VERY LARGE TELESCOPE
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1. Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 58 of 74 SPAREINI acro0 29 0 VCCVLO acro0 30 0 used form AT1 on ILMOTIONSTOPI acro0 32 0 BRAKE2DISI acro0 33 0 BRAKE1DISI acro0 34 0 ILOVERRIDEI acro0 35 0 MOTPOWEREDI acro0 37 0 ILENABLEO DIOO acro0 38 0 P400VOKI acro0 39 0 ILOVERSPEEDI acro0 40 0 ILFAULTI acro0 41 0 ENCODEROKO acro0 42 0 TACHOHIGHSENSI acro0 43 0 ILMANUALI acro0 44 0 VICINITYNEGI acro0 45 0 VICINITYPOSI acro0 46 0 HOME1I acro0 47 0 ILRELOCATIONI acro0 48 0 ILLOCKPINII acro0 49 0 ILPOSLIMI acro0 50 0 ILNEGLIMI acro0 51 0 TACHOHIGHSENSO acro0 52 0 TACHOOKI acro0 53 0 RESETI acro0 55 0 ILLOCKPIN2I acro0 56 0 INTERLOCKI acro0 57 0 SPAREOPTO acro0 58 0 SPEEDMODEI acro0 59 0 used form AT1 on DRIVEENABLEO acro0 60 0 ILRESETO acro0 61 0 ILBRAKEMANI acro0 62 0 P24VONO acro0 63 0 ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 59 of 74 12 3 Azimuth analogue signals E S O e 4 who VLT project Ck Kk Ck ck kk Ck kk Ck Ck Ck Ck CK Ck Ck Ck Ck Ck Ck Ck Ck Ck Ck Ck kk Ck ck KA kk Ck kk KK KKK KKK kk Ck ck kk ko Sk Sk ko kk KK Mk kv Sk ko AAA SId a2. INIT ONLINE state ONLINE ANA 6 Set xy table in pos 3 040 PRCNT Probe moves to center position Change center position in probe data atp xyt con database fig xOffset UPDATE NAO NENNEN EA Probe moves to new center pos probe moves to Park position Start tracking probetrkServer to sub send to probetrkServer state TRACKING 181920 1 883344 2 PRABS AD 181920 1 probe moves approx 3 nm 10 Rejected Position out of 883344 567 range OFFSAD 1800 1800 probe moves to position ITT Ter AAA Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 46 of 74 11 PROBJ probe moves to position 181920 1 88334 his is the local effect of this command at probeServer level Other actions on higher level are not tested STANDBY AAA A Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 47 of 74 9 MODULE TESTS OF WORKSTATION MODULES Purpose Run the module tests for all workstation modules Pre requisite Duration Requires The activities have been assigned test IDs as follows s MTO1 9 1 Description The modules tests are run on the target machine with the ATCS system fully installed and the environment running In this case the sequence of testing is not important TRUE 9 2 Actions Test cases fest Id Module er
3. Doc VLT VER ESO 15151 2738 Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 28 of 74 6 2 Startup sequence 6 2 1 Description This test section is a test of the software that runs the axis startup sequence and also of some hardware logic involved in startup as well as tests of the hardware related axis dependant panel ataltazA zGui The hardware test switches and the Inducer panels are used to control and monitor hardware signals and the ataltazAzGui panel is used to send commands and to check signals Digital signals are checked for both values and analogue signals with a few representative values 6 2 2 Actions Test cases Expected Result Status AZ2 Check all I O signals in All signals correctly dis panel ataltazAzGui played 2 Set DRIVEENABLEO using Inducer panel set tac ONLINE set velocity reference 10 Clear DRIVEENABLEO motor stops while motor turning set velocity ref 0 Normal Startup EM E EA LEDO OA PES INIT on ataltazAzGui Clear P400VOKI INIT Set P400VOKI a TACHOOKI ST TACHOOKI Clear MOTPOWEREDI INIT Set MOTPOWEREDI Clear BRAKEIDISI INIT Set BRAKEIDISI Clear BRAKE2DISI Motor makes init sequence and stops Signals set during INIT ILENABLE_DIOO DRIVEENABLEO TACHOHIGHSENSO VCCVLO P240NO Signals cleared during INIT INTERLOCKI Rejected Error log Setting and clearing signals as in previous case is
4. Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 43 of 74 8 5 NDF AFD Functions 8 5 1 Description These two motorized axes are controlling the Neutral Density Filter wheel for STRAP flux limitation and the Aperture Field Diaphragm inside the STRAP head 8 5 2 Actions Test cases Testld__ Command Action____Expected Result Status DCS5 1 NDFaxis OB NOK see comment below yet The Reference Switch is seen always active by the MACCON board After replacement of the VME4SA back plane is has been OK for some time then failed again The switch is correctly working and the problem seems to be lying in the MACCON board TTL levels ESO TEC HW team to solve Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 44 of 74 8 6 M6 8 6 1 Description The M6 is controlled by STRAP there is no way to move M6 except doing it via STRAP In fact testing STRAP also requires M6 so the two are very much integrated The interaction matrix that relates a STRAP error vector with the corresponding M6 correction is measured and calculated using a dedicated STRAP functionality see RD 2 The coefficients for the M6 controller in STRAP have been determined before these tests This operation is described in the coming Integration Test Report 8 6 2 Actions Test cases Testid Command Action Expected Result Statu
5. FSS Field diaphragm Y34 o TI FSSHlerwed Z12 II PFSSTranslationstageeX Z16 IT FSS Translation stage Y Z17 o TI Field amp PHASE amplifier 75 00 Amplifier analogue 34 nn LEES serial link V13 Z31 pod Field supplies Lemo4a Lemo4b Y31 T TCCD fiber Y301 308 STRAP APD Y32CL Y32SG Y32HV PE Sensor CPUO console M6 Signa cabinet gt o Cl Colig owsmo Yi Sid SSS A O CR D Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 68 of 74 148 M6 cabinet connections See annex01 of RD 8 for detail of connections listed below 14 8 1 Connection Test cases feet konnection Expected Result Status __ 230V UPS ER Protective earth XI Cooling supply inlet BR EE ee Se a Y333 Control Optic fibre X204 ST 20 14 9 Auxiliary VME connections See annex01 of RD 8 for detail of connections listed below 14 9 1 Connection Test cases SE O E Result Status O rar Control LAN Optic fibre Hub 5T Rx RAR M Air conditioning Sauter W41 Z31 Transporter Siemens PLC W42 Z31 Sensor CPU console pen coto pa C o Y8 EA HAHAHA Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 69 of 74 14 10 TCCD connections See RD 7for detailed connections scheme 14 10 1 ACE box Connection Test c
6. diffGain integGain in point trackingAxis vta alt POS LOOP DIGVCTRL with the new Kp Kd Ki ESO Doc VLT VER ESO 15151 2738 Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 19 of 74 5 3 Startup sequence 5 3 1 Description This test section is a test of the software that runs the axis Startup sequence and also of some hardware logic involved in Startup as well as tests of the hardware related axis dependant panel ataltazAltGui The hardware test switches and the Inducer panels are used to control and monitor hardware signals and the ataltazAltGui panel is used to send commands and to check signals Digital signals are checked for both values and analogue signals with a few representative values 5 3 2 Actions Test cases Expected Result Status ALT2 1 Check all I O signals in panel ataltazAltGui All signals correctly dis played Set DRIVEENABLEO using Inducer panel settac ONLINE set velocity reference 1 Clear DRIVEENABLEO motor stops while motor turning set velocity ref 0 Normal Startup gt 0 DA A AS IN m 12 13 14 INIT on ataltazAltGui Clear P400VOKI INIT Set P400VOKI cea TACHOOKI Sart TACHOOKI a MOTPOWEREDI Seth MOTPOWEREDI aaa BRAKEIDISI Sa BRAKEIDISI m BRAKE2DISI Motor makes init sequence and stops Signals set during INIT ILENABLE DIOO DRIVEENABLEO TACHOHIGHSENSO VCCVLO P240NO Signals cleared du
7. 03 Based on Signal List Draft 2 atcsmgr 2000 11 23 created Ck CK Ck ck kk Ck Ck Ck Ck Ck Ck Ck CK Ck Ck Ck Sk Ck Ck Ck Ck Ck Ck Ck Ck Sk Ck kk Ck Ck kk Ck ck kk Ck kk Ck ck kk Ck kk ko Sk Sk ko kx Sk kx ko kk ko ko ko ko oOo NAME SYNOPSIS DESCRIPTION FILES ENVIRONMENT RETURN VALUES CAUTIONS EXAMPLES SEE ALSO BUGS name device number conv range TELTEMP11 aio0 0 L O 10 0 10 0 1 0 0 TELTEMP21 aio0 1 L O 10 0 10 0 1 0 0 TELTEMP 31 aio0 2 1 0 10 0 10 0 1 0 0 TELTEMP41 aio0 3 1 0 10 0 10 0 1 0 0 TELTEMP 51 aiod 4 L 0 10 0 10 0 1 0 0 TELTEMP 61 aio0 5 L O 10 0 10 0 1 0 0 ELTEMP7I aio0 6 L 0 10 0 10 0 1 0 0 ELTEMP8I aio0 7 L O 10 0 10 0 1 0 0 TELTEMP 91 aio0 8 L 0 10 0 10 0 1 0 0 TACHOFI aio0 9 L 0 10 0 10 0 1 0 0 VCCVLO aio0 10 L 0 10 0 10 0 1 0 0 TREF INI aio0 11 1 0 10 0 10 0 1 0 0 PHASEMONITORI aio0 12 1 0 10 0 10 0 1 0 0 AOOCWI aio0 13 L 0 10 0 10 0 1 0 0 EXTREE aio0 14 L 0 10 0 10 0 1 0 0 TP7I aio0 TS 1 0 10 0 10 0 1 0 0 REFOUTO aio0 0 L 0 10 0 10 0 1 0 0 AUXOUTO aio0 L 0 10 0 10 0 1 0 0 ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 56 of 74 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page
8. 06MAR by SLE Range measured 252 7 deg compared to the 260deg indicated on drawingVLT FIS DWG 151136 01 Some position might also be too close to the limit switch overshoot in motion might end into the limit 5 position 4 on drawing not known by SW team until test Please check assignments and inform SW 5 n D Z ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 25 0f 74 5 9 Altitude Services functions 5 9 1 Description In addition to ccseiMsg the panel ataltsrvgui is used to send commands and check status 5 9 2 Actions Test cases Test id Command Action Expected Result Status Test date Test result ALT8 1 Telescope Temperature monitoring 21FEB 24FEB NOK Missing power supply on the 4 20mA signal conditioners TopRing signal is inverted the voltage read is negative CR in ICD needed for consistency OK The FITS logs shall be modified to indicate the name of the measured quantity ALT8 2 Altitude Cabinet Cooling 01MAR OK Temperature given with 0 1C resolution Alarms to be checked on Control Model AMOS to test the interlock when door open a variable in PKC shall indicate this status Fan shall stop when door opened PKC address set to 23 for all ATs How easy to change it Shall be in DB configuration AMOS to deliver the final design report on Altitude Cabinet Cooling
