User Manual - Las Campanas Observatory
Contents
1. 33 PA Commands es ERU t ER eb utpote ted 33 8 35 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL Overview 1 Overview ofthe Tertiary Mirror Control System 11 General Configuration The tertiary mirror is installed into a compact set of two turrets This assembly rests mounted in the center of the primary mirror right above it One of the turrets the inner one is called M3 turret and supports the tertiary mirror in its cell The outer one called ADC turret holds the two Atmospheric Dispersion Compensator lenses ADC lenses The main purpose of the whole system is to deviate the light collected by the telescope to one of the six possible observing ports two Nasmyth east or west three Folded ports AUX1 AUX2 or AUX3 and Cassegrain In the last case the tertiary mirror doesn t deviate the light instead it just moves up out of the way This task is achieved rotating the M3 turret Other important feature is to compensate for the atmospheric dispersion by using the corrector lenses This can by accomplished rotating the ADC turret so the ADC lenses be in the light path and then making the mirrors turn in concentric but opposite directions Both turrets and both ADC lenses are drive2. LVDT C voltage set point TENASW ele Adjust M3 Tilts according to elevation value e e 20 25 30 35 90 PVS cmd Change pressure vacuum control chart scale PVM Toggle pressure vacuum control on or off 7 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL PRESOFF Close Pressure valve Open Pressure valve VACOFF Close Vacuum valve VACON Open Vacuum valve TBRKOFF Tilt brakes disengaged TBRKON Tilt brakes engaged 3 2 Message Commands Up Scroll system message display back one line Pg Up Scroll system message display back one page 3 3 Display Commands TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL Command Description Display online help screen Scroll Lock Pause Resume system log messages VERB n Set system log verbose level to n n 0 2 3 4 Engineering Commands Dump system log to the file TEMP LOG Dump screen to a file called SCREEN BMP in Windows BMP format 3 5 Other Commands Q EXIT Exit the program TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL Configuration 4 Turet Configuration 41 3 file Magellan M3 INI 2 17 2003 This file contains all easily modified initialization data for the M3 program Lines starting with a are ignored Every other line contains a description followed by an equal sign followed by a data value DO NOT change the order of the da
3. Checksum described above ASCII charater 13 a carriage return 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 J3r note that this command has no checksum Response Format J3qqnnttttttttfffdddddddccr J Guest computer address usually an upper case letter qq Two digit number of EDS messages left in the guest queue 20 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 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 particular message number Checksum described above ASCII charater 13 a carriage return 4 Set UT Commands the tertiary
4. DGH x Error Messages Resumed The listed DGH module responded successfully after several previous errors 999 Program startup vx xx mem yyyk First log entry at program startup Includes program version number and free memory left 32 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL System Details 7 Tertiary Mirror Control System differences between Magellan and II Magellan has two turret one is for ADC motion and the other is for M3 motion There is a computer inside M3 turret This machine controls all M3 and ADC movements This includes 1 ADC turret 2 turret 3 Tilts 4 Pressure vacuum control 5 Up and Down mirror movements 6 ADC movements Magellan II has its tertiary mirror inside cassegrian rotator A local computer unit inside cassegrian controls tilt movements and pressure vacuum for M3 There is no ADC and turret for Magellan Il The system doesn t need to control ADC turret ADC motion 71 Commands The following commands are not valid for Magellan Il M3 control program 1 ASP toggle power to the ADC rotators steppers 33 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 2 MT cmd and AT lt cmd gt for turret movements 3 AT cmd and AT ADC turret motion 4 ADCA ADCB lt cmd gt ADC rotator motion 34 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 8 Troubleshooting 35
