x03_x04_PCU-240

PCU COMMAND SUMMARY x03/x04/x06 Version 2.40-2.4x 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F

NUL ignored in sio SOH STX ETX EOT ENQ ACK BEL BS HT LF VT FF CR cmd terminator ↵ SO SI DLE DC1 DC2 DC3 DC4 NAK SYN ETB CAN EM SUB ESC FS GS RS US reserved for conscan pulse

64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95

40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F

@ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _

32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63

20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F

sp ! " # $ % & ' ( ) * + , . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ?

96 97 98 99 100 101 clear errors & * 102 103 104 105 reserved for positive command response 106 reset rc in sio + 107 108 109 110 111 112 113 dec lvtrm ‡ 2 * 114 115 dec cltrm ‡ 4 * 116 clr trms ‡ 5 * 117 inc cltrm ‡ 6 * 118 119 inc lvtrm ‡ 8 * 120 121 122 123 124 125 126 reserved for negative command response 127

60 61 62 63 64 65 66 67 68 69 6A 6B 6C 6D 6E 6F 70 71 72 73 74 75 76 77 78 79 7A 7B 7C 7D 7E 7F

` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~ DEL

‡ enabled only in test mode © checksum

absolute az Adddd©↵ absolute hdg hard Bdddd©↵

* *

absolute hdg soft absolute el

Ddddd©↵ Edddd©↵

* *

read R H absolute CL absolute rel

H Idddd©↵ Jdddd©↵

msg©↵ * *

echo msg=Ldddd

Ldddd©↵

msg*↵

set parameters port e output read E A C

Ndddd©↵ Ohhhh©↵ P

msg*↵ * msg©↵

read S (sio)

S

msg©↵

PCU version

V

msg↵

diag test start(res) Znnnn©↵

*

utility cmds

^dddd©↵

*

incremental az incremental hdg

ai©↵ bi©↵

* *

incremental el

ei©↵

*

write pol write pwm differential CL differential LV differential AZ lumped CL,LV,AZ

gdddd©↵ hdddd©↵ idddd©↵ jdddd©↵ kdddd©↵

* * * * *

p

msg©↵

UTILITIES (.94) 0 std mode ^0000 C Toggle DIshScan ^0067 F Slow Scan ^0070 G Sat Reference ^0071 V Cksum off ^0086 T Test/Tilt mode ^0084 W NV write ^0087 Z Reset ^0090 2 Trim Up ^0002 4 Trim Left ^0004 5 Trim Clear ^0005 6 Trim Right ^0006 8 Trim Down ^0008 1nnn CL DC torque ^1nnn 2nnn LV DC torque ^2nnn 3nnn AZ DC torque ^3nnn Checksum for ^0086 = 172 or AC n / N PARAMETERS (.78) or (.110) Parameter Format Stype n0nnn N0nnn CL Kp n1nnn N1nnn LV Kp n2nnn N2nnn AZ Kp n3nnn N3nnn CL trim n4nnn N4nnn LV trim n5nnn N5nnn HF trim n6nnn N6nnn DishScan n7nnn N7nnn Scan Rate n8nnn N8nnn Error Byte n9nnn N9nnn System ID nAnnn Nannn

n/N 0 1 2 3 4 5 6 7 8 9 A

System N0 N1 N2 N3 N7 Index Size 23, 40:1 Double Reduction Az drive 4003 33 30 30 30 21 1 2403 2 16 8 16 21 2 Size 23 Double Stack, 10:1 Single Reduction reserved 4 0 0 0 0 4 3004 5 24 20 10 29 5 4004 6 24 24 14 25 6 5004 * 7 51 51 21 29 7 4003a 6003a * ** 4096a 5696a *

