MTHexapod¶

Note

This page is generated by python script generate_cet.py.

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Commands¶

clearError¶

Description: Clear the fault state.

EFDB_Topic: MTHexapod_command_clearError

configureAcceleration¶

Description: Set the acceleration for all struts.

EFDB_Topic: MTHexapod_command_configureAcceleration

acceleration¶

IDL_Type: double
Units: um/s2

Description: Strut acceleration.

configureLimits¶

Description: Set position and orientation limits.

EFDB_Topic: MTHexapod_command_configureLimits

maxXY¶

IDL_Type: double
Units: um

Description: Maximum |X| and |Y|

minZ¶

IDL_Type: double
Units: um

Description: Minimum Z

maxZ¶

IDL_Type: double
Units: um

Description: Maximum Z

maxUV¶

IDL_Type: double
Units: deg

Description: Maximum |U| and |V|

minW¶

IDL_Type: double
Units: deg

Description: Minimum W

maxW¶

IDL_Type: double
Units: deg

Description: Maximum W

configureVelocity¶

Description: Set velocity limits for position and orientation.

EFDB_Topic: MTHexapod_command_configureVelocity

xy¶

IDL_Type: double
Units: um/s

Description: Maximum velocity for X and Y

z¶

IDL_Type: double
Units: um/s

Description: Maximum velocity for Z

uv¶

IDL_Type: double
Units: deg/s

Description: Maximum velocity for U and V

w¶

IDL_Type: double
Units: deg/s

Description: Maximum velocity for W

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

x¶

IDL_Type: double
Units: um

Description: x position

y¶

IDL_Type: double
Units: um

Description: y position

z¶

IDL_Type: double
Units: um

Description: z position

u¶

IDL_Type: double
Units: deg

Description: Rotation about x

v¶

IDL_Type: double
Units: deg

Description: Rotation about y

w¶

IDL_Type: double
Units: deg

Description: Rotation about z

sync¶

IDL_Type: boolean
Units: unitless

Description: Synchronize motion so that all actuators start and stop moving at the same time? Synchronize motion is our normal operating mode.

offset¶

Description: Offset the Hexapod by a specified change in position and orientation.

EFDB_Topic: MTHexapod_command_offset

x¶

IDL_Type: double
Units: um

Description: Offset in x

y¶

IDL_Type: double
Units: um

Description: Offset in y

z¶

IDL_Type: double
Units: um

Description: Offset in z

u¶

IDL_Type: double
Units: deg

Description: Offset of rotation about x

v¶

IDL_Type: double
Units: deg

Description: Offset of rotation about y

w¶

IDL_Type: double
Units: deg

Description: Offset of rotation about z

sync¶

IDL_Type: boolean
Units: unitless

Description: Synchronize motion so that all actuators start and stop moving at the same time? Synchronize motion is our normal operating mode.

setCompensationMode¶

Description: Enable or disable automatic compensation for telescope elevation, etc.

EFDB_Topic: MTHexapod_command_setCompensationMode

enable¶

IDL_Type: boolean
Units: unitless

Description: Enable or disable automatic compensation?

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

x¶

IDL_Type: double
Units: um

Description: x

y¶

IDL_Type: double
Units: um

Description: y

z¶

IDL_Type: double
Units: um

Description: z

stop¶

Description: Stop motion.

EFDB_Topic: MTHexapod_command_stop

disable¶

Description: Transition from state Enabled to Disabled.

EFDB_Topic: SALGeneric_command_disable
Category: csc

enable¶

Description: Transition from state Disabled to Enabled.

EFDB_Topic: SALGeneric_command_enable
Category: csc

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
Category: csc

setAuthList¶

EFDB_Topic: SALGeneric_command_setAuthList
Category: csc

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.

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
Category: csc

level¶

IDL_Type: int
Units: unitless

Description: Logging level, as a Python logging level: error=40, warning=30, info=20, debug=10.

subsystem¶

IDL_Type: string
Units: unitless

Description: Subsystem this applies to. If empty, the change applies to all subsystems. Beyond that, the meaning depends on the CSC.

standby¶

Description: Transition from state Offline, Disabled or Fault to Standby.