9. 30 0 ILMOTIONSTOPI acro0 32 0 BRAKE2DISI acro0 33 0 BRAKE1DISI acro0 34 0 ILOVERRIDEI acro0 35 0 MOTPOWEREDI acro0 37 0 ILENABLEO DIOO acro0 38 0 P400VOKI acro0 39 0 ILOVERSPEEDI acro0 40 0 ILFAULTI acro0 41 0 ENCODEROKO acro0 42 0 TACHOHIGHSENSI acro0 43 0 ILMANUALI acro0 44 0 VICINITYNEGI acro0 45 0 VICINITYPOSI acro0 46 0 DIRSWITCHII acro0 47 0 ILRELOCATIONI acro0 48 0 ILPOSLIMI acro0 50 0 ILNEGLIMI acro0 51 0 TACHOHIGHSENSO acro0 52 0 TACHOOKI acro0 53 0 DIRSWITCH2I acro0 54 0 RESETI acro0 55 0 ILSPARE1I acro0 56 0 INTERLOCKI acro0 57 0 SPEEDMODEI acro0 59 0 DRIVEENABLEO acro0 60 0 ILRESETO acro0 61 0 ILBRAKEMANI acro0 62 0 P24VONO acro0 63 0 _ 000 12 4 1 Detector LCU analogue signals ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 62 0f 74 12 4 2 Detector LCU digital signals ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 63 of 74 13 APPENDIX 2 PANELS Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 64 of 74 14 APPENDIX 3 HW CONNECTIONS 14 1 Altitude VME connections See RD 8 and annex01 for detail of connections listed herebelow 14 1 1 Connection Test cas
10. ENVIRONMENTS atlalt iklidaEnc config params 5 1 and 5 2 36000 22 15 2 Check set before start test azimuth attribute name Garching Li ge explanation value value trackingAxis vta az POSLOOP ABSENCODER CONTROL configOpmode using 4 Heads 2 Boards see iklidalnternal h trackingAxis vta az POSLOOP ABSENCODER CONTROL e g 3 0 0 02618 axis init velocity rad sec initSpeed trackingAxis vta az POSLOOP max_velocity 0 02618 max vel rad sec trackingAxis vta az POSLOOP max_ acceleration trackingAxis vta az POSLOOP VELLOOP convFactor 2 53 255 5 velocity scale V rad s in file ataltazDigVelBlksAz tac Tacho scale deg sec V block name TachoScale 22 582 0 22421525 0 24592 0 bloch Name SpeedRefScale 22 582 0 0 22421525 0 block name PID2 1 0 1 0 0 1 0 1 0 1 0 0 1 0 D 0 in file vltdata ENVIRONMENTS latlaz iklidaEnc config params 5 1 and 5 2 36000 22 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 73 of 74 15 3 Parameters involved in control loop tuning The table below lists attributes for azimuth the corresponding attributes and the same start values are used also for altitude attribute name Start Final explanation value value trackingAxis vta az POSLOOP DIGVCTRL propGain 0 1 as tuned trackingAxis vta az POSLOOP DIGVCTRL integGain 0 as tuned trackingAxis vta az POSLOOP DI
11. ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 16 of 74 5 LCU FUNCTIONS ALTITUDE Purpose approach Pre requisite Duration Requires Systematic check through all altitude LCU application functionality in a bottom up IO signals OK The activities have test IDs as follows ALTO ALTI ALT2 ALT3 ALTA ALTS ALT6 ALT7 Check set configuration data velocity controller tac rtc Startup sequence alt axis control alt tracking monitoring M2 functions Nasmyth Focus Device functions ALTS Altitude Services 5 1 Check set configuration data feel Command Action Expected Result Status ALTO0 1 Check set configuration data see 15 1 5 2 Velocity controller tac rtc Do we need the notch filters that we had for UTs If yes where are they If no why not Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 17 of 74 5 2 1 Description Before any tests involving axes motions can be done a first iteration of velocity loop tuning must be done The control parameters must be set to allow a safe motion perhaps slow but without oscillations This is done without involving the position control at all this means that the normal axis start up sequence cannot be used since that involves motion of the axis Use the panel tacgui to send commands to the velocit
12. Encoder initialised 17 ONLINE from panel Lage becomes Online 18 PRESET abs 30 100 Check with STATUS command that the motor moves to position 30 degrees 19 PRESET rel 30 100 Rejected setpoint out of range 20 Set signal ILFAULTI to check Error log with the correct interlock appears while in signal name position control Also INTERLOCKI is set by hw 21 Clear LFAULTI PP A A G j NAO O O A oema 40 deg in 20 sec 25 VANTOC 0 5 30 60 motor moves from 40 to 30 deg in 20 sec 26 STANDBY INTERLOCKI gets active DRIVEENABLEO cleared State becomes STANDBY Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 22 of 74 5 5 Alt tracking 5 5 1 Description The tracking functionality is exactly the same as for the UTs so there is no need to repeat all that function ality Here are defined just a few cases to verify that the interface between tracking and axis control is OK Test start condition the alt axis is ONLINE Use ccseiMsg to send commands and get status to alttrkServer 5 5 2 Actions Test cases IO INIT state becomes Loaded ALT42 ONLINE state becomes ONLINE o o ALT43 OBJFIX 40 50 motor moves to40deg II ALT44 OFFSAA 36003600 motor moves to 41 deg o o ALTA 5 OFFSAD 10 20 rejected not no ALT4 6 OBJSTAR 101112 880000 Motor presets and then starts trackin
13. It is questionable whether the power supply of the fans shall be UPS No non UPS supply in Cabinet It is desirable to have a 230V socket for external appliances like laptop oscilloscope Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 26 of 74 6 1 6 1 1 LCU FUNCTIONS AZIMUTH Purpose Systematic check through all azimuth LCU application functionality in a bottom up approach Pre requisite IO signals OK Duration Requires The activities have been assigned test IDs as follows e AZI velocity controller tac rtc e AZ2 Startup sequence e AZ3 az axis control e AZA az path selection AZ5 az tracking e AZ6 MIO functions e AZT Coud Focus Device functions Velocity controller tac rtc Do we need the notch filters that we had for UTs If yes where are they If no why not Description Before any tests involving axes motions can be done a first iteration of velocity loop tuning must be done The control parameters must be set to allow a safe motion perhaps slow but without oscillations This is done without involving the position control at all this means that the normal axis start up sequence cannot be used since that involves motion of the axis Use the panel tacgui to send commands to the velocity controller and to monitor its behaviour The power amplifier is enabled disabled by setting clearing the signal DRIVEENABLEO
14. WS All ONLINE ONLINE 14 Preset to object Telescope presets and HA 3h dec 450000 starts tracking OFF to altServer alt LCU goes ONLINE IDLE eer actors see above actions see above 17 Preset to p a presets and 18 set INTERLOCKI TRUE Check actions see above LI 19 set INTERLOCKIEFALSE no reaction on meme or any module Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 53 of 74 11 4 Guiding Field Stabilization Test various error cases loosing guide star tracking stopped TCCD STRAP not ONLINE Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 54 of 74 11 5 Chopping various choppping params chopping FS chopping AG errors while chopping 11 5 1 Actions Test cases feet Command Action Expected Result Status ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 55 0f 74 12 APPENDIX 1 SIGNAL CONFIGURATION FILES 12 1 Altitude analogue signals E S O e 4 who VLT project SId Ck CK Ck ck kk Ck CK Ck Ck Ck KKK Ck Ck KK KKK KKK kk KKK KKK KKK KKK KKK kk Ck ck kk ck kk Ck ck kk ko kk Sk kk Sk Sk ko RA ko kx ko AAA ataltazAltAnalog config v 1 30 2002 01 22 13 41 24 vltsccm Exp when what kwirenst 2001 04
15. be in LOADED or ONLINE Open loop M6 amplifier is switched on ovis n mt AA EE ccdStartFas HM NN BCE DCS3 3 SHUTDOWN the CCD A goes to OFF 22FEB DCS3 4 Startup TCCD State goes to ONLINE NOK discontinuity in optical fibers OK with direct ESO fibers The optical mergers in the ROS were found in opposite direction Tested all fibers from LCU to ACE Found discontinuity in socked 1 o fiber 3 instead with exp time 0 1 sec exposure counting starts DCS3 6 in rtd panel attach the green transmission 27FEB camera indicator starts blinking DCS3 7 switch on the star and the star is approx in 27FEB No star available yet but dark adjust voltage the center of the image image correct no visible patterns Dark level correct e AAA NENNEN NENNEN changes DCS39 SHUTDOWN eg TI The color assignment for the fiber bound LCU GIS is 1 Black 2 Red 3 Orange 4 Yellow 5 Green 6 Blue AMOS it is essential that the continuity tests are made from the LCU to the ACE The continuity test performed from the GIS socket down to the mergers is in no way sufficient AMOS The GIS socket 1 shall be checked The GIS fiber sockets must be labelled Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 41 of 74 8 4 XY table functions 8 4 1 Description This section is testing the basic commands and the basic motions of the XY table Some XY table performa