8 73 74 75

30 51 60 75

30 51 60 75

20 25 40 51

9 25 25 25

8 9 10 11

2403a 4006 4006-10 *

16 20 20

14 76 51

8 46 51

16 26 31

30 9 25

16 20 20

same as N read EAC in hex

* Odd gain values must remain odd. ** See xx03 2.6x for 6003a-6 and 6003aL read Pol & aux read references read QRSs read IVCs read TCs

u v w x y

msg©↵ msg©↵ msg©↵ msg©↵ msg©↵ Phase -45 0 +0 64 +45 128 +90 192

Status word bit assignments Bit Word 1 7 Spare 6 1 5 SlowScan 4 Sat Ref 3 DishScan 2 Unwrap 1 Data in 3 0 Data in 2

N7 Drive CL Max 0 1/2 16 1/4 32 1/8 48

Word2 El Target 1 Az Target Spare Hdg Valid Error Flag Init Hi Elevation

AZ 0 4 8 12

EL 0 1 2 3

Word 3 Spare 1 Sensor Limit Stabilization Limit Az Reference Error Az Torque Limit Error Lv Torque Limit Error Cl Torque Limit Error

xx03/xx04 ver 2.40 command set Software Part Numbers

121449, 122844, 123385, 123091 123091 for Land Mobile adds 0.40 to the version number

PGB

3/15/06

PCU COMMAND SUMMARY xx03/xx04 Version 2.27-2.2x 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F

NUL ignored in sio SOH STX ETX EOT ENQ ACK BEL BS HT LF VT FF CR cmd terminator ↵ SO SI DLE DC1 DC2 DC3 DC4 NAK SYN ETB CAN EM SUB ESC FS GS RS US reserved for conscan pulse

64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95

40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F

@ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _

32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63

20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F

sp ! " # $ % & ' ( ) * + , . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ?

96 97 98 99 100 101 clear errors & * 102 103 104 105 reserved for positive command response 106 reset rc in sio + 107 108 109 110 111 112 113 dec lvtrm ‡ 2 * 114 115 dec cltrm ‡ 4 * 116 clr trms ‡ 5 * 117 inc cltrm ‡ 6 * 118 119 inc lvtrm ‡ 8 * 120 121 122 123 124 125 126 reserved for negative command response 127

60 61 62 63 64 65 66 67 68 69 6A 6B 6C 6D 6E 6F 70 71 72 73 74 75 76 77 78 79 7A 7B 7C 7D 7E 7F

` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~ DEL

‡ enabled only in test mode © checksum

absolute az Adddd©↵ absolute hdg hard Bdddd©↵

* *

absolute hdg soft absolute el

Ddddd©↵ Edddd©↵

* *

read R H absolute CL absolute rel

H Idddd©↵ Jdddd©↵

msg©↵ * *

echo msg=Ldddd

Ldddd©↵

msg*↵

set parameters port e output read E A C

Ndddd©↵ Ohhhh©↵ P

msg*↵ * msg©↵

read S (sio)

S

msg©↵

PCU version

V

msg↵

diag test start(res) Znnnn©↵

*

utility cmds

^dddd©↵

*

incremental az incremental hdg

ai©↵ bi©↵

* *

incremental el

ei©↵

*

write pol write pwm differential CL differential LV differential AZ lumped CL,LV,AZ

gdddd©↵ hdddd©↵ idddd©↵ jdddd©↵ kdddd©↵

* * * * *

p

msg©↵

UTILITIES (.94) 0 std mode ^0000 C Toggle DIshScan ^0067 F Fast reference ^0070 G Sat reference ^0071 V Cksum off ^0086 T Test/Tilt mode ^0084 W NV write ^0087 Z Reset ^0090 2 Trim Up ^0002 4 Trim Left ^0004 5 Trim Clear ^0005 6 Trim Right ^0006 8 Trim Down ^0008 1nnn CL DC torque ^1nnn 2nnn LV DC torque ^2nnn 3nnn AZ DC torque ^3nnn Checksum for ^0086 = 172 or AC n / N PARAMETERS (.78) or (.110) Parameter Format Stype n0nnn N0nnn CL Kp n1nnn N1nnn LV Kp n2nnn N2nnn AZ Kp n3nnn N3nnn CL trim n4nnn N4nnn LV trim n5nnn N5nnn HF trim n6nnn N6nnn DishScan n7nnn N7nnn Slew Rate n8nnn N8nnn Error Byte n9nnn N9nnn System ID nAnnn Nannn

