x03/x04/x06 Version 2.40-2.4x: Pcu Command Summary

PCU COMMAND SUMMARY
x03/x04/x06 Version 2.40-2.4x

0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
NUL ignored in sio

SOH
STX
ETX
EOT
ENQ
ACK
BEL
BS
HT
LF
VT
FF
CR
cmd terminator
SO
SI
DLE
DC1
DC2
DC3
DC4
NAK
SYN
ETB
CAN
EM
SUB
ESC
FS
GS
RS
US
reserved for conscan pulse
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
@
A
B
C
D
E
F
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
[
\
]
^
_
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
sp
!
"
#
$
%
&
'
(
)
*
+
,
.
/
0
1
2
3
4
5
6
7
8
9
:
;
<
=
>
?
96
97
98
99
100
101
clear errors
&
*
102
103
104
105
reserved for positive command response 106
reset rc in sio
+
107
108
109
110
111
112
113
dec lvtrm
2
*
114
115
dec cltrm
4
*
116
clr trms
5
*
117
inc cltrm
6
*
118
119
inc lvtrm
8
*
120
121
122
123
124
125
126
reserved for negative command response 127
60
61
62
63
64
65
66
67
68
69
6A
6B
6C
6D
6E
6F
70
71
72
73
74
75
76
77
78
79
7A
7B
7C
7D
7E
7F
`
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
{
|
}
~
DEL
enabled only in test mode

checksum
absolute az
Adddd
absolute hdg hard Bdddd
*
*
absolute hdg soft

absolute el
Ddddd
Edddd
*
*
read R H
absolute CL
absolute rel
H
Idddd
Jdddd
msg
*
*
echo msg=Ldddd
Ldddd
msg*
set parameters
port e output
read E A C
Ndddd
Ohhhh
P
msg*
*
msg
read S (sio)
msg
PCU version
msg
diag test start(res) Znnnn
utility cmds
^dddd
incremental az
incremental hdg
ai
bi
*
*
incremental el
ei
write pol
write pwm
differential CL
differential LV
differential AZ
lumped CL,LV,AZ
gdddd
hdddd
idddd
jdddd
kdddd
*
*
*
*
*
msg
UTILITIES (.94)
0
std mode
^0000
C
Toggle DIshScan
^0067
F
Slow Scan
^0070
G
Sat Reference
^0071
V
Cksum off
^0086
T
Test/Tilt mode
^0084
W
NV write
^0087
Z
Reset
^0090
2
Trim Up
^0002
4
Trim Left
^0004
5
Trim Clear
^0005
6
Trim Right
^0006
8
Trim Down
^0008
1nnn
CL DC torque
^1nnn
2nnn
LV DC torque
^2nnn
3nnn
AZ DC torque
^3nnn
Checksum for ^0086 = 172 or AC
n / N PARAMETERS (.78) or (.110)
Parameter
Format
Stype
n0nnn
N0nnn
CL Kp
n1nnn
N1nnn
LV Kp
n2nnn
N2nnn
AZ Kp
n3nnn
N3nnn
CL trim
n4nnn
N4nnn
LV trim
n5nnn
N5nnn
HF trim
n6nnn
N6nnn
DishScan
n7nnn
N7nnn
Scan Rate
n8nnn
N8nnn
Error Byte
n9nnn
N9nnn
System ID
nAnnn
Nannn
n/N
0
1
2
3
4
5
6
7
8
9
A
System
N0
N1
N2
N3
N7 Index
Size 23, 40:1 Double Reduction Az drive
4003
33
30
30
30
21
1
2403
2
16
8
16
21
2
Size 23 Double Stack, 10:1 Single Reduction
reserved
4
0
0
0
0
4
3004
5
24
20
10
29
5
4004
6
24
24
14
25
6
5004 *
7
51
51
21
29
7
4003a
6003a * **
4096a
5696a *
8
73
74
75
30
51
60
75
30
51
60
75
20
25
40
51
9
25
25
25
8
9
10
11
2403a
4006
4006-10 *
16
20
20
14
76
51
8
46
51
16
26
31
30
9
25
16
20
20
same as N
read EAC in hex
* Odd gain values must remain odd.