16. set active high kwirenst 2001 04 23 Added missing signal DIRSWITCH2I atcsmgr 2001 04 09 shorten name of DIRECTIONSWITCH1I kwirenst 2001 04 03 Based on Signal List Draft 2 atcsmgr 2000 11 23 created KKEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK NAM ataltazAzDigital config AZ digital signals configuration file Led SYNOPSIS DESCRIPTION FILES E NVIRONMENT RETURN VALUI E un CAUTIONS NEVER remove the info field or leave one of the fields empty The software won t tell you it will let you search the error for hours EXAMPLES SEE ALSO BUGS name device batt width sim info STATIONIDI acro0 0 8 114 ILCWFAULTI acro0 11 0 ILCWNEGLIMI acro0 12 0 ILCWPOSLIMI acro0 13 0 ILGISDOORI acro0 14 0 ILEWAI acro0 15 0 TIM1_HWG40 acro0 16 0 TIMI HWG5O acro0 17 0 TIM1_TOUTOI acro0 18 0 TIM1_TOUT1I acro0 19 0 P24VOKI acro0 20 0 NEGVMOKI acro0 21 0 POSVMOKI acro0 22 0 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 61 of 74 VXOKI acro0 23 0 WDTMTI acro0 27 0 SPAREOUTO acro0 28 0 2 SPAREINI acro0 29 0 VCCVLO acro0
17. using the acroxInducer panel Configuration and database data involved in control loop tuning see 15 3 The alt LCU shall be re booted just before the start of the tests This test is just of the basic behaviour of the velocity controller The integrated test with axis control including position control is done in 6 3 ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 27 of 74 6 1 2 Actions Test cases Expected Result Status Set alt axis to approx 89 deg using handset Set az axis to approx 0 deg Check configuration data see15 2 INIT ONLINE Check Kp Ki and Kd in tacgui B set ref vel 0 V set ref vel 1V Adjust Kp as appropriate Keep switching vel ref between OV and 1 V and adjusting Kp and Ki until step response is OK Update ataltazAz tac with i new values of Kp and date the db attributes propGain diffGain integGain in point trackingAxis vta az POS LOOP DIGVCTRL with the new Kp Kd Ki Make steps between 5V OV 5V and adjust Kp and Ki until steps are OK tac state substate becomes ONLINE initialised ACTIVE Kp 0 1 alt axis standing still Check in tacgui Speed ref 0 Speed feedback 0 PID output 0 torque ref 0 axis moves Check step response actual values of ref and feedback are updated Check that Speed ref 0 4 deg s Speed fbk 0 4 deg s Enable amplifier pu E A ESO
18. 2 tac speed loop controller Note the temperature reading is implemented only in the Altitude tac not in the Azimuth one Parameter values Parameter Altitude Azimuth Sampling ime 2 ms 2 ms Tacho scale Kv 0 5 11 72 V s 0 5 8 92 V s 335 5 V s rad 255 5 V s rad Max speed 2 s 1 5 s Tacho input max 10V 10V Torque output max 10V 10V Amplifier scale 0 74 A V 0 74 A V Motor constant 125 Nm A 150Nm A Drive Torque scale Kt 92 5 Nm V 110Nm V Torque output max 10V 10V The tacho full scale ranges is 20V at PHASE outputs it is divide by two in the dico interface card Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 71 of 74 Load Inertia J 5600 kg m2 9560 kg m2 The calculated velocity loop gain P I for the specified closed loop bandwidth of 8 Hz are see also RD 4 Parameter Altitude Azimuth D 0 0 Tuning the speed loop Make sure to limit the output torque of the DICO2 by mean of 1V zener diodes across the Trefin signal NOTE the Tacho feedback signal has to be divided by 2 compared to Garching configuration on the DICO2 board Tune the PI parameters for optimised step response Note keep parameter D 0 14 12 2 Position loop Encoder parameters Parameter Altitude Azimuth Type RON905 LIDA 4 heads Number of signal 36000 122520 period Nsp Measuring step 8 79E
19. 3 2 582E 3 IK320 arcsec arcsec The calculated position loop gains Kp and Ki for the specified closed loop bandwidth of 2 Hz are see also RD 4 Calculated values assuming encoder position in rad and velocity command in rad s Parameter Altitude Azimuth ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 72 of 74 15 APPENDIX 4 DATABASE CONFIGURATION This appendix lists some database attrributes that need special care before start of testing or during testing in Li ge either because the value must be set different than in Garching or because they are involved in the servo loops tuning process 15 1 Check set before start test altitude attribute name Garching Liege explanation value vane trackingAxis vta alt POSLOOP ABSENCODER CONTROL configOpmode using 1 Head 1 Board see iklidalnternal h trackingAxis vta alt POSLOOP ABSENCODER CONTROL e g 3 0 0 03491 axis init velocity rad sec initSpeed trackingAxis vta alt POSLOOP max_ velocity 0 03491 max vel rad sec trackingAxis vta alt POSLOOP max_acceleration trackingAxis vta alt POSLOOP VELLOOP convFactor 2 53 335 5 velocity scale V rad s in file ataltazDigVelBIksAlt tac block name TachoScale 22 582 0 17064846 0 24592 0 bloch Name SpeedRefScale 22 582 0 0 17064846 0 block name PID2 1 0 1 0 0 1 0 1 0 1 0 0 1 0 D 0 in file vltdata
20. 5 3 2 tests that signals appear in the panel ataltazAltGui 4 3 2 Actions Test cases feet Command Action Expected Result Status 101 1 Test ALAZ digital signals see list in 12 2 101 2 Test ALAZ analogue signals see list in 12 1 4 4 Connect and test all signals of the azimuth LCU 4 4 1 Description See also the test case in 6 2 2 tests that signals appear in the panel ataltazAzGui 4 4 2 Actions test cases Ve Command Action Expected Result Status Test digital signals see list in 12 4 102 2 Test analogue signals see list in 12 3 4 5 Connect and test all signals of the detector LCU 4 5 1 Description 4 5 2 Actions Test cases feet Command Action Expected Result Status Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 13 of 74 4 6 Check serial connection lines 4 6 1 Description This is the basic test of the serial ports the check is done by connecting a terminal directly to each side of a serial connection LCU serial port and device side serial port except for PLC side connections which are tested in the chapter below 4 6 2 Actions Test cases 104 1 M2 connection Communication In and 19FEB OK AA AS A Cab temp connection Communication In and 20FEB OK but was set to 19200 baud Ja L E alt LCU OUT OK 2 Beacon connection UU HN In and 21FEB alt LCU UT OK L ralla ej az LCU UT OK Siemens PLC connec
21. 57 of 74 12 2 Altitude digital signals Ck Kk ck kk Ck kk Ck Ck Ck Ck CC Ck Ck Ck Ck Ck Ck kk Ck kk Ck Ck kk Ck KKK KKK KK kk Ck kk Ck KKK KKK KKK KKK KKK KKK kk ko kx ko ko kockok E S 0 VLT project Id ataltazAltDigital config v 1 30 2002 01 22 13 41 25 vltsccm Exp who when what kwirenst 2001 09 10 OPDOORI deleted BRAKEnDISI set active high kwirenst 2001 04 03 Based on Signal List Draft 2 atcsmgr 2000 11 23 created KKEKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK NAM ataltazAltDigital config ALT digital signals configuration file E SYNOPSIS DESCRIPTION FILES E NVIRONMENT RETURN VALUI E ca CAUTIONS NEVER remove the info field or leave one of the fields empty The software won t tell you it will let you search the error for hours EXAMPLES Wei I E ALSO BUGS name device bit width sim info ff was used on latOalt HH DRENABO acro0 32 1 0 DriveEnable ILENDSTOPSAI acro0 14 0 ILENDSTOPSBI acro0 15 0 TIM1_HWG40 acro0 16 0 TIM1_HWG5O acro0 17 0 TIM1_TOUTOI acro0 18 0 TIM1_TOUT1I acro0 19 0 P24VOKI acro0 20 0 NEGVMOKI acroO 21 0 POSVMOKI acro0 22 0 VXOKI acro0 23 0 WDTMTI acro0 27 0 SPAREOUTO acro0 28 0
22. 738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 36 of 74 7 LCU FUNCTIONS AUX Purpose Systematically check through all LCU application functionality in a bottom up approach Pre requisite IO signals OK Duration Requires The activities have been assigned test IDs as follows e AUXI Siemens PLC functions ecs ros srv trl e AUX2 Sauter PLC functions acs 7 1 Siemens PLC functions 7 1 1 Description 7 1 2 Actions Test cases Test ld Command Action Expected Result Status TT 7 2 Sauter PLC functions 7 2 1 Description Actions test cases Testld Command Action Expected Result Status Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 37 of 74 8 LCU FUNCTIONS DCS Purpose Systematic check of all LCU application functionality in a bottom up approach Pre requisite IO signals OK Duration Requires The activities have test IDs as follows e DCSI Check utility I O signals e DCS2 FSS device STRAP DCS3 FAS device TCCD DCS4 XY table functions DCS5 M6 functions DCS6 NDF AFD functions e DCST probe tracking 8 1 Check utility I O signals 8 1 1 Description This section is testing some special utility functions that are controlled via digital I O signals The functions are tested using the panel atdcssrvgui Testld Command Action____Expected Result St
23. CU failed itunexpectedly left state ONLINE unexpected power off e an interlock signal was asserted The correct behaviour for these errors is e CU failed The ws process trkws is event triggered When triggered it sends command STOP to all other tracking LCUS i e azimuth and xy table which then go to state ONLINE IDLE e interlock signal ASSERTED a log message is generated giving the name of the interlock signal the position loop is opened the velocity reference is set to O the velocity loop is opened the power amplifiers are disabled set state to STANDBY For each of the simulated error test cases the correct and complete set of actions as described above shall be checked In the case of Interlocks it shall also be checked that the telescope remains switched off and standing still when the interlock signal is NEGATED Sending command OFF to aztrkServer or alttrkServer simulates the error LCU failed Use the switches to simulate interlocks Since all interlock signals cause the same set of actions it is enough to test on the signal INTERLOCKI which is asserted hardware wise whenever ANY interlock signal is asserted this latter fact was tested in the hardware sections above Before the tests start alt and az LCUs shall be rebooted Use panels atguiStatus and atguiTCS to send commands Testld Command Action____ Expected Resul Status Testresut INT3 13 Set tracking LCUs and
