TCS3 Operators Guide
Contents
1. A spare input on the safety board has triggered This shouldn t happen Contact the TCS3 support engineer 69 SafetyBrd_Tach_Switch_is_off An internal switch on the safety board used to enable the tachometer feedback loop is OFF The switch need to be turned on when operation the IRTF Summit Servo system It is off when running in the Hilo test system 70 PowCntl amp Brakes Err FIOE FIOE monitors the HA and Dec Brake Enable to control the breaks and a Sense line to confirm the start of the brakes These signals to not match Call IRTF superintendent or IRTF EE Also check the status on MCC gt Details gt FIOE 71 Crane not stowed The dome crane is not stowed 72 TOP Tele Enable is OFF The TO Panel s Telescope Enable switch is OFF 73 Mir Cover open amp Cooling on The Mirror Covers are open and the Mirror Cooling is ON 74 Check T3 P S in mec3 GUI The power supplies being monitored by FIOA B have a gt 5 error Further investigation is required Check the MCC GUI to identify the power supply triggering the error 75 Check Closed Cycle Coolers The closed cycle cooler warning signal is ON Coolers may have tripped off Page 31 1201_Operators_Guide doc Version 2014 12 03 76 Dome may be Stalled The DAC motor command to the dome amplifiers is 2 volts or greater but the dome velocity from the bar code sensor indicates not position change 77 Monitor Mirror Cooling The Operator sho2. Hor Stop Limit is 75 0 deg est Page 27 1201_Operators_Guide doc Version 2014 12 03 Appendix D List of MCC Errors and Warnings Notices On mccl the warning window can display the following errors and warning messages Appendix C further describes these messages There are 3 type of Notices 1 Error notices are displayed in Red These are problem most serious in nature 1 Safety Board Errors Exist A error condition exist on the t3 servo electronic safety board The condition must be cleared in order to allow tcs3 servo operations 2 Stop or Brake Limit Set Physical limit switches on the HA and Dec axis or Horizon limit have been tripped These are axis limit switches 3 PMAC IO Error The tcs3 software was not able to communicate with the PMAC motor controller To clear the condition 1 Retry the operation 2 restart the tcs3 IC 3 reboot the tcs3 computer 4 Call for technical assistance 4 PMACTimestamp Error This indicated the software loops in the PMAC motor controller are not executing To clear the condition 1 Retry the operation 2 restart the tcs3 IC 3 reboot the tcs3 computer 4 Call for technical assistance 5 APE Motor Apos gt 600 6 APE Motor Apos gt 600 The APE position differ from the Incremental Encoder Position IPE by more that 600 Make sure the APE are working and try re setting the APos using APE SET PMAC with the telescope in STOP mode at Z
3. HA 05 35 00 05 35 00 Dec 55 00 00 67 00 00 These limit can be changed using the command sw limits set command The Daycrew is responsible for setting the correctly TCS software limits per instrument configuration The procedure for setting the limit are as follows 1 As the user to on the tl computer open an text editor to home to current ic tcs init 2 Within this file you should lines such as software limits used texes on 2012 01 Sw limits set 05 34 00 05 34 00 50 00 00 48 00 00 normal software limits are sw limits set 05 34 00 05 34 00 55 00 00 67 00 00 3 The are comments Set the appropriate software limits by uncommenting or adding the correct values 4 Restart the IC Check the MCC Details gt Position tab and confirm the software limits values are correct 5 Email the IRTF Techgroup that the software limits have been changed Page 11 1201_Operators_Guide doc Version 2014 12 03 9 The E100 Dome Servo System In 2013 a new dome servo system based on the Baldor E100 Drives were installed at the IRTF This sections highlights key information the operators and daycrew should know in order to use or deal with the system A block diragram of the Dome Servo System is provide in T3 3040 Dome_cntl Overview You should be familiar with the name location and function of the equipment There is the PDF link http irtfweb ifa hawaii edu tcs3 tcs3 Design T3 3040 Dome Cntl Overview p
4. Dec as y Equinox Epoch 19 49 34 39 20 28 19 2 0 000 0 000 2000 00 2000 00 NS Rates 0 000000 0 000000 as s Scan Dest as Time sec TotalOS Target 19 49 34 39 20 28 19 2 Base Position e CS is the Coordination System which can be FK5 FK4 and Apparent Related commands are o cs k4 k5 app e The Base provides the RA Dec position Proper motion defines the space motion of the BASE RA Dec Related commands are o Base RA hr Dec deg ra pm sec yr dec pm as Yr Ep Eq CS o Base inc ra as dec as e Equinox is the cataglog equinox of the coordinate system Epoch is the chronological references for the position For FK5 the standard equinox and epoch are usually 2000 0 For FK4 they are 1950 0 For apparent the equinox is not used but the epoch dates the apparent coordinates In most cases when using apparent set the epoch to the current julian epoch Jan 01 2010 would be Epoch 2010 0 Related commands are o Epoch Yr o Equinox Yr e NS rates allow you to track non sidereal object o ns rate ra as s dec as s o ns rate inc ra as s dec as s Off Sets The user and beam are both general purpose user offsets It is suggest using UserOS for dithering and offsets and BeamOS for Beamswitching Related commands are o Beam set ra as dec as Beam clear Beam inc ra as dec as Beam on or Beam B Beam off or Beam A Beam toggle User set ra as dec as 00000060 Page 24 1201_Op
5. to kill the IC amp MCC 4 Restart the IC and MCC 5 Goto Zenith In Stop mode do a ape reset pmac 6 Resume operations Page 21 1201_Operators_Guide doc Version 2014 12 03 Appendix A Block Diagrams of the TCS3 control system A block diagram of the tcs3 control system is maintained http irtfweb ifa hawaii edu tcs3 tcs3 Design The staff should be familiar with the TCS3 at this level A of the block diagram is displayed here for reference Pat 2 fa fe 7 fa oe mo fm 1 1 1 pa 16 fa South Pier J Box HA limits HA Zenth Opto22 FIOC EJ E Power Su eN Semen M d d ocus Motor Equad HA some T3 APE HA HA APE HA APE Readout SIRTF network switch Electronics CPU E in TCS3 Equipment Rack T3 APE DEC Dec APE Dec APE Readout an RA roremental Encoder Electronics CPU HA Ta per FONC Mirror Cooling IO i and Circuit mn Gar Legend Red Names of TCS3 Control System Hardware Blue TCS3 Control System Hardware Green Existing Facility Hardware Chop secondary control rack aba Title T3 1010 TCS3_Block_Diagram vsd Project TCS3 Control System Upgrade NASA IRTF Filename Edi Date Page T3 1010 TCS3 Block Diagram vsd 22002013 11 41AM toft K P
