MTM2#
Note
This page is generated by python script generate_cet.py.
Commands#
actuatorBumpTest#
Description: Exercise the asynchronous task of actuator bump test in the closed-loop control, which is performed at +/push and -/pull directions. The time will be a little more than (4 * period) with the consideration of function overhead. While bumping the actuator, you can not do other actions such as moving the rigid body or others before the end of test. You can base on the MTM2_logevent_actuatorBumpTestStatus topic to know the current bumping status.
- EFDB_Topic:
MTM2_command_actuatorBumpTest
actuator#
- IDL_Type:
int
- Units:
unitless
Description: 0-based actuator ID.
force#
- IDL_Type:
double
- Units:
newton
Description: Force to apply.
period#
- IDL_Type:
double
- Units:
second
Description: Time period to hold when the actuator reaches the +/- applied force.
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.
bypassErrorCode#
Description: Bypass the error code in control loop. This command might break the system.
- EFDB_Topic:
MTM2_command_bypassErrorCode
code#
- IDL_Type:
int
- Units:
unitless
Description: Error code defined in the error_code.tsv of ts_config_mttcs/MTM2.
clearErrors#
Description: Clear all errors and transit to the Standby state from Fault state.
- EFDB_Topic:
MTM2_command_clearErrors
enableOpenLoopMaxLimit#
Description: Enable the maximum force limit in open-loop control.
- EFDB_Topic:
MTM2_command_enableOpenLoopMaxLimit
status#
- IDL_Type:
boolean
- Units:
unitless
Description: True if enable the maximum force limit. Otherwise, False.
killActuatorBumpTest#
Description: Kill the running actuator bump test in the closed-loop control.
- EFDB_Topic:
MTM2_command_killActuatorBumpTest
moveActuator#
Description: Move the actuator in open-loop control.
- EFDB_Topic:
MTM2_command_moveActuator
actuator#
- IDL_Type:
int
- Units:
unitless
Description: 0-based actuator ID.
displacement#
- IDL_Type:
double
- Units:
micron
Description: Displacement to move. When this is used, the step should be 0.
step#
- IDL_Type:
int
- Units:
unitless
Description: Step to move. When this is used, the displacement should be 0.
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.
resetActuatorSteps#
Description: This shall cause the M2 assembly zero all user-defined steps in the open-loop control.
- EFDB_Topic:
MTM2_command_resetActuatorSteps
resetEnabledFaultsMask#
Description: Reset the enabled faults mask to default. This will remove all the bypassed error codes in control loop.
- EFDB_Topic:
MTM2_command_resetEnabledFaultsMask
resetForceOffsets#
Description: This shall cause the M2 assembly zero all force offsets in the closed-loop control.
- EFDB_Topic:
MTM2_command_resetForceOffsets
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
Description: 1: OnBoard. 2: MTMount. If the MTMount is used, the angles between the onboard and MTMount will always be compared.
enableComparison#
- IDL_Type:
boolean
- Units:
unitless
Description: True if enable the comparison between the onboard and MTMount angles. Otherwise, False. Under the comparison, if the difference is greater than the maxDifference or default threshold, the system will fault itself to protect the mirror if you do not bypass the related error code. If the source is MTMount, this value will always be True.
maxDifference#
- IDL_Type:
double
- Units:
degree
Description: Maximum difference between the onboard and MTMount angles. This value should be greater than 0. If 0 is used, the default value will be applied.
setConfigurationFile#
Description: Set the system configuration file.
- EFDB_Topic:
MTM2_command_setConfigurationFile
file#
- IDL_Type:
string
- Units:
unitless
Description: Configuration file listed in the received event: MTM2_logevent_configurationFiles.
setHardpointList#
Description: Set the hardpoint list. When there is a failed actuator, it should be selected to be hardpoint to let the telescope continue the survey in the night. The failed actuator will be fixed/inspected in a latter time. There is some geometry requirement for the selection of hardpoints. The bad selection of hardpoints will be rejected immediately by the internal evaluation. See the check_hardpoints() in ts_m2com for more details.
- EFDB_Topic:
MTM2_command_setHardpointList
actuators#
- IDL_Type:
int
- Units:
unitless
- Count:
6
Description: Ordered 0-based actuator Ids to be the hardpoints. The first three are the axial actuators and the latters are the tangent links.
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 (closed-loop control). If FB is off, the system is under the open-loop control.