** See xx03 2.6x for 6003a-6 and 6003aL
read Pol & aux
read references
read QRSs
read IVCs
read TCs
u
v
w
x
y
msg
msg
msg
msg
msg
Phase
-45
0
+0
64
+45 128
+90 192
Status word bit assignments

Bit
Word 1
7
Spare
6
1
5
SlowScan
4
Sat Ref
3
DishScan
2
Unwrap
1
Data in 3
0
Data in 2
N7
Drive CL
Max
0
1/2
16
1/4
32
1/8
48
Word2
El Target
1
Az Target
Spare
Hdg Valid
Error Flag
Init
Hi Elevation
AZ
0
4
8
12
EL
0
1
2
3
Word 3
Spare
1
Sensor Limit
Stabilization Limit
Az Reference Error
Az Torque Limit Error
Lv Torque Limit Error
Cl Torque Limit Error
xx03/xx04 ver 2.40 command set

Software Part Numbers
121449, 122844, 123385, 123091

123091 for Land Mobile adds 0.40 to the version number
PGB
3/15/06
PCU COMMAND SUMMARY

xx03/xx04 Version 2.27-2.2x
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
NUL ignored in sio

SOH
STX
ETX
EOT
ENQ
ACK
BEL
BS
HT
LF
VT
FF
CR
cmd terminator
SO
SI
DLE
DC1
DC2
DC3
DC4
NAK
SYN
ETB
CAN
EM
SUB
ESC
FS
GS
RS
US
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
@
A
B
C
D
E
F
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
[
\
]
^
_
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
sp
!
"
#
$
%
&
'
(
)
*
+
,
.
/
0
1
2
3
4
5
6
7
8
9
:
;
<
=
>
?
96
97
98
99
100
101
clear errors
&
*
102
103
104
105
reset rc in sio
+
107
108
109
110
111
112
113
dec lvtrm
2
*
114
115
dec cltrm
4
*
116
clr trms
5
*
117
inc cltrm
6
*
118
119
inc lvtrm
8
*
120
121
122
123
124
125
126
60
61
62
63
64
65
66
67
68
69
6A
6B
6C
6D
6E
6F
70
71
72
73
74
75
76
77
78
79
7A
7B
7C
7D
7E
7F
`
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
{
|
}
~
DEL

checksum
absolute az
Adddd
*
*
absolute hdg soft

absolute el
Ddddd
Edddd
*
*
read R H
absolute CL
absolute rel
H
Idddd
Jdddd
msg
*
*
echo msg=Ldddd
Ldddd
msg*
set parameters
port e output
read E A C
Ndddd
Ohhhh
P
msg*
*
msg
read S (sio)
msg
PCU version
msg
utility cmds
^dddd
incremental az
incremental hdg
ai
bi
*
*
incremental el
ei
write pol
write pwm
differential CL
differential LV
differential AZ
lumped CL,LV,AZ
gdddd
hdddd
idddd
jdddd
kdddd
*
*
*
*
*
msg
UTILITIES (.94)
0
std mode
^0000
C
Toggle DIshScan
^0067
F
Fast reference
^0070
G
Sat reference
^0071
V
Cksum off
^0086
T
Test/Tilt mode
^0084
W
NV write
^0087
Z
Reset
^0090
2
Trim Up
^0002
4
Trim Left
^0004
5
Trim Clear
^0005
6
Trim Right
^0006
8
Trim Down
^0008
1nnn
CL DC torque
^1nnn
2nnn
LV DC torque
^2nnn
3nnn
AZ DC torque
^3nnn
n / N PARAMETERS (.78) or (.110)
Parameter
Format
Stype
n0nnn
N0nnn
CL Kp
n1nnn
N1nnn
LV Kp
n2nnn
N2nnn
AZ Kp
n3nnn
N3nnn
CL trim
n4nnn
N4nnn
LV trim
n5nnn
N5nnn
HF trim
n6nnn
N6nnn
DishScan
n7nnn
N7nnn
Slew Rate
n8nnn
N8nnn
Error Byte
n9nnn
N9nnn
System ID
nAnnn
Nannn
n/N
0
1
2
3
4
5
6
7
8
9
A
System
N0
N1
N2
N3
N7 Index
Size 23, 40:1 Double Reduction Az drive
4003
33
30
30
30
21
1
2403
2
16
8
16
21
2
Size 23 Double Stack, 10:1 Single Reduction
reserved
4
0
0
0
0
4
3004
5
24
20
10
25
5
4004
6
24
24
14
45
6
5004 *
7
51
51
21
25
7
4003a
6003a * **
4096a
5696a *
8
73
74
75
30
51
60
75
30
51
60
75
20
25
40
51
30
25
25
25
8
9
10
11
2403a
4006
4006-10 *
16
20
20
14
76
51
8
46
51
16
26
31
30
25
25
16
20
20
same as N
read EAC in hex
* Odd gain values must remain odd.

