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Table of Contents RoboFocus™...................................................................................................................................................................................................... 1 1. Introduction................................................................................................................................................................................................... 3 Introduction..........................................................
1. Introduction Introduction The RoboFocus is a remote focus driver to be installed on your existing focus mechanism. RoboFocus provides digital control and feedback of the focus position using a stepping motor controlled by a microprocessor. The user sends commands from his computer to the RoboFocus to move the focus, and receives back digital position information. RoboFocus can also be used to control four remote 120VAC power outlets using the optional Remote Power Module.
Meanwhile, the RFCP has told the controller to consider that it will take some number (e.g., four) microsteps to make one step or count that the RFCP will consider. Thus, the RFCP command to move 123 steps will make the motor move 123x4=492 microsteps. The controller counts these steps, and after 492 microsteps will send the current position back to the RFCP for display. Note you can change the speed of the motor by changing the “pause/microstep” setting.
2. RoboFocus Installation RoboFocus Software The RoboFocus control program (RFCP) is provided on a CD with other software from Technical Innovations. See the file “readme.txt” for installation instructions. Once installed, your software includes a help screen, which is a soft version of this instruction manual. The latest version of RFCP can also be downloaded as a zip file from http://homedome.com/downloads. RoboFocus Hardware Rack & Pinion.
In both versions, under heavy load the sprocket can slip on the inner sleeve, thus acting as a clutch. If you wish to lock them together, put a drop of instant adhesive between them. To install the RoboFocus drive motor, first check that the motor is at the midway adjustment in the slots on the motor base. Find a location for the motor and base so the timing belt fits snugly around the focus knob sprocket. Be sure the motor will not strike the fork arms when the scope swings between the forks.
Install the motor base with the timing belt reasonably tight. Once installed, you can change the tension by adjusting the mounting screws on the stepper motor bracket. This completes the installation. You will not normally be able to turn the focus knob by hand (even with the RoboFocus turned off) unless you loosen the sprocket set screws. C14 Spacer.
about ten minutes. When complete, adjust the bearing tensions so that the focus tube will hold about 5lb without slipping. NGF-S. • Use 3/32 allen wrench to remove the pair of set screws holding the jack shaft and bearing (visible in a slot on the side of the focuser). Working over the tray, turn the focuser on its side and remove the jack shaft and bearing.
RoboFocus Electrical The RoboFocus control box has five electrical connections. First, on the left end of the box: • “+12V” — 12VDC (positive) input from the 120VAC power supply included • “REMPOW MOD” — Remote Power Module connection. RoboFocus provides four control channels for the user for the optional RoboFocus Remote Power Module. You can remotely power your scope, CCD, dew heaters, etc. On the right end of the box: • “PC” — This is your RS232 connection from the computer.
scope at a star, then close the port (while leaving the program running). Switch to the focuser control program, open the COM connection, thus connecting the port to the RoboFocus, perform your focusing, then close the connection to the port. You can then switch back to the scope program, open the port once again for telescope control. These steps are easy to do in Windows. During this process, you have left all wiring in place. This method will operate with most scopes and software.
3. Operation of RoboFocus Introduction The operation of the RoboFocus begins with a brief initial check in which you will assure that the direction of the buttons is correct (“the IN button yields “IN” movement). You will also check the operation of the clutch (Rack and Pinion models) You can then operate the focuser manually (locally) or via the RFCP running on the PC (remotely). Because the remote operation is the more complete, we will discuss that first.
• • If you want to retrain, you can do so at any time. However, the usual problem is that you removed or turned off the RoboFocus and then manually adjusted the focuser. Of course, this causes loss of information on the current position. In this case, although you can retrain, it is often sufficient to simply reset the position to approximately the correct value using your computer (see below). If you want to focus with your manual R&P control knob, turn off the RoboFocus.
and calibration are selected in the temperature compensation screen. Note that Celsius and Fahrenheit cannot be selected until temperature calibration is performed. Help. This button brings up the Help/About screen. This screen shows details of the RFCP (date, version, etc.). The screen also has the Help button. When clicked, the Help button activates a copy of the WORD viewer, which in turn opens a copy of the instruction manual. Using the viewer, you can read any portion of the manual, or print it out.