5. already on an index A command to move to and center on an index was given when the turret was already on an index Try re homing or check index inputs Turret motion ignored Home required A commmand was given to go to a new position when the system was lost Perform a ADC Turret Home operation Turret motion ignored already at index A commmand was given to go to a new position out of index but there is mechanical limit If the step value is less than 0 then this message will be sent Try to move to position with steps greater than 0 Turret motion ignored locked A commmand was given to execute homing routine for a second time but in the first time the AT Home command closed lockpin Try to open lockpin AT unlock and try to execute homing procedure again Rotator User interrupted motion A keypress interrupted the rotator s move Rotator Couldn t find index The ADC tried to home to the index but never found it Check the index inputs and rotator motion Rotator motion ignored Home required A command to move to a position was given but the system had not been homed Use the ADCA HOME or ADCB HOME commands Rotator Home ignored move in progress 26 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL ADC rotator movement is already in progress 050 DGH x Read Error There was a communication failure with the listed DGH module Check communication with a terminal T2 ch
6. AUXI AUX2 AUX3 NASW NASE LOCK UNLOCK steps AT cmd ADC Turret motion cmd HOME NOADC LOCK UNLOCK steps ADCPOWER cmd ADC lenses stepper power cmd ON OFF Not yet implemented ADCA ADCB ADC Rotator independent motion cmd HOME STOP 6 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL cmd S steps degrees ADC cmd ADC lenses combined operation cmd MAN AUTO degrees TA TB TC n Move Tilt A B C stepper n steps PISTON n Compound motion Move Tilt A B C n millimeters Compound horizontal motion Move Tilt A n Tilt B C arcsecs Compound vertical motion Move Tilt B n arcsecs Tilt C n arcsecs LAT cmd Latches manual control cmd OPN CLS NASW Rotate Mirror and ADC turret to Nasmyth West platform adjusting the tilts 4 4 lt Rotate Mirror ADC turret to Nasmyth East platform adjusting the tilts AUX1 Rotate Mirror and ADC turret to Aux 1 adjusting the tilts AUX2 Rotate Mirror and ADC turret to Aux 2 adjusting the tilts AUX3 Rotate Mirror and ADC turret to Aux 3 adjusting the tilts TAS TBS TCS Servo individual Tilt A B C to set point lt cmd gt LVDT voltage lt cmd gt TILTS lt 1 gt Servo all three Tilts lt cmd1 gt A voltage set point lt cmd2 gt lt cmd3 gt lt cmd2 gt LVDT B voltage set point lt cmd3 gt
7. Move ignored 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 00 in the response if there is no diagnostic message 22 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL Log Message System 6 Log Message System 61 Errors Log Messages 0 799 001 SetStepperPhase xxx bit not responding While enabling power to the listed stepper driver the steppers Monitor bit was not responding to commanded steps Check stepper driver wiring 002 Mirror motion timeout The mirror was moving up or down but didn t hit a limit within a certain timeout period A limit switch may not be responding 003 Can t move mirror up ADC Turret in wrong position The ADC Turret must be in the No ADC position to leave room for the mirror to flip all the way up 004 M3 Turret Lock pin timeout The M3 Turret lock pin failed to hit a limit in its timeout period Check its limits and motion for proper operation 005 M3 Turret Unable to unlock pin The M3 turret lock pin didn t unlock when commanded to Try unlocking it manually MT UNLOCK and check limit switches motion etc 006 M3 Turret User interrupted motion A keypress interrupted the turret s move 007 M3 Turret Hit wrong limit During a move the limit opposite the direction we should have
