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<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd">
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<title>Gemini-1 Level 3 Servo System Features</title>
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<table style="min-width:500px; max-width:80%" align="center">
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<tr>
<td class="h3">Gemini-1 Level 3 Servo System Features</td>
</tr>
</tbody>
</table>
<br>
<table style="min-width:500px; max-width:80%" align="center">
<tbody>
<tr>
<td class="style6">
<h3>DC Servo motors</h3>
<p>
Servo motors have the advantage of a huge dynamic speed range.
They track smoothly even at the lowest guiding speed consuming
very low current but can ramp up to high speeds while delivering
high torque.
</p>
<ul>
<li>Each axis is controlled by a dedicated micro-controller.</li>
<li>The electronic is capable of a slewing speed of more than
1450x sidereal
rate (6 degrees per second) f.i. for the G11, even more (about
1900x) for the Titan.
<br>
800x is recommended for the HGM-200 and Titan mounts, up to
1200x for the G11.</li>
<li>Goto and Manual Slewing speeds can be adjusted separately.</li>
<li>Smooth ramping up and down,</li>
<li>Centering Speeds from 1x up to 255x,</li>
<li>Sophisticated tracking modes,</li>
<li>Guiding Speed from 0.2x to 0.8x</li>
<li>Permanently stored Periodic Error Correction PEC and TVC</li>
</ul>
<p></p>
<h3>Hand controller (4+1 keys)</h3>
<p>
</p>
<ul>
<li>Used for both Telescope Control and Menu control</li>
<li>Visual mode: centering and slewing speed</li>
<li>Photographic mode: guiding and centering (stepping up from 1/8
to full
centering speed)</li>
<li>All speed mode</li>
<li>Speeding up by pressing the opposite key while moving.</li>
</ul>
<p></p>
<h3>16 Character dimmable red LED display</h3>
<p>
</p>
<h3>Separate Autoguider Connector</h3>
<ul>
<li>compatible to hand controller connector, but only for guiding
speed</li>
<li>control pin for camera shutter connected to alarm timer</li>
</ul>
<h3>Mount Axes Encoders are supported but not required</h3>
<ul>
<li>Use of 2 incremental encoders allows for manual movements,</li>
<li>Resolution and direction adjustable for DEC and RA,</li>
<li>As long as you move the telescope electrically, the accuracy
of the internal
step counters (in the arcsec range) is maintained</li>
<li>GuideTo function allows for manual movement or slewing to the
selected
database object.</li>
<li>RA/DEC display.</li>
</ul>
<h3>Serial Port Communication</h3>
<ul>
<li>Emulation of the many LX200 protocol commands for
communication with planetarium
software. Tested O.K. with XEphem, SkyMap, Guide, TheSky under
Linux, Windows, on the Mac and on PDAs.</li>
<li>Slewing to objects, reporting position back, setting
date/time/location/time
zone from the PC</li>
<li>A powerful native command set allows access to and remote
control of many of Gemini's features.</li>
<li>After power up, telescope control can be done by the
planetarium software.</li>
<li>Object Search mode.</li>
</ul>
<h3>Real Time Clock</h3>
<ul>
<li>Battery backuped Real Time Clock running UTC</li>
<li>Time/Date display showing Julian Date, Sidereal Time, Civil
Time, Local
Mean Sidereal Time.</li>
<li>Alarm timer, also controlling the camera shutter output pin.</li>
</ul>
<h3>Battery backuped SRAM data</h3>
<ul>
<li>All Setup data</li>
<li>Geographic Location and Timezone</li>
<li>PEC data</li>
<li>Up to about 4000 downloaded User Catalogue objects</li>
<li>Observing log for upload</li>
<li>Modelling parameters</li>
<li>Last switch-off time and position pointed to.</li>
</ul>
<h3>Feature Connector</h3>
<ul>
<li>Analog input and digital input/output ports</li>
<li>Ground and +5V connector</li>
<li>Different usage possibilities (supported in Level 3 software
for focusing
or custom usage)</li>
<li>Focusing supported by the LX200 command set focussing commands
(see below)</li>
<li>Custom usage supported by Gemini's native command set</li>
</ul>
<h3>Focusing</h3>
<p>Gemini supports focusing units having 9
to 12 volt DC motors (e.g. JMI's NGF series). In order to focus
using the Gemini, you must have an adapter board accessory
connected
to the feature port.</p>
<p>The Gemini focusing function uses the Meade
LX-200 serial line focusing commands. You can also change focus
using the hand controller by putting it into focus mode. This is
done by selecting "Focusing" from the Quick Menu. This
menu item is only available if the adapter board was connected.
