ATMCS#

Note

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Commands#

setInstrumentPort#

Description: Rotate M3 to a specified instrument port.

EFDB_Topic:: ATMCS_command_setInstrumentPort

port#

IDL_Type:: long
Units:: unitless

Description: Desired instrument port.

startTracking#

Description: Enable tracking. Once you issue this command you must call trackTarget at regular intervals until you are done tracking, at which point call stopTracking.

EFDB_Topic:: ATMCS_command_startTracking

value#

IDL_Type:: boolean
Units:: unitless

Description: Attribute required by the SAL API, but is unused.

stopTracking#

Description: Halt all axes except M3 rotation, and disable tracking.

EFDB_Topic:: ATMCS_command_stopTracking

value#

IDL_Type:: boolean
Units:: unitless

Description: Attribute required by the SAL API, but is unused.

trackTarget#

Description: Specify position, velocity and time (PVT) vector for all axes except M3. This command is immediately reported as done.

EFDB_Topic:: ATMCS_command_trackTarget

azimuth#

IDL_Type:: double
Units:: deg

Description: Mount azimuth angle at the specified time. The allowed range is the software limits (L1), approximately -270 to 270.

azimuthVelocity#

IDL_Type:: double
Units:: deg/second

Description: Mount azimuth velocity at the specified time.

elevation#

IDL_Type:: double
Units:: deg

Description: Mount elevation angle at the specified time.

elevationVelocity#

IDL_Type:: double
Units:: deg/second

Description: Mount elevation angle velocity at the specified time.

nasmyth1RotatorAngle#

IDL_Type:: double
Units:: deg

Description: Nasmyth 1 rotator angle at the specified time. The allowed range is the software limits (L1), approximately -170 to 170. Outside this range the velocity will be severly limited. Software position limits are -175 to 175.

nasmyth1RotatorAngleVelocity#

IDL_Type:: double
Units:: deg/second

Description: Nasmyth 1 rotator angle velocity at the specified time.

nasmyth2RotatorAngle#

IDL_Type:: double
Units:: deg

nasmyth2RotatorAngleVelocity#

IDL_Type:: double
Units:: deg/second

Description: Nasmyth 1 rotator angle velocity at the specified time.

taiTime#

IDL_Type:: double
Units:: second

Description: TAI date at which the commanded positions and velocities apply, as unix time.

trackId#

IDL_Type:: long
Units:: unitless

Description: Target identifier provided by the ATMCS.

tracksys#

IDL_Type:: string
IDL_Size:: 256
Units:: unitless

Description: Defines tracking coordinate system as sidereal, non-sidereal or local.

radesys#

IDL_Type:: string
IDL_Size:: 256
Units:: unitless

Description: Coordinate reference frame of RA/DEC axes. This originates from the pointing component and is used for WCS definition (e.g. FK5 or ICRS).

disable#

Description: Transition from state Enabled to Disabled.

EFDB_Topic:: SALGeneric_command_disable
Category:: csc

enable#

Description: Transition from state Disabled to Enabled.

EFDB_Topic:: SALGeneric_command_enable
Category:: csc

exitControl#

Description: Transition from state Standby to Offline. Most CSCs will quit, but CSCs that support the enterControl command will keep running.

EFDB_Topic:: SALGeneric_command_exitControl
Category:: csc

setAuthList#

Description: Specify who can command this CSC.

EFDB_Topic:: SALGeneric_command_setAuthList
Category:: csc

authorizedUsers#

IDL_Type:: string
Units:: unitless

Description: Comma seperated list of authorized users currently allowed to command this CSC,: in the form user@host. If the first character is +/- then the specified users are added/removed. Duplicates are silently ignored. The CSC’s own user@host is silently ignored, because it is always authorized. For removal, CSCs that are not in the list are silently ignored. Whitespace is allowed after the optional initial +/- and after each comma.

nonAuthorizedCSCs#

IDL_Type:: string
Units:: unitless

Description: Comma seperated list of CSC’s not currently allowed to command this CSC,: in the form name[:index]. An index of 0 is stripped (name:0 becomes name). If the first character is +/- then the specified CSCs are added/removed. Duplicates are silently ignored. For removal, CSCs that are not in the list are silently ignored. Whitespace is allowed after the optional initial +/- and after each comma.

setLogLevel#

Description: Set the logging level.