** See xx03 2.6x for 6003a-6 and 6003aL
read Pol & aux
read references
read QRSs
read IVCs
read TCs
u
v
w
x
y
msg
msg
msg
msg
msg
Phase
-45
0
+0
64
+45 128
+90 192

Bit
Word 1
7
Spare
6
1
5
Fast TC
4
Sat Ref
3
DishScan
2
Unwrap
1
Data in 3
0
Data in 2
N7
Drive CL
Max
0
1/2
16
1/4
32
1/8
48
Word2
El Target
1
Az Target
Spare
Hdg Valid
Error Flag
Init
Hi Elevation
AZ
0
4
8
12
EL
0
1
2
3
Word 3
Spare
1
Spare
Stabilization Limit
Az Reference Error

121449, 122844, 123385, 123091

PGB
10/10/05
PCU COMMAND SUMMARY

xx03/xx04 Version 2.26
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
NUL ignored in sio

SOH
STX
ETX
EOT
ENQ
ACK
BEL
BS
HT
LF
VT
FF
CR
cmd terminator
SO
SI
DLE
DC1
DC2
DC3
DC4
NAK
SYN
ETB
CAN
EM
SUB
ESC
FS
GS
RS
US
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
@
A
B
C
D
E
F
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
[
\
]
^
_
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
sp
!
"
#
$
%
&
'
(
)
*
+
,
.
/
0
1
2
3
4
5
6
7
8
9
:
;
<
=
>
?
96
97
98
99
100
101
clear errors
&
*
102
103
104
105
reset rc in sio
+
107
108
109
110
111
112
113
dec lvtrm
2
*
114
115
dec cltrm
4
*
116
clr trms
5
*
117
inc cltrm
6
*
118
119
inc lvtrm
8
*
120
121
122
123
124
125
126
60
61
62
63
64
65
66
67
68
69
6A
6B
6C
6D
6E
6F
70
71
72
73
74
75
76
77
78
79
7A
7B
7C
7D
7E
7F
`
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
{
|
}
~
DEL

PGB 2/10/05
absolute az
Adddd
*
*
absolute hdg soft

absolute el
Ddddd
Edddd
*
*
read R H
absolute CL
absolute rel
H
Idddd
Jdddd
msg
*
*
echo msg=Ldddd
Ldddd
msg*
set parameters
port e output
read E A C
Ndddd
Ohhhh
P
msg*
*
msg
read S (sio)
msg
PCU version
msg
utility cmds
incremental az
incremental hdg
^dddd
ai
bi
*
*
incremental el
ei
write pol
write pwm
differential CL
differential LV
differential AZ
lumped CL,LV,AZ
gdddd
hdddd
idddd
jdddd
kdddd
*
*
*
*
*
same as N
read EAC in hex
msg
read Pol & aux

read references
read QRSs
read IVCs
read TCs
u
v
w
x
y
msg
msg
msg
msg
msg

checksum
121449, 122844, 123385, 123091
* Even gain values must remain even, Odd gain values must remain odd.
Even / odd controls target velocity limits to match antenna inertia.
UTILITIES (.94)
0
std mode
C
Toggle DIshScan
F
Fast reference
G
Sat reference
V
Cksum off
T
Test/Tilt mode
W
NV write
Z
Reset
2
Trim Up
4
Trim Left
5
Trim Clear
6
Trim Right
8
Trim Down
1nnn
CL DC torque
2nnn
LV DC torque
3nnn
AZ DC torque
^0000
^0067
^0070
^0071
^0086
^0084
^0087
^0090
^0002
^0004
^0005
^0006
^0008
^1nnn
^2nnn
^3nnn