24. EUROPEAN SOUTHERN OBSERVATORY Organisation Europ enne pour des Recherches Astronomiques dans l H misph re Austral Europ ische Organisation f r astronomische Forschung in der s dlichen Hemisph re ESO EUROPEAN SOUTHERN OBSERVATORY VERY LARGE TELESCOPE Auxiliary Telescope Control System Li ge Test Plan Doc No VLT VER ESO 15151 2738 Issue 2 0 Date 2004 04 23 ONLY FOR INTERNAL USE Prepared K Wirenstrand J M Moresmau Approved B Koehler G Raffi Released M Tarenghi Name Date Signature Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 2 of 74 CHANGE RECORD Issue Affected Paragraphs s Reason Initiation Remarks 2 0 2002 01 30 All First issue 2 0 2004 04 23 All Test report Liege FEB2002 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 3 of 74 TABLE OF CONTENTS 1 INTRODUCTION cionado daa Ed 5 1 1 Purpose nan a aa oda E 5 1 2 Applicable Documifits ioo eq ee eo e e ito bado seek bas ED E bits 5 1 3 Reference Documents mz eque tete ete deve cous den deet sues te leve iii didas sexus Gs ee ie aude 5 L Eist of Abbreviation S ACTODyInS 5 ep eee pa e e qp een e DR en o D D exe RD D eve see Roa 5 De OVBRVIBW 52 hee g eegent backs Postes de aluet queue ratu coe eie fedi dere foe qu caus fan Ete fos dvs 7 2 1 Ge
25. GVCTRL diffGain 0 as tuned trackingAxis vta az POSLOOP Alg_switch 0 1 0 035 0 005 0 0035 0 00 005 trackingAxis vta az POSLOOP Kp 2 as tuned trackingAxis vta az POSLOOP Ki 0 as tuned trackingAxis vta az POSLOOP Kb 0 5 as tuned ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 74 of 74 oOo
26. HAT ATA ATA DCS2 5 Cheek Closed loop behaviour __ SS Put XY table in center of star pos Have sequential exposures running on TCCD See test 8 4 2 Close STRAP loop small centroids 10 small M6 corr lt 0 1 Offset XY table in X 165 u 0 5 M6 is corrected by 0 5 Star moves 0 5 on TCCD Offset XY table in Y 165 u 0 5 M6 is corrected 0 5 90 deg rotated to previous Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 39 of 74 o_o star motion on FD Ote XP bre in X 165 M6 going back RE T Ofer XY table in Y 165p M6 going back ELE Set XY table X velocity to 0 1 s M6 moving 0 1 s Centroids always small A Opentoop Z CT Stop X table 0 0 0 0 0 o 0 0 0 0 0 0 0 0 0 O ro STRAPNT ee EEN gt DCS2 6 Check STRAP linearity See coming Test Report o n Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 40 of 74 8 3 FAS device TCCD 8 3 1 Description The TCCD head is mounted before the XY table and STRAP but after M6 That is to say that M6 motions will move the star on the TCCD but XY table STRAP head motions will NOT The CCD stand alone control panel is used to control the TCCD and images are displayed using the tcscam rtd 8 3 2 Actions test cases The LCU is just booted before the tests start STRAP should
27. O amp CPUI Z11 W10 amp W11 console ports Altitude CPUO amp CPUI Z21 W10 amp WII console ports at service panel __ Other connetions Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 66 of 74 14 5 Service panel connections 14 5 1 Connection Test cases Testld konnection Expected Result Status AludeCPUOcosoe win IT AliudeCPUlcosoe Wr LI 14 6 Azimuth VME connections See annex01 of RD 8 for detail of connections listed below 14 6 1 Connection Test cases Fest 1a konnection Expected Result Status TIME synchro RS485 during tests to Sensor and Altitude via cable wrap Control LAN Optic fibre Hub 2T Rx Doo TI O OEY _ _ a hz _ 2 AA D CAME EEN Azimuth Encoder Head 1 XI X3 X3 Field amp PHASE amplifier Z5 24V supply PHASE E 31 24V amplifier Z5 32 GND best Amplifier analogue PA serial link v13 Ps MN E bol LL MI ao nu controller y i 4 eee 1 Lo Azimuth CPUO console E ___ AltiudeCPUl console W230 AAA Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 67 of 74 14 7 Sensor VME connections See annex01 of RD 8 for detail of connections listed herebelow 14 7 1 Connection Test cases TIME synchro RS485fortet J Control LAN Optic fibre Hub 4T Rx
28. S 42 a E E ali mae Malian al na us ade 55 12 27 Altitude digital sistials aia 57 UR Azimu th EE EE 59 12 4 Azimuth digital signals 1o e Errare teer ei halo All ieee ae 60 15 APPENDIX 2 PANELS 30 Sierra e tede rade tee EE 63 14 APPENDIX 3 HW CONNECTIONS ann an a ee TE E E TE E ES ET 64 14 1 Altitude VME conn ctions nce eii 64 142 Signal cabinet connections a ode AN 65 14 3 Hub Lan connections nee ect redeo erede erede ei evo de edere E eee eue eee Ee 65 TAA C blewrap cobinections TEE 65 14 5 Sefvice panel Connections ui eet e ro EE 66 to Azimuth VME Connections cette eee aene natae entem es 66 14 77 5 Sensor VME Connectors tee oe adamante eniin dee 67 14 8 MoO cabinet Connections dtd tease da E aha ad cds 68 14 97 Auxih ry VME connections lt lt act atic ait ta Pi Ra I ee 68 TAI FE CD COnmect ons uere eee ee ahd e 69 14 11 APD head cotnectiOns rt Peek a aie cs a a ced 69 14 12 Servo EE 70 15 APPENDIX 4 DATABASE CONPIOGURATION AAA 72 15 1 Check set before start test altitude see 72 15 2 Check set before start test azimuth see 72 15 3 Parameters involved in control loop tuning seen 73 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 5 of 74 1 INTRODUCTION 1 1 Purpose This document defines the software related tests to be performed in the integration test phase at AMOS in Li ge The first parts of the test
29. ___ 9 STATUS Loaded simulation off 11 STATUS Loaded substate IDLE A os ee Functionally OK but scaling not correct yet ESO to implement IG CENTER y T STO Oo OB p TAN Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 35 of 74 6 7 Coud Focus Device functions 6 7 1 Description In addition to ccseiMsg the panel atefdgui is used to send commands and check status 6 7 2 Actions Test cases Expected Result Status AZ7 1 Check controller tuning 18FEB OK speed acc etc Save config 2 Align wheel positions Relative positions defined Save config according to drawing but not calibrated wrt LHW REF 3 VERSION OK 6 stTOPSM O 7 GETSIM O 8 STATE lodd 5 EE 11 STATUS Loaded Substate Idle e po STOP 24 E es The maximum speed of 2mm s could only be achived FISBA claims 5mm s mec The position accuracy could be reached down to 2 Enc approx 0 35micrometers Is this sufficient Relaxing this constraint could allow to increase the max speed Added new element Pupil Field Viewer as not known by SW team Elements separated by 47mm nominal acc To drawing Range between limits is 200mm Question for ESO what is the position accuracy not specified yet Especially for the Pupil field viewer Doc VLT VER ESO 15151 2
30. ases Testld Connection Expected Result Status pou rcc a Fiber links to 6 Fiber opticlto6 SMA Control supply 22 2 Peltier supply Cooling pipe Inlet i 14 10 2 TCCD Head Connection Test cases SR o Cable to IESSE EE GR Omie3tbi3 Cooling pipe Inlet et 14 11 APD head connections See RD 6 for detailed connections scheme 14 11 1 Connection Test cases Testld Connection Expected Result Status S naris perge E ihe Fischer 5 poles red Contra ____ JFichri9poesbue ______ _________________ Field diaphragm LEMO 10 poles white o o E o o O o EE Wo ooo O E A A coc VE e Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 70 of 74 14 12 Servo loop 14 12 1 Velocity loop The speed loop uses the tac Tool for advanced Control the implemented algorithm is shown here below o w Time e Pati aio AC Cre PID HH e vot amp lu Tacho Tacho deg s Volt T Torque Drive Inertia Volt A Position loop SpeedRef deg s Volt i Monitor TorqueRef aio Temperatures 1 9 ATS tac Figure
31. atus DCS1 1 INIT ONLINE Status goes ONLINE 20FEB OK Ac powered On ad 2 switch on PRA GE box of TCCD is eres ae on 3 off TCCD ACE box switched off Pe NOK 25FEB SC all ground lines on Y31 DCS1 4 switch on M6 amplifier M6 amplifier switched on DCS1 5 switch off M6 amplifier M6 amplifier switched off DCS1 6 M6 in position Signal active when M6 on target DCS1 7 Signal active on overflow DCS1 8 STRAP Gate STRAP counting when FE SURG OE Raus I function OK but not tested active electrically on STRAP input DCS1 9 Reset STRAP STRAP reset Led goes On NOK Reset line is always active for a fraction of a second OK after reversed logic in I F board LCU output signal is active High STRAP input signal is active Low DCS1 10 check flow meter reading Act on cooling pump to see Not mounted in cooling circuit yet the flow meter reading Stop the pump flow meter shall read ZERO Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 38 of 74 8 2 FSS device STRAP 8 2 1 Description This section is testing the basic commands and the basic motions of the STRAP Some performance tests have been done prior to the integration tests and these will not be re done here These performance tests are listed in the table below for completeness and the results will be made available as part of the integration tests report Use the panel atfssg
