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Interface Control Document

1. The following tables summarize all M amp C points for the ACU with their CAN ID allocations data size and typical access rates Each M amp C point is then described in more detail after section 5 1 2 which details the data types used in the detailed descriptions ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Please note that this list of monitor and control points is expandable during the antenna design phase and will be frozen at the antenna CDR 5 1 2 Data Types The following table indicates the data types used within CAN messages Table 4 CAN Data Types Data Type Description Bit A single bit within an ubyte Unused bits within ubytes are padded to fill the byte ubyte An unsigned byte usually used for bit fields intS A signed amp bit integer value uint An unsigned 8 bit integer value intl6 A signed 16 bit integer value uintl6 An unsigned 16 bit integer value int32 A signed 32 bit integer value uint32 An unsigned 32 bit integer value float Single precision 32 bit IEEE floating point value double Double precision 64 bit IEEE floating point value string A string of single byte characters Length is given by the DLC field in the CAN frame and the string is not null terminated When multiple types are used in a single CAN message payload there is no padding between values in a message All values appear in the CAN message pa
2. 00 04 10 2F Perform a soft reboot of the ACU or peripherals Rare I byte ubyte bit0 complete ACU and peripherals reboot bit metrology subsystem reboot bit2 subreflector subsystem reboot ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Perform a soft reboot of the ACU or peripherals Rare 1 byte ubyte bit0 complete ACU and peripherals reboot bit metrology subsystem reboot bit2 subreflector subsystem reboot bit3 AZ drives rese bit4 EL drives rese SET_AZ_BRAKE 00 04 10 14 Engage or disengage azimuth brake This command should be rejected if setting the brake will damage the antenna if for example the antenna is moving Rare I byte ubyte 0x00 disengage brake 0x01 engage brake SET_AZ_SERVO_COEFF AG 00 04 20 20 00 04 20 2F Azimuth servo coefficients These values should not be persistent and should default to static safe values when the ACU is rebooted Rare 8 bytes double Each message contains a different servo loop control parameter as defined by the Contractor s implementation Interface Control Document Ee between AEM Antenna and ALMA ALMA Project Computing Control Software Name CAN ID Description Typica
3. CAN ID Description Typical Interval Data Name CAN ID Description SET_EL_SERVO_DEFAULT 00 04 10 07 Reset elevation servo coefficients to default safe values Rare I byte ubyte 0x01 Set servo coefficients to default values INIT_EL_ENC_ABS_POS 00 04 10 08 Starts the automatic routine to determine the elevation encoder absolute position Rare I byte ubyte Ox01 Starts automatic routine SET_IDLE_STOW_TIME 00 04 10 25 Time for ACU enter survival stow if no communications received on CAN bus or timing pulse has ceased Rare 2 bytes uint16 Value representing seconds Setting the value to 0 turns this feature off 00 04 10 24 Set the new ACU IP address Rare amp bytes bytes 0 3 uint32 32 bit IP address organized as bytel byte2 byte3 byte4 bytes 4 7 uint32 32 bit subnet mask organized as bytel byte2 byte3 byte4 00 04 10 38 Set the new ACU gateway IP address between AEM Antenna and ALMA ALMA Project Interface Control Document I Computing Control Software Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Rare 4 bytes bytes O 3 uint32 32 bit gateway IP address organized as bytel byte2 byte3 byte4 SET_PT_MODEL_COEFF_N 00 04 20 40 00 04 20 5F Pointing model coefficients to be used in autonomous mode This is a range of consecuti
4. Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID 8 bytes 4 int16 values byte OFT tilt c byte 223 tiltmeter N 1 tilt s byte 23 tiltmeter N 1 tilt d byte 6 7 tiltmeter N 1 temperature tilts multiples of 0 01 arcsec temperatures multiples of 0 01 degree C GET_METR_DELTAS 00 04 00 34 Get AZ and EL total delta correction applied by the metrology to the AZ EL position 48 ms amp bytes bytes 0 3 azimuth delta correction bytes 4 7 elevation delta correction Data format signed two s complement fixed point binary number representing angle from I turn to 1 2 turn GET_METR_DELTAS_TEMP 00 04 00 33 Get AZ and EL total delta correction applied by the metrology due to temperature variations to the AZ EL position 48 ms amp bytes bytes 0 3 azimuth delta correction bytes 4 7 elevation delta correction Data format signed two s complement fixed point binary number representing angle from I turn to 12 turn GET_METR_DELTAPATH 00 04 00 53 Error in path length 48 ms 4 bytes int32 value in multiples of Inm positive value if path length is longer than nominal value Range 2147 483648 to 2147 483647 mm GET_POWER_STATUS 00 04 00 30 ALMA Project Interface Control Document EE between AEM Antenna and ALMA Computing Control Software Description Typic
5. but could be expanded to include hardware identifiers in future Typical Interval Rare between AEM Antenna and ALMA ALMA Project Interface Control Document I Computing Control Software Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description 3 Bytes byte 0 ubyte major revision level byte I ubyte minor revision level byte 2 ubyte patch level ie OXXX OxYY OxZZ is interpreted as VXX YY ZZ GET_IDLE_STOW_TIME 00 04 00 25 Currently set time for ACU to enter survival stow if no communications received on CAN bus or timing pulse has ceased Rare 2 bytes uint16 value representing seconds GET_IP_ADDRESS 00 04 00 2D ACU IP address Rare 8 Bytes bytes 0 3 uint32 32 bit IP address organized as bytel byte2 byte3 byte4 bytes 4 7 uint32 32 bit subnet mask organized as bytel byte2 byte3 byte4 GET_IP_GATEWAY 00 04 00 38 ACU gateway IP address Rare 4 Bytes bytes O 3 uint32 32 bit gateway IP address organized as bytel byte2 byte3 byte4 GET_NUM_TRANS 00 07 00 02 Number of transactions handled by ACU since power up debug 4 Bytes uint32 count of handled transactions GET_SYSTEM_STATUS 00 04 00 23 State of miscellaneous related systems ALMA Project Interfa
6. number of errors on the self test error stack ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name SELFTEST_ERR CAN ID 00 04 00 41 Description Reads one entry from the self test failure stack Typical Interval Rare Data Bytes 0 1 int16 number of failed test ALMA Project Interface Control Document Computing Control Software between AEM Antenna and ALMA I 5 1 3 4 Control Points in Detail Name CAN ID 00 04 10 22 Description Set current ACU operational and access modes Typical Interval Rare Data 1 Byte Byte 0 Axis Mode ubyte Bits 0 3 Azimuth Mode Bits 4 7 Elevation Mode Axis Mode values 0x0 SHUTDOWN rf STANDBY 0x2 ENCODER 0x3 AUTONOMOUS 0x4 SURVIVAL STOW Name CAN ID 00 04 10 20 Description Current tracking mode for ACU Typical Interval Rare Data I byte Axis Tracking Modes ubyte Axis Tracking Mode values 0x0 CONTINUOUS SIDEREAL TRACKING 0x1 SLEWING Similar to continuous sidereal tracking but may allow lower gains Normally used during preset to a new object 0x2 FAST SWITCHING 0x3 ON THE FLY TOTAL POWER MAPPING 0x4 ON THE FLY TOTAL INTERFEROMETRIC MOSAICKING AZ_TRAJ_CMD 00 04 10 12 Name CAN ID ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Description Typical Interval Data Name CAN ID Desc
7. 1 3 6 ACU Trajectory Command Timing The control commands AZ_TRAJ_CMD and EL_TRAJ_CMD are specified to send the desired position and velocity to the ACU for the 20 83 tick subsequent to the next The 20 83 ticks are here illustrated as TE The timing of control commands are specified in RDO1 Figure 3 below illustrates the timing ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Increasing time 48 ms ticks TEI JE TE i 2 7 Commands sent between TEs i and i 1 represent desired trajectory at this instant AZ_TRAJ_CMD and EL_TRAJ_CMD are sent during this window 24 ms At this instant ACU has trajectory info for TE i 1 received just after TE i 1 and the next one received just after TE i and can interpolate motor commands for the intervening 48 ms 48 ms Figure 3 ACU Trajectory Command Timing If the _TRAJ_CMD 1 at for example TE i arrives to the ACU after the 24 ms command window the ACU shall still try to apply it so that the antenna can reach the desired position at TE i 2 In this case the ACU shall notify the ABM by putting a trajectory command delayed error onto the error stack If it is too late to apply the command for TE i 2 the ACU may schedule it for one TE later TE i 3 If the ACU receives another trajectory command 2 just after TE i 1 valid for TE i 3 then it shall discard the one which arrived too late to be valid fo
8. 1 5 GET_AZ_ENC 00 04 00 17 4 0 048 GET_AZ_MOTOR_CURRENTS 00040019 4 5 GET_AZ_MOTOR_TEMPS 00 04 00 1A 4 5 GET_AZ_MOTOR_TORQUE 00 04 00 15 4 5 GET_AZ_SERVO_COEFF_N 00 04 30 20 8 Rare 00 04 30 2F GET_AZ_STATUS 00 04 00 1B 8 5 GET_AZ_ENCODER_OFFSET 00 04 00 JC 4 Rare GET_CAN_ERROR 00 07 00 01 4 debug GET_EL_TRAJ_CMD 00 04 00 03 8 Rare GET_EL_BRAKE 00 04 00 04 1 5 GET_EL_ENC 00 04 00 07 4 0 048 GET_EL_MOTOR_CURRENTS 00040009 5 GET_EL_MOTOR_TEMPS 00 04 00 0A 5 GET_EL_MOTOR_TORQUE 00 04 00 05 5 GET_EL_SERVO_COEFF_N 00 04 30 10 8 Rare 00 04 30 1F GET_EL_STATUS 00 04 00 OB 8 5 GET_EL_ENCODER_OFFSET 00 04 00 0C 4 Rare GET_SYSTEM_ID 00 07 00 04 3 Rare GET_IDLE_STOW_TIME 00 04 00 25 2 Rare GET_IP_ADDRESS 00 04 00 2D 8 Rare GET_IP_GATEWAY 00 04 00 38 4 Rare GET_NUM_TRANS 00 07 00 02 4 debug GET_SYSTEM_STATUS 00 04 00 23 7 5 GET_PT_MODEL_COEFF_N 00 04 30 40 8 Rare 00 04 30 5F GET_SHUTTER 00 04 00 2E 1 5 GET_STOW_PIN 00 04 00 24 2 5 ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software Name CAN ID Data Typical d hex Size Interval D secs GET_SUBREF_ABS_POSN 00 04 00 26 6 5 GET_SUBREF_DELTA_POSN 00 04 00 27 6 5 GET_SUBREF_LIMITS 00 04 00 28 3 5 GET_SUBREF_ROTATION 00 04 00 2A i ie 00 04 00 29 GET_METR_MODE 00 04 00 31 4 Rare GET_METR_EQUIP_STATU
