SatNOGS Wiki - User contributions [en]

File:Uc.png

2018-02-25T18:10:26Z

Gharryh: Gharryh uploaded a new version of File:Uc.png

SatNOGS Rotator Controller

2018-02-25T18:05:25Z

Gharryh: /* Micro controller */

{{Template:Development
|Name= SatNOGS Rotator Controller
|image= Rotator controller v2.jpg
|type= Rotator Controller for SatNOGS rotator.
|cost= ?
|status= Working
|latest-release-name= v2
|latest-release= v2
|source-repo= https://github.com/satnogs/satnogs-rotator-controller SatNOGS Rotator Controller
|documentation= https://wiki.satnogs.org/index.php?title=SatNOGS_Rotator_Controller SatNOGS wiki
}}

== Intro ==
SatNOGS Rotator Controller refers to the set of electronics designed to operate a SatNOGS Rotator. There have been multiple iterations of the rotator controller design, but the modularity of the approach enables operations between different versions of the controller and the rotator.
Since the start of 2016, the rotator controller design is able to facilitate a DC-motors or stepper-motors rotator design. We intend to keep this modularity for the electronics and firmware design to facilitate the variety of build by our community.

== Rotator Controller v2 ==
<gallery>
Schematic.png
Pcb.png
</gallery>

The PCB are tested in this [https://network.satnogs.org/stations/9/ ground station].

=== Features ===
* It is designed to fit the entire electronics needed to control rotator in Euroboard 80x50 mm.
* Main micro-controller is [https://store.arduino.cc/arduino-pro-mini Arduino pro-mini] dev-board with ATmega328p.
* The modular design includes plug-in either [https://www.pololu.com/product/2133 DRV8825]/[https://www.pololu.com/product/1182 A4988] or [https://www.pololu.com/product/1213/resources DC motor drivers] (MC33926).
* The power supply in embed in the same board in contrast with previous version.
* Filter in power supply of micro controller.
* It has an I2C multiplexer to connect I2C encoders AS5601 (same ID) to get position feedback for each axis.
* A temperature sensor TC-74 monitoring the temperature inside the controller box in order to protect them from over-<s>temperature</s>heating.
* More dev-pins to connect other peripherals like IMU, LCD display.
* Pins with RC-Low Pass filter for end-stops.
* Default communication interface is RS-485 (WIP) but it can <s>be</s> also be used as a UART.
* Avoid connection with GNDD directly with motor GND use keep out area.
* Electrolytic capacitor and TVS-diode in PSU input

=== Build sequence ===
* Make sure you have a [[SatNOGS Rotator v3|mechanical assembly]] of the rotator constructed and ready
* Buy the PCB. [https://oshpark.com OshPark]([https://oshpark.com/shared_projects/8eKNZnFG Board]) or [http://dirtypcbs.com DirtyPCBs.com] have been used in the past with good results.
* Assemble the PCB, by soldering the components
* Burn the firmware
* Using the wiring diagram, connect the controller to the Rotator
* You are ready! Proceed with testing

==== Micro controller ====
<gallery mode=packed heights="250px">
Uc.png|Microcontroller
Uc_orientation.png|Microcontroller Orientation
I2c_pullup.png|I2C pull-up resistors
</gallery>


==== Motor Specification ====
Maximum specification
* rotation speed: ~1200(200RPM) deg/s (after 1.8*30 = 54 gear reduction ~20deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 1.2Nm (after 1.8*30 = 54 gear reduction 64.5Nm)

Minimum specification
* rotation speed: ~360(60RPM) deg/s (after 1.8*30 = 54 gear reduction ~6.5deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 0.48Nm (after 1.8*30 = 54 gear reduction 25.92Nm)

You can design an adapter, to mount any motor to motor mount, like [https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator/blob/master/rotator_parts/motor_mount_flange.fcstd dc motor flange].
This is the [https://grobotronics.com/stepper-motor-mount-nema-17.html motor mount].

The DC motor that we use is [https://www.pololu.com/product/1104 50:1 Metal Gearmotor 37Dx54L mm],
* Size: 37D x 54L mm
* Weight: 195 g
* Shaft diameter: 6 mm
* Free-run speed @ 12V: 200 rpm
* Free-run current @ 12V: 300 mA
* Stall current @ 12V: 5000 mA
* Stall torque @ 12V: 1.2Nm

The stepper motor that we use is [https://www.omc-stepperonline.com/hybrid-stepper-motor/nema-17-bipolar-59ncm-84ozin-2a-42x48mm-4wires-w-1m-cable-and-connector-17hs19-2004s1.html Nema 17 Bipolar 59Ncm],
* Size: ▱42 x 48 mm
* Weight: 390 g
* Shaft diameter: 5 mm
* Step Angle: 1.8 deg
* Nominal speed @ 12V: 720deg/s
* Rated Current/phase: 2.0A
* Stall torque @ 12V: 0.59Nm

 

==== Motor Drivers ====
===== Stepper motor driver =====
[[File:Stepper_2.png|thumb|320x240px|Stepper motor driver]]
[[File:Stepper_1.png|thumb|320x240px|Jumpers]]
[[File:Stepper_orientation.jpg|thumb|320x240px|Orientation]]

For the stepper motor driver 2 options are tested, [https://www.pololu.com/product/2133 DRV8825] and [https://www.pololu.com/product/1182 A4988].
For both options it is necessary to solder:
* 2 electrolytic capacitors C3, C4 100uF
* 4 single 0.1" male connectors for U3, U4
* 2 fixed terminal blocks, Phoenix 1985467
* 6 jumpers to adjust the micro-step, '''default option is Full Step'''
* '''Not''' solder 2 resistors 100k, R4, R7

Be careful:
* [http://reprap.org/wiki/Pololu_stepper_driver_board adjust the current (current limiting) for stepper motors]
* add a heat-sink.
* plug the stepper motor drivers

{| {{table}}
| align="center" style="background:#f0f0f0;"|'''JP3/JP6'''
| align="center" style="background:#f0f0f0;"|'''JP2/JP5'''
| align="center" style="background:#f0f0f0;"|'''JP1/JP4'''
| align="center" style="background:#f0f0f0;"|'''Microstep Resolution'''
|-
| align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Full step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''Half step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/4 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/8 step'''
|-
| align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/16 step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
|}

===== DC motor driver =====
The DC motor controller is [https://www.pololu.com/product/1213 Dual MC33926 Motor Driver Carrier ]

* Motor driver: MC33926
* Motor channels: 2
* Minimum operating voltage: 5V
* Maximum operating voltage: 28V
* Operating voltage: 12V
* Continuous output current per channel: 2.5A
* Current sense: 0.525 V/A
* Maximum PWM frequency: 20 kHz
* Operating PWM frequency: 3921.5Hz (~4kHz)
* Minimum logic voltage: 2.5V
* Operating logic voltage: 5V
* Maximum logic voltage: 5.5V
 

==== Communication ====
===== ''UART'' =====
[[File:Jumper.png|thumb|320x240px|UART Jumpers]]
[[File:Rs 485.png|thumb|320x240px|Pin Header]]

To use UART:
* solder JP7 and JP8
* solder pin header 0.1" female connector
* not solder C1, U2, R18, R9, R8, R1, D3
* A is TX and B is RX

===== ''RS-485'' =====
WIP

 

==== Power Supply ====
[[File:Psu.png|thumb|320x240px|Power Supply]]

Recommended power supply for rotator controller is: 48V @ 1A DC.
A good choice is [https://gr.mouser.com/ProductDetail/709-LRS50-48 MEAN WELL LRS-50-48]

The switching power supply could get as input voltage, 19-60V DC.
In different input voltages, must be change the components like
D4 and F1.

