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1. Connect Ethernet/IP cable directly to programming computer/laptop.

2. Set internal switches to ‘888’.

3. Power up 843ES. This will restore factory default settings.

4. Power down 843ES.

5. Set internal switches to ‘999’.

6. Power up 843ES.

7. Using BOOTP assign address (such as 10.4.1.21) to 843ES.

8. Using RSLinx Classic, under device properties, change ‘Obtain IP address automatically using DHCP’ to ‘Configure IP address manually.’

9. Power down 843ES.

10. Turn off BOOTP / DHCP servers on programming computer/laptop.

11. Power up 843ES.

12. Ping the assigned IP address to ensure the 843ES has retained the IP address and is correctly programmed.

13. If this fails, ensure that there are no I/O connection to or through the 843ES. Repeat above steps.

How to 'home' the 843ES encoder

Before the 843ES can be used it will need to be ‘homed.’ This process is very straight forward but it is critical to ensure it is properly completed.

1. Determine the precise position of the telescope axis. This can most likely be determined from the actual position as reported by the Beckhoff controller.

2. Enter the actual position of the telescope axis in the appropriate tag in the telescope LIC.

   1. Telescope Altitude Alt_HomePosition

   2. Telescope Azimuth Az_HomePosition

3. Toggle the appropriate bit to set the home position.

   1. Telescope Altitude HMI_TEL_Alt_HomePosition which is mapped to safety tag Tel_Enc_Alt_HomeTrig

   2. Telescope Azimuth HMI_TEL_Az_HomePosition which is mapped to safety tag Tel_Enc_Az_HomeTrig

4. Verify that the encoder position changes to match the home position.

   1. Telescope Altitude Altitude_SFX.ActualPosition

   2. Telescope Azimuth Azimuth_SFX.ActualPosition