9. 2 RD03 Coordinate System Specification ALMA 80 05 00 00 009 B SPE RD04 ALMA Cabling Installation Plan for AEM Antenna Contractor ANTD 80 04 00 00 019 B PLA 2 2 Standards ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I 3 Abbreviations and Acronyms 3 1 Glossary ABM Antenna Bus Master Access Current mode of accessing the ACU When in Local access mode the ACU Mode may only be commanded by a local handset all commands via the CAN M amp C interface are ignored except for monitor requests When in Remote access mode M amp C commands are accepted The ACU may not be switched from Local to Remote access mode over the CAN M amp C interface ACK Acknowledge In a CAN transmission this is a bit in a transmitted frames which is set by a successful receiver of the frame ACU Antenna Control Unit ALMA Atacama Large Millimeter Array AUI A type of Ethernet connector AZ Azimuth Defined as zero to North BE Back End Bore sight The actual orientation of the axis of symmetry of the main reflector with respect to established local coordinates zenith direction and nominal azimuth zero CAN Controller Area Network CAN ID CAN message identification A 29 bit identifier transmitted at the start of a CAN frame which also deter
10. 22 GET_SERIAL_ NUMBER added INIT_AZ ENC_ABS_POS added INIT_EL_ENC_ABS_POS added GET_METR_DISPL_N eliminated not used by AEM SEI AIR CONDITIONING added GET_PT_MODEL_COEFF_N confirmed SET_PT_MODEL_COEFF_N confirmed Hexapod hardware limits eliminated SELF TEST GET SET updated GET_METR_COEFF_N added SET_METR_COEFF_N added 2011 04 11 Document renumbered as requested by ESO EL Stow Pins command returned Pin ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software Version Affected Section s Change Reason Initiation Remarks Request I ALMA Project Interface Control Document Ee between AEM Antenna and ALMA Computing Control Software Table of Contents 1 DESCRIPTION E 6 Toth S tee 6 2 RELATED DOCUMENTS AND DRAWINOGS 6 2 1 Reference DOCUMENES eass seriirisriei sine a E R AEE IS 6 22 Standar EE 6 3 ABBREVIATIONS AND ACRONYMS ee neetetgetegh eege ege eet beens 8 3l MOSS EE 8 4 ELECTRONIC INTER BAC EE 9 4 1 Computer Hardware and Software cesscssscesseeesseceseceseeeeoeeseseeeeneeseeeeoeeeseeeeanes 9 42 LOCALO EE 9 4 21 Be TE 10 4 3 Monitor and Control Interface 12 AA Timing e 12 AS Ethernet InterfaCesrienarnnseiienii aa E E E AEA RERETAERA O EEEESCE 13 5 SOFTWARE CONTROL FUNCTION INTERFACE 13 5 1 Monitor and Control S
11. ID Description Typical Interval Data GET_AZ_STATUS 00 04 00 1B Status of azimuth axis Js byte 0 limit switches ubyte bit0 SW CW prelimit set in limit bitl HW CW prelimit set in limit bit2 HW CW final limit set in limit bit3 CW shutdown due to limit condition set occurred bit4 SW CCW prelimit set in limit bits HW CCW prelimit set in limit bit6 HW CCW final limit set in limit bit7 CCW shutdown due to limit condition set occurred byte 1 interlocks ubyte bitO rotation final limit bitl axis HW interlock set true bit2 override command bit3 hardstop sense bit4 hardstop sense bit5 sense bit6 sense byte 2 motors ubyte bit0 motor over speed set true bit motors Ist half over current set true bit2 motors 1 half overheating set true bit3 motor 2 half over current set true bit4 motor 2 4 half overheating set true bit5 drive power on bit6 DC bus 1 bit7 DC bus 2 byte 3 motors ubyte bit motors enable timeout set fault bit2 motor 1 half fault set fault bit3 motor 2 half fault set fault bit4 motor drivers ready set Ready bit5 encoder Hall sensors inconsistency byte 4 encoder ubyte ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name GET_AZ_STATUS CAN ID 00 04 00 1B Description Status of azimuth axi
12. Standby Any of the SET_ control messages defined in Section 5 1 3 shall be accepted in any of the operating modes provided the ACU is in remote mode unless there are safety issues involved All monitor messages Section 5 1 3 shall be handled regardless of the current operating or access mode The following table shows which CMD control messages shall be applicable in which operating modes Remote access mode only ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Table 9 Commands allowed by Operating Mode Axis Operating Mode Commands Accepted Shutdown ACU_MODE_CMD RESET_ACU_CMD Standby Velocity Encoder Autonomous ACU_MODE_CMD AZ_TRAJ_CMD EL_TRAJ_CMD Survival Stow ACU_MODE_CMD Maintenance Stow ACU_MODE_CMD RESET ACU CMD 5 1 4 1 Tracking Sub mode The tracking sub mode is only changed by a new command ACU_TRK_MODE a new ACU mode set with ACU_MODE_CMD reset or reboot of the ACU Default value is 0 CONTINUOUS SIDEREAL TRACKING The tracking mode is only valid in ENCODER or AUTONOMOUS mode If the ACU_LTRK_MODE command is sent when not in AUTONOMOUS or ENCODER mode an error shall be added to the error stack and the ACU shall ignore the command The antenna should be able to transition from one sub mode at any time If the ABM sends trajectories which are not compati
13. representing velocity in turns sec Returns zero values if no AZ_TRAJ_CMD has been given GET_AZ_ BRAKE 00 04 00 14 Get azimuth brake status 5s GET_AZ_ENC 00 04 00 17 Position in raw encoder bits at last 20 83 Hz tick 48 ms Mean value of all reading heads ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data 4 bytes uint32 value of azimuth encoder A uint32 containing the raw encoder value GET_AZ MOTOR_CURRENTS 00 04 00 19 Motor currents in all azimuth axis drive motors 5s GET_AZ_MOTOR_TEMPS 00 04 00 IA Motor temperatures in all azimuth axis drive motors 5s GET_AZ_MOTOR_TORQUE 00 04 00 15 Applied motor torque in all azimuth axis drive motors 5s GET_AZ_SERVO_COEFF_N 00 04 30 20 00 04 30 2F Azimuth servo coefficients Rare 8 bytes double Each message contains a different servo loop control parameter as defined by the Contractor e implementation Average temperature of 10 semi sectors in half AZ motor Maximum temperature of anyone of the 10 semi sectors half AZ motor ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software Name CAN
14. true bit3 motor 2 half over current set true bit4 motor 2 half overheating set true bit5 drive power on bit6 DC bus 1 bit7 DC bus 2 byte 3 motors ubyte bit motors enable timeout set fault bit2 motor 1 half fault set fault bit3 motor 2 half fault set fault bit4 motor drivers ready set Ready bit5 encoder Hall sensors inconsistency ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name GET_EL_STATUS CAN ID 00 04 00 OB Description Status of elevation axis Typical Interval 5s bit0 encoder value fault set fault bitl absolute encoder position not available set true bit2 encoder value validation unset values ok set values old bit3 servo oscillation set true bit4 interpolation board 1 status set ok bit0 encoder head 1 status set fault bitl encoder head 2 status set fault bit2 encoder head 3 status set fault bit3 encoder head 4 status set fault Name GET_EL_ENCODER_OFFSET CAN ID 00 04 00 0C Description Offset between raw encoder reading and elevation position excluding contribution from pointing and metrology corrections Typical Interval Rare Data 4 bytes int32 An int32 containing the encoder offset Name GET_SYSTEM_ID CAN ID 00 07 00 04 Description Get ACU hardware and software identifiers Currently only a software revision level is supported
15. 00 No error 0x01 Timeout 0x02 Invalid mode change requested 0x03 Requested position out of range 0x04 Requested velocity out of range 0x05 ACU in Local Access Mode 0x06 Invalid brake command requested ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name CAN ID Description Typical Interval Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval GET_ACU_ERROR 00 04 00 2F ACU error conditions This monitor point returns an error stack which includes an error code and an identification of the command causing the error 48 ms 0x10 Illegal command or monitor request undefined CAN ID Ox11 Unexpected command or monitor request if a command arrives when it is not allowed 0x12 Parameter out of range 0x13 Invalid data length of command 0x14 Trajectory command delayed if the trajectory command for TE i 2 arrives after TE i 24 ms 0x15 Trajectory command duplicate error if two trajectory commands arrive within the same TE 0x16 Error stack overflow bytes 1 4 uint32 Relative address of CAN message triggering error condition GET_AZ_TRAJ_CMD 00 04 00 13 Position in turns and velocity in turns sec set with the last AZ_TRAJ_CMD Rare 8 bytes Bytes 0 3 Fixed point number as described in AZ_POSN_RSP representing turns Bytes 4 7 Fixed point number
16. 67 bytes 2 3 int16 Y axis subreflector delta position in um range 32768 to 32767 bytes 4 5 int16 Z axis subreflector delta position in um range 32768 to 32767 GET_SUBREF_LIMITS 00 04 00 28 Get subreflector mechanism limit status 5s 3 bytes byte 0 X axis limit status ubyte bitO upper software position limit set exceeded bit lower software position limit set exceeded byte 1 Y axis limit status ubyte bit0 upper software position limit set exceeded bit lower software position limit set exceeded byte 2 Z axis limit status ubyte bitO upper software position limit set exceeded bit lower software position limit set exceeded Hardware switch not used 11 Regarding the hardware limits Each leg has it own limit switch electronics these works only for the leg itself If one leg runs into the limit the power will be cut and the brake will be activated But only the movement into the direction of hardstop is blocked It is possible to move the leg back to the operation range That means an INI will work PTo be reminded that in normal operation the hexapod will never run into the hardware limit In this case something is wrong and has to be analyzed before restart ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Inter