EFDB_Topic: SALGeneric_command_standby
Category: csc

start¶

Description: Transition from state Standby to Disable, in a specified configuration.

EFDB_Topic: SALGeneric_command_start
Category: csc

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

:any:`Fault=4

<lsst.ts.idl.enums.MTHexapod.ControllerState.FAULT=4

>`

OfflineSubstate

PublishOnly=0

:any:`Available=1

<lsst.ts.idl.enums.MTHexapod.OfflineSubstate.AVAILABLE=1

>`

EnabledSubstate

Stationary=0

MovingPointToPoint=1

SlewingOrTracking=2

ControlledStopping=3

Initializing=4

Relative=5

:any:`ConstantVelocity=6

<lsst.ts.idl.enums.MTHexapod.EnabledSubstate.CONSTANTVELOCITY=6

>`

ApplicationStatus

FOLLOWING
MOVE
EUI
RELATIVE
SYNC
COMMAND
SAFETY
EXTEND
RETRACT
ETHERCAT
DDS
MOTION
DDS
DRIVE
SIMULINK
LUT

Events¶

commandableByDDS¶

Description: Can the CSC control the MTHexapod?

EFDB_Topic: MTHexapod_logevent_commandableByDDS

state¶

IDL_Type: boolean
Units: unitless

Description: If true the CSC can control the MTHexapod; else the Engineering User Interface has control.

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

x¶

IDL_Type: double
Units: um

Description: X position.

y¶

IDL_Type: double
Units: um

Description: Y position.

z¶

IDL_Type: double
Units: um

Description: Z position.

u¶

IDL_Type: double
Units: deg

Description: U angle.

v¶

IDL_Type: double
Units: deg

Description: V angle.

w¶

IDL_Type: double
Units: deg

Description: W angle.

compensationMode¶

Description: Mode of compensation for telescope elevation, etc.

EFDB_Topic: MTHexapod_logevent_compensationMode

enabled¶

IDL_Type: boolean
Units: unitless

Description: Is automatic compensation enabled or disabled?

compensationOffset¶

Description: The computed compensation offset and the input parameters used to compute the offset.

EFDB_Topic: MTHexapod_logevent_compensationOffset

elevation¶

IDL_Type: double
Units: deg

Description: Elevation on which the compensation was based.

azimuth¶

IDL_Type: double
Units: deg

Description: Azimuth on which the compensation was based.

rotation¶

IDL_Type: double
Units: deg

Description: Camera rotator angle.

temperature¶

IDL_Type: double
Units: deg_C

Description: Temperature on which the compensation was based.

x¶

IDL_Type: double
Units: um

Description: compensated - uncompensated x

y¶

IDL_Type: double
Units: um

Description: compensated - uncompensated y

z¶

IDL_Type: double
Units: um

Description: compensated - uncompensated z

u¶

IDL_Type: double
Units: deg

Description: compensated - uncompensated u

v¶

IDL_Type: double
Units: deg

Description: compensated - uncompensated v

w¶

IDL_Type: double
Units: deg

Description: compensated - uncompensated w

configuration¶

Description: MTHexapod configuration.

EFDB_Topic: MTHexapod_logevent_configuration

maxXY¶

IDL_Type: double
Units: um

Description: Maximum |X| and |Y|

minZ¶

IDL_Type: double
Units: um

Description: Minimum allowed Z

maxZ¶

IDL_Type: double
Units: um

Description: Maximum allowed Z

maxUV¶

IDL_Type: double
Units: deg

Description: Maximum |U| and |V|

minW¶

IDL_Type: double
Units: deg

Description: Minimum allowed W

maxW¶

IDL_Type: double
Units: deg

Description: Maximum allowed W

maxVelocityXY¶

IDL_Type: double
Units: um/s

Description: Maximum velocity for X and Y

maxVelocityZ¶

IDL_Type: double
Units: um/s

Description: Maximum velocity for Z

maxVelocityUV¶

IDL_Type: double
Units: deg/s

Description: Maximum velocity for U and V

maxVelocityW¶

IDL_Type: double
Units: deg/s

Description: Maximum velocity for W

pivotX¶

IDL_Type: double
Units: um

Description: Pivot point X

pivotY¶

IDL_Type: double
Units: um

Description: Pivot point Y

pivotZ¶

IDL_Type: double
Units: um

Description: Pivot point Z

maxDisplacementStrut¶

IDL_Type: double
Units: um

Description: Maximum strut displacement from 0

maxVelocityStrut¶

IDL_Type: double
Units: um/s

Description: Maximum strut velocity

accelerationStrut¶

IDL_Type: double
Units: um/s2

Description: Strut acceleration

connected¶

Description: State of TCP/IP connection to the low level controller.

