MICRO-GUIDER III

A Telescope to Computer Interface Device You Can Build

by David Lane, Nova Astronomics
updated - June 16, 1997

INTRODUCTION...
The Micro-Guider III (MGIII) is a telescope to computer interface device based on my previous
project, the Micro-Guider I. The original Micro-Guider I is a self-contained device which provides a
telescope with digital setting circles, complete with a database of almost 8,000 celestial objects
including the Messiers and the NGCs. It interacts with the user using an LCD display and a 16 button
keypad. A detailed multi-part article entitled: “MICRO-GUIDER I: A Computerized Setting Circle/
Database Device You Can Build” was published in Observatory Techniques #6 and #7 (Summer and
Fall 1993).
The MGIII is a scaled-down version which reads the telescope’s azimuth and altitude and transmits it
to a suitable computer program upon request. This article will describe the MGIII’s hardware,
software, and construction. It is the author’s intent to provide enough information here to allow the
electronics-inclined telescope maker to build the device themselves. To aid in building the MGIII, the
author has available a supply of blank printed circuit boards and the programmed EPROM chip
needed to complete the device. Some other components may also be available.

DESCRIPTION...
The MGIII is a device which connects to a telescope by using two optical encoders, one attached to
each axis of rotation. The optical encoders translate the rotational movements of the telescope into
electrical signals which are interpreted by the MGIII’s on-board microprocessor.
The current position of the telescope is transmitted to a computer upon request using a standard
RS232 interface. The MGIII is used in conjunction with a suitable computer program which can
translate the telescope’s coordinates into right ascension and declination and act as an aid in locating
objects at the eyepiece (preferably in a graphical way).
The MGIII is designed to be compatible with the author’s shareware Planetarium and Telescope
Control Program for Microsoft® Windows™: The Earth Centered Universe™ (ECU). It is also
compatible with other programs. ECU provides the interface between the telescope, the MGIII, and
the user. I will not discuss the operation of ECU in this article, since the operating procedures are
documented in ECU’s User’s Manual.
As is normal practice with modern digital setting circles, the MGIII will work equally well with
equatorial or alt-azimuth mounted telescopes, since it does not require polar alignment or mount
levelling. Once aligned, ECU provides all the necessary mathematical conversions to use the elapsed
time and the azimuth and altitude (from the MGIII) to calculate the current right ascension and
declination. To initialize the system, ECU asks the user to point the telescope at two stars. Polar
aligned equatorial telescopes need to be aligned on only one star.

HARDWARE...
The MGIII’s hardware consists of one printed circuit board; the same one used in the original Micro-
Guider I except with fewer components installed. The schematic diagrams of the circuit board are
depicted in Figure 1. The chassis wiring interconnecting the circuit board and the other components is
shown in Figure 2 . This section provides a brief description of how the MGIII works, however it is not
required for the reader to understand how the hardware works to build the device.
The architecture of the MGIII is based on Hitachi’s HD64180 microprocessor. This microprocessor is a
highly integrated version of the older Zilog Z80 microprocessor. Components C2, C3, X1 comprise the
main oscillator which is used to time all functions of the computer. U6 is the EPROM chip (32k bytes)
which is used to store the MGIII’s software. U5 provides 32K bytes of RAM for use by the software.
Not all of this RAM is used; in fact an 8K byte device is sufficient.
The components mentioned in the previous paragraph form a complete fully operational computer.
But a computer by itself, with no input/output, is all but useless. U11 is used to read the outputs from
the encoders. Components U13, and C17-C20 are used to provide the RS232 interface. U12 is used
to regulate positive five volts, which powers all of the circuitry. The minimum operating voltage is
seven volts, but it will operate properly up to at least 15 volts. The current consumption of the
complete MGIII is about 30mA, plus the current used by the encoders (the US Digital encoders
consume about 17mA each). This will provide several hours operation from a standard 9V battery. I
use a 12 volt 6 amp-hour gel-cell battery, which provides power for about a season of observing!

