dome control system software
Contents
1. Iplcom Ipltalk dmlp2 msgcom dspmsg dmmsg msgcom putmsg dmmsg msgctl dspmsg dmmsg msgctl main dmetl sclcom dmset dmset sclcom main dmctl sclcom dmbxl scpcom opqchrl dmvid scpcom opqchr2 dmvid scpcom opqvev dmvec scpcom opqwrt dmfrm scpcom ovlvec dmvec scpcom scpdat dmvid 34 DOME CONTROL SYSTEM SOFTWARE USER MANUAL srlcom serchkl dmck3 srlcom upltalk dmup2 sr2com bldtalk dmbld sr2com serchk2 dmck3 sr3com serchk3 dmck3 sr3com tcs sr4com dmlp2 sr com serchk4 dmck3 sr5com barcode dmbcr sr5com serchk5 dmck3 timcom bldtalk dmbld timcom clock2 dmck2 timcom main dmctl timcom utclk dmutc uplcom dmupl uplcom upltalk dmup2 35 DOME CONTROL SYSTEM SOFTWARE USER MANUAL Appendix B DMCOM TXT msgctl main dmetl timcom main dmctl sclcom main dmctl dmlcom main dmctl bldcom main dmctl ixrcom main dmctl esccom main dmctl clkcom dmset dmset clkctl dmset dmset sclcom dmset dmset dmlcom dmset dmset bldcom dmset dmset colors dmset dmset fontptr dmset dmset fontcom dmset dmset Appendix 36 DOME CONTROL SYSTEM SOFTWARE USER MANUAL frmcom dmset dmset clkcom utclk dmutc clkvar utclk dmutc clkctl utclk timcom utclk dmutc clkcom clock2 dmck2 clkvar clock2 dmck2 timcom clock2 dmck2 clklog clkerr dmck2 clkcom serchkl dmck3 srlcom serchkl dmck3 clkcom serchk4 dmck3 sr com serchk4 dmck3 clkcom serchk2 dmck3 sr2com serchk2 dmck3 clkcom serchk32. 00 if no message available there is no time stamp message number or data in this case Eight digit message time stamp no punctuation with two digit hour two digit minute two digit second and two digit hundredths of a second Three digit message number Message numbers from 0 799 denote errors 800 899 are numberical data formats and 900 999 are successes 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 17 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 5 1 3 4 Set UT Commands the guest Dome computer to set its clock to the Universal Time given in this command The control computers keep their clocks synchronized with GPS provided universal time in this way Command Format K4ttttttttccr Response Format K4er note that this response has no checksum K Guest computer address usually an upper case letter Eight digit universal time no punctuation with two digit hour two digit minute two digit second and two digit hundredths of a second Checksum described above r ASCII charater 13 a carriage return e Error flag O if an error occurred 1 if OK 5 1 4 9 Free form Command Sends the guest Dome computer
3. 8 Barcode reader zero point 9 Barcode reader offset deg These last three values 7 8 9 are used to obtain final azimuth dome position With the barcode value as an input the formula to convert in degrees is Azimuth value Barcode scale barcode value zero point offset 14 DOME CONTROL SYSTEM SOFTWARE USER MANUAL Serial Standard 5 Control System Serial Communication Standards There is always a host upstream computer and a guest downstream computer The host computer is frequently the TCS with the guest Dome computer The host system sends a command and the guest responds immediately to that command Guest computers never broadcast without being queried which allows multiple guests to be chained on the same serial line Full command format Knddddddddddccr The is the prompt character to initiate communication is the guest Dome 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 Kndddddddccr The is the response character for guest computer responses is the guest computer s unit address n is the command number this is in response to d s are data specific to the response variable length cc is a checksum and r is a carriage return ASCII 13 For very short commands and responses the checksum may be omitted this is noted in the command desc
4. 7 to opening 0 4 RLnm Set rotating louver pair n n 0 9 to opening m m 0 4 AFL n Set all fixed louvers to opening n n 0 4 ARL n Set all rotating louvers to opening n 0 4 HFLn 2 hold enable commands for fixed louver toggle n HRL n Disable hold enable commands for rotating louver pair n toggle n 0 9 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 3 4 Message Commands Scroll system message display back one line gt lt Pg Up gt Scroll system message display back one page Scroll system message display forward one line lt Pg Dn gt Scroll system message display forward one page lt Home gt Set system message display to show the first message lt End gt Set system message display to show the current message 3 5 Display Commands DSC n Set scale for the delta position display to n deg n 1 0 10 0 VSC Set scale for the rotation velocity display to n s n 0 1 3 0 Set scale for the motor current display to n amps 1 0 30 0 10 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 3 6 Engineering Commands BALD n m Set status checking of Baldor amplifier n n 1 4 to level m 0 1 Rotate dome right n deg 0 1 180 0 Rotate dome left n deg n 0 1 180 0 Rotate index dome right to azimuth angle deg n 0 0 359 9 Rotate index
5. a free form command typically similar to the commands entered via the guest computer s keyboard This is used to command moves homes etc Command Format K9nndddddddccr Response Format K9ennmmmmccr K Dome computer address usually an upper case letter nn Two digit number of characters in the message in the underlined section 00 if no message available ddddddd Variable length free form command section This section will contain a command parseable by the guest computer such as MOVE 1000 CC Checksum described above r ASCII character 13 a carriage return e Error flag 0 if OK 1 or higher if an error occurred 18 DOME CONTROL SYSTEM SOFTWARE USER MANUAL mmmm Variable length diagnostic message such as Move ignored brake on This should be printed out by the host computer in the command input box if command was given by the user or in the system log if the command was given by an automated routine in the host program nn 00 in the response if there is no diagnostic message 5 2 TCS and Dome control software Communication Links 5 2 1 8 Telescope Elevation Information TCS control software sends telescope elevation information every 30 seconds This information is used to move windscreen and moonscreen Command Format K8nnnnnnccr Response Format K8fr K Dome computer address usually an upper case letter 8 This number indicates to dome control software that information sent is a