6. When tracking the dome has lined up with the telescope move completed The MP move has reached it destinations Brakes are set TCS tells you when brake are engaged Beamswitch A sound plays when a beam switch occurs Please reslew Trying to slew but velocity is 0 Operators needs to press the reslew button on the mccl GUI Last_Pointing_star or Completed pointing pattern when the last star in the pointing pattern is recorded Motor Currents High Check the TCS3 motor currents for the HA DEC and Dome motors High Wind Warning Winds speed is above the high wind warning limit normally 35mph Page 33
7. a time interval thus it is stuck Maybe you reached the end of travel or some other failure occurred 20 Collimate is stuck While moving the collimated motors the position did not change after a time interval thus it is stuck Maybe you reached the end of travel or some other failure occurred 21 APE data is stale gt 2 sec The ape are polled for new position at an interval greater that 5Hz A new position was not received for more that 2 second indicating a communication problem between the tcs3 comptuer and the ape computers t3apeha or t3apedec 22 Dome pos data is stale gt 2 sec The dome position is sent to the the tcs3 via a serial stream The dome_scanner ouput is feed into the fio_a opto22 serial module The update rate is about 2 Hz Thes message indicated no new data was received within 2 seconds Further investigation is needed 23 ZenDist large refra disabled When the zenith distance is gt 85 degress the refraction calculation is disabled This is because large zenith distance requires a huge amount of cpu time and after this zenith distance it will soon overwhelm the computer 24 Humidity limit exceeded The humidity exceeds the limit set by the humidity wn command 25 FIO_A is off line The opto22 device whose hostname is t3fioa is offline 26 FIO_B is off line The opto22 device whose hostname is t3fiob is offline 27 FIO_C is off line The opto22 device whose hostname is t3fioc is offli
8. 1201_Operators_Guide doc Version 2014 12 03 TCS3 Operators Guide A guide for the TCS3 Operator Page 1 1201_Operators_Guide doc Version 2014 12 03 TOSSI Operators Guide vassalstat 1 1 Introduetonaussarvtkameadaagnekgannineeted hent ed ice eed cee ede ee eee 3 2 Starting Stopping the TCS3 Softwares Compilekasaassesersesrer see 4 Su Trader and Ser NE ae 6 4 Pointing Map Basics aunqniaseudkinensnuismikdnniinuria au da deacdaseaveasdsooes E A heidi 8 5 MP and MV S tvo Modes peer 10 6 Using MP Cnt MP using Counts and Raw APE Motor Positi0nS sonrrnrrnrnnvennnnverrnnernrnnrerrnnrrrrnssrrrnesnrresennn 10 7 Going beyond the software and hardware limits ocsicccccecscscccgpsseceasdncksneeacesaeqagassaocadeasauaadeadonea aaa tyaacseisdcedeacseaedns 11 S Setting the Software LIMItS seroren ne a aE Ai sacs EEK Gad an aO EE ETA R aoh Saas 11 9 The E100 Dome Servo System ssrisipeissne irina er anaE o A E Ea S EEA A EE AA Eiai 12 POs The E Keay 01018 SCC aTa AI AAE EE RE 15 10 1 Setting up the TCS3 with the correct SON aa OG 15 10 2 Initializmg the Hex apod ws ssi ccsesecsaaecasscaes nsis ai a R A R N A a a RiR 15 10 3 Other things to know about the hexapod essseseseeeesseessesssessseesssetssseesseesseesserssseessseessresseesseessseessseesseest 15 I TESS and JPL Honzonephbemendes data svunne 17 12 How to Update the collimation table vs 18 19 Foc s Adj stment Graphs io nte nt e ar a aes a ea e ee 19 14 Mise Problems and So
9. 3 Workbench Applications running on the Dome Servo PC Some vendor documentation is located here http Artfweb ifa hawaii edu tcs3 tcs3 vendor_info Baldor But workbench built in documentation and it probably better to first use the Help system under workbench It is more complete and up to date that the electronic documents There is a screen shot of the workbench gt firtf epl velmnt x BSM100C 31508A Velocty ll eo a Program Ga Task Comer Function we B Functionin B Function ix B Function d BB Event ONEF E Stertup COMMS INTEGER 11 COMMS INTEGER 12 COMMS 13 CONMS 14 COUS 25 Spy Window ne COMMS 16 leswitch COMMSINTEGER 4 ODS 6 4 tt 2 Duration G2mt Penod Gut M Watching Value 7 farentTask Running at line 100 o PeeTngger 0 2 3 Tngger Watch Tasks Auto ream waming 2339 Implict cast of Time 100 to Integer may lose precision on ine 171 Manuel tigger Warning 2320 Variable T on ine 57 is hidden by declaration ByVal i As Integer on ine 351 Waming 2303 Function 1 dip range deckred but not used on ine 351 Waming 2303 Function d dip range deckred but not used on ine 356 0 Error s and 4 Warning s g 4 Terminal Build Breakponts 4 N Axis VO Monitor Data watch For Help press FI MotFiex 01008 Mint Card Build 5633 Ln 187 Cot 9 Capture k ee Above the tool bar there is the green on black LED sty
10. S3_Block_Diagram Item_Index Provide reference for items in the block diagram Page 3 1201_Operators_Guide doc Version 2014 12 03 2 Starting Stopping the TCS3 Software Computer This document describes the procedures to start and stop the TCS3 application Plus provides instructions on rebooting the TCS3 computers tl and t2 The TCS3 has two linux computers that can run the TCS application Their hostnames are t1 and t2 Normally t1 is used for all tcs3 operations The t2 computer is a backup to t1 All tcs operation are performed on tl unless specifically instructed to use t2 There is a KVM switch to select either the tl or t2 computer The KVM box is located in the TCS room and can be manually switched using buttons on the KVM It also supports hot keys via the keyboard press scroll lock scroll lock then the up arrow Easy Startup 1 login in as the user to using the project password 2 In an xterm type startic to begin the TCS3 main instrument control program 3 Click on the TCS3 icon to start the mecc GUI and then set the tab to mccl 4 Click on the TCS3 icon to start the mcc GUI and then set the tab to mcc2 Shutdown Normally you would leave the TCS3 running at all times Here are procedures to reboot or shutdown the computer 1 Put TCS3 in Stop servo mode 2 Set TO Panel s Telescope Enable to OFF 3 Turn system power on MCC2 4 Type Die in the mec command
