receivers invalidate the message content if they
loose contact with the required number of satellites.
3.4.3 Checking Individual System Components
3.4.3.1 ADU/BDU Comms Link
The link from the BDU Interface panel connector CN2 to the ADU interface panel
connector CN2 consists of two, optically isolated, twisted pairs, as described
below.
ADU A and ADU B lines transmit information from the BDU to the ADU at 38400
baud using the RS422 physical protocol. Approximately 50 packets of
information are sent per second. Each packet is checked for errors using a
Cyclic Redundancy Check (CRC). If these connections are faulty, the ADU
module will not receive any information, or discard any information that fails the
CRC. If no error free information is received, the ADU will shut down the power to
all the motors. The sensor information will continue to be sent by the ADU
module to the BDU module. If the ADU to BDU link is intact the BDU module will
flag this error as an ADU low receive rate or an ADU link fault.
ADU Y and ADU Z lines transmit information from the ADU to the BDU at 38400
baud using the RS422 physical protocol. Approximately 100 packets of
information are sent per second. Each packet is checked for errors using a
Cyclic Redundancy Check (CRC). If these connections are faulty, the BDU
module will not receive any information, or discard any information that fails the
Rev: 04.1
Section 3 - 47
CRC. If no error free information is received, the control system will display an
ADU error, usually accompanied by motor errors.
The link is optically isolated, no ground is required.
Check the following to confirm the communications link is at fault.
Check the BDU module is powered up.
Check the ADU Module power is on, see Section 3.4.3.8 for checking the
ADU Module power.
Select diagnostics mode via the M&C console, keystroke sequence kM64,
see Section 4.1.2.7.5 for a detailed description of diagnostic mode. Briefly,
Diagnostic mode shows information on the data being sent between the
above and below deck modules. This information is especially useful if the
problem is not affecting all of the received packets.
Check the data link from the BDU module to the ADU module is correct. The
packets count displayed should be larger then 45.
Check the data link from the ADU module to the BDU module is correct. The
packets count displayed should be larger then 90.
Check the voltage levels at the BDU interface panel and also at the ADU
interface panel. See Appendix E for a list of connector pin outs and their
expected voltage levels. Recheck these voltages with the ADU attached to the
BDU and also with the BDU disconnected from the ADU.
See Section 3.5 for replacing any components that may appear faulty
3.4.3.2 Gimbal Motor

Before assuming a gimbal motor is faulty, a number of checks should be carried
out to ensure that the motor is receiving the correct power.
It is unlikely that a motor would fail and very unlikely that more than one motor
would fail at the same time. If there appears to be problems with more than one
motor, suspect the pedestal wiring, the ADU module or an ADU / BDU
communications link problem.
Check the motor is connected correctly. See Figure 6 for details of

how the motors are wired.
Check there is a voltage present at the connector to the motor. The

signal present, is a PWM signal at 20kHz, and will only be a constant
dc signal at +100% or -100% demand. If the motor wiring has been
checked, remove the appropriate motor connector. Measure the motor
supply voltage at the connector with the negative meter probe to the
negative output and the positive meter probe to the positive output,
(see Appendix E for pinout details). Change the motor demand via the
diagnostics software (see Section 4.1.2.7.5.3.3). Although the signal is
pulse width modulated, a dc voltage meter will average this signal and
indicate the voltage changing from +VBUS at +100% demand, to 0V at
Section 3 - 48
Rev: 04.1
zero demand, and to the negative of +VBUS at -100% demand.