6. be a triangle For a long move the dome will move at full speed for some of the time and the velocity profile will be a trapezoid Numerical values for the velocity and for the scale of the display are shown to the left of the graph in white There are 4 dome drive motors The right hand graph shows the current in each of the motors If the motors are turned off the values will be zero When the motors are turned on the baseline current will be 3 amps and will increase above 3 amps when torque is required to turn the dome The current in each of the motors should be similar If each motor is working 4 green LED s will be displayed to the left of the graph A fault condition in one of the motors will cause the corresponding LED to turn red If one of the motors is not working and has been disconnected from its drive wheel then status checking for that motor can be disabled by typing the command BALD n 0 for motor n the motors are made by Baldor When status checking for a motor has been disabled the corresponding LED will turn black In order to move the dome to a particular azimuth type the command DOME n where n is the desired azimuth angle If the program has just been started but the bar code reader is between codes the dome will make a small jog in order to scan a nearby bar code and find out where it is Then the dome will take off for the desired azimuth The dome is commanded to move for a certain length of time and the bar co
7. dmck3 sr3com serchk3 dmck3 clkcom serchk5 dmck3 sr5com serchk5 dmck3 msgcom dspmsg dmmsg msgctl dspmsg dmmsg clklog dspmsg dmmsg msgcom putmsg dmmsg clkcom putmsg dmmsg 37 DOME CONTROL SYSTEM SOFTWARE USER MANUAL fontptr dmutl uplcom dmupl dmlcom uplc dmupl dm2com dm3com dmupl dm5com uplc dmupl clkcom dmupl dmupl srlcom upltalk dmup2 uplcom upltalk dmup2 Iplcom dmlcom dm4com bl2com lplc clkcom sr4com dmlp2 Iplcom Ipltalk dmlp2 dmlcom indexr dmixr ixrcom indexr dmixr bcrcom indexr dmixr sr2com bldtalk dmbld bldcom bldtalk dmbld bl2com bldtalk dmbld bl3com bldtalk dmbld 38 DOME CONTROL SYSTEM SOFTWARE USER MANUAL timcom bldtalk dmbld sr5com barcode dmbcr bcrcom barcode dmbcr sr3com tcs dmlcom tcs dmtcs edscom tcs dmtcs clkctl tcs dmtes ixrcom tcs dmtcs edscom puteds dmeds clkcom puteds dmeds dmlcom puteds dmeds dm2com puteds dmeds dm3com puteds dmeds dm4com puteds dmeds dm5com puteds dmeds bldcom puteds dmeds bl3com puteds dmeds bercom puteds dmeds sclcom dmbxl colors dmbxl fontptr dmbxl fontcom rbox dmbxl fontptr dmbx2 fontcom dmbx2 39 DOME CONTROL SYSTEM SOFTWARE USER MANUAL fontptr dmbx2 fontcom obox dmbx2 fontptr pbox dmbx3 fontcom pbox dmbx3 f
8. snes 413 4443444545414444244 4 48144414141442 14421 202622 0 121142221414 0 4 544438 54 ane ns DUE 23 6 L EDS Log MeESS geS un Aaa 23 6 2 Error MeSSaG Si ita enheter enm sts 26 6 3 50 5 0 28 7 DOME CONTROL SYSTEM DIFFERENCES BETWEEN MAGELLAN I AND ll nnn 29 8 TROUBLESHOOTING 225 4544 5555 455544 454454 2 4224 RR ERR OR EAR a RD RA Ga a 30 xeEPEI 31 APPENDDEB ira esse 36 APPENDIX 5 05 cct 41 DOME CONTROL SYSTEM SOFTWARE USER MANUAL Overview 1 Overview ofthe Dome Control System 11 General Configuration The Dome System is composed of several mechanical and electrical devices attached to the telescope protecting enclosure This structure is divided in two the fixed part which remains static respect to the telescope and the rotating portion which turns according to the telescope azimuth positioning requirements The moving dome is driven by four AC motors controlled by high power electronic controllers located at the telescope equipment room A barcode reader senses the dome position reading a tape installed along the entire dome periphery There are 20 louvers on the rotating part of the dome numbered in pairs from O to 9 their function is to allow the air circulate freely across the enclosure keeping a thermal equilibrium between the telescope structure and the ambient Also to let
9. DOME CONTROL SYSTEM SOFTWARE USER MANUAL ee Windscreen status encoder error and limit status Il Left shutter door status rr Right shutter door status ss Status for shutter doors latch n Status for the crane y emergency stop status 806 Fixed louvers Status PLC scaled from 000 in the closed direction to 799 in the open direction They are numbered from 0 to 7 Format 806aaabcccdeeefggghiiijlllmooopqqqn aaa Fixed louver value b Fixed louver status louver O ccc Fixed louver value d Fixed louver status louver 1 eee Fixed louver value f Fixed louver status louver 2 999 Fixed louver value h Fixed louver status louver 3 iii Fixed louver value j Fixed louver status louver 4 Fixed louver value m Fixed louver status louver 5 000 Fixed louver value p Fixed louver status louver 6 qqq Fixed louver value n Fixed louver status louver 7 807 Other Lower PLC data Format 807xy x Lift status y Hatch status 25 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 808 Baldors and Barcode Reader information Format 808aaaab xxxyyszyyszyyszyysz aaaa Barcode reader value azval b Barcode reader error count azbits Vel Direction vel value There are four Baldor motor controllers that control dome motion The following data is for each Baldor Motor Drive yy amplifier data amps s fault code response fcode z RPM Reading bbits 6 2 Error Messages 000 DOS
