Ace SmartDome Assembly instructions

ACE SmartDome™
User Reference Manual
Computer control for
ObservaDome Laboratories enclosures
2021 February 01
©2001-2021 All Rights Reserved
Astronomical Consultants and Equipment Inc.
2901 W. Sahuaro Divide
Tucson AZ, 85742
www.astronomical.com

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TABLE OF CONTENTS
1.0 INTRODUCTION .................................................................................................. 6
1.1 Purpose................................................................................................................. 6
1.2 Safety.................................................................................................................... 6
1.3 Definitions............................................................................................................ 7
1.4 Acronyms............................................................................................................. 7
1.5 System Hardware Description.............................................................................. 8
1.5.1 Main Control Box......................................................................................... 9
1.5.1.1 LCD Screen ......................................................................................... 10
1.5.2 Azimuth Control Box.................................................................................. 10
1.5.3 Azimuth Motors.......................................................................................... 10
1.5.4 Azimuth Encoding ...................................................................................... 10
1.5.5 Home Sensor............................................................................................... 10
1.5.6 Conductor bars............................................................................................ 11
1.5.7 Top Box ...................................................................................................... 11
1.5.8 Cloud Sensor or other External Sensor....................................................... 11
1.5.9 ACE Rain-Snow Sensor.............................................................................. 11
2.0 ACE SmartDome™ SOFTWARE........................................................................ 12
2.1 Overview............................................................................................................ 12
2.2 Software Installation .......................................................................................... 12
2.2.1 TCP/IP Setup .............................................................................................. 13
2.2.2 Serial Communications Port....................................................................... 16
2.3 ACE SmartDome Dialog.................................................................................... 18
2.3.1 The Control frame icons:............................................................................ 18
2.3.2 The Status frame:........................................................................................ 19
2.4 Dome Azimuth................................................................................................... 19
2.4.1 Azimuth GoTo ............................................................................................ 20
2.4.2 Home........................................................................................................... 20
2.4.3 Park............................................................................................................. 21
2.4.4 Azimuth Reset............................................................................................. 21
2.5 Setup Azimuth.................................................................................................... 22
2.5.1 Setup Azimuth Home.................................................................................. 22
2.5.2 Setup Azimuth Park.................................................................................... 22
2.6 Automation......................................................................................................... 23
2.6.1 Auto Shutdown ........................................................................................... 23
2.6.2 Rain-Snow................................................................................................... 24
2.7 Time Display...................................................................................................... 25
2.8 SmartDome Log File.......................................................................................... 25
2.9 SmartDome Weather Station Interface .............................................................. 26
2.9.1 Enable Weather Station............................................................................... 26
2.9.2 Report.......................................................................................................... 26
3.0 SYSTEM ENGINEER SETUP............................................................................. 28
3.1 Overview............................................................................................................ 28
3.2 ACE SmartDome™ Application System Setup................................................. 28

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ACE SmartDome Controller for ObservaDome
3.2.1 ACE SmartDome™ Commands ................................................................. 30
3.3 Motion Control Status........................................................................................ 32
3.4 Engineering Status.............................................................................................. 33
3.4.1 Top Box Radio OK..................................................................................... 34
3.4.2 Coast ........................................................................................................... 34
3.4.3 High Speed.................................................................................................. 34
3.4.4 Tolerance..................................................................................................... 34
3.4.5 Encoder Counts per 360.............................................................................. 34
3.4.6 Last Azimuth GoTo .................................................................................... 35
3.4.7 Watchdog Reset Time................................................................................. 35
3.4.8 Synchronized Motion.................................................................................. 35
3.4.9 Has Hinged Dropout / Has Latched Door................................................... 35
3.4.10 Dropout Timer. ........................................................................................... 35
3.4.11 Close Open Up Down Limits...................................................................... 35
3.4.12 Right Block / Left Block............................................................................. 35
3.4.13 Elevations.................................................................................................... 35
4.0 ACE SmartDome ASCOM DRIVER................................................................... 37
4.1 Overview............................................................................................................ 37
5.0 USING TheSkyX.................................................................................................. 42
5.1 Overview............................................................................................................ 42
5.2 Configuration ..................................................................................................... 43
6.0 AZIMUTH VARIABLE FREQUENCY DRIVE................................................. 47
6.1 Overview............................................................................................................ 47
6.2 Multi-Speed Function......................................................................................... 47
6.2.1 High Speed Moves...................................................................................... 47
6.2.2 Slow Speed Moves...................................................................................... 48
6.3 VFD Low Voltage Control Wiring .................................................................... 48
6.4 Programming the VFD....................................................................................... 49
7.0 PROGRAMMING THE SmartDome Radios....................................................... 54
7.1 Introduction........................................................................................................ 54
7.2 Preparing the Radio for Programming............................................................... 54
7.3 Programming...................................................................................................... 54
7.3.1 Preparing Putty............................................................................................ 55
7.3.2 Using Putty.................................................................................................. 56
8.0 ELECTRICAL DIAGRAMS................................................................................ 57