When
in Focus Mode, the RA buttons move in and out, and the dec buttons
toggle between fast and slow focusing modes.</p>
<p>To disengage from the Focus Mode, press the
Menu button.</p>
<br>
<h3><b>Internal databases</b></h3>
<ul>
<li>Database objects are stored with coordinates, type, size,
magnitude.
<br>
Objects are precessed to the current date, corrected for
refraction.</li>
<li><b>All</b> objects of the Revised NGC/IC catalog are
contained,
<br>
by courtesy of Wolfgang Steinicke, the NGC/IC project.</li>
<li>Messier and Sharpless 2 catalog. SAO stars up to 7m1
magnitude.</li>
<li>Planets, Moon, Sun</li>
<li>Bright star list with common names</li>
<li>3989 Double Stars selected from the Washington Double Star
catalog</li>
<li>1143 Planetary Nebulae of the Strasbourg/ESO Galactic
Planetary Objects catalog, including most objects of the PK
(Perek, Kohoutek) catalog</li>
<li>1802 Dark Nebulae from Lynds' Catalog of Dark Nebulae></li>
<li>1125 Bright Nebulae from Lynds' Catalog of Bright Nebulae</li>
.
</ul>
<br>
<h3><b>User Defined Database</b></h3>
<p>A user defined database with up to about 4000 objects can be
uploaded using
serial communication and are stored in the battery backuped SRAM
memory. This feature can f.i. be used to store the observing
program for a night.</p>
<br>
<h3><b>Observing Log</b></h3>
<p>Many user actions, f.i. startup and shutdown, object selections,
GoTo operations are logged and stored into the SRAM memory
together with timestamps and coordinates.
This log can be uploaded and used to build the user's observing
log.</p>
<br>
<h3>Gemini Starts Up Aligned</h3>
<p>
Gemini can slew to the first alignment star if the mount is
polar-aligned
and the OTA is in a defined home position during startup. This
feature also requires that Gemini have the correct latitude,
longitude and UTC data.</p>
<h3>Sophisticated Telescope Pointing Model</h3>
<p>
</p>
<ul>
<li>The first alignment after startup synchronizes the telescope's
position with the sky.</li>
<li>Subsequent Additional Alignments can be used to build or
refine a pointing model.</li>
<li>Up to 255 alignments are possible at each side of the meridian
to refine the model.</li>
<li>After the first Additional Alignments model parameters A
(Polar misalignment in Azimuth)
and E (in Elevation) are calculated.</li>
<li>The first alignment at the opposite site of the meridian </li>
<li>After the third Additional Alignment the nonperpendicularities
of the mount/OTA combination are taken into account: NP
(nonperpendicularity at the pole) and NE (at the equator).</li>
<li>After the fifth Additional Alignment the internal telescope
pointing model is extended to include "Counterweight Flexure,"
a refinement that takes account of the play and flexure in the
RA
axis assembly.</li>
<li>Alignments can be done using any bright star, database or PC
transferred object, east or west of the meridian.</li>
</ul>
<p></p>
<h3>Simplified Sync Operation using TheSky</h3>
<p>
From Level 3, V1.01 up every location marked within the
planetarium program
TheSky can be used to
synchronize Gemini's coordinate system without having to slew to
the location
before. This simplifies Sync and Image Link operations.
