Keo SkyScan4 Instructions for use

Keo SkyScan4
Articulated Mirror Assembly
Hardware User Manual
Version 1.3
July 2023

© Copyright 2004 –2023
Keo Scientific Ltd.
430 –11979 40 St. SE
Calgary, Alberta, Canada
T2Z 4M3
TEL: [phone]
All rights reserved. No part of this publication may be reproduced by any means without the written
permission of Keo Scientific Ltd.
Printed in Canada.
Windows is a registered trademark of Microsoft Corporation.
SmartMotor and Combitronic are registered trademarks of Animatics Corporation.
PowerGrip and GT are registered trademarks of Gates Corporation.
The information in this publication is believed to be accurate as of the publication date. However,
Keo Scientific Ltd. does not assume any responsibility for any consequences including damages
resulting from the use thereof. The information contained herein is subject to change without notice.
Revision of this publication may be issued to incorporate such change.

Table of Contents iii
Table of Contents
1Introduction............................................................................................................... 7
2System Components ................................................................................................ 9
2.1 System Components Overview ................................................................................... 9
2.2 SkyScan Unit................................................................................................................. 9
2.2.1 Drive System............................................................................................................................9
2.2.2 Electrical Brush System........................................................................................................ 10
2.2.3 Coordinate System ............................................................................................................... 10
2.3 Power Supply Unit ...................................................................................................... 12
2.4 Cables.......................................................................................................................... 12
2.5 User Manuals .............................................................................................................. 13
2.6 Software ...................................................................................................................... 13
3Installation Overview............................................................................................... 15
4System Setup ......................................................................................................... 17
4.1 Introduction................................................................................................................. 17
4.2 System Requirements ................................................................................................ 17
4.3 Unpacking the System ............................................................................................... 18
4.4 Equipment and Parts Inventory ................................................................................. 18
4.5 Mounting ..................................................................................................................... 19
4.6 Driver Installation........................................................................................................ 20
4.7 Software Installation .................................................................................................. 20
5Operation ................................................................................................................ 21
5.1 The First Power-Up .................................................................................................... 21
5.2 Communicating with the SkyScan4........................................................................... 22
5.3 Firmware Updates ...................................................................................................... 22
6Command Reference.............................................................................................. 23
6.1 Command Overview ................................................................................................... 23
6.2 Error Codes................................................................................................................. 24
6.3 Help Menu Command................................................................................................. 24
6.4 Report a Configuration Parameter Command.......................................................... 24
6.5 Set a Configuration Parameter Command................................................................ 25
6.6 Start a Trajectory Command ..................................................................................... 25
6.7 Start a Homing Routine Command ........................................................................... 26
6.8 Report Axis Offsets Command .................................................................................. 26
6.9 Report Current Axis Positions Command................................................................. 26
6.10 Move to Position Command ...................................................................................... 27

iv SkyScan4 Hardware User Manual Version 1.3
6.11 Stop All Motion Command .........................................................................................28
6.12 Stop Position and Velocity Motion Command ..........................................................28
6.13 Stop Trajectory Command .........................................................................................28
6.14 Report Operating Status Command ..........................................................................29
6.15 Initialize Trajectory Command ...................................................................................30
6.16 Define a New Trajectory Command...........................................................................30
6.17 Report Current Velocity Command............................................................................31
6.18 Move at Velocity Command........................................................................................31
6.19 Exit Custom Command Mode Command..................................................................32
7Configuration Parameters........................................................................................33
7.1 Parameter 0: Azimuth Home Offset ...........................................................................33
7.2 Parameter 1: Zenith Home Offset ..............................................................................33
7.3 Parameter 2: Cam Interpolation Mode ......................................................................34
7.4 Parameter 3: Serial Number .......................................................................................34
7.5 Parameter 4: Default Velocity.....................................................................................35
7.6 Parameter 5: Azimuth Counts per Revolution...........................................................35
7.7 Parameter 6: Zenith Counts per Revolution ..............................................................36
7.8 Parameter 7: Enable Expanded Range Mode............................................................36
8Warranty & Service ..................................................................................................39
8.1 Limited Warranty.........................................................................................................39
8.2 Contact Information....................................................................................................39
Appendix A Specifications ........................................................................................41
Appendix B Outline Drawings ...................................................................................43
Appendix C Firmware Update Procedure .................................................................47

