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                "title": "Review of Commercial Rotators",
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                        "*": "{{DISPLAYTITLE:Review of Commercial Rotators}}\n\n==Introduction==\n\nThe existing rotator controllers are old-fashioned and use obsolete technology, either in hardware or in software. Almost all the motor drivers are based on electromechanical switches like relays. This introduces limits to the usefulness in connection with satellite observations, and cause reduced accuracy in the movements of the rotator. In the following, we will be reviewing the three most popular commercially available rotator systems in the ham radio community:\n\n*[https://www.yaesu.com/indexVS.cfm?cmd=DisplayProducts&ProdCatID=104&encProdID=79A89CEC477AA3B819EE02831F3FD5B8 Yaesu G-5500]\n*[http://www.alfaradio.ca/ SPID rotators]\n**[https://www.rfhamdesign.com/products/spid-antenna--rotator/ras-az--el-rotator/index.php RAS]\n**[https://www.rfhamdesign.com/products/spid-antenna--rotator/big-ras-az--el-rotor/index.php BIG-RAS]\n*SPX rotators,\n**[http://www.rfhamdesign.com/products/spx-antenna-rotators/spx-01-az--el/index.php SPX-01]\n**[http://www.rfhamdesign.com/products/spx-antenna-rotators/spx-02-az--el/index.php SPX-02]\n**[http://www.rfhamdesign.com/products/spx-antenna-rotators/spx-03-az--el/index.php SPX-03]\n\n==Yaesu G-5500==\n\n===Electronics===\n\n[https://www.yaesu.com/indexVS.cfm?cmd=DisplayProducts&ProdCatID=104&encProdID=79A89CEC477AA3B819EE02831F3FD5B8 Yaesu G-5500] is an AZ/EL rotator. The [http://www.radiomanual.info/schemi/ACC_rotator/Yaesu_G-5500_user.pdf datasheet] states that it has AC motors (26V@2.8A, specifications of transformer for both motors), potentiometer (not multiturn) for position feedback which are operated with +6V, and the control loop is implemented with analog IC's (comparators and op-amps). Also, the system has end-stops in both axes in both directions (min-max), that immediately cut off the current to the motors. The connection to the client is implemented via a rotator interface, for example an [https://gitlab.com/librespacefoundation/satnogs/g5500-ardushield ardushield] that runs [https://github.com/ppapadeas/k3ng_rotator_controller/tree/lsf-g5500 k3ng rotator firmware]. The cost of the entire system is ~750$ including an analog controller.\n\nUseful links:\n\n*[https://kb5wia.blogspot.com/2012/03/yaesu-g5500-rotator-motor-repair.html Motor Repair]\n*[https://community.libre.space/t/g-5500-controller-relays/6303/4 G-5500 controller relays]\n\n[[File:Yaesug5500-electronics-1.jpeg|thumb|center|300x300px|alt=|Yaesu G5500 - Controller]]\n\n===Mechanical===\n\nThe gear box of the rotator it is a spur gear box. Almost all the gears are made from laser cut sheet metal, and the output gear is a stack of laser cut sheet metal gears. Another interesting thing is the brake system, which is a torsional spring in the motor axis, that blocks the movement from output to input. When a torque is applied from output to input, the torsional spring \"opens\" and blocks the rotation. A mechanical failure in of one brackets that mount the pins of the gears was observed in [https://network.satnogs.org/stations/6/ station 6] after a lot of observations (the oval hole). This problem is caused by the antennas being back-mounted without a counterbalance.\n\n<gallery widths=\"300\" heights=\"300\" perrow=\"2\">\nFile:Yaesug5500-mech-1.jpeg|Yaesu G5500, Gear box\nFile:Yaesug5500-mech-2.jpeg|Yaesu G5500, Mechanical failure\n</gallery>\n\n===Alternative Rotator Controllers===\n\nA list of available digital controllers:\n\n*[https://www.greenheronengineering.com/proddetail.php?prod=RT-21azel RT-21 Azimuth/Elevation, Green Heron Engineering LLC], 889$\n*[http://www.af6sa.com/projects/AZ_EL_Rotor.html, AZ-EL USB Rotor Controller AE-21]\n*[http://www.arrl.org/files/file/ETP/Satellite%20Tracker%20Interface%20ver%201_2.pdf DIY solution from ARRL]\n\n==SPID rotators==\n\nThis company it has two AZ/EL