 

==== Endstops ====
* Mechanical Endstops

[[File:Endstop.jpg|thumb|320x240px|Endstop]]

 

==== Encoders ====
For stepper motor setup is optional (AS5601 encoder).

WIP

 

==== Wiring ====

[[File:Tmp_wiring.jpg|thumb|center|800x420px|alt=|Temporary wiring]]

 

==== Rotator Controller enclosure - Placement ====

WIP

 

=== Firmware and Pin Assignments ===

===== Firmware =====

[https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware More info in gitlab repository]
[https://github.com/ph4as/dc_pid_control For DC motors]

===== Pins Configuration =====
* M1IN1 6, Step or PWM1
* M1IN2 5, Direction or PWM2
* M1SF 7, Status flag
* M1FB A1, Load measurment

* M2IN1 11, Step or PWM1
* M2IN2 3, Direction or PWM2
* M2SF 10, Status flag
* M2FB A0, Load measurment

* MOTOR_EN 8, Enable/Disable motors

* SW1 9, Endstop for axis 1
* SW2 4, Endstop for axis 2

* RS485_DIR 2, RS485 Half Duplex direction pin

* SDA_PIN 3, Data I2C pin
* SCL_PIN 4, Clock I2C pin

* PIN12 12, Digital output pin
* PIN13 13, Digital output pin
* A2 A2, Analog input pin
* A3 A3, Analog input pin

 

=== Pre-Flight Check ===
Need to add testing procedure here.

How do you align the rotator?

 

== Rotator Controller v1 ==

SatNOGS Rotator Controller

2018-02-17T19:26:05Z

Gharryh: /* Motor Specification */

{{Template:Development
|Name= SatNOGS Rotator Controller
|image= Rotator controller v2.jpg
|type= Rotator Controller for SatNOGS rotator.
|cost= ?
|status= Working
|latest-release-name= v2
|latest-release= v2
|source-repo= https://github.com/satnogs/satnogs-rotator-controller SatNOGS Rotator Controller
|documentation= https://wiki.satnogs.org/index.php?title=SatNOGS_Rotator_Controller SatNOGS wiki
}}

== Intro ==
SatNOGS Rotator Controller refers to the set of electronics designed to operate a SatNOGS Rotator. There have been multiple iterations of the rotator controller design, but the modularity of the approach enables operations between different versions of the controller and the rotator.
Since the start of 2016, the rotator controller design is able to facilitate a DC-motors or stepper-motors rotator design. We intend to keep this modularity for the electronics and firmware design to facilitate the variety of build by our community.

== Rotator Controller v2 ==
<gallery>
Schematic.png
Pcb.png
</gallery>

The PCB are tested in this [https://network.satnogs.org/stations/9/ ground station].

=== Features ===
* It is designed to fit the entire electronics needed to control rotator in Euroboard 80x50 mm.
* Main micro-controller is [https://store.arduino.cc/arduino-pro-mini Arduino pro-mini] dev-board with ATmega328p.
* The modular design includes plug-in either [https://www.pololu.com/product/2133 DRV8825]/[https://www.pololu.com/product/1182 A4988] or [https://www.pololu.com/product/1213/resources DC motor drivers] (MC33926).
* The power supply in embed in the same board in contrast with previous version.
* Filter in power supply of micro controller.
* It has an I2C multiplexer to connect I2C encoders AS5601 (same ID) to get position feedback for each axis.
* A temperature sensor TC-74 monitoring the temperature inside the controller box in order to protect them from over-<s>temperature</s>heating.
* More dev-pins to connect other peripherals like IMU, LCD display.
* Pins with RC-Low Pass filter for end-stops.
* Default communication interface is RS-485 (WIP) but it can <s>be</s> also be used as a UART.
* Avoid connection with GNDD directly with motor GND use keep out area.
* Electrolytic capacitor and TVS-diode in PSU input

=== Build sequence ===
* Make sure you have a [[SatNOGS Rotator v3|mechanical assembly]] of the rotator constructed and ready
* Buy the PCB. [https://oshpark.com OshPark]([https://oshpark.com/shared_projects/8eKNZnFG Board]) or [http://dirtypcbs.com DirtyPCBs.com] have been used in the past with good results.
* Assemble the PCB, by soldering the components
* Burn the firmware
* Using the wiring diagram, connect the controller to the Rotator
* You are ready! Proceed with testing

==== Micro controller ====
{|
[[File:Uc.png|thumb|320x240px|Microcontroller]]
|
[[File:Uc_orientation.png|thumb|320x240px|Microcontroller Orientation]]
|
[[File:I2c_pullup.png|thumb|320x240px|I2C pull-up resistors|left]]
|}
 

==== Motor Specification ====
Maximum specification
* rotation speed: ~1200(200RPM) deg/s (after 1.8*30 = 54 gear reduction ~20deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 1.2Nm (after 1.8*30 = 54 gear reduction 64.5Nm)

Minimum specification
* rotation speed: ~360(60RPM) deg/s (after 1.8*30 = 54 gear reduction ~6.5deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 0.48Nm (after 1.8*30 = 54 gear reduction 25.92Nm)

You can design an adapter, to mount any motor to motor mount, like [https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator/blob/master/rotator_parts/motor_mount_flange.fcstd dc motor flange].
This is the [https://grobotronics.com/stepper-motor-mount-nema-17.html motor mount].

The DC motor that we use is [https://www.pololu.com/product/1104 50:1 Metal Gearmotor 37Dx54L mm],
* Size: 37D x 54L mm
* Weight: 195 g
* Shaft diameter: 6 mm
* Free-run speed @ 12V: 200 rpm
* Free-run current @ 12V: 300 mA
* Stall current @ 12V: 5000 mA
* Stall torque @ 12V: 1.2Nm

The stepper motor that we use is [https://www.omc-stepperonline.com/hybrid-stepper-motor/nema-17-bipolar-59ncm-84ozin-2a-42x48mm-4wires-w-1m-cable-and-connector-17hs19-2004s1.html Nema 17 Bipolar 59Ncm],
* Size: ▱42 x 48 mm
* Weight: 390 g
* Shaft diameter: 5 mm
* Step Angle: 1.8 deg
* Nominal speed @ 12V: 720deg/s
* Rated Current/phase: 2.0A
* Stall torque @ 12V: 0.59Nm

 

==== Motor Drivers ====
===== Stepper motor driver =====
[[File:Stepper_2.png|thumb|320x240px|Stepper motor driver]]
[[File:Stepper_1.png|thumb|320x240px|Jumpers]]
[[File:Stepper_orientation.jpg|thumb|320x240px|Orientation]]

