===== ATMCS ===== Commands -------- startTracking ~~~~~~~~~~~~~ **Description**: Enable tracking. Once you issue this command you must call trackTarget at regular intervals until you are done tracking, at which point call stopTracking. :Subsystem: ATMCS :EFDB_Topic: ATMCS_command_startTracking value ***** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: Attribute required by the SAL API, but is unused. trackTarget ~~~~~~~~~~~ **Description**: Specify position, velocity and time (PVT) vector for all axes except M3. This command is immediately reported as done. :Subsystem: ATMCS :EFDB_Topic: ATMCS_command_trackTarget azimuth ******* :IDL_Type: double :Units: deg :Count: 1 **Description**: Mount azimuth angle at the specified time. The allowed range is the software limits (L1), approximately -270 to 270. azimuthVelocity *************** :IDL_Type: double :Units: deg/second :Count: 1 **Description**: Mount azimuth velocity at the specified time. elevation ********* :IDL_Type: double :Units: deg :Count: 1 **Description**: Mount elevation angle at the specified time. elevationVelocity ***************** :IDL_Type: double :Units: deg/second :Count: 1 **Description**: Mount elevation angle velocity at the specified time. nasmyth1RotatorAngle ******************** :IDL_Type: double :Units: deg :Count: 1 **Description**: Nasmyth 1 rotator angle at the specified time. The allowed range is the software limits (L1), approximately -170 to 170. Outside this range the velocity will be severly limited. Software position limits are -175 to 175. nasmyth1RotatorAngleVelocity **************************** :IDL_Type: double :Units: deg/second :Count: 1 **Description**: Nasmyth 1 rotator angle velocity at the specified time. nasmyth2RotatorAngle ******************** :IDL_Type: double :Units: deg :Count: 1 **Description**: Nasmyth 1 rotator angle at the specified time. The allowed range is the software limits (L1), approximately -170 to 170. Outside this range the velocity will be severly limited. Software position limits are -175 to 175. nasmyth2RotatorAngleVelocity **************************** :IDL_Type: double :Units: deg/second :Count: 1 **Description**: Nasmyth 1 rotator angle velocity at the specified time. taiTime ******* :IDL_Type: double :Units: second :Count: 1 **Description**: TAI date at which the commanded positions and velocities apply, as unix time. trackId ******* :IDL_Type: long :Units: dimensionless :Count: 1 **Description**: Target identifier provided by the ATMCS. tracksys ******** :IDL_Type: string :IDL_Size: 256 :Units: dimensionless :Count: 1 **Description**: Defines tracking coordinate system as sidereal, non-sidereal or local. radesys ******* :IDL_Type: string :IDL_Size: 256 :Units: dimensionless :Count: 1 **Description**: Coordinate reference frame of RA/DEC axes. This originates from the pointing component and is used for WCS definition (e.g. FK5 or ICRS). setInstrumentPort ~~~~~~~~~~~~~~~~~ **Description**: Rotate M3 to a specified instrument port. :Subsystem: ATMCS :EFDB_Topic: ATMCS_command_setInstrumentPort port **** :IDL_Type: long :Units: dimensionless :Count: 1 **Description**: Desired instrument port. stopTracking ~~~~~~~~~~~~ **Description**: Halt all axes except M3 rotation, and disable tracking. :Subsystem: ATMCS :EFDB_Topic: ATMCS_command_stopTracking value ***** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: Attribute required by the SAL API, but is unused. Events ------ * AtMountState_TrackingDisabled * AtMountState_TrackingEnabled * AtMountState_Stopping * M3ExitPort_Nasmyth1 * M3ExitPort_Nasmyth2 * M3ExitPort_Port3 * M3State_Nasmyth1 * M3State_Nasmyth2 * M3State_Port3 * M3State_InMotion * M3State_UnknownPosition * AzimuthDirection_ClockWise * AzimuthDirection_CounterClockWise * DetailedState_DisabledState * DetailedState_EnabledState * DetailedState_FaultState * DetailedState_OfflineState * DetailedState_StandbyState * DetailedState_RemoteControlState * DetailedState_HandPaddleControlState detailedState ~~~~~~~~~~~~~ **Description**: The substate or extra states of the CSC. :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_detailedState detailedState ************* :IDL_Type: long :Units: dimensionless :Count: 1 **Description**: The substate or extra states of the CSC atMountState ~~~~~~~~~~~~ **Description**: State of tracking :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_atMountState state ***** :IDL_Type: long :Units: dimensionless :Count: 1 **Description**: Describes if tracking is stopped/started or in the process of stopping m3State ~~~~~~~ **Description**: State of M3 rotator. :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_m3State state ***** :IDL_Type: long :Units: dimensionless :Count: 1 **Description**: M3 rotator position/motion state