Elegant Manual
Contents
1. 14 3 9 Other 66 Eu aud 14 15 TIPP COMMA UL 15 3 11 Detailed Explanation of Commands and Status 16 TCS CONFIGURATION Aanes 20 4 re Sir Maselan ETT 20 22 Tin Vias Bias cso set Ghee atl ras A tates 21 A 3 1 CS adit 21 4 tie PRO OT AI docs 22 25 save 27 AMG TE 23 4 Secondary Mirror Focus nd save a EO UP VIR EH USE 25 4 8 How to Take Data to Check or Update the Pointing Model 24 socios best 24 5 CONTROL SYSTEM SERIAL COMMUNICATION 5 26 TE DEP 21 ON NEEDS Ve 28 RLE Mead 28 REESE QUE DU pep ES 29 Jud Us FREE ONE 30 5 2 Slaves Systems vs Tcs Control Software Communication 31 AL DOMENE 31 22 Vane end Control SN NN 33 33 TSN 33 DENN 34 23 240 40 5 TN NNN 34 6 LOG MESSAGE SYSTEM P 35 am M Eure Ne 35 0 2 EDS Los Data Format Luse 39 Gi SUCCESSES ee 4 7 TELESCOPE CONTROL SYSTEM DIFFERENCES BETWEEN MAGELLAN2. 986 988 989 990 991 992 993 994 995 996 997 998 999 nnn vvvvvvvvvvv title Reading config file tcfg nn Remote error messages resumed OSS Util error msgs resumed Site Util error msgs resumed TCP error messages resumed TCP socket opened Slew complete Slew complete t xxx x sec Slew hh mm ss ss ddd mm ss s Estimated slew time xxx x sec Slew XX XXXX xxxx Sim aaa aaaa ee eeee Sim hh mm ss ss ddd mm ss ss TCP connection established TCP buffer size XXXX TCP buffer address XXXXXX Remote error messages resumed Vane End error msgs resumed UT set by GPS to HH MM SS 00 GPS error messages resumed Main Drive error msgs resumed MGTCS initialization complete Dome error messages resumed 44 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 7 Telescope Control System differences between Magellan and 45 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL Troubleshooting 8 Troubleshooting 46
3. data formats a combination of ASCII decimal and hexadecimal characters digits with the format being determined by the particular message number CC Checksum described above r ASCII charater 13 carriage return 5 1 2 3 Repeat Last EDS Message Commands the guest computer to re send the last message it sent implying that the host computer had a serial communication error during the last reponse The guest s internal pointer should remain unchanged Command Format N3r note that this command has no checksum Response Format N3qannttttttttfffdddddddcer 29 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL N Guest computer address usually an upper case letter qq Two digit number of EDS messages left in the guest queue nn Two digit number of characters in the message in the underlined section 00 if no message available there is no time stamp message number or data in this case tttttttt Eight digit message time stamp no punctuation with two digit hour two digit minute two digit second and two digit hundredths of a second fff Three digit message number Message numbers from 0 799 denote errors 800 899 are numberical data formats and 900 999 are successes ddddddd Variable length message data section For error and success messages typically a simple text message For numeric data formats a combination of ASCII decimal and hexadecimal characters digits with the format being determined by the
4. perfect condition checksum is bad command sent by Tcs is corrupted etc CC Checksum described above 32 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL r ASCII charater 13 a carriage return 5 DOME POSITION TCS control software sends new dome position Command Format K5ppppeeeftccr Response Format K5mr K Dome computer address usually an upper case letter This number indicates to dome control software that information sent is about new position that dome control software should execute pppp This is the elevation value eee Position error f Flag 1 2 3 or 5 6 7 t number of position iterations m Is the reply flag sent to TCS control software If f 1 then the dome position command was accepted If f O the information was not received in perfect condition checksum is bad command sent by Tcs is corrupted etc If f 2 command is ignored another motion was executed CC Checksum described above r ASCII charater 13 a carriage return 1 LOUVER COMMANDS Tcs control software sends a complete command sequence for 18 louvers positions from 1 to 10 for rotating louvers and positions from 11 to 18 for 33 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL fixed louvers If there is no new louver motion the Tcs control software don t sent any louver command sequence Command Format Response Format f cc Klaaaaaaaaaaaaaaaaaaccr Klmr Dome computer address usually an
5. the requested req value For comparison the actual position of the vane end assembly is also shown val If the automatic focus function is switched on using the AUTF toggle the vane end assembly will constantly seek to the requested values 48 How to Take Data to Check or Update the Pointing Model A good check of the pointing model requires 30 50 observations and a good set of data for deriving a new pointing model requires 100 or so Each setting will require about 2 minutes so the best thing to do is to get organized in a systematic way Plan to start an hour or two late so that the telescope will have time to come to thermal equilibrium after the dome is opened While you are waiting or during the afternoon choose a set of stars from the SAO catalog or the Astronomical Almanac Pick a set of stars at approximately the same RA which will place them about 4 5 hours east when you begin and spaced in declination by about 15 degrees between 35 and 85 Pick another set which will be on the meridian at the beginning of the night spaced in declination in the same way Finally pick 3 or 4 stars which are 1 hour further east than the first set between 40 and 85 and 3 or 4 stars which are 1 hour further west than the second set between 40 and 85 Number the stars in order of declination within each set keeping separate the extras which are 1 hour over and make a list with their catalog positions and proper motions Now obser