models:\n\n*[https://www.rfhamdesign.com/products/spid-antenna--rotator/ras-az--el-rotator/index.php RAS]\n*[https://www.rfhamdesign.com/products/spid-antenna--rotator/big-ras-az--el-rotor/index.php BIG-RAS]\n\n===Electronics===\n\nBoth the models are using DC motors, according to the datasheets, [https://www.rfhamdesign.com/downloads/spid-bigras-specifications.pdf BIG-RAS] and [https://www.rfhamdesign.com/downloads/spid-ras-specifications.pdf RAS]. The power consumption for both rotators is 12V@6-10A or 18V@6-11A. For the position sensor, a reed switch is used, one in each axis. This sensor is mounted in the first stage of a worm gear box (in total two worm gear boxes), with a total of 6 magnets that produce pulses with Vp-p according to the Vcc of the reed switch.\n\n<gallery widths=\"300\" heights=\"300\" perrow=\"3\">\nFile:Ras-reedswitch.jpeg| RAS, position sensor\nFile:Ras-magnets.jpeg| RAS, magnets of position sensor\nFile:Ras-pulses.jpeg| RAS, pulses of position sensor (reed switch)\n</gallery> \n\nIt seems that the encoder is relative, so when the system starts, it is programmed for the zero position. When the system loses power, the rotator controller knows the last position, it stores the last position in a non-volatile memory.\nAlso the system has two hard stops in the elevation axis, that limits the rotation between 0-180 deg. These switches immediately cut off the current to the elevation motor. There is no end stop in the azimuth axis.\n\n[[File:Ras-endstop.jpeg|thumb|center|300x300px|alt=|RAS, end-stops in elevation axis]]\n\nThe default rotator controller is [https://www.rfhamdesign.com/downloads/spid-ras-specifications.pdf Rot2Prog], the motor driver consists of relays. The interface with the client is done with [Hamlib](https://hamlib.github.io/) via a USB. A note here: The cable is USB-A male to USB-A male, which is non-standard. The USB-Serial chip inside the Rot2Prog is normally powered via the USB port, and there are known issues with inrush current on Raspberry Pi units, resulting in the USB-Serial not operating. This can be resolved by modifying the Rot2Prog to power the FTDI chip from the onboard 5V regulator (which powers the main micro-controller) instead of the USB port.\n\nTwo rectifier bridges are used for protection of the board from the currents of the DC motors. The cost of Rot2Prog  is ~250$.\n\n[[File:Ras-rotatorcontroller.jpeg|thumb|center|300x300px|alt=|RAS, Default rotator controller]]\n\nThe [https://www.rfhamdesign.com/downloads/spid-ras-specifications.pdf datasheet of RAS] refers to a parameter called [https://en.wikipedia.org/wiki/Mean_time_between_failures MTBF] which is the mean time between failures. For the rotator controller  is 15000 hours @ -5 to +40\u00b0C. For a system that is connected to the [https://network.satnogs.org/ SatNOGS network], i.e.:\n\n*in 1h, at least 2 observations of 15min each\n*in 15000 hours, 30000 observations\n*which means almost 2 years of operation\n\nStation #232 has observed one relay failure (open circuit, thankfully) approximately every year of operation. The relays are [https://octopart.com/rm85-2011-35-1012-relpol-30513939 readily available] via most major electronics parts outlets, and are fairly easy to replace with a desoldering station. A suitable [https://octopart.com/gd50-altech-24259941?r=sp relay socket] is also available to make relay changes easier.\n\n===Mechanical===\nBoth of the rotators consist of two stages of worm gear boxes. The second stage (the output) take all the load. In this system, the brake mechanism is the two stage worm gear box (big gear ratio and also the lead angle of worm gear). The cost for RAS with Rot2Prog controller is ~1200$, for BIG-RAS with Rot2Prog controller is ~1600$.\n\n<gallery widths=\"300\" heights=\"300\" perrow=\"2\">\n| RAS, position sensor\nFile:Ras-magnets.jpeg| RAS, First stage of worm gear\nFile:Ras-wormgear.jpg| RAS, Second (output) stage of worm gear\n</gallery> \n\n===Alternative Rotator Controllers===\n\nA list of available digital controllers:\n\n*[https://www.greenheronengineering.com/proddetail.php?prod=RT-21azel RT-21 Azimuth/Elevation, Green Heron Engineering LLC], 889$. This has a nice feature: \"Allows different Azimuth and Elevation rotators from any manufacturer provided they both use either AC or DC motors.  (Example:  We can configure the Azimuth to use an OR-2800 and the Elevation to use a DC motor linear actuator.  OR, the Azimuth to use a T2X, and the Elevation to use a Yaesu G-550)\"\n*[http://www.rfhamdesign.com/downloads/spid-ras_hr-specifications.pdf MD-01/02 HR], which is a high resolution edition rotator controller, with resolution of 0.1875 deg. Instead of using reed switches in the first stage of the worm gear box, it uses a hall effect sensor. Again, the motor driver consist of electromechanical switches, as shown in the picture on [http://www.rfhamdesign.com/downloads/spid-ras_hr-specifications.pdf page 3 of the datasheet]. This controller also supports soft-start functionality (PWM control), but only when the power supply is higher than 20V, [https://community.libre.space/t/review-of-commercial-rotator-controllers/3428/7 according to this post].\n\n\nThe cost of this controller (only) is calculated:\n\n*RAS/HR, RAS rotator and MD-02/HR controller is ~[1435E](http://www.rfhamdesign.com/products/spid-hr-antenna-rotators/ras-hr-az--el-rotor/index.php)\n*only the RAS rotator costs ~900E (an estimation)\n\nso the cost of MD-02/HR is ~500E.\n\n<gallery widths=\"300\" heights=\"300\" perrow=\"2\">\n| RAS, position sensor\nFile:Az-El controller front G.gif| RT-21 Azimuth/Elevation, Green Heron Engineering LLC\nFile:Rotator-controller-md.png| Rotator Controller, MD-01/02 HR\n</gallery> \n\n==SPX rotators==\n\n===Electronics & Mechanical===\n\nA series of AZ/EL rotators:\n\n*[http://www.rfhamdesign.com/products/spx-antenna-rotators/spx-01-az--el/index.php SPX-01]\n*[http://www.rfhamdesign.com/products/spx-antenna-rotators/spx-02-az--el/index.php SPX-02]\n*[http://www.rfhamdesign.com/products/spx-antenna-rotators/spx-03-az--el/index.php SPX-03]\n\nAll of these rotators seem to be based on the same first stage worm gear box as the RAS. The second stage looks like [https://ae01.alicdn.com/kf/HTB1uzY4PVXXXXX4XXXXq6xXFXXXE/NMRV050-Speed-Ratio-50-1-Worm-Gearbox-14mm-19mm-Input-Shaft-90-Degree-Worm-Gear-Speed.jpg_640x640.jpg this] and changed according to the maximum output load (and maximum break torque). From all the data-sheets, it seems that the motor needs 12-18V@3-20A or 20-24V@3-20A (max current depends on load or rotator controller, e.g. PWM control). All of these rotators use the same controllers as RAS/BIG-RAS. The motors are DC (it seems that they are the same as RAS/BIG-RAS). For position sensor, a reed switch for the standard version and a hall effect sensor for high resolution version are used. \n\nThere are no end-stops to this rotator in either azimuth or elevation, with the rotation limits entirely controlled in software, which can enable 720 degrees of continuous azimuth rotation, and up to 180 degrees of elevation if the users cable and antenna mounting setup supports it. Most SPX-based systems only use 90 degrees of elevation movement, but 'flip' mode (like the Yaesu G-5500) is theoretically possible.\n\nIn this system, the brake system is the double worm gear. In the specification, the rotation range is AZ/EL:360/180deg - the same as the RAS. The available rotator controllers are the same as the SPID rotators (Rot2Prog, and MD-01/02).\n\nA SPX-02 has been operating on station #232 for approximately 2 years, running in fairly light duty. The only failure in the rotator noted was a snapped first-stage worm-drive, which appears to be a manufacturing defect, and was replaced by the manufacturer for free. The brushed motors produce some EMI on both 2m and 70cm when moving, which can be mitigated using ferrites clamped over the control cables near the motor.\n\n<gallery widths=\"300\" heights=\"300\" perrow=\"2\">\nFile:Spx-wormgear.jpeg| SPX, second stage of worm gear\nFile:Spx-station232.jpg|  SPX-02 rotator, [https://network.satnogs.org/stations/232/ station 232]\n</gallery>\n\n[[Category:Build]]\n[[Category:Hardware]]\n[[Category:Rotator]]"
