MTHexapod¶
Note
This page is generated by python script generate_cet.py.
Commands¶
configureAcceleration¶
Description: Set the acceleration for all struts.
- EFDB_Topic
MTHexapod_command_configureAcceleration
configureLimits¶
Description: Set position and orientation limits.
- EFDB_Topic
MTHexapod_command_configureLimits
configureVelocity¶
Description: Set velocity limits for position and orientation.
- EFDB_Topic
MTHexapod_command_configureVelocity
move¶
Description: Move the Hexapod to a specified position and orientation. This sets the uncompensated position; if compensation is enabled, the actual position will be slightly different.
- EFDB_Topic
MTHexapod_command_move
sync¶
- IDL_Type
boolean
- Units
unitless
Description: Synchronize motion so that all actuators start and stop moving at the same time? Synchronize motion is our normal operating mode.
offset¶
Description: Offset the Hexapod by a specified change in position and orientation.
- EFDB_Topic
MTHexapod_command_offset
sync¶
- IDL_Type
boolean
- Units
unitless
Description: Synchronize motion so that all actuators start and stop moving at the same time? Synchronize motion is our normal operating mode.
setCompensationMode¶
Description: Enable or disable automatic compensation for telescope elevation, etc.
- EFDB_Topic
MTHexapod_command_setCompensationMode
setPivot¶
Description: Specify the location of pivot point (the reference point whose position and orientation are specified by the move and offset commands). The origin is the center of the base plate interface plane and +Z points away from the motion plate (see LTS-206 section 2.2).
- EFDB_Topic
MTHexapod_command_setPivot
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. For CSCs that start in Standby state this makes the CSC quit. CSCs that start in Offline state, they remain active.
- EFDB_Topic
SALGeneric_command_exitControl
- Category
csc
setAuthList¶
- 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 the 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 the CSC itself.
standby¶
Description: Transition from state Offline, 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”.
settingsToApply¶
- IDL_Type
string
- IDL_Size
256
- Units
unitless
Description: DEPRECATED: uae override instead. Name of the selected settings set
Enumerations¶
- ControllerState
Standby=0
Disabled=1
Enabled=2
Offline=3
Fault=4
- OfflineSubstate
PublishOnly=0
Available=1
- EnabledSubstate
Stationary=0
MovingPointToPoint=1
SlewingOrTracking=2
ControlledStopping=3
Initializing=4
Relative=5
ConstantVelocity=6
- ApplicationStatus
FOLLOWING_ERROR = 0x1
MOVE_COMPLETE = 0x2
EUI_CONNECTED = 0x4
RELATIVE_MOVE_MODE = 0x8
SYNC_MODE = 0x10
COMMAND_REJECTED = 0x20
SAFETY_INTERLOCK = 0x40
EXTEND_LIMIT_SWITCH = 0x80
RETRACT_LIMIT_SWITCH = 0x100
ETHERCAT_PROBLEM = 0x200
DDS_COMMAND_SOURCE = 0x400
MOTION_TIMEOUT = 0x800
DDS_CONNECTED = 0x1000
DRIVE_FAULT = 0x2000
SIMULINK_FAULT = 0x4000
LUT_TABLE_INVALID = 0x8000
Events¶
commandableByDDS¶
Description: Can the CSC control the MTHexapod?
- EFDB_Topic
MTHexapod_logevent_commandableByDDS
state¶
- IDL_Type
boolean
- Units
unitless
Description: If true the CSC can control the MTHexapod; else the Engineering User Interface has control.
compensatedPosition¶
Description: The compensated position and orientation of the pivot point (the position used to compute actuator lengths). If compensation mode is disabled it will match uncompensatedPosition.
- EFDB_Topic
MTHexapod_logevent_compensatedPosition
compensationMode¶
Description: Mode of compensation for telescope elevation, etc.
- EFDB_Topic
MTHexapod_logevent_compensationMode
enabled¶
- IDL_Type
boolean
- Units
unitless
Description: Is automatic compensation enabled or disabled?
compensationOffset¶
Description: The computed compensation offset and the input parameters used to compute the offset.
- EFDB_Topic
MTHexapod_logevent_compensationOffset
temperature¶
- IDL_Type
double
- Units
deg_C
Description: Temperature on which the compensation was based.
connected¶
Description: State of TCP/IP connection to the low level controller.
- EFDB_Topic
MTHexapod_logevent_connected
command¶
- IDL_Type
boolean
- Units
unitless
Description: Is the command socket connected (true=yes, false=no)?
telemetry¶
- IDL_Type
boolean
- Units
unitless
Description: Is the telemetv/config socket connected (true=yes, false=no)?
controllerState¶
Description: State reported by the controller.
- EFDB_Topic
MTHexapod_logevent_controllerState
controllerState¶
- IDL_Type
long
- Units
unitless
Description: Basic state, a ControllerState enumeration value. The state names and meanings are the same as standard CSC summaryState, but the numeric values differ. We report the controller state in addition to summaryState because we need to report a summaryState even when the controller is not connected, and to aid diagnostics, e.g. in case the controller reports an unrecognized state.
offlineSubstate¶
- IDL_Type
long
- Units
unitless
Description: Substate in OFFLINE mode, an OfflineSubstate enumeration value.
enabledSubstate¶
- IDL_Type
long
- Units
unitless
Description: Substate in ENABLED mode, an EnabledSubstate enumeration value.
applicationStatus¶
- IDL_Type
long
- Units
unitless
Description: Application status. A bitmask of ApplicationStatus enumeration values.
inPosition¶
Description: Indicates whether or not all actuators have reached their commanded position.