For the stepper motor driver 2 options are tested, [https://www.pololu.com/product/2133 DRV8825] and [https://www.pololu.com/product/1182 A4988].
For both options it is necessary to solder:
* 2 electrolytic capacitors C3, C4 100uF
* 4 single 0.1" male connectors for U3, U4
* 2 fixed terminal blocks, Phoenix 1985467
* 6 jumpers to adjust the micro-step, '''default option is Full Step'''
* '''Not''' solder 2 resistors 100k, R4, R7

Be careful:
* [http://reprap.org/wiki/Pololu_stepper_driver_board adjust the current (current limiting) for stepper motors]
* add a heat-sink.
* plug the stepper motor drivers

{| {{table}}
| align="center" style="background:#f0f0f0;"|'''JP3/JP6'''
| align="center" style="background:#f0f0f0;"|'''JP2/JP5'''
| align="center" style="background:#f0f0f0;"|'''JP1/JP4'''
| align="center" style="background:#f0f0f0;"|'''Microstep Resolution'''
|-
| align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Full step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''Half step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/4 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/8 step'''
|-
| align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/16 step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
|}

===== DC motor driver =====
The DC motor controller is [https://www.pololu.com/product/1213 Dual MC33926 Motor Driver Carrier ]

* Motor driver: MC33926
* Motor channels: 2
* Minimum operating voltage: 5V
* Maximum operating voltage: 28V
* Operating voltage: 12V
* Continuous output current per channel: 2.5A
* Current sense: 0.525 V/A
* Maximum PWM frequency: 20 kHz
* Operating PWM frequency: 3921.5Hz (~4kHz)
* Minimum logic voltage: 2.5V
* Operating logic voltage: 5V
* Maximum logic voltage: 5.5V
 

==== Communication ====
===== ''UART'' =====
[[File:Jumper.png|thumb|320x240px|UART Jumpers]]
[[File:Rs 485.png|thumb|320x240px|Pin Header]]

To use UART:
* solder JP7 and JP8
* solder pin header 0.1" female connector
* not solder C1, U2, R18, R9, R8, R1, D3
* A is TX and B is RX

===== ''RS-485'' =====
WIP

 

==== Power Supply ====
[[File:Psu.png|thumb|320x240px|Power Supply]]

Recommended power supply for rotator controller is: 48V @ 1A DC.
A good choice is [https://gr.mouser.com/ProductDetail/709-LRS50-48 MEAN WELL LRS-50-48]

The switching power supply could get as input voltage, 19-60V DC.
In different input voltages, must be change the components like
D4 and F1.

 

==== Endstops ====
* Mechanical Endstops

[[File:Endstop.jpg|thumb|320x240px|Endstop]]

 

==== Encoders ====
For stepper motor setup is optional (AS5601 encoder).

WIP

 

==== Wiring ====

[[File:Tmp_wiring.jpg|thumb|center|800x420px|alt=|Temporary wiring]]

 

==== Rotator Controller enclosure - Placement ====

WIP

 

=== Firmware and Pin Assignments ===

===== Firmware =====

[https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware More info in gitlab repository]
[https://github.com/ph4as/dc_pid_control For DC motors]

===== Pins Configuration =====
* M1IN1 6, Step or PWM1
* M1IN2 5, Direction or PWM2
* M1SF 7, Status flag
* M1FB A1, Load measurment

* M2IN1 11, Step or PWM1
* M2IN2 3, Direction or PWM2
* M2SF 10, Status flag
* M2FB A0, Load measurment

* MOTOR_EN 8, Enable/Disable motors

* SW1 9, Endstop for axis 1
* SW2 4, Endstop for axis 2

* RS485_DIR 2, RS485 Half Duplex direction pin

* SDA_PIN 3, Data I2C pin
* SCL_PIN 4, Clock I2C pin

* PIN12 12, Digital output pin
* PIN13 13, Digital output pin
* A2 A2, Analog input pin
* A3 A3, Analog input pin

 

=== Pre-Flight Check ===
Need to add testing procedure here.

How do you align the rotator?

 

== Rotator Controller v1 ==

SatNOGS Rotator Controller

2018-02-17T17:02:39Z

Gharryh: /* Micro controller */

{{Template:Development
|Name= SatNOGS Rotator Controller
|image= Rotator controller v2.jpg
|type= Rotator Controller for SatNOGS rotator.
|cost= ?
|status= Working
|latest-release-name= v2
|latest-release= v2
|source-repo= https://github.com/satnogs/satnogs-rotator-controller SatNOGS Rotator Controller
|documentation= https://wiki.satnogs.org/index.php?title=SatNOGS_Rotator_Controller SatNOGS wiki
}}

== Intro ==
SatNOGS Rotator Controller refers to the set of electronics designed to operate a SatNOGS Rotator. There have been multiple iterations of the rotator controller design, but the modularity of the approach enables operations between different versions of the controller and the rotator.
Since the start of 2016, the rotator controller design is able to facilitate a DC-motors or stepper-motors rotator design. We intend to keep this modularity for the electronics and firmware design to facilitate the variety of build by our community.

== Rotator Controller v2 ==
<gallery>
Schematic.png
Pcb.png
</gallery>

The PCB are tested in this [https://network.satnogs.org/stations/9/ ground station].

=== Features ===
* It is designed to fit the entire electronics needed to control rotator in Euroboard 80x50 mm.
* Main micro-controller is [https://store.arduino.cc/arduino-pro-mini Arduino pro-mini] dev-board with ATmega328p.
* The modular design includes plug-in either [https://www.pololu.com/product/2133 DRV8825]/[https://www.pololu.com/product/1182 A4988] or [https://www.pololu.com/product/1213/resources DC motor drivers] (MC33926).
* The power supply in embed in the same board in contrast with previous version.
* Filter in power supply of micro controller.
* It has an I2C multiplexer to connect I2C encoders AS5601 (same ID) to get position feedback for each axis.
* A temperature sensor TC-74 monitoring the temperature inside the controller box in order to protect them from over-<s>temperature</s>heating.
* More dev-pins to connect other peripherals like IMU, LCD display.
* Pins with RC-Low Pass filter for end-stops.
* Default communication interface is RS-485 (WIP) but it can <s>be</s> also be used as a UART.
* Avoid connection with GNDD directly with motor GND use keep out area.
* Electrolytic capacitor and TVS-diode in PSU input

=== Build sequence ===
* Make sure you have a [[SatNOGS Rotator v3|mechanical assembly]] of the rotator constructed and ready
* Buy the PCB. [https://oshpark.com OshPark]([https://oshpark.com/shared_projects/8eKNZnFG Board]) or [http://dirtypcbs.com DirtyPCBs.com] have been used in the past with good results.
* Assemble the PCB, by soldering the components
* Burn the firmware
* Using the wiring diagram, connect the controller to the Rotator
* You are ready! Proceed with testing

==== Micro controller ====
{|
[[File:Uc.png|thumb|320x240px|Microcontroller]]
|
[[File:Uc_orientation.png|thumb|320x240px|Microcontroller Orientation]]
|
[[File:I2c_pullup.png|thumb|320x240px|I2C pull-up resistors|left]]
|}
 

==== Motor Specification ====
Maximum specification
* rotation speed: ~1200(200RPM) deg/s (after 1.8*30 = 54 gear reduction ~20deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 1.2Nm (after 1.8*30 = 54 gear reduction 64.5Nm)

Minimum specification
* rotation speed: ~360(60RPM) deg/s (after 1.8*30 = 54 gear reduction ~6.5deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 0.48Nm (after 1.8*30 = 54 gear reduction 25.92Nm)

You can design an adapter, to mount any motor to motor mount, like [https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator/blob/master/rotator_parts/motor_mount_flange.fcstd dc motor flange].
This is the [https://grobotronics.com/stepper-motor-mount-nema-17.html motor mount].

