MTRotator¶

Note

This page is generated by python script generate_cet.py.

Commands¶

clearError¶

Description: Clear the Fault state, sending the controller into Offline substate PublishOnly. You must use the engineering user interface to transition from that to Offline substate Available before the CSC can control the MTRotator.

EFDB_Topic: MTRotator_command_clearError

configureAcceleration¶

Description: Limit the minimum and maximum acceleration level of the MTRotator to be set within the global limit of +/- 1 deg/s2.

EFDB_Topic: MTRotator_command_configureAcceleration

alimit¶

IDL_Type: double
Units: deg/s2

Description: acceleration limit

configureVelocity¶

Description: The configure Velocity command limits the minimum and maximum velocity level of the MTRotator to be set within the global limit of +/- 3.5 deg/s.

EFDB_Topic: MTRotator_command_configureVelocity

vlimit¶

IDL_Type: double
Units: deg/s

Description: Velocity limit

fault¶

Description: Stop the rotator and send the system to the FAULT state. This is primarily for testing the low-level controller’s fault command.

EFDB_Topic: MTRotator_command_fault

move¶

Description: Move the MTRotator to the specified position and stop. During the move the enabled substate will be MovingPointToPoint, then it will return to Stationary.

EFDB_Topic: MTRotator_command_move

position¶

IDL_Type: double
Units: deg

Description: Desired position.

stop¶

Description: Stop the MTRotator and go to enabled substate Stationary.

EFDB_Topic: MTRotator_command_stop

track¶

Description: Specify desired MTRotator position and velocity “slewing or tracking” mode, which is started with the trackStart command and concluded with the stop command.

EFDB_Topic: MTRotator_command_track

angle¶

IDL_Type: double
Units: deg

Description: Desired position at the time specified by “tai”.

velocity¶

IDL_Type: double
Units: deg/second

Description: Desired velocity at the time specified by “tai”.

tai¶

IDL_Type: double
Units: second

Description: TAI time of the “position” and “velocity” fields.

trackStart¶

Description: Enter slewing/tracking mode (enabled substate SlewingOrTracking): follow a path specified by repeated track commands. Issue the stop command when you are done tracking.

EFDB_Topic: MTRotator_command_trackStart

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.MTRotator.ControllerState.FAULT=4

>`

OfflineSubstate

PublishOnly=0

:any:`Available=1

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

>`

EnabledSubstate

Stationary=0

MovingPointToPoint=1

SlewingOrTracking=2

ControlledStopping=3

Initializing=4

Relative=5

:any:`ConstantVelocity=6

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

>`

ApplicationStatus

EUI
COMMAND
SAFETY
EXTEND
RETRACT
ETHERCAT
DDS
DDS
DRIVE
SIMULINK
ENCODER

Events¶

commandableByDDS¶

Description: Can the CSC can control the MTRotator?

EFDB_Topic: MTRotator_logevent_commandableByDDS

state¶

IDL_Type: boolean
Units: unitless

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

configuration¶

Description: MTRotator configuration.

EFDB_Topic: MTRotator_logevent_configuration

positionAngleUpperLimit¶

IDL_Type: double
Units: deg

Description: Position difference between the commanded position and the actual position that triggers system to switch between slew mode and track mode. Positive range limit (must be less than +90)

velocityLimit¶

IDL_Type: double
Units: deg/s

Description: Velocity limit

accelerationLimit¶

IDL_Type: double
Units: deg/s2

Description: Acceleration limit

positionErrorThreshold¶

IDL_Type: double
Units: deg

Description: Position error threshold

positionAngleLowerLimit¶

IDL_Type: double
Units: deg

Description: Position difference between the commanded position and the actual position that triggers system to switch between slew mode and track mode. Negative range limit (must be greater than -90)

followingErrorThreshold¶

IDL_Type: double
Units: deg

Description: Deviation between commanded position and actual MTRotator position that triggers following error event/fault

trackingSuccessPositionThreshold¶

IDL_Type: double
Units: deg

Description: RMS deviation over 150ms interval between position command and actual MTRotator position for triggering tracking and tracklost events

trackingLostTimeout¶

IDL_Type: double
Units: s

Description: Duration between receiving slewing and tracking commands over DDS before tracklost event/fault is declared

connected¶

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

EFDB_Topic: MTRotator_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 telemetry/config socket connected (true=yes, false=no)?

controllerState¶

Description: State reported by the low level controller. All values except applicationStatus are 1 greater than those reported by the controller for temporary and historical reasons.

EFDB_Topic: MTRotator_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 are ordered differently. 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

Description: Application state. A bitmask of ApplicationStatus enumeration values.

inPosition¶

Description: Event to indicate MTRotator is in position or not

EFDB_Topic: MTRotator_logevent_inPosition

inPosition¶

IDL_Type: boolean
Units: unitless

Description: MTRotator in position

interlock¶

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

EFDB_Topic: MTRotator_logevent_interlock

detail¶

IDL_Type: string
IDL_Size: 256
Units: unitless

Description: detail

target¶

Description: Commanded target position, velocity and time.