8. Tilt TAUX2 2 AUX2 TC 0 0 AUX3 Tilt TAUX3 0 AUX2 TA 0 0 Tilt TAUX3 1 AUX2 TB 0 0 Tilt TAUX3 2 AUX2 TC 0 0 Pressure Vacuum control constants 13 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL Kp Proportional PID control loop constant 1 5 PresVac Kp 0 7 Ki Integral PID control loop constant 0 01 0 1 PresVac Ki 0 004 Kd Derivative PID control loop constant 1 PresVac Kd 0 8 PIL Pressure Integral Limit 0 0 1 0 PresVac PIl 0 2 VIL Vacuum Integral Limit 0 0 1 0 PresVac VIl 0 2 Integral Reset Threshold 0 3 1 0 PresVac IntegralThreshold 1 0 Minimum pulse in ms for pressure valve PresVac PressureMinPulseWidth 15 Minimum pulse in ms for vacuum valve PresVac VacuumMinPulseWidth 15 Cycle time between control variable updates in ms PulseCycle 200 42 M3 ini Magellan Il 43 M3 ini Description The M3 Utility program reads a small amount of configuration data from the file M3 INI which is in the same directory as the Turret program This is a simple text file which can be edited with any text editor All lines starting with a are ignored all other lines are significant Non comment lines will have a label an equal sign and a value Do not change the order of the lines or add blank lines that aren t begun with a as this will interfere with the program s ability to read the file The following values ca
9. been moving was triggered Could be caused by limit line noise or wiring errors 23 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 008 009 010 011 012 013 014 015 016 020 021 M3 M3 M3 M3 M3 M3 M3 M3 M3 Turret Motion error This message shouldn t appear it means a move routine returned an undefined error code If this happens there s a bug in the code Turret Couldn t find index The program executed moves that should have gotten us centered on an index but the index wasn t detected Check motor motions index inputs Turret Hit an unexpected limit During a move that shouldn t have triggered either limit the limit was triggered Could be line noise or wiring errors Turret Unable to lock pin The M3 Turret lock pin didn t lock when it was commanded to Check lock limits lock motion and turret position make sure the turret was in a valid position for the lock to occur Turret motion ignored Locked A move of the M3 Turret was attempted while the lock pin was in Check the lock operation and status Turret motion ignored already at limit A move of the M3 Turret was commanded towards a limit that was already set Check turret position and limit inputs Turret motion halted hit a limit A limit was hit during a move Check turret position and limits Turret motion ignored already on an index A command to move to
10. dd ee ff hexadecimal field to log I O digital data xx hexadecimal field for parallel port values 802 DGH reading update Load cell reading Format 802ACaaa aaaABbbb bbbBCccc ccc aaa aaa Data in volts for A C load bbb bbb Data in volts for A B load ccc ccc Data in volts for B C load 803 Subsystem position reading Format 803PabcdefAggg gBhhh h a M3 Mirror 0 Mirror midway between limits 1 Mirror all the way down in the beam 2 Mirror folded up out of the beam 3 An error reading the limits b M3 Mirror Lock 0 Unknown 1 Locked 2 Unlocked 3 Error c M3 Turret 0 Unknown lost or not homed 28 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 1 Midway in motion 2 NAS E 3 AUX 1 4 AUX 2 5 AUX 3 6 NASW d M3 Turret Pin 0 Midway 1 Locked 2 Unlocked 3 Error reading limits e ADC Turret 0 Unknown or not homed 1 Midway in motion 2 No ADC 3 ADC in position f ADC Turret Pin 0 Midway 1 Locked 2 Unlocked 3 Error reading limits ggg g ADC A position degrees hhh h ADC B position degrees 804 Target pressure and vacuum pulse width in ms Format 804VvvvvPpppp vvvv Vacuum pulse width value 29 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL pppp Pressure pulse width value 805 P I D Pressure Vaccum control Format 805Pppp pppliii iiiDddd ddd ppp ppp Proportional value ddd ddd Derivative term 6 2 1 Clay Telescope 800 Ana
11. show the seven stepper motors status together with mirror support information load cell readings and pressure vacuum control figures The bottom area shows system log messages to the left and the input command area 21 Tertiary Turret Interface 22 Stepper Motors Interface 2 3 Mirror Support Interface 24 Pressure vacuum Control Interface The right window shows the Pressure Vacuum Control P and D labels show the PID servo loop control numbers You can toggle the servo on or off typing PVM When you type it for the first time the status Mode changes to AUTO and the Pressure Pres and Vacuum vac status flags on the right turn green if the corresponding valve is opened If you type PVM again Mode changes to off and the display shows the pres vac valves closed black TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL Commands 3 Commands Summary All M3 commands begin with a command code followed by zero one or more arguments The arguments and the command must all be separated by spaces Letters may be upper or lower case The backspace key moves the cursor back one character at a time All commands are terminated by a cr Hit F1 for a quick command help screen 31 User Commands SP Toggle power to Tilts ADC Turret and M3 Turret steppers ASP Toggle power to ADC Rotators steppers M cmd Mirror motion cmd UP DOWN STOP MT cmd Mirror Turret motion cmd HOME STOP