Incorrect voltages indicate a problem with the motor amplifier in the
ADU module. Replace the ADU module as detailed in Section 3.5.7.
Sophisticated meters may also be able to measure frequency, in which
case the meter should indicate a frequency greater than 20KHz.
Please note that this usually represents the upper limit of most meters,
therefore the reading may not be totally accurate.
Check the operation of the motor using the diagnostics program. If the
motor appears to function using the diagnostics program, but not in the
control program, check the motor pot calibration. See Section 3.4.3.4.
Check the temperature of the motor. If it is too hot to touch for any
length of time, check the system balance (see Section 3.3.5). Check
that the gimbal moves freely, over the entire axis range of motion. Pay
special attention for changes in friction, or mechanical kicks, as the
axis is rotated.
Check the wiring from P2 on the ADU module to the appropriate

motor, for evidence of damage. See Figure 6 for wiring details.
If after all the above checks, the motor appears faulty, follow the
instructions in Section 3.5.6 for replacing the motor.
3.4.3.3 Coarse Azimuth Motor
Check the gimbal motors are functioning. If they are not, read Section 3.4.3.2.
Check the coarse azimuth is enabled in software. See Section

4.1.2.2.9.
Check the motor is connected correctly. See Figure 6 for details of

how the coarse azimuth motor is connected.
Unwrap systems - check if the electrical limit switch has tripped or the
system is against its mechanical stop. See Figure 14 for a layout of the
coarse azimuth set-up.
Check the brakes located on the terminal body; to ensure the brake
body has clearance from the slide way, and is not jamming the terminal
movement.
Check there is a voltage present at the motor. If the motor wiring has
been checked, on the inclinometer termination plate, connect a
multimeter positive probe to the positive output wire, and the negative
probe to the negative output wire (see Appendix E for pin outs). Select
diagnostic mode via the M&C console. Switch the motor on in a
clockwise direction (see Section 4.1.2.7.5.3.4), the voltage reading
should be +VBUS. Switch the motor on in a counter clockwise
direction, the voltage should be the negative of +VBUS. Switch the
motor off, the voltage should be zero. If the test fails, retry the
procedure with the red motor wire disconnected. Failure again, would
Rev: 04.1
Section 3 - 49
indicate a problem with the motor amplifier in the ADU module; replace
the ADU module as detailed in Section 3.5.7.
Check the coarse azimuth drive is free to turn by switching off the
coarse azimuth motor and turning the gimbal support tower by hand. It
will be stiff, but possible to rotate.
Check the coarse azimuth drive chain is connected.

Check the wiring from P2 on the ADU module to the inclinometer
module, for evidence of damage. See Figure 6 for wiring details.
Check the operation of the motor using the diagnostics program. If the
motor appears to function using the diagnostics program, but not in the
control program, check the coarse azimuth ADT calibration. See
Section 3.4.3.5.
If after all the above checks, the motor appears faulty, follow the
instructions in Section 3.5.4 for replacing the motor.
3.4.3.4 Motor Pots
If the motor potentiometers appear faulty, check the following
Check the potentiometer calibration. See Section 3.3.4.

Move the antenna around in all directions for a period of time and
recheck the potentiometer calibration. If the ADT is not calibrated
check that the fixing screws are tight, otherwise replace the
potentiometer. See Section 3.5.2 for details.
Check the wiring from P1 on the ADU module to the appropriate

potentiometer, for evidence of damage. See Figure 6 for wiring
details.
Check the voltages at the potentiometer connector. See Appendix E

for pin outs and voltages expected. If the voltage reference is not +10V,
disconnect all connectors which output this reference until the voltage
reference returns to +10V. This should isolate the sensor, which is
causing the fault. If the voltage reference is still not +10V, replace the
ADU module as detailed in Section 3.5.7.
Select diagnostic mode on the BDU module (see Section 4.1.2.7.5).

Check the potentiometer is giving correct readings at all angles.
Check the potentiometer reading increases in the correct direction

(see Section 3.4.4). If the readings increase in wrong direction, the
potentiometer is faulty.
Check the noise reading for the potentiometer in the diagnostics

program. While the antenna is stationary, it should be no more than 1
count. The vessel must obviously be stationary to perform this test,
even slight vessel motion will produce noise counts.
Section 3 - 50
Rev: 04.1
3.4.3.5 Coarse Azimuth ADT

If the coarse azimuth ADT appears faulty, check the following
Check the ADT calibration. See Section 3.3.2.2.