SOFTWARE...
As mentioned above, the MGIII is basically a dedicated computer, thus the software reflects greatly in
its functionality. The software was written in a combination of the ‘C’ programming language and
assembly language. An important part of the software is the encoder routines, written in assembly
language. The optical encoders are read by the software at a rate of 8000 times per second. Each
optical encoder produces two signals which are used to determine the motion (including the direction)
of each telescope shaft. The software interprets these signals to determine the azimuth and altitude of
the telescope.
The remaining part of the program is the interface with the RS232 port. The port is configured at 9600
baud, eight data bits, and one stop bit. This portion is written in ‘C’. There are several commands
supported. The main command ‘Q’, queries the MGIII to transmit the current telescope position. It
responds immediately by sending the azimuth and altitude out the RS232 port to the connected
computer. The format transmitted is shown below:
+00123<tab>+00456<cr>
where: +00123 is the azimuth
<tab>is an ascii tab character (decimal 9)
+00456 is the altitude
<cr>is an ascii carriage return character (decimal 13)
The resolution of the encoders define the range of output expected in the azimuth and altitude
readings. If 4000 count encoders are used, the range of output is -2000 to +1999 representing the
angles -180 to +180 degrees. Several other commands can be sent to the MGIII for such functions as
setting the encoder resolution, determining the number of encoder errors (if any), etc.
Determining the right ascension and declination of the telescope is quite complex and is calculated by
the PC computer connected to the MGIII. The algorithm which The Earth Centered Universe™ uses
is described in an article published in the Astronomical Computing column of the February 1989 Sky
and Telescope magazine.
CONSTRUCTION...
The construction of the MGIII is quite straight forward. The parts list shown below lists all the materials
necessary to build the MGIII. Most are available from mail order outlets which cater to the hobbyist
(consult the advertisements in a recent electronics hobbiest magazine). If materials sourcing proves
difficult, the author is willing to assist the prospective builder. Many of the actual components listed in
the parts list are only suggestions, and many substitutes are possible. The total cost of the parts is
approximately $200US, including the two optical encoders.
The hardware for mounting the encoders to the telescope axis’ will not be discussed here, since every
telescope will require different mounting hardware.
The circuit board should be populated according to the silkscreen markings on the PCB. Be careful to
note the polarity of the diodes and capacitors and the orientation of the integrated circuits. Be
particularly careful with U2 and its socket. Only install the components identified in the parts list. All of
the other components are not required, since they are used only by the original Micro-Guider I, which
has a real time clock, an LCD, and a keypad.
Components U2, and U6 should be socketed. The remaining IC’s can be socketed, if desired. The
chassis wiring can be performed using ribbon cable, as I have used, following the wiring diagram
shown as Figure 2.

PARTS LIST...
Resistors:
R1.................................................................................................................................. 10K, 0.25W, 5%
R12,R16 ...................................................................................................................... 100K, 0.25W, 5%
Capacitors:
C1,C6 ........................................................................................ 10uF, 25V tantalum (0.2" lead spacing)
C5,C7,C8,C9,C12,C16 .............................................................. 0.1uF, 50V, ceramic (0.2" lead spacing)
C2,C3 ......................................................................................... 22pF, 50V, ceramic (0.2" lead spacing)
C17,C18,C19,C20 ..................................................................... 22uF, 16V, tantalum (0.2" lead spacing)
Semi-Conductors:
X1 ............................................................................................ 12.288MHz crystal (HC-18/U case style)
D1...................................................................................................................................... 1N4001 diode
U1.......................................................................................................................................... 74HC14 IC
U2.....................................................Hitachi HD64180RCP-8X or Zilog Z8018006VSC microprocessor
(Available from the author for $10US)
U3,U4 ......................................................................................................................... 74HC138 decoder
U5............................................................................................. Hitachi HM62256LP-12 32K static RAM
U6............................................................................................................ 27C256 EPROM Programmed
(available from the author for $15US)
U11 ...................................................................................................................................... 74HC373 IC
U12 ......................................................................................................................7805 IC (TO-220 case)
U13 ..................................................................................................................... Maxim MAX232CPE IC
Miscellaneous:
1 ...............................................................................................................................printed circuit board
(Available from the author for $35US)
1 ................................................................................................................. 68 pin PLCC socket (for U2)
1 ....................................................................................................................... 28 pin IC socket (for U6)
2 ......................................................................................................10 contact double row straight male
headers for J4, J6 (0.1" pin spacing)
1 ................................................................................................................................. suitable enclosure
2 ................................................... US Digital Corp. S1-1000 (0.09 degree resolution) optical encoders.
Phone (800) 736-0194 or (206) 696-2468
2 ................................................................................................................................. DB-9P connectors
2 ................................................................................................................................. DB-9S connectors
2 ...................................................................................................... 10 pin IDC ribbon cable connectors
2 ................................................................................................ encoder mountings (telescope specific)
RS232 cable to PC (straight through wiring DB-9S to DB-9P)
Assorted wire and ribbon cable
Assorted hardware