EFDB_Topic:: SALGeneric_command_setLogLevel
Category:: csc

level#

IDL_Type:: int
Units:: unitless

Description: Logging level, as a Python logging level: error=40, warning=30, info=20, debug=10.

subsystem#

IDL_Type:: string
Units:: unitless

Description: If this CSC itself has sub-ordinate components, they may be listed here. An empty string means the setting applies to all such sub-ordinate components, or just to this CSC itself.

standby#

Description: Transition from state Offline/Available, Disabled or Fault to Standby.

EFDB_Topic:: SALGeneric_command_standby
Category:: csc

start#

Description: Transition from state Standby to Disable, in a specified configuration.

EFDB_Topic:: SALGeneric_command_start
Category:: csc

configurationOverride#

IDL_Type:: string
Units:: unitless

Description:

Configuration override in the form [{name}][:{version}]. For salobj-based CSCs: name is a filename with “.yaml” suffix and version is a git hash; for example:

“foo.yaml” specifies just a file. Two or three config files are loaded: “_init.yaml”, “_{site}.yaml” (if present), and “foo.yaml”.
“:37bf936” specifies just a git hash. One or two config files are loaded from the specified git commit: “_init.yaml” and “_{site}.yaml” (if present.
“bar.yaml:HEAD~2” specifies both a file and a git hash. Two or three config files are read from the specified git commit: “_init.yaml”, “_{site}.yaml” (if present), and “bar.yaml”.

Enumerations#

AtMountState:

TrackingDisabled
TrackingEnabled
Stopping

M3ExitPort:

Nasmyth1
Nasmyth2
Port3

M3State:

Nasmyth1
Nasmyth2
Port3
InMotion
UnknownPosition

AzimuthDirection:

ClockWise
CounterClockWise

DetailedState:

DisabledState
EnabledState
FaultState
OfflineState
StandbyState
RemoteControlState
HandPaddleControlState

Events#

allAxesInPosition#

Description: True if all axes are in position

EFDB_Topic:: ATMCS_logevent_allAxesInPosition

inPosition#

IDL_Type:: boolean
Units:: unitless

Description: True if all axes are in position

atMountState#

Description: State of tracking

EFDB_Topic:: ATMCS_logevent_atMountState

state#

IDL_Type:: long
Units:: unitless

Description: Describes if tracking is stopped/started or in the process of stopping

azimuthBrake1#

Description: State of azimuth drive 1 brake

EFDB_Topic:: ATMCS_logevent_azimuthBrake1

engaged#

IDL_Type:: boolean
Units:: unitless

Description: True if the azimuth drive 1 brake is engaged

azimuthBrake2#

Description: State of azimuth drive 2 brake

EFDB_Topic:: ATMCS_logevent_azimuthBrake2

engaged#

IDL_Type:: boolean
Units:: unitless

Description: True if the azimuth drive 2 brake is engaged

azimuthDrive1Status#

Description: True if azimuth drive 1 is enabled

EFDB_Topic:: ATMCS_logevent_azimuthDrive1Status

enable#

IDL_Type:: boolean
Units:: unitless

Description: True, if state of elevation drive is set to enabled

azimuthDrive2Status#

Description: True if azimuth drive 2 enabled

EFDB_Topic:: ATMCS_logevent_azimuthDrive2Status

enable#

IDL_Type:: boolean
Units:: unitless

Description: True, if the state of the azimuth drive is enabled

azimuthInPosition#

Description: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files.

EFDB_Topic:: ATMCS_logevent_azimuthInPosition

inPosition#

IDL_Type:: boolean
Units:: unitless

Description: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files.

azimuthLimitSwitchCCW#

Description: State of azimuth counter-clockwise limit switch

EFDB_Topic:: ATMCS_logevent_azimuthLimitSwitchCCW

active#

IDL_Type:: boolean
Units:: unitless

Description: True if telescope azimuth axis is at the CCW L2 limit

azimuthLimitSwitchCW#

Description: State of azimuth clockwise limit switch

EFDB_Topic:: ATMCS_logevent_azimuthLimitSwitchCW

active#

IDL_Type:: boolean
Units:: unitless

Description: True if telescope azimuth axis is at the CW L2 limit

azimuthToppleBlockCCW#

Description: True if the azimuth topple block counter-clockwise switch depressed

EFDB_Topic:: ATMCS_logevent_azimuthToppleBlockCCW

active#

IDL_Type:: boolean
Units:: unitless

Description: True if switch depressed

azimuthToppleBlockCW#

Description: True if the azimuth topple block clockwise switch depressed

EFDB_Topic:: ATMCS_logevent_azimuthToppleBlockCW

active#

IDL_Type:: boolean
Units:: unitless

Description: True if switch depressed

detailedState#

Description: The substate or extra states of the CSC.