The DC motor that we use is [https://www.pololu.com/product/1104 50:1 Metal Gearmotor 37Dx54L mm],
* Size: 37D x 54L mm
* Weight: 195 g
* Shaft diameter: 6 mm
* Free-run speed @ 12V: 200 rpm
* Free-run current @ 12V: 300 mA
* Stall current @ 12V: 5000 mA
* Stall torque @ 12V: 1.2Nm

The stepper motor that we use is [https://www.omc-stepperonline.com/hybrid-stepper-motor/nema-17-bipolar-59ncm-84ozin-2a-42x48mm-4wires-w-1m-cable-and-connector-17hs19-2004s1.html Nema 17 Bipolar 59Ncm],
* Size: 42 x 48 mm
* Weight: 390 g
* Shaft diameter: 5 mm
* Step Angle: 1.8 deg
* Nominal speed @ 12V: 720deg/s
* Rated Current/phase: 2.0A
* Stall torque @ 12V: 0.59Nm

 

==== Motor Drivers ====
===== Stepper motor driver =====
[[File:Stepper_2.png|thumb|320x240px|Stepper motor driver]]
[[File:Stepper_1.png|thumb|320x240px|Jumpers]]
[[File:Stepper_orientation.jpg|thumb|320x240px|Orientation]]

For the stepper motor driver 2 options are tested, [https://www.pololu.com/product/2133 DRV8825] and [https://www.pololu.com/product/1182 A4988].
For both options it is necessary to solder:
* 2 electrolytic capacitors C3, C4 100uF
* 4 single 0.1" male connectors for U3, U4
* 2 fixed terminal blocks, Phoenix 1985467
* 6 jumpers to adjust the micro-step, '''default option is Full Step'''
* '''Not''' solder 2 resistors 100k, R4, R7

Be careful:
* [http://reprap.org/wiki/Pololu_stepper_driver_board adjust the current (current limiting) for stepper motors]
* add a heat-sink.
* plug the stepper motor drivers

{| {{table}}
| align="center" style="background:#f0f0f0;"|'''JP3/JP6'''
| align="center" style="background:#f0f0f0;"|'''JP2/JP5'''
| align="center" style="background:#f0f0f0;"|'''JP1/JP4'''
| align="center" style="background:#f0f0f0;"|'''Microstep Resolution'''
|-
| align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Full step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''Half step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/4 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/8 step'''
|-
| align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/16 step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
|}

===== DC motor driver =====
The DC motor controller is [https://www.pololu.com/product/1213 Dual MC33926 Motor Driver Carrier ]

* Motor driver: MC33926
* Motor channels: 2
* Minimum operating voltage: 5V
* Maximum operating voltage: 28V
* Operating voltage: 12V
* Continuous output current per channel: 2.5A
* Current sense: 0.525 V/A
* Maximum PWM frequency: 20 kHz
* Operating PWM frequency: 3921.5Hz (~4kHz)
* Minimum logic voltage: 2.5V
* Operating logic voltage: 5V
* Maximum logic voltage: 5.5V
 

==== Communication ====
===== ''UART'' =====
[[File:Jumper.png|thumb|320x240px|UART Jumpers]]
[[File:Rs 485.png|thumb|320x240px|Pin Header]]

To use UART:
* solder JP7 and JP8
* solder pin header 0.1" female connector
* not solder C1, U2, R18, R9, R8, R1, D3
* A is TX and B is RX

===== ''RS-485'' =====
WIP

 

==== Power Supply ====
[[File:Psu.png|thumb|320x240px|Power Supply]]

Recommended power supply for rotator controller is: 48V @ 1A DC.
A good choice is [https://gr.mouser.com/ProductDetail/709-LRS50-48 MEAN WELL LRS-50-48]

The switching power supply could get as input voltage, 19-60V DC.
In different input voltages, must be change the components like
D4 and F1.

 

==== Endstops ====
* Mechanical Endstops

[[File:Endstop.jpg|thumb|320x240px|Endstop]]

 

==== Encoders ====
For stepper motor setup is optional (AS5601 encoder).

WIP

 

==== Wiring ====

[[File:Tmp_wiring.jpg|thumb|center|800x420px|alt=|Temporary wiring]]

 

==== Rotator Controller enclosure - Placement ====

WIP

 

=== Firmware and Pin Assignments ===

===== Firmware =====

[https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware More info in gitlab repository]
[https://github.com/ph4as/dc_pid_control For DC motors]

===== Pins Configuration =====
* M1IN1 6, Step or PWM1
* M1IN2 5, Direction or PWM2
* M1SF 7, Status flag
* M1FB A1, Load measurment

* M2IN1 11, Step or PWM1
* M2IN2 3, Direction or PWM2
* M2SF 10, Status flag
* M2FB A0, Load measurment

* MOTOR_EN 8, Enable/Disable motors

* SW1 9, Endstop for axis 1
* SW2 4, Endstop for axis 2

* RS485_DIR 2, RS485 Half Duplex direction pin

* SDA_PIN 3, Data I2C pin
* SCL_PIN 4, Clock I2C pin

* PIN12 12, Digital output pin
* PIN13 13, Digital output pin
* A2 A2, Analog input pin
* A3 A3, Analog input pin

 

=== Pre-Flight Check ===
Need to add testing procedure here.

How do you align the rotator?

 

== Rotator Controller v1 ==

SatNOGS Rotator Controller

2018-02-17T16:44:26Z

Gharryh: /* Micro controller */ rearange some pictures

{{Template:Development
|Name= SatNOGS Rotator Controller
|image= Rotator controller v2.jpg
|type= Rotator Controller for SatNOGS rotator.
|cost= ?
|status= Working
|latest-release-name= v2
|latest-release= v2
|source-repo= https://github.com/satnogs/satnogs-rotator-controller SatNOGS Rotator Controller
|documentation= https://wiki.satnogs.org/index.php?title=SatNOGS_Rotator_Controller SatNOGS wiki
}}

== Intro ==
SatNOGS Rotator Controller refers to the set of electronics designed to operate a SatNOGS Rotator. There have been multiple iterations of the rotator controller design, but the modularity of the approach enables operations between different versions of the controller and the rotator.
Since the start of 2016, the rotator controller design is able to facilitate a DC-motors or stepper-motors rotator design. We intend to keep this modularity for the electronics and firmware design to facilitate the variety of build by our community.

== Rotator Controller v2 ==
<gallery>
Schematic.png
Pcb.png
</gallery>

The PCB are tested in this [https://network.satnogs.org/stations/9/ ground station].