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ACE SmartDome Controller for ObservaDome
TABLE OF FIGURES
Figure 1-1 SmartDome Static Components....................................................................... 8
Figure 1-2 Smart Dome Rotating Components .................................................................. 9
Figure 2-1 ACE SmartDome Directory............................................................................ 12
Figure 2-2 Using the Command Prompt to discover the MAC address........................... 13
Figure 2-3 Typical SD Card.............................................................................................. 14
Figure 2-4 network.txt file................................................................................................ 14
Figure 2-5 Setup IP Address............................................................................................. 15
Figure 2-6 SYSPARAM.txt File....................................................................................... 16
Figure 2-7 Startup for ObservaDome with the dome closed ............................................ 18
Figure 2-8 Dome Azimuth Frame..................................................................................... 19
Figure 2-9 Azimuth GoTo ................................................................................................ 20
Figure 2-10 Dome at Home Azimuth ............................................................................... 20
Figure 2-11 Dome Azimuth parking................................................................................. 21
Figure 2-12 Setup Azimuth Menu .................................................................................... 22
Figure 2-13 Define Home Azimuth Setup Dialog............................................................ 22
Figure 2-14 Setup Automation Menu............................................................................... 23
Figure 2-15 SmartDome Automation ............................................................................... 24
Figure 2-16 Output for the ? Command with Auto Shutdown Enabled........................... 24
Figure 2-17 Rain-Snow Automation................................................................................. 25
Figure 2-18 Setup Time Display Menu ............................................................................ 25
Figure 2-19 Weather Station Menu................................................................................... 26
Figure 2-20 Weather Station Dialog................................................................................. 27
Figure 2-21 Weather Station Close Conditions................................................................ 27
Figure 3-1 System Engineer Window............................................................................... 29
Figure 4-1 ASCOM Platform 6 Download...................................................................... 37
Figure 4-2 ASCOM ICONS.............................................................................................. 37
Figure 4-3 ASCOM Platform 6 Menu.............................................................................. 38
Figure 4-4 ASCOM Dome Control................................................................................... 39
Figure 4-5 ASCOM Dome and Telescope Setup.............................................................. 39
Figure 4-6 ASCOM Dome Chooser ................................................................................. 40
Figure 4-7 ASCOM POTH Setup..................................................................................... 40
Figure 4-8 ASCOM Dome Chooser ................................................................................. 41
Figure 4-9 ASCOM Dome Control Panel with ACE SmartDome Dialog ....................... 41
Figure 5-1 ASCOM Telescope driver for TheSky............................................................ 42
Figure 5-2 Configuring TheSkyX..................................................................................... 43
Figure 5-3 TheSkyX Imaging System Setup Dialog ........................................................ 44
Figure 5-4 TheSkyX Choose Mount Dialog..................................................................... 44
Figure 5-5 TheSkyX Choose Dome Dialog...................................................................... 45
Figure 5-6 TheSkyX Dome Parameters............................................................................ 45
Figure 5-7 ASCOM Dome Control Panel for The Sky..................................................... 46
Figure 6-1 Azimuth Screw Terminal Connector .............................................................. 48
Figure 6-2 VFD Low Voltage Control Screw Terminal................................................... 49
Figure 6-3VFD Digital Keypad ........................................................................................ 50

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TABLE OF TABLES
Table 3-1 Command Reference Table.............................................................................. 31
Table 6-1 VFD Low Voltage Wiring................................................................................ 49
Table 6-2 VFD Typical Parameters.................................................................................. 51
Table 6-3 VFD Advanced Parameters.............................................................................. 52
TRADEMARKS
SmartDome™ is a trademark of Astronomical Consultants & Equipment, Inc. TheSky is
a trademark of Software Bisque, Inc.