- 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
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
- PowerType:
Motor
Communication
- PowerSystemState:
Init
PoweredOff
PoweringOn
ResettingBreakers
PoweredOn
PoweringOff
- ClosedLoopControlMode:
Idle
TelemetryOnly
OpenLoop
ClosedLoop
- InnerLoopControlMode:
Standby
Disabled
Enabled
FirmwareUpdate
Fault
ClearFaults
NoChange
Unknown
- BumpTest:
NotTested
TestingPositive
TestingPositiveWait
TestingNegative
TestingNegativeWait
Passed
Failed
Events#
actuatorBumpTestStatus#
Description: Status of the actuator bump test in the MTM2_command_actuatorBumpTest topic.
- EFDB_Topic:
MTM2_logevent_actuatorBumpTestStatus
actuator#
- IDL_Type:
int
- Units:
unitless
Description: 0-based actuator ID.
status#
- IDL_Type:
short
- Units:
unitless
Description: 1: NotTested. 2: TestingPositive. 3: TestingPositiveWait. 4: TestingNegative. 5: TestingNegativeWait. 6: Passed. 7: Failed.
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.
closedLoopControlMode#
Description: Closed-loop control mode.
- EFDB_Topic:
MTM2_logevent_closedLoopControlMode
mode#
- IDL_Type:
short
- Units:
unitless
Description: 1: Idle. 2: Telemetry only. 3: Open-loop. 4: Closed-loop.
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.
config#
Description: System configuration.
- EFDB_Topic:
MTM2_logevent_config
configuration#
- IDL_Type:
string
- Units:
unitless
Description: Configuration file name.
version#
- IDL_Type:
string
- Units:
unitless
Description: Configuration version.
controlParameters#
- IDL_Type:
string
- Units:
unitless
Description: Directory name of the control parameters.
lutParameters#
- IDL_Type:
string
- Units:
unitless
Description: Directory name of the look-up table (LUT) parameters.
powerWarningMotor#
- IDL_Type:
double
- Units:
unitless
Description: Percentage of the 24V actuator motor power accuracy warning (0% - 100%).
powerFaultMotor#
- IDL_Type:
double
- Units:
unitless
Description: Percentage of the 24V actuator motor power accuracy fault (0% - 100%).
powerThresholdMotor#
- IDL_Type:
double
- Units:
ampere
Description: Power threshold of the actuator motor.
powerWarningComm#
- IDL_Type:
double
- Units:
unitless
Description: Percentage of the 24V inner-loop controller (ILC) communication power accuracy warning (0% - 100%).
powerFaultComm#
- IDL_Type:
double
- Units:
unitless
Description: Percentage of the 24V ILC communication power accuracy fault (0% - 100%).
powerThresholdComm#
- IDL_Type:
double
- Units:
ampere
Description: Power threshold of the ILC communication.
inPositionAxial#
- IDL_Type:
double
- Units:
newton
Description: Threshold to judge the axial actuator is in position or not.
inPositionTangent#
- IDL_Type:
double
- Units:
newton
Description: Threshold to judge the tangent actuator is in position or not.
inPositionSample#
- IDL_Type:
double
- Units:
second
Description: Sampling window size of in-position flag.
cellTemperatureDelta#
- IDL_Type:
double
- Units:
deg_C
Description: Temperature delta between the cell intake and exhaust temperature sensors to judge the mirror’s temperature is high or not.
configurationFiles#
Description: Available configuration files in the controller.
- EFDB_Topic:
MTM2_logevent_configurationFiles
files#
- IDL_Type:
string
- Units:
unitless
Description: Available configuration files.
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.
digitalInput#
Description: Processed digital input as a 32-bit value. The power-breaker related values will be adjusted based on the comparision between the measured voltage and nominal voltage to see the reading input is real or not. See the enum.py in ts_m2com for the details.
- EFDB_Topic:
MTM2_logevent_digitalInput
value#
- IDL_Type:
string
- Units:
unitless
Description: Digital input in hexadecimal format.
digitalOutput#
Description: Digital output as a 8-bit value. See the enum.py in ts_m2com for the details.
- EFDB_Topic:
MTM2_logevent_digitalOutput
value#
- IDL_Type:
byte
- Units:
unitless
Description: Digital output.
disabledILC#
Description: Disabled/bypassed inner-loop controllers (ILCs) in the cell control system. If any actuator ILC is disabled/bypassed, it should belong to the hardpoints. It is noted that the cell control system needs the measurements of hardpoints in the hardpoint compensation. That means the actuator ILCs need to be Enabled to get the readings of load cells under the closed-loop control.
- EFDB_Topic:
MTM2_logevent_disabledILC
ilcs#
- IDL_Type:
boolean
- Units:
unitless
- Count:
84
Description: Disabled/bypassed ILCs.
enabledFaultsMask#
Description: Enabled faults mask of the controller as a 64-bit value.