EFDB_Topic:: ATMCS_logevent_detailedState

detailedState#

IDL_Type:: long
Units:: unitless

Description: The substate or extra states of the CSC

elevationBrake#

Description: State of elevation brake

EFDB_Topic:: ATMCS_logevent_elevationBrake

engaged#

IDL_Type:: boolean
Units:: unitless

Description: True if the Elevation Drive Brake is engaged

elevationDriveStatus#

Description: True if the elevation drive enabled

EFDB_Topic:: ATMCS_logevent_elevationDriveStatus

enable#

IDL_Type:: boolean
Units:: unitless

Description: True, if state of elevation drive is set to enabled

elevationInPosition#

Description: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files

EFDB_Topic:: ATMCS_logevent_elevationInPosition

inPosition#

IDL_Type:: boolean
Units:: unitless

Description: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files

elevationLimitSwitchLower#

Description: State of elevation lower limit switch

EFDB_Topic:: ATMCS_logevent_elevationLimitSwitchLower

active#

IDL_Type:: boolean
Units:: unitless

Description: True if telescope elevation axis is at the lower (horizon) L2 limit

elevationLimitSwitchUpper#

Description: State of elevation upper limit switch

EFDB_Topic:: ATMCS_logevent_elevationLimitSwitchUpper

active#

IDL_Type:: boolean
Units:: unitless

Description: True if telescope elevation axis is at the upper (zenith) L2 limit

m3DriveStatus#

Description: True if the M3 rotator drive is enabled

EFDB_Topic:: ATMCS_logevent_m3DriveStatus

enable#

IDL_Type:: boolean
Units:: unitless

Description: True if the M3 rotator drive is enabled

m3InPosition#

Description: True if the M3 rotator is where setInstrumentPort commanded it to go. Note that when the CSC starts up this is false.

EFDB_Topic:: ATMCS_logevent_m3InPosition

inPosition#

IDL_Type:: boolean
Units:: unitless

Description: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files.

m3PortSelected#

Description: The port commanded by setInstrumentPort.

EFDB_Topic:: ATMCS_logevent_m3PortSelected

selected#

IDL_Type:: long
Units:: unitless

Description: The port that is to receive light from the system, or if stage is in motion

m3RotatorDetentSwitches#

Description: M3 rotator detent switches

EFDB_Topic:: ATMCS_logevent_m3RotatorDetentSwitches

nasmyth1Active#

IDL_Type:: boolean
Units:: unitless

Description: True if M3 is directing light to Nasmyth 1

port3Active#

IDL_Type:: boolean
Units:: unitless

Description: True if M3 is directing light to the auxiliary port with no rotator.

nasmyth2Active#

IDL_Type:: boolean
Units:: unitless

Description: True if M3 is directing light to Nasmyth 2

m3RotatorLimitSwitchCCW#

Description: State of counter-clockwise M3 limit switch

EFDB_Topic:: ATMCS_logevent_m3RotatorLimitSwitchCCW

active#

IDL_Type:: boolean
Units:: unitless

Description: True if M3 rotator is at the CCW (L2) limit

m3RotatorLimitSwitchCW#

Description: State of clockwise M3 limit switch

EFDB_Topic:: ATMCS_logevent_m3RotatorLimitSwitchCW

active#

IDL_Type:: boolean
Units:: unitless

Description: True if M3 Rotator is at the CW (L2) limit

m3State#

Description: State of M3 rotator.