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ACE SmartDome Controller for ObservaDome
1.0 INTRODUCTION
1.1 PURPOSE
The ACE SmartDome is a fault-tolerant controller that allows an ObservaDome
Laboratories, Inc, product to be controlled locally, remotely, and robotically.
It works with any ASCOM compliant software such as DC3 Dream’s ACP or TheSkyX.
For professional clients wishing to integrate a dome controller directly into their software
there is a comprehensive command library. Communication with the ACE SmartDome is
through TCP/IP. An option to use a serial communications port is available.
This document describes how to operate the ACE SmartDome™and how to install the
SmartDome™software.
1.2 SAFETY
 WARNING
▪The ACE SmartDome™ has automation features that may close the
dome without warning.
▪In order to prevent unexpected dome motion if you are working on the
dome press the ESTOP buttons on the boxes.
▪If working on the upper part of the dome consider isolating the
conductor bar power if appropriate to the task at hand.
▪Read this manual and understand how the system works before doing
any work on the dome.

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ACE SmartDome Controller for ObservaDome
1.3 DEFINITIONS
SmartDome™
The term “SmartDome” refers to the equipment which is used to control an astronomical
observatory so as to open and close the dome and align the dome with the telescope. The
name is also applied to the high-level software that is used for testing the system.
1.4 ACRONYMS
ABBREVIATIONS & ACRONYMS
ACE
Astronomical Consultants & Equipment, Inc. (www.astronomical.com)
ASCOM
See http://ascom-standards.org/
VFD
Variable Frequency Drive

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ACE SmartDome Controller for ObservaDome
1.5 SYSTEM HARDWARE DESCRIPTION
The system can be divided into those components that are static and those that move with
the dome.
The static components are:
▪Main box with push buttons and a LCD screen
▪Azimuth control box
▪Azimuth motors
▪Encoder
▪Home sensor
▪Conductor bar power switch
▪External cloud or other sensor(s) mounted outside the dome building
FIGURE 1-1 SMARTDOME STATIC COMPONENTS

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ACE SmartDome Controller for ObservaDome
The rotating components are:
▪Top box with push buttons
▪Conductor bars
▪Rain snow sensor mounted on the outside of the dome
▪Limit switches
▪Home sensor trigger arm
FIGURE 1-2 SMART DOME ROTATING COMPONENTS
1.5.1 Main Control Box
This is located on the fixed wall of the observatory, usually vertically below one of the
azimuth motors. It contains a Linux-based computer board with an SD card and a
proprietary interface board that connects all the hardware to the computer.
There are five push buttons on the front panel. The EMERGENCY STOP button locks
into place when it is pressed. To release, twist the button and it pops back out. There is an
extra contact on the emergency stop button to allow an independent signal to be sent to the
telescope controller. The OPEN/CLOSE buttons are for the main shutter door. There is a
small delay (2 seconds) when reversing direction to prevent damage to the system.

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ACE SmartDome Controller for ObservaDome
Unlike some systems there is no “Remote / Local” switch to go between computer and
manual control which could be left in the wrong position requiring a trip back to the
observatory. The system can handle both the computer and manual operation
simultaneously.
1.5.1.1 LCD Screen
The LCD screen is useful during engineering setup. It gives status of the dome such as
azimuth position, the status of the doors, weather, and system status.
1.5.2 Azimuth Control Box
This is located on the fixed wall of the observatory, usually just above the main control
box. It contains a programmable variable frequency drive (VFD). This permits slow
acceleration and rapid deceleration of the azimuth motor(s).
1.5.3 Azimuth Motors
The system has been equipped with 3-phase azimuth motors that are controlled by the
variable frequency drive.
The speed of the dome is determined by two factors:
▪The speed of the motor, as programmed by the VFD
▪The gear ratio of the box that the motor is attached to.
The ObservaDome is capable of high speed azimuth slewing, up to 15 degrees per second.
1.5.4 Azimuth Encoding
The encoder is attached to the output shaft of the gearbox. It is electrically isolated from
the dome. The encoder produces 500 counts per revolution of the gearbox output shaft.
Azimuth is defined as north being zero and increasing to 90° at east.
1.5.5 Home Sensor
The incremental optical shaft encoder is automatically reset each time it passes the home
position. The home position is usually placed somewhere near south (for northern
hemisphere observatories) as this is likely to be a position that is frequently passed.