6. upper case letter This number indicates to dome control software that information sent is about telescope louvers information All louvers commands Reply flag sent to TCS control software If f 1 then the louver command was read by dome software without problems If f O information was not received in perfect condition checksum is bad command sent by Tcs is corrupted etc Checksum described above ASCII charater 13 a carriage return 5 2 2 end Control Software 5 2 3 Guider Control Software 5 2 4 SiteUtil Control Software 5 2 5 M3 Control Software 34 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 5 2 6 OSS Control Software 35 TELESCOPE CONTROL SYSTEM SOFTWARE 6 Log Message System USER MANUAL Log Message System This is a numerical index of all error messages from the Magellan telescope control program 6 1 000 001 002 003 004 005 007 008 009 010 011 012 013 014 015 016 Errors 000 799 DOS date error code XXX Louver command data error Louver command com error X Louver message length error Dome UT set data error Dome UT set com error X Dome EDS length error Dome EDS data error Dome EDS com error X Dome error messages suspended Left louver EDS length err Right louver EDS length err Fixed louver EDS length err Dome drive EDS length error Dome position data error Dome position com error X 36
7. 073 Vane End rem cmd com error X 074 Vane End rem cmd data error XX 075 Vane End global cmd function err 076 Vane End EDS data error XX 077 Vane End EDS com error X 078 Vane End global cmd check error 079 Vane End global cmd reply error 080 Vane End global cmd com error X 081 Vane End EDS length error 082 Vane Global EDS length error 083 Reply 093 Remote error messages suspended 094 Remote command checksum error 095 Unrecognized remote command 096 Remote command length error 097 Remote command time out 38 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 101 102 103 104 105 110 111 112 113 114 116 117 121 130 131 132 133 134 136 137 141 142 151 155 156 157 TCP Open Socket failure TCP connection timeout TCP write socket error XXX YYY TCP connection broken TCP error messages suspended Site Site Site Site Site Site Site Site OSS OSS OSS OSS OSS OSS OSS OSS OSS Util Util Util Util Util Util Util Util Util Util Util Util Util Util Util Util tempe error msgs suspended UT set data error UT set com error X rem cmd com error X rem cmd data error XX EDS data error XX EDS com error X EDS length error error msgs suspended UT set data error UT set com error X rem cmd com error X rem cmd data error XX EDS data error XX EDS com error X EDS l
8. 1 or higher if an error occurred mmmm Variable length diagnostic message such as Move ighored brake on This should be printed out by the host computer in the command input box if the command was given by the user or in the system log if the command was given by an automated routine in the host program nn 00 in the response if there is no diagnostic 31 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL message 5 2 Slaves Systems vs Tcs Control Software Communication commands There are another commands format and response from slaves systems that allows TCS system to send command request The slaves systems always sent an answer showing the results of command execution Remember that almost all jobs are done by slaves TCS manages their slaves using the following communication protocol 5 2 1 Dome Control Software 8 TELESCOPE ELEVATION INFORMATION TCS control software sends telescope elevation information every 30 seconds This information is used to move windscreen and moonscreen Command Format K8nnnnnnccr Response Format K8fr K Dome computer address usually an upper case letter This number indicates to dome control software that information sent is about telescope elevation information This is the elevation value f Is the reply flag sent to TCS control software If f 1 then the elevation value was read by dome software without problems If f 0 the elevation information was not received in
9. 1950 is negligible The coordinate system in use is shown just above the green RA and Dec display AP Type AP to set the coordinate display to show apparent place Apparent place includes the effect of nutation amplitude 10 arcsec and aberration amplitude 20 arcsec so apparent place coordinates are NOT the same as mean place coordinates for the time of observation TP The displayed coordinates will be corrected according to the telescope pointing model when TP is enabled A green TP message will appear in the coordinate input box The TP command is a toggle which will alternately turn the pointing model off or on DUT The UT derived from the GPS system is UTC with seconds of constant length derived from atomic time The telescope really needs UT1 which is true solar time with seconds that vary slightly in length depending on variations in the rotation of the earth The correction UT1 UTC up to 1 second of time is entered using the command DUT The correction can be found at the web site for the International Earth Rotation Service http maia usno navy mil eo eo home html Failure to enter the DUT will result in pointing errors of up to 15 arcseconds RS PF CA SZ In order to use the mouse to guide the telescope you need to enter the position angle of the camera using the CA command You also need to enter the size of the camera field using the SZ command These are normally entered automatically by the CN and RCFG com
10. 2 7 3 Uplink IP address byte 1 Lea 168 4 Uplink IP address byte 2 174 0 5 Uplink IP address byte 3 i 4 1 106 Uplink IP address byte 4 I A Zoe AX Windscreen retract limit i 4 500 69 Windscreen extend limit i 4 LOO Moonscreen retract limit 17 189 00 Moonscreen extend limit 1 4 5600 11 Uplink IP port number p Ihis is the Magellan TCS ini file The lines are numbered from 1 to 11 All lines MUST be present The 1in1 values are the first entries on each line followed by the line numbers and the description Use a text editor to change ONLY the ini values Be sure maintain the appropriate data type for each entry 21 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 4 2 Tcs ini Magellan Il 2 1 1 1 2 Magellan 2 i 4 36 3 2 Cou clock rate pom fast 1 4 192 3 Uplink IP address byte 1 1 4 168 4 Uplink IP address byte 2 i 4 0 5 Uplink IP address byte 3 1 4 Ll 26 Uplink IP address byte 4 i 4 Lo ilr Windscreen retract limit 17 960 3 8 Windscreen extend limit 184 190 oe Moonscreen retract limit 1554 709 410 Moonscresrn extend Limit 1 4 5600 11 Uplink IP port number Ihis is the Magellan TCS ini file The lines are numbered from 1 to 11 All lines MUST be present 1n1 values are the first entries on each line followed by the line numbers and the description Use a text editor to change ONLY the ini valu