17. CAN ID Description Typical Interval GET_METR_COEFF_N Metrology model coefficients to be used in autonomous mode Rare 8 bytes in each coefficient Value representing arcseconds double Ist elem ANO Az axis tilt to be subtracted from tiltmeter readout 2nd elem AWO Az axis tilt to be subtracted from tiltmeter readout GET_METR_TEMPS_N 00 04 40 N Metrology system temperatures There are up to 100 temperature sensors This group of monitor points returns them in blocks of 4 that is N is in the range 0 to 25 This assumes that sensors measuring temperatures will be included in the design 5s 8 bytes 4 intl6 values Temperature measured by temp sensors N 4 thru N 4 3 up to 100 sensors distributed across 25 CAN messages Value is in multiples of 0 01 degree C Temperature values shall indicate if sensor is broken or disabled by returning in the monitor point an extreme value for example the maximum or minimum value Returned data 299 90 deg C overflow 299 90 deg C overflow 299 91 deg C disconnected 299 92 deg C N A no sensor sensor disabled GET_METR_TILT_N 00 04 50 N Metrology system tiltmeter readouts There are 2 tilt values so N is in the range 0 to 1 This assumes that sensors measuring tilt will be included in the design 100ms ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software Name CAN ID Description
18. FF As defined in RDO1 each defined CAN ID represents a single monitor or control point Control points require no explicit acknowledgement beyond the implicit CAN ACK bit Monitor data is requested by a zero length frame not an RTR frame and the ACU must respond with the appropriate monitor data within 150 microseconds If the values to be returned are not time critical they may be returned from a local cache All commands control points designated by a CMD suffix must result in success an error or a timeout These error conditions shall be stored on a stack which may be polled with the GET_ACU_ERROR monitor point This monitor request returns an error from the stack until none are left All errors include a 1 byte code identifying the error condition or timeout and a 4 byte identification of the command which caused the error or timeout The stack shall be big enough to contain at least 32 errors If the stack is full new errors shall be discarded and a specific error shall indicate the stack overflow If unexpected commands or commands or monitor points with not defined CAN id are received an error shall be put on the error stack The Contractor s interface shall respond correctly if up to 50 messages per 48 millisecond timing period are addressed to it An overall message rate on the CAN bus including messages addressed to other nodes that uses the full 1 Mbits sec raw data rate shall not cause any errors in the Contractor s interface
19. Large Array ATACAMA LARGE MILLIMETER ARRAY Atacama Millimeter Interface Control Document between AEM Antenna and ALMA Computing Control Software ALMA 33 00 00 00 70 35 20 00 A ICD Thijs de Graauw Project Director Prepared By Organization Date E Allaert and ESO 2011 08 05 P Martinez IPT Leader Approvals Organization Date Stefano Stanghellini ESO 2011 08 05 Gianni Raffi ESO 2011 08 05 System Engineering Approvals Organization Date Christoph Haupt ESO 2011 08 05 Javier Marti Canales JAO 2011 08 05 Configuration Control Board Approval Organization Date ALMA Configuration Javier Marti Canales Control Board Secretary 2011 08 05 signing for the Control Board JAO Director Release Authorization Organization Date Joint ALMA Office ALMA Project Interface Control Document Ee between AEM Antenna and ALMA Computing Control Software Page 2 of 64 Change Record Affected Section s Change Reason Initiation Remarks Request All 2003 10 10 Initial release Applicable S Oliver added in new alma logo in B 2003 12 14 documents table None headers and changed all applicable and header logo documents to reference documents Sections 2 3 1 4 1 Clarifications and minor corrections C 2005 11 30 4 2 4 3 4 4 4 5 5 1 1 5 1 3 1 5 1 3 2 5 1 3 3 5 1 3 4 5 1 3 7 5 2 5 3 5 5 5 6 and 6 5 1 3 5 5 1 3 6 and 5 6 N
20. Output currents by phase Typical Interval 5s Data 6 Bytes Bytes 0 1 int16 Output current phase I A Bytes 2 3 int 6 Output current phase 2 A Bytes 4 5 int16 Output current phase 3 A Name GET_ANTENNA_TEMPS CAN ID 00 04 00 37 Description Antenna temperatures Typical Interval 5s Data 4 Bytes ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name CAN ID Description Typical Interval Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data GET_ANTENNA_TEMPS 00 04 00 37 Antenna temperatures Js Temperature values shall indicate if sensor is broken or disabled by returning in the monitor point an extreme value for example the maximum or minimum value Returned data 299 90 deg C overflow 299 90 deg C overflow 299 91 deg C disconnected 299 92 deg C N A no sensor sensor disabled GET_SW_REV_LEVEL 00 07 00 00 Revision level of vendor ACU code debug 3 Bytes byte 0 ubyte major revision level byte 1 ubyte minor revision level byte 2 ubyte patch level ie OxXX OxYY OxZZ is interpreted as VXX YY ZZ SELFTEST_RSP 00 04 00 40 Get self test status Rare 5 Bytes Byte 0 bit 0 self test running set running bit 1 self test completed set completed bit 2 self test failed set failed Bytes 1 2 int16 number of failing tests Bytes 3 4 int16
21. Reset line A 2 CAN_L CAN_L bus line dominant low 3 CAN_GND CAN Ground 4 TIMA Timing Signal line A 5 CAN_SHLD CAN Bus Shield 6 RSTB Global Slave Node Reset line B 7 CAN_H CAN_H bus line dominant high 8 TIMB Timing Signal line B 9 Reserved 4 4 Timing Interface In addition to the serial bus the ACU will receive a precise timing reference signal on the same CAN D connector as shown in Figure and Table 1 This will be a periodic pulse supplied by differential signaling conforming to RS485 The pulse period shall be 48 ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I milliseconds and width of 5 to 10 milliseconds with a nominal value of 6 milliseconds The leading edge of each pulse marks a timing event The source will contain a RS485 transmitter which will drive the bus to a quiescent state of logic 0 FALSE and will drive it to a logic 1 TRUE periodically with a duty cycle of 12 5 The period is specified to be 48 0 ms Use of the signal at other nodes is optional but each user node shall have a RS485 receiver that is designed so that an open circuit or short circuit is interpreted as logic 0 The leading edge 0 to 1 transition of the signal will be accurately synchronized to ALMA array time with a maximum error to be specified elsewhere but the timing of the falling edge 1 to 0 is not specified Further details are available in RD02 Note t
22. S 00 04 00 32 4 5 GET_METR_COEFF_N KEE 8 Rare GET_METR_TEMPS_N 00 04 40 N 8 5 GET_METR_TILT_N 00 04 50 N 8 5 GET_METR_DELTAS 00 04 00 34 8 0 048 GET_METR_DELTAS_TEMP 00 04 00 33 8 0 048 GET_METR_DELTAPATH 00 04 00 53 4 0 048 GET_POWER_STATUS 00 04 00 30 5 GET_AC_STATUS 00 04 00 2C ina GET_UPS_OUTPUT_VOLTS 00 04 00 35 6 5 GET_UPS_OUTPUT_CURRENT 0004 00 36 6 5 GET_ANTENNA_TEMPS 00 04 00 37 4 5 GET_SW_REV_LEVEL 00 07 00 00 3 debug SELFTEST_RSP 00 04 00 40 5 Rare SELFTEST_ERR 00 04 00 41 6 Rare 8 Rare Control data shall be transmitted by the ALMA bus master according to the protocol specified in RDO1 A control transaction consists of a transmission of the appropriate CAN message with data if appropriate The ACU shall acknowledge receipt of the control message by setting the acknowledge bits in the trailer of the CAN transmission No further response is required Note that command failures and error conditions are polled in the monitor message GET_ACU_ERROR The CMD suffix denotes a command message which should result in the ACU adding error or timeout message on the error stack should the command fail All of the SET_ control points have a corresponding GET_ monitor point ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software Command input parameters shall be checked for valid range and violations shall be reported on the error s
23. a AZ_POSN_RSP 00 04 00 12 Position of azimuth axis in turns at the last 20 83Hz pulse and 24ms before Note that the interpretation of the value depends on the current active mode In ENCODER mode the position values are uncorrected in AUTONOMOUS mode the values have been corrected by pointing model and metrology 48 ms 8 bytes bytes 0 3 azimuth position at the last 20 83 Hz timing pulse bytes 4 7 azimuth position 24 ms before the last timing pulse Data format signed two s complement fixed point binary number representing angle from I turn to 1 2 turn EL_POSN_RSP 00 04 00 02 Position of elevation axis in turns at the last 20 83Hz pulse and 24ms before Note that the interpretation of the value depends on the current active mode In ENCODER mode the position values are uncorrected in AUTONOMOUS mode the values have been corrected by pointing model and metrology 48 ms 8 bytes bytes 0 3 elevation position at the last 20 83 Hz timing pulse bytes 4 7 elevation position 24 ms before the last timing pulse Data format signed two s complement fixed point binary number representing angle from I turn to 1 2 turn GET_ACU_ERROR 00 04 00 2F ACU error conditions This monitor point returns an error stack which includes an error code and an identification of the command causing the error 48 ms 5 Bytes 0 bytes in case of no error Error condition indicated as follows byte 0 ubyte Error code 0x
