AvL Technologies AAQ Antenna Controller User manual

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Content is Subject to Change without Notice
AAQ Antenna Controller
Users Manual
Revision R11.9.0
AvL Confidential and Proprietary Information
Do Not Copy
AvL Technologies
900-159-000

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Contents
Chapter 1 - Introduction.......................................................................................................................................... 10
1.1 Controller System Overview............................................................................................... 10
1.2 Standard Hardware Components....................................................................................... 10
1.3 Software Architecture ........................................................................................................ 11
1.3.1 Operating System .................................................................................................. 11
1.3.2 ROM....................................................................................................................... 11
1.3.3 PIC.......................................................................................................................... 11
1.3.4 CONFIG .................................................................................................................. 11
1.3.5 Remote –GUI (Graphical User Interface).............................................................. 11
1.3.6 Module –Device.................................................................................................... 12
1.3.7 Module –Function................................................................................................. 12
1.4 Controller Hardware Specification ..................................................................................... 12
1.5 Definitions and Common Terms:........................................................................................ 13
Chapter 2 - AAQ System Architecture & Hardware Overview ................................................................................ 15
2.1 Controller System Block Diagram ....................................................................................... 15
2.1.1 The AAQ enclosure contains:................................................................................. 16
2.2 AAQ Antenna System ......................................................................................................... 18
2.2.1 AvL Cable Drive System ......................................................................................... 18
2.2.2 Motor Drives.......................................................................................................... 18
2.3 AAQ Components ............................................................................................................... 19
2.3.1 Navigation Remote Input Output Module (RIOM) ................................................ 19
Chapter 3 - GUI Installation, Set-up & Network Configuration............................................................................... 20
3.1 Requirements ....................................................................................................................... 20
3.2 Installation.......................................................................................................................... 22
3.2.1 Windows installation file ....................................................................................... 22
3.2.2 Installation Folder.................................................................................................. 22
3.2.3 AAQ Remote Access Settings................................................................................. 23
3.2.4 AAQ Remote Settings (Access Level 0) .................................................................. 23
3.2.5 Editing Controller Alias .......................................................................................... 24
3.2.6 AAQ Remote Settings (Level 1-9)............................................................................ 24
3.3 Network Settings ............................................................................................................... 25
3.3.1 Factory IP Addresses.............................................................................................. 25

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3.4 AAQ Remote Network Settings Tool .................................................................................. 26
3.5 IP addressing and Networking Examples............................................................................ 27
3.5.1 Factory Default Network Configuration ................................................................ 28
3.5.2 Single Device Configuration................................................................................... 29
3.5.3 Dual Network Device Configuration...................................................................... 30
3.5.4 Cross Device Network Configuration..................................................................... 31
Chapter 4 - AAQ Remote .NET GUI.......................................................................................................................... 33
4.1 Introduction........................................................................................................................ 33
4.2 Interpreting the Display...................................................................................................... 33
4.2.1 Main Window ........................................................................................................ 33
4.2.2 Connection Indicator ............................................................................................. 34
4.2.3 RIOM (Remote Input Output Module) Indicators ................................................. 34
4.2.4 Scrolling Alarms ..................................................................................................... 34
4.2.5 Command Pane ..................................................................................................... 35
4.2.6 Manual Control Pane............................................................................................. 36
4.2.7 Heading Source...................................................................................................... 36
4.2.8 Target Selection Pane............................................................................................ 37
4.2.9 Status Pane ............................................................................................................ 38
4.3 File Menu............................................................................................................................ 39
4.3.1 Settings .................................................................................................................. 39
4.3.3 AAQ Support Files, Upload / Download….............................................................. 44
4.3.4 Calibration ............................................................................................................. 46
4.3.5 RIOM Software Update ......................................................................................... 48
4.3.6 Show Movement ................................................................................................... 49
4.3.7 Edit GUI Layout ...................................................................................................... 50
4.3.8 Change Status Variables Displayed....................................................................... 51
4.3.9 User Manager ........................................................................................................ 52
4.3.10 Lock....................................................................................................................... 54
4.3.11 Exit ........................................................................................................................ 55
4.4 View Menu.......................................................................................................................... 55
4.4.1 Sensor Output........................................................................................................ 55
4.4.2 Controller Configuration........................................................................................ 56
4.4.3 Profile System........................................................................................................ 57
4.4.4 DvB-S2 Control....................................................................................................... 62