11. Aoff Azimuth offset Eoff Elevation offset Air Mass Moon and Wind Para parallactic angle Wrap Dome dome position TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 2 7 Serial Communication Interface This interface shows slaves information It shows Guest Computer address and buffer information like messages read and messages to be read e The interface shows the actual configuration files read by the TCS system these are Tcfg variable shows the number of the TCS focus configuration file to be read Tcfg is the point model configuration file and rcfg is the rotator configuration file number TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL Commands 3 Commands Summary All TCS commands begin with a command code of up to four letters followed by up to three numeric arguments The numeric arguments if there are more than one are separated by spaces spaces are permitted but not required between the command and the first numeric argument Letters may be upper or lower case The numeric arguments including zero may be negative and may include a decimal point For example the commands dc 0 25 47 2 DC 0 0 25 47 20 will both set the Dec coordinate input to 00 25 47 2 The backspace key moves the cursor back one character at time All commands are terminated by a CR 3 1 Pointing Commands Set the coordinate display to show mean place for the year n APO Set the coordinate display to show app
12. FL or HRL toggle commands AFL also RFL You can adjust all of the fixed louvers or all of the rotating louvers with the AFL and RFL commands HFL also HRL A single fixed louver or rotating louver pair can be taken off line using the HFL hold fixed louver or HRL hold rotating louver commands When a louver is off line it will not respond to the commands FL RL AFL or ARL The color of the corresponding frame in the diagram will change to white Repeat the HFL or HRL command to return a given louver to the on line condition 18 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL SM For testing only the coordinate inputs can be used to simulate a set of telescope coordinates using the SM command A red SM message will appear in the coordinate input box Type SM again to turn off simulated coordinates There is another better way to simulate coordinates Leave the TCS in the normal condition SM off Make certain that the main drives are completely disabled for example by hitting the Esc key on the main drive computer Now enter only the PS command on the main drive computer This will enable the azimuth and elevation position profilers while leaving the actual drives and hydrostatic pads completely disabled Most importantly the normal main drive position servo error checking will also be disabled Normally the error checking will issue a panic shutdown if the position error is greater that 002 The main drive positio
13. I AND IlI 43 S TROUBLESHOOT UNG ass 44 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL Interface 1 Overview of the Telescope Control System TCS 2 lelescope Control System Interface 21 Universal Time Display Universal Time 1536 37 GPS 1 ppm The GPS is a special unit that controls time This unit is connected to TCS computer The symbol is the difference between GPS time value and TCS time value The time value is good when this delta is equal to O The ppm 15 a variable that is used to synchronize the TCS computer time value with GPS time TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 2 2 Focus Information Display FJ Y 0 0 997 127 3867 1681 4864 1808 4051 1818 0 _65_ TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL The variables in this interface shows the actual secondary mirror position This information is collected by Vane End Control System Set position value required by user Ima focus value obtained from active optics software system Psn variable selected from TCS configuration file Tmp variable calculated by TCS The OSS utility control system gives Tplat as an input variable for calculations Off offset input value Req is the result of adding Set Ima Psn Tmp Off Val real position 2 3 Camera Configuration Display The following display shows the actual cursor position This information is the Same shown in the Gui
14. TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 017 UPLC EDS length error 018 Moonscr Windscr data error 019 Moonscr Windscr com error X 020 Elevation zenith limit 021 Elevation horizon limit 022 Sidereal tracking zenith limit 023 Servo error slew aborted 024 Slew aborted 026 Az rate exceeded near zenith 027 Lift Hatch EDS length err 030 Main Drive error msgs suspended 031 Main Drive UT set data error 032 Main Drive UT set com error X 033 Main Drive position decode error 034 Main Drive position data error 035 Main Drive position com error X 036 Main Drive EDS data error 037 Main Drive EDS com error X 038 Main Drive velocity cmd rejected 039 Main Drive vel cmd data error 040 Main Drive vel cmd com error X 041 Main Drv jog cmd transmit error 042 Main Drive jog command rejected 043 Main Drive jog cmd data error 044 Main Drive jog cmd com error X 045 Main Drive continue cmd rejected 046 Main Drive continue cmd data err 047 Main Drv continue cmd com err X 37 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 048 Main Drive stop command data err 049 Main Drive stop cmd com error X 050 Motion stopped by operator 051 Main drive EDS length error 060 GPS serial com error X 061 GPS message length error 062 GPS time stamp error 063 GPS consistency error 064 GPS error messages suspended 070 Vane End error msgs suspended 071 Vane End UT set data error 072 Vane End UT set com error X
