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 |
resetForceOffsets¶
Description: This shall cause the M2 assembly zero all force offsets in the closed-loop control.
| Subsystem: | MTM2 |
|---|---|
| EFDB_Topic: | MTM2_command_resetForceOffsets |
clearErrors¶
Description: Clear all errors and transit to the Standby state from Fault state.
| Subsystem: | MTM2 |
|---|---|
| EFDB_Topic: | MTM2_command_clearErrors |
switchForceBalanceSystem¶
Description: Switch the force balance (FB) system. The default is that FB is on.
| Subsystem: | MTM2 |
|---|---|
| EFDB_Topic: | MTM2_command_switchForceBalanceSystem |
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.
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 |
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 |
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.
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 |
positionIMS¶
Description: M2 mirror’s rigid body position measured by the independent measurement system (IMS).
| Subsystem: | MTM2 |
|---|---|
| EFDB_Topic: | MTM2_positionIMS |
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.
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 |
netMomentsTotal¶
Description: Totol actuator net moments of force.
| Subsystem: | MTM2 |
|---|---|
| EFDB_Topic: | MTM2_netMomentsTotal |
powerStatus¶
Description: Total voltage and current for motors and communication system of M2.
| Subsystem: | MTM2 |
|---|---|
| EFDB_Topic: | MTM2_powerStatus |