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            "1259": {
                "pageid": 1259,
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                "title": "Rotators",
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                        "*": "__NOTOC__\n\nThe SatNOGS Client uses [http://hamlib.sourceforge.net/ hamlib] to speak to a rotator. With this, we are able to support almost any commercially available rotator, and have the flexibility to support home built rotators that implement protocols like [https://www.mustbeart.com/software/easycomm.txt EasyComm] or Yaesu GS-232.\n\nIn this [https://wiki.satnogs.org/Review_of_Commercial_Rotator wiki page] you could read a review about the AZ/EL rotators, which are popular in HAM community.\n\nIf you would rather start with a stationary antenna setup (no rotator), see our [[Omnidirectional Station How To|omnidirectional guide]].\n\n{| class=\"wikitable\" style=\"width: 100%;\"\n! style=\"width: 49%\" |\n===Commercial Rotators [[Review of Commercial Rotators|(review)]]===\n!\n! style=\"width: 49%\" |\n===Homebuilt Rotators===\n|-\n|[[File:G5500.jpg|left|frameless|100x100px]]\n\n====[[G-5500|Yaesu G-5500]]====\nThe G-5500 is a common rotator for amateur radio AZ/EL applications. The SatNOGS client interfaces with this rotator via the hamlib library. While a commercial computer interface is available from Yaesu, the SatNOGS project provides an open hardware design that is much cheaper. \n\n*[[G-5500|G-5500 SatNOGS Wiki page]]\n*G-5500 Arduino interface\n*[https://www.yaesu.com/indexVS.cfm?cmd=DisplayProducts&ProdCatID=104&encProdID=79A89CEC477AA3B819EE02831F3FD5B8 Yaesu G-5500 Product link]\n|\n|[[File:30033213301 ef78e64120 k.jpg|left|frameless|133x133px]]\n\n====[[SatNOGS Rotator v2]]====\nThe v2 rotator is not recommended, as v3 provides much greater strength and durability. These docs remain for historical purposes.\n\n*[[SatNOGS Rotator v2|SatNOGS v2 Wiki page]]\n*[https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator/tree/v2 SatNOGS v2 source code]\n|-\n|[[File:Portable Rotation.jpg|left|frameless|100x100px]]\n\n====Portable Rotation AZ/EL====\nDocs to be written, but we do have successful stations using this rotator with the SatNOGS client.\n\n*[http://portablerotation.com/shop/azel-portable-rotor-system/ Portable Rotation product link]\n|\n|[[File:V3.jpg|left|frameless|100x100px]]\n\n====[[SatNOGS Rotator v3]]====\nThe v3 rotator is a complete overhaul on the v2 design. The 2020 slotted extrusion frame and larger gears provide for a stronger rotator with greater wind loading.\n\n*[[SatNOGS Rotator v3|SatNOGS v3 Wiki page]]\n*[https://gitlab.com/librespacefoundation/satnogs/satnogs-rotator/tree/v3.0 SatNOGS v3 source code]\n|-\n|[[File:Alfa Spid.jpg|left|frameless|133x133px]]\n\n====Alfa Spid X-Y====\n\n\n*[[SPID Big RAS|Alfa Spid SatNOGS Wiki page]]\n*[http://alfaradio.ca/alfaspid-azel.html Alfa Spid product link]\n|\n|[[File:SuperAntennaz.jpeg|left|frameless|150x150px]]\n\n====[[SuperAntennaz]]====\n\nSuperAntennaz is an all metal antenna rotator designed for satellite traking by user Yohan HADJI\n\n*Repository : https://github.com/YohanHadji/SuperAntennaz\n\n|-\n|[[File:Dwingleloo.png|left|frameless|100x100px]]\n\n====Dwingeloo Radio Observatory====\n(okay, you're not likely to keep a deep space observatory on the network, but it has been done!)\n\n*[https://www.youtube.com/watch?v=wGJh139EDfk Video of the observatory in action on SatNOGS (YouTube)]\n*[https://network.satnogs.org/stations/384/ Dwingeloo on SatNOGS network]\n*[[wikipedia:Dwingeloo_Radio_Observatory|About the Dwingeloo Radio Observatory (wikipedia)]]\n|\n|\n==== [[Metal antenna rotator|Metal Antenna Rotator]] ====\nA simple metal antenna rotator by User:Jujun\n<br />\n|}\n\n[[Category:Hardware]]\n[[ Category:Rotator ]]\n__NOEDITSECTION__"
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