24. al Interval Data Name CAN ID Description Typical Interval Data Get power and UPS status JS 2 bytes byte 0 ubyte bit0 antenna power source reflects status of manual power switch not set power from ALMA set power from transporter bit UPS line failure bit2 UPS low battery bit3 UPS alarm bit4 UPS load on bypass bit5 UPS load on inverter bytel 24VDC monitoring ubyte bitO aux ready set ok bit interface set ok bit2 azimuth set ok bit3 elevation set ok bit4 interlocks set ok GET_AC_STATUS 00 04 00 2C Get air conditioning subsystem status Js 8 Bytes ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name CAN ID Description Typical Interval Data GET_AC_STATUS 00 04 00 2C Get air conditioning subsystem status Js ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name GET_AC_STATUS CAN ID 00 04 00 2C Description Get air conditioning subsystem status Typical Interval 55s Data E Name GET_UPS_OUTPUT_VOLTS CAN ID 00 04 00 35 Description Output voltages by phase Typical Interval 5s Data 6 Bytes Bytes 0 1 int16 Output voltage phase 1 V Bytes 2 3 int 6 Output voltage phase 2 V Bytes 4 5 int16 Output voltage phase 3 V Name GET_UPS_OUTPUT_CURRENT CAN ID 00 04 00 36 Description
25. ame CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data 0 5 6 bytes bytes 0 1 int16 new X axis subreflector desired absolute position in Am range 32768 to 32767 bytes 2 3 int16 new Y axis subreflector desired absolute position in Am range 32768 to 32767 bytes 4 5 int16 new Z axis subreflector desired absolute position in Am range 32768 to 32767 SET_SUBREF_DELTA_POSN 00 04 10 2A Set the new subreflector delta position 0 5 6 bytes bytes 0 1 int16 new X axis subreflector desired delta position in um range 32768 to 32767 bytes 2 3 int16 new Y axis subreflector desired delta position in um range 32768 to 32767 bytes 4 5 int16 new Z axis subreflector desired delta position in um range 32768 to 32767 SUBREF_DELTA_ZERO_CMD 00 04 10 2B Reset the subreflector setting the subreflector to the absolute position and clearing the delta position 0 5 1 bytes ubyte 0x01 perform the command 00 04 10 28 Rotation control of subreflector 0 5 s 6 Bytes Bytes 0 1 int16 X tip in 0 0001 degrees range 1 5deg ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Bytes 2 3 int16 Y tilt in 0 0001 degrees ran
26. ble with the defined sub mode an error Should be raised but the ACU should nevertheless meet the commanded trajectory with degraded performance The ACU shall directly follow the trajectory commands sent in all sub modes ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I 5 2 Reset Signal The ACU shall initiate a reset of the CAN interface circuitry and reboot the ACU when a 1 ms differential RS485 logical 1 pulse is detected on the CAN bus reset pins pins 1 and 6 as defined in RDO1 Note that the RSTA and RSTB signals shown in Figure 1 denote the RS422A and B lines defined in RD08 Note that this reset pulse is not a CAN standard 5 3 Ethernet Interface In addition to the monitor and control interface provided by the CAN bus ALMA requires that the ACU also provide an Ethernet interface to facilitate debugging and testing of the vendor equipment In particular is shall be possible via the Ethernet interface to e download new versions of the software Installing a new software version shall only be possible when any of the antenna interlocks emergency stop pushbuttons is active e for debug configure and profile the ACU software e issue areset command to soft boot the ACU The reset shall only be possible when the antenna is in shutdown mode 5 4 Static Parameters The contractor shall in general face the problem of replacemen
27. cation programming for processors in the control unit shall be written in C or C Executable code shall be stored in non volatile electronic memory avoiding mechanically driven peripherals such as disk drives All microprocessor systems shall have Ethernet interfaces for debugging and testing All computers on the antenna shall be fully functional in the absence of any external connection to the Ethernet network 4 2 Location The Contractor shall locate the CAN bus interface connector see Section 4 3 on his equipment in such a way that a cable from there to the center of the receiver room will not exceed 25 m in length including if necessary the traversal of any cable wraps around the antenna motion axes The absolute maximum length is 35m The contractor shall provide space for an Ethernet switch provided and mounted by ALMA in a temperature controlled and easily accessible area preferably the azimuth platform or pedestal room but not in the receiver cabin The switch shall be connected to a separate UPS power used only for the switch and the utility module see below The UPS power shall be provided by the contractor A remotely operated utility module see below with Ethernet interface shall be mounted close to the Ethernet switch The contractor shall procure mount and test the utility module Software for testing the utility module to validate its functionality shall also be provided The Antenna Bus Master ABM will be provi
28. ce Control Document between AEM Antenna and ALMA Computing Control Software I Typical Interval 5s Data byte 0 ubyte bitO emergency stop set applied bit ACU interlock set applied bit2 base door interlock set applied bit3 base I interlock set applied bit4 base 2 interlock set applied bit 5 AZ skirt I interlock set applied bit6 AZ skirt 2 interlock set applied bit7 acces stair 1 interlock set applied byte 1 ubyte bitO EL left interlock set applied bit EL right interlock set applied bit2 PCUI1 RC interlock set applied bit3 PCU 2 D1 interlock set applied bit4 PCU 3 Base interlock set applied bit5 PCU 4 PLC interlock set applied bit6 receiver cabin interlock set applied bit7 receiver cabin access door interlock set applied byte 2 ubyte bitO handrail rc platform interlock set applied bit ACU booting failure set failed bit2 survival stow due to missing commands after idle time set applied bit3 survival stow due to missing timing pulse after idle time set applied bit4 timing pulse missing set missing bit5 ACU task failure set failure byte 3 ubyte bitO hydraulic unit generic alarm set alarm bit fire system status set fault bit2 over temperature alarm set applied bit3 ventilation skirt status set fault byte 4 ubyte bitO antenna local mode bitl antenna remote mode bit2 antenna pcu m
29. ded and mounted by ALMA in the BE rack in the receiver cabin A CAN bus shall be routed by the contractor from the ACU to the ABM in the receiver cabin Another CAN bus shall be routed by the contractor from the ABM to the apex the position where the subreflector is mounted The contractor shall also route a CAN cable from the ABM to the optical telescope ALMA Project Interface Control Document ae between AEM Antenna and ALMA Computing Control Software Place shall also be reserved for two VoIP telephones in a temperature controlled area one in the receiver cabin and the other in the pedestal room CAN Cabling is 4 Ces Receiver Cabin twisted pairs r i within a shield j Ethernet ame2 FE es All AMB buses Controlled f but not all Power Strip MECH T connections are fEthemet Ka ale shown Switch E La WVR I tino a Cryostat Tem ABM mere perature LL 3 controlled AMBI Room or Multi mode Rack BE fibres m ee Equipment J amet TTT Analog Rack heres en Shielded eee iA Rack ereecht All Ethernet cabling within an Antenna is shielded CAT5 twisted pair 100Mbit sec unless indicated otherwise Rack on the Azimuth Platform The location of the ACU and utility module Pair of single mode fibres is left to the contractor Ethernet 1GBit sec Figure 2 Cable Routing For actual cabling see RD04 4 2 1 U
30. e 2 ubyte reserved byte 3 ubyte Error code of last CAN error Codes are those defined by Intel 82527 CAN Controller as follows 0x00 No error 0x01 Stuff error 0x02 Form error 0x03 Ack error 0x04 Bitl error 0x05 Bit O error 0x06 CRC error Name GET_EL_TRAJ_CMD CAN ID 00 04 00 03 Description Position in turns and velocity in turns sec set with the last EL_TRAJ_CMD Typical Interval Rare Data 8 bytes Bytes 0 3 Fixed point number as described in EL_POSN_RSP representing turns Bytes 4 7 Fixed point number representing velocity in turns sec Returns zero values if no EL_TRAJ_CMD has been given Name GET_EL_BRAKE CAN ID 00 04 00 04 Description Get elevation brake status Typical Interval 5s Data I byte ubyte Name GET_EL_ENC CAN ID 00 04 00 07 ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Position in raw encoder bits at last 20 83 Hz tick 48 ms 4 bytes bytes 0 3 uint32 value of elevation encoder in raw encoder bits GET_EL_MOTOR_CURRENTS 00 04 00 09 Actual motor currents in all elevation axis drive motors 5s GET_EL_MOTOR_TEMPS 00 04 00 0A Motor temperatures in all elevati