n/N 0 1 2 3 4 5 6 7 8 9 A

System N0 N1 N2 N3 N7 Index Size 23, 40:1 Double Reduction Az drive 4003 33 30 30 30 21 1 2403 2 16 8 16 21 2 Size 23 Double Stack, 10:1 Single Reduction reserved 4 0 0 0 0 4 3004 5 24 20 10 25 5 4004 6 24 24 14 45 6 5004 * 7 51 51 21 25 7 4003a 6003a * ** 4096a 5696a *

8 73 74 75

30 51 60 75

30 51 60 75

20 25 40 51

30 25 25 25

8 9 10 11

2403a 4006 4006-10 *

16 20 20

14 76 51

8 46 51

16 26 31

30 25 25

16 20 20

same as N read EAC in hex

* Odd gain values must remain odd. ** See xx03 2.6x for 6003a-6 and 6003aL read Pol & aux read references read QRSs read IVCs read TCs

u v w x y

msg©↵ msg©↵ msg©↵ msg©↵ msg©↵ Phase -45 0 +0 64 +45 128 +90 192

Status word bit assignments Bit Word 1 7 Spare 6 1 5 Fast TC 4 Sat Ref 3 DishScan 2 Unwrap 1 Data in 3 0 Data in 2

N7 Drive CL Max 0 1/2 16 1/4 32 1/8 48

Word2 El Target 1 Az Target Spare Hdg Valid Error Flag Init Hi Elevation

AZ 0 4 8 12

EL 0 1 2 3

Word 3 Spare 1 Spare Stabilization Limit Az Reference Error Az Torque Limit Error Lv Torque Limit Error Cl Torque Limit Error

xx03/xx04 ver 2.27 command set Software Part Numbers

121449, 122844, 123385, 123091 123091 for Land Mobile adds 0.40 to the version number

PGB

10/10/05

PCU COMMAND SUMMARY xx03/xx04 Version 2.26 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F

NUL ignored in sio SOH STX ETX EOT ENQ ACK BEL BS HT LF VT FF CR cmd terminator ↵ SO SI DLE DC1 DC2 DC3 DC4 NAK SYN ETB CAN EM SUB ESC FS GS RS US reserved for conscan pulse

64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95

40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F

@ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _

32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63

20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F

sp ! " # $ % & ' ( ) * + , . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ?

96 97 98 99 100 101 clear errors & * 102 103 104 105 reserved for positive command response 106 reset rc in sio + 107 108 109 110 111 112 113 dec lvtrm ‡ 2 * 114 115 dec cltrm ‡ 4 * 116 clr trms ‡ 5 * 117 inc cltrm ‡ 6 * 118 119 inc lvtrm ‡ 8 * 120 121 122 123 124 125 126 reserved for negative command response 127

60 61 62 63 64 65 66 67 68 69 6A 6B 6C 6D 6E 6F 70 71 72 73 74 75 76 77 78 79 7A 7B 7C 7D 7E 7F

` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~ DEL

xx03/xx04 ver 2.26 command set

Software Part Numbers PGB 2/10/05

absolute az Adddd©↵ absolute hdg hard Bdddd©↵

* *

absolute hdg soft absolute el

Ddddd©↵ Edddd©↵

* *

read R H absolute CL absolute rel

H Idddd©↵ Jdddd©↵

msg©↵ * *

echo msg=Ldddd

Ldddd©↵

msg*↵

set parameters port e output read E A C

Ndddd©↵ Ohhhh©↵ P

msg*↵ * msg©↵

read S (sio)