15. THE OBSERVATORIES OF THE CARNEGIE INSTITUTION OF WASHINGTON 813 Santa Barbara Street Pasadena California 91101 Phone 626 577 1122 Fax 626 795 8136 Document Code Type Author Date Revision TELESCOPE CONTROL SYSTEM SOFTWARE User Manual 01 00 User Manual Silvia Baeza and Jose M Soto April 2012 Glenn Eychaner Felipe Sanchez Revisions Table _ April 2012 Documentation of 82x EDS messages updated documentation of rotator related values April 2008 Document Update May 21 2003 Document Creation Apr 29 2012 Increase precision for M2 tilts Table of Contents 1 OVERVIEW OF THE TELESCOPE CONTROL SYSTEM TOS eee ee eee eee ee ette ette sees sss ee 1 2 TELESCOPE CONTROL SYSTEM INTERFACE s escsssssssssssscosessosescosesssssecsossssssssssosssssssessosssossoscssssosssoseses0 1 EEG Ds play tcc rm 1 232 Pocus Informadon sank spe ac toD ST 2 2 9 Camera C ontmuradon DNR 3 2 4 Roar POSITION 1X4 aE 4 2 5 Input pane _ _ 4 20 Telescope te abc 5 2 TS Emma av 7j S OMMANDS SUMMAR Y 8 SM POMC TA vredens 8 9 10 Tossa 12 23 9 CT a eee 12 3 5 Dotne TN 13 MENN sees nite sts Eo iL
16. aaaaaaaaaa bbbbbbbbbbb inpdc ZZZZZZZZZ input azimuth hhhhhhhh inpel input elevation 805 Information about Vane end status program for TCS Format 805dddddddddaaaaaaaaabbbbbbbbbpppppppppzzzzzzzzzttttttttt ddddddddd dome azimuth aaaaaaaaa rotpos rotator encoder angle of input coordinates bbbbbbbbb inppad parallactic angle of input coordinates ppppppppp rotpa parallactic angle of current target 227777777 rotpah parallactic angle of target in one hour ttttttttt rotofh current rotator offset except in rotator modes 5 and 6 806 Instrument rotator information Format 806aaaaaaaaabbbbbbbbbccccccccctfffffffffggggggggghhhhhhhhh aaaaaaaaa gangle rotator gravity angle for current view mode bbbbbbbbb hangle rotator horizon angle for current view mode ccccccccc eangle rotator encoder angle for current view mode fffffffff pangle rotator encoder angle of input coordinates for current view mode ggggggggg fangle rotator encoder angle in one hour for current view mode 41 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL hhhhhhhhh nangle parallactic angle for current view mode 807 Main Drive velocity commands Format 80 aaaaaaaaabbbbbbbbb aaaaaaaaa 1 48 azpv 5 940 degrees second bbbbbbbbb 1 d8 elpv 5 d0 808 Main Drive jog commands Format 808aaaaaaaaabbbbbbbbb aaaaaaaaa 1 946 azpj 500 d0 degrees bbbbbbbbb 1 d6 elpj 500 d0 809 Camera
17. ackball moves a red pointer in the small rectangular diagram on the TCS display The diagram is intended to represent the field of the TV viewer The TCS must be informed about the size and orientation of the TV display using the SZ RS PF and CA commands These are usually set automatically by the RCFG and CN commands but may be overridden by the operator for testing The trackball will also move xy1 on the guide cameras Also in the small rectangular diagram you will see two colored L shaped marks The red one in the upper left shows the orientation of the elevation and azimuth axes The longer arm shows the elevation direction and the shorter arm shows the azimuth direction The green one in the upper right shows the orientation of the declination and right ascension axes The longer arm shows the north direction and the shorter arm shows the east direction To move a given object in the TV field to the center of the square box move the trackball pointer to the position in the diagram which corresponds to the position of the object in the TV field Then press the right button on the trackball and click the left button The telescope will move so that the object appears in the center of the square box If you click the left button without pressing the right button the object will move only one tenth of the distance to the center of the square box You can introduce small guiding motions by moving the pointer close to the center of the square b
18. angles information Format 809aaaabbbbdddd aaaa camera angle 1 bbbb camera angle 2 dddd camera angle 3 820 Z axis M2 position information Format 815aaaaaabbbbbbcccccoeddddddeeeeeeffffffgggggg aaaaaa Z set bbbbbb Z ima 4 dadadada ACID Z OIT IITITIt 2 meg 999999 val 821 Y axis M2 position information Format 816aaaaaabbbbbbccccccddddddeeeeee aaaaaa Y set pbbbbbbr Y 42 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL Y psn dddddd Y req h val 822 X axis M2 position information Format bbbbbb BLE dddddd Secece 81 7aaaaaabbbbbbccccccddddddeeeeee X X X X X set ima psn req val 823 H axis M2 position information Format 16191018 CCCCOCCCC X ddddddddd 818aaaaaaaaabbbbbbbbbccccccceccdddddddddeeeeeeeee H H H H H set ima psn req val 824 V axis M2 position information Format bbbbbbbbb ddddddddd V V 819aaaaaaaaabbbbbbbbbccccccceccdddddddddeeeeeeeee set ima V psn V req V val 6 3 Successes 900 999 966 ffffffff nnnnnnnn vvvvvvvvvvv 43 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 967 968 969 972 973 974 979 980 981 982 984 985
19. arent place 8 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL Set the camera number to mimic in the guider box to n 1 3 Override the automatic setting the rotator sign for the camera specified by CN on the rotator specified by RCFG n 1 Override the automatic setting the parity flip for the camera specified by CN on the rotator specified by RCFG n 1 1 normal 1 inverted Override the automatic setting guide camera position offset angle for the camera specified by CN on the rotator specified by RCFG n degrees Override the automatic setting guide camera field size for the camera specified by CN on the rotator specified by RCFG n arcseconds TCFG n Read telescope config file pointing model n n 99 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 3 2 Coordinate Commands SLEW n Slew to highlighted white coordinate Use alternate cable wrap angle if n 2 Set the displayed equatorial coordinates to be the same as the input equatorial coordinates m r CSET g Add a pointing record input coordinates displayed coordinates sidereal time to the EDS 10 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 3 3 Offset Commands Command OFDC n DCG n ELG n Description Set the RA offset to n arcseconds Do not move Set the Dec offset to n arcseconds Do not move O Set the epoch of the above offsets to n 0 displayed epoch 1 a