EFDB_Topic:: ATMCS_logevent_m3State

state#

IDL_Type:: long
Units:: unitless

Description: M3 rotator position/motion state

nasmyth1Brake#

Description: State of Nasmyth 1 brake

EFDB_Topic:: ATMCS_logevent_nasmyth1Brake

engaged#

IDL_Type:: boolean
Units:: unitless

Description: True if the Nasmyth1 drive brake is engaged

nasmyth1DriveStatus#

Description: True if the Nasmyth 1 rotator drive is enabled

EFDB_Topic:: ATMCS_logevent_nasmyth1DriveStatus

enable#

IDL_Type:: boolean
Units:: unitless

Description: True if the state of the Nasmyth 1 rotator is enabled

nasmyth1LimitSwitchCCW#

Description: State of counter-clockwise Nasmyth 1 limit switch

EFDB_Topic:: ATMCS_logevent_nasmyth1LimitSwitchCCW

active#

IDL_Type:: boolean
Units:: unitless

Description: True if Nasmyth 1 is at the CCW limit

nasmyth1LimitSwitchCW#

Description: State of clockwise Nasmyth 1 limit switch

EFDB_Topic:: ATMCS_logevent_nasmyth1LimitSwitchCW

active#

IDL_Type:: boolean
Units:: unitless

Description: True if Nasmyth 1 is at CW (L2) limit

nasmyth1RotatorInPosition#

Description: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files

EFDB_Topic:: ATMCS_logevent_nasmyth1RotatorInPosition

inPosition#

IDL_Type:: boolean
Units:: unitless

Description: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files.

nasmyth2Brake#

Description: State of Nasmyth 2 brake

EFDB_Topic:: ATMCS_logevent_nasmyth2Brake

engaged#

IDL_Type:: boolean
Units:: unitless

Description: True if the Nasmyth drive 2 brake is engaged

nasmyth2DriveStatus#

Description: True if the Nasmyth 2 rotator drive is enabled

EFDB_Topic:: ATMCS_logevent_nasmyth2DriveStatus

enable#

IDL_Type:: boolean
Units:: unitless

Description: True if the Nasmyth 2 rotator is enabled

nasmyth2LimitSwitchCCW#

Description: State of counter-clockwise Nasmyth 2 limit switch

EFDB_Topic:: ATMCS_logevent_nasmyth2LimitSwitchCCW

active#

IDL_Type:: boolean
Units:: unitless

Description: True if Nasmyth 2 is at CCW (L2) limit

nasmyth2LimitSwitchCW#

Description: State of clockwise Nasmyth 2 limit switch

EFDB_Topic:: ATMCS_logevent_nasmyth2LimitSwitchCW

active#

IDL_Type:: boolean
Units:: unitless

Description: True is Nasmyth 2 is at the CW (L2) limit

nasmyth2RotatorInPosition#

Description: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files.

EFDB_Topic:: ATMCS_logevent_nasmyth2RotatorInPosition

inPosition#

IDL_Type:: boolean
Units:: unitless

Description: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files.

positionLimits#

Description: L1 (software) position limits, in order elevation, azimuth, Nasmyth 1, Nasmyth 2 and M3.

EFDB_Topic:: ATMCS_logevent_positionLimits

minimum#

IDL_Type:: float
Units:: deg
Count:: 5

Description: Minimum position limits.

maximum#

IDL_Type:: float
Units:: deg
Count:: 5

Description: Maximum position limits.

target#

Description: Commanded position and velocity.

EFDB_Topic:: ATMCS_logevent_target

elevation#

IDL_Type:: double
Units:: deg

Description: Target mount elevation angle at the specified time.

elevationVelocity#

IDL_Type:: double
Units:: deg/second

Description: Target mount elevation angle velocity at the specified time.

azimuth#

IDL_Type:: double
Units:: deg

Description: Target mount azimuth angle at the specified time. The allowed range is 0 to 360.

azimuthVelocity#

IDL_Type:: double
Units:: deg/second

Description: Target mount azimuth velocity at the specified time.

nasmyth1RotatorAngle#

IDL_Type:: double
Units:: deg

Description: Target Nasmyth 1 rotator angle at the specified time.

nasmyth1RotatorAngleVelocity#

IDL_Type:: double
Units:: deg/second

Description: Target Nasmyth 1 rotator angle velocity at the specified time.

nasmyth2RotatorAngle#

IDL_Type:: double
Units:: deg

Description: Target Nasmyth 1 rotator angle at the specified time.