31. e The ACU is set to tracking mode ENCODER or AUTONOMOUS and subtracking mode ON THE FLY TOTAL POWER MAPPING or ON THE FLY TOTAL INTERFEROMETRIC MAPPING phi ay mms Mandatory trajectory ae e intermediate datapoints by ABM eee motion profile calculated by ACU Dee 05 Qk RA A time tk tk t k t ret Fig 4 ABM trajectory commands during Turnaround The time t in figure 4 is 9 timing events TE or appr 0 4 seconds before the turnaround and tk tret is 9 TEs after the turnaround The trajectory at tx is on the extrapolated path violet path after the turnaround although the turnaround has not occurred yet This is to signal to the ACU that the turnaround will come The antenna shall not follow the interpolated path but try to follow the intended path motion profile blue path as close as possible see motion profile calculated by ACU in figure 4 The commanded velocity of the trajectory at tk is equal to velocity at tx ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I 5 1 3 9 Other Signals The contractor shall provide details on the procedure for setting encoder zeros and any other encoder calibration required Monitor and control messages required to support such procedures shall be negotiated between the Contractor and ALMA during the design phase The contractor shall provide the algorithm for calculating from the raw e
32. en AEM Antenna and ALMA Computing Control Software i Name GET_SUBREF_STATUS CAN ID 00 04 00 29 Description Get subreflector mechanism status Typical Interval 5s bit4 actuator 4 over temperature set over temperature bit5 actuator 5 over temperature set over temperature bit6 actuator 6 over temperature set over temperature Name GET_METR_MODE CAN ID 00 04 00 31 Description Get metrology mode The bits corresponding to specific devices assume that these devices will be included in the design Typical Interval Rare Data byte 0 ubyte bitO standard pointing model enabled bit tiltmeter compensation enabled bit2 temperature compensation enabled bit4 reserved bit5 automatic sub reflector position correction enabled bit6 encoder mount displacement sensor correction enabled bit7 reserved bytes 1 3 spares Name GET_METR_EQUIP_STATUS CAN ID 00 04 00 32 Description Get metrology status Typical Interval 5 s Data 4 bytes bit2 thermal metrology communication ok bit3 right tiltmeter communication ok bit4 left tiltmeter communication ok bit5 thermal metrology out of range bit6 right tiltmeter read out of range bit7 left tiltmeter read out of range ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name
33. ew sections Sections 5 1 3 1 and ALMA Additional subreflector mechanism tilt D 2006 12 08 5 1 3 2 5 1 3 3 34 00 00 00 capability 034 B CRE Sections E 2007 09 06 2 1 RD 01 updated to revision B Added Cabling Plan 4 2 Text regarding Utility module type updated 4 2 1 Changed from contact closed to contact open for alarms Update 5 Stow monitor and 7 Over temperature alarm Removed 9 48 VDC 4 5 Defined type of Utility module 5 1 3 1 power strip removed Added ACU_TRK_MODE_RSP GET_METR_DELTAS_TEMP GET_METR_DELTAPATH 5 1 3 2 SELFTEST_ERR 5 1 3 3 Modified GET_METR_EQUIP_STATUS Modified GET_METR_DISPL_N Added ACU_TRK_MODE ACU_MODE_RSP added SELFTEST mode Added ACU_TRK_MODE_RSP GET_ACU_ERROR added error codes GET_METR_EQUIP_STATUS changed to 4 bytes added bit for blanking GET_METR_DISPL_N changed to 4 bytes GET_METR_TEMPS_N added sensor fault Added GET_METR_DELTAS_TEMP 5 1 3 4 Added GET_METR_DELTAPATH 5 1 3 7 GET_ANTENNA_TEMPS and 5 1 3 8 GET_ANTENNA_TEMPS added sensor 5 1 4 1 fault values ALMA Project Interface Control Document Ee between AEM Antenna and ALMA Computing Control Software Page 3 of 64 Changed data for SELFTEST_RSP 5 7 Added SELFTEST_ERR Added ACU_TRK_MODE Updated description for SELFTEST_CMD New section Trajectory Commands New section OTP Mapping New section Tracking sub mode Rewritten New section Circular buffer AEM F 2010 04
34. ge 1 5deg Bytes 4 5 int16 not used SET_METR_MODE 00 04 10 26 Enable or disable the metrology encoder value correction Rare 4 bytes byte 0 ubyte bitO standard pointing model enable disable 1 enable O disable bit tiltmeter compensation enable disable bit2 temperature compensation enable disable bit4 spare bit5 automatic sub reflector position correction enable disable bit6 encoder mount displacement sensor correction enable disable SET_METR_COEFF_N Metrology model coefficients to be used in autonomous mode These values should not be persistent and should default to static safe values when ACU is rebooted Rare 8 bytes in each coefficient Value representing arcseconds double Ist elem ANO Az axis tilt to be subtracted from tiltmeter readout 2nd elem AWO Az axis tilt to be subtracted from tiltmeter readout SET_SHUTTER 00 04 10 2E Set position of computer actuated shutter Rare I byte ubyte 0x00 close shutter Ox01 open shutter ALMA Project Interface Control Document Ee between AEM Antenna and ALMA Computing Control Software Name SELFTEST_CMD CAN ID 00 04 10 30 Description Execute self test This command is accepted in Shutdown mode only Typical Interval Rare Data I byte ubyte 0x01 ACU AZ EL Wem EL st en CAA Name SELFTEST_CMD_1 CAN ID Description Execute self test This command is accepted in Shutdown mode only Typical Interva
35. hat the TIMA and TIMB signals shown in Figure 1 denote the RS422 A and B lines as defined in RD08 4 5 Ethernet Interface The Ethernet interface to be provided for debugging maintenance and software updates shall conform to RD06 Ethernet cables shall be routed in such a way that the bending radius allows for later installation of fiber optic cables Ethernet cabling shall be provided for the ACU utility module and the VoIP telephones Additionally there shall be three Ethernet connections for laptops one in the receiver cabin one on azimuth platform and one in the pedestal room All Ethernet cabling within an antenna shall be shielded CATS twisted pair for 100 Mbit sec unless indicated otherwise The Ethernet switch shall be connected to another Ethernet switch in the BE rack in the receiver cabin This cable shall be multi mode fiber specified for 1 GBit sec Ethernet 5 Software Control Function Interface 5 1 Monitor and Control Software Interface 5 1 1 General The CAN bus in use for monitor and control by ALMA consists of the CAN 2 0B variant and a non standard higher level protocol defined in RD02 CAN 2 0B specifies the extended or 29 bit address range for the CAN frame RD02 The implications of the higher level protocol will be discussed further in this section The baud rate of the CAN bus is 1 Mbits sec Unless explicitly stated otherwise all M amp C values integer fixed or floating point shall be transmit
36. l Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data SET_AZ_SERVO_DEFAULT 00 04 10 17 Reset azimuth servo coefficients to default safe values Rare I byte ubyte 0x01 Set servo coefficients to default values INIT_AZ_ENC_ABS_POS 00 04 10 18 Starts the automatic routine to determine the azimuth encoder absolute position Rare I byte ubyte Ox01 Starts automatic routine SET_EL_BRAKE 00 04 10 04 Engage or disengage elevation brake This command should be rejected if setting the brake will damage the antenna if for example the antenna is moving Rare I byte ubyte 0x00 disengage brake 0x01 engage brake 00 04 20 10 00 04 20 1F Elevation servo coefficients These values should not be persistent and should default to static safe values when the ACU is rebooted Rare 8 bytes double Each message contains a different servo loop control parameter as defined by the Contractor s implementation This commands nota ret value assignment and it takes about 20ms time before the value can be between AEM Antenna and ALMA ALMA Project Interface Control Document I Computing Control Software Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name
37. l Rare Data ALMA Project Interface Control Document Ee between AEM Antenna and ALMA Computing Control Software Name SELFTEST_CMD_1 CAN ID Description Execute self test This command is accepted in Shutdown mode only Typical Interval Rare Name SET_AIR_CONDITIONING CAN ID 00 04 10 27 Description AIR conditioning control Typical Interval Rare Data bitO HVAC enable general command Temperature of chiller water glycol mixture Value is in multiples of 0 01 degree C the corresponding bit in byte 2 must be set Name CAN ID Description Typical Interval ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Data ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I 5 1 3 5 ACU Position Request Timing The monitor requests AZ_POSN_RESP and EL_POSN_RESP are specified to return the position at the last 20 83Hz pulse here illustrated as TE and 24 ms before The timing of monitor requests is specified in RDO1 Figure 2 below illustrates the timing Increasing time 48 ms ticks ee TEI TE i 1 TE i 2 24 ms T1 ae AZ_POSN_RESP and EL_POSN_RESP Encoder read transmit window with lt 1 ms jitter positions returned are from T1 and T2 T2 Encoder read 24 ms 20 ms 4ms with lt 10 us jitter 48 ms Figure 2 ACU Position Request Timing 5
38. l digit in the range 0 F ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data GET_SERIAL_NUMBER 00 04 00 00 Return the device specific serial number 5s uint8 8 The returned number is same as the serial number returned when this device responds to an identify broadcast ACU_MODE_RSP 00 04 00 22 Current operational and access mode information for ACU KE 2 bytes byte 0 Axis Modes ubyte bits 0 3 Azimuth Mode bits 4 7 Elevation Mode Axis Mode values 0x0 SHUTDOWN rf STANDBY 0x2 ENCODER 0x3 AUTONOMOUS 0x4 SURVIVAL STOW 0x5 MAINTENANCE STOW 0x6 VELOCITY 0x7 SELFTEST byte 1 Access Mode ubyte 0x01 LOCAL 0x02 REMOTE ACU_TRK_MODE_RSP 00 04 00 20 Current tracking mode information for ACU Js I byte Axis Tracking Modes ubyte Axis Tracking Mode values 0x0 CONTINUOUS SIDEREAL TRACKING 0x1 SLEWING 0x2 FAST SWITCHING 0x3 ON THE FLY TOTAL POWER MAPPING 0x4 ON THE FLY TOTAL INTERFEROMETRIC MOSAICKING ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Dat