</p>
<br>
<h3>Polar Axis Correction</h3>
<p>This feature assists you in accurately polar
aligning your mount. Because Gemini's modeling feature calculates
the mount's deviation from correct polar alignment, it can be used
to
guide you as you adjust the mounts altitude and elevation to
achieve
polar alignment.</p>
<p>After you have done several alignments on
different objects, select an object from the Object Database that
is
near the celestial equator and the meridian. Goto the object and
center it in the eyepiece using the HC buttons. Now, select "Align
Telescope->Polar Axis Corr."
from the menu. Gemini will move the mount to where the object
should
be if the mount were accurately polar aligned. You should adjust
the
polar alignment of the mount using the altitude and elevation
knobs
until the object is again centered in the eyepiece. Since the
mount
will approximate perfect polar alignment, all subsequent GoTo
operations should result in target objects being near the center
of
the eyepiece. If not (for instance, because the mount's initial
misalignment exceeded several degrees), you may repeat the
correction
process. Note that after using this function, the modeling
parameters will be reset and you will need to rebuild the model by
performing several alignments on different objects.</p>
<br>
<h3>Permanent Setup</h3>
<p></p>
<ul>
<li>The telescope can be parked at any "Home
Position" by either the hand controller or serial control. The
home position defaults to the CWD (Counterweight Down) position.
The feature is accessed on the hand
controller using the Quick Menu feature. Simply hold down the
Menu
button until the display shows "Park Mount!" The mount
will then slew to the Park position. You can set any Park
position
by moving the mount to the desired position using the hand
controller
and then selecting the "Setup->Mount Parameter->Set Home
Posit."
Menu item.</li>
<li>Switch off time and position are saved for warm restarting the
system,
convenient for permanently mounted telescopes or after a power
loss.</li>
<li>The pointing model will be reused after a Warm Start or a Warm
Restart.</li>
</ul>
<p></p>
<h3>GoTo</h3>
<p>
</p>
<ul>
<li>Slewing to an object from the internal databases</li>
<li>Slewing to manually entered RA/DEC coordinates</li>
<li>Slewing to one of 10 objects found by Identify.</li>
<li>Slewing to one of 10 bookmarked positions.</li>
<li>Check if object is above the horizon.</li>
<li>Meridian flip if necessary.</li>
<li>Adjustable East/West Safety Limits.</li>
</ul>
<p></p>
<p>To use this feature, ensure that the mount
is in the CWD position before applying power. After selecting
"Cold
Start", simply choose an object from the database and select
"GoTo". For even more convenience, Gemini offers a "GoTo
Bright Star" feature, listing the commonly known bright stars
currently above the horizon. Just select one of them, or a
database
object, and Gemini will slew reasonably close to the selected
object. Use the hand controller to center the object. Now all you
need to
do is select the "Align Telescope" menu item and select
"Synchronize". You can then add additional alignment stars
as before.</p>
<br>
<h3>GPS Input</h3>
<p>Gemini's Level 3 software allows the user to
set Gemini's longitude, latitude, UTC date and UTC time from a GPS
receiver connected to the serial port. Any GPS
receiver can be used if it is capable of transmitting either NMEA
0183 protocol or Garmin Textout protocol at 4800bps or 9600bps.</p>
<p>Gemini attempts to query a GPS when it is
powered on. You can also explicitly have it read the GPS data by
using the "Setup->Geogr. Location->
Query GPS Rec" menu item at any time.</p>
<br>
<h2>Sophisticated Tracking Modes</h2>
<p>
Sidereal tracking follows the sky at a constant rate.</p>
<p>Terrestrial Mode switches tracking off to allow for terrestrial
use
or observing geostationary satellites.</p>
<h3>Comet/User Defined Tracking</h3>
<p>Comets and Minor Planets follow their own
trajectories through the Solar System. Gemini can be commanded to
follow their movement in a variety of ways.</p>
<p>Available on the hand controller is a
Comet/User Defined submenu of the tracking speed selection. Once
selected (after centering the object), a training phase can be
started.
Unlike training PEC, you don't have to follow the motions exactly.