20. der Camera Control System Interface For more details see Guider Camera Control System User Manual TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 2 4 Rotator Position Display The following picture shows the rotator position interface OFF 0 000 display shows the name of the rotator Nasw Nasmyth west Nase Nasmyth east Aux 1 observing port 1 Aux 2 observing port 2 and Aux3 observing port 3 It also shows if the rotator is enabled and the target position 2 5 Input panel Display The input panel interface allows to send commands to TCS The panel is similar to other systems but it also shows additional information about actual values for Right ascension and declination and future values position for the telescope TELESCOPE CONTROL SYSTEM SOFTWARE 2 6 Telescope Position Display Right Ascension 06 21 44 69 rtrk 0 0000 0 00 00 1 000 0 roff 0 00dut 0 37 The variables are the following Rtrk Right ascension velocity Dtrk Declination velocity Roff Right ascension offset Doff declination offset USER MANUAL Declination 29 02 10 4 dtrk 0 0000 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL AZ 000 000 EL 1 00 0000 Atrk 0 000 etrk 0 0000 Aoff 0 0032 eoff 0 0060 m Air Mass 1 000 Wind 30z Para 39 Wrap 046 Dome 180 Moon 002 The variables meaning are the following Atrk Azimuth velocity Etrk Elevation velocity
21. e box Changing VERB level to 2 for a given computer will display all engineering data stream EDS messages from that computer in the TCS message box The number of messages received per second from each low level computer is displayed in the status box as the first of two numbers The messages are buffered in the low level computers and transmitted over serial links as time allows The second number is the maximum number of messages waiting to be transmitted in a given second of time 19 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL REM There is a serial port on the TCS which will transmit all of the EDS messages from a given low level computer to a remote program which can reconstruct the low level display screen at a remote location The remote program can also accept commands which are relayed through the TCS to the actual low level control computer The remote port can be switched from one low level computer to another with the REM command LINK This will toggle the operator enable disable of the TCP IP uplink If while enabled the link is broken the TCS will try to restore the link every 5 minutes If you want to try to restore the link before then toggle LINK off on EXIT To exit from the program type EXIT 20 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL Configuration 4 TCS Configuration 41 file Magellan 1 1 1 Magellan 2 Magellan 2 i 4 30 2 Cpu clock rate ppm fast 1 4 19
22. ength error rature EDS length error Focus config error at line XX Telescope config err at line XX Number of gterms exceeded Number of sterms exceeded 39 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 6 2 EDS Log Data Format 800 899 801 Information about observation date Format 80lyyyy mm dd hh ii ss HH II SS aaaaaaaaaabbbbbbbbbbccccccc yyyy mm dd Observation date hh ii ss UT HH SS ST aaaaaaaaaa Right ascension bbbbbbbbbb Declination ccccccc Epoch 802 Information about Telescope position Format s02aaaaaaaaaabbbbbbbbbccccccccmmmmmmxvvvvvvvvvyzuuuuuum aaaaaaaaaa ha bbbbbbbbb Azimuth cccccccc Elevation mmmmmm Airmass x Rotator of interest vvvvvvvvv Rotator encoder plus minus parallactic angle depending on rotator y Slew flag Z Track flag uuuuuu Current focus in user coordinates m Rotator servo flag 803 Tcs coordinates inputs in control program Format 803aaaaaaaaaaabbbbbbbbbbbcccccccccccaddadddddddeeeeeeee aaaaaaaaaaa Telescope right ascension telra pointing tests 1 Equivalent to the rotator offset in rotator mode 2 EQU the normal operating mode of the rotator 40 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL bbbbbbbbbbb Telescope declination teldc inpra input right ascension dddddddddad inpdc input declination eeeeeeee st 804 Coordinates inputs in control program Format 9804aaaaaaaaaaabbbbbbbbbbbzzzzzzzzzttftftffffhhhhhhhh a
23. es Be sure to maintain the appropriate data type for each entry 4 3 Tcs ini Description WindScreen retract and extend limit are the software limits for windscreen MoonScreen retract and extend limit are the software limits for moonscreen 4 4 Starting the Program To start the TCS program push the reset button the black rocker switch just below the red power switch on the computer The program will load 22 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL automatically from the solid state disk Resetting the computer assures that the system will start each time in the proper state Note that the UT date is initialized from the internal computer clock which MUST be set to the correct UT date and UT time If the date is wrong then the displayed sidereal time will be off by at least four minutes To reset the date check the CMOS setup of the PC Enter the CMOS setup routine by pressing del on the keyboard a few seconds after pressing the reset button 4 5 Coordinate Entry In order to slew the telescope the desired coordinates must first be entered into the coordinate input box The telescope will not move until the SLEW command is entered The coordinate input box displays both Az El and equatorial coordinates If an azimuth or an elevation angle has been entered most recently the Az and El coordinates will be highlighted in white and the TCS will calculate the corresponding RA and Dec as a function of time and d