12. 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 2 Query Next EDS Message 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 J2r note that this command has no checksum 19 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL Response Format J2qqnnttttttttfffdddddddccr J Guest tertiary mirror 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 Fight 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 particular message number
13. ER MANUAL ADC Turret emergency stop distance steps ADCTurret EmergencyStopDistance 150 ADC Time in seconds before ADC Turret Lock Pin times out ADCTurretPin MotionTimeout 30 ADC A acceleration in steps sec sec ADCA Acceleration 250 0 ADC A maximum velocity in steps sec ADCA MaxVelocity 250 0 ADC A motion initial stepper pulse in milliseconds ADCA InitialPulse 50 ADC A Steps per revolution ADCA StepsPerRevolution 19200 ADC B acceleration in steps sec sec ADCB Acceleration 250 0 ADC B maximum velocity in steps sec ADCB MaxVelocity 250 0 ADC B initial stepper pulse in milliseconds ADCB InitialPulse 50 ADC B Steps per revolution ADCB StepsPerRevolution 19200 Tilt constants Tilt Stepper acceleration in steps sec sec Tilt Acceleration 100 0 12 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL Tilt Stepper maximum velocity in steps sec Tilt MaxVelocity 50 0 Tilt Stepper initial stepper pulse in milliseconds Tilt InitialPulse 50 Tilt adjusts for observing ports in volts NASW Tilt TNASW O NASW TA 1 22 Tilt TNASW 1 NASW TB 0 92 Tilt TNASW 2 NASW TC 2 92 NASE Tilt TNASE O NASE TA 1 11 Tilt TNASE 1 NASE TB 0 79 Tilt TNASE 2 NASE TC 3 09 AUX1 Tilt TAUX1 0 AUX1 TA 0 0 Tilt TAUX1 1 AUX1 TB 0 0 Tilt TAUX1 2 AUX1 TC 0 0 AUX2 Tilt TAUX2 0 AUX2 TA 0 0 Tilt TAUX2 1 AUX2 TB 0 0
14. THE OBSERVATORIES OF THE CARNEGIE INSTITUTION OF WASHINGTON LAS CAMPANAS OBSERVATORY Colina El Pino s n La Serena Casilla 601 Phone 56 51 207301 Fax 56 51 207308 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE User Manual Document Code 01 00 J4 Type User Manual Author Silvia Baeza and Jose M Soto Date April 2008 Revision Jose M Soto Revisions Table Description April 2008 Document Revision March 13 2008 Document Revision April 23 2003 Document Created Table of Contents 1 OVERVIEW OF THE TERTIARY MIRROR CONTROL SYSTEM e eeeeeeee esee ente tentn seen tn seta sn stas ense 1 1 1 General Configuration oce ast ooo e Presto e eet deseen 1 1 2 Devices ihn RU DERE RO ORE ERE RR OR EE aaa dee 2 TB POSIUONS EHE 3 2 TERTIARY MIRROR CONTROL SYSTEM INTEREFACE cssssscsssssssscsssssssssnssscsessnssscsssssossessnssessncsssseeee 4 2 1 Tertiary Turret Interface eate em erar e ere tei o that a ei ep e tet E D 5 2 2 Stepper Motors Interface ote ete gt ere epe repre eee rere D E Per 5 2 3 Mirror Support Interface etit edet ei eto EE eei i e Rte e RR CH He ERR Ph teres 5 2 4 Pressure vacuum Control Interface isogni EE E REEE enne trennen EEI Sra eene terere tenete 5 3 COMMANDS SUMMARY 6 3 User Cominands teet tex b iret 6 3 2 Message Commands 5 nii ee Drop it i E PEDE ape
15. and center on an index was given when the turret was already on an index Try re homing or check index inputs Turret motion ignored Home required A commmand was given to go to a new position when the system was lost Perform a M3 Turret Home operation ADC Turret Lock pin timeout The ADC Turret lock pin failed to hit a limit in its timeout period Check its limits and motion for proper operation ADC Turret Unable to home mirror not down 24 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 022 023 024 025 026 027 028 029 030 031 ADC ADC ADC ADC ADC ADC ADC ADC ADC ADC The M3 mirror must be in its fully down position for the ADC turret to home This prevents damage to the mirror Turret Unable to unlock pin The ADC turret lock pin didn t unlock when commanded to Try unlocking it manually AT UNLOCK and check limit switches motion etc Turret User interrupted motion A keypress interrupted the turret s move Turret Hit wrong limit During a move the limit opposite the direction we should have been moving was triggered Could be caused by limit line noise or wiring errors Turret Motion error This message shouldn t appear it means a move routine returned an undefined error code If this happens there s a bug in the program Turret Hit an unexpected limit During a move that shouldn t have triggered either limi