39. mines the frame s priority CDR Critical Design Review EL Elevation FE Front End ICD Interface Control Document ISO International Standards Organisation LAN Local Area Network M amp C Monitor and Control Operational The ACU state determining the availability of axis drive motors and Mode brakes Also defines how the position commands are interpreted PCU Portable handheld Control Unit RTR Remote Transmission Request A type of CAN frame requesting transmission of a particular frame TBD To Be Determined Turns One turn of an antenna axis or 360 UPS Un interrupted Power Supply VME VERSAbus Module European VoIP Voice over IP WVR Water Vapor Radiometer ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I 4 Electronic Interface 4 1 Computer Hardware and Software All embedded microprocessor systems shall be based on VME backplanes All software shall be written for RTAI real time Linux operating system The exact RTAI Linux version for the delivery of the software will be defined by ALMA having discussed with the contractor 6 months before provisional acceptance of the software The source code shall be available to ALMA together with compiler and development tools Additionally procedures for updating the ACU software remotely shall be provided The contractor is responsible for obtaining licenses needed for RTAI or other software used All appli
40. ncoder value the fully corrected antenna position given by GET_AZ EL_POSN_RSP If there are other parameters than the encoder offset needed for these calculations then monitor points to make them accessible shall be added For actions not terminating instantaneously there shall be an indication in a monitor point when it has terminated 5 1 4 ACU Modes of Operation At any time the ACU may be in one and only one of the following operating modes Shutdown brakes set no power to motors Standby ready to drive brakes set Velocity rate loop driving of axes from local handset Encoder drive so encoders equal commanded position Autonomous drive so boresight equals commanded position That is the commanded position is corrected by the pointing model and any activated metrology Survival Stow drive to survival stow position Maintenance Stow drive to maintenance stow position Simultaneously the ACU may be in either of two access modes Local or Remote When remote access is selected the controller responds to a set of commands via the CAN bus as defined in Section 5 1 3 above When Local access is selected commands received from the digital interface are ignored but monitor requests are still accepted and processed and the antenna may be controlled using the local control panel Switching between Local and Remote access may be done only from the local control panel Upon changing to Local or Remote access mode and at power up and re
41. ng Control Software Data 1 byte ubyte bitO open position set open bitl close position set close Name GET_STOW_PIN CAN ID 00 04 00 24 Description Stow pins position Typical Interval Data Name CAN ID Description Stow pins position Typical Interval 5s Data ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software Name CAN ID Description Stow pins position Typical Interval 55s Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval GET_SUBREF_ABS_POSN 00 04 00 26 Get absolute position of subreflector mechanism JS 6 bytes bytes 0 1 int16 X axis subreflector absolute position in um range 32768 to 32767 bytes 2 3 int16 Y axis subreflector absolute position in um range 32768 to 32767 bytes 4 5 int16 Z axis subreflector absolute position in um range 32768 to 32767 GET_SUBREF_DELTA_POSN 00 04 00 27 Get delta position of subreflector mechanism Js ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data GET_SUBREF_DELTA_POSN 00 04 00 27 Get delta position of subreflector mechanism Js 6 bytes bytes 0 1 int16 X axis subreflector delta position in um range 32768 to 327
42. ode ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software Date 2011 08 05 a ee eee Page 31 of Name CAN ID Description Typical Interval Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval GET_SYSTEM_STATUS 00 04 00 23 State of miscellaneous related systems 5s byte 5 ubyte bitO drives power set powered bitl drives set PLC control bit2 hydraulic pump set on bit3 skirt ventilation set on GET_PT_MODEL_COEFF_N 00 04 30 40 00 04 30 5F Pointing model coefficients to be used in autonomous mode This is a range of consecutive identifiers reserved for getting the current value of a variable number of coefficients Rare 8 bytes in each coefficient Value representing arcseconds double 1 elem IA azimuth encoder zero offset 2 elem CA collimation error of electromagnetic offset 3 elem NPAE non perpendicularity of mount AZ amp EL axes 4 elem AN azimuth axis offset misalignment north south 5 elem AW azimuth axis offset misalignment east west 6 elem IE elevation encoder zero offset 7 elem HECE gravitational flexure correction at the horizon j th 8 16 elem reserved GET_SHUTTER 00 04 00 2E Shutter mechanism status 5s ALMA Project Interface Control Document an Ta between AEM Antenna and ALMA Computi
43. oftware Interface 13 Deed e EE 13 5AL2 MAU Types eegene eeg 15 5 1 3 ACUM amp C Points ees 15 5 1 4 ACU Modes of Operation EE 58 ve E 61 5 39 Ethernet ntertaCe isi sie s ececcsceb cents eeng SES eege 61 5 4 Static Earameterg eet tceedvessisnsnddesscssesbdeseotchs cescebedgasetenddseceveaseaueongssedevsdsesseanes ee e 61 5 5 Nom standard CAN bechaviour 62 JO WER EE 62 5 01 Self Test Details seners nn tic dedassudeucaneetescesaveuds odbitesdsdiodacvigecters 62 5 7 Circular EI EE 63 5 7 1 Circular Buffer Deals 63 6 SAFETY E 63 ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I 1 Description 1 1 Purpose The purpose of this document is to define the interface between the AEM antenna and specifically its control unit and ALMA s monitor and control M amp C system This ICD provides the interface definitions for the minimum control functionality which is identified at present for the control of the antenna Additional functionality will have to be added by the Antenna Contractor in agreement with ALMA to take into account their design and in particular aspects linked to monitoring and safety 2 Related Documents and Drawings 2 1 Reference Documents RD01 ALMA Monitor and Control Bus Interface Specification ALMA 70 35 10 03 001 B SPE Version B RD02 CAN System Engineering Wolfhard Lawrenz Springer Verlag 1997 Sections 1 amp
44. on axis drive motors KE 4 bytes GET_EL_MOTOR_TORQUE 00 04 00 05 Applied motor torque in all elevation axis drive motors 5s 4 bytes GET_EL_SERVO_COEFF_N 00 04 30 10 00 04 30 1F Azimuth servo coefficients Rare 4 Mean value of all reading heads Average temperature of 10 semi sectors in half EL motor Maximum temperature of anyone of the 10 semi sectors half BJ motor ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Data Name CAN ID Description Typical Interval Data 8 bytes double Each message contains a different servo loop control parameter as defined by the Contractor s implementation GET_EL_STATUS 00 04 00 OB Status of elevation axis 5s byte 0 limit switches ubyte bit0 SW UP prelimit set in limit bitl HW UP prelimit set in limit bit2 HW UP final limit set in limit bit3 UP shutdown due to limit condition set occurred bit4 SW DOWN prelimit set in limit bits HW DOWN prelimit set in limit bit6 HW DOWN final limit set in limit bit7 DOWN shutdown due to limit condition set occurred byte 1 interlocks ubyte bitO rotation final limit bitl axis HW interlock set true bit2 override command byte 2 motors ubyte bitO motor over speed set true bit motors Ist half over current set true bit2 motors 1 half overheating set
45. r TE i 2 1 and apply the correct one 2 If the ACU receives more than one trajectory command in one TE window only the first one is valid and all other commands shall be discarded The ACU shall put a trajectory command duplicate error onto the error stack for each discarded command 5 1 3 7 ACU Trajectory Commands The trajectory commands sent to the ACU AZ_TRAJ_CMD or EL_TRAJ_CMD contains position and velocity for the antenna to reach on the second time event TE after the command was sent to the ACU If the velocity given is not consistent with the position then ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I the antenna shall try to reach the commanded position as soon as possible respecting the velocity and acceleration limits 5 1 3 8 ACU Trajectory Command during OTP Mapping and Interferometric Mapping In order to facilitate for the antenna to follow the path of the OTP Mapping and Interferometric Mapping the ABM will generate a special path for the ACU to indicate the coming turnaround After the time tx the ACU trajectory commands will leave the commanded track and jump to the extrapolated datapoints intermediate datapoints violet path from the track after the turnaround see figure 4 below The following conditions apply e Trajectory commands sent to the ACU AZ_TRAJ_CMD or EL_TRAJ_CMD contains position and velocity of the target
46. r current Motor overheating Servo oscillation Limit switch actuation Critical sensor faults especially encoders or power failure Ooocoo ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I a Overspeed of azimuth or elevation axis Q Any other safety relevant condition Loss of the timing signal defined in section 4 4 shall not cause any unexpected movement of the antenna Instead it shall switch to its internal clock and accept the trajectory commands until the IDLE STOW TIME is reached Lost timing signal shall be indicated in the antenna status Loss of the trajectory command shall not cause any unexpected movement of the antenna Instead it shall interpolate the position continuing with the last commanded velocity until the IDLE STOW TIME is reached The Contractor shall analyze all safety relevant situations and propose a strategy for a traceable shut down in severe situations like the ones indicated above In other cases it might be appropriate to implement a retry policy to make the system robust where such a retry is possible and safety critical aspects are not directly involved When the elevation angle is getting above 88 9 degrees the ACU shall automatically close the feed shutter End of Document