IN/OUT. On the left is a box into which you can type your intended relative motion, e.g., 50 steps. Now you can click IN or OUT and the focuser will move as directed. This is very useful in fine focusing. Absolute/Relative (A/R). To the right of the position window is a button labeled A/R (the R is red). This button is a toggle. That is, if the absolute position is being displayed, e.g. a black 3000, and the button is pressed, a +/- red relative value will be shown, e.g. a + red “0” zero.
Get/Set Position. If you enter a Zero in the field (or hit refresh), RoboFocus will respond with the current position. You can always send a position and command the RoboFocus to accept the new position — in effect, you are recalibrating the RoboFocus. This is useful if the RoboFocus loses its position (e.g., because of equipment removal and replacement), but you know approximately where it is. You can also use this command to set a convenient reference point (e.g.
longer travel without resetting the position count. If you find that you need a finer focus adjustment, simply decrease the number of microsteps per count. User Button Captions. This is where you insert labels for your four Remote Power Module channels. These labels then appear on the main screen of RFCP. Show Data. The Show Data button brings up a separate screen that shows the serial communication out to the RoboFocus and back to the PC. This is useful in diagnosing problems in the system. Focus Setup.
• • • • Remote Power channels on/off Duty cycle of stepping motor when at rest (power consumption) Step Rate of motor when running (motor speed), StepSize, and Microsteps/count (coarseness of movement) StepSize (number of microsteps per count) How do two buttons control all these functions? In general, one starts and then moves through the Manual Menu using the IN button (on the left). The beeper tells you which menu item you are on.
To operate the remote power module remotely, simply click on the appropriate button in the RFCP. The color will show that the channel is on. Whether set manually or remotely, the Power Module settings remain in operation until the RoboFocus itself is powered down. That is, if you have a power channel ON, it will remain on even after you turn off the Control Program! It will, however, turn off if you remove power from the RoboFocus. All power channels are off when the RoboFocus powers up.
Trouble Shooting Guide Problem RFCP will not connect to controller Power Supply does not work Focuser goes in wrong direction Motor won’t go, or goes very slowly Cause Error in Connections Use of Improper or faulty connecting cables Wrong Serial Port settings Not plugged into wall Plug not firmly seated in controller Training not done properly Cure Review Ins Manual and complete setup Use Config/showdata to look at data Speed set too high (low torque) Set screws, etc loose Speed set too high (low torque
4. Temperature Compensation Introduction This button on the main control screen brings up the temperature compensation function of RoboFocus. Because many scopes shift focus with temperature, it is desirable to be able automatically to adjust the focus as the temperature changes during the observing session. Temperature is sensed using a sensor in the RoboFocus control box, or by an optional separate sensor that attaches to the telescope.
Note: temperature is measured using the built in temperature sensor in the RoboFocus controller. The temperature readings are in raw temperature counts (the counts are close to twice the absolute temperature in deg. Kelvin, with 32F=0C=273K=546 counts approximately), or in F, or C. We have supplied a temperature compensation dataset that was taken with an 8in. f/10 LX200 under test conditions.
• • • • • • You may reorganize the data by date/time, temperature, or position by clicking on the column headings or select an option from the “sort order” list. If you want to do wholesale editing of data, combine data sets, or perform other complex editing, you can go to Explorer, find the data file, then use Notepad to edit, cut, paste, etc.
• • • • • • Select when/how often the temperature compensation is to be done. You can operate manually anytime by pressing the MANUAL button whenever you want a temperature measurement and correction (if necessary) made. Alternatively, you can select AUTO and set the frequency of automatic temperature measurement and correction to be made. Most people will select a rate of about one correction per minute (the correction will not actually be made unless the calculated motion exceeds the dead zone).