Just keep the object in the eyepiece for a sufficient amount of
time. Finally, center it and press the menu button to end the
training
phase. Gemini calculates the necessary tracking rates in RA as
well
as in DEC and the mount will follow the object in both axes.</p>
<p>The amount of time needed for training will
vary with the object and the type of observation. For an object
with
a relatively slow and constant motion, a few minutes of training
should be sufficient for visual observing. For photography, you
may
want to consider training for up to half of the intended exposure
time. For an object that changes speed fairly quickly (such as a
Near Earth Asteroid), shorter training sessions just before the
observation will work best. In general however, for an object with
relatively constant speed, the longer the training (up to 45
minutes)
and the more exactly the object is centered at the beginning and
end
of training, the better the tracking will be.</p>
<p>Alternatively, if you know the ephemerides
of the object, you can input the actual position and the position
in
1 to 255 hours together with this timespan. Gemini will set the
tracking
rates accordingly.
</p>
<p>Additionally, new serial line commands have
been added to allow the user to set his or her own RA/DEC tracking
rates. This "User Defined Tracking" (to be used instead of
a training phase) is useful for tracking minor planets and comets
by
setting the necessary rates using a computer program. For more
information on how computer software can use these commands, see
the Serial Line Protocol description.</p>
<br>
<h3>Closed Loop Tracking</h3>
<p>Gemini can be instructed to stay at, or
slowly move to, given RA and Dec. coordinates regardless of how
accurately the mount is polar aligned. The
difference between the desired coordinates and the actual
coordinates
is checked about 22 times a second. If there is a difference,
Gemini
moves one step in the requested direction. This lets the telescope
gently follow the coordinate at about 0.5x guiding speed.</p>
<p>There are several
applications for this advanced tracking feature:</p>
<ol>
<li>
<p><b>Visual observing</b>. There is no need to precisely polar
align the telescope for visual observing. The internal
pointing model is not only used for the GoTo operation, but
with Closed Loop Tracking also for keeping the object
centered.</p>
</li>
<li>
<p><b>Tracking comets or minor planets</b>. This requires a
connected computer sending updated coordinates whenever the
object coordinates change. The coordinates are to be
transferred with the :Sr and Sd commands. No :MS# slew command
is to be issued. If the use of the :MS# command cannot be
suppressed inside the computers software, Gemini's "Move Lock"
command :ML# can be employed to let Gemini ignore further :MS#
commands.</p>
</li>
</ol>
<p>Gemini allows you
to center an object with the hand controller during closed loop
tracking without moving back to the calculated position. The
difference between the calculated and actual position is stored
and
added to the new coordinates within the correction cycles.</p>
<br>
<h3>Adaptive King Rate Tracking</h3>
<p>Gemini Level 2 includes the option of
constant King Rate tracking for objects at lower elevation. Level
3
takes this a step further by varying the tracking speed depending
on
the distance of the object above the horizon.</p>
<p>You can enable the adaptive King rate using
the "Setup->Mount Parameter->Tracking Speed->Adaptive
King" menu
item.</p>
<br>
<h3>Variable Solar/Lunar Tracking Rates</h3>
<p>Earth and Moon move in slightly elliptic
orbits. According to Kepler's Law, the velocity changes with the
distance from the gravitational center. Gemini calculates the
actual
tracking rate necessary to follow the object at the moment you
select
the tracking rate (considering the motion within the next hour).
For
the Moon, the parallax is taken into account, too.</p>
<br>
<h3>Western Tracking Limit Warning</h3>
<p>While tracking, an audible warning (a short
beep about every 20 seconds) sounds some minutes before the
western
safety limit is reached. This gives the user an opportunity to
close
his camera shutter or take whatever other action is necessary.</p>
<br>
<h3>Enhanced Search Mode Features</h3>
<p>The Search Mode can now be accessed by
remote control, a feature particularly useful in video astronomy.