nasmyth2RotatorAngleVelocity#

IDL_Type:: double
Units:: deg/second

Description: Target Nasmyth 1 rotator angle velocity at the specified time.

taiTime#

IDL_Type:: double
Units:: second

Description: TAI date at which the commanded positions and velocities apply, as unix time.

trackId#

IDL_Type:: long
Units:: unitless

Description: Unique target identifier

tracksys#

IDL_Type:: string
IDL_Size:: 256
Units:: unitless

Description: Defines tracking coordinate system as sidereal, non-sidereal or local.

radesys#

IDL_Type:: string
IDL_Size:: 256
Units:: unitless

Description: Coordinate reference frame of RA/DEC axes. This originates from the pointing component and is used for WCS definition (e.g. FK5 or ICRS).

authList#

Description: Who can command this CSC.

EFDB_Topic:: SALGeneric_logevent_authList
Category:: csc

authorizedUsers#

IDL_Type:: string
Units:: unitless

Description: Comma seperated list of authorized users currently allowed to command this CSC.

nonAuthorizedCSCs#

IDL_Type:: string
Units:: unitless

Description: Comma seperated list of CSC’s not currently allowed to command this CSC.

configurationApplied#

Description: Information about this CSC’s current configuration overrides.

EFDB_Topic:: SALGeneric_logevent_configurationApplied
Category:: configurable

configurations#

IDL_Type:: string
Units:: unitless

Description: A comma-separated list of configurations applied. If configuration comes from a clone of a git repo, or similar directory, then it will be a list of file names, without the file extension. Ignore whitespace after commas.

version#

IDL_Type:: string
Units:: unitless

Description: Version of the configuration source. For a clone of a git repo it will be a git hash.

url#

IDL_Type:: string
Units:: unitless

Description: URL of the configuration source. For a clone of a git repo this will be a file URL. For a database it will be a standard database URL. This should always match the same-named field in configurationsAvailable.

schemaVersion#

IDL_Type:: string
Units:: unitless

Description: Version of config schema used by this CSC. For a configuration git repo, this is the name of a folder in the config package, and is typically something like “v1”. This should always match the same-named field in configurationsAvailable.

otherInfo#

IDL_Type:: string
Units:: unitless

Description: A comma-separated list of event topics (without the logevent prefix) used to publish the entire set of configuration parameters loaded by this CSC, and any other pertinent information. Ignore whitespace after commas.

configurationsAvailable#

Description: Available configuration overrides for this CSC.

EFDB_Topic:: SALGeneric_logevent_configurationsAvailable
Category:: configurable

overrides#

IDL_Type:: string
Units:: unitless

Description: Available overrides as a comma-separated list. Each entry is a possible value of the configurationOverride field of the start command. Ignore whitespace after commas.

version#

IDL_Type:: string
Units:: unitless

Description: Version of the configuration source. For a clone of a git repo it will be a git hash.

url#

IDL_Type:: string
Units:: unitless

Description: URL of the configuration source. For a clone of a git repo this will be a file URL. For a database it will be a standard database URL.

schemaVersion#

IDL_Type:: string
Units:: unitless

Description: Version of config schema used by this CSC. For a configuration git repo, this is the name of a folder in the config package, and is typically something like “v1”.

errorCode#

Description: Output when this CSC goes into the Fault state as an explanation of the problem.

EFDB_Topic:: SALGeneric_logevent_errorCode
Category:: csc

errorCode#

IDL_Type:: long
Units:: unitless

Description: A numeric error code.

errorReport#

IDL_Type:: string
Units:: unitless

Description: An string providing detailed information about the error.

traceback#

IDL_Type:: string
Units:: unitless

Description: An optional stack trace of the error condition.

heartbeat#

Description: Event output at regular intervals (typcally once per second) to show that the SAL component is alive.

EFDB_Topic:: SALGeneric_logevent_heartbeat
Category:: mandatory

heartbeat#

IDL_Type:: boolean
Units:: unitless

Description: Deprecated field that you should ignore.

logLevel#

Description: Current logging level.

