MTM2

Note

This page is generated by python script generate_cet.py.

Back to table

Commands

applyForces

Description: Provide the delta accumulated force vector used in adjusting the target force settings in the closed-loop control. This vector will add to the look-up table (LUT) force directly. A potential use of this command is the active optics system (AOS) to apply the bending mode.

EFDB_Topic:

MTM2_command_applyForces

axial

IDL_Type:

double

Units:

newton

Count:

72

Description: Accumulated axial force vector adds to the LUT force. The elements are the actuator Ids from 1 to 72. The related ring Ids are B1-B30, C1-C24, and D1-D18.

tangent

IDL_Type:

double

Units:

newton

Count:

6

Description: Accumulated tangent force vector adds to the LUT force. The elements are the actuator Ids from 73 to 78. The related ring Ids are A1-A6.

clearErrors

Description: Clear all errors and transit to the Standby state from Fault state.

EFDB_Topic:

MTM2_command_clearErrors

value

IDL_Type:

boolean

Units:

unitless

Description: This value is ignored.

positionMirror

Description: Adjust the mirror’s rigid body positions based on LTS-136 relative from the home position. The home position can be reconfigured.

EFDB_Topic:

MTM2_command_positionMirror

x

IDL_Type:

double

Units:

micron

Description: Position x.

y

IDL_Type:

double

Units:

micron

Description: Position y.

z

IDL_Type:

double

Units:

micron

Description: Position z.

xRot

IDL_Type:

double

Units:

arcsec

Description: Rotation about x.

yRot

IDL_Type:

double

Units:

arcsec

Description: Rotation about y.

zRot

IDL_Type:

double

Units:

arcsec

Description: Rotation about z.

resetForceOffsets

Description: This shall cause the M2 assembly zero all force offsets in the closed-loop control.

EFDB_Topic:

MTM2_command_resetForceOffsets

value

IDL_Type:

boolean

Units:

unitless

Description: This value is ignored.

selectInclinationSource

Description: Select the inclination source onboard or from main telescope mount (MTMount) control system. The default is onboard.

EFDB_Topic:

MTM2_command_selectInclinationSource

source

IDL_Type:

short

Units:

unitless

Enumeration:

OnBoard,MTMount

Description: Enumeration: 1: OnBoard. 2: MTMount.

setTemperatureOffset

Description: Set the offset of temperature sensors.

EFDB_Topic:

MTM2_command_setTemperatureOffset

ring

IDL_Type:

double

Units:

deg_C

Count:

12

Description: Offset of ring temperatures: LG2-1, LG2-2, LG2-3, LG2-4, LG3-1, LG3-2, LG3-3, LG3-4, LG4-1, LG4-2, LG4-3, and LG4-4.

intake

IDL_Type:

double

Units:

deg_C

Count:

2

Description: Offset of intake temperatures: #1 and #2.

exhaust

IDL_Type:

double

Units:

deg_C

Count:

2

Description: Offset of exhaust temperatures: #1 and #2.

switchForceBalanceSystem

Description: Switch the force balance (FB) system. The default is that FB is on.

EFDB_Topic:

MTM2_command_switchForceBalanceSystem

status

IDL_Type:

boolean

Units:

unitless

Description: True: turn on FB. False: turn off FB.

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

InclinationTelemetrySource:

• OnBoard

• MTMount

Events

cellTemperatureHiWarning

Description: Indicates if the measured cell temperature is more than the specified value above the conditioned supply air temperature.

EFDB_Topic:

MTM2_logevent_cellTemperatureHiWarning

hiWarning

IDL_Type:

boolean

Units:

unitless

Description: True if the cell temperature is high.

commandableByDDS

Description: Can the commandable SAL component (CSC) control the MTM2?

EFDB_Topic:

MTM2_logevent_commandableByDDS

state

IDL_Type:

boolean

Units:

unitless

Description: If true the CSC can control the MTM2; else the Engineering User Interface has control.

controllerState

Description: High level state machine state identifier of controller. It is the same as CSC summary state at this moment.