32. control loop tuning see 15 3 Use the panel ataltazAltGui or ccseiMsg to send commands to altServer and check that the panel is updated as applicable Use sampCtrl to configure and start plotting of position and position error 5 4 2 Actions test cases Expected Result Status Basic step response tuning NOTE save plots of step with alt 60 deg responses when tuning is See RD 4 ready 2 MOVE square 0 000278 10 600 clean square wave with 1 amplitude 10 amplitude ALT3 1 4 MOVE square 0 0278 10 600 clean square wave with 100 amplitude Basic step response tuning with alt 89 deg See RD 4 Basic step response tuning with alt 30 deg See RD 4 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 21 of 74 OVE consp 0 00000278 1 300 The axis moves at 0 01 s for 5 minutes Fine tune if the error curve shows limit cycles MOVE consp 0 0000278 1 300 The axis moves at 0 1 s for 5 minutes Fine tune if necessary Set signal OVERSPEEDI on This is not a test of the the switch panel to simulate interlock chain but a any interlock condition check that the software properly handles the interlock condition 10 INIT while interlock exist INIT rejected with proper error message A X A EE Clear signal INTERLOCKT 12 INIT Motor moves to init point 15 OFF from panel State becomes Loaded S O 16 INIT from panel
33. ei e D RR Rn D RI RM 16 5 3 Startup Sequence TO 19 4 EE lte EE 20 Sede A OA 22 56 MOMOD icd tem epe tte ate i e bt i eH ER TOR 22 S SMQAUNCHONS 4 une attestante p D RR 23 5 8 Nasmyth Focus Device nfd functions ss 23 6 ECU FUNCTIONS AZIMUTH ne ihid et E p titi Seet 26 6 1 Velocity controller taciones ER ERE EE 26 6 2 gt Startup Sequence a tette aem Or PARLE DEC RARE GELD Ee helen mai ee 28 6 3 Azirmuth axis eonttol e entgeet RR RR ERA ER INL ERR IRA ERR EE 29 6 4 Azimuth path selections rin aai aede aH i t i airis 31 6 5 Azimuth traccion 33 6 6 MIO conto ei 34 6 7 Coud Focus Device cfd functions sise 35 7 LEUFUNCTIONS AUX E 36 7 1 Siemens PLC UNC ii a dae ds 36 7 2 Sauter PLC functions esas 36 8 ECU FUNCTIONS DC 37 8 1 Check utility VO sinaloa 37 8 22 ESSdevice STRAP EE 38 8 3 BAS device ICCD cti 40 8 4 XY table Te EE 41 Es SG ET 43 8 6 Probe track ita EE a tic 45 9 MODULE TESTS OF WORKSTATION MODULES siennes 47 9 1 DesSCrIptiOl iii da asa a a aii 47 EE 47 10 EISE Reese ee ee SE ag 48 LL INTEGRATION TEST SCENARIOS cuina ii io ise 49 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 4 of 74 1E Starp and shutdown nan lala 49 KZ Presettitig cited d pente SO UT 50 RR GK e 51 11 4 Guiding NN Ee ET 53 11 5 COPPER 54 12 APPENDIX 1 SIGNAL CONFIGURATION FILES sise 55 12 1 Altitude analogue signal
34. es O ENTE AE E E po EE Fans EE po Protective Earth TI TIME synchro RS485 during tests to Sensor and Altitude via cable wrap test or fibre C17ESO Control LAN JOp cfibeCI ESO o Temperature e TI Nasmmyhwhel ZB E 0 I HH Field amp PHASE amplifier 71 24V supply PHASE Z1 31 24V m TS Amplifier analogue j4 PHASE serial link ts 34 Z11 M2 controller JMACHI JMACH2 JS1 J8 Field supplies J7 J8 Y1 Thermal controller W2 CPU console port W10 WII ln 1 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 65 of 74 14 2 Signal cabinet connections 14 2 1 Connection Test cases feet konnection Expected Result Status LL 230V UPS to strip supply 230V NUPS to Fans strip supply Protective Earth 230V Thermal exchanger NUPS a E 25 sh 14 3 Hub Lan connections See annexOlof RD 8 and for detail of connections listed herebelow 14 3 1 Connection Test cases Fiber 1 to 12 from AT C1ESO X206 OP1 ee Fibber 1 to 8 from cable C3 ESO OP2 X200 A AA Fibber 1 to 8 from cable C4 ESO OP2 X200 AAA ee ee VOS EHE os 14 4 Cable wrap connections 14 4 1 Connection Test cases Fest Id connection Expected Result Status Motion stop and Relocation Z21 Z5 interlock Motion stop and Relocation Z11 Z1 interlock Altitude CPU
35. etween tracking and axis control is OK Test start condition the az axis is ONLINE Use ccseiMsg to send commands and get status to aztrkServer 6 5 2 Actions Test cases AZ INT stato becomes Loaded AZS2 ONLNE state becomes ONLINE AZ53 OBJFIX4030 motrmowstos deg 1 AZ54 OFFSAA36003600 motrmowstosldeg O C o OFFSAD 10 20 rejected not tracking O AZS 6 OBJSTAR 101112 880000 Motor presets and then starts tracking STATUS Substate TRACKING OFFSAA 50 60 Rejected while tracking JO OFFSAD3600300 or Sid Sid SS Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 34 of 74 6 6 M10 control 6 6 1 Description In addition to ccseiMsg the panel atm10gui is used to send commands and check status 6 6 2 Actions Test cases Whern the test starts no M10 commands have been sent since last reboot of the LCU Expected Result Status Check controller tuning 01MAR OK on beta axis Alpha not yet speed acc etc tuned AMOS to provide Save config parameters Overall position accuracy is low Missing conversion function for alpha axis EE Init sequence OK Save EE AMOS to provide encoder values of the optical center position VERSION OK reply with correct OK e frre STOPSM OK PCS STATE Loaded _ ____
36. fy that the az axis control including handling of the encoder moves in the correct way when moving to a new position in the ambigous range the position azimuth that is closest should be selected Figure 1 Azimuth angles 6 4 2 Actions Test cases Use commands to aztrkServer It is assumed that the azimuth range is defined in the database to be 180 360 deg AZ4 1 set azServer ONLINE T 2 set aztrkServer ONLINE tt _ 3 OBIFIX 89 10 az axis moves to 10 deg 4 OBJFIX 89 350 axis moves clock wise to RN ben A ES 89 185 axis moves clockwise to A EE DAZ 185 OBJFIX 89 179 999 axis moves clockwise to PAZ 179 99 DAZ 180 01 OBJFIX 89 175 counterclockwise to PAZ 175 DAZ 175 OBJFIX 89 185 counterclockwise to PAZ 185 DAZ 185 RS e PAZ 350 DAZ 350 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 32 of 74 10 OBJFIX 89 359 9 counterclockwise to PAZ 359 9 DAZ 359 9 11 OBJFIX 89 10 clockwise to PAZ 10 DAZ 10 OBJFIX 89 90 clockwise to PAZ SE DAZ 90 STANDBY Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 33 of 74 6 5 Azimuth tracking 6 5 1 Description The tracking functionality is exactly the same as for the UTs so there is no need to repeat all that function ality Here are defined just a few cases to verify that the interface b
37. g ALT4 7 STATUS Substate TRACKING II ALT4 8 OFFSAA 50 60 Rejected while tracking o ALT4 9 OFFSAD 3600 3600 KT E 0 5 6 Monitoring 5 6 1 Description Temperature monitoring 5 6 2 Actions Test cases Expected Result Status Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 23 of 74 5 7 M2 functions 5 7 1 Description Use panel atm2gui or ccseiMsg to send commands and get status 5 7 2 Actions Test cases When the tests start no M2 commands have been issued since last reboot of the LCU Expected Result Status ALT6 1 VERSION OK reply with correct 23FEB OK with atm2HW 0 no motion a command eno M2 27FEB OK Homing done improved reply Baise 8 STATUS _ Loaded Notinit HINDI Loaded initidle 11 STATUS Loaded substate Idle NOK Beacon must be selected M2 idle beacon 0 off first to be fixed in code NOK bug in reply parser leading to math error NaN Fixed on line OK M2 position available M2 Temperature 19 8C 12 GETCPOS Returns actual center 28 FEB OK see STATUS position A ee i6 GETTILT alpha 0 beta 0 OK GeeSTATUS FEB OK mon a II S BEB OK L serm Reon A OK ____ STANDBY STANDBY 28FEB__ LEI Rejeted not ONLINE 28FEB TOM Status to Loaded FEB Overall reliability problem lost control over M2 on LVDT error message 1 and 5 which then beco
38. go Result frestresuit Mon ages LLL a RE aa E 4 aemon i E 5 aesws LLL 5 axi O BEE AA B msw IE tesco E E Eo 18 ftesmoa AS PI TE ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 48 of 74 10 USE CASES Purpose Pre requisite Duration Requires WS module tests passed LCU function tests passed Use Cases are defined in AD 1 and the tests of Use Cases on AT 1 in Li ge are documented in the internal document ATCS Tests of Use Cases AT 1 which is supplied as a separate attachment to this document Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 49 of 74 11 INTEGRATION TEST SCENARIOS Purpose to test more cases in particular more error cases than defined in the Use Cases to test parallel activities that are usually not defined in Use cases Pre requisite UC tests passed Duration Requires The activities have test IDs as follows e INTI startup and shutdown INT2 Presetting INT3 Tracking INT4 Guiding Field Stabilisation INT5 Chopping 11 1 Startup and shutdown 11 1 1 Actions Test cases feat Command Action Fei Rents J Result Status INTI 1 2 Check commands INIT ONLINE STANDBY for all modules Check that actual STATE is OK for all modules s Check that IGNORE butto
39. me Excessive actuator difference message 1 was at about 18000 5 at 53000 and the other 4 at approx 32000 This failure raised after a Homing It disappeared a while later the re initialization show the values of the LVDT 1 and 5 slowly converging towards 32000 The M2 firmware was still the one used for acceptance Unit 1 The joint ESO CSEM version shall be retro fitted to Units 1 and 2 after Acceptance Unit 3 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 24 of 74 5 8 Nasmyth Focus Device functions 5 8 1 Description In addition to ccseiMsg the panel atnfdgui is used to send commands and check status 5 8 2 Actions Test cases Test id Command Action Expected Result Status Test date Test result ALT7 1 Tune motor and encoder 24FEB OK parameters using motei Save config align nfd wheel positions Save config VERSION SIMULAT GETSIM STOPSIM STATE STATUS STATUS ONLINE STATUS A Set path to FREE RETRO TOOL TOOL2 SETNBCN Lon SETNBLV 50 Check beacon visually SETNBCN off Check beacon visually SETNBLV 50 BCN Zon SETNBLV 50 Check beacon 2 visually SETNBCN 2 off Check beacon visually Check beacon cross talk 24FEB Partially OK upgrade according to p 5 The wheel is mounted 180degrees offset wrt the limit switches some positions are not reachable To be fixed by AMOS for Beacon installation on Wednesday