=== Features ===
* It is designed to fit the entire electronics needed to control rotator in Euroboard 80x50 mm.
* Main micro-controller is [https://store.arduino.cc/arduino-pro-mini Arduino pro-mini] dev-board with ATmega328p.
* The modular design includes plug-in either [https://www.pololu.com/product/2133 DRV8825]/[https://www.pololu.com/product/1182 A4988] or [https://www.pololu.com/product/1213/resources DC motor drivers] (MC33926).
* The power supply in embed in the same board in contrast with previous version.
* Filter in power supply of micro controller.
* It has an I2C multiplexer to connect I2C encoders AS5601 (same ID) to get position feedback for each axis.
* A temperature sensor TC-74 monitoring the temperature inside the controller box in order to protect them from over-<s>temperature</s>heating.
* More dev-pins to connect other peripherals like IMU, LCD display.
* Pins with RC-Low Pass filter for end-stops.
* Default communication interface is RS-485 (WIP) but it can <s>be</s> also be used as a UART.
* Avoid connection with GNDD directly with motor GND use keep out area.
* Electrolytic capacitor and TVS-diode in PSU input

=== Build sequence ===
* Make sure you have a [[SatNOGS Rotator v3|mechanical assembly]] of the rotator constructed and ready
* Buy the PCB. [https://oshpark.com OshPark]([https://oshpark.com/shared_projects/8eKNZnFG Board]) or [http://dirtypcbs.com DirtyPCBs.com] have been used in the past with good results.
* Assemble the PCB, by soldering the components
* Burn the firmware
* Using the wiring diagram, connect the controller to the Rotator
* You are ready! Proceed with testing

==== Micro controller ====
[[File:Uc.png|thumb|320x240px|Microcontroller|left]]
[[File:Uc_orientation.png|thumb|320x240px|Microcontroller Orientation|center]]
[[File:I2c_pullup.png|thumb|320x240px|I2C pull-up resistors|right]]

 

==== Motor Specification ====
Maximum specification
* rotation speed: ~1200(200RPM) deg/s (after 1.8*30 = 54 gear reduction ~20deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 1.2Nm (after 1.8*30 = 54 gear reduction 64.5Nm)

Minimum specification
* rotation speed: ~360(60RPM) deg/s (after 1.8*30 = 54 gear reduction ~6.5deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 0.48Nm (after 1.8*30 = 54 gear reduction 25.92Nm)

You can design an adapter, to mount any motor to motor mount, like [https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator/blob/master/rotator_parts/motor_mount_flange.fcstd dc motor flange].
This is the [https://grobotronics.com/stepper-motor-mount-nema-17.html motor mount].

The DC motor that we use is [https://www.pololu.com/product/1104 50:1 Metal Gearmotor 37Dx54L mm],
* Size: 37D x 54L mm
* Weight: 195 g
* Shaft diameter: 6 mm
* Free-run speed @ 12V: 200 rpm
* Free-run current @ 12V: 300 mA
* Stall current @ 12V: 5000 mA
* Stall torque @ 12V: 1.2Nm

The stepper motor that we use is [https://www.omc-stepperonline.com/hybrid-stepper-motor/nema-17-bipolar-59ncm-84ozin-2a-42x48mm-4wires-w-1m-cable-and-connector-17hs19-2004s1.html Nema 17 Bipolar 59Ncm],
* Size: 42 x 48 mm
* Weight: 390 g
* Shaft diameter: 5 mm
* Step Angle: 1.8 deg
* Nominal speed @ 12V: 720deg/s
* Rated Current/phase: 2.0A
* Stall torque @ 12V: 0.59Nm

 

==== Motor Drivers ====
===== Stepper motor driver =====
[[File:Stepper_2.png|thumb|320x240px|Stepper motor driver]]
[[File:Stepper_1.png|thumb|320x240px|Jumpers]]
[[File:Stepper_orientation.jpg|thumb|320x240px|Orientation]]

For the stepper motor driver 2 options are tested, [https://www.pololu.com/product/2133 DRV8825] and [https://www.pololu.com/product/1182 A4988].
For both options it is necessary to solder:
* 2 electrolytic capacitors C3, C4 100uF
* 4 single 0.1" male connectors for U3, U4
* 2 fixed terminal blocks, Phoenix 1985467
* 6 jumpers to adjust the micro-step, '''default option is Full Step'''
* '''Not''' solder 2 resistors 100k, R4, R7

Be careful:
* [http://reprap.org/wiki/Pololu_stepper_driver_board adjust the current (current limiting) for stepper motors]
* add a heat-sink.
* plug the stepper motor drivers

{| {{table}}
| align="center" style="background:#f0f0f0;"|'''JP3/JP6'''
| align="center" style="background:#f0f0f0;"|'''JP2/JP5'''
| align="center" style="background:#f0f0f0;"|'''JP1/JP4'''
| align="center" style="background:#f0f0f0;"|'''Microstep Resolution'''
|-
| align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Full step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''Half step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/4 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/8 step'''
|-
| align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/16 step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
|}

===== DC motor driver =====
The DC motor controller is [https://www.pololu.com/product/1213 Dual MC33926 Motor Driver Carrier ]

* Motor driver: MC33926
* Motor channels: 2
* Minimum operating voltage: 5V
* Maximum operating voltage: 28V
* Operating voltage: 12V
* Continuous output current per channel: 2.5A
* Current sense: 0.525 V/A
* Maximum PWM frequency: 20 kHz
* Operating PWM frequency: 3921.5Hz (~4kHz)
* Minimum logic voltage: 2.5V
* Operating logic voltage: 5V
* Maximum logic voltage: 5.5V
 

==== Communication ====
===== ''UART'' =====
[[File:Jumper.png|thumb|320x240px|UART Jumpers]]
[[File:Rs 485.png|thumb|320x240px|Pin Header]]

To use UART:
* solder JP7 and JP8
* solder pin header 0.1" female connector
* not solder C1, U2, R18, R9, R8, R1, D3
* A is TX and B is RX

===== ''RS-485'' =====
WIP

 

==== Power Supply ====
[[File:Psu.png|thumb|320x240px|Power Supply]]

Recommended power supply for rotator controller is: 48V @ 1A DC.
A good choice is [https://gr.mouser.com/ProductDetail/709-LRS50-48 MEAN WELL LRS-50-48]

The switching power supply could get as input voltage, 19-60V DC.
In different input voltages, must be change the components like
D4 and F1.

 

==== Endstops ====
* Mechanical Endstops

[[File:Endstop.jpg|thumb|320x240px|Endstop]]

 

==== Encoders ====
For stepper motor setup is optional (AS5601 encoder).

WIP

 

==== Wiring ====

[[File:Tmp_wiring.jpg|thumb|center|800x420px|alt=|Temporary wiring]]

 

==== Rotator Controller enclosure - Placement ====

WIP

 

=== Firmware and Pin Assignments ===

===== Firmware =====

[https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware More info in gitlab repository]
[https://github.com/ph4as/dc_pid_control For DC motors]

===== Pins Configuration =====
* M1IN1 6, Step or PWM1
* M1IN2 5, Direction or PWM2
* M1SF 7, Status flag
* M1FB A1, Load measurment

* M2IN1 11, Step or PWM1
* M2IN2 3, Direction or PWM2
* M2SF 10, Status flag
* M2FB A0, Load measurment

* MOTOR_EN 8, Enable/Disable motors

* SW1 9, Endstop for axis 1
* SW2 4, Endstop for axis 2

* RS485_DIR 2, RS485 Half Duplex direction pin

* SDA_PIN 3, Data I2C pin
* SCL_PIN 4, Clock I2C pin

* PIN12 12, Digital output pin
* PIN13 13, Digital output pin
* A2 A2, Analog input pin
* A3 A3, Analog input pin

 

=== Pre-Flight Check ===
Need to add testing procedure here.