11. at 2 3 fa 8 e 7 8 9 gt 10 n 2 1 u 1 16 4 Page 22 1201_Operators_Guide doc Version 2014 12 03 It is also important to identify and understand the key components of the servo system Reads FIOE input for tcs3 Data Acquisition Hardware VTCS 20 Hz loop Astro calculations FIOE Monitors Opto22 fioe FioE Opto22 Ethernet based Astronomy calculations PMAC RTCS Motor Cmd for AMP 2 Commands PMAC PID Motor Controller Motor Controller Velocity Feedback averages 2 Tachs Feedback Commands and APE ata to TCS3 Position Feedback using incremental encoder Safety Board TAC Feedback loop Function amp avg Safety Board Inputs Emergency Stop Telescope Enable Switch Axis Over speed tachs Computer watchdog timer Amp Over Current Dome HP Stop Horizon Limits Stop Limits Block Diagram of TCS3 Servo System Emergency Limits Motor Cmd for AMP 2 computer electronics SSINNNSNNJ 1 The Virtual TCS VTCS is a software process running at 20Hz it calculates the mount position to observe a sky object The Real TCS RTCS is another software process it takes the mount position and commands the motor controller to follow a trajectory to track the sky object 2 The PMAC is a PID based motor controller It is a PCI slot peripheral board located inside the T1 PC It is commanded by the RTCS and is the servo contro
12. change the initial MAdj values 2 Where can I learn more about TPOINT The tcs3 s user manual page has a link to the IRTF copy of the TPOINT manual Page 9 1201_Operators_Guide doc Version 2014 12 03 5 MP and MV Servo Modes MP and MV are 2 additional servo modes supported by the TCS MP is move position and MV is move velocity mode These are mount orientated mode they ignore the sky coordinates In MP stands for move position Using the MCC1 GUI enter the destination HA and DEC and execute the move MV stands for move velocity Use this mode to jog the axis at a specified velocity The dome hand paddle and TO Panel can be used to control the velocity To use a hand paddle enable the desired hard paddle and enter a rate The hand paddle can now be used to control the velocity In MV mode the Joystick DomeHP or GUI mode can be used simultaneously In MV and MP mode the TCS software does a reverse mount to sky transformation to determine the sky position The 1101_MCC_GUI_and_TO_Panel doc provide a good guide on using these mode via the MCC GUI 6 Using MP Cnt MP using Counts and Raw APE Motor Positions You can view the raw encoder position from the MCC GUI s Details gt Pos screen Here is a sample of the APE amp raw position values The raw ape values are in Radians The Motor counts are the PMAC actual position incremental encoder count values In MP mode you can also position the TCS in u
13. df On MCC1 the Dome Shutter area provides dome control and feedback for normal operations If the a red message appear indicating the Dome Servo is not ready further troubleshooting is needed 1 Insure SafetyBoard Error are cleared System Power is on and the TO Panel Dome switch is not locked 2 More information on the Dome Servo E100 system can be viewed on the MCC s Details Tab gt DS e100 The user manual 1101 MCC GUI and TO Panel document has some information on this details screen 3 The Dome Servo PC run the Baldor s MINT Workbench software This is a comprehensive Windows application that provide full access to the E100 Drives It does it all Status Monitoring Parameters editing Tuning Data Collection Driving Commissioning and Application Development A few good things to know is including in the section Workbench on the Dome Servo PC The dome servo pc is located in the TCS control room next to the Dome Servo Electronic box This desktop is also accessible via VNC ie vneviewer dome servo pc 16000 Use the project password Normally there is 3 copies of the workbench running one for each Drive The workbench software communication to the drives over the USB connection If not you can access the My Mint shortcut on the desktop and run 3 workbench applications by double clicking on the wbx for each node Tala wa Castre ik Page 12 1201_Operators_Guide doc Version 2014 12 03
14. enith 2 Warning Notices are less serious errors or message that indicate a condition the operation should be aware of They are display in Yellow 9 Using sim motors CF PMAC 0 The software has be compiled to using simulated software motor This is a engineering mode and should never be seen for IRTF operations 10 Hardware Limit Override On The hardware limit override switch on the TO Panel is ON 11 Software Limit Override On The software limit override in mcc2 is ON 12 System Power is off The system power is off 13 Hardware Slew Limit set The hardware slew limit switch is ON 14 Software Limit reached The software limit position has been reached 15 Dome blocking FOV The Dome and Telescope Azimuth position differ by more that 2 degrees thus the telescope s field of view may be blocked 16 MirSup Warning Kill Err The mirror support that a KILL signal indicating a hardware fault has occurred The KILL signal is true Page 28 1201_Operators_Guide doc Version 2014 12 03 17 MirSup ON amp Volt Low The mirror support is on but the voltage used to indicate pressure is close to zero indicating no air pressure 18 Counterweight s are stuck While moving a counterweight the position did not change after a few seconds thus it is stuck Maybe you reached the end of travel or some other failure occurred 19 Focus is stuck While moving the focus the position did not change after
15. erators_Guide doc Version 2014 12 03 User clear User inc ra as dec as User on User off User toggle 0000 0 Scan is a special case offset for scan across a target Related commands are o Scan set ra as dec as duration sec o Scan go Scan return o Scan clear Target Position The base offset are summed to produce the target position This is the sky position the telescope the pointing at Mean to Mount Calculation Summary It is important to understand the basic terms to describe position The following diagram illustrates the terms and how the astronomical coordinates are transformed in TCS3 Page 25 1201_Operators_Guide doc APP Geocentric FK5 FK4 Apparent current any eq any Ep Any eq any Ep Epoch User Input Position Table CS CS Equinox PM ra dec any Epoch Base ra dec Offset Sets ra dec User s Sky Position transformed to FK5 Mean J2000 0 Current Epoch using esla cci Mean CurEp ra dec FK5 Eq 2000 Current Ep slaMapqkZ Light deflection by the Sun Aberration of Light by Earth motion Precession and nutation of Earth spin axis slaMapakZ G Apparent ra dec Celestial Coordinates given with respect to the center of the earth slaAopqK earth rotation diurnal aberration refraction slaAopqK Observed ha dec Topocentric or pertaining to a point on the surface of the earth Pointing Map Mount ha dec Mechanical C