EFDB_Topic: MTHexapod_logevent_connected

command¶

IDL_Type: boolean
Units: unitless

Description: Is the command socket connected (true=yes, false=no)?

telemetry¶

IDL_Type: boolean
Units: unitless

Description: Is the telemetv/config socket connected (true=yes, false=no)?

controllerState¶

Description: State reported by the controller.

EFDB_Topic: MTHexapod_logevent_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.

offlineSubstate¶

IDL_Type: long
Units: unitless

Description: Substate in OFFLINE mode, an OfflineSubstate enumeration value.

enabledSubstate¶

IDL_Type: long
Units: unitless

Description: Substate in ENABLED mode, an EnabledSubstate enumeration value.

applicationStatus¶

IDL_Type: long
Units: unitless
Count: 6

Description: Application status; one value for each linear actuator. A bitmask of ApplicationStatus enumeration values.

inPosition¶

Description: Indicates whether or not all actuators have reached their commanded position.

EFDB_Topic: MTHexapod_logevent_inPosition

inPosition¶

IDL_Type: boolean
Units: unitless

Description: All actuators are in position.

interlock¶

Description: Safety interlock engaged or disengaged.

EFDB_Topic: MTHexapod_logevent_interlock

detail¶

IDL_Type: string
IDL_Size: 256
Units: unitless

Description: One of two values: Engaged or Disengaged

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

x¶

IDL_Type: double
Units: um

Description: X position.

y¶

IDL_Type: double
Units: um

Description: Y position.

z¶

IDL_Type: double
Units: um

Description: Z position.

u¶

IDL_Type: double
Units: deg

Description: U angle.

v¶

IDL_Type: double
Units: deg

Description: V angle.

w¶

IDL_Type: double
Units: deg

Description: W angle.

appliedSettingsMatchStart¶

EFDB_Topic: SALGeneric_logevent_appliedSettingsMatchStart
Category: configurable

appliedSettingsMatchStartIsTrue¶

IDL_Type: boolean
Units: unitless

Description: True when the configuration matches the start conditions

authList¶

EFDB_Topic: SALGeneric_logevent_authList
Category: csc

authorizedUsers¶

IDL_Type: string
Units: unitless

Description: Comma seperated list of authorized users currently allowed to command this CSC.

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
Category: csc

errorCode¶

IDL_Type: long
Units: unitless

Description: A numeric error code

errorReport¶

IDL_Type: string
Units: unitless

Description: An string providing detailed information about the error

traceback¶

IDL_Type: string
Units: unitless

Description: An optional stack trace of the error condition

heartbeat¶

EFDB_Topic: SALGeneric_logevent_heartbeat
Category: mandatory

heartbeat¶

IDL_Type: boolean
Units: unitless

Description: Beats the drum.

logLevel¶

Description: Current logging level.

EFDB_Topic: SALGeneric_logevent_logLevel
Category: mandatory

level¶

IDL_Type: int
Units: unitless

Description: Current logging level, a Python logging level: error=40, warning=30, info=20, debug=10.

subsystem¶

IDL_Type: string
Units: unitless

Description: Subsystem this applies to. The empty string if all subsystems. Beyond that, the meaning depends on the CSC.

logMessage¶

Description: A log message.

EFDB_Topic: SALGeneric_logevent_logMessage
Category: mandatory

name¶

IDL_Type: string
Units: unitless

Description: Log name.

level¶

IDL_Type: int
Units: unitless

Description: Message level, a Python logging level: error=40, warning=30, info=20, debug=10.

message¶

IDL_Type: string
Units: unitless

Description: Log message.

traceback¶

IDL_Type: string
Units: unitless

Description: Exception traceback; “” if not an exception.

filePath¶

IDL_Type: string
Units: unitless

Description: Path to source file.

functionName¶

IDL_Type: string
Units: unitless

Description: Function or method name.

lineNumber¶

IDL_Type: long
Units: unitless

Description: Line number in the file specified by filePath.

process¶

IDL_Type: long
Units: unitless

Description: Process ID.

timestamp¶

IDL_Type: double
Units: second

Description: The time at which the condition being reported was observed (TAI unix seconds). 0 if unspecified.

settingVersions¶

Description: Information about settings which can be specified in the start command.