EFDB_Topic:: SALGeneric_logevent_logLevel
Category:: mandatory

level#

IDL_Type:: int
Units:: unitless

Description: Current logging level, a Python logging level: error=40, warning=30, info=20, debug=10.

subsystem#

IDL_Type:: string
Units:: unitless

Description: If this CSC itself has sub-ordinate components, they may be listed here. An empty string means the setting applies to all such sub-ordinate components, or just to this CSC itself.

logMessage#

Description: A log message.

EFDB_Topic:: SALGeneric_logevent_logMessage
Category:: mandatory

name#

IDL_Type:: string
Units:: unitless

Description: Log name.

level#

IDL_Type:: int
Units:: unitless

Description: Message level, a Python logging level: error=40, warning=30, info=20, debug=10.

message#

IDL_Type:: string
Units:: unitless

Description: Log message.

traceback#

IDL_Type:: string
Units:: unitless

Description: Exception traceback; “” if not an exception.

filePath#

IDL_Type:: string
Units:: unitless

Description: Path to source file.

functionName#

IDL_Type:: string
Units:: unitless

Description: Function or method name.

lineNumber#

IDL_Type:: long
Units:: unitless

Description: Line number in the file specified by filePath.

process#

IDL_Type:: long
Units:: unitless

Description: Process ID.

timestamp#

IDL_Type:: double
Units:: second

Description: The time at which the condition being reported was observed (TAI unix seconds). 0 if unspecified.

simulationMode#

Description: Current simulation mode.

EFDB_Topic:: SALGeneric_logevent_simulationMode
Category:: csc

mode#

IDL_Type:: int
Units:: unitless

Description: Current simulation mode; 0 for normal operation (no simulation); other supported values are specific to each CSC.

softwareVersions#

Description: Current versions of software in use by CSC.

EFDB_Topic:: SALGeneric_logevent_softwareVersions
Category:: mandatory

salVersion#

IDL_Type:: string
IDL_Size:: 256
Units:: unitless

Description: This is the current version of SAL generation.

xmlVersion#

IDL_Type:: string
IDL_Size:: 256
Units:: unitless

Description: This is the current version of CSC XML.

openSpliceVersion#

IDL_Type:: string
IDL_Size:: 256
Units:: unitless

Description: This is the current version of OpenSplice.

cscVersion#

IDL_Type:: string
IDL_Size:: 256
Units:: unitless

Description: The software version of this CSC.

subsystemVersions#

IDL_Type:: string
Units:: unitless

Description: A comma delimited list of key=value pairs relating subsystem name (key) to its version number (value). This may be left blank if there are no subsystems within this CSC.

summaryState#

Description: Current summary state of this CSC.

EFDB_Topic:: SALGeneric_logevent_summaryState
Category:: csc

summaryState#

IDL_Type:: long
Units:: unitless

Description: High level state machine state identifier.

Telemetry#

mount_AzEl_Encoders#

Description: Telemetry for elevation and azimuth encoders

EFDB_Topic:: ATMCS_mount_AzEl_Encoders

cRIO_timestamp#

IDL_Type:: double
Units:: second

Description: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time.

elevationCalculatedAngle#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Elevation axis position computed from the axis encoders at 100 Hz beginning at the specified time.

azimuthCalculatedAngle#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Azimuth axis position computed from the axis encoders at 100 Hz beginning at the specified time. The range is the hard stop limits (L3), approximately -280 to 280.

elevationEncoder1Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by elevation axis encoder 1 at 100 Hz beginning at the specified time.

elevationEncoder2Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by elevation axis encoder 2 at 100 Hz beginning at the specified time.

elevationEncoder3Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by elevation axis encoder 3 at 100 Hz beginning at the specified time.

azimuthEncoder1Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by azimuth axis encoder 1 at 100 Hz beginning at the specified time.

azimuthEncoder2Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by azimuth axis encoder 2 at 100 Hz beginning at the specified time.

azimuthEncoder3Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by azimuth axis encoder 3 at 100 Hz beginning at the specified time.

trackId#

IDL_Type:: long
Units:: unitless

Description: Unique identifier given by the ATPoining Component

mount_Nasmyth_Encoders#

Description: Telemetry for Nasmyth encoders

EFDB_Topic:: ATMCS_mount_Nasmyth_Encoders

cRIO_timestamp#

IDL_Type:: double
Units:: second

Description: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time.

