MTM2

Note

This page is generated by python script generate_cet.py.

Back to table

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

enableLutTemperature

Description: Use temperature look-up table (LUT) to improve the mirror shape or not.

EFDB_Topic:

MTM2_command_enableLutTemperature

status

IDL_Type:

boolean

Units:

unitless

Description: True: enable the calculation. False: disable the calculation.

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

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.

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).