N PARAMETERS (.78) or n (.110)
0
Stype
N0nnn
1
CL Kp
N1nnn
2
LV Kp
N2nnn
3
AZ Kp
N3nnn
4
CL trim
N4nnn
5
LV trim
N5nnn
6
HF trim
N6nnn
7
DishScan
N7nnn
8
Scan Rate
N8nnn
9
Error Bits
N9nnn
System
N0
N1
w/#23 Double Reduction *
4003
33
30
2403
2
16
N2
N3
N7
30
8
30
16
21
21
Double Stack Single Reduction *

reserved
4
0
0
3004
5
24
20
4004
6
24
24
5004
7
51
51
0
10
14
21
0
25
45
25
4003a
6003a ***
4096a
5696a
20
25
40
51
30
25
25
25
8
73
74
75
30
51
60
75
30
51
60
75
2403a
16
14
8
16
30
4006
20
76
46
26
25
4006-10
20
51
51
31
25
*** See xx03 2.6x for 6003a-6 and 6003aL
N7
Phase
Drive CL
AZ
EL
-45
0
Max
0
0
0
+0
64
1/2
16
4
1
+45
128
1/4
32
8
2
+90
192
1/8
48
12
3
Word 1
Word2
7
Spare
El Target
6
1
1
5
Fast TC
Az Target
4
Sat Ref
Spare (Rel AZ)
3
DishScan
Hdg Valid
2
Unwrap
Error Flag
1
Data in 3
Init
0
Data in 2
Hi Elevation
Word 3
7
Spare
6
1
5
(Control Shutdown)
4
(Stabilization Limit)
3
Az Reference Error
2
1
0
PCU COMMAND SUMMARY

xx03/xx04 Version 2.25
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
NUL ignored in sio

SOH
STX
ETX
EOT
ENQ
ACK
BEL
BS
HT
LF
VT
FF
CR
cmd terminator
SO
SI
DLE
DC1
DC2
DC3
DC4
NAK
SYN
ETB
CAN
EM
SUB
ESC
FS
GS
RS
US
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
@
A
B
C
D
E
F
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
[
\
]
^
_
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
sp
!
"
#
$
%
&
'
(
)
*
+
,
.
/
0
1
2
3
4
5
6
7
8
9
:
;
<
=
>
?
96
97
98
99
100
101
clear errors
&
*
102
103
104
105
reset rc in sio
+
107
108
109
110
111
112
113
dec lvtrm
2
*
114
115
dec cltrm
4
*
116
clr trms
5
*
117
inc cltrm
6
*
118
119
inc lvtrm
8
*
120
121
122
123
124
125
126
60
61
62
63
64
65
66
67
68
69
6A
6B
6C
6D
6E
6F
70
71
72
73
74
75
76
77
78
79
7A
7B
7C
7D
7E
7F
`
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
{
|
}
~
DEL
PGB 2/10/05
absolute az
Adddd
*
*
absolute hdg soft

absolute el
Ddddd
Edddd
*
*
read R H
absolute CL
absolute rel
H
Idddd
Jdddd
msg
*
*
echo msg=Ldddd
Ldddd
msg*
set parameters
port e output
read E A C
Ndddd
Ohhhh
P
msg*
*
msg
read S (sio)
msg
PCU version
msg
utility cmds
incremental az
incremental hdg
^dddd
ai
bi
*
*
incremental el
ei
write pol
write pwm
differential CL
differential LV
differential AZ
lumped CL,LV,AZ
gdddd
hdddd
idddd
jdddd
kdddd
*
*
*
*
*
read EAC in hex
msg
read Pol & aux

read references
read QRSs
read IVCs
read TCs
u
v
w
x
y
msg
msg
msg
msg
msg
UTILITIES (.94)
0
std mode
C
Toggle DIshScan
F
Fast reference
G
Sat reference
V
Cksum off
T
Test/Tilt mode
W
NV write
Z
Reset
2
Trim Up
4
Trim Left
5
Trim Clear
6
Trim Right
8
Trim Down
1nnn
CL DC torque
2nnn
LV DC torque
3nnn
AZ DC torque
^0000
^0067
^0070
^0071
^0086
^0084
^0087
^0090
^0002
^0004
^0005
^0006
^0008
^1nnn
^2nnn
^3nnn