10. If there is no new louver motion the TCS control software doesn t send any louver command sequence Command Format Klaaaaaaaaaaaaaaaaaaccr Response Format Kimr K Dome computer address usually an upper case letter 1 This number indicates to dome control software that information sent is about telescope louvers aaaaaaaaaaaaaaaaaa Al louvers commands f Reply flag sent to TCS control software f 1 then the louver command was read by dome software without problems If f 0 information was not received in perfect condition checksum is bad command sent by TCS is corrupted etc 20 DOME CONTROL SYSTEM SOFTWARE USER MANUAL cc Checksum described above r ASCII charater 13 a carriage return 5 3 Communication Protocol between PLC and Dome Control Software The communication protocol used between the PLC and Dome control software is called DirectNet The Dome control Software is considered the master and the PLC is the slave The Master station sends read or write request to the slave device in this case to the Upper PLC or Lower PLC All DirectNet read and write protocol uses the following protocol components e Enquiry initiates a request from the master with the slave stations e Header HDR defines operation as a read or write the slave station address and the type and amount of data to be transferred Data DATA the actual data that is being transferred e Acknowledge verif
11. THE OBSERVATORIES OF THE CARNEGIE INSTITUTION OF WASHINGTON LAS CAMPANAS OBSERVATORY Colina El Pino s n Casilla 601 La Serena Chile Phone 56 51 207301 e Fax 56 51 207308 DOME CONTROL SYSTEM SOFTWARE User Manual Document Code 01 00 K5 Type User Manual Author Silvia Baeza Jose M Soto Date February 15 2008 Revision Jose M Soto Revisions Table Date February 15 2008 July 7 2005 Description Document Update Document Update November 24 2004 April 25 2003 Added new commands added new communication features Document update Original draft by Steve Shectman Table of Contents 1 OVERVIEW OF THE DOME CONTROL SYSTEM nnannnnnnnavnavnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 1 1 1 General Configurando ia e ita 1 LIC HET 2 1 3 tilo 3 2 DOME CONTROL SYSTEM INTERFAGE dida 4 2 1 Input Interface Log Display inner 4 2 2 Vome Rotation Display coe ti det e ir res E od Et 5 2 3 Louver Control 5 sss sss EEKE 6 2 4 Miscellaneous Functions 4 0 40 iii 7 3 COMMANDS SUMMARY uvvnavnavavnavnnavnnnnnnnvnnnnnnnnnnnnnnnnnnrnnnrnnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 8 3 1 Dome Command Syntax A 8 3 2 Dome AMAS ee 9 3 3 Louver Comm
12. ands da 9 3 4 Message Commands 10 3 5 5 gt dada 10 3 6 Engineering Commands iii 11 3 7 Other Comimarnds i SSS 11 4 DOME CONFIGURATION 22 5 220 2 000 Cox ran vada E nd RAE NN aus acte 12 4 1 DMCTL INI File at Magellan Baade is 12 4 2 DMCTL INI File at Magellan Clay eren 13 4 3 DMCTL INI Descriptions maorin esee eene 13 5 CONTROL SYSTEM SERIAL COMMUNICATION 5 5 15 5 1 Command Description Assess Wee dece penis 16 5 1 1 2 Query Next EDS 55 nhan annii assis sans rra 16 5 1 2 3 Repeat Last EDS Message iilis rn 17 NECI IRE METER 18 51 4 9 Free fom Commahd inet bereitet e ied od eei tete Bees 18 5 2 TCS and Dome control software Communication LinksS revernnnnnnnnvvvevnnnnnnnnnnenennnnnnnnnneneenennnnnnnnneeee 19 5 2 1 8 Telescope Elevation Information 19 5 22 5 gt DOme POSITIOI itii cie 19 5 2 3 T1 Eouver commands xu del ge laid n dedic A I IE 20 5 3 Communication Protocol between PLC and Dome Control Software 21 6 LOG MESSAGE SYSTEM sisi
13. bout telescope elevation information nnnnnn This is the elevation value f Is the reply flag sent to TCS control software If f 21 then the elevation value was read by dome software without problems If f 0 the elevation information was not received in perfect condition checksum is bad command sent by Tcs is corrupted etc cc Checksum described above r ASCII charater 13 a carriage return 5 2 2 5 Dome Position TCS control software sends new dome position Command Format K5ppppeeeftccr Response Format K5mr 19 DOME CONTROL SYSTEM SOFTWARE USER MANUAL K Dome computer address usually an upper case letter 5 This number indicates to dome control software that information sent is about new position that dome control software should execute This is the elevation value eee Position error f Flag 1 2 3 or 5 6 7 t number of position iterations m Is the reply flag sent to TCS control software f 21 then the dome position command was accepted If f 0 the information was not received in perfect condition checksum is bad command sent by TCS is corrupted etc If f 2 2 command is ignored another motion was executed cc Checksum described above r ASCII charater 13 a carriage return 5 2 3 1 Louver commands TCS control software sends a complete command sequence for 18 louvers positions from 1 to 10 for rotating louvers and positions from 11 to 18 for fixed louvers
14. cr During normal operation the host computer communicates with the Dome computer via COM 3 the serial port The host computer will typically use the EDS Engineering Data Stream log entries to check for errors and get the system s current status It will then use the move commands to update the dome position The ESC key can be used to attempt to stop the most important moving parts in case any problem arises so normal operation could be resumed then The Dome computer adheres to the serial communication protocol defined in D M Carr s Proposed RS 485 Control System Communications Protocol DOC 96CY0007 The Dome computer uses a prompt character of an address of K and a response character of These are defined within the code Refer to the Chapter 6 Control System Serial Communication Standards for a description of Engineering Data Stream EDS communications DOME CONTROL SYSTEM SOFTWARE USER MANUAL 3 2 Dome Commands 71777777 TETE CCS COM 7 17 4 WIND n Move the windscreen to position n 0 99 Stop dome rotation or shutter door motion Turn dome highlights on off toggle Put moonscreen and windscreen motion in remote mode Further movements are automatic according to telescope elevation ML Put moonscreen and windscreen motion in local mode Further movements for both are manual Default mode 3 3 Louver Commands Fam Setfxed louver n 0
