:tocdepth: 3 ######### MTHexapod ######### .. note:: This page is generated by python script ``generate_cet.py``. :ref:`Back to table ` Commands -------- .. _MTHexapod:Commands:clearError: clearError ~~~~~~~~~~ **Description**: Clear the fault state. :EFDB_Topic: MTHexapod_command_clearError .. _MTHexapod:Commands:configureAcceleration: configureAcceleration ~~~~~~~~~~~~~~~~~~~~~ **Description**: Set the acceleration for all struts. :EFDB_Topic: MTHexapod_command_configureAcceleration .. _MTHexapod:Commands:configureAcceleration:acceleration: acceleration ************ :IDL_Type: double :Units: um/s2 **Description**: Strut acceleration. .. _MTHexapod:Commands:configureLimits: configureLimits ~~~~~~~~~~~~~~~ **Description**: Set position and orientation limits. :EFDB_Topic: MTHexapod_command_configureLimits .. _MTHexapod:Commands:configureLimits:maxXY: maxXY ***** :IDL_Type: double :Units: um **Description**: Maximum \|X\| and \|Y\| .. _MTHexapod:Commands:configureLimits:minZ: minZ **** :IDL_Type: double :Units: um **Description**: Minimum Z .. _MTHexapod:Commands:configureLimits:maxZ: maxZ **** :IDL_Type: double :Units: um **Description**: Maximum Z .. _MTHexapod:Commands:configureLimits:maxUV: maxUV ***** :IDL_Type: double :Units: deg **Description**: Maximum \|U\| and \|V\| .. _MTHexapod:Commands:configureLimits:minW: minW **** :IDL_Type: double :Units: deg **Description**: Minimum W .. _MTHexapod:Commands:configureLimits:maxW: maxW **** :IDL_Type: double :Units: deg **Description**: Maximum W .. _MTHexapod:Commands:configureVelocity: configureVelocity ~~~~~~~~~~~~~~~~~ **Description**: Set velocity limits for position and orientation. :EFDB_Topic: MTHexapod_command_configureVelocity .. _MTHexapod:Commands:configureVelocity:xy: xy ** :IDL_Type: double :Units: um/s **Description**: Maximum velocity for X and Y .. _MTHexapod:Commands:configureVelocity:z: z * :IDL_Type: double :Units: um/s **Description**: Maximum velocity for Z .. _MTHexapod:Commands:configureVelocity:uv: uv ** :IDL_Type: double :Units: deg/s **Description**: Maximum velocity for U and V .. _MTHexapod:Commands:configureVelocity:w: w * :IDL_Type: double :Units: deg/s **Description**: Maximum velocity for W .. _MTHexapod:Commands:move: move ~~~~ **Description**: Move the Hexapod to a specified position and orientation. This sets the uncompensated position; if compensation is enabled, the actual position will be slightly different. :EFDB_Topic: MTHexapod_command_move .. _MTHexapod:Commands:move:x: x * :IDL_Type: double :Units: um **Description**: x position .. _MTHexapod:Commands:move:y: y * :IDL_Type: double :Units: um **Description**: y position .. _MTHexapod:Commands:move:z: z * :IDL_Type: double :Units: um **Description**: z position .. _MTHexapod:Commands:move:u: u * :IDL_Type: double :Units: deg **Description**: Rotation about x .. _MTHexapod:Commands:move:v: v * :IDL_Type: double :Units: deg **Description**: Rotation about y .. _MTHexapod:Commands:move:w: w * :IDL_Type: double :Units: deg **Description**: Rotation about z .. _MTHexapod:Commands:move:sync: sync **** :IDL_Type: boolean :Units: dimensionless **Description**: Synchronize motion so that all actuators start and stop moving at the same time? Synchronize motion is our normal operating mode. .. _MTHexapod:Commands:offset: offset ~~~~~~ **Description**: Offset the Hexapod by a specified change in position and orientation. :EFDB_Topic: MTHexapod_command_offset .. _MTHexapod:Commands:offset:x: x * :IDL_Type: double :Units: um **Description**: Offset in x .. _MTHexapod:Commands:offset:y: y * :IDL_Type: double :Units: um **Description**: Offset in y .. _MTHexapod:Commands:offset:z: z * :IDL_Type: double :Units: um **Description**: Offset in z .. _MTHexapod:Commands:offset:u: u * :IDL_Type: double :Units: deg **Description**: Offset of rotation about x .. _MTHexapod:Commands:offset:v: v * :IDL_Type: double :Units: deg **Description**: Offset of rotation about y .. _MTHexapod:Commands:offset:w: w * :IDL_Type: double :Units: deg **Description**: Offset of rotation about z .. _MTHexapod:Commands:offset:sync: sync **** :IDL_Type: boolean :Units: dimensionless **Description**: Synchronize motion so that all actuators start and stop moving at the same time? Synchronize motion is our normal operating mode. .. _MTHexapod:Commands:setCompensationMode: setCompensationMode ~~~~~~~~~~~~~~~~~~~ **Description**: Enable or disable automatic compensation for telescope elevation, etc. :EFDB_Topic: MTHexapod_command_setCompensationMode .. _MTHexapod:Commands:setCompensationMode:enable: enable ****** :IDL_Type: boolean :Units: dimensionless **Description**: Enable or disable automatic compensation? .. _MTHexapod:Commands:setPivot: setPivot ~~~~~~~~ **Description**: Specify the location of pivot point (the reference point whose position and orientation are specified by the move and offset commands). The origin is the center of the base plate interface plane and +Z points away from the motion plate (see LTS-206 section 2.2). :EFDB_Topic: MTHexapod_command_setPivot .. _MTHexapod:Commands:setPivot:x: x * :IDL_Type: double :Units: um **Description**: x .. _MTHexapod:Commands:setPivot:y: y * :IDL_Type: double :Units: um **Description**: y .. _MTHexapod:Commands:setPivot:z: z * :IDL_Type: double :Units: um **Description**: z .. _MTHexapod:Commands:stop: stop ~~~~ **Description**: Stop motion. :EFDB_Topic: MTHexapod_command_stop abort ~~~~~ :EFDB_Topic: SALGeneric_command_abort disable ~~~~~~~ **Description**: Transition from state Enabled to Disabled. :EFDB_Topic: SALGeneric_command_disable enable ~~~~~~ **Description**: Transition from state Disabled to Enabled. :EFDB_Topic: SALGeneric_command_enable enterControl ~~~~~~~~~~~~ **Description**: Transition from state Offline to Standby. Only that start in Offline state CSCs support this command; other CSCs start in Standby state and quit when they go to Offline. :EFDB_Topic: SALGeneric_command_enterControl exitControl ~~~~~~~~~~~ **Description**: Transition from state Standby to Offline. For CSCs that start in Standby state this makes the CSC quit. CSCs that start in Offline state, they remain active. :EFDB_Topic: SALGeneric_command_exitControl setAuthList ~~~~~~~~~~~ :EFDB_Topic: SALGeneric_command_setAuthList .. _MTHexapod:setAuthList:authorizedUsers: authorizedUsers *************** :IDL_Type: string :Units: unitless **Description**: Comma seperated list of authorized users currently allowed to command this CSC, in the form user@host. If the first character is +/- then the specified users are added/removed. Duplicates are silently ignored. The CSC's own user@host is silently ignored, because it is always authorized. For removal, CSCs that are not in the list are silently ignored. Whitespace is allowed after the optional initial +/- and after each comma. .. _MTHexapod:setAuthList:nonAuthorizedCSCs: nonAuthorizedCSCs ***************** :IDL_Type: string :Units: unitless **Description**: Comma seperated list of CSC's not currently allowed to command this CSC, in the form name[:index]. An index of 0 is stripped (name:0 becomes name). If the first character is +/- then the specified CSCs are added/removed. Duplicates are silently ignored. For removal, CSCs that are not in the list are silently ignored. Whitespace is allowed after the optional initial +/- and after each comma. setLogLevel ~~~~~~~~~~~ **Description**: Set the logging level. :EFDB_Topic: SALGeneric_command_setLogLevel .. _MTHexapod:setLogLevel:level: level ***** :IDL_Type: int :Units: unitless **Description**: Logging level, as a Python logging level: error=40, warning=30, info=20, debug=10. setValue ~~~~~~~~ :EFDB_Topic: SALGeneric_command_setValue .. _MTHexapod:setValue:parametersAndValues: parametersAndValues ******************* :IDL_Type: string :IDL_Size: 256 :Units: unitless **Description**: List of parameters and their values as a Json string standby ~~~~~~~ **Description**: Transition from state Offline, Disabled or Fault to Standby. :EFDB_Topic: SALGeneric_command_standby start ~~~~~ **Description**: Transition from state Standby to Disable, in a specified configuration. :EFDB_Topic: SALGeneric_command_start .. _MTHexapod:start:settingsToApply: settingsToApply *************** :IDL_Type: string :IDL_Size: 256 :Units: unitless **Description**: Name of the selected settings set Enumerations ------------ :ControllerState: * Standby=0 * Disabled=1 * Enabled=2 * Offline=3 * Fault=4 :OfflineSubstate: * PublishOnly=0 * Available=1 :EnabledSubstate: * Stationary=0 * MovingPointToPoint=1 * SlewingOrTracking=2 * ControlledStopping=3 * Initializing=4 * Relative=5 * ConstantVelocity=6 :ApplicationStatus: * FOLLOWING * MOVE * EUI * RELATIVE * SYNC * COMMAND * SAFETY * EXTEND * RETRACT * ETHERCAT * DDS * MOTION * DDS * DRIVE * SIMULINK * LUT Events ------ .. _MTHexapod:Events:actuatorInPosition: actuatorInPosition ~~~~~~~~~~~~~~~~~~ **Description**: Indicates whether each linear actuator has reached its commanded position. :EFDB_Topic: MTHexapod_logevent_actuatorInPosition .. _MTHexapod:Events:actuatorInPosition:inPosition: inPosition ********** :IDL_Type: boolean :Units: unitless :Count: 6 **Description**: Actuator in position. .. _MTHexapod:Events:commandableByDDS: commandableByDDS ~~~~~~~~~~~~~~~~ **Description**: Can the CSC control the MTHexapod? :EFDB_Topic: MTHexapod_logevent_commandableByDDS .. _MTHexapod:Events:commandableByDDS:state: state ***** :IDL_Type: boolean :Units: unitless **Description**: If true the CSC can control the MTHexapod; else the Engineering User Interface has control. .. _MTHexapod:Events:compensatedPosition: compensatedPosition ~~~~~~~~~~~~~~~~~~~ **Description**: The compensated position and orientation of the pivot point (the position used to compute actuator lengths). If compensation mode is disabled it will match uncompensatedPosition. :EFDB_Topic: MTHexapod_logevent_compensatedPosition .. _MTHexapod:Events:compensatedPosition:x: x * :IDL_Type: double :Units: um **Description**: X position. .. _MTHexapod:Events:compensatedPosition:y: y * :IDL_Type: double :Units: um **Description**: Y position. .. _MTHexapod:Events:compensatedPosition:z: z * :IDL_Type: double :Units: um **Description**: Z position. .. _MTHexapod:Events:compensatedPosition:u: u * :IDL_Type: double :Units: deg **Description**: U angle. .. _MTHexapod:Events:compensatedPosition:v: v * :IDL_Type: double :Units: deg **Description**: V angle. .. _MTHexapod:Events:compensatedPosition:w: w * :IDL_Type: double :Units: deg **Description**: W angle. .. _MTHexapod:Events:compensationMode: compensationMode ~~~~~~~~~~~~~~~~ **Description**: Mode of compensation for telescope elevation, etc. :EFDB_Topic: MTHexapod_logevent_compensationMode .. _MTHexapod:Events:compensationMode:enabled: enabled ******* :IDL_Type: boolean :Units: unitless **Description**: Is automatic compensation enabled or disabled? .. _MTHexapod:Events:compensationOffset: compensationOffset ~~~~~~~~~~~~~~~~~~ **Description**: The computed compensation offset and the input parameters used to compute the offset. :EFDB_Topic: MTHexapod_logevent_compensationOffset .. _MTHexapod:Events:compensationOffset:elevation: elevation ********* :IDL_Type: double :Units: deg **Description**: Elevation on which the compensation was based. .. _MTHexapod:Events:compensationOffset:azimuth: azimuth ******* :IDL_Type: double :Units: deg **Description**: Azimuth on which the compensation was based. .. _MTHexapod:Events:compensationOffset:rotation: rotation ******** :IDL_Type: double :Units: deg **Description**: Camera rotator angle. .. _MTHexapod:Events:compensationOffset:temperature: temperature *********** :IDL_Type: double :Units: deg_C **Description**: Temperature on which the compensation was based. .. _MTHexapod:Events:compensationOffset:x: x * :IDL_Type: double :Units: um **Description**: compensated - uncompensated x .. _MTHexapod:Events:compensationOffset:y: y * :IDL_Type: double :Units: um **Description**: compensated - uncompensated y .. _MTHexapod:Events:compensationOffset:z: z * :IDL_Type: double :Units: um **Description**: compensated - uncompensated z .. _MTHexapod:Events:compensationOffset:u: u * :IDL_Type: double :Units: deg **Description**: compensated - uncompensated u .. _MTHexapod:Events:compensationOffset:v: v * :IDL_Type: double :Units: deg **Description**: compensated - uncompensated v .. _MTHexapod:Events:compensationOffset:w: w * :IDL_Type: double :Units: deg **Description**: compensated - uncompensated w .. _MTHexapod:Events:configuration: configuration ~~~~~~~~~~~~~ **Description**: MTHexapod configuration. :EFDB_Topic: MTHexapod_logevent_configuration .. _MTHexapod:Events:configuration:maxXY: maxXY ***** :IDL_Type: double :Units: um **Description**: Maximum \|X\| and \|Y\| .. _MTHexapod:Events:configuration:minZ: minZ **** :IDL_Type: double :Units: um **Description**: Minimum allowed Z .. _MTHexapod:Events:configuration:maxZ: maxZ **** :IDL_Type: double :Units: um **Description**: Maximum allowed Z .. _MTHexapod:Events:configuration:maxUV: maxUV ***** :IDL_Type: double :Units: deg **Description**: Maximum \|U\| and \|V\| .. _MTHexapod:Events:configuration:minW: minW **** :IDL_Type: double :Units: deg **Description**: Minimum allowed W .. _MTHexapod:Events:configuration:maxW: maxW **** :IDL_Type: double :Units: deg **Description**: Maximum allowed W .. _MTHexapod:Events:configuration:maxVelocityXY: maxVelocityXY ************* :IDL_Type: double :Units: um/s **Description**: Maximum velocity for X and Y .. _MTHexapod:Events:configuration:maxVelocityZ: maxVelocityZ ************ :IDL_Type: double :Units: um/s **Description**: Maximum velocity for Z .. _MTHexapod:Events:configuration:maxVelocityUV: maxVelocityUV ************* :IDL_Type: double :Units: deg/s **Description**: Maximum velocity for U and V .. _MTHexapod:Events:configuration:maxVelocityW: maxVelocityW ************ :IDL_Type: double :Units: deg/s **Description**: Maximum velocity for W .. _MTHexapod:Events:configuration:initialX: initialX ******** :IDL_Type: double :Units: um **Description**: Initial X .. _MTHexapod:Events:configuration:initialY: initialY ******** :IDL_Type: double :Units: um **Description**: Initial Y .. _MTHexapod:Events:configuration:initialZ: initialZ ******** :IDL_Type: double :Units: um **Description**: Initial Z .. _MTHexapod:Events:configuration:initialU: initialU ******** :IDL_Type: double :Units: deg **Description**: Initial U .. _MTHexapod:Events:configuration:initialV: initialV ******** :IDL_Type: double :Units: deg **Description**: Initial V .. _MTHexapod:Events:configuration:initialW: initialW ******** :IDL_Type: double :Units: deg **Description**: Initial W .. _MTHexapod:Events:configuration:pivotX: pivotX ****** :IDL_Type: double :Units: um **Description**: Pivot point X .. _MTHexapod:Events:configuration:pivotY: pivotY ****** :IDL_Type: double :Units: um **Description**: Pivot point Y .. _MTHexapod:Events:configuration:pivotZ: pivotZ ****** :IDL_Type: double :Units: um **Description**: Pivot point Z .. _MTHexapod:Events:configuration:maxDisplacementStrut: maxDisplacementStrut ******************** :IDL_Type: double :Units: um **Description**: Maximum strut displacement from 0 .. _MTHexapod:Events:configuration:maxVelocityStrut: maxVelocityStrut **************** :IDL_Type: double :Units: um/s **Description**: Maximum strut velocity .. _MTHexapod:Events:configuration:accelerationStrut: accelerationStrut ***************** :IDL_Type: double :Units: um/s2 **Description**: Strut acceleration .. _MTHexapod:Events:connected: connected ~~~~~~~~~ **Description**: State of TCP/IP connection to the low level controller. :EFDB_Topic: MTHexapod_logevent_connected .. _MTHexapod:Events:connected:command: command ******* :IDL_Type: boolean :Units: unitless **Description**: Is the command socket connected (true=yes, false=no)? .. _MTHexapod:Events:connected:telemetry: telemetry ********* :IDL_Type: boolean :Units: unitless **Description**: Is the telemetv/config socket connected (true=yes, false=no)? .. _MTHexapod:Events:controllerState: controllerState ~~~~~~~~~~~~~~~ **Description**: State reported by the controller. :EFDB_Topic: MTHexapod_logevent_controllerState .. _MTHexapod:Events:controllerState:controllerState: controllerState *************** :IDL_Type: long :Units: unitless **Description**: Basic state, a ControllerState enumeration value. The state names and meanings are the same as standard CSC summaryState, but the numeric values differ. We report the controller state in addition to summaryState because we need to report a summaryState even when the controller is not connected, and to aid diagnostics, e.g. in case the controller reports an unrecognized state. .. _MTHexapod:Events:controllerState:offlineSubstate: offlineSubstate *************** :IDL_Type: long :Units: unitless **Description**: Substate in OFFLINE mode, an OfflineSubstate enumeration value. .. _MTHexapod:Events:controllerState:enabledSubstate: enabledSubstate *************** :IDL_Type: long :Units: unitless **Description**: Substate in ENABLED mode, an EnabledSubstate enumeration value. .. _MTHexapod:Events:controllerState:applicationStatus: applicationStatus ***************** :IDL_Type: long :Units: unitless :Count: 6 **Description**: Application status; one value for each linear actuator. A bitmask of ApplicationStatus enumeration values. .. _MTHexapod:Events:inPosition: inPosition ~~~~~~~~~~ **Description**: Indicates whether or not all actuators have reached their commanded position. :EFDB_Topic: MTHexapod_logevent_inPosition .. _MTHexapod:Events:inPosition:inPosition: inPosition ********** :IDL_Type: boolean :Units: unitless **Description**: All actuators are in position. .. _MTHexapod:Events:interlock: interlock ~~~~~~~~~ **Description**: Safety interlock engaged or disengaged. :EFDB_Topic: MTHexapod_logevent_interlock .. _MTHexapod:Events:interlock:detail: detail ****** :IDL_Type: string :IDL_Size: 256 :Units: unitless **Description**: One of two values: Engaged or Disengaged .. _MTHexapod:Events:uncompensatedPosition: uncompensatedPosition ~~~~~~~~~~~~~~~~~~~~~ **Description**: The uncompensated position and orientation of the pivot point, as specified by the move command and offset by the offset command. It is not output when motion is commanded by the engineering user interface. :EFDB_Topic: MTHexapod_logevent_uncompensatedPosition .. _MTHexapod:Events:uncompensatedPosition:x: x * :IDL_Type: double :Units: um **Description**: X position. .. _MTHexapod:Events:uncompensatedPosition:y: y * :IDL_Type: double :Units: um **Description**: Y position. .. _MTHexapod:Events:uncompensatedPosition:z: z * :IDL_Type: double :Units: um **Description**: Z position. .. _MTHexapod:Events:uncompensatedPosition:u: u * :IDL_Type: double :Units: deg **Description**: U angle. .. _MTHexapod:Events:uncompensatedPosition:v: v * :IDL_Type: double :Units: deg **Description**: V angle. .. _MTHexapod:Events:uncompensatedPosition:w: w * :IDL_Type: double :Units: deg **Description**: W angle. appliedSettingsMatchStart ~~~~~~~~~~~~~~~~~~~~~~~~~ :EFDB_Topic: SALGeneric_logevent_appliedSettingsMatchStart .. _MTHexapod:appliedSettingsMatchStart:appliedSettingsMatchStartIsTrue: appliedSettingsMatchStartIsTrue ******************************* :IDL_Type: boolean :Units: unitless **Description**: True when the configuration matches the start conditions authList ~~~~~~~~ :EFDB_Topic: SALGeneric_logevent_authList .. _MTHexapod:authList:authorizedUsers: authorizedUsers *************** :IDL_Type: string :Units: unitless **Description**: Comma seperated list of authorized users currently allowed to command this CSC. .. _MTHexapod:authList:nonAuthorizedCSCs: nonAuthorizedCSCs ***************** :IDL_Type: string :Units: unitless **Description**: Comma seperated list of CSC's not currently allowed to command this CSC. errorCode ~~~~~~~~~ **Description**: Output when a CSC goes into the Fault state as an explanation of the problem. :EFDB_Topic: SALGeneric_logevent_errorCode .. _MTHexapod:errorCode:errorCode: errorCode ********* :IDL_Type: long :Units: unitless **Description**: A numeric error code .. _MTHexapod:errorCode:errorReport: errorReport *********** :IDL_Type: string :Units: unitless **Description**: An string providing detailed information about the error .. _MTHexapod:errorCode:traceback: traceback ********* :IDL_Type: string :Units: unitless **Description**: An optional stack trace of the error condition heartbeat ~~~~~~~~~ :EFDB_Topic: SALGeneric_logevent_heartbeat .. _MTHexapod:heartbeat:heartbeat: heartbeat ********* :IDL_Type: boolean :Units: unitless **Description**: Beats the drum. logLevel ~~~~~~~~ **Description**: Current logging level. :EFDB_Topic: SALGeneric_logevent_logLevel .. _MTHexapod:logLevel:level: level ***** :IDL_Type: int :Units: unitless **Description**: Current logging level, a Python logging level: error=40, warning=30, info=20, debug=10. logMessage ~~~~~~~~~~ **Description**: A log message. :EFDB_Topic: SALGeneric_logevent_logMessage .. _MTHexapod:logMessage:name: name **** :IDL_Type: string :Units: unitless **Description**: Log name. .. _MTHexapod:logMessage:level: level ***** :IDL_Type: int :Units: unitless **Description**: Message level, a Python logging level: error=40, warning=30, info=20, debug=10. .. _MTHexapod:logMessage:message: message ******* :IDL_Type: string :Units: unitless **Description**: Log message. .. _MTHexapod:logMessage:traceback: traceback ********* :IDL_Type: string :Units: unitless **Description**: Exception traceback; "" if not an exception. .. _MTHexapod:logMessage:filePath: filePath ******** :IDL_Type: string :Units: unitless **Description**: Path to source file. .. _MTHexapod:logMessage:functionName: functionName ************ :IDL_Type: string :Units: unitless **Description**: Function or method name. .. _MTHexapod:logMessage:lineNumber: lineNumber ********** :IDL_Type: long :Units: unitless **Description**: Line number in the file specified by filePath. .. _MTHexapod:logMessage:process: process ******* :IDL_Type: long :Units: unitless **Description**: Process ID. settingVersions ~~~~~~~~~~~~~~~ **Description**: Information about settings which can be specified in the start command. :EFDB_Topic: SALGeneric_logevent_settingVersions .. _MTHexapod:settingVersions:recommendedSettingsVersion: recommendedSettingsVersion ************************** :IDL_Type: string :Units: unitless **Description**: List of comma seperated recomended versions of settings sets .. _MTHexapod:settingVersions:recommendedSettingsLabels: recommendedSettingsLabels ************************* :IDL_Type: string :Units: unitless **Description**: List of comma seperated names of settings sets .. _MTHexapod:settingVersions:settingsUrl: settingsUrl *********** :IDL_Type: string :Units: unitless **Description**: The URL where the settings sets definitions can be found settingsApplied ~~~~~~~~~~~~~~~ **Description**: Base settings applied. :EFDB_Topic: SALGeneric_logevent_settingsApplied .. _MTHexapod:settingsApplied:settingsVersion: settingsVersion *************** :IDL_Type: string :IDL_Size: 256 :Units: unitless **Description**: The SHA or name corresponding to the published configuration .. _MTHexapod:settingsApplied:otherSettingsEvents: otherSettingsEvents ******************* :IDL_Type: string :Units: unitless **Description**: A comma delimited list of other specific CSC configuration events. This may be blank if no other CSC specific events are necessary simulationMode ~~~~~~~~~~~~~~ **Description**: Current simulation mode. :EFDB_Topic: SALGeneric_logevent_simulationMode .. _MTHexapod:simulationMode:mode: mode **** :IDL_Type: int :Units: unitless **Description**: Current simulation mode; 0 for normal operation (no simulation); other supported values are specific to each CSC. softwareVersions ~~~~~~~~~~~~~~~~ **Description**: Current versions of software in use by CSC. :EFDB_Topic: SALGeneric_logevent_softwareVersions .. _MTHexapod:softwareVersions:salVersion: salVersion ********** :IDL_Type: string :IDL_Size: 256 :Units: unitless **Description**: This is the current version of SAL generation .. _MTHexapod:softwareVersions:xmlVersion: xmlVersion ********** :IDL_Type: string :IDL_Size: 256 :Units: unitless **Description**: This is the current version of CSC XML .. _MTHexapod:softwareVersions:openSpliceVersion: openSpliceVersion ***************** :IDL_Type: string :IDL_Size: 256 :Units: unitless **Description**: This is the current version of OpenSplice .. _MTHexapod:softwareVersions:cscVersion: cscVersion ********** :IDL_Type: string :IDL_Size: 256 :Units: unitless **Description**: This is the top-level version of the CSC .. _MTHexapod:softwareVersions:subsystemVersions: subsystemVersions ***************** :IDL_Type: string :Units: unitless **Description**: A comma delimited list of key=value pairs relating subsystem name (key) to its version number (value). This may be left blank if there are no subsystems within a CSC summaryState ~~~~~~~~~~~~ **Description**: Current summary state of the CSC :EFDB_Topic: SALGeneric_logevent_summaryState .. _MTHexapod:summaryState:summaryState: summaryState ************ :IDL_Type: long :Units: unitless **Description**: High level state machine state identifier Telemetry --------- .. _MTHexapod:Telemetry:actuators: actuators ~~~~~~~~~ :EFDB_Topic: MTHexapod_actuators .. _MTHexapod:Telemetry:actuators:calibrated: calibrated ********** :IDL_Type: double :Units: um :Count: 6 **Description**: Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in microns .. _MTHexapod:Telemetry:actuators:raw: raw *** :IDL_Type: double :Units: dimensionless :Count: 6 **Description**: Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6)in counts .. _MTHexapod:Telemetry:application: application ~~~~~~~~~~~ :EFDB_Topic: MTHexapod_application .. _MTHexapod:Telemetry:application:demand: demand ****** :IDL_Type: double :Units: dimensionless :Count: 6 **Description**: Commanded MTHexapod position in order (X, Y, Z, U, V, W). Linear positions are in microns, angular positions are in degrees. .. _MTHexapod:Telemetry:application:position: position ******** :IDL_Type: double :Units: dimensionless :Count: 6 **Description**: Actual MTHexapod position, in order (X, Y, Z, U, V, W). Linear positions are in microns, angular positions are in degrees. .. _MTHexapod:Telemetry:application:error: error ***** :IDL_Type: double :Units: dimensionless :Count: 6 **Description**: Position error (position - demand), in order (X, Y, Z, U, V, W). Linear positions are in microns, angular positions are in degrees. .. _MTHexapod:Telemetry:electrical: electrical ~~~~~~~~~~ :EFDB_Topic: MTHexapod_electrical .. _MTHexapod:Telemetry:electrical:copleyStatusWordDrive: copleyStatusWordDrive ********************* :IDL_Type: unsigned short :Units: dimensionless :Count: 6 **Description**: Bus undervoltage fault, bus overvoltage fault, and overcurrent fault are all being monitored for each drive channel .. _MTHexapod:Telemetry:electrical:copleyLatchingFaultStatus: copleyLatchingFaultStatus ************************* :IDL_Type: unsigned short :Units: dimensionless :Count: 6 **Description**: Copley latching fault status