Table of Figures v
Table of Figures
Figure 1: The SkyScan4 ................................................................................................................................7
Figure 1: Typical System Components .........................................................................................................9
Figure 2: SkyScan Coordinate System ...................................................................................................... 11
Figure 3: Top-Down Coordinate System View........................................................................................... 11
Figure 4: SkyScan in Parked Position ........................................................................................................ 12
Figure 5: SMI Port Properties ..................................................................................................................... 47
Figure 6: SMI View Layout.......................................................................................................................... 48
Figure 7: SMI Hex String Entry ................................................................................................................... 49
Figure 8: SMI Response to X!..................................................................................................................... 49
Figure 9: SMI Browse for SMX File ............................................................................................................ 49
Figure 10: SMI Select Motor Dialog ........................................................................................................... 50
Figure 11: SMI Upload Progress ................................................................................................................ 50
Figure 12: SMI Upload Finished ................................................................................................................. 50

vi SkyScan4 Hardware User Manual Version 1.3
This page is intentionally blank.

Section 1 Introduction 7
1Introduction
Thank you for purchasing a Keo SkyScan4 system from Keo Scientific. This latest version of our
SkyScan system is the culmination of several years of design iterations and is our most capable system
yet.
The Keo SkyScan4 is a dual first-surface mirror assembly that can be pointed towards any point in the
sky by rotating the two mutually perpendicular axes, one of which is vertical and the other horizontal, to
the desired positions. Rotation about the vertical axis varies the azimuth (compass bearing) of the
pointing direction while rotation about the horizontal axis varies the zenith angle of the pointing direction.
Both axes are capable of full 360-degree continuous rotation through the use of electrical brushes and
slip rings for transferring power and communication through to the rotating axis. This improvement over
our legacy systems, which were limited to approximately 200 degrees of azimuth travel and required
complicated calculations for achieving full 360 degree pointing, allows for simplified control of the device
and smooth tracking of trajectories.
The SkyScan system is suitable for use with space weather, aeronomical, and surveillance
instrumentation such as photometers, narrow-field imagers and Fabry-Pérot Interferometers (FPIs). It
can also be used as a heliostat or trajectory tracker.
High-reflectance, first-surface quality mirrors and a high-transmittance entrance window are used to
minimize light loss through the system. Modern servo-motor technology is used drive the axes to
provide fast, repeatable, and high-precision pointing or scanning.
All that is needed to communicate with and control the SkyScan system is a suitable computer with an
available USB2 port.
Figure 1: The SkyScan4

8 SkyScan4 Hardware User Manual Version 1.3
This page is intentionally blank.

Section 2 System Components 9
2System Components
2.1 System Components Overview
A standard SkyScan4 system consists of the SkyScan unit, a power supply unit with AC cord, a power
tether cable, a data tether cable, a USB cable, a user manual, and software USB stick.
Figure 1: Typical System Components
2.2 SkyScan Unit
This is the main component of the SkyScan system. It is a self-
contained unit comprising two mutually perpendicular axes (azimuth
and zenith) each of which has an Animatics SmartMotor™for precise
motion control.
2.2.1 Drive System
This new and improved SkyScan4 uses PowerGrip® GT®2 synchronous belts
for transmitting power from the gearboxes to the axes. The unique curvilinear
tooth profile delivers smooth, quiet operation and precise registration with
virtually no backlash. These belts are combined with precision gearboxes and
Animatics Class 5 SmartMotor integrated servo motors to provide a high
accuracy, long lasting, and zero maintenance drive system.