Move the gimbal support tower around in both directions, and recheck
the potentiometer calibration. If the calibration is not correct, check the
lock screws are tight, and that the coarse azimuth drive mechanics are
making contact at all points, otherwise replace the ADT. See Section
3.5.3 for details.
Check the wiring from P1 on the ADU module to the coarse azimuth
ADT, for evidence of damage. See Figure 6 for wiring details.
Check the voltages at the coarse azimuth ADT connector. See

Appendix E for pin outs and the voltages expected. If any output
voltage appears incorrect, remove all connectors, which use that
voltage until the voltage returns to its correct value. This will isolate the
sensor causing the problem. If the voltage does not return to its correct
value, replace the ADU module as detailed in Section 3.5.7.
Select diagnostics mode on the BDU module (see Section 4.1.2.7.5).

Check that the ADT is giving correct readings at all angles.
Check that the ADT reading increases in the correct direction (see
Section 3.4.4).
Check the noise reading for the ADT in the diagnostics program. The
noise should not be no more than 1 count.
3.4.3.6 Velocity Sensors
If the velocity sensors are possibly causing a problem, check the following
Ensure the ADU module is correctly oriented and securely attached.

Select the diagnostics mode on the BDU module (see Section
4.1.2.7.5). Check the velocity sensor is returning a sensible value, and
that the value deflects positive in the correct direction (see Section
3.4.4). Also check the sensor readings deflect both positive and
negative for similar physical movements.
With the gimbal stationary, check that the noise reading is less than 1
count. As the velocity sensors measure rotation relative to the local
horizon, this check is obviously not possible if the vessel is moving, but
the noise count may still be indicative of a problem.
See Section 3.5.7 for details on replacing the ADU Module.

3.4.3.7 Inclinometers
If the inclinometers are suspected of causing a problem, check the following
Rev: 04.1
Section 3 - 51
Check that the inclinometers are installed in the correct orientation. The
writing on its face should be the correct way up for reading.
Check that the wiring is correct. See Figure 6 for wiring details.
Check that the voltages present at the connector. See Appendix E for
pinouts, and details of what the voltages should be present.
Select diagnostics mode on the BDU module (see Section 4.1.2.7.5)

and check that the readings are correct. Check that the readings also
display a noise reading of less than 1 counts when there is no motion
in the system, or on the host vessel. This check is obviously not
possible if the vessel is moving, but the noise count may still be helpful.
Loosen the inclinometer fixing screws and check that physical rotation
of the sensor matches the desired reading deflection as listed in
Section 3.4.4.
3.4.3.8 ADU Module Power
Check that the mains is correctly connected to the system and is

switched on. Check that the mains wiring to the junction box, (see
Figure 7B), and that the mains lead is connected to the ADU module,
(see Figure 4).
Check all the wiring to the ADU Module. There may be a short circuit
caused by a wiring / component failure.
ADU / BDU communications link. If the ADU is not receiving error free
information from the BDU, the ADU will switch off the motor power.
See Section 3.4.3.1
If all the above checks prove acceptable, see Section 3.5.7 for details
on replacing the ADU module.
3.4.3.9 BDU Module Power
The LCD display indicates when power is applied to the module. If the
display is blank, then the BDU module is faulty, or the BIOS is active.
See Section 3.5.8 for details on replacing the BDU module, see
Section 4.1.3 for details on the BIOS.
3.4.3.10 Internal Tracking Receiver
If the internal tracking receiver is suspected of causing a problem, check the
following
Check the receiver is set up correctly. See Section 3.3.8

Apply an input level using a signal generator or modem, using a CW
carrier, to the appropriate input. Check the AGC reading responds in
sympathy to the transfer specification in Appendix E. Care should be
Section 3 - 52
Rev: 04.1
observed when applying the input signal, so that the applied

level never exceeds, a composite or carrier level, of minus
10dBm. Exceeding this level will cause the detectors to fail and
invalidate any DMS warranty. Modem outputs are usually at a
relatively high level, therefore attenuation pads will normally be
required.
See Section 3.5.8 for details on replacing the BDU module.