16. aracter to initiate communication J is the guest tertiary mirror 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 Jndddddddccr The is the response character for guest computer responses J is the tertiary mirror computer s unit address nis 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 18 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 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 0 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 J r Most guest computers maintain a running system log that contains important messages and all system 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
17. eck DGH power connections etc 051 DGH x Error Messages Suspended There were more than a few errors so further errors will not be displayed until a successful DGH read occurs 052 Tilt x User interrupted motion During a tilt motion a key was pressed 053 Error reading DGH x setup There was a communication error reading the given DGH s setup Make sure the DGH has power 24V is connected properly and check communication with a terminal T2 054 DGH x setup wrong expecting yyYYYYYY The listed DGH module has an incorrect setup string Check its setup with a terminal 2 and change it to match the given setup string 070 M3 Turret Pin Unable to unlock mirror not down 071 M3 Turret Home Aborted mirror not down 074 M3 Mirror Flip down aborted M3 turret pin not engaged M3 Mirror will not move if M3 or ADC turret pins are not locked 076 M3 Mirror Flip up aborted only allowed in AUX2 position M3 mirror movement isn t allowed unless it is in AUX position 500 ADC Turret Home aborted other moves in progress 505 Tilt servo timeout 6 2 EDS Log Message 800 MESA LVDT Analog reading update Format 800Cccc cccBbbb bbbAaaa aaaTxxx Xxx ccc ccc data in volts for C DGH 27 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL bbb bbb data in volts for B DGH ccc ccc data in volts for A DGH XXX XXx itis 12VDC 801 All digital I O update Format 801DaabbccddeeffPxx aa bb cc
18. log reading update Format 800CODccc cccC1Dbbb bbbC2Daaa aaaC3xxx xxx ccc ccc data in volts for a DGH bbb bbb data in volts for b DGH aaa aaa data in volts for c DGH XXX XXX itis 12VDC 801 Digital I O information Format 801Daaab b 802 Log DGH reading status Format 802 1 i or C DGH status value 803 Tilt motion information Format 803PTOaPT1bPT2c a b c The three tilt motion status 0 Stop 1 Out pushing the mirror 30 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 2 In pulling the mirror 804 Log servo parameters for m3 support Format 804Sabbb bbbppp pppiii iiiddd ddd a Pressure Vacuum control mode 0 Off 1 Auto bbb bbb Pressure Vacuum current average reading in mV ppp ppp Proportional value ddd ddd Derivative term 805 Target pressure and vacuum pulse width in ms Format 805Wvvvvpppp vvvv Vacuum pulse width value pppp Pressure pulse width value 6 3 Success Log Message 900 999 901 ADC Turret Home successful 902 ADC Turret No ADC position successful 903 ADC Turret ADC position successful 971 Servo first pass completed 972 Servo second pass completed 981 TiltA servo completed 982 TiltB servo completed 983 TiltC servo completed 997 M3 INI read success The M3 INI configuration file was read without problems 31 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 998