nasmyth1CalculatedAngle#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Nasmyth 1 axis position computed from the axis encoders, or nan if this axis is not in use. The range is the software limits (L1), approximately -175 to 175. Increasing the range requires installation of an additional switch.

nasmyth2CalculatedAngle#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Nasmyth 2 axis position computed from the axis encoders, or nan if this axis is not in use. The range is the hard stop limits (L3), approximately -175 to 175. Increasing the range requires installation of an additional switch.

nasmyth1Encoder1Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by Nasmyth 1 rotator axis encoder 1.

nasmyth1Encoder2Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by Nasmyth 1 rotator axis encoder 2.

nasmyth1Encoder3Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by Nasmyth 1 rotator axis encoder 3.

nasmyth2Encoder1Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by Nasmyth 2 rotator axis encoder 1.

nasmyth2Encoder2Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by Nasmyth 2 rotator axis encoder 2.

nasmyth2Encoder3Raw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by Nasmyth 2 rotator axis encoder 3.

trackId#

IDL_Type:: long
Units:: unitless

Description: Unique identifier given by the ATPoining Component

measuredMotorVelocity#

Description: Measured motor velocity for all drives

EFDB_Topic:: ATMCS_measuredMotorVelocity

cRIO_timestamp#

IDL_Type:: double
Units:: second

Description: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time.

elevationMotorVelocity#

IDL_Type:: double
Units:: deg/second
Count:: 100

Description: Measured velocity of elevation drive motor at 100 Hz beginning at the specified time.

azimuthMotor1Velocity#

IDL_Type:: double
Units:: deg/second
Count:: 100

Description: Measured velocity of azimuth drive 1 motor at 100 Hz beginning at the specified time.

azimuthMotor2Velocity#

IDL_Type:: double
Units:: deg/second
Count:: 100

Description: Measured velocity of azimuth drive 2 motor at 100 Hz beginning at the specified time.

nasmyth1MotorVelocity#

IDL_Type:: double
Units:: deg/second
Count:: 100

Description: Measured velocity of Nasmyth 1 drive motor at 100 Hz beginning at the specified time.

nasmyth2MotorVelocity#

IDL_Type:: double
Units:: deg/second
Count:: 100

Description: Measured velocity of Nasmyth 2 drive motor at 100 Hz beginning at the specified time.

m3Velocity#

IDL_Type:: double
Units:: deg/second
Count:: 100

Description: Measured velocity of M3 rotator drive motor at 100 Hz beginning at the specified time.

measuredTorque#

Description: Measured torque for all drives

EFDB_Topic:: ATMCS_measuredTorque

cRIO_timestamp#

IDL_Type:: double
Units:: second

Description: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time.

elevationMotorTorque#

IDL_Type:: double
Units:: A
Count:: 100

Description: Elevation drive measured motor torque at 100 Hz beginning at the specified time.

azimuthMotor1Torque#

IDL_Type:: double
Units:: A
Count:: 100

Description: Azimuth drive 1 measured motor torque at 100 Hz beginning at the specified time.

azimuthMotor2Torque#

IDL_Type:: double
Units:: A
Count:: 100

Description: Azimuth drive 2 measured motor torque at 100 Hz beginning at the specified time.

nasmyth1MotorTorque#

IDL_Type:: double
Units:: A
Count:: 100

Description: Nasmyth 1 rotator drive measured motor torque at 100 Hz beginning at the specified time.

nasmyth2MotorTorque#

IDL_Type:: double
Units:: A
Count:: 100

Description: Nasmyth 2 rotator drive measured motor torque at 100 Hz beginning at the specified time.

m3Torque#

IDL_Type:: double
Units:: A
Count:: 100

Description: M3 rotator drive measured motor torque at 100 Hz beginning at the specified time.

nasmyth_m3_mountMotorEncoders#

Description: Position reported by Nasmyth and M3 mount encoders

EFDB_Topic:: ATMCS_nasmyth_m3_mountMotorEncoders

cRIO_timestamp#

IDL_Type:: double
Units:: second

Description: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time.

nasmyth1Encoder#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Position reported by Nasmyth rotator 1 drive motor encoder at 100 Hz beginning at the specified time, converted to deg.

nasmyth2Encoder#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Position reported by Nasmyth rotator 2 drive motor encoder at 100 Hz beginning at the specified time, converted to deg.