24. isplay them in black If an RA or Dec coordinate has been entered most recently the RA and Dec coordinates will be highlighted in white and the TCS will calculate the corresponding azimuth and elevation angles as a function of time and display them in black The telescope will not slew to an elevation angle below 10 or to an equatorial coordinate within 0 4 of the zenith If either of these conditions occur the value of the elevation angle will be shown in red The epoch of the equatorial coordinates in the coordinate input box is the same as the epoch of the equatorial coordinates of the main telescope coordinate display The coordinate inputs are also displayed as the red pointers in the equatorial coordinate dials and in the azimuth and elevation diagrams The current position of the telescope is displayed as the black pointers in the equatorial dials and as the U shaped figures drawn approximately to scale in the azimuth and elevation diagrams The telescope will slew to the desired coordinates when the SLEW command is entered If Az El coordinates have been entered the telescope will move to the desired coordinate and then stop If equatorial coordinates have been entered the telescope will slew to the desired coordinates and then track at the sidereal rate 23 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 4 6 Using the Trackball Small adjustments to the telescope position can be made using the trackball Moving the tr
25. mands 16 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL TCFG Different pointing models are stored in the files TCFG nn nn 00 99 There are different pointing models for different focal stations for example In order to change pointing models use the TCFG command to read in a different file You will get a non threatening error message if the file doesn t exist and the old model will be left intact RA DC Enter equatorial coordinates using the RA and DC commands The coordinates will appear in the coordinate input box The RA and Dec values will be highlighted white and the derived Az and El will be shown in black For some positions two alternate azimuth cable wrap angles separated by 360 will be shown at the Wrap1 and Wrap2 locations AZ EL Enter coordinates using the AZ and EL commands The coordinates will appear in the coordinate input box The Az and El values will be highlighted white and the derived RA and Dec will be shown in black For some positions two alternate azimuth cable wrap angles separated by 360 will be shown at the Wrap1 and Wrap2 locations SLEW When you are sure the coordinate inputs are the ones you want slew the telescope using the SLEW command If the highlighted inputs are Az and El the telescope will go to the coordinates and stop If the highlighted inputs are RA and Dec the telescope will go to the coordinates and track at the sidereal rate H A slew can
26. mediately to that command Guest computers never broadcast without being queried which allows multiple guests to be chained on the same serial line Full command format Nnddddddddddccr The is the prompt character to initiate communication N is the guest computer s unit address n is a command number d s are data specific to the command variable length cc is a checksum and r is a carriage return ASCII 13 Full response format Nndddddddccr 27 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL The is the response character for guest computer responses N is the guest computer s unit address n is the command number this is in response to d s are data specific to the response variable length cc is a checksum and r is a carriage return ASCII 13 For very short commands and responses the checksum may be omitted this is noted in the command description For all commands and responses that include a checksum the checksum is composed of two hexadecimal digits from O F The checksum is calculated by starting with zero and XORing it with all characters in the message from the unit letter to the last data character before the checksum the underlined part of the command and response above Commands that are received but misunderstood checksum wrong unknown command etc are replied to like this N r Most guest computers maintain a running system log that contains important messages and all system
27. n profilers will then report the profiler position to the TCS exactly as if the telescope were really moving The fact that the position servo errors will rise to many degrees will be ignored here is only one dangerous condition which can be encounterd when simulating coordinates in this way using the main drive computer If the instrument rotators are enabled they will move as if the mount were actually moving when in fact the mount will not move It may also be necessary to disable the instrument rotators in order to guarantee the safety of instruments mounted on them SAVE Most of the operator selected parameters of the TCS program can be saved to disk at any time using the SAVE command The saved parameters include the display epoch choice of config files for pointing focus and rotator models and the catalog of objects If you have to re boot the computer for any reason the program will come back with the same choice of parameters that was in effect at the time of the last SAVE command VERB The low level control computers report a constant stream of information to the TCS Normally this information is not displayed in the TCS system message box This corresponds to VERB level 0 for each control computer The low level computers are assigned index numbers which are shown in the status box Main Drive 1 Vane End 2 etc Changing VERB level to 1 for a given computer will display error messages from that computer in the TCS messag