40. mm s mm s push TRACKING gt command SETXYTV 11 12 1 15 Stop after 20 sec by setting XY table stops at approx velocities 0 0 0 0 0 Send STOP 16 1 push OFFSET to 5 0 5 0 gt command SETXYR A Set offsets 5 0 5 0 XY table makes offset step 17 7 Align XY table on the star Move XY table to make STRAP centroids smaller and APD readings more balanced Close STRAP loop Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 42 of 74 If M6 goes into limit Open loop and go back to step 1 If M6 is not in limit fine adjust the XY table position so that STRAP output to M6 is small Itiltl lt 0 1 Take note of this XY pos and use it as XY table offset STANDBY State gt STANDBY 20FEB State gt Loaded 20FEB The bouncing already observed in Garching was still present on the Lower Limits of both axes Not tested on the Upper limits The measured range is 46 58mm in X and 46 45mm in Y instead of the 50mm announced by FISBA Decreasing the speed down to 0 5mm s instead of the 1 5mm s used so far could reduce the bouncing An additional delay of 5s has been introduced prior to move to center The Initialization Sequence for both axes is now e Find LHW 0 5mm s e Delay 5s e Calibrate ABS 25mm e Move ABS Omm 1 5mm s Special Positions e UHW LHW 45 5mm Software Limits set as e LSW LHW 0 l1mm e USWZUHW 0 1mm
41. n The local time is distributed to Sensor and to Altitude LCU via the cable wrap using the DB9 electrical I O connector ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 9 of 74 3 PLANNING Detailed planning for the first part 3 weeks of the tests in Li ge is done and the corresponding MS Project sheets distributed In this first period the test activities as described in the chapters 4 6 below are to be done Ideally this planning should be integrated in this document but for technical reasons this is not done for the remaining test period s it might be done The remaining test periods will be planned in detail when the dates for the test period are fixed Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 10 of 74 4 CHECK LCU VO Purpose Test that all IO signals are correctly defined and connected all the way from Field hardware up to LCU software panels check all serial lines and PLC connections Pre requisite WS and LCUs installed ATCS sw installed Duration Requires The activities have test IDs as follows e O0 Check LCU connections e IO1 connect and test all signals of alt LCU e 102 connect and test all signals of az LCU e O3 connect and test all signals of detector LCU e 104 check serial line connections e OS5 Test handset for alt and az e O6 Test drive polarities
42. n works correctly for all modules Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 50 of 74 11 2 Presetting 11 2 1 Presets and offsets Use ceseiMsg to send commands to prsControl and trkwsControl Testld__ Command Action____ Expected Result Status festresult II Set TCS ONLINE III 2 PRSALAZ 60 90 TI TI 3 PRSNAME zenith 4 PRSALAZ 50350 PT ST PRSNAMEPARK TT 0 q Rt a 7 PRSALAZ 50 350 OFFSAD 10 10 Rare not allowed in this mode 9 OFFSAA 30 0 Offset step in alt only O TI O OE OFFSAA 0 60 A F 3 OFFSAA 1 2 12 PRSCOOR lt HA 0 gt 450000 GETREM lt HA 0 gt 450000 lt HA 0 gt 850000 PRSCOOR Telescope starts moving lt HA 1h gt 600000 When moving do Starts moving to new PRSCOOR target lt HA 1h gt 600000 When moving do Starts moving to new PRSCOOR target lt HA 1h gt 600000 PT oL BEE OFFSAA 10 20 Rejected not tracking OFFSAD 60 0 The change in RA actual position 60 15 cos 60 8 sec Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 51 of 74 11 3 Tracking 11 3 1 Tracking into limits Calculation of remaining tracking time This is a set of tests where the telescope is preset to a position close to a limit and then left tracking until it reaches the limit At that poin
43. nce tests have been done prior to the integration tests and these will not be re done here These performance tests are listed in the table below for completeness and the results will be made available as part of the integration tests report Tracking is tested in section 8 7 below Use the panel atxytgui to send commands and get status from the XY table or use ccseiMsg for com mands not implemented in the panel Commands are sent to atxytServer At start of the test the LCU is newly re booted 8 4 2 Actions Test cases DCS4 1 Check accuracy of offset steps In spec UT hete coming es Repor O O o o 2 Check of absolute position In spec fepe i EE 3 Check position hysteresis none el ee EN 4 Check the position accuracy during In spec ag PS E O o eae VERSION 20FEB OK 6 STATE see comments below STATUS State Loaded substate Idle INIT both axes initialise State stays Loaded substate gets INITIALISED position is x y 0 ONLNE State becomes ONLINE 10 Set x 5 001 y 6 002 push XY table moves to x PRESET y 5 001 6 002 panel gt command SETXYP updated LES Set x 11 y 5 push command rejected log Ma Set x 9 8 y 9 8 push XY table moves to 9 8 PRESET message PRESET 9 8 3 Click Pos under TRACKING set XY table moves to x 7 y 8 7 8 panel updated push TRACKING gt command SETXYTP 14 Click Vel under TRACKING set XY table moves with 0 1 Vx 0 1Vy 0 1
44. nection of I O signals from field hardware to cabinet screw terminals and to LCU software tune control loops test all LCU software functionality test all WS software functionality test all Use Cases defined in Requirements specification see It is assumed that when the tests start e all LCUs for AT 1 are installed and connected to a local LAN field hardware is installed and all signals connected to LCU cabinets the WS for AT 1 is installed and connected to a local LAN thelatest VLTSW release is installed e ATCS software is installed and all WS and LCU environments generated 2 3 Summary of test sequence SEQ Ee De The tests are composed of a number of test blocks with one chapter per block in this document The test blocks are divided in smaller test sets and finally a number of individual test cases are defined Each test case has a unique identifier The test sequence can be summarised as follows Check LCU I O signals serial lines field hw Check telescope safety interlocks limits etc Tune axes control loops Test functions on LCU level Module tests of ws modules Integration test cases Tests of Use Cases ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 8 of 74 2 4 Computer configuration A Local TIME generator is inserted in the Azimuth LCU Other LCU s have the standard configuration 2 5 System configuratio
45. neral eech ergi PR E E ERR ERE E ERO e uve RR Dep cuvs dees OA Gov eye Rest cave v eve put ou up ee Rude 7 2 25 Test ACH VILLE cios oett Eee qa ede Gene es Gre does ed cen ee ie a eerie Gba Gp c bc Qo e d aves 7 2 3 Summary of test Sequence i aree ee DU a a ER d Ge D I qe e pO C eee D A ene vi Rea Pa 7 24 Computer configur tion ier Em e e o Pe DE POE EO Fe POE DO D eec qu Pe POPE DEAN 8 2 5 System CONSULTATION e HOD ERR ED EAQUE DER NU ee EE un rat PR Rp dane 8 37 PLANNING poses NN 9 4 CHECK LECU DO rire nn BEER ID ERE EID RI tee 10 4 1 GIC HM 10 42 Check ECU connections sten Eee re ee e tee ie ls ee iv t ee AO ede Le ex e Ae Ee 11 4 3 Connect and test all signals of the alt LCU sise 12 4 4 Connect and test all signals of the azimuth LOU sise 12 4 5 Connect and test all signals of the detector LOU ss 12 4 6 Check serial connection lines eee ee eeicet eee tena Eugen este exu Unna hee exe ent enne e ein 13 47 Desthandsetforaltand az eee Ee eee Ree tecti ecce g ex e INR Ud eee NL ohne ee 13 4 8 Testdrive polarities f alt Md pe eto en eee tate aene retain 14 4 9 Test handset for MACCON small function units 14 ATO APD cables tests eet tee Ri e ete Ra ee n eer Un eg deen PR eee e eee iade 15 55 ECUTFUNGLIONS AETLILDUDE 22 e ote tenete tte te te t pe ote ttem ones 16 5 1 Check set configuration dira eene eque tee etate a eee e ete teres 16 5 2 Melek Gooler Hatt deet Z
46. not done Rejected Error log Rejected Error log INIT Rejected Error log STOP pe ee rad ESO Doc VLT VER ESO 15151 2738 Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 29 of 74 6 3 Azimuth axis control 6 3 1 Description These tests shall verify the following functionality e good position step response for small medium and BIIIG steps e good position stability at low speed tracking speed e the global and general behaviour Tuning of the position servo is done by measuring step responses The procedure is described in RD 4 chapter Position loop When the step response tuning has been done for one alt axis position it shall be verified in a few more positions When the servo parameters are adjusted for optimum response in PRESET control fine tuning might be necessary in order optimise performance in tracking If needed settling time in positioning is sacrificed if that improves tracking This section tests the basic states and state transitions of the axis control as well as axis motion on lowest level It is assumed that the basic test of the tac velocity controller is done and that the normal axis Startup case is OK Test start conditions tac ONLINE velocity reference 0 azServer state Loaded Encoder initialised Simulation Off Configuration and database data involved in control loop tuning see 15 3 Use the panel ataltazAltGui or ccseiMsg to