m3PortSelected ~~~~~~~~~~~~~~ **Description**: The port commanded by setInstrumentPort. :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_m3PortSelected selected ******** :IDL_Type: long :Units: dimensionless :Count: 1 **Description**: The port that is to receive light from the system, or if stage is in motion positionLimits ~~~~~~~~~~~~~~ **Description**: L1 (software) position limits, in order elevation, azimuth, Nasmyth 1, Nasmyth 2 and M3. :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_positionLimits minimum ******* :IDL_Type: float :Units: deg :Count: 5 **Description**: Minimum position limits. maximum ******* :IDL_Type: float :Units: deg :Count: 5 **Description**: Maximum position limits. target ~~~~~~ **Description**: Commanded position and velocity. :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_target elevation ********* :IDL_Type: double :Units: deg :Count: 1 **Description**: Target mount elevation angle at the specified time. elevationVelocity ***************** :IDL_Type: double :Units: deg/second :Count: 1 **Description**: Target mount elevation angle velocity at the specified time. azimuth ******* :IDL_Type: double :Units: deg :Count: 1 **Description**: Target mount azimuth angle at the specified time. The allowed range is 0 to 360. azimuthVelocity *************** :IDL_Type: double :Units: deg/second :Count: 1 **Description**: Target mount azimuth velocity at the specified time. nasmyth1RotatorAngle ******************** :IDL_Type: double :Units: deg :Count: 1 **Description**: Target Nasmyth 1 rotator angle at the specified time. nasmyth1RotatorAngleVelocity **************************** :IDL_Type: double :Units: deg/second :Count: 1 **Description**: Target Nasmyth 1 rotator angle velocity at the specified time. nasmyth2RotatorAngle ******************** :IDL_Type: double :Units: deg :Count: 1 **Description**: Target Nasmyth 1 rotator angle at the specified time. nasmyth2RotatorAngleVelocity **************************** :IDL_Type: double :Units: deg/second :Count: 1 **Description**: Target Nasmyth 1 rotator angle velocity at the specified time. taiTime ******* :IDL_Type: double :Units: second :Count: 1 **Description**: TAI date at which the commanded positions and velocities apply, as unix time. trackId ******* :IDL_Type: long :Units: dimensionless :Count: 1 **Description**: Unique target identifier tracksys ******** :IDL_Type: string :IDL_Size: 256 :Units: dimensionless :Count: 1 **Description**: Defines tracking coordinate system as sidereal, non-sidereal or local. radesys ******* :IDL_Type: string :IDL_Size: 256 :Units: dimensionless :Count: 1 **Description**: Coordinate reference frame of RA/DEC axes. This originates from the pointing component and is used for WCS definition (e.g. FK5 or ICRS). elevationInPosition ~~~~~~~~~~~~~~~~~~~ **Description**: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_elevationInPosition inPosition ********** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files azimuthInPosition ~~~~~~~~~~~~~~~~~ **Description**: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files. :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_azimuthInPosition inPosition ********** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files. nasmyth1RotatorInPosition ~~~~~~~~~~~~~~~~~~~~~~~~~ **Description**: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_nasmyth1RotatorInPosition inPosition ********** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files. nasmyth2RotatorInPosition ~~~~~~~~~~~~~~~~~~~~~~~~~ **Description**: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files. :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_nasmyth2RotatorInPosition inPosition ********** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files. m3InPosition ~~~~~~~~~~~~ **Description**: True if the M3 rotator is where setInstrumentPort commanded it to go. Note that when the CSC starts up this is false. :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_m3InPosition inPosition ********** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True when the actual and commanded position are within an epsilon defined in the ATMCS configuration files. allAxesInPosition ~~~~~~~~~~~~~~~~~ **Description**: True if all axes are in position :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_allAxesInPosition inPosition ********** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if all axes are in position azimuthToppleBlockCCW ~~~~~~~~~~~~~~~~~~~~~ **Description**: True if the azimuth topple block counter-clockwise switch depressed :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_azimuthToppleBlockCCW active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if switch depressed azimuthToppleBlockCW ~~~~~~~~~~~~~~~~~~~~ **Description**: True if the azimuth topple block clockwise switch depressed :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_azimuthToppleBlockCW active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if switch depressed m3RotatorDetentSwitches ~~~~~~~~~~~~~~~~~~~~~~~ **Description**: M3 rotator detent switches :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_m3RotatorDetentSwitches nasmyth1Active ************** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if M3 is directing light to Nasmyth 1 port3Active *********** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if M3 is directing light to the auxiliary port with no rotator. nasmyth2Active ************** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if M3 is directing light to Nasmyth 2 elevationLimitSwitchLower ~~~~~~~~~~~~~~~~~~~~~~~~~ **Description**: State of elevation lower limit switch :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_elevationLimitSwitchLower active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if telescope elevation axis is at the lower (horizon) L2 limit elevationLimitSwitchUpper ~~~~~~~~~~~~~~~~~~~~~~~~~ **Description**: State of elevation upper limit switch :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_elevationLimitSwitchUpper active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if telescope elevation axis is at the upper (zenith) L2 limit azimuthLimitSwitchCCW ~~~~~~~~~~~~~~~~~~~~~ **Description**: State of azimuth counter-clockwise limit switch :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_azimuthLimitSwitchCCW active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if telescope azimuth axis is at the CCW L2 limit azimuthLimitSwitchCW ~~~~~~~~~~~~~~~~~~~~ **Description**: State of azimuth clockwise limit switch :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_azimuthLimitSwitchCW active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if telescope azimuth axis is at the CW L2 limit nasmyth1LimitSwitchCCW ~~~~~~~~~~~~~~~~~~~~~~ **Description**: State of counter-clockwise Nasmyth 1 limit switch :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_nasmyth1LimitSwitchCCW active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if Nasmyth 1 is at the CCW limit nasmyth1LimitSwitchCW ~~~~~~~~~~~~~~~~~~~~~ **Description**: State of clockwise Nasmyth 1 limit switch :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_nasmyth1LimitSwitchCW active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if Nasmyth 1 is at CW (L2) limit nasmyth2LimitSwitchCCW ~~~~~~~~~~~~~~~~~~~~~~ **Description**: State of counter-clockwise Nasmyth 2 limit switch :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_nasmyth2LimitSwitchCCW active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if Nasmyth 2 is at CCW (L2) limit nasmyth2LimitSwitchCW ~~~~~~~~~~~~~~~~~~~~~ **Description**: State of clockwise Nasmyth 2 limit switch :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_nasmyth2LimitSwitchCW active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True is Nasmyth 2 is at the CW (L2) limit m3RotatorLimitSwitchCCW ~~~~~~~~~~~~~~~~~~~~~~~ **Description**: State of counter-clockwise M3 limit switch :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_m3RotatorLimitSwitchCCW active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if M3 rotator is at the CCW (L2) limit m3RotatorLimitSwitchCW ~~~~~~~~~~~~~~~~~~~~~~ **Description**: State of clockwise M3 limit switch :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_m3RotatorLimitSwitchCW active ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if M3 Rotator is at the CW (L2) limit elevationDriveStatus ~~~~~~~~~~~~~~~~~~~~ **Description**: True if the elevation drive enabled :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_elevationDriveStatus enable ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True, if state of elevation drive is set to enabled azimuthDrive1Status ~~~~~~~~~~~~~~~~~~~ **Description**: True if azimuth drive 1 is enabled :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_azimuthDrive1Status enable ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True, if state of elevation drive is set to enabled azimuthDrive2Status ~~~~~~~~~~~~~~~~~~~ **Description**: True if azimuth drive 2 enabled :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_azimuthDrive2Status enable ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True, if the state of the azimuth drive is enabled nasmyth1DriveStatus ~~~~~~~~~~~~~~~~~~~ **Description**: True if the Nasmyth 1 rotator drive is enabled :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_nasmyth1DriveStatus enable ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if the state of the Nasmyth 1 rotator is enabled