==== MTM2 ==== 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. :Subsystem: MTM2 :EFDB_Topic: MTM2_command_applyForces axialSetPoints ************** :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. tangentSetPoints **************** :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. positionMirror ~~~~~~~~~~~~~~ **Description**: Adjust the mirror's rigid body positions based on LTS-136 relative from the home position. The home position can be reconfigured. :Subsystem: MTM2 :EFDB_Topic: MTM2_command_positionMirror x * :IDL_Type: double :Units: micron :Count: 1 **Description**: Position x. y * :IDL_Type: double :Units: micron :Count: 1 **Description**: Position y. z * :IDL_Type: double :Units: micron :Count: 1 **Description**: Position z. xRot **** :IDL_Type: double :Units: arcsec :Count: 1 **Description**: Rotation about x. yRot **** :IDL_Type: double :Units: arcsec :Count: 1 **Description**: Rotation about y. zRot **** :IDL_Type: double :Units: arcsec :Count: 1 **Description**: Rotation about z. resetForceOffsets ~~~~~~~~~~~~~~~~~ **Description**: This shall cause the M2 assembly zero all force offsets in the closed-loop control. :Subsystem: MTM2 :EFDB_Topic: MTM2_command_resetForceOffsets value ***** :IDL_Type: boolean :Units: unitless :Count: 1 **Description**: This value is ignored. clearErrors ~~~~~~~~~~~ **Description**: Clear all errors and transit to the Standby state from Fault state. :Subsystem: MTM2 :EFDB_Topic: MTM2_command_clearErrors value ***** :IDL_Type: boolean :Units: unitless :Count: 1 **Description**: This value is ignored. switchForceBalanceSystem ~~~~~~~~~~~~~~~~~~~~~~~~ **Description**: Switch the force balance (FB) system. The default is that FB is on. :Subsystem: MTM2 :EFDB_Topic: MTM2_command_switchForceBalanceSystem status ****** :IDL_Type: boolean :Units: unitless :Count: 1 **Description**: True: turn on FB. False: turn off FB. selectInclinationSource ~~~~~~~~~~~~~~~~~~~~~~~ **Description**: Select the inclination source onboard or from main telescope mount (MTMount) control system. The default is onboard. :Subsystem: MTM2 :EFDB_Topic: MTM2_command_selectInclinationSource source ****** :IDL_Type: short :Units: unitless :Count: 1 :Enumeration: OnBoard,MTMount **Description**: Enumeration: 1: OnBoard. 2: MTMount. setTemperatureOffset ~~~~~~~~~~~~~~~~~~~~ **Description**: Set the offset of temperature sensors. :Subsystem: MTM2 :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. Events ------ * InclinationTelemetrySource_OnBoard * InclinationTelemetrySource_MTMount m2AssemblyInPosition ~~~~~~~~~~~~~~~~~~~~ **Description**: Indicates when all of the M2 axes are within tolerance of the target positions. :Subsystem: MTM2 :EFDB_Topic: MTM2_logevent_m2AssemblyInPosition inPosition ********** :IDL_Type: boolean :Units: unitless :Count: 1 **Description**: True if the M2 assembly is in position. cellTemperatureHiWarning ~~~~~~~~~~~~~~~~~~~~~~~~ **Description**: Indicates if the measured cell temperature is more than the specified value above the conditioned supply air temperature. :Subsystem: MTM2 :EFDB_Topic: MTM2_logevent_cellTemperatureHiWarning hiWarning ********* :IDL_Type: boolean :Units: unitless :Count: 1 **Description**: True if the cell temperature is high. detailedState ~~~~~~~~~~~~~ **Description**: New detailed state on each summary state transition. :Subsystem: MTM2 :EFDB_Topic: MTM2_logevent_detailedState detailedState ************* :IDL_Type: long :Units: unitless :Count: 1 **Description**: M2 detailed state. commandableByDDS ~~~~~~~~~~~~~~~~ **Description**: Can the commandable SAL component (CSC) control the MTM2? :Subsystem: MTM2 :EFDB_Topic: MTM2_logevent_commandableByDDS state ***** :IDL_Type: boolean :Units: unitless :Count: 1 **Description**: If true the CSC can control the MTM2; else the Engineering User Interface has