3.4.4 Checking Sensor and Motor Polarity
In order for the system to function correctly, the sensors must return the correct
polarity of voltage for the direction that the platform rotates and the motors must
drive in the correct direction. This Section lists the checks required to ensure the
sensor and motor polarities are correct.
Note: The directions CW (clockwise) and CCW (counter clockwise) refer to the
rotation of the platform as viewed from the rear of the motor or sensor for the axis
in question.
Select diagnostics mode on the BDU module and check the following. See
Section 4.1.2.7.5 for details on diagnostics mode and the meaning of the
abbreviated sensor names.
Az Pot
Turn platform CCW to increase displayed count
El Pot
Pz Pot
Turn platform CW to increase displayed count
Az RS
El RS
Pz RS
Coarse Az
Feed
Turn CW to increase displayed count
Az Motor
>127 demand will turn motor CCW
EL Motor
Pz Motor
CA Motor
Positive direction will turn gimbal tower CCW
Feed Motor
Positive direction will turn motor CW
Rev: 04.1
Section 3 - 53
3.5 COMPONENT REPLACEMENT

This Section details how to replace various components of the Spacetrack
Stabilised Antenna Platform. Ensure the component has been inspected using
the checks in Section 3.4.3, before replacing any suspected faulty components.
Any faulty components should be returned to Data Marine Systems Ltd for failure
analysis and logging.
3.5.1 Replacing an Inclinometer Block
To replace a faulty inclinometer block (see Figures 17 and 18), remove the
mains power to the ADU.
1. Remove connector CN4 from the inclinometer block.
2. Unscrew the three terminals connecting the coarse azimuth motor.
3. Remove the four screws holding the block to the gimbal support tower.
4. Screw the replacement inclinometer block into position.
5. Reconnect the coarse azimuth motor wires, using Figure 18 as a reference.
6. Reconnect CN4, ensuring that the connector is fully screwed in.
3.5.2 Replacing a Gimbal Motor Potentiometer

1. Turn the ADU power off.
2. Unscrew the connector from the potentiometer.
3. Unscrew the three cleats that hold the pot in position and remove the pot,
taking care not to lose the nylon coupling between the potentiometer and
motor shaft.
4. Fit the brass coupling to the end of the replacement pot.
5. Test the pot and for fit, by holding in place, inserting the nylon coupling and
screwing the pot in place using the three cleats. The nylon coupling should
have a very small amount of play. No play, will cause mechanical stress, but
too much play will allow the coupling to slip. On the azimuth and elevation axis,
this amount of play can be altered by adjusting the pot coupling shaft. Tighten
the lock nut when finished adjusting the potentiometer shaft.
6. Check the pot shaft is in line with the shaft. Any skew may cause mechanical
stress.
7. Once all the components are fitted correctly, remove the pot and apply Loctite
to the pot brass coupling grub screw.
8. Screw the replacement pot in place.
9. Check that the pot turns freely with the motor.
10.Screw the connector onto the potentiometer.
11.Set up the pot as described in Section 3.3.4.
Section 3 - 54
Rev: 04.1
12.Check the balance is still correct. See Section 3.3.5.
3.5.3 Replacing the Coarse Azimuth ADT

1. Turn the ADU power off and remove the connector on the Coarse Azimuth
ADT, and remove the transducer itself, by unscrewing the three cleats that
hold the ADT in place.
2. Remove the cog, or coupling, from the shaft of the faulty ADT and fit the cog,
or coupling, to the replacement ADT.
3. Replace the Coarse Azimuth ADT, and tighten the cleats.
4. Replace the connector.
5. Set up the ADT as described in Section 3.3.2.2.
3.5.4 Replacing the Coarse Azimuth Motor