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ACE SmartDome Controller for ObservaDome
The home position is not the park position at the end of the night. The Park position can
be anywhere the observer chooses. However, we suggest parking at the home position so
that if power is lost the azimuth position will be correctly restored. An option is also
available for an absolute encoder.
1.5.6 Conductor bars
The power to the upper part of the dome is sent through a set of circular power bars.
1.5.7 Top Box
The top box controls the shutter door. It is also possible to control additional equipment
such as a windscreen, lighting, etc. Please contact ACE for a custom solution if you require
these features.
There are three push buttons on the top box. Emergency Stop will lock out the doors and
also lock out azimuth rotation. When this button is pressed “Emergency Stop” will appear
on the LCD screen. The other buttons are for OPEN / CLOSE of the main shutter.
The top box contains a proprietary ACE circuit board with a microprocessor. The top box
communicates with the main box via a set of radios. In the event of a failure of the main
box or the radios the top box can be operated completely independently.
As a safety feature to protect the observatory in robotic installations if the top box and
bottom box loose communication the top box will close the dome after a timeout period.
1.5.8 Cloud Sensor or other External Sensor
Signals from an optional cloud sensor or any other sensor can be sent to the main box.
Contact ACE for your specific requirements. The software allows for automatic closure.
Connecting pins IN1 and IN6 together on the lower box main board will indicate a closure
due to an external sensor.
1.5.9 ACE Rain-Snow Sensor
The ACE rain-snow sensor is attached to the rotating part of the dome and will
automatically close the dome when precipitation is present. This is a redundant feature
since the (optional) cloud sensor should have already closed the dome.

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ACE SmartDome Controller for ObservaDome
2.0 ACE SMARTDOME™ SOFTWARE
2.1 OVERVIEW
The ACE SmartDome™ software is a C++ application that can run under Microsoft®
windows. The following description applies to ACE SmartDome™ Graphical User
Interface v206 and later.
This software allows control of the ACE SmartDome™ using any ASCOM application
(such as ACP) or by using The Sky X
Communication is via TCP/IP port and / or a serial communications (COM) port.
2.2 SOFTWARE INSTALLATION
FIGURE 2-1 ACE SMARTDOME DIRECTORY
The ACE SmartDome™ application normally resides in the ACE SmartDome sub-
directory of the Program Files (x86) directory and has just two files.
Executing the application will automatically install the required ASCOM drivers.

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ACE SmartDome Controller for ObservaDome
2.2.1 TCP/IP Setup
The SmartDome™ must be assigned a static IP address so that the software knows where
to find the device each time the computer / network router is restarted. It is shipped with a
static address of 192.168.0.142. You will probably need to change the static address to suit
your network. Note that the SmartDome does not use DHCP.
Your I.T. department may want to know the MAC address of the SmartDome, to allow it
on the network. To discover the mac address enter the command:
FIGURE 2-2 USING THE COMMAND PROMPT TO DISCOVER THE MAC ADDRESS
To change the static IP address, turn the power off the main box and remove the SD card.
To do this press down on the card and it will pop back up.
Insert the SD card into your laptop / desktop. The contents will look similar to Figure 2-3.

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ACE SmartDome Controller for ObservaDome
FIGURE 2-3 TYPICAL SD CARD
We need to edit the contents of the network.txt file but notepad and other editors will
corrupt the contents of the file. Please use the freely available notepad++ application
(download at http://notepad-plus-plus.org/ ). Once you have installed notepad++ right
mouse-click on the network.txt file and select “Edit with notepad++”.
A typical example is shown in Figure 2-4.
If you are not sure what to do then try the same netmask and gateway as your computer.
Select an address that is the same as your computer except for the last quartet. To see if
that IP is already being used open a command line prompt and type the following
command:
where you have of course entered the address you want to use.
If the address is already in use you will get a reply. If there is no reply then the address is
probably available. Alternatively, contact your I.T. manager.
FIGURE 2-4 NETWORK.TXT FILE

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ACE SmartDome Controller for ObservaDome
Note the bottom of the window pane in Notepad++ displays “UNIX”. If instead it reads
“DOS” then the file is corrupted probably by editing using Notepad or similar. To correct
the problem from the EDIT menu select EOL Conversion and then UNIX.
Save your file and then re-insert the SD card back into the main box and power it back on.
Simply plug the SmartDome into any router. You should now be able to ping the
SmartDome™ and get a response back. From the ACE SmartDome™ application select IP
Address from the setup menu and enter the information. The select TCP from the dropdown
box and press the Connect button. The three gray boxes in the main display should turn
into colorful icons.
FIGURE 2-5 SETUP IP ADDRESS