16. ewing To slew you must first be tracking and have a next object loaded in the next object table Next objects can be loaded using the next command t3remote or starcat Review the next object table and slew to the object using the slew N command For convenience a slew 0 button is provide on mccl s tracking window When starting a slew check the MCC1 Time amp Position display to insure the slew is operating correctly Review the destination RA amp DEC and motor speeds To abort a slew press the slew abort button the tcs should start tracking near the aborted located Or press Stop to stop the servo and put the brakes on If the slew failed start tracking and re slew to the target Page 6 1201_Operators_Guide doc Version 2014 12 03 Parking the Telescope If you will be away from the operator area for an extend period of time ie lunch instrument changes end of shift you should 1 Goto Stop Mode Turns off Brakes Turns off the Servo 2 Turn off TO Panel s Telescope Enable Prevents anyone from moving the telescope using a remote GUI Page 7 1201_Operators_Guide doc Version 2014 12 03 4 Pointing Map Basics The tcs3 uses TPOINT for it pointing map correction Information on TPOINT can be found on the tcs3 user s manual page The tcs3 pointing map called pt map support the following tpoint coefficients IH ID NP CH ME MA HCES HCEC DCES DCEC FO TF TX These are determine b
17. f any of the motor currents East West North South Domel Dome2 Dome3 exceed some normal operational value this message and a audio warning will occurred Quickly access the situation to insure the telescope or dome isn t stuck or impeded 83 IQUP Data is Stale The TCS3 gets some facility data temperature wind speed from the IQUP system This warning indicates some IQUP data is stale Go to the Details gt FOX tab and review the IQUP data The details show the timestamp of the data normally data is taken at 180 or 360 second intervals or less Disregard any stale data and report the problem to the technical staff 84 High Wind Warning A notice warning with sound alert should trigger when the wind speed exceed the high wind warning level normally set at 35mph 85 Machine Room is Hot gt 80 deg F The iqup sensor TMRS is sample by the tcs When the temperature exceeds 80 deg then this warning appears Operators Staff should address the situation Open the machine room door and use the fan to cool the room 86 DS e100 data stale check details 87 DS e100 has errors check details The DS e100 refers to the Baldor E100 Dome Servo Drive system The message indicate an issue with the servo system Please review the Details gt DS e100 tab After reviewing the tab hopefully a better assessment of the state of the dome servo could be provided Also section 8 The E100 Dome Servo System has some instructions on usin
18. g the Baldor Workbench Software to assist with trouble shooting any Dome Servo System issues Page 32 1201_Operators_Guide doc Version 2014 12 03 88 Hexapod has errors check details FIOX Please review the Details gt Misc tab s Hexapod information There is an issue with the hexapod Also review section 9 The IRTF Hexapod Secondary has some information operation the hexapod 3 Sound notices are audio message play via the computer s speaker output Usually they are self explanatory completing slew slew has reach its destination sm_stop Entering Stop Mode sm_mp Entering MP mode sm mv Entering MV mode sm_track Entering track mode sm_slew Entering slew mode sm_error_exiting TCS is existing a servo mode due to an error system power off The system power has been turned off humidity_rising humidity_falling The humidity crossed the warning point falling or rising next_obj The tcs has received a new data in its slew next buffer sound is a bee boo upper_shutter_up Upper shutter limit turned ON shutters_touch Shutter touch limited turned ON lower_shutter_dn The lower shutter limit turned ON approaching lower shutter You are getting near the lower shutter Can t do please check Operator can t start the servo if the system power is off or safety board error exist start data recorded audio freed back with pt star add is done dome is ready
19. izon Apparent RA amp DEC not recommended Horizon Your location should be Mauna Kea 568 Select Apparent RA amp Dec Select Rates RA amp DEC Select the standard atmosphere refraction model option Enter rates as nonsidereal rate divide by 3600 to convert from hr to s For TCS3 set CS APP Enter a apparent RA Dec from Horizon Enter Rates as nonsidereal rate divide by 3600 to convert from hr to s All Topocentric Apparent object will need a tracking rates Page 17 1201_Operators_Guide doc Version 2014 12 03 12 How to update the collimation table 1 Open a text editor and edit the home to data collimate txt file e On the tl computer start gedit by clicking on the Application gt Accessories gt Text Editor menu 2 Open the collimation file e In gedit open the file HOME data collimate txt 3 Edit e To preserved a history of the collimation data copy the current values and comment them out by placing a in front of the lines e Edit the values e Save the file e Quit gedit 4 On the TCS MCC type the follow in the command line interface to reload the new values in the TCS collimate table read then hit return Page 18 1201_Operators_Guide doc Version 2014 12 03 13 Focus Adjustment Graphs The tcs calculates a focus adjustment value based on change of temperature and position The is done in the TCS focus loop with run at 10Hz The adjustment formulas used are from