S

msg©↵

PCU version

V

msg↵

diag test start(res) Znnnn©↵

*

utility cmds

*

incremental az incremental hdg

^dddd©↵

ai©↵ bi©↵

* *

incremental el

ei©↵

*

write pol write pwm differential CL differential LV differential AZ lumped CL,LV,AZ

gdddd©↵ hdddd©↵ idddd©↵ jdddd©↵ kdddd©↵

* * * * *

same as N read EAC in hex

p

msg©↵

read Pol & aux read references read QRSs read IVCs read TCs

u v w x y

msg©↵ msg©↵ msg©↵ msg©↵ msg©↵

‡ enabled only in test mode © checksum 121449, 122844, 123385, 123091 123091 for Land Mobile adds 0.40 to the version number * Even gain values must remain even, Odd gain values must remain odd. Even / odd controls target velocity limits to match antenna inertia.

UTILITIES (.94) 0 std mode C Toggle DIshScan F Fast reference G Sat reference V Cksum off T Test/Tilt mode W NV write Z Reset 2 Trim Up 4 Trim Left 5 Trim Clear 6 Trim Right 8 Trim Down 1nnn CL DC torque 2nnn LV DC torque 3nnn AZ DC torque

^0000 ^0067 ^0070 ^0071 ^0086 ^0084 ^0087 ^0090 ^0002 ^0004 ^0005 ^0006 ^0008 ^1nnn ^2nnn ^3nnn

Checksum for ^0086 = 172 or AC N PARAMETERS (.78) or n (.110) 0 Stype N0nnn 1 CL Kp N1nnn 2 LV Kp N2nnn 3 AZ Kp N3nnn 4 CL trim N4nnn 5 LV trim N5nnn 6 HF trim N6nnn 7 DishScan N7nnn 8 Scan Rate N8nnn 9 Error Bits N9nnn System N0 N1 w/#23 Double Reduction * 4003 33 30 2403 2 16

N2

N3

N7

30 8

30 16

21 21

Double Stack Single Reduction * reserved 4 0 0 3004 5 24 20 4004 6 24 24 5004 7 51 51

0 10 14 21

0 25 45 25

4003a 6003a *** 4096a 5696a

20 25 40 51

30 25 25 25

8 73 74 75

30 51 60 75

30 51 60 75

2403a 16 14 8 16 30 4006 20 76 46 26 25 4006-10 20 51 51 31 25 *** See xx03 2.6x for 6003a-6 and 6003aL N7 Phase Drive CL AZ EL -45 0 Max 0 0 0 +0 64 1/2 16 4 1 +45 128 1/4 32 8 2 +90 192 1/8 48 12 3 Status word bit assignments Word 1 Word2 7 Spare El Target 6 1 1 5 Fast TC Az Target 4 Sat Ref Spare (Rel AZ) 3 DishScan Hdg Valid 2 Unwrap Error Flag 1 Data in 3 Init 0 Data in 2 Hi Elevation Word 3 7 Spare 6 1 5 (Control Shutdown) 4 (Stabilization Limit) 3 Az Reference Error 2 Az Torque Limit Error 1 Lv Torque Limit Error 0 Cl Torque Limit Error

PCU COMMAND SUMMARY xx03/xx04 Version 2.25 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F

NUL ignored in sio SOH STX ETX EOT ENQ ACK BEL BS HT LF VT FF CR cmd terminator ↵ SO SI DLE DC1 DC2 DC3 DC4 NAK SYN ETB CAN EM SUB ESC FS GS RS US reserved for conscan pulse

64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95

40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F

@ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _

32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63

20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F

sp ! " # $ % & ' ( ) * + , . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ?