• • The internal temperature of the controller is increased if the duty cycle is set above zero or if the controller is placed with the sensor toward the top (power switch end up). Zero to full duty can raise the sensor as much as 25F. This will introduce a measured temperature offset; however, so long as it is stable or at least tracks the scope, there will be no error introduced in the temperature compensation. In general if using the internal sensor, we recommend a duty of zero, or at most 10%.
5. Focusing Strategies Introduction There are as many focusing strategies (almost) as there are astronomers. Regardless of the method you use, the RoboFocus allows you to return to the same setting, and to make small, known changes to your focus. Focusing may be performed “manually” (taking an image, measuring the focus, moving the RoboFocus, then reimaging) or you may focus “automatically” by using one of the automated focus programs now coming available.
the focus out 0.001 inch. Remember that a move of 5 steps (using the RFCP) at a step size setting of 4 corresponds to a move of 20 microsteps. Thermal Effects. Because of the magnification inherent in the S-C design, most S-Cs change focus with temperature ( 5-7 ºF shift is sufficient to change focus). RoboFocus temperature compensation can compensate most of this shift.
Before you can effectively autofocus, you must have set up the RoboFocus properly. These are some good starting points to use. The user will usually establish the internal RoboFocus settings for efficient operation on a particular telescope-focuser combination whether focusing manually or with automatic focusing software. Once the RoboFocus is set, the user will enter additional settings as necessary in the chosen autofocusing program.
RFCP will be faster! When you are near best focus, adjust the exposure and star choice to get about 10,000 counts. Write down the focuser position for this best focus. Now manually step outward using the @Focus large steps and take images as you go. Move outward until the max value is about 20% of the starting value. It should take 5-7 steps or so to go from focus to the 20% point.
do the initial training, and then follow the instructions. Note that FocusMax allows you to choose your star and to control many other properties that are “hidden” in other software. Temperature Training Using Autofocus. Using autofocusing, it is easy to collect temperature data needed to train the temperature compensation function in RoboFocus.
ASCOM and Scripting The RoboFocus control program is available with full ASCOM scripting interface. We are unable to provide training or examples in scripting; however, ASCOM can be pursued via the WEB (simply search on ASCOM). We fully expect that very soon customers will be using this facility and sharing it with other users. Please contact us for details. Film Photography For film photography (e.g. a 35mm single lens reflex camera) RoboFocus can be used in manual mode or in computer-controlled mode.
Appendix 1 Software Commands Although not discussed above, the processor includes coding to allow one or both ends of the focuser travel to incorporate end of travel interlocks (closure to ground). The customer would provide this to fit each installation. No special software settings are required. All RFCP commands are sent/received to the RoboFocus in standard RS232 at 9600 baud, 8 bit, no parity. Commands must be sent as a block within approximately 400 ms (i.e.
FO?XXXXXZ. Commands RoboFocus to move outward by ?XXXXX steps then sends current position. Note actual limit is 65K (one digit is spare). FS?XXXXXZ. Commands RoboFocus to set current position to ?XXXXX. If ?XXXXX=0 then RoboFocus responds with the current position. If ?XXXXX<>0, RoboFocus responds with new current position. Note limit is 64000 (there is a spare digit for the future). FL?XXXXXZ Commands RoboFocus to set maximum travel to ?XXXXX. If ?XXXXX=0 then RoboFocus responds with the old setting.
Appendix 2 Schematic Diagram RoboFocus Stepper Colors DB9 1 coil A 2 coil A 3 coil B 4 coil B 5 common HURST(standard) BLK WHI BLU RED BLK/WHI-BLU/WHI NIPPON PF YEL ORG BLK BRN RED-RED Nippon Motor connections for flat telephone cable NIPPON PF RJ11 6 CABLE BLK BRN RED-RED ORG YEL GRN YEL RED BLU WHI GRN YEL RED BLU WHI DB9M TO RJ11 ADAPT RJ11 COLOR—DB9MALE RED—3 BLK—4 GRN—5 WHI—2 BLU--1 34
Appendix 3 Serial Cables DO NOT use commercial telephone cables and extensions. In telephone service, the practice is to flip the wires from end to end. Thus, if you connect multiple cables together, you will not preserve which wire is carrying which signal. You can check this by holding the two ends of a cable next to each other, oriented the same way (thumb tab down). If you see that the colors are reversed, you cannot use that cable.
