MTM2¶

Note

This page is generated by python script generate_cet.py.

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.

EFDB_Topic: MTM2_command_applyForces

axial¶

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.

tangent¶

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.

clearErrors¶

Description: Clear all errors and transit to the Standby state from Fault state.

EFDB_Topic: MTM2_command_clearErrors

value¶

IDL_Type: boolean
Units: unitless

Description: This value is ignored.

positionMirror¶

Description: Adjust the mirror’s rigid body positions based on LTS-136 relative from the home position. The home position can be reconfigured.

EFDB_Topic: MTM2_command_positionMirror

x¶

IDL_Type: double
Units: micron

Description: Position x.

y¶

IDL_Type: double
Units: micron

Description: Position y.

z¶

IDL_Type: double
Units: micron

Description: Position z.

xRot¶

IDL_Type: double
Units: arcsec

Description: Rotation about x.

yRot¶

IDL_Type: double
Units: arcsec

Description: Rotation about y.

zRot¶

IDL_Type: double
Units: arcsec

Description: Rotation about z.

resetForceOffsets¶

Description: This shall cause the M2 assembly zero all force offsets in the closed-loop control.

EFDB_Topic: MTM2_command_resetForceOffsets

value¶

IDL_Type: boolean
Units: unitless

Description: This value is ignored.

selectInclinationSource¶

Description: Select the inclination source onboard or from main telescope mount (MTMount) control system. The default is onboard.

EFDB_Topic: MTM2_command_selectInclinationSource

source¶

IDL_Type: short
Units: unitless
Enumeration: OnBoard,MTMount

Description: Enumeration: 1: OnBoard. 2: MTMount.

setTemperatureOffset¶

Description: Set the offset of temperature sensors.

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.

switchForceBalanceSystem¶

Description: Switch the force balance (FB) system. The default is that FB is on.

EFDB_Topic: MTM2_command_switchForceBalanceSystem

status¶

IDL_Type: boolean
Units: unitless

Description: True: turn on FB. False: turn off FB.

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

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¶

InclinationTelemetrySource

Events¶

cellTemperatureHiWarning¶

Description: Indicates if the measured cell temperature is more than the specified value above the conditioned supply air temperature.

EFDB_Topic: MTM2_logevent_cellTemperatureHiWarning

hiWarning¶

IDL_Type: boolean
Units: unitless

Description: True if the cell temperature is high.

commandableByDDS¶

Description: Can the commandable SAL component (CSC) control the MTM2?

EFDB_Topic: MTM2_logevent_commandableByDDS

state¶

IDL_Type: boolean
Units: unitless

Description: If true the CSC can control the MTM2; else the Engineering User Interface has control.

controllerState¶

Description: High level state machine state identifier of controller. It is the same as CSC summary state at this moment.

EFDB_Topic: MTM2_logevent_controllerState

controllerState¶

IDL_Type: long
Units: unitless

Description: M2 controller state.

detailedState¶

Description: New detailed state on each summary state transition.

EFDB_Topic: MTM2_logevent_detailedState

detailedState¶

IDL_Type: long
Units: unitless

Description: M2 detailed state.

forceBalanceSystemStatus¶

Description: The status of force balance (FB) system (on or off).

EFDB_Topic: MTM2_logevent_forceBalanceSystemStatus

status¶

IDL_Type: boolean
Units: unitless

Description: True if FB is on, False if off.

hardpointList¶

Description: Hardpoint list in the low-level controller.

EFDB_Topic: MTM2_logevent_hardpointList

actuators¶

IDL_Type: unsigned short
Units: unitless
Count: 6

Description: Actuator Ids to be the hardpoint.

inclinationTelemetrySource¶

Description: The source of inclination telemetry (onboard or from main telescope mount (MTMount) control system).

EFDB_Topic: MTM2_logevent_inclinationTelemetrySource

source¶

IDL_Type: short
Units: unitless
Enumeration: OnBoard,MTMount

Description: 1: onboard. 2: MTMount.

interlock¶

Description: MTM2 interlock: This event is generated when safety interlock is engaged or disengaged

EFDB_Topic: MTM2_logevent_interlock

state¶

IDL_Type: boolean
Units: unitless

Description: True if the interlock is engaged. False if it is cleared.

m2AssemblyInPosition¶

Description: Indicates when all of the M2 axes are within tolerance of the target positions.

EFDB_Topic: MTM2_logevent_m2AssemblyInPosition

inPosition¶

IDL_Type: boolean
Units: unitless

Description: True if the M2 assembly is in position.

tcpIpConnected¶

Description: State of TCP/IP connection between the server and the low level controller.

EFDB_Topic: MTM2_logevent_tcpIpConnected

isConnected¶

IDL_Type: boolean
Units: unitless

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

temperatureOffset¶

Description: Offset of temperature sensors.

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.

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¶

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.

EFDB_Topic: MTM2_axialActuatorSteps

steps¶

IDL_Type: long
Units: unitless
Count: 72

Description: Array of steps for each axial 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.

EFDB_Topic: MTM2_axialEncoderPositions

position¶

IDL_Type: double
Units: micron
Count: 72

Description: Encoder position of each axial encoder in sequence.

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.

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.

displacementSensors¶

Description: Raw measurements from displacement sensors.

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.