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4.4.5 LNB Control............................................................................................................ 63
4.4.6 Satellite List............................................................................................................ 63
4.4.7 System Log............................................................................................................. 65
4.4.8 Data Log................................................................................................................. 66
4.4.9 Alarm List ............................................................................................................... 67
4.4.10 Device Window ................................................................................................... 68
4.4.11 Graphic Controller Window................................................................................. 69
4.5 Login Menu......................................................................................................................... 73
4.6 Help Menu .......................................................................................................................... 74
4.6.1 About ..................................................................................................................... 74
4.6.2 Version................................................................................................................... 75
4.6.3 Troubleshoot ......................................................................................................... 76
Chapter 5 –Initial Setup, Basic Operation & Profile Examples ............................................................................... 77
5.1 Unpacking ........................................................................................................................... 77
5.2 Basic Connections............................................................................................................... 78
5.3 AAQ Remote Application (GUI) Installation ....................................................................... 79
5.3.1 Remove previous versions..................................................................................... 79
5.4 Install the AAQ Remote ...................................................................................................... 79
5.5 Power on and Boot ............................................................................................................. 80
5.6 Initial Login and IP settings................................................................................................. 80
5.7 Command Functions........................................................................................................... 81
5.7.1 Command Descriptions ......................................................................................... 82
5.8 Profile System..................................................................................................................... 83
5.8.1 Discussion on Profiles ............................................................................................ 83
5.8.2 Configuration Parameter Types............................................................................. 84
5.9 Profile Examples ................................................................................................................. 85
5.9.1 Target Satellite selection ....................................................................................... 85
5.9.2 Simple Profile Example .......................................................................................... 86
5.9.3 Add Profile ............................................................................................................. 87
5.9.4 Select Target .......................................................................................................... 87
5.9.5 Common Profile Adjustments ............................................................................... 88
5.9.6 Adjusting Motion Limits......................................................................................... 89
5.9.7 Modem Acquisition, Low Power Carrier................................................................ 90
5.9.8 Adjusting RSL Threshold ........................................................................................ 92

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5.10 Adding a Reference Satellite ................................................................................. 94
Chapter 6 –AAQ System Configuration Variables (Parameters) ............................................................................ 98
6.1 Introduction........................................................................................................................ 98
6.1.1 Core Parameters.................................................................................................... 99
6.1.2 Target Parameters ............................................................................................... 101
6.1.3 Signal Parameters................................................................................................ 102
6.1.4 Feed Parameters.................................................................................................. 103
6.1.5 Optional ............................................................................................................... 104
6.2 Hardware Safety & Mechanical Limits - Core................................................................... 105
6.2.1 Pedestal Limits..................................................................................................... 105
6.2.2 Stow Position....................................................................................................... 106
6.2.3 Reflector/Feed On/Off......................................................................................... 107
6.2.4 Interlocks ............................................................................................................. 108
6.3 General System Set-Up - Core .......................................................................................... 109
6.3.1 RSL Meter ............................................................................................................ 111
6.3.2 Navigation............................................................................................................ 111
6.3.3 Manual Moves ..................................................................................................... 113
6.3.4 Acquisition ........................................................................................................... 114
6.3.5 Time ..................................................................................................................... 115
6.3.6 Other Core Parameters........................................................................................ 117
6.4 Automatic Operation - Target .......................................................................................... 118
6.4.1 Target Satellite.................................................................................................... 119
6.4.2 Target Sources ..................................................................................................... 121
6.4.3 Target Acquisition................................................................................................ 122
6.4.4 Other Target Based Parameters .......................................................................... 122
6.5 Signal Source Based Parameters ...................................................................................... 123
6.5.1 Acquisition .......................................................................................................... 124
6.5.2 Coarse Peaking .................................................................................................... 124
6.5.3 Fine Peaking......................................................................................................... 125
6.5.4 Cross Pattern - Coarse Peaking............................................................................ 126
6.5.5 Cross Pattern - Fine Peaking................................................................................ 126
6.5.6 Step Pattern Mode .............................................................................................. 127
6.5.7 Step Pattern - Coarse Peaking ............................................................................. 128
6.5.8 Step Pattern - Fine Peaking ................................................................................. 128