96 97 98 99 100 101 clear errors & * 102 103 104 105 reserved for positive command response 106 reset rc in sio + 107 108 109 110 111 112 113 dec lvtrm ‡ 2 * 114 115 dec cltrm ‡ 4 * 116 clr trms ‡ 5 * 117 inc cltrm ‡ 6 * 118 119 inc lvtrm ‡ 8 * 120 121 122 123 124 125 126 reserved for negative command response 127

60 61 62 63 64 65 66 67 68 69 6A 6B 6C 6D 6E 6F 70 71 72 73 74 75 76 77 78 79 7A 7B 7C 7D 7E 7F

` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~ DEL

xx03/xx04 ver 2.25 command set

PGB 2/10/05

absolute az Adddd©↵ absolute hdg hard Bdddd©↵

* *

absolute hdg soft absolute el

Ddddd©↵ Edddd©↵

* *

read R H absolute CL absolute rel

H Idddd©↵ Jdddd©↵

msg©↵ * *

echo msg=Ldddd

Ldddd©↵

msg*↵

set parameters port e output read E A C

Ndddd©↵ Ohhhh©↵ P

msg*↵ * msg©↵

read S (sio)

S

msg©↵

PCU version

V

msg↵

diag test start(res) Znnnn©↵

*

utility cmds

*

incremental az incremental hdg

^dddd©↵

ai©↵ bi©↵

* *

incremental el

ei©↵

*

write pol write pwm differential CL differential LV differential AZ lumped CL,LV,AZ

gdddd©↵ hdddd©↵ idddd©↵ jdddd©↵ kdddd©↵

* * * * *

read EAC in hex

p

msg©↵

read Pol & aux read references read QRSs read IVCs read TCs

u v w x y

msg©↵ msg©↵ msg©↵ msg©↵ msg©↵

UTILITIES (.94) 0 std mode C Toggle DIshScan F Fast reference G Sat reference V Cksum off T Test/Tilt mode W NV write Z Reset 2 Trim Up 4 Trim Left 5 Trim Clear 6 Trim Right 8 Trim Down 1nnn CL DC torque 2nnn LV DC torque 3nnn AZ DC torque

^0000 ^0067 ^0070 ^0071 ^0086 ^0084 ^0087 ^0090 ^0002 ^0004 ^0005 ^0006 ^0008 ^1nnn ^2nnn ^3nnn

Checksum for ^0086 = 172 or AC N PARAMETERS (.78) or n (.110) 0 Stype N0nnn 1 CL Kp N1nnn 2 LV Kp N2nnn 3 AZ Kp N3nnn 4 CL trim N4nnn 5 LV trim N5nnn 6 HF trim N6nnn 7 DishScan N7nnn 8 Scan Rate N8nnn 9 Error Bits N9nnn System N0 N1 w/#23 Double Reduction * 4003 33 30 6003 34 25

N2

N3

N7

30 25

30 24

21 21

Double Stack Single Reduction 2403 obs 4 15 8 3004 5 25 20 4004 6 25 23 5004 7 50 50

16 10 14 20

30 25 45 25

4003a 6003a 4096a 5696a

8 30 30 20 21 73 50 50 24 25 74 60 60 34 25 75 75 75 51 25 *** See xx03 2.6x for 6003a-6 and 6003aL

same as N

‡ enabled only in test mode © checksum

Phase -45 0 +0 64 +45 128 +90 192

N7 Drive CL Max 0 1/2 16 1/4 32 1/8 48

Status word bit assignments Word 1 7 Spare 6 1 5 Fast TC 4 Sat Ref 3 DishScan 2 Unwrap 1 Data in 3 0 Data in 2

AZ 0 4 8 12

EL 0 1 2 3

Word2 El Target 1 Az Target Spare (Rel AZ) Hdg Valid Error Flag Init Hi Elevation

Word 3 7 Spare 6 1 5 (Control Shutdown) 4 (Stabilization Limit) 3 Az Reference Error 2 Az Torque Limit Error 1 Lv Torque Limit Error 0 Cl Torque Limit Error

PCU COMMAND SUMMARY xx03/xx04 Version 2.21-2.24 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F

NUL ignored in sio SOH STX ETX EOT ENQ ACK BEL BS HT LF VT FF CR cmd terminator ↵ SO SI DLE DC1 DC2 DC3 DC4 NAK SYN ETB CAN EM SUB ESC FS GS RS US reserved for conscan pulse

64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95

40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F

@ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _

32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63

20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F

sp ! " # $ % & ' ( ) * + , . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ?