15. d R LED s will turn green There are two open and two closed limit switches for each shutter door If both limit switches in a pair are engaged the corresponding OPN or CLS indicator will turn green If only one switch is engaged the indicator will turn red In this case one of the limit switches in the pair is broken and should be repaired immediately The shutter doors normally take about 100 seconds to open or close The program allows 120 seconds to elapse before a limit switch is encountered If more than 120 seconds is required the shutter doors will stop and an error message will be displayed The shutter doors can be stopped at an intermediate position by typing Esc Commands to the moonscreen or windscreen are entered as a percent of full extension from 0 completely retracted to 99 completely extended When the program is first started there are no command values and is displayed instead In this case the moonscreen or windscreen will be left in its current position The moonscreen and windscreen encoder values scaled to fit in the range from 0 to 999 are displayed in the Val column If there is an encoder error this value will be displayed in red The requested value for each encoder is displayed in the Req column If the moonscreen and windscreen control box has been switched to remote mode the LED s in the E column will turn green If a control error occurs the corresponding LED will turn red If the moo
16. date error code X 001 UPLC Initiate data error 002 UPLC Initiate com error X 003 UPLC Read Block data error 004 UPLC Read Block com error X 005 UPLC Read Ack data error 006 UPLC Read Ack com error X 007 UPLC Write Header data error 008 UPLC Write Header com error X 009 UPLC Write Block data error 010 UPLC Write Block com error X 011 UPLC com error X 012 UPLC communication suspended 015 Barcode reader data error 1 016 Barcode reader data error 2 017 Barcode reader length error 018 Barcode reader com error 019 Barcode error messages suspended 021 Baldor unit X address data error 022 Baldor unit X address com error 023 Baldor unit X current data error 26 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 024 Baldor unit X current com error 025 Baldor X err messages suspended 026 Baldor unit X current decode err 027 Baldor unit X RPM decode error 028 Baldor unit X RPM data error 029 Baldor unit X RPM com error Y 031 TCS com error X 032 Louver command data error 033 TCS error messages suspended 034 UT set data error 035 Unrecognized TCS command 036 Baldor X disabled by operator 037 Baldor X fault code data error 038 Baldor X fault code com error 039 Baldor unit X fault code YYY 041 LPLC Initiate data error 042 LPLC Initiate com error 043 LPLC Read Block data error 044 LPLC Read Block com error 045 LPLC Read Ack data error 046 LPLC Read Ack com error 047 LPLC Writ
17. de reader is only checked when the dome has come to a stop There is some variation in how far the dome will actually go during a given move and if the dome is not close enough one or two additional moves will occur to correct the final azimuth The dome rotation motion can be stopped in the middle of a move by typing Esc If a serious problem occurs with the dome rotation control logic it is possible for the dome to stop responding to commands or even to be stuck in an indefinitely long move this happens DO NOT switch the keyswitch to off because the dome will come to a screeching halt Instead cycle the power to the lower PLC This will cause the dome to come to a controlled stop and will also reset the dome control logic DOME CONTROL SYSTEM SOFTWARE USER MANUAL 2 3 Louver Control Display The largest panel on the screen is the louver control display The louvers are actually controlled by two PLC s programmable logic controllers The upper PLC UPLC controls all functions on the rotating part of the dome The lower PLC LPLC controls the louvers on the fixed part of the dome as well as the dome rotation drives If the PLC s are functioning properly then the corresponding LED on the display will be green If there is a problem with a PLC then the corresponding LED will be red Data is alternately read from and written to each PLC When a read or write cycle has been completed successfully the corresponding o
18. dome left to azimuth angle n deg n 0 0 359 9 3 7 Other Commands EXIT Exit from the program 11 DOME CONTROL SYSTEM SOFTWARE USER MANUAL Configuration 4 Dome Configuration DMCTL INI is the configuration file for the Dome program It includes all of the parameters that might need to be modified It can be edited in a simple text editor outside of the program DMCTL INI follows a simple format Any line beginning with a semicolon is ignored it s a comment All other lines are significant On each of these lines there is a number a semicolon and a comment The number is the data relevant to the program Everything after the semicolon is ignored There are two types of data integers and floating point numbers Following there is a detailed description of the file Note that it should be mostly self documented 41 DMCTL INI File at Magellan Baade 1 1 Telescope Baade i 4 531 2 CPU clock rate ppm fast 4 245 3 Windscreen retract limit 4 500 4 Windscreen extend limit i 4 100 5 Moonscreen retract limit 4 789 6 Moonscreen extend limit 4 0 12389 7 Barcode reader scale r4 500 0 8 Barcode reader zero point r4 0 0 9 Barcode reader offset deg r4 This is the Magellan dome control INI file The lines numbered from 1 to 9 All lines MUST be present The ini value is the first entry on each line followed by the line number and the description Use a