control. interlock ~~~~~~~~~ **Description**: MTM2 interlock: This event is generated when safety interlock is engaged or disengaged :Subsystem: MTM2 :EFDB_Topic: MTM2_logevent_interlock state ***** :IDL_Type: boolean :Units: unitless :Count: 1 **Description**: True if the interlock is engaged. False if it is cleared. tcpIpConnected ~~~~~~~~~~~~~~ **Description**: State of TCP/IP connection between the server and the low level controller. :Subsystem: MTM2 :EFDB_Topic: MTM2_logevent_tcpIpConnected isConnected *********** :IDL_Type: boolean :Units: unitless :Count: 1 **Description**: Is the socket connected (true=yes, false=no)? hardpointList ~~~~~~~~~~~~~ **Description**: Hardpoint list in the low-level controller. :Subsystem: MTM2 :EFDB_Topic: MTM2_logevent_hardpointList actuators ********* :IDL_Type: unsigned short :Units: unitless :Count: 6 **Description**: Actuator Ids to be the hardpoint. forceBalanceSystemStatus ~~~~~~~~~~~~~~~~~~~~~~~~ **Description**: The status of force balance (FB) system (on or off). :Subsystem: MTM2 :EFDB_Topic: MTM2_logevent_forceBalanceSystemStatus status ****** :IDL_Type: boolean :Units: unitless :Count: 1 **Description**: True if FB is on, False if off. inclinationTelemetrySource ~~~~~~~~~~~~~~~~~~~~~~~~~~ **Description**: The source of inclination telemetry (onboard or from main telescope mount (MTMount) control system). :Subsystem: MTM2 :EFDB_Topic: MTM2_logevent_inclinationTelemetrySource source ****** :IDL_Type: short :Units: unitless :Count: 1 :Enumeration: OnBoard,MTMount **Description**: 1: onboard. 2: MTMount. temperatureOffset ~~~~~~~~~~~~~~~~~ **Description**: Offset of temperature sensors. :Subsystem: MTM2 :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. Telemetry --------- position ~~~~~~~~ **Description**: M2 mirror's rigid body position. Measured from hardpoints. :Subsystem: MTM2 :EFDB_Topic: MTM2_position x * :IDL_Type: double :Units: micron :Count: 1 **Description**: Position x. y * :IDL_Type: double :Units: micron :Count: 1 **Description**: Position y. z * :IDL_Type: double :Units: micron :Count: 1 **Description**: Position z. xRot **** :IDL_Type: double :Units: arcsec :Count: 1 **Description**: Rotation about x. yRot **** :IDL_Type: double :Units: arcsec :Count: 1 **Description**: Rotation about y. zRot **** :IDL_Type: double :Units: arcsec :Count: 1 **Description**: Rotation about z. positionIMS ~~~~~~~~~~~ **Description**: M2 mirror's rigid body position measured by the independent measurement system (IMS). :Subsystem: MTM2 :EFDB_Topic: MTM2_positionIMS x * :IDL_Type: double :Units: micron :Count: 1 **Description**: Position x. y * :IDL_Type: double :Units: micron :Count: 1 **Description**: Position y. z * :IDL_Type: double :Units: micron :Count: 1 **Description**: Position z. xRot **** :IDL_Type: double :Units: arcsec :Count: 1 **Description**: Rotation about x. yRot **** :IDL_Type: double :Units: arcsec :Count: 1 **Description**: Rotation about y. zRot **** :IDL_Type: double :Units: arcsec :Count: 1 **Description**: Rotation about z. 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. :Subsystem: MTM2 :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. 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. :Subsystem: MTM2 :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. forcesApplied ************* :IDL_Type: double :Units: newton :Count: 6 **Description**: Force applied by SAL command or script for each actuator in sequence. forcesMeasured ************** :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). :Subsystem: MTM2 :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. :Subsystem: MTM2 :EFDB_Topic: MTM2_zenithAngle measured ******** :IDL_Type: double :Units: degree :Count: 1 **Description**: Zenith angle is 0 degree when the telescope is at zenith. inclinometerRaw *************** :IDL_Type: double :Units: degree :Count: 1 **Description**: Reading raw angle of inclinometer (0-360 degree). inclinometerProcessed ********************* :IDL_Type: double :Units: degree :Count: 1 **Description**: Processed angle of inclinometer (0-360 degree). 