47. ription Typical Interval Data Name CAN ID Description Typical Interval Data Name CAN ID Description Typical Interval Data Desired position in turns and velocity in turns sec at 20 83 Hz tick subsequent to next The values are treated differently depending on the ACU s operational mode In AUTONOMOUS mode the values are corrected by the pointing model and possibly by metrology In ENCODER mode no corrections are applied 48 ms 8 bytes Bytes 0 3 Fixed point number as described in AZ_POSN_RSP_ representing turns Bytes 4 7 Fixed point number representing velocity in turns sec EL_TRAJ_CMD 00 04 10 02 Desired position in turns and velocity in turns sec at 20 83 Hz tick subsequent to next The values are treated differently depending on the ACU s operational mode In AUTONOMOUS mode the values are corrected by the pointing model and possibly by metrology In ENCODER mode no corrections are applied 48 ms 8 bytes Bytes 0 3 Fixed point number as described in EL_POSN_RSP representing turns Bytes 4 7 Fixed point number representing velocity in turns sec CLEAR_FAULT_CMD 00 04 10 21 Clear all existing fault condition flags Where faults are still active the corresponding bit will still be set for status monitoring points Where a fault condition has been rectified the corresponding bit will no longer be set in the Status monitor point Rare 1 byte 0x01 will be sent to activate the command
48. s Typical Interval 5s bitO encoder value fault set fault bit absolute encoder position not available set true bit2 encoder value validation unset values ok set values old bit3 servo oscillation set true bit4 interpolation board 1 status set ok bit5 interpolation board 2 status set ok byte 5 encoder ubyte bitO encoder head 1 status set fault bit encoder head 2 status set fault bit2 encoder head 3 status set fault bit3 encoder head 4 status set fault bit4 encoder head 5 status set fault bit5 encoder head 6 status set fault bit6 encoder head 7 status set fault bit7 encoder head 8 status set fault Name GET_AZ_ENCODER_OFFSET CAN ID 00 04 00 IC Description Offset between raw encoder reading and azimuth position excluding contribution from pointing and metrology corrections Typical Interval Rare Data 4 bytes int32 An int32 containing the encoder offset Name GET_CAN_ERROR CAN ID 00 07 00 O1 Description Number of CAN bus errors since power up and error code of last error Typical Interval debug ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Name GET_CAN_ERROR CAN ID 00 07 00 O1 Description Number of CAN bus errors since power up and error code of last error Typical Interval debug Data 4 Bytes bytes 0 1 uint16 count of CAN errors since power up byt
49. set the controller automatically enters the Shutdown operating mode in both axes Not all operating modes may be entered from either access mode see Table 8 In addition Survival Stow mode or Shutdown may be entered automatically when the ACU detects certain fault conditions regardless of the selected access mode This is reflected in the Auto column of Table 8 ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Table 8 Modes of Operation Mode Allowed Operating Mode Local Remote Auto Shutdown Yes Yes Yes Standby Yes Yes No Active Modes Velocity Yes No No Encoder Yes Yes No Autonomous No Yes No Survival Stow Yes Yes Yes Maintenance Stow Yes Yes No The following rules govern changes of mode Q From Shutdown mode the only change permitted is to Standby mode and then only if no fault conditions exist a An active mode Velocity Encoder Autonomous Survival Stow Maintenance Stow may only be entered from Standby mode Q From Survival Stow mode Shutdown mode is automatically entered upon reaching the stow position and the stow pins are inserted Q From Maintenance Stow mode Shutdown mode is automatically entered upon reaching the stow position and the stow pins are inserted Q When Standby is entered stow pins shall be automatically released No additional stow pin removal commands are required to enter
50. sure Type of utility module device ADAM 6051 Data Acquisition Module available from B amp B Electronics www bb elec com ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I 4 3 Monitor and Control Interface The serial bus interfaces between ALMA s system and the Contractor s ACU and shall be a CAN bus as described in RDO1 The connector type shall be a 9 pin D shell connector with pin allocation as given in Section 2 1 2 of RDO1 The diagram is reproduced here and represents the bus stub connector The ACU shall provide one female and one male connector for connection to the CAN bus making it possible to daisy chain the CAN bus The contractor shall supply external terminator for the CAN bus to be attached to the output CAN connector The CAN connectors shall be easily accessible when the ACU is mounted Note that the reset signal pins 1 and 6 and the time signal pins 4 and 8 are non standard but are required Pin 9 is defined in the CAN standard for use in supplying power to bus devices It will not be used for this purpose within ALMA 1 2 3 4 5 OQ Ge on cana TKA canoe O 8 Co Co g RSTB CAN H TIMB Figure 1 CAN D connector pin allocations A male connector is shown viewed from the pin side Table 1 CAN D connector pin definitions Pin Signal Description 1 RSTA Global Slave Node
51. t between 2 TEs The circular buffer shall be stored in a local file on RAM disk It shall be possible to copy the RAM disk file to an ALMA workstation via ftp or ssh 5 7 1 Circular Buffer Details All the details regarding this diagnostic utility are reported into the ACU Design Report ANTD 333503 3 001 REP 6 Safety Issues Sufficient safety features and interlocks shall be provided by the contractor such that no malfunctioning ALMA interface or software can cause equipment damage or endanger human safety ALMA software shall monitor and report situations which are approaching or reaching safety limits In normal operation ALMA software shall attempt to prevent the activation of hardware limits to provide a second level of safety margins and to reduce the possibility of reaching such hardware limits Automatic hardware fail safe mechanisms shall be applied when limits have been reached and ALMA software shall be able to monitor these Actions not performed instantaneously shall be monitored by a timeout and timeout errors shall be reported Example of such actions are mode switching insertion of stow pins moving to stow position All variables and parameters which are safety relevant shall be monitored The contractor shall identify all safety relevant parameters The ACU shall monitor and display all of the following conditions and should enter the Shutdown operational mode if any of these conditions are detected Excessive moto
52. t of units like the ACU motors etc and shall propose a solution for downloading the correct set of parameters relevant to the replaced unit Other static parameters to which ALMA requires access e Antenna hardware specific parameters dependent on the Contractors specific implementation e Control loop parameters generally those corresponding to the rare control points in Section 5 1 3 2 above which are normally fixed at commissioning but which may require alteration as components such as motors and encoders are replaced e XXX software version should be compiled e Software parameters such as software version numbers ACU serial number antenna number and the CAN node number ALMA requires the Contractor to provide access to these parameters and procedures for changing them remotely It is permissible for such alterations to be made over the CAN bus or Ethernet interface ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I 5 5 Non standard CAN behaviour The following behavior is required of the ACU but is not standard to the CAN specification e Pin and 6 of the CAN connector are used for a remote reset pulse The presence of a differential RS485 logical 1 on these pins for 1 millisecond should cause the ACU to reset the CAN bus interface circuitry and reboot the ACU e The bus will in a master slave fashion under the control of ALMA s bus mas
53. tack Commands shall be rejected if not all conditions for their execution are fulfilled and an error shall be put on the error stack Table 6 Summary of Control Points Name CAN ID Data Typical P hex Size Interval bytes secs ACU_MODE_CMD 00 04 10 22 I Rare ACU_TRK_MODE_CMD 00 04 10 20 I Rare AZ_TRAJ_CMD 00 04 10 12 8 0 048 EL_TRAJ_CMD 00 04 10 02 8 0 048 CLEAR_FAULT_CMD 00 04 10 21 I Rare RESET_ACU_CMD 00 04 10 2F i R SET_AZ_BRAKE 00 04 10 14 l Rare SET_AZ_SERVO_COEFF_N 00 04 20 20 8 Rare 00 04 20 2F SET_AZ_SERVO_DEFAULT 00 04 10 17 I Rare INIT_AZ_ENC_ABS_POS 00 04 10 18 1 Rare SET_EL_BRAKE 00 04 10 04 I Rare SET_EL_SERVO_COEFF_N 00 04 20 10 8 Rare 00 04 20 1F SET_EL_SERVO_DEFAULT 00 04 10 07 I Rare INIT_EL_ENC_ABS_POS 00 04 10 08 I Rare SET_IDLE_STOW_TIME 00 04 10 25 2 Rare SET_IP_ADDRESS 00 04 10 24 8 Rare SET_IP_GATEWAY 00 04 10 38 4 Rare SET_PT_MODEL_COEFF_N 00 04 20 40 8 Rare 00 04 20 5F SET_STOW_PIN 00 04 10 2D 2 5 SET_SUBREF_ABS_POSN 00 04 10 29 6 0 5 SET_SUBREF_DELTA_POSN 00 04 10 2A 6 0 5 SUBREF_DELTA_ZERO_CMD 00 04 10 2B I 0 5 SET_SUBREF_ROTATION 00 04 10 28 6 Rare SET_METR_MODE 00 04 10 26 4 Rare SET_METR_COEFF_N 8 Rare 51 SET_SHUTTER 00 04 10 2E I Rare SELFTEST_CMD 00 04 10 30 d far SET_AIR_CONDITIONING 00 04 10 27 far The letter N is a hexadecima