19. ds USER MANUAL Appendix 31 DOME CONTROL SYSTEM SOFTWARE USER MANUAL clkcom clkcom clkcom clkcom clkcom clkcom clkcom clkcom putmsg dmmsg serchkl dmck3 serchk2 dmck3 serchk3 dmck3 serchk4 dmck3 serchk5 dmck3 uple dmupl dmutc clkctl dmset dmset clkctl tcs dmtcs clkctl utclk dmutc clklog clkerr dmck2 clklog dspmsg dmmsg clkvar clock2 dmck2 clkvar utclk dmutc colors dmset dmset colors dmbxl dmlcom dmlcom dmicom dmicom dmlcom dmlcom dmlcom dmset dmset indexr dmixr main dmctl puteds dmeds tcs dmtcs uplc dmupl 32 DOME CONTROL SYSTEM SOFTWARE USER MANUAL dm2com puteds dmeds dm2com dmupl dm3com puteds dmeds dm3com dmupl dm4com dmlpl dm4com puteds dmeds dm5com puteds dmeds dm5com dmupl edscom puteds dmeds edscom tcs dmtcs esccom main dmctl esccom dmupl fontcom dmset dmset fontcom dmbx2 fontcom mbox dmbx3 fontcom obox dmbx2 fontcom pbox dmbx3 fontcom rbox dmbxl fontptr dmutl fontptr dmset dmset fontptr dmbx2 fontptr mbox dmbx3 fontptr dmbx2 fontptr pbox dmbx3 33 DOME CONTROL SYSTEM SOFTWARE USER MANUAL fontptr dmbxl frmcom dmfrm frmcom dmset dmset frmcom subfrm dmfrm handcom hand dmvec handcom handchk dmvec ixrcom indexr dmixr ixrcom main dmetl ixrcom tes dmtcs Iplcom Iple
20. e Header data error 048 LPLC Write Header com error 049 LPLC Write Block data error 050 LPLC Write Block com error 051 LPLC com error 052 LPLC communication suspended 055 Rotation motion detect timeout 056 Rotation motion assert timeout 057 Rotation motion assert error 060 Dome position data error 061 Moonscr Windscr data error 064 Open left shutter door timeout 065 Close left shutter door timeout 066 Open right shutter door timeout 067 Close right shutter door timeout 27 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 6 3 Success 992 Baldor Y enabled by operator 993 Barcode error messages resumed 994 UT set by TCS to HH MM SS FF 995 LPLC communication resumed 996 TCS error messages resumed 997 Baldor X error messages resumed 998 UT clock initialized by CPU 999 UPLC communication resumed 28 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 7 Dome Control System differences between Magellan and 29 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 8 Troubleshooting 30 DOME CONTROL SYSTEM SOFTWARE Appendix A DMCOM SRT bcrcom barcode dmbcr bcrcom bcrcom bl2com bl2com bl3com bl3com bldcom bldcom bldcom bldcom clkcom clkcom clkcom clkcom indexr dmixr puteds dmeds bldtalk dmbld bldtalk dmbld puteds dmeds bldtalk dmbld dmset dmset main dmctl puteds dmeds clock2 dmck2 dmset dmset dmlpi puteds dme
21. e dome computer is attached via a RS 232 connection 3E8 to the higher level host computer TCS the Telescope Control System The Dome computer prompt character address character and response character on this communications line is set internally in the code Bar Code reader The dome position encoder is an optical bar coded reader It is wired directly to the COM4 2E8 in the Dome computer DOME CONTROL SYSTEM SOFTWARE USER MANUAL 1 3 Positions The dome structure showing louver positions is shown in Fig 1 The rotating louvers are drawn in the inner circle note that they are controlled in pairs that s why they are numbered in the same way The fixed louvers are part of the building and are drawn in the outer part of Fig 1 The box at the bottom represents the control room All louvers have four opening states fully closed open Y open 34 open and fully open rotating fixed louvers louvers Figure 1 DOME CONTROL SYSTEM SOFTWARE USER MANUAL Interface 2 Dome Control System Interface To start the DOME program push the reset button the black rocker switch just below the red power switch on the computer The program will load automatically from the flash disk Resetting the computer assures that the system will start each time in the proper state When the program is loaded you should see the usual video display of the dome control program The different portions of the control
22. e dome from remote to off and then back to remote When the motor for a particular louver is energized the corresponding symbol in the column will change to an up or down arrow displayed in green When the open or closed limit switch for a particular louver has been encountered the corresponding symbol in the L column will change to an up or down arrow displayed in green there is an error reading the limit switches the symbol will turn red Note that if power to even one of the louver control boxes has been turned off the PLC will be unable to read the status of any of the louvers and all of the limit symbols will turn red The closed limit switch for each louver has been adjusted so that it is encountered at about the value 105 and the open limit switch for each louver has been adjusted so that it is encountered near the value 495 Normally when a louver is commanded to go to an opening of 0 4 or 4 4 the louver should stop near the value 105 or 495 and the corresponding limit switch symbol should turn green If the louver travels all the way to 100 or 500 and the display indicates that no limit switch has been encountered then the corresponding limit switch is probably broken 6 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 2 4 Miscellaneous Functions Display Next to the louver control display is the miscellaneous functions display If the shutter door control box has been switched to remote mode the L an