20. le node ID There will be either FO 01 or 02 This identifies the controller s ID that you are communication with Be aware of this to insure to are accessing the correct controller The toolbar has some icons where you can check on Errors The green No Error Bar will be red when the controller has errors Click on error bar to display the error The P attemps to clear the error And the should be press to keep appliation refreshed The Toolbox icon will change the middle area depending on the toolbox function selected Many of the top icons run wizards that configure various aspect of the system like Connectivity System Configuration Drive Setup Operating Mode AutoTune FindTuning These would be used only during initil setup so avoid using them Page 13 1201_Operators_Guide doc Version 2014 12 03 Some toolbox function could be useful Edit amp Debug on Node FO we run an mint application This toolbox allow access window related to program development Becareful not to change the MINT program s source code The watch window is usefull to show that the program is running The Terminal window show console output of the program And the Command window allow you to interactively type MINT command to the controller Normally the progam should be running I like to check the parentTask that the MINT program is running and when the dome is IDLE it is at or about line 100 Scope Using the Spy Wind
21. ller for the TCS3 Each PMAC axis HA and Dec is configured to driver 2 DAC for the IRTF s dual motor configuration For position feedback an incremental encoder on the bull gear is used For velocity feedback the analog signals from each tachometer motor is averaged by the safety board and provide to the PMAC 3 The Safety board is a custom built IRTF elelctronic board It has 2 primary functions the TAC feedback loop and the safety function a A feedback loop for each motor is performed The DAC output from the PMAC is conditioned before being applied to the amplifiers based on the tachometers for that motor The 2 tachometer signals are also average and provide to the PMAC a its velocity sensor input b Various inputs are monitors by the safety function circuits These signal can trigger a shutdown When alerted the safety board will display the amplifiers and apply the telescope brakes 4 Fioe is an opto22 data acquisition device It samples various signals related to the servo system and safety board The TCS3 application monitors this device and will alert the operator when a safety condition has occurred Page 23 1201_Operators_Guide doc Version 2014 12 03 Appendix B The Position Table Mean to Mount Calculations The Position Table During tracking operations the target TCS position is controlled by the position table Here is an illustration of the information in the position table Proper motion Base RA s yr
22. lutions nsnssnsiiniiasinsn aie ia aai aas asii as 20 Appendix A Block Diagrams of the TCS3 control system eeccceesseceencecesececeeneeceeneeceeneeceeeeceeneecneeeeeeeeeees 22 Appendix B The Position Table Mean to Mount Calculations eeonvrrronvrnronnrnrrnvnnvennnnernrnnrersnnsernnersrrnserrsesennn 24 Appendix C Telescope HA Dec Horizontal Limits ronnorrnnvevennvrvennvrrsnnrnrennsenennesssnnesssnnenssnnsssennessennsssenssesene 27 Appendix D List of MCC Errors and Warnings Notices ccessscesseceesceceeneeceeacecesneeceeceeceeeeceeeecseeecseeeee 28 Page 2 1201_Operators_Guide doc Version 2014 12 03 1 Introduction The manual provides note and instruction on using the TCS3 It is a tutorial style guide Operators should also refer to the User Manual references when using this guide Here are some key link allowing access to the TCS3 Documentation http irtfweb ifa hawaii edu tcs3 TCS3 Home Page http irtfweb ifa hawaii edu tcs3 tcs3 users manual TCS3 Users operational manuals http irtfweb ifa hawaii edu tcs3 tcs3 Design document index html TCS3 Design Schematics In the Design Directory these documents provide an overview of what available and allows quick access to a particular subject Please review and understand these documents T3 1000 Document_Index List the documents available T3 1010 TCS3_Block_Diagram Display a block diagram of the documents T3 1011 TC
23. mit limit Slew N A Reduce speed to Reduce speed to Reduce speed to N A tracking rates tracking rates tracking rates Stop Stop movement End slew Stop movement Stop movement N A in direction of Goto STOP in the direction of in the direction of limit Goto STOP mode limit limit Horizontal Slew N A Reduce speed to Reduce speed to Reduce speed to N A 19 Deg tracking rate tracking rates racking rates Horizontal Stop Stop tracking End slew Stop movement Stop movement N A 10 Deg Goto STOP Goto STOP mode in the direction of in the direction of limit limit Brake Exit track mode Exit Slew Stop movement Stop movement Do not exit STOP Goto STOP Goto STOP in the direction of in the direction of mode mode mode limit limit Speed N A Reduce speed to Reduce speed to Reduce speed to N A tracking rate tracking rates tracking rates Hard Stop movement End Slew Stop Movement Stop Movement N A in direction of Goto STOP in direction of in the direction of limit Goto Mode limit limit STOP Table of Limit Values Speed Slew HW est Software Stop HW est Brake HW est Hard EAST HA 05 15 hrs 05 27 hrs 05 35 hrs 05 38 hrs 05 57 hrs 06 00 hrs WEST HA 05 15 hrs 05 28 hrs 05 35 hrs 05 36 hrs 5 57 hrs 06 00 hrs SOUTH DEC 50 00 deg 53 07 deg 55 00 deg 56 42 deg 59 28 deg 65 00 deg NORTH DEC 60 00 deg 62 00 deg 67 00 deg 67 19 deg 69 38 deg 70 15 deg Hor Slew Limit is 70 0 deg est
24. mmands don t seem to execute Or the PMAC doesn t seem to be accepting the move commands Remember that the PMAC is a computer The TCS3 is basically one computer talking to another computer Sometime this communication doesn t happen In the case of the slew not slewing Try the ReSlew button This this doesn t work go back to tracking and re issue the slew request In the case of MP MV reissue the commands Sometime you may need to go back to STOP and reenter the MV or MP mode I ve seen the PMAC just not respond In this case Goto Stop mode On MCC3 issue the PMAC Reset button Type die in the MCC to kill the IC Restart the IC and MCC If this don t help then to a cold boot of the system Goto Stop mode Do a cold boot of the tl computer use the poweroff command as root Power on the PC after 10 seconds Start the TCS3 software 4 NAN is displayed on the MCC on some of the position values The NAN is illegal floating point number ie Not A Number Mostly like a software bug until I track it down TO s should restart the IC 1 To help me debug this take a screen capture with the mcc in Details gt Pos and Pointing See example http irtfweb ifa hawaii edu denault others Screenshot png Page 20 1201_Operators_Guide doc Version 2014 12 03 screen shot can be made using Actions gt Take Screenshot menu on T1 2 Goto Stop mode take note of your madj values 3 Type die