How do you align the rotator?

 

== Rotator Controller v1 ==

SatNOGS Rotator Controller

2018-02-17T16:41:42Z

Gharryh: /* Build sequence */ added link to board

{{Template:Development
|Name= SatNOGS Rotator Controller
|image= Rotator controller v2.jpg
|type= Rotator Controller for SatNOGS rotator.
|cost= ?
|status= Working
|latest-release-name= v2
|latest-release= v2
|source-repo= https://github.com/satnogs/satnogs-rotator-controller SatNOGS Rotator Controller
|documentation= https://wiki.satnogs.org/index.php?title=SatNOGS_Rotator_Controller SatNOGS wiki
}}

== Intro ==
SatNOGS Rotator Controller refers to the set of electronics designed to operate a SatNOGS Rotator. There have been multiple iterations of the rotator controller design, but the modularity of the approach enables operations between different versions of the controller and the rotator.
Since the start of 2016, the rotator controller design is able to facilitate a DC-motors or stepper-motors rotator design. We intend to keep this modularity for the electronics and firmware design to facilitate the variety of build by our community.

== Rotator Controller v2 ==
<gallery>
Schematic.png
Pcb.png
</gallery>

The PCB are tested in this [https://network.satnogs.org/stations/9/ ground station].

=== Features ===
* It is designed to fit the entire electronics needed to control rotator in Euroboard 80x50 mm.
* Main micro-controller is [https://store.arduino.cc/arduino-pro-mini Arduino pro-mini] dev-board with ATmega328p.
* The modular design includes plug-in either [https://www.pololu.com/product/2133 DRV8825]/[https://www.pololu.com/product/1182 A4988] or [https://www.pololu.com/product/1213/resources DC motor drivers] (MC33926).
* The power supply in embed in the same board in contrast with previous version.
* Filter in power supply of micro controller.
* It has an I2C multiplexer to connect I2C encoders AS5601 (same ID) to get position feedback for each axis.
* A temperature sensor TC-74 monitoring the temperature inside the controller box in order to protect them from over-<s>temperature</s>heating.
* More dev-pins to connect other peripherals like IMU, LCD display.
* Pins with RC-Low Pass filter for end-stops.
* Default communication interface is RS-485 (WIP) but it can <s>be</s> also be used as a UART.
* Avoid connection with GNDD directly with motor GND use keep out area.
* Electrolytic capacitor and TVS-diode in PSU input

=== Build sequence ===
* Make sure you have a [[SatNOGS Rotator v3|mechanical assembly]] of the rotator constructed and ready
* Buy the PCB. [https://oshpark.com OshPark]([https://oshpark.com/shared_projects/8eKNZnFG Board]) or [http://dirtypcbs.com DirtyPCBs.com] have been used in the past with good results.
* Assemble the PCB, by soldering the components
* Burn the firmware
* Using the wiring diagram, connect the controller to the Rotator
* You are ready! Proceed with testing

==== Micro controller ====
[[File:Uc.png|thumb|320x240px|Microcontroller]]
[[File:Uc_orientation.png|thumb|320x240px|Microcontroller Orientation]]
[[File:I2c_pullup.png|thumb|320x240px|I2C pull-up resistors]]

 

==== Motor Specification ====
Maximum specification
* rotation speed: ~1200(200RPM) deg/s (after 1.8*30 = 54 gear reduction ~20deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 1.2Nm (after 1.8*30 = 54 gear reduction 64.5Nm)

Minimum specification
* rotation speed: ~360(60RPM) deg/s (after 1.8*30 = 54 gear reduction ~6.5deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 0.48Nm (after 1.8*30 = 54 gear reduction 25.92Nm)

You can design an adapter, to mount any motor to motor mount, like [https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator/blob/master/rotator_parts/motor_mount_flange.fcstd dc motor flange].
This is the [https://grobotronics.com/stepper-motor-mount-nema-17.html motor mount].

The DC motor that we use is [https://www.pololu.com/product/1104 50:1 Metal Gearmotor 37Dx54L mm],
* Size: 37D x 54L mm
* Weight: 195 g
* Shaft diameter: 6 mm
* Free-run speed @ 12V: 200 rpm
* Free-run current @ 12V: 300 mA
* Stall current @ 12V: 5000 mA
* Stall torque @ 12V: 1.2Nm

The stepper motor that we use is [https://www.omc-stepperonline.com/hybrid-stepper-motor/nema-17-bipolar-59ncm-84ozin-2a-42x48mm-4wires-w-1m-cable-and-connector-17hs19-2004s1.html Nema 17 Bipolar 59Ncm],
* Size: 42 x 48 mm
* Weight: 390 g
* Shaft diameter: 5 mm
* Step Angle: 1.8 deg
* Nominal speed @ 12V: 720deg/s
* Rated Current/phase: 2.0A
* Stall torque @ 12V: 0.59Nm

 

==== Motor Drivers ====
===== Stepper motor driver =====
[[File:Stepper_2.png|thumb|320x240px|Stepper motor driver]]
[[File:Stepper_1.png|thumb|320x240px|Jumpers]]
[[File:Stepper_orientation.jpg|thumb|320x240px|Orientation]]

For the stepper motor driver 2 options are tested, [https://www.pololu.com/product/2133 DRV8825] and [https://www.pololu.com/product/1182 A4988].
For both options it is necessary to solder:
* 2 electrolytic capacitors C3, C4 100uF
* 4 single 0.1" male connectors for U3, U4
* 2 fixed terminal blocks, Phoenix 1985467
* 6 jumpers to adjust the micro-step, '''default option is Full Step'''
* '''Not''' solder 2 resistors 100k, R4, R7

Be careful:
* [http://reprap.org/wiki/Pololu_stepper_driver_board adjust the current (current limiting) for stepper motors]
* add a heat-sink.
* plug the stepper motor drivers

{| {{table}}
| align="center" style="background:#f0f0f0;"|'''JP3/JP6'''
| align="center" style="background:#f0f0f0;"|'''JP2/JP5'''
| align="center" style="background:#f0f0f0;"|'''JP1/JP4'''
| align="center" style="background:#f0f0f0;"|'''Microstep Resolution'''
|-
| align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Full step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''Half step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/4 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/8 step'''
|-
| align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/16 step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
|}

===== DC motor driver =====
The DC motor controller is [https://www.pololu.com/product/1213 Dual MC33926 Motor Driver Carrier ]

* Motor driver: MC33926
* Motor channels: 2
* Minimum operating voltage: 5V
* Maximum operating voltage: 28V
* Operating voltage: 12V
* Continuous output current per channel: 2.5A
* Current sense: 0.525 V/A
* Maximum PWM frequency: 20 kHz
* Operating PWM frequency: 3921.5Hz (~4kHz)
* Minimum logic voltage: 2.5V
* Operating logic voltage: 5V
* Maximum logic voltage: 5.5V
 

==== Communication ====
===== ''UART'' =====
[[File:Jumper.png|thumb|320x240px|UART Jumpers]]
[[File:Rs 485.png|thumb|320x240px|Pin Header]]

To use UART:
* solder JP7 and JP8
* solder pin header 0.1" female connector
* not solder C1, U2, R18, R9, R8, R1, D3
* A is TX and B is RX

===== ''RS-485'' =====
WIP

 

==== Power Supply ====
[[File:Psu.png|thumb|320x240px|Power Supply]]

Recommended power supply for rotator controller is: 48V @ 1A DC.
A good choice is [https://gr.mouser.com/ProductDetail/709-LRS50-48 MEAN WELL LRS-50-48]

The switching power supply could get as input voltage, 19-60V DC.
In different input voltages, must be change the components like
D4 and F1.