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6.5.9 Plateau Peaking ................................................................................................... 129
6.5.10 Polarization Peaking ........................................................................................... 129
6.5.11 Other Signal Based Parameters .......................................................................... 130
6.6 Feed Based Parameters.................................................................................................... 130
6.7 Sensor Override ................................................................................................................ 132
6.7.1 Compass............................................................................................................... 132
6.7.2 GPS....................................................................................................................... 133
6.7.3 Tilt ........................................................................................................................ 133
6.8 System Options................................................................................................................. 133
6.8.1 NMEA Server........................................................................................................ 133
6.8.2 Slide Motor Feed System..................................................................................... 134
6.8.3 Vector Compass................................................................................................... 134
6.8.4 Wing System ........................................................................................................ 135
Chapter 7 - Theory of Operation ........................................................................................................................... 135
7.1 Introduction...................................................................................................................... 135
7.1.1 Auto-Point Antenna Basics .................................................................................. 136
7.2 Antenna Drive System ...................................................................................................... 137
7.2.1 Azimuth Cable Drive ............................................................................................ 137
7.2.2 Elevation Positioning ........................................................................................... 142
7.2.3 Feed and Polarization Positioning ....................................................................... 146
7.3 AAQ Controller System Detailed Description ................................................................... 150
7.3.1 Modular / Parametric Software........................................................................... 150
7.3.2 Operator Access Levels........................................................................................ 151
7.3.3 AAQ Configuration Items..................................................................................... 152
7.3.4 Antenna System Calibration ................................................................................ 153
7.3.5 Factory Test ......................................................................................................... 153
7.3.6 Power-On Calibration .......................................................................................... 154
7.3.7 Product Lifetime .................................................................................................. 154
7.4 AAQ Controller Functional Description ............................................................................ 155
7.4.1 Pedestal Base Heading ........................................................................................ 155
7.4.2 SATTANT .............................................................................................................. 156
7.4.3 Reference satellite function ................................................................................ 157
7.4.4 Pedestal Tilt Compensation................................................................................. 158
7.4.5 Satellite Pointing Solution ................................................................................... 158

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7.4.6 Acquiring the Satellite Signal............................................................................... 159
7.4.7 Signal Source = RSL .............................................................................................. 161
7.4.8 Signal Source, Modem or Beacon Receiver......................................................... 163
7.4.9 Peaking on the Signal........................................................................................... 164
7.4.10 Coarse Peaking .................................................................................................... 164
7.4.11 Fine Peaking......................................................................................................... 166
7.4.12 Linear Polarization Optimization ......................................................................... 167
7.4.13 Tracking on the Signal (Optional) ........................................................................ 167
7.4.14 Step Track ........................................................................................................... 168
7.4.15 Two-Line Element (TLE) Track ............................................................................. 168
7.4.16 Position Hold........................................................................................................ 169
7.4.17 Satellite Signal Properties.................................................................................... 169
7.4.18 Scintillation Effect................................................................................................ 169
7.4.20 Signal Sources ..................................................................................................... 170
7.4.21 Profile System ..................................................................................................... 171
7.5 The Acquisition process................................................................................................... 172
7.5.1 Power on and Boot .............................................................................................. 172
7.5.2 Home Sequence................................................................................................... 172
7.5.3 Acquisition Sequence .......................................................................................... 175
7.5.4 Peaking Sequence................................................................................................ 176
Chapter 8 - Troubleshooting ................................................................................................................................. 178
8.1 Alarms & Messages .......................................................................................................... 178
8.1.1 Alarms.................................................................................................................. 178
8.1.2 Error Messages .................................................................................................... 180
8.1.3 Prompts ............................................................................................................... 181
8.1.4 Running Messages with Associated Hex Code .................................................... 181
8.2 Communicating with the GUI ........................................................................................... 184
8.2.1 Comms. LED Indicator.......................................................................................... 184
8.2.2 Remote IP Address .............................................................................................. 184
8.2.3 Verifying Connections.......................................................................................... 185
8.2.4 ACU communication to RIOMs............................................................................ 185
8.3 Modem Signal Source not found on scan......................................................................... 186
8.3.1 Verify Communication......................................................................................... 186
8.3.2 IP Addressing ....................................................................................................... 186