EFDB_Topic:

MTM2_logevent_controllerState

controllerState

IDL_Type:

long

Units:

unitless

Description: M2 controller state.

detailedState

Description: New detailed state on each summary state transition.

EFDB_Topic:

MTM2_logevent_detailedState

detailedState

IDL_Type:

long

Units:

unitless

Description: M2 detailed state.

forceBalanceSystemStatus

Description: The status of force balance (FB) system (on or off).

EFDB_Topic:

MTM2_logevent_forceBalanceSystemStatus

status

IDL_Type:

boolean

Units:

unitless

Description: True if FB is on, False if off.

hardpointList

Description: Hardpoint list in the low-level controller.

EFDB_Topic:

MTM2_logevent_hardpointList

actuators

IDL_Type:

unsigned short

Units:

unitless

Count:

6

Description: Actuator Ids to be the hardpoint.

inclinationTelemetrySource

Description: The source of inclination telemetry (onboard or from main telescope mount (MTMount) control system).

EFDB_Topic:

MTM2_logevent_inclinationTelemetrySource

source

IDL_Type:

short

Units:

unitless

Enumeration:

OnBoard,MTMount

Description: 1: onboard. 2: MTMount.

interlock

Description: MTM2 interlock: This event is generated when safety interlock is engaged or disengaged

EFDB_Topic:

MTM2_logevent_interlock

state

IDL_Type:

boolean

Units:

unitless

Description: True if the interlock is engaged. False if it is cleared.

m2AssemblyInPosition

Description: Indicates when all of the M2 axes are within tolerance of the target positions.

EFDB_Topic:

MTM2_logevent_m2AssemblyInPosition

inPosition

IDL_Type:

boolean

Units:

unitless

Description: True if the M2 assembly is in position.

tcpIpConnected

Description: State of TCP/IP connection between the server and the low level controller.

EFDB_Topic:

MTM2_logevent_tcpIpConnected

isConnected

IDL_Type:

boolean

Units:

unitless

Description: Is the socket connected (true=yes, false=no)?

temperatureOffset

Description: Offset of temperature sensors.

EFDB_Topic:

MTM2_logevent_temperatureOffset

ring

IDL_Type:

double

Units:

deg_C

Count:

12

Description: Offset of ring temperatures: LG2-1, LG2-2, LG2-3, LG2-4, LG3-1, LG3-2, LG3-3, LG3-4, LG4-1, LG4-2, LG4-3, and LG4-4.

intake

IDL_Type:

double

Units:

deg_C

Count:

2

Description: Offset of intake temperatures: #1 and #2.

exhaust

IDL_Type:

double

Units:

deg_C

Count:

2

Description: Offset of exhaust temperatures: #1 and #2.

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

axialActuatorSteps

Description: Axial actuator stepper motor position in steps. Increasing step corresponds to counterclockwise rotation of the motor shaft, looking along the shaft in the direction of the motor. The elements are the actuator Ids from 1 to 72. The related ring Ids are B1-B30, C1-C24, and D1-D18.

EFDB_Topic:

MTM2_axialActuatorSteps

steps

IDL_Type:

long

Units:

unitless

Count:

72

Description: Array of steps for each axial actuator in sequence.

axialEncoderPositions

Description: Axial actuator encoder position. The sign of the position is consistent with the optical coordinate system as per LTS-136. The elements are the actuator Ids from 1 to 72. The related ring Ids are B1-B30, C1-C24, and D1-D18.

EFDB_Topic:

MTM2_axialEncoderPositions

position

IDL_Type:

double

Units:

micron

Count:

72

Description: Encoder position of each axial encoder in sequence.

axialForce

Description: Axial actuator forces data. Increasing force corresponds to increasing tension in the load cell. The elements are the actuator Ids from 1 to 72. The related ring Ids are B1-B30, C1-C24, and D1-D18.