0
Stype
N0nnn
1
CL Kp
N1nnn
2
LV Kp
N2nnn
3
AZ Kp
N3nnn
4
CL trim
N4nnn
5
LV trim
N5nnn
6
HF trim
N6nnn
7
DishScan
N7nnn
8
Scan Rate
N8nnn
9
Error Bits
N9nnn
System
N0
N1
4003
33
30
6003
34
25
N2
N3
N7
30
25
30
24
21
21
Double Stack Single Reduction

2403 obs
4
15
8
3004
5
25
20
4004
6
25
23
5004
7
50
50
16
10
14
20
30
25
45
25
4003a
6003a
4096a
5696a
8
30
30
20
21
73
50
50
24
25
74
60
60
34
25
75
75
75
51
25
same as N

checksum
Phase
-45
0
+0
64
+45
128
+90
192
N7
Drive CL
Max
0
1/2
16
1/4
32
1/8
48

Word 1
7
Spare
6
1
5
Fast TC
4
Sat Ref
3
DishScan
2
Unwrap
1
Data in 3
0
Data in 2
AZ
0
4
8
12
EL
0
1
2
3
Word2
El Target
1
Az Target
Spare (Rel AZ)
Hdg Valid
Error Flag
Init
Hi Elevation
Word 3
7
Spare
6
1
5
(Control Shutdown)
4
(Stabilization Limit)
3
Az Reference Error
2
1
0
PCU COMMAND SUMMARY

xx03/xx04 Version 2.21-2.24
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
NUL ignored in sio

SOH
STX
ETX
EOT
ENQ
ACK
BEL
BS
HT
LF
VT
FF
CR
cmd terminator
SO
SI
DLE
DC1
DC2
DC3
DC4
NAK
SYN
ETB
CAN
EM
SUB
ESC
FS
GS
RS
US
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
@
A
B
C
D
E
F
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
[
\
]
^
_
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
sp
!
"
#
$
%
&
'
(
)
*
+
,
.
/
0
1
2
3
4
5
6
7
8
9
:
;
<
=
>
?
96
97
98
99
100
101
clear errors
&
*
102
103
104
105
reset rc in sio
+
107
108
109
110
111
112
113
dec lvtrm
2
*
114
115
dec cltrm
4
*
116
clr trms
5
*
117
inc cltrm
6
*
118
119
inc lvtrm
8
*
120
121
122
123
124
125
126
60
61
62
63
64
65
66
67
68
69
6A
6B
6C
6D
6E
6F
70
71
72
73
74
75
76
77
78
79
7A
7B
7C
7D
7E
7F
`
a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
{
|
}
~
DEL
xx03/xx04 ver 2.21-2.24 command set
PGB 2/10/2005
absolute az
Adddd
*
*
absolute hdg soft

absolute el
Ddddd
Edddd
*
*
read R H
absolute CL
absolute rel
H
Idddd
Jdddd
msg
*
*
echo msg=Ldddd
Ldddd
msg*
set parameters
port e output
read E A C
Ndddd
Ohhhh
P
msg*
*
msg
read S (sio)
msg
PCU version
msg
utility cmds
incremental az
incremental hdg
^dddd
ai
bi
UTILITIES (.94)
0
std mode
C
Toggle DIshScan
F
Fast reference
G
Sat reference
V
Cksum off
T
Test/Tilt mode
W
NV write
Z
Reset
2
Trim Up
4
Trim Left
5
Trim Clear
6
Trim Right
8
Trim Down
1nnn
CL DC torque
2nnn
LV DC torque
3nnn
AZ DC torque
^0000
^0067
^0070
^0071
^0086
^0084
^0087
^0090
^0002
^0004
^0005
^0006
^0008
^1nnn
^2nnn
^3nnn

0
Stype
N0nnn
1
CL Kp
N1nnn
2
LV Kp
N2nnn
3
AZ Kp
N3nnn
4
CL trim
N4nnn
5
LV trim
N5nnn
6
HF trim
N6nnn
7
DishScan
N7nnn
8
Scan Rate
N8nnn
9
Error Bits
N9nnn
(2.24 only)
(2.24 only)
*
*
incremental el
ei
write pol
write pwm
differential CL
differential LV
differential AZ
lumped CL,LV,AZ
gdddd
hdddd
idddd
jdddd
kdddd
*
*
*
*
*
System
N0
N1
4003
33
30
6003
34
25
N2
N3
N7
30
25
30
25
21
21
Double Stack Single Reduction