23. hown in the et entry and the current UT is shown as well The UT is set by the CMOS clock in the CPU when the program starts but is updated by the TCS computer as soon as communication is established and afterwards once per hour DOME CONTROL SYSTEM SOFTWARE USER MANUAL 2 2 Dome Rotation Display The top panel on the screen is the dome rotation display The dome encoder is a bar code reader The bar code reader is turned off when the keyswitch on the dome drive and stow pin control box in the dome is set to the off position Because the lifetime of the bar code reader is only about 10 000 hours please be sure to turn the keyswitch off when the telescope is not in use Turn the keyswitch to remote in order to enable computer control of the dome rotation If the bar code reader is not working or is turned off a red LED will be displayed next to the azimuth reading If the bar code reader is working properly and a code is being detected the LED will be green If the bar code reader is between two codes this happens about 25 of the time the LED will be black The dome azimuth is 0 when the dome is pointed north and 90 when the dome is pointed east The left hand graph shows the dome rotation velocity The dome accelerates to full speed in 10 seconds and decelerates from full speed in 10 seconds full speed is currently set to 1 78 s For short moves the dome will never reach full speed and the velocity profile will
24. ies communication is working correctly End of Transmission EOT Indicates the communication is finished The Read request protocol is the following 21 DOME CONTROL SYSTEM SOFTWARE USER MANUAL READ REQUEST Master Slave ENQ Initiate Request HDR Define Request ACK DATA ACK Acknowledge Receipt of data EOT Finished all data sent EOT Finished The write request protocol is the following WRITE REQUEST Master Slave ENQ Initiate Request ACK HDR Define Request ACK DATA Transmit Data Finished All information about DirectNET protocol can be found on DL405 user manual 3 Edition 22 DOME CONTROL SYSTEM SOFTWARE USER MANUAL Log Message System 6 Log Message System 6 1 EDS Log Messages 803 Left rotating louvers Status PLC scaled from 000 in the closed direction to 999 in the open direction There are 10 rotating louvers numbered from 0 to 9 Format 803aaabcccdeeefggghiiijlllmooopqqqnssstrrry aaa Left rotating louver value b left rotating louver status louver O ccc Left rotating louver value d left rotating louver status louver 1 eee Left rotating louver value f left rotating louver status louver 2 99g Left rotating louver value h left rotating louver status louver 3 iii Left rotating louver value j left rotating louver status louver 4 Left rotating louver value m left rotating louver status louver 5 ooo Left rotating lo
25. mlp2 055 Rotation motion detect timeout dmlp1 056 Rotation motion assert timeout dmlp1 057 Rotation motion assert error 060 Dome position data error tcs dmtcs 061 Moonscr Windscr data error tcs dmtcs 064 Open left shutter door timeout uple dmup1 065 Close left shutter door timeout dmup1 066 Open right shutter door timeout dmupl 067 Close right shutter door timeout uple dmupl 43 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 992 Baldor Y enabled by operator main dmctl 993 Barcode error messages resumed barcode dmbcr 994 UT set by TCS to MM SS FF tcs dmtcs 995 LPLC communication resumed Ipltalk dmlp2 996 TCS error messages resumed tcs dmtcs 997 Baldor X error messages resumed bldtalk dmbld 998 UT clock initialized by CPU dmset dmset 999 UPLC communication resumed upltalk dmup2 44
26. nscreen motor or the windscreen motor is energized the corresponding arrow in the M column will be displayed in green If the either the moonscreen or the windscreen has reached an open or closed limit the corresponding arrow in the L column will be displayed in green The moonscreen and windscreen closed limits should normally be encountered at about the value 1 99 and the open limits at about the value 98 99 If a command of 0 or 99 is entered motion should stop just short of the requested encoder reading and the corresponding limit switch indicator should turn green If the motion continues all the way to the requested value and there is no indication that a limit switch has been encountered then the corresponding limit switch is broken and should be repaired immediately DOME CONTROL SYSTEM SOFTWARE USER MANUAL Commands 3 Commands Summary 3 1 Dome Command Syntax All DOME commands begin with a command code of up to four letters followed by up to two numeric arguments The numeric arguments if there are more than one are separated by spaces spaces are permitted but not required between the command and the first numeric argument Letters may be upper or lower case The numeric arguments may include a decimal point For example the commands dome47 2 DOME 47 20 will both rotate the dome to position angle 47 2 degrees The backspace key moves the cursor back one character at time All commands are terminated by a
27. ontptr mbox dmbx3 fontcom mbox dmbx3 scpcom scpdat dmvid scpcom dmvid scpcom opqchr2 dmvid handcom handchk dmvec handcom hand dmvec scpcom ovlvec dmvec scpcom opqvev dmvec frmcom dmfrm frmcom subfrm dmfrm scpcom opqwrt dmfrm 40 DOME CONTROL SYSTEM SOFTWARE USER MANUAL Appendix Appendix C DMERR TXT This is a numerical index of all error messages from the Magellan dome control program message routine module 000 DOS date error code X dmset 001 UPLC Initiate data error upltalk dmup2 002 UPLC Initiate com error upltalk 4 2 003 UPLC Read Block data error upltalk dmup2 004 UPLC Read Block com error upltalk dmup2 005 UPLC Read Ack data error upltalk dmup2 006 UPLC Read Ack com error upltalk dmup2 007 UPLC Write Header data error upltalk dmup2 008 UPLC Write Header com error 4 2 009 UPLC Write Block data error upltalk dmup2 41 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 010 011 012 015 016 017 018 019 021 022 023 024 025 026 027 028 029 031 032 033 034 035 036 037 Write Block com error upltalk dmup2 UPLC EOT com error upltalk dmup2 communication suspended upltalk dmup2 Barcode reader data error 1 barcode dmbcr Barcode reader data error 2 barcode dmbcr Barcode reader length error barcode dmbcr Barcode reader com er