47. nt connections which are the protective earth the main voltage supply lines and low voltage supply lines These are checked before a connection is made 4 2 2 Actions Test cases 100 1 Test Altitude VME connections see list in 14 1 IO0 2 Test Signal cabinet connections see list in 14 2 100 3 Test Hub Lan connections see list in 14 3 100 4 Test Cable wrap connections see list in 14 4 100 5 Test Service panel connections see list in 14 5 100 6 Test Azimuth VME connections see list in 14 6 100 7 Test Sensor VME connections see list in 14 7 100 8 Test M6 cabinet connections see list in 14 8 100 9 Test Auxiliary VME connections see list in 14 9 100 10 Test TCCD connections see list in 14 10 100 11 Test APD head connections see list in 14 11 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 12 of 74 4 3 Connect and test all signals of the alt LCU 4 3 1 Description Not nice but until we have something better The analogue board is normally used from the slave CPU and is not defined on the master side For test purposes however one can temporarily make the aioxInducer usable by patching the bootScript to define the board there All digital signals are tested with both values generated and analogue values are tested for min max and in between values Also check names addresses and polarity for all signals See also the test case in
48. of alt and az O7 Test handset for MACCON small function units e JOS APD cable tests 4 1 General Signals are as far as possible tested by using the actual field hardware devices and checking status using the Inducer tools of LCC Where this is not possible signals are tested indirectly by testing the device functionality Also check that the signal appears correctly in the corresponding axis Gui panel i e ataltazAltGui or ataltazAzGui Special care must be taken to check safety relevant interlock signals before any telescope motion is done To test the effect of a particular interlock signal all other interlocks must be inactive The test procedure shall be an end to end test i e for each interlock signal set all interlocks OFF e generate the interlock signal on the field hardware e check that the signal appears correctly in the LCU acroxInducer panel and in the ataltazAltGui ataltazAzGui e check that whichever interlock signal is set INTERLOCKI gets set also e check that power amplifiers get disabled and that brakes get engaged if an interlock signal becomes active during axis motion ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 11 of 74 4 2 Check LCU connections 4 2 1 Description The connections from field hardware to the interface terminals are tested by AMOS at sub system level therefore the ESO tests are limited to the safety releva
49. orizon toward zenith Azimuth moves from South to East 3 Check Tacho polarity Positive voltage when positive move 4 Check Encoder polarity Count is positive when move is positive 4 9 Test handset for MACCON small function units 4 9 1 Description A handset can be connected directly to the drive amplifier VME4SA of the MACCON controller It allows a check of the limits and the motor tacho functionality Use the motei panel to check signals and encoder function 4 9 2 Actions Test cases 107 1 Altitude Nasmyth Wheel 20FEB NOK wheel went in A A o 2 Azmuh TADC NA Azimuth Coud Beam 18FEB pa 4 Sensor FSS Field Not cabled yet NERO SOMME E A Sensor FSS Filter Wheel 19FEB NOK Reference switch seen always active by MACCON 0 Replaced VME4SA backplane did not fix the problem Sensor FSS Translation 20FEB OK limits and encoder swap Stage X Sense to be checked against direction conventions 7 Sensor FSS Translation 20FEB Idem dito Stage Y Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 15 of 74 4 10 APD cables tests 4 10 1 Description Check for isolation impedance between signal lines and shield housing 4 10 2 Actions Test cases est ld Command Action ExpectedResult Status 108 1 Bienal cable gt IMOhm RER AUN 2 Control cable gt 1MOhm o High voltage cable 21MOhm Field Diaphragm 21MOhm Bo mee
50. ring INIT INTERLOCKI Rejected Error log Setting and clearing signals as in previous case is not done Rejected Error log Rejected Error log Rejected Error log iF ste Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 20 of 74 Alt axis control 5 4 1 Description These tests shall verify the following functionality e good position step response for small medium and BIIIG steps e good position stability at low speed tracking speed e the global and general behaviour Tuning of the position servo is done by measuring step responses The procedure is described in RD 4 chapter Position loop When the step response tuning has been done for one alt axis position it shall be verified in a few more positions When the servo parameters are adjusted for optimum response in PRESET control fine tuning might be necessary in order optimise performance in tracking If needed settling time in positioning is sacrificed if that improves tracking This section tests the basic states and state transitions of the axis control as well as axis motion on lowest level It is assumed that the basic test of the tac velocity controller is done and that the normal axis Startup case is OK Test start conditions tac ONLINE velocity reference 0 altServer state Loaded Encoder initialised Simulation Off Configuration and database data involved in
51. rom panel Encoder initialised LL ONLINE from panel State becomes Online PRESET abs 30 100 Check with STATUS command that the motor moves to position 30 degrees PRESET rel 30 100 Rejected setpoint out of range Set signal ILFAULTI to Error log with the correct check interlock appears signal name while in position control Also INTERLOCKI is set by hw P Cear LFAULTI E E EE LI AS A y ONLINE EA NEED DAMNUM PA oema 40 deg in 20 sec VANTOC 0 5 30 60 motor moves from 40 to 30 deg in 20 sec STANDBY INTERLOCKI gets active DRIVEENABLEO cleared State becomes STANDBY Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 31 of 74 6 4 Azimuth path selection 6 4 1 Description The azimuth axis can move in the range 180 360 degrees This means that for azimuth angles in the range 180 0 180 360 degreees there are two possible positions of the axis The terminology used here is the DIRECTION in which azimuth is looking is called direction azimuth DAZ and is in the range 0 360 degrees the absolute POSITION angle of the axis is called position azimuth PAZ and is in the range 180 360 degrees So for a given direction azimuth in the range 180 360 degrees there are two possible position azimuth These tests shall veri
52. ronyms are used in this document CCS Central Control Software Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 6 of 74 GPS General Positioning System IO Input Output N A Not Applicable TBC To Be Confirmed TBD To Be Defined TBSL To Be Specified Later TBDB Time Bus Distribution Box Tel Tk Tool Command Language Tool Kit TCS Telescope Control Software Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 7 of 74 2 OVERVIEW 2 1 General The purpose of the Integration test in Li ge is to test the telescope with all its devices as delivered by AMOS with the control software and the electronics delivered by ESO The emphasis is on testing what has not been tested in Garching but of course also all the detailed hw and sw tests done in Garching will be done also in Li ge Since the AT control system to a large extent is re using VLT TCS software it is not necessary to make tests of functionality that is exactly the same as for VLT For this reason the test cases defined here are concentrating on things that are different or new and on functions directly related to the hardware 2 2 Test activities The Li ge integration test period will be used to test the installation of LCUs and WS on AT 1 test the connection of I O signals between LCU boards and screw terminals in cabinets test the con
53. s Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 45 of 74 8 7 Probe tracking 8 7 1 Description The objective of this test section is to demonstrate that the guide probe of the ATs can be positioned and can track according to spec The LCU tracking module itself is completely inherited from VLT and needs not be tested in this context it is the implementation of the XY table as a guide probe i e the autoguiding related positioning and tracking that is to be tested For this reason it is mainly the commands to probeServer that are to be tested whereas prbtrkServer is only used to set up the relevant test cases The Use Cases Tests see chapter 10 of course includes the complete chain involved in presetting tracking and offsetting of the XY table i e also the tracking parts Use the panel atguiGA to send commands and monitor status of the probe and use ccseiMsg for the basic commandis not available on the panel Conditions at start of tests the XY table is ONLINE probetrkServer is ONLINE ccdfas is ONLINE 8 7 2 Actions Test cases Commands are sent to probeServer except where other receiver explicitly mentioned feat Command Action Expected Result Status DCS7 1 STATE Loded o 0 0 0 0 0 0 2 STATUS Loaded No GS selected Diff trk on RecalcRef No 3 DITOFF MPDiffftkof o J 2J 4PDITON Difftrkon