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. :Subsystem: MTM2 :EFDB_Topic: MTM2_axialActuatorSteps axialActuatorSteps ****************** :IDL_Type: long :Units: unitless :Count: 72 **Description**: Array of steps for each axial actuator in sequence. 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. :Subsystem: MTM2 :EFDB_Topic: MTM2_tangentActuatorSteps tangentActuatorSteps ******************** :IDL_Type: long :Units: unitless :Count: 6 **Description**: Array of steps for each 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. :Subsystem: MTM2 :EFDB_Topic: MTM2_axialEncoderPositions axialEncoderPositions ********************* :IDL_Type: double :Units: micron :Count: 72 **Description**: Encoder position of each axial encoder 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. :Subsystem: MTM2 :EFDB_Topic: MTM2_tangentEncoderPositions tangentEncoderPositions *********************** :IDL_Type: double :Units: micron :Count: 6 **Description**: Encoder position of each tangent encoder in sequence. ilcData ~~~~~~~ **Description**: Inner-loop controller (ILC) data. :Subsystem: MTM2 :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. displacementSensors ~~~~~~~~~~~~~~~~~~~ **Description**: Raw measurements from displacement sensors. :Subsystem: MTM2 :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. :Subsystem: MTM2 :EFDB_Topic: MTM2_forceBalance fx ** :IDL_Type: double :Units: newton :Count: 1 **Description**: Total x-force commanded by the force balance system. fy ** :IDL_Type: double :Units: newton :Count: 1 **Description**: Total y-force commanded by the force balance system. fz ** :IDL_Type: double :Units: newton :Count: 1 **Description**: Total z-force commanded by the force balance system. mx ** :IDL_Type: double :Units: newton*meter :Count: 1 **Description**: Total x-moment of force commanded by the force balance system. my ** :IDL_Type: double :Units: newton*meter :Count: 1 **Description**: Total y-moment of force commanded by the force balance system. mz ** :IDL_Type: double :Units: newton*meter :Count: 1 **Description**: Total z-moment of force commanded by the force balance system. netForcesTotal ~~~~~~~~~~~~~~ **Description**: Totol actuator net forces. :Subsystem: MTM2 :EFDB_Topic: MTM2_netForcesTotal fx ** :IDL_Type: double :Units: newton :Count: 1 **Description**: Net force in x direction. fy ** :IDL_Type: double :Units: newton :Count: 1 **Description**: Net force in y direction. fz ** :IDL_Type: double :Units: newton :Count: 1 **Description**: Net force in z direction. netMomentsTotal ~~~~~~~~~~~~~~~ **Description**: Totol actuator net moments of force. :Subsystem: MTM2 :EFDB_Topic: MTM2_netMomentsTotal mx ** :IDL_Type: double :Units: newton*meter :Count: 1 **Description**: Net moment of force in x direction. my ** :IDL_Type: double :Units: newton*meter :Count: 1 **Description**: Net moment of force in y direction. mz ** :IDL_Type: double :Units: newton*meter :Count: 1 **Description**: Net moment of force in z direction. powerStatus ~~~~~~~~~~~ **Description**: Total voltage and current for motors and communication system of M2. :Subsystem: MTM2 :EFDB_Topic: MTM2_powerStatus motorVoltage ************ :IDL_Type: double :Units: volt :Count: 1 **Description**: Total motor voltage. motorCurrent ************ :IDL_Type: double :Units: ampere :Count: 1 **Description**: Total motor current. commVoltage *********** :IDL_Type: double :Units: volt :Count: 1 **Description**: Total communication voltage. commCurrent *********** :IDL_Type: double :Units: ampere :Count: 1 **Description**: Total communication current.