nasmyth2DriveStatus ~~~~~~~~~~~~~~~~~~~ **Description**: True if the Nasmyth 2 rotator drive is enabled :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_nasmyth2DriveStatus enable ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if the Nasmyth 2 rotator is enabled m3DriveStatus ~~~~~~~~~~~~~ **Description**: True if the M3 rotator drive is enabled :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_m3DriveStatus enable ****** :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if the M3 rotator drive is enabled elevationBrake ~~~~~~~~~~~~~~ **Description**: State of elevation brake :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_elevationBrake engaged ******* :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if the Elevation Drive Brake is engaged azimuthBrake1 ~~~~~~~~~~~~~ **Description**: State of azimuth drive 1 brake :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_azimuthBrake1 engaged ******* :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if the azimuth drive 1 brake is engaged azimuthBrake2 ~~~~~~~~~~~~~ **Description**: State of azimuth drive 2 brake :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_azimuthBrake2 engaged ******* :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if the azimuth drive 2 brake is engaged nasmyth1Brake ~~~~~~~~~~~~~ **Description**: State of Nasmyth 1 brake :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_nasmyth1Brake engaged ******* :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if the Nasmyth1 drive brake is engaged nasmyth2Brake ~~~~~~~~~~~~~ **Description**: State of Nasmyth 2 brake :Subsystem: ATMCS :EFDB_Topic: ATMCS_logevent_nasmyth2Brake engaged ******* :IDL_Type: boolean :Units: dimensionless :Count: 1 **Description**: True if the Nasmyth drive 2 brake is engaged Telemetry --------- trajectory ~~~~~~~~~~ **Description**: Telescope trajectory Position/Velocity/Time from the ATMCS trajectory generator at 100Hz, starting at the specified time. :Subsystem: ATMCS :EFDB_Topic: ATMCS_trajectory cRIO_timestamp ************** :IDL_Type: double :Units: second :Count: 1 **Description**: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time. elevation ********* :IDL_Type: double :Units: deg :Count: 100 **Description**: Target mount elevation angle at 100Hz beginning at the specified time. elevationVelocity ***************** :IDL_Type: double :Units: deg/second :Count: 100 **Description**: Target mount elevation angle velocity at 100Hz beginning at the specified time. azimuth ******* :IDL_Type: double :Units: deg :Count: 100 **Description**: Target mount azimuth angle at 100Hz beginning at the specified time. The allowed range is 0 to 360. azimuthVelocity *************** :IDL_Type: double :Units: deg/second :Count: 100 **Description**: Target mount azimuth velocity at 100Hz beginning at the specified time. nasmyth1RotatorAngle ******************** :IDL_Type: double :Units: deg :Count: 100 **Description**: Target Nasmyth 1 rotator angle at 100Hz beginning at the specified time. nasmyth1RotatorAngleVelocity **************************** :IDL_Type: double :Units: deg/second :Count: 100 **Description**: Target Nasmyth 1 rotator angle velocity at 100Hz beginning at the specified time. nasmyth2RotatorAngle ******************** :IDL_Type: double :Units: deg :Count: 100 **Description**: Target Nasmyth 1 rotator angle at 100Hz beginning at the specified time. nasmyth2RotatorAngleVelocity **************************** :IDL_Type: double :Units: deg/second :Count: 100 **Description**: Target Nasmyth 1 rotator angle velocity at 100Hz beginning at the specified time. Encoders ~~~~~~~~ **Description**: Telemetry for elevation and azimuth encoders :Subsystem: ATMCS :EFDB_Topic: ATMCS_mount_AzEl_Encoders cRIO_timestamp ************** :IDL_Type: double :Units: second :Count: 1 **Description**: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time. elevationCalculatedAngle ************************ :IDL_Type: double :Units: deg :Count: 100 **Description**: Elevation axis position computed from the axis encoders at 100 Hz beginning at the specified time. azimuthCalculatedAngle ********************** :IDL_Type: double :Units: deg :Count: 100 **Description**: Azimuth axis position computed from the axis encoders at 100 Hz beginning at the specified time. The range is the hard stop limits (L3), approximately -280 to 280. elevationEncoder1Raw ******************** :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by elevation axis encoder 1 at 100 Hz beginning at the specified time. elevationEncoder2Raw ******************** :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by elevation axis encoder 2 at 100 Hz beginning at the specified time. elevationEncoder3Raw ******************** :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by