96 97 98 99 100 101 clear errors & * 102 103 104 105 reserved for positive command response 106 reset rc in sio + 107 108 109 110 111 112 113 dec lvtrm ‡ 2 * 114 115 dec cltrm ‡ 4 * 116 clr trms ‡ 5 * 117 inc cltrm ‡ 6 * 118 119 inc lvtrm ‡ 8 * 120 121 122 123 124 125 126 reserved for negative command response 127

60 61 62 63 64 65 66 67 68 69 6A 6B 6C 6D 6E 6F 70 71 72 73 74 75 76 77 78 79 7A 7B 7C 7D 7E 7F

` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~ DEL

xx03/xx04 ver 2.21-2.24 command set

PGB 2/10/2005

absolute az Adddd©↵ absolute hdg hard Bdddd©↵

* *

absolute hdg soft absolute el

Ddddd©↵ Edddd©↵

* *

read R H absolute CL absolute rel

H Idddd©↵ Jdddd©↵

msg©↵ * *

echo msg=Ldddd

Ldddd©↵

msg*↵

set parameters port e output read E A C

Ndddd©↵ Ohhhh©↵ P

msg*↵ * msg©↵

read S (sio)

S

msg©↵

PCU version

V

msg↵

diag test start(res) Znnnn©↵

utility cmds

incremental az incremental hdg

^dddd©↵

ai©↵ bi©↵

*

UTILITIES (.94) 0 std mode C Toggle DIshScan F Fast reference G Sat reference V Cksum off T Test/Tilt mode W NV write Z Reset 2 Trim Up 4 Trim Left 5 Trim Clear 6 Trim Right 8 Trim Down 1nnn CL DC torque 2nnn LV DC torque 3nnn AZ DC torque

^0000 ^0067 ^0070 ^0071 ^0086 ^0084 ^0087 ^0090 ^0002 ^0004 ^0005 ^0006 ^0008 ^1nnn ^2nnn ^3nnn

Checksum for ^0086 = 172 or AC N PARAMETERS (.78) or n (.110) 0 Stype N0nnn 1 CL Kp N1nnn 2 LV Kp N2nnn 3 AZ Kp N3nnn 4 CL trim N4nnn 5 LV trim N5nnn 6 HF trim N6nnn 7 DishScan N7nnn 8 Scan Rate N8nnn 9 Error Bits N9nnn

(2.24 only) (2.24 only)

*

* *

incremental el

ei©↵

*

write pol write pwm differential CL differential LV differential AZ lumped CL,LV,AZ

gdddd©↵ hdddd©↵ idddd©↵ jdddd©↵ kdddd©↵

* * * * *

System N0 N1 w/#23 Double Reduction * 4003 33 30 6003 34 25

N2

N3

N7

30 25

30 25

21 21

Double Stack Single Reduction 2403 obs 4 15 8 3004 5 25 20 4004 6 25 23 5004 7 50 50

15 10 13 20

30 25 45 25

4003a 6003a

20 25

21 25

8 73

30 50

30 50

*** See xx03 2.6x for 6003a-6 and 6003aL same as N read EAC in hex

p

msg©↵

read Pol & aux read references read QRSs read IVCs read TCs

u v w x y

msg©↵ msg©↵ msg©↵ msg©↵ msg©↵

‡ enabled only in test mode © checksum

Phase -45 0 +0 64 +45 128 +90 192

N7 Drive CL Max 0 1/2 16 1/4 32 1/8 48

Status word bit assignments Word 1 7 Spare 6 1 5 Fast TC 4 Sat Ref 3 DishScan 2 Unwrap 1 Data in 3 0 Data in 2