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8.4 Elevation and Azimuth alignment .................................................................................... 187
8.4.1 Elevation Offset ................................................................................................... 187
8.4.2 Azimuth Offset..................................................................................................... 188
8.4.3 Recognizing a Failed Compass ............................................................................. 189
8.4.4 Changing the Compass Heading Sources............................................................. 190
8.5 Recognizing a Failed GPS .................................................................................................. 191
8.5.1 Changing to Manual GPS ..................................................................................... 192
8.6 Maintenance..................................................................................................................... 193
8.6.1 Annual Inspection................................................................................................ 193
8.7 Contacting Customer Service ........................................................................................... 194
8.7.1 Email Support ...................................................................................................... 194
8.7.2 Priority Telephone & Fax Support ....................................................................... 195

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Chapter 1 - Introduction
1.1 Controller System Overview
The AAQ controller is a unique highly flexible, cost effective, purpose built embedded antenna
controller. The primary application for this controller is for transportable satellite antennas exposed
to harsh environments with demanding performance requirements. The small form factor
packaging of the controller enables its use in a wide range of antenna types –large and small. By
embedding the controller into the antenna pedestal, system cabling and connections are greatly
simplified.
The controller is an IP based network compatible controller that has a single core base code that can
be applied over multiple hardware platforms. Using parametric software that is configurable by
user defined operational profiles, the controller can adapt to virtually any antenna size, positioner or
sensor suite due to its modular approach in software and hardware. Consequently, many different
combinations of sensors, modems, beacon receivers, motors, third party applications and other
devices can be readily integrated and used with the basic system.
1.2 Standard Hardware Components
The hardware architecture employs multiple micro-processors to distribute processing tasks
efficiently and to share processing burdens optimally. The standard hardware consists of two
embedded components, the ACU (Antenna Control Unit) and the NAV RIOM (Navigation Remote
Input Output Module).
The ACU contains a total of five (5) microprocessors –each dedicated to specific tasks. The main
processor is an ARM9. With its extensive memory suite, it is capable of performing all
administrative functions, networking, high level motion control commands, coordinate
transformations, tilt compensation and communication with external devices via Ethernet or serial
connections. A 44-pin dsPIC33 microprocessor is used to communicate with the on board pitch and
roll sensor and to provide additional analog and digital Input / Output capability. Three 28-pin
dsPIC33 microprocessors provide encoder quadrature, servo motion control and PWM (Pulse Width
Modulation) output to each of three standard motors.
The ACU includes an internal 4-port Ethernet switch, an RSL (Receive Signal Level) power meter, bias
tee to supply LNB (Low Noise Block-Downconverter) voltage, tone generator and three motor servo
drives. The ACU is composed of a single PCB (Printed Circuit Board) enclosed in an aluminum
housing with four (4) external connectors.

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The NAV RIOM contains a GPS receiver and patch antenna, a 2-axis inclinometer and a magnetic
compass. It also has a dsPIC33 microprocessor which communicates with these internal devices as
well as with the ACU over Ethernet.
Both of these standard components are designed to survive in harsh environments and to be
embedded in the antenna pedestal to simplify cabling.
More information on Controller Hardware can be found in Chapter 7, Theory of operation.
1.3 Software Architecture
AAQ software consists of a family of code which provides a scalable, extensible, modular capability
using parametric driven antenna behavior enabling users to tailor system performance as they wish.
1.3.1 Operating System
The operating system for the controller is LINUX.
1.3.2 ROM
The ROM code comprises the core software and performs administrative functions, coordinates
transforms, tilt compensation and communication between RIOMs and other external devices.
1.3.3 PIC
PIC (Programmable Integrated Circuit) code is written to utilize the MicroChip PIC microprocessors
in the system. These are used for motion control, encoder quadrature, PWM motor input, various
I/O connections. Two pieces of PIC code are used to communicate with the two versions of PICs in
the controller.
1.3.4 CONFIG
CONFIG files contain parameters and variables set to configure a specific antenna to perform all
necessary functions. There are several types of CONFIG files –see Chapter 6 for a detailed description of
these files.
1.3.5 Remote –GUI (Graphical User Interface)
The Remote files are provided to enable a graphical user interface to the controller. There are two types
of GUI; an XML Windows based .NET GUI (AAQ Remote) and a browser based HTML GUI.

