MTM2¶
Note
This page is generated by python script generate_cet.py.
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
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
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
- 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.
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
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¶
- 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
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
detailedState¶
Description: New detailed state on each summary state transition.
- EFDB_Topic
MTM2_logevent_detailedState
forceBalanceSystemStatus¶
Description: The status of force balance (FB) system (on or off).
- EFDB_Topic
MTM2_logevent_forceBalanceSystemStatus
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
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.
exhaust¶
- IDL_Type
double
- Units
deg_C
- Count
2
Description: Offset of exhaust temperatures: #1 and #2.
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¶
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
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.
position¶
Description: M2 mirror’s rigid body position. Measured from hardpoints.
- EFDB_Topic
MTM2_position
positionIMS¶
Description: M2 mirror’s rigid body position measured by the independent measurement system (IMS).
- EFDB_Topic
MTM2_positionIMS
powerStatus¶
Description: Total voltage and current for motors and communication system of M2.
- EFDB_Topic
MTM2_powerStatus
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.
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).