28. nd Description OMEN Move dome to azimuth angle n AUTD Automatic dome position toggle on off Use when tracking WINDn Set the windscreen extension to n percent MOON Set the moonscreen extension to n percent 3 7 Louver Commands Set all rotating louvers to opening n HFL n Disable hold enable commands for fixed louver n toggle Disable hold enable commands for rotating louver pair n toggle 3 8 Other Commands 14 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL Simulated coordinates toggle on off for diagnostics only SAVE Save most of the data on the screen including the catalog Please read the explanation in the text rommene 3 9 Message Commands Scroll system message display forward one page Set system message display to show the first message lt End gt Set system message display to show the current message 3 10 Display Commands 15 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL Scroll Lock Pause Resume system log messages VERB n Set system log verbose level to n n O 2 3 11 Detailed Explanation of Commands and Status Values MP Set the coordinate display to show mean place coordinates for a given year by using the MP command The coordinate system is the FK5 IAU 1976 system e g J2000 which is very slightly different from the FK4 e g B1950 system However the difference between the two systems for example between 1950 and B
29. ox and clicking just the left button The square box follows the position of the guide box xy5 on the guide camera specified by CN 4 7 Secondary Mirror Focus and Colimation The vane end actuators control 5 degrees of freedom of the secondary mirror focus Z collimation X Y and tip tilt H V The TCS computer will send commands to the vane end system to automatically maintain focus collimation and tip tilt as the telescope moves in elevation according to the particular focus model which is loaded with the command FCFG The actual value for each of the 5 adjustments is derived from the sum of several parameters which are shown in the focus box on the TCS display Each adjustment has a nominal set point which is the value with the telescope pointing to the zenith set To this value is added the cumulative magnitude of any adjustments requested by the image analyzer ima and the value of the flexure term at the current position psn as derived from the focus model The focus adjustment is particularly sensitive and includes an additional correction for temperature tmp as well as an offset term which allows a correction to be introduced manually for example to 24 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL compensate for the focus change for different filters in a direct camera off The temperature correction is zero at a nominal temperature of 12 The derived setpoint for each of the 5 adjustments is shown as
30. particular message number CC Checksum described above r ASCII charater 13 carriage return 5 1 3 4 Set UT Commands the guest computer to set its clock to the Universal Time given in this command The control computers keep their clocks synchronized to GPS provided universal time in this way Command Format NAttttttttccr Response Format N4er note that this response has no checksum N Guest computer address usually an upper case letter tttttttt Eight digit universal time no punctuation with two digit hour two digit minute two digit second and two digit 30 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL hundredths of a second cc Checksum described above r ASCII charater 13 a carriage return e Error flag O if an error occurred 1 if OK 5 1 4 9 Free form Command Sends the guest computer a free form command typically similar to the commands entered via the guest computer s keyboard This is used to command moves homes etc Command Format N9nndddddddccr Response Format N9ennmmmmccr N Guest computer address usually an upper case letter nn Two digit number of characters in the message in the underlined section 00 if no message available ddddddd Variable length free form command section This section will contain a command parseable by the guest computer such as MOVE 1000 cc Checksum described above r ASCII charater 13 a carriage return Error flag if OK
31. pparent Move the telescope to the above offsets positive Move the telescope to the negative of the above offsets minus Immediately move the telescope North by the absolute value of OFDC Immediately move the telescope South by the absolute value of OFDC Immediately move the telescope East by the absolute value of OFRA Immediately move the telescope West by the absolute value of OFRA Immediately move the telescope n arcseconds in RA Immediately move the telescope n arcseconds in Dec Immediately move the telescope arcseconds in azimuth Immediately move the telescope n arcseconds in elevation Immediately move the telescope n arcseconds in RA 11 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL Immediately move the telescope n arcseconds in azimuth and m arcseconds in elevation 3 4 Focus Commands ZSET n Set the secondary focus to n microns Also YSET XSET HSET n Set the secondary tilt to n arcsec Also VSET Set the secondary focus n microns from where it is now relative Also XSTR YSTR HSTR VSTR Set the secondary focus image analyzer correction to n microns Also YIMA XIMA Set the secondary tilt image analyzer correction to n arcsec Also VIMA Set the secondary focus image analyzer correction n microns from where it is now relative Also XIMR YIMR HIMR VIMR Set the secondary coma image analyzer corrections n microns from where they are now relative Also YHIR Auto focu
32. s box at the fcfg entry DOME The dome can be manually moved to a given azimuth by entering the DOME command followed by the azimuth angle Once the dome is moving pressing the esc key should bring it to an immediate gentle stop The esc function may not be implemented in the current version of the software AUTD The dome will track the telescope automatically when the AUTD function is toggled on WIND also MOON The windscreen and moonroof can be moved using the commands WIND and MOON There is no automatic function for the windscreen and moonroof positions However the diagram displayed on the screen is dimensionally accurate and can be used to judge whether the windscreen and moonroof clear the optical path of the telescope FL RL You can adjust a single louver on the fixed part of the enclosure or a single pair of louvers on the rotating dome using the FL or RL command The arguments are the louver number and the opening in fourths The numbering scheme of the fixed and rotating louvers is displayed in the on screen diagram which also shows the true azimuth orientation of the telescope and the dome When the louvers are moving the corresponding frame in the diagram will turn yellow If a louver control error occurs the corresponding frame will turn red As the louvers open the frame will be shaded black one fourth of the area at a time The frame will turn white if a louver has been temporarily disabled using the H