2403 obs
4
15
8
3004
5
25
20
4004
6
25
23
5004
7
50
50
15
10
13
20
30
25
45
25
4003a
6003a
20
25
21
25
8
73
30
50
30
50

same as N
read EAC in hex
msg
read Pol & aux

read references
read QRSs
read IVCs
read TCs
u
v
w
x
y
msg
msg
msg
msg
msg

checksum
Phase
-45
0
+0
64
+45
128
+90
192
N7
Drive CL
Max
0
1/2
16
1/4
32
1/8
48

Word 1
7
Spare
6
1
5
Fast TC
4
Sat Ref
3
DishScan
2
Unwrap
1
Data in 3
0
Data in 2
AZ
0
4
8
12
EL
0
1
2
3
Word2
El Target
1
Az Target
Spare (Rel AZ)
Hdg Valid
Error Flag
Init
Hi Elevation
Word 3
7
Spare
6
1
5
Spare
4
Spare
3
Az Reference Error
2
1
0
SeaTel 03/04 PCU

WORD 1
STATUS WORD DECODING TABLE

|
DishScan---++--- Unwrap
Sat Ref --+||+-- DataIn3
Fast TC -+||||+- DataIn2
||||||
@
000000
A
000001
B
000010
C
000011
D
000100
E
000101
F
000110
G
000111
H
001000
I
001001
J
001010
K
001011
L
001100
M
001101
N
001110
O
001111
P
010000
Q
010001
R
010010
S
010011
T
010100
U
010101
V
010110
W
010111
X
011000
Y
011001
Z
011010
[
011011
\
011100
]
011101
^
011110
_
011111
WORD2
DishScan---++--- Unwrap
Hdg Valid--++--- Error
Hdg Valid--++--- Error
Sat Ref --+||+-- DataIn3 Spare
--+||+-- INIT
Spare
--+||+-- INIT
Fast TC -+||||+- Data In2 Az Trg -+||||+- Hi Elev Az Trg -+||||+- Hi Elev
||||||
||||||
||||||
`
100000
@
000000
`
100000
a
100001
A
000001
a
100001
b
100010
B
000010
b
100010
c
100011
C
000011
c
100011
d
100100
D
000100
d
100100
e
100101
E
000101
e
100101
f
100110
F
000110
f
100110
g
100111
G
000111
g
100111
h
101000
H
001000
h
101000
i
101001
I
001001
i
101001
j
101010
J
001010
j
101010
k
101011
K
001011
k
101011
l
101100
L
001100
l
101100
m
101101
M
001101
m
101101
n
101110
N
001110
n
101110
o
101111
O
001111
o
101111
p
110000
P
010000
p
110000
q
110001
Q
010001
q
110001
r
110010
R
010010
r
110010
s
110011
S
010011
s
110011
t
110100
T
010100
t
110100
u
110101
U
010101
u
110101
v
110110
V
010110
v
110110
w
110111
W
010111
w
110111
x
111000
X
011000
x
111000
y
111001
Y
011001
y
111001
z
111010
Z
011010
z
111010
{
111011
[
011011
{
111011
|
111100
\
011100
|
111100
}
111101
]
011101
}
111101
~
111110
^
011110
~
111110
C
111111
_
011111
C
111111
WORD 3 PCU Errors

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

StabLim--+||+-- Lv TC Lim
ShutDwn-+||||+- Cl TC Lim
||||||
P
010000
Q
010001
R
010010
S
010011
T
010100
U
010101
V
010110
W
010111
X
011000
Y
011001
Z
011010
[
011011
\
011100
]
011101
^
011110
_
011111
Typical PCU STATUS code read at ACU is SYH@* which decodes as:
Sat Ref, DishScan, Data In2, Heading Valid, No errors
Page 11 of 11
Sea
Tel
Doc 122761
Rev D
Mar, 2006

x03/x04/x06 Version 2.40-2.4x: Pcu Command Summary

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x03/x04/x06 Version 2.40-2.4x: Pcu Command Summary

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PCU COMMAND SUMMARY