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1.3.6 Module –Device
A Device Module file enables inter-operability and communication between the controller and a specific
device. An example of this type of vendor device module would be one created specifically for the
iDirect Evolution 8000 Modem.
1.3.7 Module –Function
A Function Module enables specific unique functions in the controller. An example of a function module
is the Step Track Module.
More details on the software architecture can be found in Chapters 4, 6 and 7.
1.4 Controller Hardware Specification
The two basic AAQ Controller components are the ACU and the NAV RIOM.
ACU
Size: approximately 8.3” H x 7.4” W x 1.4” D
Weight: 3 lb.
Communication Ports: 2 RS-232 ports, 1 Ethernet port
LNB Voltage Output: 0, 13 VDC, 18 VDC
Input Power: 24 to 32 VDC, 14A maximum
Operating Temperature: -40°C to +60°C
Humidity: 0 to 95% RH Condensing
Environmental Protection: IP65
Circuit Protection: internal resettable 15A fuse
NAV RIOM (Remote Input Output Module)
Size: approximately 4” H x 1 7/8” W x 1 ½” D
Weight: 0.5 lb
GPS Receiver and Patch Antenna
Magnetic Compass, with error correction
Digital Inclinometer –2 axes
Environmental Protection: IP66
Operating Temperature: -40°C to +60°C
Humidity: 0 to 100% RH Condensing

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1.5 Definitions and Common Terms:
Antenna Bore Sight –line of sight passing through antenna vertex, feed phase center and satellite
Azimuth –angular orientation of antenna bore sight about vertical axis; typical range ± 200°;
positive direction clockwise looking down on pedestal
World Azimuth –angular orientation of antenna bore sight about gravity vector in local level
coordinate system
Pedestal Azimuth –angular orientation of antenna bore sight about tilted and yawed pedestal
vertical axis
Elevation –angular orientation of antenna bore sight about horizontal axis; typical range 0 to 90°;
positive direction up
World Elevation –angular orientation of antenna bore sight about horizontal axis in local level
coordinate system with horizontal axis aligned with East-West plane
Pedestal Elevation –angular orientation of antenna bore sight about tilted and yawed pedestal
horizontal axis
Polarization –angular orientation of the plane of the electric field perpendicular to the plane of
propagation in the receive RF signal; can be linear or circular
World Polarization –skew angle of the feed relative to antenna bore sight plane and the equatorial
plane
Pedestal Polarization –skew angle of the feed relative to the tilted and yawed antenna bore sight
plane and the equatorial plane
Pitch –angular displacement of pedestal about local level horizontal axis that is fixed in the local
tangent plane
Roll –angular displacement of pedestal about local level transverse axis that is fixed in the local
tangent plane
Latitude –local latitude measured from Earth’s Equator; latitude is typically determined from the
embedded GPS
Longitude –local longitude measured from Greenwich Meridian where East longitude is positive,
West longitude is negative; longitude is typically determined from the embedded GPS

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Compass Heading - 0° = North, 90° = East, 180° = South, 270° = West; typically measured by
embedded magnetic compass with declination adjustment or True North heading without
declination adjustment
Tilt –non-level condition where pedestal horizontal and vertical axes are pitched and rolled so
pedestal azimuth axis is no longer aligned with local gravity vector

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Chapter 2 - AAQ System Architecture & Hardware Overview
2.1 Controller System Block Diagram
The basic AAQ Controller block diagram is shown in Figure 1.1. The AAQ communicates with the motors
and NAV RIOM on an internal LAN. The ACU requires 28 VDC and communicates externally over a LAN or
WAN. The User Interface can be any combination of personal computer (custom GUI application or web
browser), 1 RU Control Interface or Hand Held Control Interface.
Figure 2.1 - AAQ Controller Hardware Components.
EL
MOTOR
AZ
MOTOR