 

==== Endstops ====
* Mechanical Endstops

[[File:Endstop.jpg|thumb|320x240px|Endstop]]

 

==== Encoders ====
For stepper motor setup is optional (AS5601 encoder).

WIP

 

==== Wiring ====

[[File:Tmp_wiring.jpg|thumb|center|800x420px|alt=|Temporary wiring]]

 

==== Rotator Controller enclosure - Placement ====

WIP

 

=== Firmware and Pin Assignments ===

===== Firmware =====

[https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware More info in gitlab repository]
[https://github.com/ph4as/dc_pid_control For DC motors]

===== Pins Configuration =====
* M1IN1 6, Step or PWM1
* M1IN2 5, Direction or PWM2
* M1SF 7, Status flag
* M1FB A1, Load measurment

* M2IN1 11, Step or PWM1
* M2IN2 3, Direction or PWM2
* M2SF 10, Status flag
* M2FB A0, Load measurment

* MOTOR_EN 8, Enable/Disable motors

* SW1 9, Endstop for axis 1
* SW2 4, Endstop for axis 2

* RS485_DIR 2, RS485 Half Duplex direction pin

* SDA_PIN 3, Data I2C pin
* SCL_PIN 4, Clock I2C pin

* PIN12 12, Digital output pin
* PIN13 13, Digital output pin
* A2 A2, Analog input pin
* A3 A3, Analog input pin

 

=== Pre-Flight Check ===
Need to add testing procedure here.

How do you align the rotator?

 

== Rotator Controller v1 ==

SatNOGS Rotator Controller

2018-02-17T16:35:59Z

Gharryh: /* Features */ some language corrections

{{Template:Development
|Name= SatNOGS Rotator Controller
|image= Rotator controller v2.jpg
|type= Rotator Controller for SatNOGS rotator.
|cost= ?
|status= Working
|latest-release-name= v2
|latest-release= v2
|source-repo= https://github.com/satnogs/satnogs-rotator-controller SatNOGS Rotator Controller
|documentation= https://wiki.satnogs.org/index.php?title=SatNOGS_Rotator_Controller SatNOGS wiki
}}

== Intro ==
SatNOGS Rotator Controller refers to the set of electronics designed to operate a SatNOGS Rotator. There have been multiple iterations of the rotator controller design, but the modularity of the approach enables operations between different versions of the controller and the rotator.
Since the start of 2016, the rotator controller design is able to facilitate a DC-motors or stepper-motors rotator design. We intend to keep this modularity for the electronics and firmware design to facilitate the variety of build by our community.

== Rotator Controller v2 ==
<gallery>
Schematic.png
Pcb.png
</gallery>

The PCB are tested in this [https://network.satnogs.org/stations/9/ ground station].

=== Features ===
* It is designed to fit the entire electronics needed to control rotator in Euroboard 80x50 mm.
* Main micro-controller is [https://store.arduino.cc/arduino-pro-mini Arduino pro-mini] dev-board with ATmega328p.
* The modular design includes plug-in either [https://www.pololu.com/product/2133 DRV8825]/[https://www.pololu.com/product/1182 A4988] or [https://www.pololu.com/product/1213/resources DC motor drivers] (MC33926).
* The power supply in embed in the same board in contrast with previous version.
* Filter in power supply of micro controller.
* It has an I2C multiplexer to connect I2C encoders AS5601 (same ID) to get position feedback for each axis.
* A temperature sensor TC-74 monitoring the temperature inside the controller box in order to protect them from over-<s>temperature</s>heating.
* More dev-pins to connect other peripherals like IMU, LCD display.
* Pins with RC-Low Pass filter for end-stops.
* Default communication interface is RS-485 (WIP) but it can <s>be</s> also be used as a UART.
* Avoid connection with GNDD directly with motor GND use keep out area.
* Electrolytic capacitor and TVS-diode in PSU input

=== Build sequence ===
* Make sure you have a [[SatNOGS Rotator v3|mechanical assembly]] of the rotator constructed and ready
* Buy the PCB. [https://oshpark.com OshPark] or [http://dirtypcbs.com DirtyPCBs.com] have been used in the past with good results.
* Assemble the PCB, by soldering the components
* Burn the firmware
* Using the wiring diagram, connect the controller to the Rotator
* You are ready! Proceed with testing

==== Micro controller ====
[[File:Uc.png|thumb|320x240px|Microcontroller]]
[[File:Uc_orientation.png|thumb|320x240px|Microcontroller Orientation]]
[[File:I2c_pullup.png|thumb|320x240px|I2C pull-up resistors]]

 

==== Motor Specification ====
Maximum specification
* rotation speed: ~1200(200RPM) deg/s (after 1.8*30 = 54 gear reduction ~20deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 1.2Nm (after 1.8*30 = 54 gear reduction 64.5Nm)

Minimum specification
* rotation speed: ~360(60RPM) deg/s (after 1.8*30 = 54 gear reduction ~6.5deg/s and we want 5deg/s according to [https://community.libre.space/t/satnogs-rotator-version-3/226 v3 rotator specification]
* stall torque: 0.48Nm (after 1.8*30 = 54 gear reduction 25.92Nm)

You can design an adapter, to mount any motor to motor mount, like [https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator/blob/master/rotator_parts/motor_mount_flange.fcstd dc motor flange].
This is the [https://grobotronics.com/stepper-motor-mount-nema-17.html motor mount].