EFDB_Topic:

MTM2_axialForce

lutGravity

IDL_Type:

double

Units:

newton

Count:

72

Description: Gravity component (F_e + F_0 + F_a + F_f) of look-up table (LUT) force for each actuator in sequence.

lutTemperature

IDL_Type:

double

Units:

newton

Count:

72

Description: Temperature component (T_u + T_x + T_y + T_r) of look-up table (LUT) force for each actuator in sequence.

applied

IDL_Type:

double

Units:

newton

Count:

72

Description: Force applied by SAL command or script for each actuator in sequence.

measured

IDL_Type:

double

Units:

newton

Count:

72

Description: Force measurement by load cell for each actuator in sequence.

hardpointCorrection

IDL_Type:

double

Units:

newton

Count:

72

Description: Hardpoint compensation force correction for each actuator in sequence.

displacementSensors

Description: Raw measurements from displacement sensors.

EFDB_Topic:

MTM2_displacementSensors

thetaZ

IDL_Type:

double

Units:

micron

Count:

6

Description: Readings of theta-z from displacement sensors. The elements are A1, A2, A3, A4, A5, and A6.

deltaZ

IDL_Type:

double

Units:

micron

Count:

6

Description: Readings of delta-z from displacement sensors. The elements are A1, A2, A3, A4, A5, and A6.

forceBalance

Description: Net forces and moments as commanded by the force balance system. These are calculated using the 72 axial and 6 tangent balance forces, which are a component of the total forces being commanded.

EFDB_Topic:

MTM2_forceBalance

fx

IDL_Type:

double

Units:

newton

Description: Total x-force commanded by the force balance system.

fy

IDL_Type:

double

Units:

newton

Description: Total y-force commanded by the force balance system.

fz

IDL_Type:

double

Units:

newton

Description: Total z-force commanded by the force balance system.

mx

IDL_Type:

double

Units:

newton*meter

Description: Total x-moment of force commanded by the force balance system.

my

IDL_Type:

double

Units:

newton*meter

Description: Total y-moment of force commanded by the force balance system.

mz

IDL_Type:

double

Units:

newton*meter

Description: Total z-moment of force commanded by the force balance system.

ilcData

Description: Inner-loop controller (ILC) data.

EFDB_Topic:

MTM2_ilcData

status

IDL_Type:

unsigned short

Units:

unitless

Count:

78

Description: ILC status. The elements are the actuator Ids from 1 to 78. The value needs to be transformed from decimal to hexadecimal to understand. The details are in code 67, LTS-346.

netForcesTotal

Description: Totol actuator net forces.

EFDB_Topic:

MTM2_netForcesTotal

fx

IDL_Type:

double

Units:

newton

Description: Net force in x direction.

fy

IDL_Type:

double

Units:

newton

Description: Net force in y direction.

fz

IDL_Type:

double

Units:

newton

Description: Net force in z direction.

netMomentsTotal

Description: Totol actuator net moments of force.

EFDB_Topic:

MTM2_netMomentsTotal

mx

IDL_Type:

double

Units:

newton*meter

Description: Net moment of force in x direction.

my

IDL_Type:

double

Units:

newton*meter

Description: Net moment of force in y direction.

mz

IDL_Type:

double

Units:

newton*meter

Description: Net moment of force in z direction.

position

Description: M2 mirror’s rigid body position. Measured from hardpoints.

EFDB_Topic:

MTM2_position

x

IDL_Type:

double

Units:

micron

Description: Position x.

y

IDL_Type:

double

Units:

micron

Description: Position y.

z

IDL_Type:

double

Units:

micron

Description: Position z.

xRot

IDL_Type:

double

Units:

arcsec

Description: Rotation about x.

yRot

IDL_Type:

double

Units:

arcsec

Description: Rotation about y.

zRot

IDL_Type:

double

Units:

arcsec

Description: Rotation about z.

positionIMS

Description: M2 mirror’s rigid body position measured by the independent measurement system (IMS).