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The AAQ consists of a single PCB (Printed Circuit Board) enclosed in an aluminum housing with four (4)
external connectors. The 8-pin power connector (J3) receives 28 VDC power and distributes the PWM
voltage to each of the three standard motors. The TNC coax connector (IF IN) receives RF signal from
the LNB. Two D-sub miniature connectors, one 28-pin (J2) and one 44-pin (J1) provide connection to
various sensors and other external devices, including the NAV RIOM, over serial and Ethernet. The AAQ
Enclosure is shown in Figure 2.
Figure 2.2 - AAQ Enclosure and Connectors
2.1.1 The AAQ enclosure contains:
1. CPU: ARM9 running the LINUX OS
2. Memory: 4 GB micro SD, 2 GB RAM, 4 GB NAND Flash w/battery backup
3. Servo Control: 3-axis Brushed DC Motors (EL 12A, AZ 8A, POL 5A)
4. Encoder Feedback: 3-axis quadrature encoder circuits
5. RSL: RF Signal Detector with Variable Attenuator
6. Tilt Sensor: 2-axis

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7. Communication Ports: 2 RS232 and 2 Ethernet
8. Ethernet Switch: 4-port
9. Positioner Sensor Inputs: Digital and Analog
10. LNB Bias Tee and Tone Generator
11. Sensor Analog and Digital I/O Interfaces
The AAQ enclosure shown in figure 2.1.1 is generally mounted underneath the positioner AZ/EL
cover. Each connector on the enclosure has a wire harness to connect to positioner components.
Figure 2.1.1 - AAQ Controller - Typical mounting in a positioner

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2.2 AAQ Antenna System
The controller combined with the proven AvL pedestal provides a pure and simple solution for
communications in any environment. The controller offers many intuitive features allowing the user to
successfully maintain and operate the antenna both locally and remotely from anywhere in the world.
2.2.1 AvL Cable Drive System
The AvL cable drive system that is used with the AAQ Controller, utilizes highly reliable aircraft
control cables in a redundant configuration to achieve a zero backlash, light-weight, very stiff drive
system. It achieves this high-tech performance by wrapping the cable around the drive capstan
several times before wrapping the larger drive drum. The method used to wrap the capstan results
in a minimum free length of cable. The load in the cable on the main drum is exponentially reduced
as it is wrapped around the drum. Therefore, the total elongation of the cable when under load is
minimized. The AvL cable drive system results in stiffness of up to 10 times that of comparable gear
or harmonic drive systems. The cables are pre-tensioned and spring loaded at the main drum
attachment point which eliminates backlash at installation and backlash from any cable stretch in
the future.
2.2.2 Motor Drives
Lightweight, reliable, DC motors with integral gearboxes are used for the Az, El and Pol drives. These
motors were selected because they provide the best torque-to-weight ratio as well as allowing dual
speed operation for slewing and peaking. These motors produce constant torque over a wide speed
range, which ensures smooth operation when peaking the antenna.
Additional information on the AAQ controller, Cable drive & antenna systems can be found in the
Theory of operation section Chapter 7.

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2.3 AAQ Components
2.3.1 Navigation Remote Input Output Module (RIOM)
The NAV RIOM contains a GPS receiver and a 3 axis magnetic Compass. Depending on the model a 2-
axis inclinometer may reside within the NAV RIOM. The NAV RIOM (see Figure 2.3.1) is plugged into
the AAQ’s J2 harness and it is typically mounted on the back of the reflector at the topmost point
when deployed. At this location, the GPS antenna is afforded a good view of the sky, in order to
provide accurate location and pointing information.
Figure 2.3.1 - NAV RIOM on Reflector
NAV RIOM
Top of Reflector

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Chapter 3 - GUI Installation, Set-up & Network Configuration
This chapter describes the GUI “Graphical User Interface” installation and set-up as well as, how
to configure the AAQ controller to communicate and function within a network of Ethernet
devices. The available networking options on the AAQ controller are to ensure that the antenna
controller is able to properly communicate with both clients (computers, mobile devices, CIP
interfaces, etc.) and required devices (modem, beacon receiver, GPS device, etc.).
3.1 Requirements
Operating System:
Microsoft Windows 10
Microsoft Windows 8.1
Microsoft Windows 8
Microsoft Windows 7
Microsoft Windows Vista
Microsoft Windows XP (with appropriate service packs, updates, framework
and settings)
.Net Framework:
.Net Framework 3.5 or greater
Important Note - Uninstall any previous version
If a previous version of the AAQ Remote is installed on your system, always remove it before installing a
newer version of the application.
Using Windows 8 or greater, select;
Path
Main Window →Start → Settings Button
Search “programs and features” in the search dialogue box
Using Windows 7, Vista, or XP, select;
Path
Main Window →Start → Control Panel
Programs ->Programs and Features