25. ne 28 FIO_D is off line The opto22 device whose hostname is t3fiod is offline 29 FIO_E is off line The opto22 device whose hostname is t3fioe is offline 30 FIO_F is off line The opto22 device whose hostname is t3fiof is offline 31 FIO MC is off line The RIO device whose hostname is t3fiomc is offline 32 FIO ape HA comm error There was an error communicating with the fio ape computer hostname t3apeha Check the embedded APE computer for HA 33 FIO ape Dec comm error There was an error communicating with the fio ape computer hostname t3apedec Check the embedded APE computer for DEC 34 Bad AIO on FIO_A 35 Bad AIO on FIO_B 36 Bad AIO on FIO_C Page 29 1201_Operators_Guide doc Version 2014 12 03 37 Bad AIO on FIO_D 38 Bad AIO on FIO_E 39 Bad AIO on FIO_F FIO A B C D E and F are opto22 device They have Analog In modules have can go bad This TCS warning indicate the software see bad Analog In values on a module It is likely the module need to be replaced Day Crew and TCS support staff need to be consulted Details tab on MCC may help you determine which module is bad but sometime the 1 analog module on the opto22 bus can cause the other to report bad data 40 PMAC following Err The following error in the pmac exceeds 1800 arcsec 0 5 degrees 41 SafetyBrd_OS_Ha_Latch The T3 Safety Board s Over Speed HA Latch is TRUE 42 SafetyBrd_OS_Dec_Latch The T3 Safety Board s Over S
26. nit of incremental encoder counts using the MP Cnt command For example to move to 0 Ha and approximately 20 deg Dec do MP cnt 0 1440000 where 20 deg 3600 deg arc sec 20 cnt arcsec 1440000 counts To move HA to 144000 this is 10 rotation of the HA motor axis and keep dec at 20 degs MP cnt 144000 1440000 Page 10 1201_Operators_Guide doc Version 2014 12 03 7 Going beyond the software and hardware limits It important to remember the limit for the HA and DEC axis will trigger in the following order Software slew stop brake Hard Also the Horizon limit are based on elevation Review Appendix C to understand how limits are handled in the TCS3 If you hit a limit for example software or stop You can going MV mode and reverse directions to move away from the limit You may need to travel beyond the limits To do this you would need to disable the limit safety functions e Software Limit Override is a checkbox on the MCC2 GUI Check it to disable software limits e Horizon Slew limits can be overridden on MCC2 e The Stop Brake and Horizon Stop limits can be overridden by tuning ON the Limit Override switch on the TO Panel Once disable you should be able to move to position beyond these limits 8 Setting the Software Limits Software limits are HA and DEC limits within the software They are used to prevent the operation from slew the telescope beyond a established HA and DEC position The default are
27. nits Page 15 1201_Operators_Guide doc Version 2014 12 03 Hexapod Chopper NS Collimation Min 4 00 deg 9 00 v Max 4 00 deg 4 06 v Resolution 0 001 deg 0 010 v EW Collimation Min 4 00 deg 4 80 v Max 4 00 deg 8 00 v Resolution 0 001 deg 0 010 v Focus Min 8 00 mm 7 32 v Max 8 00 mm 7 00 v Resolution 0 005 mm 0 005 v According to M Connelly 0 142 degrees lv 1 7737mm lv Page 16 1201_Operators_Guide doc Version 2014 12 03 11 TCS3 and JPL Horizon ephemerides data The TCS3 accepts tracking data in the following coordinates system FK5 Any Equinox FK5 J2000 0 is the default which is the ICRF FK4 Any Equinox FK4 B 1950 0 is the default APP Topocentric Apparent RA and DEC Includes Light deflection annual aberration Precession and nutation And refraction TCS3 displays the Azimuth and Elevation values in Topocentric Apparent When using ephemerides your best option is to use an Astrometric ICRF RA amp DEC which is the same as FK5 J2000 0 1 Using JPL Horizon Astrometric RA amp DEC Highly recommended Horizon Your location should be Mauna Kea 568 Select the ICRF J200 0 format Horizon s default Select Rates RA amp DEC Enter Rates as nonsidereal rate divide by 3600 to convert from hr to s For TCS3 set CS FK5 EQ 2000 0 EP 2000 0 also TCS3 s defaults Enter RA Dec and non sidereal rates 2 Using JPL Hor
28. oard s North Stop Limit Latch is TRUE 59 SafetyBrd Dec Stop S Latch The T3 Safety Board s South Stop Limit Latch is TRUE Page 30 1201_Operators_Guide doc Version 2014 12 03 60 SafetyBrd_Dec_Emerg_N_Latch The T3 Safety Board s North Emergency or Brake Limit Latch is TRUE 61 SafetyBrd_Dec_Emerg_S_Latch The T3 Safety Board s South Emergency or Brake Limit is TRUE 62 SafetyBrd_Horizon_Stop_Latch The T3 Safety Board s Horizon Latch is TRUE The telescope is tipped over to far Hardware switch turns on when zenith distance is gt 75 degrees 63 SafetyBrd_Watchdog_Tmr_Latch The T3 Safety Board s Watchdog Timer Latch is TRUE 64 SafetyBrd_Clocking_Error_Latch The T3 Safety Board s internal clock monitor has indicated a clocking or timeout error This is an internal safety board error 65 SafetyBrd_Dome_Amp_Enable_Therm This error indicate there is a problem with the Enable Line or the Thermal Fuse on the Dome amplifiers Try the Thermal Fuse Reset button on Dome Amplifier else contact the Daycrew or IRTF EE 66 SafetyBrd_Tel_Amp_Enable_Therm This error indicate there is a problem with the Enable Line or the Thermal Fuse on the Telescope amplifiers Stop the telescope and turn off power Contact the TCS3 support engineer 67 SafetyBrd Sparel A spare input on the safety board has triggered This shouldn t happen Contact the TCS3 support engineer 68 SafetyBrd_Spare2
29. oordinates based on incremental encoders Page 26 Version 2014 12 03 1201_Operators_Guide doc Version 2014 12 03 Appendix C Telescope HA Dec Horizontal Limits The follow types of limits exist in the TCS Software limits Software Limit to limit the commanded position of the TCS Handled by software Slew limit hardware limit to limit max velocity from slew to tracking rates Handled by software Stop limit hardware limit Handled by the Safety Board Brake limit hardware limit to indicated emergency condition Handled by the Safety Board Horizontal slew limit A hardware limit Handled by software Horizontal stop limit A hardware limit Handled by the Safety Board Speed limit Internal position if passed the software will reduce the velocity to tracking velocity Handled by software Hard limit Internal variables in the TCS3 software RTCS will not command movement pass this limit Handle by software Hardware safety limits Stop Brake Hor Stop can be overridden by the limit override switch on the TO Panel Software limits Software Hor Slew have off on toggle buttons on the GUI Speed Hard cannot be overridden Summary of Limit Logic TRACK SLEW MP MV STOP Software Stop movement End Slew Stop movement Stop movement N A in the direction of Goto STOP in the direction of in the direction of limit Goto STOP mode li
