| Note |
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Failure to properly home the Kübler encoder may result in severe damage to telescope systems. |
| Note |
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During this procedure, operation of the Kübler Safety Encoder will be stopped. This will result in the hard stops associated with that axis deploying. Ensure that no personnel are near the hard stops while performing this configuration. |
| Info |
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To re-program the safety encoders you will need the following:
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Connect the programming adapter Safety-M (P/N 8.0010.9000.0020) to the Kübler MSP-1 unit. Connection cables are stored inside the cabinets (MCC-2 or CCC-1) where the unit is located.
Using a USB-A (or USB-C) to USB-B cable connect the programming adapter to your laptop.
Insert the small red dongle, Software license SafePLC (P/N 8.SPLC.001), into the PC.
Open the appropriate SafePLC project or use the device selection window to select MSP1-Extended and both I/O modules set to EM3.
Accept EM3 Multiple Device Configuration.
Click the Opens Connection Dialog icon or navigate File…Open Connection Dialog.
If asked, select the correct COM port. The COM port should be set for baud rate = 19200, no parity, 8 bits, and 1 stop bit.
At Device Interface Compact (DIC) window: Click the Connect icon. If the connection is successful it should say ‘connected’ at the bottom.
Click the Stop icon on DIC to stop the Safety-M module so that you can make changes.
Hard Stops will deploy. Minimize the DIC.
Click the Toggle Layout icon to change to the Terminal Diagram.
Double click the safety encoder to open the Encoder Configuration window.
In the encoder configuration window, record the current Encoder B Offset(i) in the SafePLC Encder Settings spreadsheet on the Kubler Offset tab as Kubler: Offset(i) Current Setting. Make sure to use the correct column for either Azimuth (Coudé/Mount) or Altitude (Mount).
Go back to the DIC.
Click on the Scope icon to open the Scope display.
Select Encoder Data (not Encoder Position) from the drop down menu. Record the Live Raw position B in the spreadsheet Kubler: Encoder B Current Position.
Put the current position of the axis as reported by the Beckoff controller in the spreadsheet as Beckoff desired position.
Based on this information a new Offset(i) value will be generated in the spreadsheet as Kubler: Offset(i) New Setting.
Close the DIC.
You cannot save or compile till this is closed. Go back to the Encoder configuration window.
Enter the new value in the Offset (i) field.
You must click on any other field (but do not change it) to get the new value to be accepted. Then click ‘ok’ to close the window.
Click Compile The Layout.
Make sure there are no errors.
Then save the project.
Open the DIC and connect.
Click the Open Connections Dialog icon
Then click Connect.
Then click Send Config.
Wait for dialog box.
Click Ok at send successful
Click the Run button to restart the Kübler Safety-M module.
Go to the Scope tab.
Check the current positions.
Press and hold the reset button (labeled ‘function’) on the Kübler module (above the numeric LED) until the current position display changes position A to match position B.
Release the reset button.
The Kübler module will self-test and boot. If the LED display does not change to OK (run state ‘4’), a power cycle may be required. ---43506CB for mount azimuth.
| Tip |
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You are now a certified Kuebler Elf. |
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