- EFDB_Topic:
MTM2_logevent_enabledFaultsMask
mask#
- IDL_Type:
string
- Units:
unitless
Description: Enabled faults mask in hexadecimal format. Each bit means different error/warning. See the error_code.tsv in ts_config_mttcs/MTM2 for the details.
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: 1-based actuator Ids to be the hardpoints.
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
Description: 1: onboard. 2: MTMount.
innerLoopControlMode#
Description: Inner-loop control mode.
- EFDB_Topic:
MTM2_logevent_innerLoopControlMode
address#
- IDL_Type:
int
- Units:
unitless
Description: 0-based inner-loop controller (ILC) address.
mode#
- IDL_Type:
short
- Units:
unitless
Description: 1: Standby. 2: Disabled. 3: Enabled. 4: Updating firmware. 5: Fault. 6: Clearing faults. 7: No change. 8: Unknown.
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.
limitSwitchExtend#
Description: Triggered extend limit switch.
- EFDB_Topic:
MTM2_logevent_limitSwitchExtend
actuatorId#
- IDL_Type:
int
- Units:
unitless
Description: 0-based actuator ID.
limitSwitchRetract#
Description: Triggered retract limit switch.
- EFDB_Topic:
MTM2_logevent_limitSwitchRetract
actuatorId#
- IDL_Type:
int
- Units:
unitless
Description: 0-based actuator ID.
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.
openLoopMaxLimit#
Description: Open-loop maximum force limit is enabled or not.
- EFDB_Topic:
MTM2_logevent_openLoopMaxLimit
status#
- IDL_Type:
boolean
- Units:
unitless
Description: Status of the open-loop maximum force limit. True if it is enabled. Otherwise, False.
powerSystemState#
Description: Power system status.
- EFDB_Topic:
MTM2_logevent_powerSystemState
powerType#
- IDL_Type:
short
- Units:
unitless
Description: 1: Actuator motor. 2: Inner-loop controller (ILC) communication.
status#
- IDL_Type:
boolean
- Units:
unitless
Description: Power status is on or not.
state#
- IDL_Type:
short
- Units:
unitless
Description: 1: Initialization. 2: Powered off. 3: Powering on. 4: Resetting breakers. 5: Powered on. 6: Powering off.
scriptExecutionStatus#
Description: Execution status of the binary script performed by engineering user interface (EUI).
- EFDB_Topic:
MTM2_logevent_scriptExecutionStatus
percentage#
- IDL_Type:
double
- Units:
unitless
Description: Percentage of the execution status (0% - 100%).
summaryFaultsStatus#
Description: Summary faults status of the controller as a 64-bit value.
- EFDB_Topic:
MTM2_logevent_summaryFaultsStatus
status#
- IDL_Type:
string
- Units:
unitless
Description: Summary faults status in hexadecimal format. Each bit means different error/warning. See the error_code.tsv in ts_config_mttcs/MTM2 for the details.
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
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.
forceErrorTangent#
Description: Tangential force error used to compare with the thresholds to avoid the breaking of mirror. A1 and A4 do not support the mirror. Only A2, A3, A5, and A6 do.
- EFDB_Topic:
MTM2_forceErrorTangent
force#
- IDL_Type:
double
- Units:
newton
- Count:
6
Description: Individual tangential link force excess. Calculated as the difference between expected (calculated from mirror weight) force acting on the link, and force measured on the link’s load cell.
weight#
- IDL_Type:
double
- Units:
newton
Description: Total mirror tangential force excess. Calculated from individual force excess (difference between calculated and measured force of the link) projected into common frame. The calculated value is a sum of the dynamic and static (mirror’s weight) components.
sum#
- IDL_Type:
double
- Units:
newton
Description: Summation of the total current forces of tangential links.
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.
inclinometerAngleTma#
Description: Received inclinometer angle from the telescope mount assembly (TMA). This topic is used to debug the look-up table (LUT) calculation if needed.
- EFDB_Topic:
MTM2_inclinometerAngleTma
inclinometer#
- IDL_Type:
double
- Units:
degree
Description: Inclinometer angle from TMA.
netForcesTotal#
Description: Total 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: Total 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.
powerStatusRaw#
Description: Raw total voltage and current for motors and communication system of M2.
- EFDB_Topic:
MTM2_powerStatusRaw
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. This equals to 90 degree minus inclinometerProcessed.
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). This is the angle used in the look-up table (LUT) calculation, which should have the same coordination system as the received angle from telescope mount assembly (TMA).