1. Turn off the power to the ADU module
2. Unscrew the coarse azimuth motor wires from the inclinometer block terminals
(see Figure 18).
3. The motor is fixed to the system with four bolts. Loosen these bolts and
remove the motor.
4. Remove the belt / chain coupling from the faulty motor and attach to the new
motor.
5. Screw the new motor to the fixing point, but allow the motor to slide in the slot.
6. Replace the belt / chain over the pulley, ensuring the belt is seated in the teeth
or groove of the cog correctly.
7. Tighten the coarse azimuth motor bolts.
8. Rewire the motor to the inclinometer block. See Figure 18 for wiring details
3.5.5 Replacing the Coarse Azimuth Limit Switch

Only applicable for systems with an unwrap feature
1. Before replacing the switch, turn off the power to the ADU module.
2. Remove the coarse azimuth mounting plate from the centre of the gimbal
support tower.
3. Disconnect the cable from the limit switch.
4. Remove the limit switch from the mounting bracket.
5. Install the replacement limit switch.
6. Reconnect the cable to the limit switch.
Rev: 04.1
Section 3 - 55
7. Set up the coarse azimuth as detailed in Section 3.3.2
3.5.6 Replacing A Gimbal Motor

1. Turn off all power and secure the antenna, in a position that the motor can be
worked on.
2. Remove the connector to the motor (and to the pot, if the polar motor is being
removed).
3. Polar motor only: Loosen the grub screw, which clamps the motor drive shaft.
4. Unbolt the motor. The new motor may require the coupling and flange plate
from the faulty motor.
5. Fit the replacement motor.
6. Replace the connector to the new motor.
7. If a polar motor is to be replaced, ensure the new motor has an ADT fitted to
the rear shaft. Calibrate the new polar motor potentiometer as detailed in
Section 3.3.4.
8. Check that the balance is still correct. See Section 3.3.5.
3.5.7 Replacing the ADU Module

Caution: The ADU module is heavy. Removing the ADU module will cause
the system to become unbalanced. Ensure the antenna is fully secured before
starting work and seek assistance, so that the module may be held in place
while removing and tightening the bolts.
1. Turn off all power and secure the antenna in a position that, the module can be
worked on.
2. Remove the three connectors from the module.
3. While supporting the module in place, remove the mounting bolts.
4. Inspect the replacement module before fitting. Check the module shock
indicator, reject the module if the maximum shock has been exceeded. See
Figure 4.
5. Check the system balance is still correct. See Section 3.3.5.
3.5.8 Replacing The BDU Module

1. Switch off the power to the BDU Module.
2. Remove the BDU module from the rack.
3. Remove all connectors and the Earth bond strap, from the rear of the BDU
module.
Section 3 - 56
Rev: 04.1
4. Replace the faulty module with the new module.

5. Replace all connectors, taking care to screw the D type pillar bolts in firmly.
Securely attach the Earth bond strap.
6. Replace the unit in the rack, and apply power.
3.5.9 Replacing the RF equipment

The RF equipment may come in a variety of different configurations. Please see
the relevant RF equipment manuals for replacement procedures.
The following general points should be noted though.
The RF equipment transmits microwave radiation. Do not work in the radome
while the system is transmitting.
Switch off the power to the ADU and to the RF transceiver, and ensure that the
antenna is fully secured before starting work. Removing any equipment will
cause the system to become dangerously unbalanced. Seek assistance when
removing or installing a RF transceiver.
Always rebalance the system after moving or replacing any RF equipment,
mounted on the stabilised platform.
Ensure the transmit RF co-ax or waveguide is securely connected, from the
RF transceiver to the feed before powering up the new RF equipment.
The RF equipment must be programmed with the correct receive parameters,
before the system will track.
3.6 MAINTENANCE
The maintenance requirements of the Stabilised Platform are minimal, the most
important items are inspection for loose bolts, and corrosion prevention. A
thorough maintenance inspection should be performed yearly at a minimum.
Before performing any maintenance procedures, obtain a photocopy of the
Maintenance Checklist in Appendix B, and complete the form as each task is
completed. Keep the completed checklist with unit documentation.
3.6.1 Lubrication
There is no lubrication requirement for the Spacetrack system. All bearings are
sealed and pre-lubricated.
Do NOT attempt to lubricate the gimbal bearings or any part of the Coarse
Azimuth Drive Assembly.
Rev: 04.1
Section 3 - 57
3.6.2 Inspection for Loose Bolts