EFDB_Topic: SALGeneric_logevent_settingVersions
Category: configurable

recommendedSettingsVersion¶

IDL_Type: string
Units: unitless

Description: List of comma seperated recomended versions of settings sets

recommendedSettingsLabels¶

IDL_Type: string
Units: unitless

Description: List of comma seperated names of settings sets

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
Category: configurable

settingsVersion¶

IDL_Type: string
IDL_Size: 256
Units: unitless

Description: The SHA or name corresponding to the published configuration

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
Category: csc

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
Category: mandatory

salVersion¶

IDL_Type: string
IDL_Size: 256
Units: unitless

Description: This is the current version of SAL generation

xmlVersion¶

IDL_Type: string
IDL_Size: 256
Units: unitless

Description: This is the current version of CSC XML

openSpliceVersion¶

IDL_Type: string
IDL_Size: 256
Units: unitless

Description: This is the current version of OpenSplice

cscVersion¶

IDL_Type: string
IDL_Size: 256
Units: unitless

Description: This is the top-level version of the CSC

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
Category: csc

summaryState¶

IDL_Type: long
Units: unitless

Description: High level state machine state identifier

Telemetry¶

actuators¶

EFDB_Topic: MTHexapod_actuators

calibrated¶

IDL_Type: double
Units: um
Count: 6

Description: Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in microns

raw¶

IDL_Type: double
Units: unitless
Count: 6

Description: Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in counts

timestamp¶

IDL_Type: double
Units: second

Description: Time at which encoders were read (TAI unix seconds).

application¶

EFDB_Topic: MTHexapod_application

demand¶

IDL_Type: double
Units: unitless
Count: 6

Description: Commanded MTHexapod position in order (X, Y, Z, U, V, W). Linear positions are in microns, angular positions are in degrees.

position¶

IDL_Type: double
Units: unitless
Count: 6

Description: Actual MTHexapod position, in order (X, Y, Z, U, V, W). Linear positions are in microns, angular positions are in degrees.

error¶

IDL_Type: double
Units: unitless
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.

electrical¶

EFDB_Topic: MTHexapod_electrical

copleyStatusWordDrive¶

IDL_Type: unsigned short
Units: unitless
Count: 6

Description: Bus undervoltage fault, bus overvoltage fault, and overcurrent fault are all being monitored for each drive channel

copleyLatchingFaultStatus¶

IDL_Type: unsigned short
Units: unitless
Count: 6

Description: Copley latching fault status

motorCurrent¶

IDL_Type: double
Units: A
Count: 6

Description: Actual current for each strut motor

busVoltage¶

IDL_Type: double
Units: V
Count: 3

Description: Actual bus voltage for each pair of strut motors

Navigation

MTHexapod¶

Commands¶

clearError¶

configureAcceleration¶

acceleration¶

configureLimits¶

maxXY¶

minZ¶

maxZ¶

maxUV¶

minW¶

maxW¶

configureVelocity¶

xy¶

z¶

uv¶

w¶

move¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

offset¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

setCompensationMode¶

enable¶

setPivot¶

x¶

y¶

z¶

stop¶

disable¶

enable¶

enterControl¶

exitControl¶

setAuthList¶

authorizedUsers¶

nonAuthorizedCSCs¶

setLogLevel¶

level¶

subsystem¶

standby¶

start¶

settingsToApply¶

Enumerations¶

Events¶

commandableByDDS¶

state¶

compensatedPosition¶

x¶

y¶

z¶

u¶

v¶

w¶

compensationMode¶

enabled¶

compensationOffset¶

elevation¶

azimuth¶

rotation¶

temperature¶

x¶

y¶

z¶

u¶

v¶

w¶

configuration¶

maxXY¶