AZ 0 4 8 12

EL 0 1 2 3

Word2 El Target 1 Az Target Spare (Rel AZ) Hdg Valid Error Flag Init Hi Elevation

Word 3 7 Spare 6 1 5 Spare 4 Spare 3 Az Reference Error 2 Az Torque Limit Error 1 Lv Torque Limit Error 0 Cl Torque Limit Error

SeaTel 03/04 PCU WORD 1

STATUS WORD DECODING TABLE |

DishScan---++--- Unwrap Sat Ref --+||+-- DataIn3 Fast TC -+||||+- DataIn2 |||||| @ 000000 A 000001 B 000010 C 000011 D 000100 E 000101 F 000110 G 000111 H 001000 I 001001 J 001010 K 001011 L 001100 M 001101 N 001110 O 001111 P 010000 Q 010001 R 010010 S 010011 T 010100 U 010101 V 010110 W 010111 X 011000 Y 011001 Z 011010 [ 011011 \ 011100 ] 011101 ^ 011110 _ 011111

WORD2

DishScan---++--- Unwrap Hdg Valid--++--- Error Hdg Valid--++--- Error Sat Ref --+||+-- DataIn3 Spare --+||+-- INIT Spare --+||+-- INIT Fast TC -+||||+- Data In2 Az Trg -+||||+- Hi Elev Az Trg -+||||+- Hi Elev |||||| |||||| |||||| ` 100000 @ 000000 ` 100000 a 100001 A 000001 a 100001 b 100010 B 000010 b 100010 c 100011 C 000011 c 100011 d 100100 D 000100 d 100100 e 100101 E 000101 e 100101 f 100110 F 000110 f 100110 g 100111 G 000111 g 100111 h 101000 H 001000 h 101000 i 101001 I 001001 i 101001 j 101010 J 001010 j 101010 k 101011 K 001011 k 101011 l 101100 L 001100 l 101100 m 101101 M 001101 m 101101 n 101110 N 001110 n 101110 o 101111 O 001111 o 101111 p 110000 P 010000 p 110000 q 110001 Q 010001 q 110001 r 110010 R 010010 r 110010 s 110011 S 010011 s 110011 t 110100 T 010100 t 110100 u 110101 U 010101 u 110101 v 110110 V 010110 v 110110 w 110111 W 010111 w 110111 x 111000 X 011000 x 111000 y 111001 Y 011001 y 111001 z 111010 Z 011010 z 111010 { 111011 [ 011011 { 111011 | 111100 \ 011100 | 111100 } 111101 ] 011101 } 111101 ~ 111110 ^ 011110 ~ 111110 C 111111 _ 011111 C 111111

WORD 3 PCU Errors Az Ref ---++--- Az TC Lim StabLim --+||+-- Lv TC Lim ShutDwn -+||||+- Cl TC Lim |||||| @ 000000 A 000001 B 000010 C 000011 D 000100 E 000101 F 000110 G 000111 H 001000 I 001001 J 001010 K 001011 L 001100 M 001101 N 001110 O 001111

AZ Ref ---++--- Az TC Lim StabLim--+||+-- Lv TC Lim ShutDwn-+||||+- Cl TC Lim |||||| P 010000 Q 010001 R 010010 S 010011 T 010100 U 010101 V 010110 W 010111 X 011000 Y 011001 Z 011010 [ 011011 \ 011100 ] 011101 ^ 011110 _ 011111

Typical PCU STATUS code read at ACU is SYH@* which decodes as: Sat Ref, DishScan, Data In2, Heading Valid, No errors

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Doc 122761 Rev D Mar, 2006