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 |
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
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 |
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.
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 |
azimuthToppleBlockCW¶
Description: True if the azimuth topple block clockwise switch depressed
| Subsystem: | ATMCS |
|---|---|
| EFDB_Topic: | ATMCS_logevent_azimuthToppleBlockCW |
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
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.