54. ted in network byte order or big endian fashion Where specific bits in a byte are referenced in the following sections bit 0 is the least significant bit In accordance with RD02 the Contractor s ACU CAN shall have a unique 64 bit serial number and the CAN node address 0 The node address defines a range of CAN addresses within which all of the ACU specific CAN traffic will fall As the ACU is a special node ALMA defines the serial number and node address as follows ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Table 2 ACU Bus Constants to be updated for production antennae Value hexadecimal ACU Serial Number Unique 64 bit serial number for each ACU ACU Node Address 0 In the following sections the prefix Ox denotes that the number is hexadecimal This implies that the ACU will respond to the Identify Node broadcast message on CAN ID 0x00000000 as defined in the following table Table 3 ACU Bus Identify Response to be updated for production antennae ACU receives CANID ACU transmits CAN ID With data bytes hex hex hex 00 00 00 00 00 04 00 00 Unique 64 bit ACU serial number Note that these transmissions must begin within 1 millisecond of receiving the Identify Node broadcast message The range of CAN IDs to which the ACU responds for M amp C data will be restricted to 0x00 04 00 00 to 0x00 07 FF
55. ter The Contractor s ACU shall not initiate transmissions on the CAN bus unless polled by ALMA s bus master 5 6 Self Test RESET ACU CMD does not start self test If self test failed the ACU notifies the ABM using SELFTEST_RSP and pushes any error into the self test error stack Selftest shall only be accepted in shutdown mode The self test over the CAN interface shall check the status of all devices and sensors During execution of the self test other operating modes may be activated as appropriate but the mode reported by ACU_MODE_RSP shall be SELFTEST during the entire operation of this test whether drives are activated or not After completion of the self test the ACU shall return to SHUTDOWN mode The selftest over the CAN interface can only return limited amount of information due to limited message length 8 bytes Therefore a more detailed selftest 6B shall be available over the Ethernet interface 5 6 1 Self Test Details All the details regarding the actions performed by this command are reported into the ACU Design Report ANTD 333503 3 001 REP ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I 5 7 Circular Buffer The ACU shall store the positions readings in a circular buffer sufficient to hold data from for at least 10 seconds The position data shall be at least the position sampled at each timing event TE and at the midpoin
56. tility Module The utility module is a device to remotely through Ethernet monitor and control digital inputs and outputs The inputs outputs shall be galvanically isolated The utility module shall receive the following alarm conditions and relay the status information to the Ethernet via an IP address 1 Fire Alarm Contact closure in normal state directly to utility module from battery ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I operated fire sensor Contact open in case of alarm 2 Emergency stop set Contact closure in normal state directly to utility module from emergency stop chain Contact open if any of the emergency stop buttons are pushed in 3 AC power off Contact closure in normal state directly to utility module from AC power unit Contact open in the event AC power is off 4 UPS power off Contact closure in normal state directly to utility module from UPS power unit Contact open in the event UPS power is off 5 Stow monitor Contact closure in normal state directly to utility module from stow pins Contact open in the event any stow pin is in 6 Over temperature alarm Contact closure in normal state directly to utility module from receiver cabin and motor temperature sensors Contact open in the event of over temperature in receiver cabin or motors 7 HVAC alarm Contact closure in normal state directly to utility module from HVAC
57. unit Contact open in the event HVAC unit is powered down 8 Zenith pointing Contact closure in normal state directly to utility module from antenna zenith pointing sensor Contact open in the event antenna is at zenith pointing 9 Spare 10 Feed shutter Contact closure in normal state directly to utility module from feed shutter Contact open in the event of feed shutter being open when elevation angle is above 89 0 degrees 11 Spare up to 12 inputs are possible with example device Note that status information must pass directly to the utility module whether or not it also passes to a control computer The utility module shall receive the following commands from the Ethernet IP and output a control bit to the following functions 1 Remote set emergency stop Contact closure in normal state directly to emergency stop activator in ACU Contact open to activate emergency stop The emergency stop activation shall be independent of the ACU operation This function MAY NOT disengage any locally set emergency stop Reset of this emergency stop may not change the state of the antenna 2 Spare Two outputs are possible with example device In addition for safety reasons the input signal logic shall be contact closure on normal state e g contact open on alarm The utility module must have an AC power source separate from the Antenna AC power or the main UPS power Power must be provided for current loops for each contact clo
58. val Data GET_SUBREF_ROTATION 00 04 00 2A Subreflector rotation position Rare 6 Bytes Bytes 0 1 int16 X tip in 0 0001 degrees Bytes 2 3 int16 Y tilt in 0 0001 degrees Bytes 4 5 int16 Z rotation in 0 0001 degrees optional GET_SUBREF_STATUS 00 04 00 29 Get subreflector mechanism status 5s byte0 ubyte bt power monitor set powered bitl over run tape switch bit2 initialized set initialized bit3 is initializing set initializing procedure is running bit4 servo state set servo is on bytel motion ubyte bitO strut I motion status set moving bit strut 2 motion status set moving bit2 strut 3 motion status set moving bit3 strut 4 motion status set moving bit4 strut 5 motion status set moving bit5 strut 6 motion status set moving byte2 controller error status ubyte bitO strut I controller error set error bitl strut 2 controller error set error bit2 strut 3 controller error set error bit3 strut 4 controller error set error bit4 strut 5 controller error set error bit5 strut 6 controller error set error byte3 actuator over temperature if above 85 C bitO hexapod temperature monitoring set ok bit actuator 1 over temperature set over temperature bit2 actuator 2 over temperature set over temperature bit3 actuator 3 over temperature set over temperature I ALMA Project Interface Control Document betwe
59. ve identifiers reserved for setting a variable number of coefficients for the antenna These values should not be persistent and should default to static safe values when the ACU is rebooted This assumes that sensors measuring displacement will be included in the design Rare 8 bytes in each coefficient Value representing arcseconds double 1 elem IA azimuth encoder zero offset 2 elem CA collimation error of electromagnetic offset 3 elem NPAE non perpendicularity of mount AZ amp EL axes 4 elem AN azimuth axis offset misalignment north south 5 elem AW azimuth axis offset misalignment east west 6 elem IE elevation encoder zero offset 7 elem HECE gravitational flexure correction at the horizon 8 16 elem reserved SET_STOW_PIN 00 04 10 2D Insert or release the azimuth and or elevation stow pins The command data could be a combination by OR operator of the reported values Rare J bytes byte 0 ubyte 0x01 insert AZ stow pin 0x02 release AZ stow pin byte 1 ubyte 1 0x01 insert EL stow pin 0x02 release EL stow pin SET_SUBREF_ABS_POSN 00 04 10 29 Set the new subreflector absolute position Setting an absolute position shall reset any delta position ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software I Typical Interval Data Name CAN ID Description Typical Interval Data N
60. yload in network byte order or most significant byte first Within a byte bit 0 is the least significant bit 5 1 3 ACU M amp C Points The following tables summarize all M amp C points for the ACU with their CAN ID allocations data size and typical access rates Each M amp C point is then described in more detail Monitor data shall be polled by the ALMA bus master according to the protocol specified in RDO1 A monitor request consists of a transmission of the appropriate CAN message with zero bytes of data The ACU shall respond within 150 microseconds by transmitting the requested data in a message with the same CAN identification The RSP suffix denotes a response message for which a corresponding CMD control point exists Most but not all GET_ monitor points have a corresponding SET_ control point ALMA Project Interface Control Document between AEM Antenna and ALMA Computing Control Software Table 5 Summary of Monitor Points Name CAN ID Data Typical mite hex Size Interval bytes Secs GET_SERIAL_NUMBER 00 04 00 00 8 Rare 19 at ABM startup ACU_MODE_RSP 00 04 00 22 2 5 ACU_TRK_MODE_RSP 00 04 00 20 1 5 AZ_POSN_RSP 00 04 00 12 8 0 048 EL_POSN_RSP 00 04 00 02 8 0 048 GET_ACU_ERROR 0004002F Oor5 0 048 GET_AZ_TRAJ_CMD 00 04 00 13 8 Rare GET_AZ_BRAKE 00 04 00 14

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