EFDB_Topic:

MTM2_positionIMS

x

IDL_Type:

double

Units:

micron

Description: Position x.

y

IDL_Type:

double

Units:

micron

Description: Position y.

z

IDL_Type:

double

Units:

micron

Description: Position z.

xRot

IDL_Type:

double

Units:

arcsec

Description: Rotation about x.

yRot

IDL_Type:

double

Units:

arcsec

Description: Rotation about y.

zRot

IDL_Type:

double

Units:

arcsec

Description: Rotation about z.

powerStatus

Description: Total voltage and current for motors and communication system of M2.

EFDB_Topic:

MTM2_powerStatus

motorVoltage

IDL_Type:

double

Units:

volt

Description: Total motor voltage.

motorCurrent

IDL_Type:

double

Units:

ampere

Description: Total motor current.

commVoltage

IDL_Type:

double

Units:

volt

Description: Total communication voltage.

commCurrent

IDL_Type:

double

Units:

ampere

Description: Total communication current.

tangentActuatorSteps

Description: Tangent actuator stepper motor position in steps. Increasing sign indicates extension towards the mirror. The elements are the actuator Ids from 73 to 78. The related ring Ids are A1-A6. The related degrees are 0, 60, 120, 180, 240, and 300.

EFDB_Topic:

MTM2_tangentActuatorSteps

steps

IDL_Type:

long

Units:

unitless

Count:

6

Description: Array of steps for each actuator in sequence.

tangentEncoderPositions

Description: Tangent actuator encoder position. The sign of the position is consistent with the optical coordinate system as per LTS-136. The elements are the actuator Ids from 73 to 78. The related ring Ids are A1-A6. The related degrees are 0, 60, 120, 180, 240, and 300.

EFDB_Topic:

MTM2_tangentEncoderPositions

position

IDL_Type:

double

Units:

micron

Count:

6

Description: Encoder position of each tangent encoder in sequence.

tangentForce

Description: Tangent actuator forces data. Increasing force corresponds to increasing tension in the load cell. The elements are the actuator Ids from 73 to 78. The related ring Ids are A1-A6. The related degrees are 0, 60, 120, 180, 240, and 300.

EFDB_Topic:

MTM2_tangentForce

lutGravity

IDL_Type:

double

Units:

newton

Count:

6

Description: Gravity component (F_e + F_0 + F_a + F_f) of look-up table (LUT) force for each actuator in sequence.

lutTemperature

IDL_Type:

double

Units:

newton

Count:

6

Description: Temperature component (T_u + T_x + T_y + T_r) of look-up table (LUT) force for each actuator in sequence.

applied

IDL_Type:

double

Units:

newton

Count:

6

Description: Force applied by SAL command or script for each actuator in sequence.

measured

IDL_Type:

double

Units:

newton

Count:

6

Description: Force measurement by load cell for each actuator in sequence.

hardpointCorrection

IDL_Type:

double

Units:

newton

Count:

6

Description: Hardpoint compensation force correction for each actuator in sequence.

temperature

Description: Mirror and cell temperature sensor readings relative to the origin (offset).

EFDB_Topic:

MTM2_temperature

ring

IDL_Type:

double

Units:

deg_C

Count:

12

Description: Ring temperatures: LG2-1, LG2-2, LG2-3, LG2-4, LG3-1, LG3-2, LG3-3, LG3-4, LG4-1, LG4-2, LG4-3, and LG4-4.

intake

IDL_Type:

double

Units:

deg_C

Count:

2

Description: Intake temperatures: #1 and #2.

exhaust

IDL_Type:

double

Units:

deg_C

Count:

2

Description: Exhaust temperatures: #1 and #2.

zenithAngle

Description: M2 internal inclinometer reading transforms to the zenith angle.

EFDB_Topic:

MTM2_zenithAngle

measured

IDL_Type:

double

Units:

degree

Description: Zenith angle is 0 degree when the telescope is at zenith.

inclinometerRaw

IDL_Type:

double

Units:

degree

Description: Reading raw angle of inclinometer (0-360 degree).

inclinometerProcessed

IDL_Type:

double

Units:

degree

Description: Processed angle of inclinometer (0-360 degree).