m3Encoder#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Position reported by M3 rotator drive motor encoder at 100 Hz beginning at the specified time, converted to deg.

nasmyth1EncoderRaw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by Nasmyth rotator 1 drive motor encoder at 100 Hz beginning at the specified time.

nasmyth2EncoderRaw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by Nasmyth rotator 2 drive motor encoder at 100 Hz beginning at the specified time.

m3EncoderRaw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by M3 rotator drive motor encoder at 100 Hz beginning at the specified time.

azEl_mountMotorEncoders#

Description: Position reported by elevation and azimuth mount encoders

EFDB_Topic:: ATMCS_azEl_mountMotorEncoders

cRIO_timestamp#

IDL_Type:: double
Units:: second

Description: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time.

elevationEncoder#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Position reported by elevation drive motor encoder at 100 Hz beginning at the specified time, converted to deg.

azimuth1Encoder#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Position reported by azimuth drive 1 motor encoder at 100 Hz beginning at the specified time, converted to deg.

azimuth2Encoder#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Position reported by azimuth drive 2 motor encoder at 100 Hz beginning at the specified time, converted to deg.

elevationEncoderRaw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by elevation drive motor encoder at 100 Hz beginning at the specified time.

azimuth1EncoderRaw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by azimuth drive 1 drive motor encoder at 100 Hz beginning at the specified time.

azimuth2EncoderRaw#

IDL_Type:: long
Units:: unitless
Count:: 100

Description: Position (in encoder counts) reported by azimuth drive 2 drive motor encoder at 100 Hz beginning at the specified time.

torqueDemand#

Description: Commanded torque for all drives except M3

EFDB_Topic:: ATMCS_torqueDemand

cRIO_timestamp#

IDL_Type:: double
Units:: second

Description: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time.

elevationMotorTorque#

IDL_Type:: double
Units:: A
Count:: 100

Description: Elevation drive commanded motor torque at 100 Hz beginning at the specified time.

azimuthMotor1Torque#

IDL_Type:: double
Units:: A
Count:: 100

Description: Azimuth drive 1 commanded motor torque at 100 Hz beginning at the specified time.

azimuthMotor2Torque#

IDL_Type:: double
Units:: A
Count:: 100

Description: Azimuth drive 2 commanded motor torque at 100 Hz beginning at the specified time.

nasmyth1MotorTorque#

IDL_Type:: double
Units:: A
Count:: 100

Description: Nasmyth 1 rotator drive commanded motor torque at 100 Hz beginning at the specified time.

nasmyth2MotorTorque#

IDL_Type:: double
Units:: A
Count:: 100

Description: Nasmyth 2 rotator drive commanded motor torque at 100 Hz beginning at the specified time.

trajectory#

Description: Telescope trajectory Position/Velocity/Time from the ATMCS trajectory generator at 100Hz, starting at the specified time.

EFDB_Topic:: ATMCS_trajectory

cRIO_timestamp#

IDL_Type:: double
Units:: second

Description: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time.

elevation#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Target mount elevation angle at 100Hz beginning at the specified time.

elevationVelocity#

IDL_Type:: double
Units:: deg/second
Count:: 100

Description: Target mount elevation angle velocity at 100Hz beginning at the specified time.

azimuth#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Target mount azimuth angle at 100Hz beginning at the specified time. The allowed range is 0 to 360.

azimuthVelocity#

IDL_Type:: double
Units:: deg/second
Count:: 100

Description: Target mount azimuth velocity at 100Hz beginning at the specified time.

nasmyth1RotatorAngle#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Target Nasmyth 1 rotator angle at 100Hz beginning at the specified time.

nasmyth1RotatorAngleVelocity#

IDL_Type:: double
Units:: deg/second
Count:: 100

Description: Target Nasmyth 1 rotator angle velocity at 100Hz beginning at the specified time.

nasmyth2RotatorAngle#

IDL_Type:: double
Units:: deg
Count:: 100

Description: Target Nasmyth 1 rotator angle at 100Hz beginning at the specified time.

nasmyth2RotatorAngleVelocity#

IDL_Type:: double
Units:: deg/second
Count:: 100

Description: Target Nasmyth 1 rotator angle velocity at 100Hz beginning at the specified time.