CONCLUSION...
The MGIII provides an inexpensive and easy to build digital setting circle device. The author’s
inexpensive shareware program for Microsoft® Windows™: The Earth Centered Universe (ECU)
provides full support for the MGIII and many other telescopes. ECU, a full featured planetarium and
telescope control program, is available from the author for $50US. The “shareware” version is
available here.
David J. Lane, Nova Astronomics
PO Box 31013 - Halifax, Nova Scotia, Canada, B3K 5T9
Phone: (902) 443-5989 evenings - Fax: (902) 445-5790
Compuserve ID: 71601,247 E-mail: [email protected]
 MICRO-GUIDER III - CONTROLLER BOARD
C2 MEMORY
22p
X1 VCC
28
+5V VCC
28
+5V
A0 10 A0 10
A0 A0
12M288 A1 9 A1 9
C3 U2 A2 8
A1
A2 U5 11 D0
A2 8
A1
A2 U6 11 D0
2 68 A3 7 00 A3 7 00
GND2 CLK A3 12 D1 A3 12 D1
22p 3 67 A4 6 01 A4 6 01
XTAL RD RD A4 13 D2 A4 13 D2
4 66 A5 5 02 A5 5 02
EXTAL WR WR A5 15 D3 A5 15 D3
U1 +5V
5
WAIT LIR
65 ADDRESS DECODING A6
A7
4
3
A6
03
04
16 D4
A6
A7
4
3
A6
03
04
16 D4
6 64 A7 A7
3 4 BUSACK E A8 25 17 D5 A8 25 17 D5
+5V 7 63 05 05
BUSREQ ME MREQ A8 18 D6 A8 18 D6
RES 8 62 A9 24 06 A9 24 06
RESET IOE IORQ A9 19 D7 A9 19 D7
74HC14 9 61 A10 21 07 A10 21 07
NMI REF A10 A10
R12 INT2 10
INT0 HALT
60 A15 1 U3 15
A11 23
A11 22
A11 23
A11 22
R1 D1 11
12
INT1 TEND1
59
58
A16 2
A0
A1
0
1
14
00000H
08000H
A12
A13
2
26
A12 OE
27
RD A12
A13
2
26
A12 OE
1
RD
100K INT2 DREQ1 A13 WR WR A13 VPP WR
+5V A17 3 13 20 20
10K 1N4001 13 57 A2 2 A14 1
A14 CE A14 27
A14 CE
ST CKS 12
A0 14 56 3 14 14
1
U1 2
A1 15
A0
A1
RXS
TXS
55 MREQ 4
E1 4
11 GND GND
A2 16 54 A18 5 10
E2 5
A2 TEND0 62256 27C256
+ C1 A3 17
A3 RXA1
53
RX1
6 E3 6
9
7
08000H 00000H
74HC14 A4 19 51 7
10u A4 TXA1 TX1
A5 20 50
A5 DREQ0 74HC138
A6 21 49
A6 RXA0 RX0
A7 22 48
SPARE GATES A8 23
A7
A8
TXA0
DCD0
47
TX0
A9 24 46
A9 CTS0
U1 A10
A11
25
26
A10 RTS0
45
44 D7
E0H
13 12
A12 27
A11 D7
43 D6
ENCODER INTERFACE
A12 D6
74HC14
A13
A14
28
29
A13 D5
42
41
D5
D4 A4 1 U4 15 +5V
A15 30
A14 D4
40 D3 A5 2
A0 0
14 RS232 INTERFACE 1
11
U1 10 A16 31
A15 D3
39 D2 A6 3
A1
A2
1
2
13 U11
OE
11
EOH
A16 D2 E 1 J4 +5V
A17 32
A17 D1
38 D1
3
12
BOH +5V
A18 33 37 D0 IORQ 4 11 D0 2 3
A18 D0 E1 4 Q0 D0 2 J4 CHA-RA
74HC14 34 1 A3 5 10 D1 5 4
+5V VCC GND1
35
E2 5
D2 6
Q1 D1
7
3 J4 CHB-RA
A7 6 9
9
U1 8
GND3
GND4
36
E3 6
7
EOH
16 D3 9
Q2
Q3
D2
D3
8
5 J4 CHA-DEC
7
C17 D4 12
Q4 D4
13
6 J4 CHB-DEC
74HC138 VCC D5 15 14
+ 22u Q5 D5
74HC14 HD64180RCP-8X 2 1
D6 16
Q6 D6
17
9 J4 GND
V+ C1+ D7 19 18
U1 6 MICROPROCESSOR + C19 Q7 D7
5
U13 3
22u 74HC373
C1-
74HC14 6 4
V- C2+
R16 C18 + C20
100K MAX232
22u
POWER REGULATOR + 22u
C2-
5