30. ow s monitor tab you could capture and graph data using the Scope Toolbox Parameter All the controller parameters can be viewed from the parameter toolbox Be very careful because they can also be changed here too Errorlog All error are log by the workbench You can review past error here Clearing Errors During operation if the Dome System stop due to error It may be possible to clear the error and continue on with operations Resetting the controller Sometime when error happen the program may be interrupted You will need to reset the E100 Drive This is done by Locate the workbench for FO Reset the controller by hitting Tool gt Reset Controller Hopefully a 3 controllers will come up in an error free state Page 14 1201_Operators_Guide doc Version 2014 12 03 10 The Hexapod Secondary In 2013 a hexapod secondary was purchased and put it into service The TCS3 has the option of using the chopper or hexapod secondary The focus and collimation is controlled by the secondary The hexapod has a web page under the TCS3 located at http irtfweb ifa hawaii edu tcs3 hexapod This site has a block diagram Everyone should be familiar parts of the system 10 1 Setting up the TCS3 with the correct secondary When changing the secondary the TCS3 need to be configure to work with the correct secondary Edit this file on the tl computer home to current ic tcs init and insure these lines are correc
31. peed Dec Latch is TRUE 43 SafetyBrd_OC_West_Latch The T3 Safety Board s Over Current West Latch is TRUE 44 SafetyBrd_OC_East_Latch The T3 Safety Board s Over Current East Latch is TRUE 45 SafetyBrd_OC_North_Latch The T3 Safety Board s Over Current North Latch is TRUE 46 SafetyBrd_OC_South_Latch The T3 Safety Board s Over Current South Latch is TRUE 47 SafetyBrd_OC_Dome1_Latch The T3 Safety Board s Over Current Dome Motor Latch is TRUE 48 SafetyBrd OC Dome2 Latch The T3 Safety Board s Over Current Dome Motor 2 Latch is TRUE 49 SafetyBrd OC Dome3 Latch The T3 Safety Board s Over Current Dome Motor 3 Latch is TRUE 50 SafetyBrd Emerg Stop Latch The T3 Safety Board s Emerg Stop Latch is TRUE 51 SafetyBrd DomeHP Stop Latch The T3 Safety Board s Dome Hand Paddle Stop Latch is TRUE 52 SafetyBrd Mtr Cntr Err Latch The T3 Safety Board s Motor Controller Err Latch is TRUE 53 SafetyBrd PC Lockout Latch The T3 Safety Board s PC Lockout Latch is TRUE 54 SafetyBrd HA Stop W Latch The T3 Safety Board s West Stop Limit Latch is TRUE 55 SafetyBrd HA Stop F Latch The T3 Safety Board s East Stop Limit Latch is TRUE 56 SafetyBrd HA Emerg W Latch The T3 Safety Board s West Emergency or Brake Limit Latch is TRUE 57 SafetyBrd HA Emerg E Latch The T3 Safety Board s East Emergency or Brake Limit Latch is TRUE 58 SafetyBrd Dec Stop N Latch The T3 Safety B
32. prompt to Kill the TCS3 applications IC amp MCC 5 Desktop Logout menu allows you to Logout ShutDown or ReStart the computer Other methods ssh into the system as root and type reboot or halt or poweroff Manual method to start the TCS3 If the above method doesn t work this section describes how to startup the applications via the command line ie in an xterm The main binaries are located in the home to VERSION directory where current is the default version The t3remote application is copied to usr local bin IC in an xterm running on T1 as user TO gt cd Currents ie gt ic MCC in an xterm running on T1 as user TOO gt cd current mcc Page 4 1201_Operators_Guide doc Version 2014 12 03 gt mcc t3remote any IRTF workstation any user gt t3remote How to manually kill the IC process 1 Login to the tl t2 computers and become root 2 Issue the pkill ic command 3 Issue the ps ef command to review the currently running processes Problem Shared memory from last IC still exist The following messages indicate the IC may be already running or some shared resource was not deleted when the IC was termindated ic creating shared memory shm_tcs3 pshm create shm open File exists ic Can t create shared memory shm tcs3 Another copy of ic may already be running To clear up this problem make sure the IC isn t already running Also the rm ipe application may be run to try to dele
33. t set to chopper or hexapod secondary chopper secondary hexapod In the above example the chopper is commented out using the The TCS3 is configured for the hexapod 10 2 Initializing the hexapod Before the hexapod can control the focus or collimation it must be initialized Go to the MCC GUI s MCC tab and select the Hexapod Init button to initialized This instructs the hexapod controller to home itself and should take about I minute 10 3 Other things to know about the hexapod The hexapod has a Ethernet port This port is reserved so that the vendor s PC software can be used with the hexapod The IP number of name for the hexapod controller at the summit is irtf hexapod The hexapod web page above has a copy of the vendor s CD containing all manual and software The TCS3 communicates with the hexapod using the controller s RS 232 port This port is connect to the network using the digimim port 16 The hexapod controller also has a keyboard and VGA port provide access to a simple GUI Terminal This can be accessed via the network Refer to the hexapod web page On the MCC Details FIOX screen some Hexapod data is displayed The TCS3 queries the hexapod about 4 Hz Position and Status information is provided NS Collimation is the U axis EW collimation is the V axis and Focus is the Z axis Note the white lettering Hexapod u NS v EW z Foc This table compares the Chopper and Hexapod u