- EFDB_Topic
MTHexapod_logevent_inPosition
interlock¶
Description: Safety interlock engaged (preventing motion) or disengaged.
- EFDB_Topic
MTHexapod_logevent_interlock
engaged¶
- IDL_Type
boolean
- Units
unitless
Description: Is the interlock engaged (true) or not (false)?
uncompensatedPosition¶
Description: The uncompensated position and orientation of the pivot point, as specified by the move command and offset by the offset command. It is not output when motion is commanded by the engineering user interface.
- EFDB_Topic
MTHexapod_logevent_uncompensatedPosition
appliedSettingsMatchStart¶
- EFDB_Topic
SALGeneric_logevent_appliedSettingsMatchStart
- Category
configurable
appliedSettingsMatchStartIsTrue¶
- IDL_Type
boolean
- Units
unitless
Description: DEPRECATED as a generic event. Few CSCs need something like this, and those that do should provide their own event. True when the configuration matches the start conditions
authList¶
- 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 CSC’s configuration.
- 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 the 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 the CSC, and any other pertinent information. Ignore whitespace after commas.
configurationsAvailable¶
Description: Information about the source of configuration information for the 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 the 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 a CSC goes into the Fault state as an explanation of the problem.
- EFDB_Topic
SALGeneric_logevent_errorCode
- Category
csc
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¶
- EFDB_Topic
SALGeneric_logevent_heartbeat
- Category
mandatory
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 the 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 the CSC itself.
logMessage¶
Description: A log message.
- EFDB_Topic
SALGeneric_logevent_logMessage
- Category
mandatory
level¶
- IDL_Type
int
- Units
unitless
Description: Message level, a Python logging level: error=40, warning=30, info=20, debug=10.
lineNumber¶
- IDL_Type
long
- Units
unitless
Description: Line number in the file specified by filePath.
timestamp¶
- IDL_Type
double
- Units
second
Description: The time at which the condition being reported was observed (TAI unix seconds). 0 if unspecified.
settingVersions¶
Description: DEPRECATED: use configurationsAvailable instead. Information about settings which can be specified in the start command.
- EFDB_Topic
SALGeneric_logevent_settingVersions
- Category
configurable
recommendedSettingsVersion¶
- IDL_Type
string
- Units
unitless
Description: List of comma seperated recomended versions of settings sets
recommendedSettingsLabels¶
- IDL_Type
string
- Units
unitless
Description: List of comma seperated names of settings sets
settingsUrl¶
- IDL_Type
string
- Units
unitless
Description: The URL where the settings sets definitions can be found
settingsApplied¶
Description: DEPRECATED: use configurationApplied instead. Base settings applied.
- EFDB_Topic
SALGeneric_logevent_settingsApplied
- Category
configurable
settingsVersion¶
- IDL_Type
string
- IDL_Size
256
- Units
unitless
Description: The SHA or name corresponding to the published configuration
otherSettingsEvents¶
- IDL_Type
string
- Units
unitless
Description: A comma delimited list of other specific CSC configuration events. This may be blank if no other CSC specific events are necessary
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: This is the top-level version of the 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 a CSC
Telemetry¶
actuators¶
- EFDB_Topic
MTHexapod_actuators
calibrated¶
- IDL_Type
double
- Units
um
- Count
6
Description: Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in microns
raw¶
- IDL_Type
double
- Units
unitless
- Count
6
Description: Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in counts
timestamp¶
- IDL_Type
double
- Units
second
Description: Time at which encoders were read (TAI unix seconds).
application¶
- EFDB_Topic
MTHexapod_application
demand¶
- IDL_Type
double
- Units
unitless
- Count
6
Description: Commanded MTHexapod position in order (X, Y, Z, U, V, W). Linear positions are in microns, angular positions are in degrees.
position¶
- IDL_Type
double
- Units
unitless
- Count
6
Description: Actual MTHexapod position, in order (X, Y, Z, U, V, W). Linear positions are in microns, angular positions are in degrees.
error¶
- IDL_Type
double
- Units
unitless
- Count
6
Description: Position error (position - demand), in order (X, Y, Z, U, V, W). Linear positions are in microns, angular positions are in degrees.
electrical¶
- EFDB_Topic
MTHexapod_electrical
copleyStatusWordDrive¶
- IDL_Type
unsigned short
- Units
unitless
- Count
6
Description: Bus undervoltage fault, bus overvoltage fault, and overcurrent fault are all being monitored for each drive channel
copleyLatchingFaultStatus¶
- IDL_Type
unsigned short
- Units
unitless
- Count
6
Description: Copley latching fault status
busVoltage¶
- IDL_Type
double
- Units
V
- Count
3
Description: Actual bus voltage for each pair of strut motors