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ACE SmartDome Controller for ObservaDome
2.2.2 Serial Communications Port
We recommend using the TCP/IP for communications. Alternatively, a serial port can be
used which requires an available Com port on the control computer. Use either a PCI /
PCIe based serial port or a USB-Serial adapter.
Inside the main box there is a ribbon cable with a 9-pin D-Sub male connector. Connect
the ribbon cable connector to your computer using a custom cable. Each end of your cable
will need a female 9-pin D-Sub connector. Three conductors are required. Connect Pin 5
to Pin 5. Pin 2 to Pin 3. And Pin 3 to Pin 2. This is called a cross-over cable since you
have swapped pins 2 & 3.
The other end of the ribbon cable has a 10-pin serial header connector and is plugged into
COM2 of the ARM microprocessor by default. Should this port ever fail it can be moved
to one of the other free ports but will require editing the contents of the SD card using
notepad++. To learn how to remove the SD card and use notepad++ see the previous
section on the TCP/IP setup. You will want to edit the file SYSPARAM.TXT. Change
the Console serial device from COM2 to the new port you will be using.
FIGURE 2-6 SYSPARAM.TXT FILE

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ACE SmartDome Controller for ObservaDome
When using USB to serial port devices make sure the same USB port is used each time. If
not, Windows might assign a new comport number to the device and it will eventually lead
to numerous unused ports! To get rid of the unused ports and start again do the following:
a) Bring up a command prompt and type in the text as shown:
b) From the View menu select Show Hidden Devices
c) From the Ports (COM & LPT) select the ports no longer in use and press delete
d) Reassign the high-numbered port to a lower value or simply unplug the device for
a few seconds and when it is re-found it should have a low comport number.
Connect the ACE SmartDome™ to an available computer serial port. The port settings
are:
Baud Rate
19200
Data Bits
8
Parity
None
Stop Bits
1
Flow Control
None
If using the ACE SmartDome™ application simply select the desired comport from the
dropdown box and then press Connect. The three gray boxes should turn into colorful
icons.

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ACE SmartDome Controller for ObservaDome
2.3 ACE SMARTDOME DIALOG
Once connected to the TCP/IP port (or the COM port) the screen icons will appear and the
status of the doors and automation system will be displayed. Assuming that the dome is
closed the screen will be similar to that shown in Figure 2-7.
FIGURE 2-7 STARTUP FOR OBSERVADOME WITH THE DOME CLOSED
The dialog uses a “traffic light” scheme where red is closed (or no-observe), green is open
(or OK), and yellow is changing.
2.3.1 The Control frame icons:
Close Observatory
Click on this icon to close
Green check mark appears when closed
Open Observatory
Click on this icon to open
Green check mark appears when opened
STOP!
Stops the dome

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ACE SmartDome Controller for ObservaDome
2.3.2 The Status frame:
For the Main Shutter there are six options:
Shut
Ajar which means neither opened nor closed.
Open
Fault
Opening
Closing
The Observatory is a state reported to ASCOM and is explained in more detail in each
section. If the shutter door is in an ajar state and not currently moving (that is, left partially
open) then the observatory will be in a Fault state for ASCOM.
2.4 DOME AZIMUTH
The azimuth is defined as North = 0.0° and East = 90.0° and is bounded by
0.0 <= Azimuth < 360.0 degrees
The azimuth position is reset each time the dome passes the home sensor.
The encoder position is lost during a power failure. Therefore either send the dome home
at the start of the observing session (you can check a box is ASCOM to do this) or leave it
parked at home just in case there is a power failure. An absolute encoder is also available
which retains positional information during a power failure.
A typical view of the Azimuth frame is shown in Figure 2-8
FIGURE 2-8 DOME AZIMUTH FRAME
The current azimuth is reported in a pseudo LED display. Four control buttons are
available, which are described below.

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ACE SmartDome Controller for ObservaDome
2.4.1 Azimuth GoTo
To move to specified azimuth enter the destination in the green entry field and then press
GoTo. The system always takes the shortest path. The request to move dome is written to
the system log and another entry is written once it reaches the destination. A typical move
is shown in Figure 2-9.
The current azimuth is reported in degrees. The motion “Moving Left” is reported in the
status box at the bottom right of the dialog.
FIGURE 2-9 AZIMUTH GOTO
2.4.2 Home
To move to the home position simply press the Home button. The system will move at
high speed using the shortest path to home. It will then stop, reverse, and move onto the
home sensor. When home the Azimuth display changes to black letters on a yellow
background and the frame title changes from Azimuth to Azimuth (Home).
FIGURE 2-10 DOME AT HOME AZIMUTH