EFDB_Topic: MTRotator_logevent_target

position¶

IDL_Type: double
Units: deg

Description: Target position at the time specified by “tai”.

velocity¶

IDL_Type: double
Units: deg/second

Description: Target velocity at the time specified by “tai”.

tai¶

IDL_Type: double
Units: second

Description: TAI time of the “position” and “velocity” fields.

tracking¶

Description: Specify whether the MTRotator is tracking.

EFDB_Topic: MTRotator_logevent_tracking

tracking¶

IDL_Type: boolean
Units: unitless

Description: Is the MTRotator tracking accurately? The value of Flags_trackingSuccess from the low-level controller.

lost¶

IDL_Type: boolean
Units: unitless

Description: Is the MTRotator doing badly at tracking? This uses a different algorithm than “tracking”. The value of Flags_trackingLost from the low-level controller.

noNewCommand¶

IDL_Type: boolean
Units: unitless

Description: No new tracking command was received in time; tracking fails. The value of Flags_noNewTrackCmdError from the low-level controller.

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¶

ccwFollowingError¶

Description: Camera cable wrap following error.

EFDB_Topic: MTRotator_ccwFollowingError

positionError¶

IDL_Type: double
Units: deg

Description: Rotator actual position - camera cable wrap actual position.

velocityError¶

IDL_Type: double
Units: deg/second

Description: Rotator actual velocity - camera cable wrap actual velocity.

timestamp¶

IDL_Type: double
Units: second

Description: The time at which the rotation telemetry was measured (TAI, unix seconds).: The CCW position is extrapolated to this time.

electrical¶

EFDB_Topic: MTRotator_electrical

copleyStatusWordDrive¶

IDL_Type: unsigned short
Units: unitless
Count: 2

Description: Copley drive status word.

copleyLatchingFaultStatus¶

IDL_Type: unsigned short
Units: unitless
Count: 2

Description: Copley latching fault status register.

motors¶

Description: Data about the two rotator motors, in order A, B

EFDB_Topic: MTRotator_motors

calibrated¶

IDL_Type: double
Units: deg
Count: 2

Description: Motor encoder readings, scaled to degrees of motion of the rotator.

raw¶

IDL_Type: double
Units: unitless
Count: 2

Description: Motor encoder readings in raw counts.

torque¶

IDL_Type: double
Units: N m
Count: 2

Description: Motor torque.

rotation¶

Description: Demand and actual rotator position and velocity.

EFDB_Topic: MTRotator_rotation

demandPosition¶

IDL_Type: double
Units: deg

Description: Rotator position computed by the path generator.

demandVelocity¶

IDL_Type: double
Units: deg/second

Description: Rotator velocity computed by the path generator.

demandAcceleration¶

IDL_Type: double
Units: deg/second

Description: Rotator acceleration computed by the path generator.

actualPosition¶

IDL_Type: double
Units: deg

Description: Rotator position computed from the encoders.

actualVelocity¶

IDL_Type: double
Units: deg/second

Description: Rotator velocity computed from the two linear encoders. Warning: not yet trustworthy.

debugActualVelocityA¶

IDL_Type: double
Units: deg/second

Description: Rotator velocity computed from linear encoder A. Warning: this field is purely for debugging the low-level controller. Do not rely on it.

debugActualVelocityB¶

IDL_Type: double
Units: deg/second

Description: Rotator velocity computed from linear encoder B. Warning: this field is purely for debugging the low-level controller. Do not rely on it.

odometer¶

IDL_Type: double
Units: deg

Description: Cumulative distance the rotator has traveled.

timestamp¶

IDL_Type: double
Units: second

Description: Time at which telemetry was obtained. Will not be fully accurate until DM-26382 is implemented and the CSC updated to use it.

Navigation

MTRotator¶

Commands¶

clearError¶

configureAcceleration¶

alimit¶

configureVelocity¶

vlimit¶

fault¶

move¶

position¶

stop¶

track¶

angle¶

velocity¶

tai¶

trackStart¶

disable¶

enable¶

enterControl¶

exitControl¶

setAuthList¶

authorizedUsers¶

nonAuthorizedCSCs¶

setLogLevel¶

level¶

subsystem¶

standby¶

start¶

settingsToApply¶

Enumerations¶

Events¶

commandableByDDS¶

state¶

configuration¶

positionAngleUpperLimit¶

velocityLimit¶

accelerationLimit¶

positionErrorThreshold¶

positionAngleLowerLimit¶

followingErrorThreshold¶

trackingSuccessPositionThreshold¶

trackingLostTimeout¶

connected¶

command¶

telemetry¶

controllerState¶

controllerState¶

offlineSubstate¶

enabledSubstate¶

applicationStatus¶

inPosition¶

inPosition¶

interlock¶

detail¶

target¶

position¶

velocity¶

tai¶

tracking¶

tracking¶

lost¶

noNewCommand¶

appliedSettingsMatchStart¶

appliedSettingsMatchStartIsTrue¶

authList¶

authorizedUsers¶

nonAuthorizedCSCs¶

errorCode¶

errorCode¶

errorReport¶

traceback¶

heartbeat¶

heartbeat¶

logLevel¶

level¶

subsystem¶

logMessage¶

name¶

level¶