28. r W flag turns green There are 20 louvers on the rotating part of the dome numbered in pairs from 0 to 9 There are 8 louvers on the fixed part of the dome numbered individually from O to 7 The TCS display includes a graphical representation of the louver system which can be used to identify the actual location of each louver Each pair of louvers on the rotating part of the dome or individual louver on the fixed part of the dome can be commanded to open from 0 4 to 4 4 of the full open position When the program is first started there are no command values and 4 is displayed instead In this case the louvers will be left in their current positions The position of each louver is sensed by a potentiometer The output of the potentiometer scaled to fit in the range from 0 to 999 is displayed for each louver in the Val column The requested potentiometer reading for each louver is displayed in the Req column The gain and zero point for each potentiometer have been adjusted so that openings 0 4 1 4 2 4 3 4 and 4 4 correspond to values of 100 200 300 400 and 500 respectively If a louver has been switched to remote mode and is operating properly a green LED will appear in the column an error occurs the LED will turn red If the louver is not in remote mode the LED will be black Once an error occurs the louver will not operate until it is reset by turning the keyswitch on the appropriate louver control box in th
29. reen and report their status Report floor lift crane hatch status Operate dome high lights 1 2 Devices There are a number of devices attached to the Dome Control Computer which executes the DMCTL EXP program Upper Dome Programmable Logic Controller UPLC The UPLC is installed in the upper part of the dome and its main function is to control the opening of 10 pairs of rotating louvers sensing each motion status and position It also controls the shutter doors the wind moon screen the high lights and senses the status of the crane The UPLC serial communication link is routed using an upper Power Line Modem PLM through the dome sliding contacts to a lower PLM which is directly attached to COM1 3F8H at the Dome computer Lower Dome Programmable Logic Controller LPLC The LPLC is located in the fixed part of the dome and controls the opening of 8 louvers sensing their motion status and position It also senses the floor hatch and lift status The LPLC serial communication link is directly attached to COM2 2F8H at the Dome computer Baldor Motor Drives These are four electronic controllers each for an AC dome motor and collectively they take care of the dome motion These motor controllers talk serially through four different RS 485 lines attached to a single serial card inside the Dome computer Host Computer The Dome computer takes commands on where to position the dome and reports on the dome s current location Th
30. ription For all commands and responses that include a checksum the checksum is composed of two hexadecimal digits from 0 F The checksum is calculated by starting with zero and XORing it with all characters in the message from the unit letter to the last data character before the checksum the underlined part of the command and response above 15 DOME CONTROL SYSTEM SOFTWARE USER MANUAL Commands that are received but misunderstood checksum wrong unknown command etc are replied to like this K 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 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 54 Command Description 5 1 1 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 K2r note that this command has no checksum Response Format K2qqnnttttttttfffdddddddccr K Guest Dome computer address usually an upper case letter T
31. ror barcode dmbcr Barcode error messages suspended barcode dmbcr Baldor unit X address data error bldtalk dmbld Baldor unit X address com error bldtalk Baldor unit X current data error bldtalk Baldor unit X current com error dmbld Baldor X err messages suspended bldtalk dmbld Baldor unit X current decode err bldtalk dmbld Baldor unit X RPM decode error bldtalk dmbld Baldor unit X RPM data error bldtalk dmbld Baldor unit X RPM com error bldtalk TCS com error X tos dmtcs Louver command data error tcs dmtcs TCS error messages suspended tcs dmtcs UT set data error tcs dmtcs Unrecognized TCS command tcs dmtcs Baldor X disabled by operator main dmctl Baldor X fault code data error bldtalk 4004 42 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 038 Baldor X fault code com error bldtalk dmbld 039 Baldor unit X fault code YYY bldtalk 4004 041 LPLC Initiate data error Ipltalk dmlp2 042 LPLC Initiate com error Ipltalk dmlp2 043 LPLC Read Block data error Ipltalk dmlp2 044 LPLC Read Block com error Ipltalk dmlp2 045 LPLC Read Ack data error Ipltalk dmlp2 046 LPLC Read Ack com error Ipltalk dmlp2 047 LPLC Write Header data error lpltalk dmlp2 048 LPLC Write Header com error Ipltalk dmlp2 049 LPLC Write Block data error Ipltalk dmlp2 050 LPLC Write Block com error Ipltalk dmlp2 051 LPLC EOT com error Ipltalk dmlp2 052 LPLC communication suspended Ipltalk d