34. te shared resources current ic rm ipc rm ipc If this fails reboot the PC Page 5 1201_Operators_Guide doc Version 2014 12 03 3 Tracking and Slewing Track and slew are TCS3 servo mode to support astronomical observations the destination position of the servo based on a sky position The Virtual TCS software process at 20Hz calculates a mount position based on the data in the Position Table The mount position is used to drive the servo General procedures for Tracking and Slewing are presented here We will start from the STOP state parked at zenith Tracking Clear any SB Errors using SafetyBrd Reset on MCC1 Stop window Turn On System Power in the MCC2 tab Insure the Telescope Enable on the TO Panel is in the ON position At zenith the APE and Incremental Encoders should show 0 errors To set the incremental encoder position in the PMAC motor controller press the APE Set PMAC To re load the last saved pointing map IH ID values press Pointing Last button does a pt restore command Click on track in the mccl servo window The telescope should start tracking Confirm that the servo is working correctly In the tracking feedback window check the Servo Performance RTCS and PMAC should be GOOD Slew a star near zenith and center the star on the cross hairs by adjusting the pointing map At this point press the pointing SAVE button to add the errors to the pointing map and save it to disk Sl
35. the following documents IRTF Focus vs Temperature Michael Connelley Apr 8 2011 http Aborg ifa hawaii edu 8080 Plone irtf projects image quality Focus_temp pdf view Mapping IRTF s Focus Shift vs Pointing Micheal Connelley Apr 19 2011 http iborg ifa hawaii edu 8080 Plone irtf projects image quality Focus Pointing Mapping pdf view Here are graphs showing the focus changes based on temperature and position This data was taken using the IRTF Chopping Secondary thus the focus units are the LVDT voltages Temperature vs Focus Gnuplot Gnuplot 0 25 0 16 60 6 4 22 0 2 4 6 1 0 196208 0 0914512 m 30 8326 0 133446 m Page 19 1201_Operators_Guide doc Version 2014 12 03 14 Misc Problems and Solutions 1 No Sound from the speakers The OS is not very reliable with configuring the sound If the sound is not present do the following 1 Check the power amp volume setting on the speakers 2 In an xterm run the system config soundcard program Normally just selecting the Play test sound button seem to get thing working 2 What to do if the tracking exits and goes back to STOP mode Something the PMAC terminates the PID loop and the TCS go back to Stop mode If this happens just restart tracking You will have lost your position since while the stop mode wipes out your base and target position So just re slew back to your object 3 What to do if the slew doesn t slew or the MP MV co
36. ton on MCC1 to Update Pointing and save the IH ID value to disk can be recalled using pointing Last 4 1 2 Whenever the telescope is slewed to an object with good coordinates the TO should e Center the star on the cross hairs by adjusting the pointing map s IH ID e Press Pointing Update button on MCC1 to Update Pointing map s IH and ID values Page 8 1201_Operators_Guide doc Version 2014 12 03 4 1 3 Whenever the telescope is slew to an object with bad coordinates e Optional slew to a nearby object that as a good coordinate and do 4 1 2 This will adjust the pointing map for the current telescope position e Slew to your bad object e Center the star on the cross hairs by the adjusting base position using t3remote User TAB and click arrow in Base mode This preserves the pointing map and RA and DEC sky coordinate values e Ifyou center on an bad object by adjusting the pointing map you degrade the pointing map and the sky RA and DEC position 4 2 Pointing FAQ 1 Where and how are the point coefficients stored And can I modify them After a pointing run the resulting pointing map is written to current ic tcs init The is the startup file for the IC program You should not modify these coefficients as we wish to keep the original pointing map A pt save command writes the MAdj value to current ic pt save txt The pt save txt file is executed at IC startup You can edit delete this file to
37. uld check or monitor the mirror cooling system There may be an error in the system or it is operating in a unusually mode You can check on the mirror cooling IO setting via the MCC Detail Tab View the FIO_MC details 78 Approaching Lower Shutter The tcs3 thinks you are getting close to the lower shutter 79 Check TAC amp Mtr Vel Data The data on the velocity sensor don t match The velocity sensor are the velocity voltage from the tachometer out of the safety board and the incremental encoders 80 PMAC PID not optimal You do not have the correct PID value loaded in the PMAC controller This can degrade servo performance while tracking Observing There are 2 way to fix this 1 Exit tracking mode either STOP to Re Slew to target and resume tracking 2 Use MCC3 Engineering Option to reload Tracking PID while observing 1 Goto MCC3 s Engineering Options Tab 2 Check ON the ServoOpt Enable check button The Enable the servo engineering and PID option on MCC3 3 Click the Ld Trk botton on the PID frame in MCC3 This will reload the tracking PID to the PMAC 4 Check OFF the ServoOpt Enable check button 81 AMP Power Warning FIOB The system power is ON but voltage to the servo amplifiers indicate there could be a problem HA Dec and Dome AMPs require gt 60 volts from the Power Supplies check MCC GUI gt Details gt FIOB screen for AMP power supply voltages 82 Motor Currents High I
38. y a pointing run see the pointing run procedures The IH and ID values are adjusted when peaking up the pointing map after the slew A Correction register holds the recent adjustment to IH amp ID sum of the Peak Spiral and Rate IH ID values This value is cleared on the next slew Corrections can be save to an MAdj Map Adjustments register to preserves the values during slews This is done using the update pointing button on MCC1 which issue a pt madj command The correction and MAdj register are memory register which can be lost if the tcs3 is restarted The MAdj values can be saved using the pt save command Save button on MCC1 You can restore the MAdj value using the pt restore command Last button on the MCC1 After the slew you can peak up on a star using 1 TO Panel s joystick for N S E W movements Be sure the TOP joystick is enable in MCC3 and check the rate 2 T3remote ptmap s arrow widgets 3 TO Hand Paddle If you star is not the field of view you can spiral by 1 Using the TO Panel change the joystick mode to Spiral on the mec1 The JoyStick s north will spiral OUT and South will spiral IN 2 Using T3remote s ptmap s pt spiral widgets 4 1 Tip for peaking up the pointing map or telescope position 4 1 1 On your Ist Star near Zenith good catalog position the TO should e Center the star on the cross hairs by adjusting the pointing map s IH ID e Press pointing Save but
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