The DC motor that we use is [https://www.pololu.com/product/1104 50:1 Metal Gearmotor 37Dx54L mm],
* Size: 37D x 54L mm
* Weight: 195 g
* Shaft diameter: 6 mm
* Free-run speed @ 12V: 200 rpm
* Free-run current @ 12V: 300 mA
* Stall current @ 12V: 5000 mA
* Stall torque @ 12V: 1.2Nm

The stepper motor that we use is [https://www.omc-stepperonline.com/hybrid-stepper-motor/nema-17-bipolar-59ncm-84ozin-2a-42x48mm-4wires-w-1m-cable-and-connector-17hs19-2004s1.html Nema 17 Bipolar 59Ncm],
* Size: 42 x 48 mm
* Weight: 390 g
* Shaft diameter: 5 mm
* Step Angle: 1.8 deg
* Nominal speed @ 12V: 720deg/s
* Rated Current/phase: 2.0A
* Stall torque @ 12V: 0.59Nm

 

==== Motor Drivers ====
===== Stepper motor driver =====
[[File:Stepper_2.png|thumb|320x240px|Stepper motor driver]]
[[File:Stepper_1.png|thumb|320x240px|Jumpers]]
[[File:Stepper_orientation.jpg|thumb|320x240px|Orientation]]

For the stepper motor driver 2 options are tested, [https://www.pololu.com/product/2133 DRV8825] and [https://www.pololu.com/product/1182 A4988].
For both options it is necessary to solder:
* 2 electrolytic capacitors C3, C4 100uF
* 4 single 0.1" male connectors for U3, U4
* 2 fixed terminal blocks, Phoenix 1985467
* 6 jumpers to adjust the micro-step, '''default option is Full Step'''
* '''Not''' solder 2 resistors 100k, R4, R7

Be careful:
* [http://reprap.org/wiki/Pololu_stepper_driver_board adjust the current (current limiting) for stepper motors]
* add a heat-sink.
* plug the stepper motor drivers

{| {{table}}
| align="center" style="background:#f0f0f0;"|'''JP3/JP6'''
| align="center" style="background:#f0f0f0;"|'''JP2/JP5'''
| align="center" style="background:#f0f0f0;"|'''JP1/JP4'''
| align="center" style="background:#f0f0f0;"|'''Microstep Resolution'''
|-
| align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Low''' || align="center" style="background:#f0f000;"|'''Full step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''Half step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/4 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''1/8 step'''
|-
| align="center"|'''Low''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/16 step'''
|-
| align="center"|'''High''' || align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''Low''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
| align="center"|'''High''' || align="center"|'''High''' || align="center"|'''High''' || align="center"|'''1/32 step'''
|-
|}

===== DC motor driver =====
The DC motor controller is [https://www.pololu.com/product/1213 Dual MC33926 Motor Driver Carrier ]

* Motor driver: MC33926
* Motor channels: 2
* Minimum operating voltage: 5V
* Maximum operating voltage: 28V
* Operating voltage: 12V
* Continuous output current per channel: 2.5A
* Current sense: 0.525 V/A
* Maximum PWM frequency: 20 kHz
* Operating PWM frequency: 3921.5Hz (~4kHz)
* Minimum logic voltage: 2.5V
* Operating logic voltage: 5V
* Maximum logic voltage: 5.5V
 

==== Communication ====
===== ''UART'' =====
[[File:Jumper.png|thumb|320x240px|UART Jumpers]]
[[File:Rs 485.png|thumb|320x240px|Pin Header]]

To use UART:
* solder JP7 and JP8
* solder pin header 0.1" female connector
* not solder C1, U2, R18, R9, R8, R1, D3
* A is TX and B is RX

===== ''RS-485'' =====
WIP

 

==== Power Supply ====
[[File:Psu.png|thumb|320x240px|Power Supply]]

Recommended power supply for rotator controller is: 48V @ 1A DC.
A good choice is [https://gr.mouser.com/ProductDetail/709-LRS50-48 MEAN WELL LRS-50-48]

The switching power supply could get as input voltage, 19-60V DC.
In different input voltages, must be change the components like
D4 and F1.

 

==== Endstops ====
* Mechanical Endstops

[[File:Endstop.jpg|thumb|320x240px|Endstop]]

 

==== Encoders ====
For stepper motor setup is optional (AS5601 encoder).

WIP

 

==== Wiring ====

[[File:Tmp_wiring.jpg|thumb|center|800x420px|alt=|Temporary wiring]]

 

==== Rotator Controller enclosure - Placement ====

WIP

 

=== Firmware and Pin Assignments ===

===== Firmware =====

[https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator-firmware More info in gitlab repository]
[https://github.com/ph4as/dc_pid_control For DC motors]

===== Pins Configuration =====
* M1IN1 6, Step or PWM1
* M1IN2 5, Direction or PWM2
* M1SF 7, Status flag
* M1FB A1, Load measurment

* M2IN1 11, Step or PWM1
* M2IN2 3, Direction or PWM2
* M2SF 10, Status flag
* M2FB A0, Load measurment

* MOTOR_EN 8, Enable/Disable motors

* SW1 9, Endstop for axis 1
* SW2 4, Endstop for axis 2

* RS485_DIR 2, RS485 Half Duplex direction pin

* SDA_PIN 3, Data I2C pin
* SCL_PIN 4, Clock I2C pin

* PIN12 12, Digital output pin
* PIN13 13, Digital output pin
* A2 A2, Analog input pin
* A3 A3, Analog input pin

 

=== Pre-Flight Check ===
Need to add testing procedure here.

How do you align the rotator?

 

== Rotator Controller v1 ==

Main Page

2018-01-03T19:50:13Z

Gharryh: Double sentence removed; (The image below explains the system.)

__NOTOC__
SatNOGS is an integral part of the [https://libre.space Libre Space Foundation]. The project aims to build a global network of satellite ground stations. Designed as an open source participatory project which is straightforward to build using commonly available parts and some 3D printed elements. A ground station is built to interact with a website that holds key satellite information. The web interface allows a user to schedule a satellite observation of any of the networked ground stations.
Here you can find more information on how to get started with SatNOGS, building and operating a satellite ground station and joining the SatNOGS Network.
A SatNOGS ground station can be made in a variety of ways. The reference design uses a Raspberry Pi and RTL-SDR dongle with either stationary antennas or either a SatNOGS rotator or a commercial amateur radio rotator. There is provision to use amateur radio transceivers or alternative SDR technology. The image below explains the system.
[[File:Satnogs_imagemap.png|center]]
<div style="border-radius: 3px; width: 16%; height: 200px; background-color: #f6f6f6; float: left; display: block; margin: 1.5%; border: 1px solid #A7D7F9; text-align: center; padding: 2.5%; padding-top: 0px;">
__NOTOC__
<h2>What is SatNOGS</h2>
[[Intro|Intro to SatNOGS]]
[[Ground Stations|Intro to ground stations]]
[[Glossary]]
</div>
<div style="border-radius: 3px; width: 16%; height: 200px; background-color: #f6f6f6; float: left; display: block; margin: 1.5%; border: 1px solid #A7D7F9; text-align: center; padding: 2.5%; padding-top: 0px;">
<h2>Build</h2>
[[Get_Started|Learn how to get started]]
[[Build|Build a ground station]]
[[Rotators|Rotators]]
[[Antennas|Antennas]]
[[Radio|Signal Reception]]
</div>
<div style="border-radius: 3px; width: 16%; height: 200px; background-color: #f6f6f6; float: left; display: block; margin: 1.5%; border: 1px solid #A7D7F9; text-align: center; padding: 2.5%; padding-top: 0px;">
<h2>Operate</h2>
[[Development Environment]]
[[Production Environment]]
[[Satnogs DB]]
 
</div>
<div style="border-radius: 3px; width: 16%; height: 200px; background-color: #f6f6f6; float: left; display: block; margin: 1.5%; border: 1px solid #A7D7F9; text-align: center; padding: 2.5%; padding-top: 0px;">
<h2>Contribute</h2>
[[Software contribution]]
[[Provide documentation]]
[[Satnogs DB]]
[[Troubleshooting|Troubleshooting]]
[[Get_In_Touch|Get in touch and ask for help]]
 
</div>