In
addition, a new "Z" shaped search pattern, "Wobble
Object," was added to assist in recognizing faint objects.</p>
<br>
<h3>Permanent PEC with Advanced Functions</h3>
<p>Level 3 provides a greatly enhanced set of
PEC (Periodic Error Correction) features. Gemini L3 provides the
following new PEC functions:</p>
<p><b>PEC Delay Correction</b> - Advances the
playback of PEC corrections to compensate for latency between the
error and the correction during PEC recording.</p>
<p><b>PEC Drift Correction</b> - Removes any
systematic drift component from the recorded PEC data caused by
differential refraction or polar misalignment.</p>
<p><b>Smooth PEC Data</b> - Smoothes recorded
PEC data to eliminate spurious corrections caused by seeing, etc.</p>
<p><b>Average PEC Data</b> - Allows you to make
multiple PEC training runs and average the results.</p>
<p><b>Restore Saved Data</b> - Restores PEC
data that has been moved to a backup buffer by a previous PEC
command
or an additional training run.</p>
<br>
<h3>Bookmarks</h3>
<p>Up to 10 bookmarks can now be placed at any
coordinate in the sky, and Gemini's GoTo feature can slew to it.
To
set the bookmark, select the "RA/Dec Coordnt.->Set
Bookmark" menu item. To have Gemini slew to the bookmark,
select the "RA/Dec Coordnt. ->GoTo Bookmark" menu item.</p>
<p>You can overwrite old bookmarks using the
Set Bookmark feature or add a new one as long as the maximum of 10
(0..9) is not reached. Bookmarks are stored permanently and can
only
be erased by a Reset Defaults operation.</p>
<br>
<h3>Identify function</h3>
<p></p>
<ul>
<li>Objects selectable for catalog, object type, magnitude.</li>
<li>10 objects nearest the actual position are listed.</li>
</ul>
<p></p>
<br>
<h3>QuickMenu</h3>
<p>A convenient and fast place to (1) change
Gemini's Centering Speed, (2) toggle between Visual and
Photographic
Modes, (3) Park the OTA, and (4) Focus via an auxiliary adapter
board. To access these functions, simply hold the menu button down
until the options start appearing on the display. When you see the
option you want to select, release the menu button.</p>
<br>
<h3>Appendix - Level 3 Menu Tree</h3>
<p><b>Align Telescope</b></p>
<p style="margin-left: 1cm">GoTo
Bright Star<br>
Reset Alignment <br>
Additional Align<br>
Synchronize<br>
Polar Al. Assist<br>
Polar Axis Corr. (available only if there was a pointing model
established)</p>
<p><b>Object Database</b></p>
<p style="margin-left: 1cm">Messier
NGC<br>
IC<br>
Sh2<br>
Solar System<br>
Bright Stars<br>
SAO<br>
WDS<br>
GPN<br>
LDN<br>
LBN<br>
User Defined (available only if the user downloaded catalog
objects)</p>
<p><b>Show
Information</b></p>
<p><b>Goto <object></b></p>
<p><b>Guide to
<object></b></p>
<p><b>RA/DEC Coordnt</b>.</p>
<p style="margin-left: 1cm">
RA/DEC Display<br>
Enter RA/DEC<br>
Set Bookmark #x (0 <=x <=9, number of bookmark )<br>
GoTo Bookmark#x</p>
<p><b>Identify</b></p>
<p style="margin-left: 1cm">M/NGC/IC/Sh2
Cat<br>
Messier Objects<br>
NGC Objects<br>
IC Objects<br>
Sharpless 2 Obj.<br>
</p>
<p style="margin-left: 2cm">Arbitrary
Obj. submenu for all kinds of objects<br>
Stellar Objects<br>
NonStellar Obj.<br>
Planetaries/SNR<br>