elevation axis encoder 3 at 100 Hz beginning at the specified time. azimuthEncoder1Raw ****************** :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by azimuth axis encoder 1 at 100 Hz beginning at the specified time. azimuthEncoder2Raw ****************** :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by azimuth axis encoder 2 at 100 Hz beginning at the specified time. azimuthEncoder3Raw ****************** :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by azimuth axis encoder 3 at 100 Hz beginning at the specified time. trackId ******* :IDL_Type: long :Units: dimensionless :Count: 1 **Description**: Unique identifier given by the ATPoining Component Encoders ~~~~~~~~ **Description**: Telemetry for Nasmyth encoders :Subsystem: ATMCS :EFDB_Topic: ATMCS_mount_Nasmyth_Encoders cRIO_timestamp ************** :IDL_Type: double :Units: second :Count: 1 **Description**: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time. nasmyth1CalculatedAngle *********************** :IDL_Type: double :Units: deg :Count: 100 **Description**: Nasmyth 1 axis position computed from the axis encoders, or nan if this axis is not in use. The range is the software limits (L1), approximately -175 to 175. Increasing the range requires installation of an additional switch. nasmyth2CalculatedAngle *********************** :IDL_Type: double :Units: deg :Count: 100 **Description**: Nasmyth 2 axis position computed from the axis encoders, or nan if this axis is not in use. The range is the hard stop limits (L3), approximately -175 to 175. Increasing the range requires installation of an additional switch. nasmyth1Encoder1Raw ******************* :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by Nasmyth 1 rotator axis encoder 1. nasmyth1Encoder2Raw ******************* :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by Nasmyth 1 rotator axis encoder 2. nasmyth1Encoder3Raw ******************* :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by Nasmyth 1 rotator axis encoder 3. nasmyth2Encoder1Raw ******************* :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by Nasmyth 2 rotator axis encoder 1. nasmyth2Encoder2Raw ******************* :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by Nasmyth 2 rotator axis encoder 2. nasmyth2Encoder3Raw ******************* :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by Nasmyth 2 rotator axis encoder 3. trackId ******* :IDL_Type: long :Units: dimensionless :Count: 1 **Description**: Unique identifier given by the ATPoining Component torqueDemand ~~~~~~~~~~~~ **Description**: Commanded torque for all drives except M3 :Subsystem: ATMCS :EFDB_Topic: ATMCS_torqueDemand cRIO_timestamp ************** :IDL_Type: double :Units: second :Count: 1 **Description**: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time. elevationMotorTorque ******************** :IDL_Type: double :Units: A :Count: 100 **Description**: Elevation drive commanded motor torque at 100 Hz beginning at the specified time. azimuthMotor1Torque ******************* :IDL_Type: double :Units: A :Count: 100 **Description**: Azimuth drive 1 commanded motor torque at 100 Hz beginning at the specified time. azimuthMotor2Torque ******************* :IDL_Type: double :Units: A :Count: 100 **Description**: Azimuth drive 2 commanded motor torque at 100 Hz beginning at the specified time. nasmyth1MotorTorque ******************* :IDL_Type: double :Units: A :Count: 100 **Description**: Nasmyth 1 rotator drive commanded motor torque at 100 Hz beginning at the specified time. nasmyth2MotorTorque ******************* :IDL_Type: double :Units: A :Count: 100 **Description**: Nasmyth 2 rotator drive commanded motor torque at 100 Hz beginning at the specified time. measuredTorque ~~~~~~~~~~~~~~ **Description**: Measured torque for all drives :Subsystem: ATMCS :EFDB_Topic: ATMCS_measuredTorque cRIO_timestamp ************** :IDL_Type: double :Units: second :Count: 1 **Description**: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time. elevationMotorTorque ******************** :IDL_Type: double :Units: A :Count: 100 **Description**: Elevation drive measured motor torque at 100 Hz beginning at the specified time. azimuthMotor1Torque ******************* :IDL_Type: double :Units: A :Count: 100 **Description**: Azimuth drive 1 measured motor torque at 100 Hz beginning at the specified time. azimuthMotor2Torque ******************* :IDL_Type: double :Units: A :Count: 100 **Description**: Azimuth drive 2 measured motor torque at 100 Hz beginning at the specified time. nasmyth1MotorTorque ******************* :IDL_Type: double :Units: A :Count: 100 **Description**: Nasmyth 1 rotator drive measured motor torque at 100 Hz beginning at the specified time. nasmyth2MotorTorque ******************* :IDL_Type: double :Units: A :Count: 100 **Description**: Nasmyth 2 rotator drive measured motor torque at 100 Hz beginning at the specified time. m3Torque ******** :IDL_Type: double :Units: A :Count: 100 **Description**: M3 rotator drive measured motor torque at 100 Hz beginning at the specified time. measuredMotorVelocity ~~~~~~~~~~~~~~~~~~~~~ **Description**: Measured motor velocity for all drives :Subsystem: ATMCS :EFDB_Topic: ATMCS_measuredMotorVelocity cRIO_timestamp ************** :IDL_Type: double :Units: second :Count: 1 **Description**: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time. elevationMotorVelocity ********************** :IDL_Type: double :Units: deg/second :Count: 100 **Description**: Measured velocity of elevation drive motor at 100 Hz beginning at the specified time. azimuthMotor1Velocity ********************* :IDL_Type: double :Units: deg/second :Count: 100 **Description**: Measured velocity of azimuth drive 1 motor at 100 Hz beginning at the specified time. azimuthMotor2Velocity ********************* :IDL_Type: double :Units: deg/second :Count: 100 **Description**: Measured velocity of azimuth drive 2 motor at 100 Hz beginning at the specified time. nasmyth1MotorVelocity ********************* :IDL_Type: double :Units: deg/second :Count: 100 **Description**: Measured velocity of Nasmyth 1 drive motor at 100 Hz beginning at the specified time. nasmyth2MotorVelocity ********************* :IDL_Type: double :Units: deg/second :Count: 100 **Description**: Measured velocity of Nasmyth 2 drive motor at 100 Hz beginning at the specified time. m3Velocity ********** :IDL_Type: double :Units: deg/second :Count: 100 **Description**: Measured velocity of M3 rotator drive motor at 100 Hz beginning at the specified time. mountMotorEncoders ~~~~~~~~~~~~~~~~~~ **Description**: Position reported by Nasmyth and M3 mount encoders :Subsystem: ATMCS :EFDB_Topic: ATMCS_nasymth_m3_mountMotorEncoders cRIO_timestamp ************** :IDL_Type: double :Units: second :Count: 1 **Description**: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time. nasmyth1Encoder *************** :IDL_Type: double :Units: deg :Count: 100 **Description**: Position reported by Nasmyth rotator 1 drive motor encoder at 100 Hz beginning at the specified time, converted to deg. nasmyth2Encoder *************** :IDL_Type: double :Units: deg :Count: 100 **Description**: Position reported by Nasmyth rotator 2 drive motor encoder at 100 Hz beginning at the specified time, converted to deg. m3Encoder ********* :IDL_Type: double :Units: deg :Count: 100 **Description**: Position reported by M3 rotator drive motor encoder at 100 Hz beginning at the specified time, converted to deg. nasmyth1EncoderRaw ****************** :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by Nasmyth rotator 1 drive motor encoder at 100 Hz beginning at the specified time. nasmyth2EncoderRaw ****************** :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by Nasmyth rotator 2 drive motor encoder at 100 Hz beginning at the specified time. m3EncoderRaw ************ :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by M3 rotator drive motor encoder at 100 Hz beginning at the specified time. mountMotorEncoders ~~~~~~~~~~~~~~~~~~ **Description**: Position reported by elevation and azimuth mount encoders :Subsystem: ATMCS :EFDB_Topic: ATMCS_azEl_mountMotorEncoders cRIO_timestamp ************** :IDL_Type: double :Units: second :Count: 1 **Description**: Time for the first sample of each telemetry item in this topic, as measured by the cRIO clock, as unix time. elevationEncoder **************** :IDL_Type: double :Units: deg :Count: 100 **Description**: Position reported by elevation drive motor encoder at 100 Hz beginning at the specified time, converted to deg. azimuth1Encoder *************** :IDL_Type: double :Units: deg :Count: 100 **Description**: Position reported by azimuth drive 1 motor encoder at 100 Hz beginning at the specified time, converted to deg. azimuth2Encoder *************** :IDL_Type: double :Units: deg :Count: 100 **Description**: Position reported by azimuth drive 2 motor encoder at 100 Hz beginning at the specified time, converted to deg. elevationEncoderRaw ******************* :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by elevation drive motor encoder at 100 Hz beginning at the specified time. azimuth1EncoderRaw ****************** :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by azimuth drive 1 drive motor encoder at 100 Hz beginning at the specified time. azimuth2EncoderRaw ****************** :IDL_Type: long :Units: dimensionless :Count: 100 **Description**: Position (in encoder counts) reported by azimuth drive 2 drive motor encoder at 100 Hz beginning at the specified time.