32. screen are described below 24 Input Interface Log Display nan Once the program has been started you can type commands which appear at the prompt in the input panel At the top of the input panel the average and maximum cycle times for the program status 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 an error A green LED indicates that the message describes a normal condition Most of the errors are caused by serial communications 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 appropriate keys To return to the page with the most recent message be sure to type End or else new messages will not be displayed on the screen although new messages will always be written to the message buffer The elapsed time in days that the program has been running is s
33. text editor to change ONLY the ini values Be sure to maintain the appropriate data type for each sentry 12 DOME CONTROL SYSTEM SOFTWARE USER MANUAL 4 2 DMCTL INI File at Magellan II Clay 2 1 Telescope Clay i 4 531 2 CPU clock rate ppm fast i 4 291 3 Windscreen retract limit i 4 960 4 Windscreen extend limit i 4 100 5 Moonscreen retract limit 4 789 6 Moonscreen extend limit i 4 0 08808 7 Barcode reader scale r4 0 0 8 Barcode reader zero point r4 20 0 9 Barcode reader offset deg r4 This is the Magellan dome control INI file The lines numbered from 1 to 9 All lines MUST be present The ini value is the first entry on each line followed by the line number and the description Use a text editor to change ONLY the ini values Be sure to maintain the appropriate data type for each sentry 4 3 DMCTL INI Description 1 Telescope Telescope number this file belongs to Magellan 1 Baade telescope or Magellan 2 Clay telescope 2 CPU clock rate ppm speeds up or slows down the system clock by the given number of parts per million per second 3 Windscreen retract limit Windscreen software lower limit 4 Windscreen extend limit Windscreen software upper limit 6 7 Barcode reader scale 5 Moonscreen retract limit software lower limit Moonscreen extend limit software upper limit 13 DOME CONTROL SYSTEM SOFTWARE USER MANUAL
34. the light in the dome has huge shutter sliding doors and to avoid wind disturbances or moon interference the wind screen and moon screen could be extended Finally attached to the dome is the crane used for instrument changes or any heavy items lifting To control all these devices located at the rotating dome a PLC is used along with a couple of power line modems that pass the communication signal down to the control computer through the dome slip rings In the fixed part the Dome System groups 8 louvers numbered individually from O to 7 the floor lift which is an elevator to carry things to from the telescope level and the hatch which is a cover on the telescope floor that gives access to a lower level A PLC monitors and controls here too but the serial communications reach directly the Dome computer Controlling all of this hardware is the function of the software explained in this manual Some of the tasks the software is required to perform are e Accept high level commands both locally at the keyboard and remotely from higher level computer systems to rotate the dome according with telescope azimuth position and convert them to low level commands for the various motor drives Report the dome position together with the motor drives ratings both on the local display and to higher level computer systems DOME CONTROL SYSTEM SOFTWARE USER MANUAL Monitor and command louvers opening Extend or retract the wind moon sc
35. uver value p left rotating louver status louver 6 444 Left rotating louver value n left rotating louver status louver 7 sss Left rotating louver value t left rotating louver status louver 8 rrr Left rotating louver value 23 DOME CONTROL SYSTEM SOFTWARE USER MANUAL y left rotating louver status louver 9 804 Right rotating louvers Status PLC scaled from 000 in the closed direction to 999 in the open direction There are 10 right rotating louvers Format 804aaabcccdeeefggghiiijlllmooopqqqnssstrrry aaa Right rotating louver value b Right rotating louver status louver 0 ccc Right rotating louver value d Right rotating louver status louver 1 eee Right rotating louver value f Right rotating louver status louver 2 99g Right rotating louver value h Right rotating louver status louver 3 iii Right rotating louver value j Right rotating louver status louver 4 Right rotating louver value m Right rotating louver status louver 5 ooo Right rotating louver value p Right rotating louver status louver 6 qqq Right rotating louver value n Right rotating louver status louver 7 sss Right rotating louver value t Right rotating louver status louver 8 rrr Right rotating louver value y Right rotating louver status louver 9 805 Other PLC data Format 805aaabbdddeellrrssny aaa Moonscreen encoder value bb Moonscreen status ddd Windscreen encoder value 24
36. wo digit number of EDS messages left in the guest queue nn Two digit number of characters in the message in the underlined section 00 if no message available tttttttt Eight digit message time stamp no punctuation with two digit hour two digit minute two digit second and two digit hundredths of a second fff Three digit message number Message numbers from 0 799 denote errors 16 DOME CONTROL SYSTEM SOFTWARE USER MANUAL ddddddd 800 899 are numberical data formats and 900 999 are successes 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 5 1 2 3 Repeat Last EDS Message Commands the guest Dome computer to re send the last message it sent implying that the host computer had a serial communication error during the last response The guest s internal pointer should remain unchanged Command Format K3r note that this command has no checksum Response Format K3qqnnttttttttfffdddddddccr aq nn tttttttt fff ddddddd Dome computer address usually upper case letter Two digit number of EDS messages left in the guest queue Two digit number of characters in the message in the underlined section
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