10 SkyScan4 Hardware User Manual Version 1.3
The Class 5 SmartMotors used on the SkyScan communicate with each other using the Combitronic™
protocol over the CAN bus which allows for one of the motors to act as a master and execute
commands on the other, all at a blazing fast 1MBaud data rate. This greatly simplifies the programming
of the system and improves the coordination of the two axes.
The floating point capabilities of these motors allow for the user to specify all positions and velocities in
their native units (degrees and degrees per second) rather than having to calculate them in device units
(encoder counts). The modulo encoder count capabilities completely eradicate any position overflow
issues found in previous SkyScan devices.
2.2.2 Electrical Brush System
The original Keo SkyScan was limited to 200° of travel in the azimuth axis due to limitations put in place
by having wired power and communications. The new SkyScan uses electrical brushes and brass slip
rings to transfer power and communications into the rotating device. This allows for full 360° continuous
rotation about both axes. No longer is it necessary to flip the zenith axis to the inverted position to point
in some directions.
2.2.3 Coordinate System
Important Information
All references to cardinal directions (north, south, east, and west) in this
manual are with respect to the earth’s geographic coordinate system, not
the magnetic coordinate system. Aligning the device with magnetic north
may cause significant errors in the pointing accuracy of the system.
The SkyScan system uses a spherical coordinate system defined by an azimuth angle and a zenith angle
where the azimuth angle is measured clockwise from north and the zenith angle is measured from the
zenith in the direction of the azimuth angle (see Figure 2). Since all possible points can be described with
a 0 to 360° azimuth range and a 0 to 180° zenith range, negative zenith values are not strictly necessary.
The SkyScan will however accept negative zenith angles which are simply interpreted as a positive
zenith angle in the azimuth angle + 180° azimuth direction.
Note
The SkyScan mounting plate is designed so that the power connector is oriented in
the south direction.

Section 2 System Components 11
Figure 2: SkyScan Coordinate System
The coordinates of the SkyScan are always given by the position of the two axes, i.e. the azimuth and
zenith angles of the point the SkyScan is pointing at. In this manual they are represented as a position
pair, (Az,Ze). For example, an azimuth angle of 110° and a zenith angle of 45° would be represented as
(110°,45°).
Due to the optical geometry of the SkyScan unit, the azimuth head will always appear to be lagging the
actual azimuth position by 90 degrees. As shown by the top-down view of Figure 3, despite the physical
azimuth axis being aligned with north, the actual azimuth angle is 90 degrees. In this same figure, the
zenith axis is also positioned at 90 degrees making the current position of the SkyScan (90°,90°).
Figure 3: Top-Down Coordinate System View
After the SkyScan performs a homing cycle it positions itself in the parked position. This position was
chosen to be (90°,180°) which corresponds to the physical azimuth axis being aligned with north and the
zenith axis pointing straight down. This serves to protect the window, mirrors, and any instrumentation

12 SkyScan4 Hardware User Manual Version 1.3
you may have attached to the SkyScan by preventing any direct light from entering the system. The
parked position is shown in Figure 4.
Figure 4: SkyScan in Parked Position
2.3 Power Supply Unit
The AC line-voltage line cord supplied with your system should be
compatible with the region to which the system was shipped. If the line
cord is incompatible, please contact Keo Scientific for a replacement.
Maximum Power Output: 240 W
Input: 100 –240 VAC, 50 –60 Hz, 6.3A
Output: 24 VDC @ 10A maximum
2.4 Cables
Power Tether Cable: The standard 7m (23’) tether cable has 3-pin LEMO
FGG.2B connectors that interconnect the power supply with the SkyScan4.
This tether is used for transferring power to the SkyScan.
Data Tether Cable: The standard 7m (23’) tether cable has 3-pin LEMO
FGG.1B connectors that interconnect the power supply with the SkyScan.
This tether is used for communications with the SkyScan.
USB Cable: The provided 2m (6’) USB Mini-B to USB A cable is used to
connect the power supply with the host computer.

Section 2 System Components 13
2.5 User Manuals
SkyScan4 Hardware User Manual: This manual describes how to install
and use the SkyScan4 system components. A PDF version of this manual
is provided on the Documentation and Utilities USB Drive.
SkyScan Control Software User Manual: This manual describes how to
install and use the application program. A PDF version of this manual is
provided on the Documentation and Utilities USB Drive.
2.6 Software
SkyScan Control Software: The SkyScan4 system can be operated by
using the SkyScan Control Software, Keo Scientific’s Windows® software
designed specifically for controlling the SkyScan4. This software can be
used to manually control the device or automatically control it using a pre-
determined trajectory. It also has the capability of running in ‘Heliostat’
mode which will make the SkyScan4 track the sun.
SmartMotor Interface (SMI): Located in the Utilities\SmartMotor Interface
folder of the Documentation and Utilities USB Drive, this application is
required to update the firmware of the SkyScan. See Appendix C for
details on using SMI to update the firmware of your SkyScan.

