XmTel is intended for interactive remote telescope operation. It is not primarily a robotic telescope control system, but rather a "hands-on" remote telescope interface with a server that permits remote operation and robotic control by making use of INDI for command line, scripted, and and interactive operation. LX200 ===== XmTel was originally developed to control a Meade LX200 16-inch fork-mounted telescope. The command set provides for several basic functions that enable slewing, pointing, fine guiding, and control of the telescope focus, reticle, and fans. XmTel uses only the basic features of the command set and it should function equally well for any telescope that uses this interface. It is essential to have the LX200 hand control initialized for the location and local time before starting xmtel with this protocol NexStar ======= XmTel supports the Celestron NexStar command sets, including auxiliary commands that access hardware directly. Presently the serial port of the computer should be connected to the hand controller, not to the "computer" or "PC" port on the mounting. However, two different command sets are available for this port. XmTel is actively being used and developed with the Celestron Corrected Dall-Kirkham C20 telescope. The mounting for this telescope is similar to, but much more massive than, the CGE Pro series mounting widely available for 11- and 14-inch Schmidt Cassegrains. The extraordinary OTA is now manufactured by Planewave Instruments as the CDK20. Any Celestron NexStar telescope should operate with the present version of the protocol. It has been tested on the C20, the CGE-11, and the GPS-11 alt-azimuth. The "aux" version, which enables remote, stand alone, startup without use of the keypad, has only been tested with the the C20. It requires explicitly setting the gear ratios in software, and these factors will be different on other telescopes. Some NexStar features of the C20 -- the fan, temperature reading, and focus control -- are not presently available on other Celestron telescopes. Software Bisque Paramount ========================= Support for the Software Bisque Paramount is available through the RTS2 library. RC Optical Systems Professional Series Fork Mount ================================================= Most of these were delivered using the Software Bisque control system and are not suported by XmTel without modification. However, our telescope has a system built by Dan Azari for RC Optical, for which we have proprietary code. We have adapted this telescope to the Galil controllers, and the Galil driver included here will operate a wide class of telescopes with that modification. Galil Motion Controls Servo Controller ====================================== We are currently developing telescope control systems using Galil's industrial DMC-41x0 servo controllers to operate small or large DC or AC servo motors in a single- or dual- encoder modes. It is suitable controlling larger telescopes, and could be used as a high end replacement for the drive system in the Paramount or other commercial telescope mounts. The Galil controller can operate up to four axes, sense switches or contact closure, and be applied to operate auxiliary instruments on the telesccope as well. With two servos, power supply, and controller including built-in motor amplifiers the cost in 2013 is about $3000 (US). While our implementation of the Galil controller for telescopes is recent and under development, the driver included here works for a German equatorial and can be configured for an equatorial fork. It should also work for an alt-az mounting and image rotator with modification. We intend to add support for a Renishaw absolute encoder subsystem soon. Planewave ========= This version supports the Planewave A200HR with Sidereal Technology controller for the high precision dual encoder system. The CDK700 is supported through Planewave software running on a co-hosted virtual machine. This solution allows us to utilize all of the development work of Planewave, and integrate their software easily into a Linux-based observatory software system. Sidereal Technology =================== The Sidereal Technology controller is supported for the A200HR mount. The protocol provided there serves as a model for other uses Sidereal Technology hardware. John Kielkopf kielkopf@louisville.edu