EFDB_Topic: MTM2_forceBalance

fx¶

IDL_Type: double
Units: newton

Description: Total x-force commanded by the force balance system.

fy¶

IDL_Type: double
Units: newton

Description: Total y-force commanded by the force balance system.

fz¶

IDL_Type: double
Units: newton

Description: Total z-force commanded by the force balance system.

mx¶

IDL_Type: double
Units: newton*meter

Description: Total x-moment of force commanded by the force balance system.

my¶

IDL_Type: double
Units: newton*meter

Description: Total y-moment of force commanded by the force balance system.

mz¶

IDL_Type: double
Units: newton*meter

Description: Total z-moment of force commanded by the force balance system.

ilcData¶

Description: Inner-loop controller (ILC) data.

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.

netForcesTotal¶

Description: Totol actuator net forces.

EFDB_Topic: MTM2_netForcesTotal

fx¶

IDL_Type: double
Units: newton

Description: Net force in x direction.

fy¶

IDL_Type: double
Units: newton

Description: Net force in y direction.

fz¶

IDL_Type: double
Units: newton

Description: Net force in z direction.

netMomentsTotal¶

Description: Totol actuator net moments of force.

EFDB_Topic: MTM2_netMomentsTotal

mx¶

IDL_Type: double
Units: newton*meter

Description: Net moment of force in x direction.

my¶

IDL_Type: double
Units: newton*meter

Description: Net moment of force in y direction.

mz¶

IDL_Type: double
Units: newton*meter

Description: Net moment of force in z direction.

position¶

Description: M2 mirror’s rigid body position. Measured from hardpoints.

EFDB_Topic: MTM2_position

x¶

IDL_Type: double
Units: micron

Description: Position x.

y¶

IDL_Type: double
Units: micron

Description: Position y.

z¶

IDL_Type: double
Units: micron

Description: Position z.

xRot¶

IDL_Type: double
Units: arcsec

Description: Rotation about x.

yRot¶

IDL_Type: double
Units: arcsec

Description: Rotation about y.

zRot¶

IDL_Type: double
Units: arcsec

Description: Rotation about z.

positionIMS¶

Description: M2 mirror’s rigid body position measured by the independent measurement system (IMS).

EFDB_Topic: MTM2_positionIMS

x¶

IDL_Type: double
Units: micron

Description: Position x.

y¶

IDL_Type: double
Units: micron

Description: Position y.

z¶

IDL_Type: double
Units: micron

Description: Position z.

xRot¶

IDL_Type: double
Units: arcsec

Description: Rotation about x.

yRot¶

IDL_Type: double
Units: arcsec

Description: Rotation about y.

zRot¶

IDL_Type: double
Units: arcsec

Description: Rotation about z.

powerStatus¶

Description: Total voltage and current for motors and communication system of M2.

EFDB_Topic: MTM2_powerStatus

motorVoltage¶

IDL_Type: double
Units: volt

Description: Total motor voltage.

motorCurrent¶

IDL_Type: double
Units: ampere

Description: Total motor current.

commVoltage¶

IDL_Type: double
Units: volt

Description: Total communication voltage.

commCurrent¶

IDL_Type: double
Units: ampere

Description: Total communication current.

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.

EFDB_Topic: MTM2_tangentActuatorSteps

steps¶

IDL_Type: long
Units: unitless
Count: 6

Description: Array of steps for each actuator 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.

EFDB_Topic: MTM2_tangentEncoderPositions

position¶

IDL_Type: double
Units: micron
Count: 6

Description: Encoder position of each tangent encoder 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.

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.

applied¶

IDL_Type: double
Units: newton
Count: 6

Description: Force applied by SAL command or script for each actuator in sequence.

measured¶

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).

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.

EFDB_Topic: MTM2_zenithAngle

measured¶

IDL_Type: double
Units: degree

Description: Zenith angle is 0 degree when the telescope is at zenith.

inclinometerRaw¶

IDL_Type: double
Units: degree

Description: Reading raw angle of inclinometer (0-360 degree).

inclinometerProcessed¶

IDL_Type: double
Units: degree

Description: Processed angle of inclinometer (0-360 degree).

Navigation

MTM2¶

Commands¶

applyForces¶

axial¶

tangent¶

clearErrors¶

value¶

positionMirror¶

x¶

y¶

z¶

xRot¶

yRot¶

zRot¶

resetForceOffsets¶

value¶

selectInclinationSource¶

source¶

setTemperatureOffset¶

ring¶

intake¶

exhaust¶

switchForceBalanceSystem¶

status¶

disable¶

enable¶

exitControl¶

setAuthList¶

authorizedUsers¶

nonAuthorizedCSCs¶

setLogLevel¶

level¶

subsystem¶

standby¶

start¶

settingsToApply¶

Enumerations¶

Events¶

cellTemperatureHiWarning¶

hiWarning¶

commandableByDDS¶

state¶

controllerState¶

controllerState¶

detailedState¶

detailedState¶

forceBalanceSystemStatus¶

status¶

hardpointList¶

actuators¶

inclinationTelemetrySource¶

source¶

interlock¶

state¶

m2AssemblyInPosition¶

inPosition¶

tcpIpConnected¶

isConnected¶

temperatureOffset¶

ring¶

intake¶

exhaust¶

appliedSettingsMatchStart¶

appliedSettingsMatchStartIsTrue¶

authList¶

authorizedUsers¶

nonAuthorizedCSCs¶

errorCode¶

errorCode¶

errorReport¶

traceback¶

heartbeat¶

heartbeat¶

logLevel¶

level¶

subsystem¶

logMessage¶

name¶

level¶