19. mirror 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 J4ttttttttccr Response Format J4er note that this response has no checksum J tertiary mirror computer address usually an upper case letter tttttttt Fight digit universal time no punctuation with two digit hour two digit minute two digit second and two digit hundredths of a second cc Checksum described above ASCII charater 13 a carriage return e Error flag 0 if an error occurred 1 if OK 21 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 9 Free form Command Sends the tertiary mirror computer a free form command typically similar to the commands entered via the tertiary mirror computer s keyboard This is used to command moves homes etc Command Format J9nndddddddccr Response Format J9ennmmmmccr J tertiary mirror 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 Checksum described above ASCII charater 13 a carriage return e Error flag 0 if OK 1 or higher if an error occurred mmmm Variable length diagnostic message such as
20. n be set in this file 14 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL PARPORT System Parallel port address in hex Address The address character that the M3 program responds to as per the control system serial communication documents This should be J Prompt The prompt character that the program responds to This should be Response The response character that precedes all M3 replies This should be ClockPPM A number in parts per millionth of a second speed up or slow down the system clock This should be used to match UT as closely as possible To set allow the TCS to set the M3 s UT several times over the course of many hours If the timestamps of the UT Set messages in the system log are ahead of the time being set increase ClockPPM by 1000000 amount ahead by in seconds time since last UT Set message in seconds otherwise decrease by the same amount This number will have to be modified if the computer being used to run the M3 program is changed Set this number to zero if you re unsure Mirror MotionTimeout Time in seconds before mirror motion times out M3Turret Acceleration M3 Turret acceleration in steps sec sec M3Turret MaxVelocity M3 Turret maximum velocity in steps sec M3Turret InitialPulse M3 Turret motion initial stepper pulse in milliseconds M3Turret EmergencyStopDistance M3 Turret emergency stop distance steps M3TurretPin MotionTimeout Time i
21. n by stepper motors the first two directly coupled to the rotating assembly and the second ones coupled to the lenses through a chain The M3 turret and the ADC turret movements are independent from each other so each of the six ports that can be pointed at may or may not use the ADC corrector giving a total number of 12 possible observing configurations There are three more stepper motors for tip tilting the tertiary mirror with respect to its cell and three position sensors LVDT s to measure the position in each point Finally there are 3 load cells that measure the M3 weight against the cell Between the mirror and the cell there is a sealed chamber that contains air and supports the tertiary weight The air can be injected to or extracted from the chamber using two small selenoid valves connected to the main air and vacuum supply lines of the telescope respectively The software is required to perform a number of operations TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL e Accept high level commands to position the M3 mirror ADC and other devices and convert them to low level commands for the various motor controllers e Report the position and status of the tertiary mirror and devices Allow tertiary mirror motion The mirror motion will allow to deviate the light through one of 6 different observing ports e Allow ADC turret motion choosing ADC or no ADC position Allow pressure vacuum control for mir
22. n seconds before M3 Turret Lock Pin times out ADCTurret Acceleration ADC Turret acceleration in steps sec sec ADCTurret MaxVelocity ADC Turret maximum velocity in steps sec ADCTurret InitialPulse ADC Turret motion initial stepper pulse in milliseconds ADCTurret EmergencyStopDistance ADC Turret emergency stop distance steps ADCTurretPin MotionTimeout ADC time in seconds before ADC Turret Lock Pin times out ADCA Acceleration ADC A acceleration in steps sec sec ADCA MaxVelocity ADC A maximum velocity in steps sec ADCA InitialPulse ADC A motion initial stepper pulse in milliseconds ADCA StepsPerRevolution ADC A Steps per revolution 15 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL e ADCB Acceleration ADC B acceleration in steps sec sec e ADCB MaxvVelocity ADC B maximum velocity in steps sec e ADCB InitialPulse ADC B initial stepper pulse in milliseconds e ADCB StepsPerRevolution ADC B Steps per revolution e Tilt Acceleration Tilt Stepper acceleration in steps sec sec Tilt MaxVelocity Tilt Stepper maximum velocity in steps sec Tilt InitialPulse Tilt Stepper initial stepper pulse in milliseconds e Tilts adjust for observing ports in volts Pressure Vacuum control constants e PresVac Kp Kp Proportional PID control loop constant 1 5 e PresVac Ki Ki Integral PID control loop constant 0 01 0 1 e PresVac Kd Kd Derivative PID control loop constant 1 e PresVac Pil Pll Pres