14 SkyScan4 Hardware User Manual Version 1.3
This page is intentionally blank.

Section 3 Installation Overview 15
3Installation Overview
The list below briefly describes the sequence of actions required to install and operate your system.
Refer to the indicated references for more detailed information.
Action
Reference
1. If the system components have not already been unpacked, unpack
them and inspect them for in-transit damage.
Section 4.3: Unpacking
the System4.3, page 18
2. Verify that all system components have been received.
Section 4.4: Equipment
and Parts Inventory,
page 18
3. If the components show no signs of damage, verify that the appropriate
power cord has been supplied with the power supply.
Section 4.2.2: Power
Requirements, page 17
4. Securely mount the device in a suitable location.
Section 4.5: Mounting,
page 19
5. Turn the device ON.
6. Turn on the computer and begin running the application software.
SkyScan Control
Software Manual

16 SkyScan4 Hardware User Manual Version 1.3
This page is intentionally blank.

Section 4 System Setup 17
4System Setup
Caution
To minimize the risk to users or to the system equipment, turn the system
OFF before any cables are connected or disconnected.
4.1 Introduction
The Keo SkyScan4 system consists of three hardware components:
•SkyScan unit
•Power supply
•Cables
All of the components and cables required to use the SkyScan are included with your shipment. Keep all
of the original packing materials so you can safely ship the SkyScan system to another location or return
it for service if necessary. If you have any difficulty with any step of the instructions, contact Keo
Scientific support. For support contact information, refer to Section 8.2.
Hardware installation will consist of:
•Mounting the SkyScan in the desired location.
•Connecting various cables.
Software installation depends on the application software you will be using to run the system. Refer to
the manual supplied with the software for information about installing and setting it up.
4.2 System Requirements
4.2.1 Environmental Requirements
Storage temperature: ≤80°C
Operating environmental temperature: +5°C to +70°C
Relative humidity: ≤30%; non-condensing
4.2.2 Power Requirements
The SkyScan unit receives its power from the supplied power supply which in turn plugs into an AC
power source.
Power supply input voltage range: 100 VAC to 240 VAC (50/60 Hz)
Power supply input current: 6.3A

18 SkyScan4 Hardware User Manual Version 1.3
4.2.3 Mechanical Requirements
A sturdy platform capable of supporting 31lbs (14kg). The more rigid the platform the smoother the
operation of the SkyScan will be during quick acceleration and deceleration.
4.2.4 Host Computer
Note
Computers and operating systems all undergo frequent revision. The following
information is only intended to give minimum computer requirements. Please contact
Keo Scientific to determine your specific needs.
The SkyScan system needs a host computer to communicate with and control it. The power supply has
an integrated FTDI USB to Serial adaptor which will work with virtually any operating system in both 32-
bit and 64-bit environments: Windows XP or newer, Linux, or Mac OS X. Drivers for these environments
can be found on the Documentation and Utilities USB Drive in the Drivers\FTDI folder.
The SkyScan Control Software provided with your SkyScan system is only compatible with Windows 7
or newer in both 32-bit and 64-bit environments. If you want to use the SkyScan with a non-Windows
platform you will need to write your own control software. The SkyScan has an easy to use interface that
is controlled with simple commands which are sent to its virtual serial port. See Section 5 for details on
communicating with the SkyScan system and see Section 6 for details on the available commands.
4.3 Unpacking the System
While unpacking the SkyScan, check the system components for possible signs of shipping damage. If
there are any, notify Keo Scientific immediately.
The system is shipped in a custom shipping case for maximum protection. The case can also be used to
store the device while it is not in use. Please save the case so that it can be used to ship the device to a
new location or to return it to Keo Scientific for repairs if necessary.
To remove the SkyScan4 from its packaging, simply lift it out of the shipping case and place it on a
clean flat surface. The SkyScan4 will sit on a flat surface without falling over, however it is recommended
that you always clamp it to the surface it is sitting on before powering it up.
Caution
To minimize the risk to users or to the system equipment, ensure the
SkyScan4 is securely mounted before powering it on.
4.4 Equipment and Parts Inventory
Upon receiving the Keo SkyScan4,please confirm that you have all of the parts required to set up the
SkyScan system. A complete system consists of:
•SkyScan4 Unit
•SkyScan4 Power Supply
•Power Supply to Wall Cable: 2 meter (6.5 ft.) cable is standard.
•Power Supply to SkyScan Power Tether Cable: 7 meter (23 ft.) cable is standard.
•Power Supply to SkyScan Data Tether Cable: 7 meter (23 ft.) cable is standard.