Galaxies<br>
Clusters<br>
Nebulae
</p>
<p style="margin-left: 3cm">
All Magnitudes> submenu for all kinds of objects<br>
Magnitude < 15m0<br>
Magnitude < 14m0<br>
Magnitude < 13m0<br>
Magnitude < 12m0<br>
Magnitude < 11m0<br>
Magnitude < 10m0</p>
<p><b>Object Search</b></p>
<p style="margin-left: 1cm">FOV
2 degrees<br>
FOV 1.5 degrees<br>
FOV 1 degree<br>
FOV 50 arcmin<br>
FOV 40 arcmin<br>
FOV 30 arcmin<br>
FOV 20 arcmin<br>
FOV 10 arcmin<br>
FOV 5 arcmin<br>
Wobble object</p>
<p><b>Show Date/Time</b></p>
<p style="margin-left: 1cm">UTC
Date/Time<br>
Julian Date<br>
Civil Time<br>
Local Sidereal</p>
<p><b>Setup</b></p>
<p style="margin-left: 1cm">Hand
Controller</p>
<p style="margin-left: 2cm">
Visual Mode: C-S<br>
Photo Mode: G-C<br>
All Speeds:G-C-S</p>
<p style="margin-left: 1cm">Mount
Parameter</p>
<p style="margin-left: 2cm">Tracking
Speed</p>
<p style="margin-left: 3cm">
Sidereal<br>
Lunar<br>
Solar<br>
Adaptive King<br>
None/Terrestrial<br>
Closed Loop<br>
Comet/User Def.</p>
<p style="margin-left: 4cm">
Train Tracking<br>
Calculate Rates<br>
Activate
</p>
<p style="margin-left: 2cm">Moving
Speeds</p>
<p style="margin-left: 3cm">
Guiding:<br>
Centering:<br>
Slewing:<br>
GoTo:</p>
<p style="margin-left: 2cm">TVC
Value:</p>
<p style="margin-left: 2cm">PEC</p>
<p style="margin-left: 3cm">
Train PEC<br>
Clear PEC data<br>
PEC Off (if On) OR PEC On (if Off)<br>
Delay Correction<br>
Drift Correction<br>
Smooth PEC data<br>
Average PEC data<br>
Restore saved</p>
<p style="margin-left: 2cm">Mount
Type</p>
<p style="margin-left: 3cm">
Losmandy GM-8<br>
Losmandy G-11<br>
HGM 200/MI-250<br>
Celestron CI700<br>
Losmandy Titan<br>
Losmandy Titan50</p>
<p style="margin-left: 2cm">Set
Safety Limit</p>
<p style="margin-left: 2cm">Set
Home Posit.</p>
<p style="margin-left: 1cm">Encoder</p>
<p style="margin-left: 2cm">
EncRes RA<br>
EncRes DEC<br>
Test Encoder<br>
Ignore Encoder<br>
Use Encoder</p>
<p style="margin-left: 1cm">Set
Alarm Timer</p>
<p style="margin-left: 2cm">
Alarm On<br>
Alarm Off<br>
Set Alarm Time</p>
<p style="margin-left: 1cm">Set
Date/UTC</p>
<p style="margin-left: 1cm">Credit
Info</p>
<p style="margin-left: 1cm">Restore
Defaults</p>
<p style="margin-left: 2cm">>
Losmandy<br>
>Mountain Instr.</p>
<p style="margin-left: 1cm">Dim
Display</p>
<p style="margin-left: 2cm">100%
Brightness<br>
53% Brightness<br>
40% Brightness<br>
27% Brightness<br>
20% Brightness<br>
13% Brightness<br>
6.6% Brightness</p>
<p style="margin-left: 1cm">Geogr.
Location</p>
<p style="margin-left: 2cm">
Longitude<br>
Latitude<br>
Timezone<br>
Query GPS Rec.</p>
<p style="margin-left: 1cm">Coordinate
Epoch</p>
<p style="margin-left: 2cm">
Equinox of Date<br>
Epoch J2000.0</p>
<p><font size="4"><b>QuickMenu</b></font></p>
<font size="4">
<p> Focusing (only
available if focuser board connected)
</p>
<p style="margin-left: 1cm">
Focus In, Focus
Out with RA buttons, Focus Slow, Focus Fast with DEC buttons</p>
2x Centering<br>
8x Centering<br>
16x Centering<br>
32x Centering<br>
64x Centering<br>
128x Centering<br>
-> Visual Mode<br>
-> Photo Mode<br>
Park mount!<br>
</font></td>
</tr>
</tbody>
</table>
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