ATMCS

Note

This page is generated by python script generate_cet.py.

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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

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.

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.

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.

nasymth_m3_mountMotorEncoders

Description: Position reported by Nasmyth and M3 mount encoders

EFDB_Topic:

ATMCS_nasymth_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.