33. s toggle on off FCFG n Read focus config file focus model n n 2 O 99 3 5 Rotator Commands 12 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL RCFG n Set the rotator configuration for rotator n O to 5 rotator of interest Rotator numbers 0 5 NASW NASE CASS AUX1 AUX2 AUX3 ROTO n Set offset angle of rotator n to angle degrees Rotator modes O 6 ROTM n Set operating mode of rotator n to mode OFF no rotator command sent to vane HRZ send offset only Hold the instrument with respect to the horizon EQU send offset and parallactic angle Hold the instrument with respect to the north GRV send offset and elevation Hold the instrument with respect to gravity EQZ send offset and parallactic angle and elevation HEQ position as in HRZ but track as in EQU Keeps the slit mostly vertical w r t the horizon but allows you to guide off axis GEQ position as in GRV but track as in EQU Keeps the instrument mostly vertical w r t gravity but allows you to guide off axis Like ROTM but assumes the rotator specified by RCFG Like ROTO but assumes the rotator specified by RCFG Add the angle to the offset angle of the rotator specified by RCFG Specify the offset angle of the rotator specified by RCFG for the next object Vn Sets the rotator graphics orientation Views are the same as the modes but only 0 3 13 JJ TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 3 6 Dome Commands Comma
34. status information Each also maintains a pointer into that log that keeps track of the oldest message that hasn t been sent to the host computer The 2 and 3 commands let the host computer command the guest computer to transmit one of its log entries or re transmit the last entry This is referred to as the Engineering Data Stream or EDS Command Summary 2 Query Next EDS Message 3 Repeat Last EDS Message 4 Set UT 9 Free form Command 51 Command Description 5 1 1 2 Query Next EDS Message 28 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL Commands the guest computer to send its oldest un sent EDS log entry and advance its internal pointer to the next EDS log entry Command Format N2r note that this command has no checksum Response Format N2gqgqnnttttttttfffdddddddccr N Guest computer address usually an upper case letter qq Two digit number of EDS messages left in the guest queue nn Two digit number of characters in the message in the underlined section 00 if no message available tttttttt Eight digit message time stamp no punctuation with two digit hour two digit minute two digit second and two digit hundredths of a second fff Three digit message number Message numbers from 0 799 denote errors 800 899 are numberical data formats and 900 999 are successes ddddddd Variable length message data section For error and success messages typically a simple text message For numeric
35. take more than two minutes If you realize you have made a mistake type H The telescope will come to a controlled stop and you can try again RTRK Once the telescope is slewed to an equatorial coordinate you can adjust the tracking rates relative to sidereal using the RTRK and DTRK commands RTRK 1 for example will stop the telescope RTRK 1 will track at twice the sidereal rate DTRK ATRK and ETRK are similar CAT The program can store coordinate input values in a catalog with entries numbered from to 99 To store coordinates in entry n type CAT OBJ Once you have stored a set of coordinates in catalog entry n you can quickly bring them back by typing OBJ ZSET Enter the focus value with the command ZSET If auto focus is enabled the secondary will move to the position derived from this value automatically The YSET XSET HSET and VSET commands are similar 17 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL AUTF Toggle the auto focus function on and off with the command AUTF It is OK to leave the auto focus function enabled when slewing the telescope FCFG There are up to 100 different models for the focus adjustment stored in files FCFG nn nn 00 99 In order to change focus models use the FCFG command to read a different file If the file doesn t exist a non threatening message will appear and the previous model will be left intact The number of the current model is displayed in the statu
36. ve the 3 or 4 stars which are furthest east When each star is centered on the crosshairs record the RA and Dec coordinates with TP turned off and the sidereal time which is used to derive the hour angle Next observe the east star list working from the pole to the equator and then the meridian star list working from the equator to the pole Repeat the two lists as the night goes by but don t repeat the 3 or 4 which are furthest east Gradually the east list will end up on the meridian and the meridian list will end up 4 5 hours west After half a night do the 3 or 4 stars which are furthest west again only once and then you are done Of course the stars which are furthest north in each list will not be accessible at extreme hour angles You only need to do these when it makes sense 25 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL 4 9 Acknowledgement The TCS program makes extensive use of the SLALIB and TPOINT program libraries which were developed and graciously provided by Pat Wallace of STARLINK 26 TELESCOPE CONTROL SYSTEM SOFTWARE USER MANUAL Serial Communication 5 Control System Serial Communication Standards There is always a host upstream computer and a guest downstream computer The host computer is frequently the TCS with the guest being Main Drive Vane End Oss Tertiary Mirror Dome Site Utility guider and guider camera computers The host system sends a command and the guest responds im
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