23. ror support 1 2 Devices There are seven Mycom stepper drives to command the following devices Tertiary mirror turret ADC turret ADC A position ADC B position tilt A tilt B and tilt C There is a computer coupled to the tertiary mirror turret It talks with the stepper drives and processes information obtained from all sensors This machine has three PC104 cards The CPU MSM 586SEV with a 386 type processor running at 133 Mhz The digital IO card model PCM UIO48A The MESA card which is a 16 bit resolution digital to analog converter TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 1 3 Positions The following drawing top down view shows the positions of the observing ports in the telescope M3 mirror v zv ADC Turret 7 N 93 Turret The M3 turret rotates to point the tertiary mirror to any of the six observing ports In every position the ADC turret can be in the ADC or no ADC position TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL Interface 2 Tertiary Mirror Control System Interface The following picture shows the M3 Control system interface Unknoun Unknoun The interface is divided in four sections The upper left part shows the tertiary turret information mirror position M3 ADC turrets positions M3 ADC pin status Locked or unlocked ADC lenses positions and tilt readings TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL The upper right side
24. segcsasteus E EEE 8 3 3 Display Commands to t bed te e m Ute eie ien eA Re Re 8 3 4 Engineerimg Commands ss Ate I eI IA RITU ths ett evens 9 3 5 Other Commands 5 epos ep ee M e t ee o etn aee a te ge Reh cer Ep eh 9 4 TURRET CONFIGURAT ION eene entes teet ntn neta tns tn tasa ens in stata stata sone 10 4 1 M3 mi file Magellan I inerte rem tee eti PUER ert emt D eH p pe etre Er i 10 4 2 M3 umr Magellan Ui ise te tete tp eaae eg ede ee a tea ee ien titer 14 4 3 M3 Ani Description neto deett E e ri d solu Re HU e En p ERE Re RE netto Eran 14 4 4 Starting the Programm nee mee ea rer eee erm ete Peces tende eere nie Pise ese que pete edet 16 5 CONTROL SYSTEM SERIAL COMMUNICATION STANDARDS NOT IMPLEMENTED YET 18 5 1 Command Description e IER NES IR RURSUM REO ER RAE Ure enis edt 19 SECUN TPnnLo 23 6 1 Errors Log Mess ges 0 790 nee ceete e e dre es rei c ette ee t e dete der rte itte dete 23 6 2 BDS E og nene e ippaelispetebmpe eei cepe tenis 27 0 2 1 Clay Telescope e RR ERR HE DERI E REISEN dub EY 30 6 3 50 Log Message 900 090 eer sus ton Fes E Pee REPETI e SEEE CEDERE 31 7 TERTIARY MIRROR CONTROL SYSTEM DIFFERENCES BETWEEN MAGELLAN I AND II
25. sure Integral Limit 0 0 1 0 e PresVac Vil VII Vacuum Integral Limit 0 0 1 0 e PresVac IntegralThreshold Integral Reset Threshold 0 3 1 0 e PresVac PressureMinPulseWidth Minimum pulse in ms for pressure valve e PresVac VacuumMinPulseWidth Minimum pulse in ms for vacuum valve e PulseCycle Cycle time between control variable updates in ms 44 Starting the Program To start the M3 program push the power button the red switch on the control box inside the M3 Turret The program will load automatically from the solid state disk Resetting the computer insures that the system will start each time in the proper state The initialization process consists of loading some MESA s drivers running 4A22DRVR 220 9 61 followed by 4A22DCFG 61 and then the M3 program When the program is loaded you should see the usual video display of M3 utility data You can type commands which appear at the prompt in the input panel At the top 16 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL of the input panel the average and maximum cycle times for the program s main loop are displayed in milliseconds Status messages are displayed in the system message box The UT at which the message occurred is followed by a three digit message identification code A red LED indicates that the message describes error A green LED indicates that the message describes a normal condition or success Most errors are caused by serial communica