Section 4 System Setup 19
•USB Cable: 2 meter (6 ft.) mini-B to A cable is standard.
•SkyScan4 Hardware User Manual
•SkyScan4 Control Software User Manual
•Documentation and Utilities USB Drive: Includes drivers, utilities, and user manuals.
4.5 Mounting
Caution
Ensure the SkyScan4 is securely mounted to a solid surface before
applying power. This can be achieved using the provided mounting flange
bolt holes or, for temporary mounting, C-clamps.
If using C-clamps, please ensure that the zenith head will not collide with
the clamp by manually rotating the device and checking for interference.
The SkyScan4 ships with a mounting flange containing 3 holes for 1/4-20 socket head cap screws as
shown in the schematic in Appendix B. It is important to note that the power connector is located at the
180° (south) position as shown in Figure 4 on page 12.
Feel free to mount the device using this flange as you see fit. As long as the device is securely mounted
there shouldn’t be any problems.
Important Information
The pointing accuracy of the SkyScan is largely dependent on how
accurately it can be mounted. If it were mounted perfectly level (in both
directions) and perfectly aligned with geographic north, then the
accuracies stated in Appendix A hold true.
However, unless the control software takes potential misalignment into
account, any errors in mounting alignment will result in decreased pointing
accuracy. For example, if the SkyScan is mounted pointing 2° east of
geographic north, there will be a +2° error in the azimuth angle of all
positions sent to the device. Inaccuracies in leveling the device will result
in complex non-constant errors in both the azimuth and zenith axes.
The Keo SkyScan Control Software has a built in alignment calibration
routine that uses 3 data points of the sun’s position over the course of a
day to calculate a transformation from the local SkyScan coordinate
system to the global geographic coordinate system. After the alignment
calibration is complete, points of interest can be specified by their true
global coordinates and the software will translate that into an equivalent
position for the SkyScan to point to. After performing an alignment
calibration, no matter the error in mounting the device, the accuracies
stated in Appendix A will hold true.
An alternative to doing software alignment calibration is to mount the
SkyScan in such a way as to allow for easy alignment adjustment. The
ideal mounting solution would provide adjustment in both directions (north-
south and east-west) as well as rotationally about the azimuth axis.

20 SkyScan4 Hardware User Manual Version 1.3
After successfully mounting the SkyScan4, it is important to ensure that the pointing heads can move
freely without bumping into surrounding objects/personnel. Gently rotate each axis through the full 360-
degree range. It should feel smooth. There will be some noise generated by the reducing gearboxes
which is completely normal and should not be cause for concern. The azimuth axis will feel considerably
stiffer because it uses a much higher gear reduction ratio than the zenith axis.
Your SkyScan4 is now ready for operation.
4.6 Driver Installation
The only driver that needs to be installed before you can start communicating with your SkyScan is the
one for the FTDI USB to Serial adaptor integrated in the power supply unit. Once this is done, the
SkyScan device will appear as an additional COM port available to your PC. Application software can
access the device the same way it would access a standard COM port.
Important Information
On most operating systems, this FTDI driver will automatically install upon
connecting the USB cable. If it does not install properly, then use the
instructions below to manually install it.
1. Locate the device driver for the FTDI adaptor.
a. Navigate to Drivers\FTDI on the software USB drive, or
b. Go to http://www.ftdichip.com/Drivers/VCP.htm to download the latest driver available
for your operating environment.
2. Install the device driver. There are installation guides available from FTDI for the various different
operating environments. http://www.ftdichip.com/Support/Documents/InstallGuides.htm
3. Connect the USB cable between the power supply and the host computer. It will be detected
and installed as a COM port.
You can determine the COM port number of the SkyScan by navigating to the Windows Device Manager
(Start > Control Panel > Device Manager) and then expanding the Ports (COM & LPT) section. The
SkyScan is installed as a USB Serial Port. Depending on the other devices installed in your system there
may be multiple USB Serial Ports. In that case you may need to use trial and error to find the correct
port.
4.7 Software Installation
The SkyScan4 ships with Keo SkyScan Control Software which can be used to control the SkyScan
from a Windows based PC running Windows 7 or newer. Please refer to the SkyScan Control Software
User Manual for instructions on installing and running this software.