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

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

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

crioSummaryState

Description: Current summary state of the cRIO commanded by this CSC.

EFDB_Topic:

ATMCS_logevent_crioSummaryState

summaryState

IDL_Type:

long

Units:

unitless

Description: High level state machine state identifier.

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).

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.