Elevation Soft Limit Watchdog Algorithm

When activated, the soft limit algorithm makes sure the antenna is brought to a safe stop at the soft limits, regardless of the servo mode (open loop, velocity, or position.)

cautionCAUTION Before activating this algorithm, make sure the elevation position servo has been configured and tested . See TTY MONITOR Command .

In order to enforce the soft position limits on the elevation axis, the velocity servo calls a few position servo subroutines on each iteration. This determines whether the currently requested velocity, which may not have come from the position servo, allows the antenna to be stopped before encountering the limit.

If the requested velocity is too high, it is replaced by the velocity that the position servo would have used in order to just reach the limit. This safeguard makes sure the antenna speed is reduced early enough to reach a controlled stop before encountering the specified soft limit.

note Analogous soft limits can also be set for azimuth, but these are rarely used since most antennas can rotate freely on the azimuth.