26. t the limit was triggered Could be line noise or wiring errors Turret Couldn t find index The program executed moves that should have gotten us centered on an index but the index wasn t detected Check motor motions index inputs Turret Unable to lock pin The ADC Turret lock pin didn t lock when it was commanded to Check lock limits lock motion and turret position make sure the turret was in a valid position for the lock to occur Turret Bad index We landed on an index when we should have been at the forward limit Check ADC turret motion position and index detection Turret Motion error The ADC turret should have moved to its forward No ADC limit but the limit never got activated Check limit switches turret motion and position Turret motion ignored Locked 25 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL 032 033 034 035 036 037 040 041 042 043 ADC ADC ADC ADC ADC ADC ADC ADC ADC ADC The ADC turret was given a command to move while the lock pin was locked Unlock with AT UNLOCK Turret Unable to move mirror not down To prevent damage to the M3 mirror the mirror must be in the down position before moving the ADC turret Turret motion ignored already at limit A move of the ADC Turret was commanded towards a limit that was already set Check turret position and limit inputs Turret motion ignored
27. ta values the program ignores the description in front of them and DO NOT add blank lines between values System Parallel port address in hex PARPORT 378 Serial communication constants Address of this computer on the line to the host computer Address J Prompt character for this computer Prompt Response character of this computer 10 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL omm Response Amount in parts per million to speed up or slow down the system clock Use this to make the system clock as accurate as desired ClockPPM 0 Time in seconds before mirror motion times out Mirror MotionTimeout 60 Time in seconds for mirror latches to completely open close Mirror FullLatchMove 8 M3 Turret acceleration in steps sec sec M3Turret Acceleration 500 0 M3 Turret maximum velocity in steps sec M3Turret MaxVelocity 500 0 M3 Turret motion initial stepper pulse in milliseconds M3Turret InitialPulse 50 M3 Turret emergency stop distance steps M3Turret EmergencyStopDistance 150 Time in seconds before M3 Turret Lock Pin times out M3TurretPin MotionTimeout 30 ADC Turret acceleration in steps sec sec ADCTurret Acceleration 500 0 ADC Turret maximum velocity in steps sec ADCTurret MaxVelocity 500 0 ADC Turret motion initial stepper pulse in milliseconds ADCTurret InitialPulse 50 11 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE US
28. tion errors or by some piece of remote equipment being turned off A certain number of errors may occur when the program is loaded before the serial communications are properly initialized A few errors will occur during normal operation The messages are numbered from 0 to 999 When the message buffer is full new messages are written over the old ones starting from the beginning so message 1000 is written to location 0 and so on The most recent message is displayed in white You can scroll back and forth through the message buffer using the cursor keys To return to the page with the most recent message be sure to use End or else new messages will not appear on your screen although new messages will always be written to the message buffer The elapsed time in days that the program has been running is shown next to the ET entry 17 TERTIARY MIRROR CONTROL SYSTEM SOFTWARE USER MANUAL Serial Communication 5 Control System Serial Communication Standards Not implemented yet There is always a host upstream computer and a guest downstream computer The host computer is frequently the TCS with the guest being the tertiary mirror computer The TCS system sends a command and the guest responds immediately to that command Guest computer never broadcast without being queried which allows multiple guests to be chained on the same serial line Full command format Jnddddddddddccr The is the prompt ch
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