Appendix 4 Serial Ports and Cables Introduction In the following discussion, we use DEVICE to stand for either Digital Dome Works, Dome Wizard, RoboFocus or other device as may be appropriate to your installation. The communication between the computer and the DEVICE is via a "serial" cable connected to a PC serial port, called a COMmunications Port (for purposes of this discussion RS232 and “serial” refer to the same thing).
Parallel Cable Options As noted, some CCD cameras require parallel cables. Standard lengths are 10-25 feet. However, you can make or purchase cables up to 100 or more feet long; however, they do get quite expensive. If you are putting the cable in conduit, you may not be able to get the connector through the conduit. Thus, you can’t easily install the connectors ahead of time, test the cable, and then install it. This can make system checkout more difficult.
Serial Port Expansion Cards Modern PCs are supplied with two serial ports; one is a 9-pin male and the other a 25-pin female. Typically they are designated as COM1 and COM2 respectively. If a mouse is supplied, it is connected in one of the following ways; directly into the 9 pin serial connector, into its own “PS/2” style jack, into the 25 pin connector via a 9 pin to 25 pin adapter, or into its own specialized card input jack.
of IRQ slots. In the scenario, some operating systems other than Windows have the advantage because many can “share” IRQ slots among serial ports, thereby allowing you to more flexibly configure the computer. Windows is certainly obsolete in this area. If you are not conversant with adding cards to PCs and dealing with IRQ/IO port address setting with the consequent software configuration adjustments, there are a variety of do-it-yourself books on the subject.
in the telescope control software). If you now establish connection, you will prove that the control program and the device are both operating correctly, the cables are good, and that the problem is in configuring or identifying the proper COM port. If you still do not connect, you may have a bad cable or connector. Try substituting another cable or adapter and retry the connection. User of Double Female Device. We can supply a double female adapter that accepts a telephone type connector on each end.
Appendix 5 ASCOM Scripting The RoboFocus Control Program exposes an ActiveX interface and can be invoked with syntax similar to this VBScript example: Set myRF = CreateObject("RoboFocus.FocusControl") msgbox myRF.actOpenComm() msgbox "Comm port status: " & myRF.getCommStatus() msgBox "Firmware version: " & myRF.getFirmwareVersion() myRF.
getMaxTravel() As Integer Returns the value of the Maximum Travel field on the Configuration screen, or returns –1 if not connected. getKeepMainOnTop() As Boolean Returns the state of the “Keep Main Form on Top” checkbox on the Configuration screen, True if checked and False if not. getDataTraffic(ByVal Direction As Integer) As String Takes an integer indicating which data stream to return, 1 for data that has been sent to RoboFocus and 2 for received data. Returns a string containing up to 1000 characters.
returns the Steps value after the action is complete, or –1 if RoboFocus is offline. If the command was successful, the returned value will equal the passed value. setMaxTravel(ByVal maxTravel As Long) As Long Takes a value for Maximum Travel in Long format. Valid values are 0 through 65535. Sets Maximum Travel to the passed value, and returns the Maximum Travel value after the action is complete, or –1 if RoboFocus is offline. If the command was successful, the returned value will equal the passed value.
actOpenComm() As Boolean Opens the Comm Port (if it’s currently closed.) Returns the status of the comm port after the action is completed. actCloseComm() As Boolean Closes the Comm Port (if it’s currently open.) Returns the status of the comm port after the action is completed. actTempCompManual() As Boolean Performs a click on the Manual Button, and returns true if click worked, or false if offline or no dataset.
Appendix 6 Parts List PART RoboFocus Unit Power Supply Instructions Compact disc Stepper Cable Connection Cables PC1 adapter DESCRIPTION Module with processor 12V 0.8A positive w 5.5/2.1 plug Manual CD with RoboFocus Control Program 9 conductor with M/F DB9, eight feet PC-RoboFocus 6-cond cable 12 ft.