14 11
VBATT U12 POWER SUPPLY DECOUPLING TX0
TX1
J6 5
J6 6
7
T1OUT
T2OUT
T1IN
T2IN
10
TX0
TX1
1 7805 3
VBATT J6 1 IN OUT +5V 13
R1IN R1OUT
12
RX0
RX0 J6 7
VBATT J6 2 GND 8
R2IN R2OUT
9
RX1
RX1 J6 8
GND J6 9
C5 2 + C6 C7 C8 C9 C10 C11 GND

GND J6 10 0u1 10u 0u1 0u1 0u1 0u1 0u1 15

FIGURE 1
MARCH 10, 1992

MICRO-GUIDER III
RS232 INTERFACE
WIRING DIAGRAM
RS232-RX
RS232-TX

AUGUST 19, 1995

GND

J3 (DB-9S)
5

AZIMUTH ALTITUDE
ENCODER ENCODER
S1/S2 SERIES S1/S2 SERIES
N/C

N/C

N/C

CH. B
+5V
CH. A

GND

CH. B
+5V
CH. A

GND
10
1
2
3
4
5
6
7
8
9

IN4001

J6
DB-9S
1 +5V 1
MICRO GUIDER III 2 CH. A - AZIMUTH 2
3 CH. B - AZIMUTH 3
CONTROLLER BOARD 5 CH. A - ALTITUDE 5
6 CH. B - ALTITUDE 9
J4 9 GROUND 6
4 8
N/C +8-15V
7 7
N/C GND
8
N/C
10
N/C

J2 (DB-9P)

FIGURE 2
 ALL DIMENSIONS IN INCHES.

S1/S2 OPTICAL SHAFT ENCODERS Ball Bearing Option:

Shaft Speed: 10,000 RPM max. continuous
DESCRIPTION: Acceleration: 50K Rad/Sec2
The S1 or S2 series optical shaft encoder is a noncontacting 10K Rad/Sec2 (SP-1000 Series)
rotary to digital converter. Useful for position feedback or Shaft torque: 0.05 in. oz. max.
manual interface, the encoder converts realtime shaft angle, Shaft loading: 1 lb. max.
speed and direction into TTL-compatible quadrature outputs Bearing Life: (40/P)3 = Life in millions of revs.
with or without index. where P=radial load in pounds
Weight: 0.7 oz.
The encoder utilizes an unbreakable mylar disk, metal shaft Shaft runout: .0015 T.I.R. max.
and bushing, LED light source, monolithic electronics and
operates from a single +5 volt supply. MATERIALS:
Shaft: Brass or Stainless
Available with ball bearings for motion control applications or Bushing: Brass
torque-loaded to feel like a potentiometer for front-panel Connector: Gold plated
manual interface.
MOUNTING:
FEATURES: Hole Diameter: .380 in.
• Small size Panel Thickness: .125 in. max
• Low cost
• 2-channel quadrature, TTL square wave outputs ELECTRICAL SPECIFICATIONS:
• 3rd channel index option B leads A in a clockwise shaft rotation, and A leads B in
• Tracks from 0 to 100,000 cycles/sec clockwise shaft rotation viewed from the mounting surface side
• Ball bearing option tracks to 10,000 RPM of the encoder.
• -40 to +100∞C operating temperature
• Single +5v supply ACCESSORIES:
Cables and Connectors
MECHANICAL SPECIFICATIONS:
All Options: ORDERING INFORMATION:
Vibration: 20 g, 5 to 2KHz max.
Acceleration: 250,000 rad/sec2 max. U.S. Digital Corp.
Sleeve bushing (non-ball bearing) 3800 N.E. 68th St., Suite A3
Shaft Speed: 100 RPM max. continuous Vancouver, WA 98661-1353
Shaft rotation: Continuous and reversible
Shaft torque: 0.5±0.2 in. oz. 800-736-0194
0.3 in. oz. max. (NT-option) 206-696-2468
Shaft loading: 2 lbs. max. dynamic 20 lbs. max. static Fax 206-696-2469
Weight: 0.7 oz.
http://www.usdigital.com/
Shaft runout: .0015 T.I.R. max.

FOR MORE INFORMATION VISIT THE US DIGITAL WEB SITE… http://www.usdigital.com