54. s up to and including tuning of altitude and azimuth control loops are done with a dummy MI mirror in the telescope but the rest of the tests are done on the complete assembled telescope including optics and all electronics 12 Applicable Documents The following document is applicable and forms part of this document AD 1 VLT SPE ESO 15151 1712 Issue 2 2 2000 07 11 AT Control Software Requirements Specification 13 Reference Documents The following documents are referenced in this document RD 1 VLT SPE ESO 15151 1795 Issue 3 0 2001 07 10 AT Control Software System Design Specification RD 2 VLT MAN ESO 11670 1870 Issue 1 1 2000 05 15 STRAP Software User Manual RD 3 VLT TRE ESO 11320 1012 Issue 2 8 Jan 1997 POSITION LOOP CONTROL ALGORITHM FOR ALTITUDE AND AZIMUTH AXES RD 4 VLT PRO ESO 11321 1013 Draft 1 1 16 Sept 1997 Main structure Local Control System Alt and Az servo tuning procedure RD 5 VLT TRE ESO 10000 0469 Issue 2 20 Oct 1994 Influence of mechanical eigenfrequencies on the tracking RD 6 VLT ICD ESO 11670 1288 Issue 3 0 30 May 2000 APD Tilt Loop Interface Control Document RD 7 VLT MAN ESO 117001775 Issue 2 1 06 Dec 2000 Technical CCD System Operation Manual RD 8 VLT ICD ESO 15100 1528 Issue 4 3 15 May 2001 Interface control document between the Electro Mechanical Hardware and the Control System of the ATS 1 4 List of Abbreviations Acronyms The following abbreviations and ac
55. send commands to azServer and check that the panel is updated as applicable Use sampCtrl to configure and start plotting of position and position error 6 3 2 Actions test cases Expected Result Status AZ3 1 Basic step response tuning NOTE save plots of step with alt 60 deg responses when tuning is See RD 4 ready MOVE clean square wave with square 0 000278 10 600 1 amplitude MOVE clean square wave with square 0 00278 10 600 10 amplitude MOVE clean square wave with square 0 0278 10 600 100 amplitude Basic step response tuning with alt 89 deg See RD 4 Basic step response tuning with alt 30 deg See RD 4 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 30 of 74 OVE The axis moves at 0 01 s consp 0 00000278 1 300 for 5 minutes Fine tune if the error curve shows limit cycles MOVE The axis moves at 0 1 s consp 0 0000278 1 300 for 5 minutes Fine tune if necessary Set signal OVERSPEEDI This is not a test of the on the switch panel to interlock chain but a simulate any interlock check that the software condition properly handles the interlock condition INIT while interlock exist INIT rejected with proper error message lo A EA Clear signal INTERLOCRI INIT Motor moves to init point and then stops OFF from panel State becomes Loaded INIT f
56. t tracking shall be stopped by the alt axis The workstation module trkws stops all tracking axes by sending a STOP command to them All tracking LCUs and also trkws stay ONLINE IDLE Before the telescope reaches the limit the handling of remaining tracking time shall be checked and verified cyclical calculation and update in ws database the ws command GETREM without parameters to get actual value alarm when the actual value is lt remaining tracking time limit Test Id Command Action___ Expected Result Status INT3 1 ee 120 rem track time limit set to 2 minutes STAR object Limit is reached when nb lt HA 0 25 gt 243700 HA 000213 when HA 10 min 8 minutes L Ste 4 when HA 5 min 3 minutes GETREM no prams Ge E AR HA 4 min ALARM eame 05 1 pl HA 2min13sec Tracking stopped Check that the behaviour is lt HA 5h20min gt 400000 HA 053600 when HA 5h25 11 minutes GETREM no params when HA 5h30m 6 minutes GETREM no params when HA porum 3 ALARM Rem track time low Er HA 5h36m Tracking stopped Check that the behaviour is las described above 12 preset to named object ZENITH Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 52 of 74 11 3 2 Tracking error cases These tests shall verify that the complete tracking system is stopped correctly in the following error cases e
57. taltazAzAnalog config v 1 30 2002 01 22 13 41 25 vltsccm Exp when what kwirenst 2001 04 03 atcsmgr 2000 11 23 created Based on Signal List Draft 2 Ck CK Ck Ck ck kk Ck kk Ck Ck Ck Ck CK Ck Ck Ck Ck KKK Ck kk Ck Ck Ck Ck kk Ck kk Ck ck kk Ck ck ck Ck Ck kk Ck Ck kk Ck Sk Sk Sk Sk Sk ko Sk kx ke ko kv ko ko ko ko oOo NAME SYNOPSIS DESCRIPTION FILES ENVIRONMENT RETURN VALUE CAUTIONS EXAMPLES SEE ALSO BUGS name device number conv range TACHOFI aio0 9 1 0 10 0 10 0 0 0 VCCVLO aio0 10 1 0 10 0 10 0 0 0 TREFINI aio0 11 L O 10 0 10 0 0 0 PHASEMONITORI aio0 12 1 0 me DAS LW GER 0 0 AOOCWI aio0 13 kaft SLOSO ELOFO 0 0 EXTREF aio0 14 1 0 10 0 10 0 0 0 TP7I aio0 p L O 10 0 10 0 0 0 REFOUTO aio0 0 1 0 10 0 10 0 0 0 AUXOUTO aio0 0 1030 F10 0 0 0 Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 60 of 74 12 4 Azimuth digital signals Ck Ck Ck ck kk Ck kk Ck ck kk Ck CK Ck Ck kk Ck Ck Ck Ck kk Ck Ck Ck Ck kk Ck kk Ck Ck Sk Ck Ck kk Ck kk Ck kk Sk ck kk Ck ck kk Sk Sk Sk Sk Sk Sk ke Sk ko kv ko ko AAA E S 0 VLT project Id ataltazAzDigital config v 1 30 2002 01 22 13 41 23 vltsccm Exp who when what pduhoux 2001 10 26 STATIONIDI simVal 114 0x72 Station G2 kwirenst 2001 09 10 BRAKEnDISI
58. tion Comunica In and aux LCU UT OK AAA temere A aux LCU UT OK 4 7 Test handset for alt and az 4 7 1 Description A handset can be connected directly to the alt and or az LCUs resp When connected there is a hardware interlock which can be overridden by a button on the handset thus allowing motion commands to the connected axis only one axis per handset Use the acroxInducer panel and the ataltazAltGui ataltazA zGui panels to check signals 4 7 2 Actions Test cases alt feet Command Action Expected Result Status 105 1 Connect handset ILMANUALI is set Handset on ataltazXxxGui mE M GE Check all interlock signals displayed on the handset without moving the telescope 4 Check telescop e motion using handset Check all buttons on handset incl correct display on the ataltazXxxGui Doc VLT VER ESO 15151 2738 ESO Li ge Test Plan Issue 2 0 Date 2002 03 05 Page 14 of 74 4 8 Test drive polarities of alt and az 4 8 1 Description Use the hand set to feed a positive torque reference to the drive The axis should turn positive according to telescope definitions the tacho signal and encoder counts should be positives Use the ikonxInducer panel and the ataltazAltGui ataltazAzGui panels to check signals 4 8 2 Actions Test cases Testid Command Action Expected Result Status IO6 1 um positive Torque Altitude moves from polarity H
59. ui to send commands and to monitor STRAP It is assumed that the basic configuration and setting of SETUP parameters of STRAP has been done before these tests start For info how to do these things see RD 2 8 2 2 Actions Test cases The LCU latxdcs shall be re booted just before start of the tests fest Id Command Action Expected Result Status DCS2 1 Generate STRAP interaction matrix A gt DCS2 2 Save the new interaction matrix To T O DCS23 Check that STRAP is counting put XY table in center position o NE AAA ONLINE Current values of temp and OLIMAR OK after the coolant had a o High Voltages becomes EET temperature below 10C hardcoded the SETUP values in the STRAP SW SETTHRO E RES e __ Switch on a Nasmyth beacon o e A yes Start Open loop The APD counts starts 01MAR OK with cap on STRAP head a counting Counts were samples Cts 200 322 312 418 264 209 RMS 13 17 6 17 18 8 16 2 13 2 S approx sqrt Counts Change beacon level until at least 1 at least 1 of the APDs gets ES APD count gets gt 1000000 a high count DCS2 4 Check Closed Loop AA Close loop STRAP outputs corrections to M6 M6 might go to end pos PFOpenlop Move XY table such that the max e ME Close loop M6 corrections changed END GA SARA ld O RN Perform the XY table tests incl centering XY table on star and the TCCD tests before proceeding with the following STRAP tests
60. y controller and to monitor its behaviour The power amplifier is enabled disabled by setting clearing the signal DRIVEENABLEO using the acroxInducer panel Configuration and database data involved in control loop tuning see 15 3 The alt LCU shall be re booted just before the start of the tests This test is just of the basic behaviour of the velocity controller The integrated test with axis control including position control is done in 5 4 5 2 2 Actions Test cases Expected Result Status ALTI1 1 Set alt axis to approx 70 deg using handset 2 Check configuration data see 15 1 Enable amplifier AAA AA gt Check Kp Ki and Kd in tacgui B set ref vel 0 V set ref vel 1V Adjust Kp as appropriate Keep switching vel ref between OV and 1 V and adjusting Kp and Ki until step response is OK Make steps between 5V OV 5V and adjust Kp and 4 INIT ONLINE Ki until steps are OK 10 Update ataltazAlt tac with the new values of Kp and Ki propGain Kp 0 1 Ki 0 Kd 0 alt axis standing still Check in tacgui Speed ref 0 Speed feedback 0 PID output 0 torque ref 0 axis moves Check step response actual values of ref and feedback are updated Check that Speed ref 0 4 deg s Speed fbk 0 4 deg s tac state substate becomes ONLINE initialised ACTIVE ESO Li ge Test Plan Doc VLT VER ESO 15151 2738 Issue 2 0 Date 2002 03 05 Page 18 of 74
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