All bolts should be secured by Loctite or lock washers. Check for loose bolts in
the locations listed on the checklist, and if necessary, add lockwashers or
Loctite.
3.6.3 Corrosion Prevention

Before the Spacetrack unit leaves the factory, all metal surfaces are protected
from marine corrosion, either with a marine paint system, or by the application of
an anti-corrosion metal protector.
A visual inspection should be performed, to locate areas of corrosion or
exposed metal. Corrosion should be removed, if possible, and exposed metal
either painted, with Marine Primer, or coated with an anti-corrosion substance.
If there are indications that the equipment has been mistreated, the specific
details should be recorded on the checklist.
3.6.4 ADU Module Care
Inspect the shock indicator on the ADU module. If the module has received an
impact exceeding the shock rating, replace the ADU module.
Section 3 - 58
Rev: 04.1

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Spacetrack 4000

Data Marine Systems Ltd

Spacetrack Field Tech Manual

3.1.7.2 Satellite Acquisition........................................................................................................................16

3.1.7.3 Satellite Tracking. ...........................................................................................................................19

3.1.7.4 Active Weights...................................................................................................................................24

3.1.7.5 System Log.........................................................................................................................................26

Data Marine Systems Ltd

Spacetrack Field Tech Manual

3.3.1 INITIALISING THE SYSTEM ...................................................................................................................... 31

Data Marine Systems Ltd

Spacetrack Field Tech Manual

3.1 EQUIPMENT OVERVIEW

This Field Technician's Manual is provided as a guide to the installation,

3.1.1 ADU Module

Data Marine Systems Ltd

Spacetrack Field Tech Manual

Data Marine Systems Ltd

Spacetrack Field Tech Manual

3.1.3 Pedestal Wiring

Data Marine Systems Ltd

Spacetrack Field Tech Manual

3.1.4 BDU Module

Data Marine Systems Ltd

Spacetrack Field Tech Manual

3.1.4.2 Below Deck Interface Panel

Data Marine Systems Ltd

Spacetrack Field Tech Manual

Data Marine Systems Ltd

Spacetrack Field Tech Manual

3.1.6 Technology Overview

Data Marine Systems Ltd

Spacetrack Field Tech Manual

Data Marine Systems Ltd

Spacetrack Field Tech Manual

Data Marine Systems Ltd

Spacetrack Field Tech Manual

3.1.7 Control System Operation

Velocity Sensors The velocity sensors produce a voltage proportional to

ADTs The ADTs, (Angular Displacement Transducers), are high quality

3.1.7.1.2 Normal and Instrument Angles.

Data Marine Systems Ltd

Spacetrack Field Tech Manual

Data Marine Systems Ltd

Spacetrack Field Tech Manual

Inertia set too low,

Inertia and track speed

Inertia set too high

INITIALISE - This mode is automatically entered when the control

Data Marine Systems Ltd

Spacetrack Field Tech Manual

MANUAL - In manual mode, the antenna can be driven to any position

TRACK - Once LOCK mode has been successfully completed, the

UNWRAP - This mode is only available on systems without sliprings. In

DIAGNOSTICS DIAGNOSTIC mode is used to calibrate the system

MONITOR MONITOR mode provides the same functions as

Data Marine Systems Ltd

Spacetrack Field Tech Manual

3.1.7.2 Satellite Acquisition.

External Interface: The external interface may be used to interface

Narrowband Receiver: The narrowband receiver is designed to

Wideband Receiver: The wideband receiver is designed to track a

L Band Down Converter: The L Band down converter is not a