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Vane end control software user manual

1. 28 EDS log message 800 899 28 7 3 1 800 Current encoder reading and hexadecimal motion values 28 7 3 2 801 Current encoder reading and hexadecimal values 2 28 7 3 3 802 Target encoder reading 29 7 3 4 803 Target encoder reading 22 29 7 3 5 804 Current Galil switches es 29 7 3 6 805 Current axial DGH Load cell reading in mV and hexadecimal encoded alarm 30 7 3 7 806 Current radial DGH Load cell reading in mV and hexadecimal encoded alam 30 7 3 8 807 Current axial tensions in pounds and Status 30 7 3 9 808 Current radial tensions in pounds and status 31 7 3 10 809 Current Global coordinates 31 7 3 11 810 Target global coordinates 31 7 3 12 811 Fatal status and motion stage flags 32 7 3 13 821 Instrument rotators status 32 7 3 14 831 Encoder values roo e KARA woes E e e ee 33 7 3 15 84i Servo flag for time and error tolerance 33 Successes 000 909 ix ARCH AOA om BRP ANAN GR ae 33 7 4 1 983 Host error messages resumed ne 33 7 4 2 984 xxx
2. Rh AA bee GA he bee 13 SAD VAC PLC 13 SAS PYM zd oe eee Y URBI PWD KAN Be A Bre uet eee ae da 13 344 d oe eed we A AAA AAA e NN as 13 SAS BUKPN C TT 13 34L6 PVKER scce bee ee bee e RR ru eA dS ea a 13 347 PRD as id edi ia ca dd Ee T 13 Message display commands gt ce c sps see censtos trean ike VE kE eesse ne 13 3 dade GG A A de ob e nece e eden I3 Vane end control software user manual vi 92 IU T LET 13 INI lt gt due seb eed eS OM a EC X ea Rae hE dus 14 3 544 244 62640 Ren be RU n RE soe RR Ru Rea be dew NUR OY de EUROS S EUR y Ro 14 3 29 9 AA 14 IDO HOME gt Re UPANG RB BARIL eh RS Seeds DANG 8 14 SIME din PA APP 14 3 5 8 Scroll Lock gt emm m wed PINANG KAN SE eS Re Har 14 3 6 Engineering commands lee Rh 14 2 6 1 TRILAITDIE3ITIR a a a KNANG PAg Rm BAG NG 14 OL W eo A PER RARE BA EORR ee b KA 14 3 7 Other COMMANDOS RURU A NOR SERUORUM Rue d KANA 14 3 41 QIEXIT BAKE ede AG NAE OS Bw IR Ue p AUS gee SS 14 Configuration 15 4 1 General settings s 2 vk moo Ek Oe KO LAURA SOM wee pus E NG 15 41 1 Telescope identifica
3. Torque limits z A r BME Se A e in e e die 20 4 36 Revolution ea wed AA E n Rede DONG e 20 4 3 7 4 3 8 4 3 9 4 3 10 4 3 1 4 3 12 4 3 13 4 3 14 Vane end control software user manual Servo PID control constants s s 4 hw wa ee wae Hard limits es Soft limit distance sa oo d Room v Enabled flag ee KAT SA Secondary mirror support settings 441 442 443 4 4 4 4 4 5 4 4 6 Initial setup PID constants llle eee Res Integral limits 254535444 6 4 684840 6 Rose bee beh Rok c ow nee baw S ER a Integral resetthreshold 25 RR ooo E NG Valves minimum open times Mirror weight conversion factor Pulse cycle oir s eee bee Ae OE YE exe eee Re E eH 4 4 5 Clay cass grain positions y esed mock OW See RUN BOR S ON Re Dee Re Ee ee OS Y X EROR Se ES NG Setup of Vane End Actuators for the Magellan 6 5m telescope Running the program Log message system Error
4. 3 2 24 IR SPDP n Set speed servo PID proportional constant 3 2 25 IR SPDI n Set speed servo PID integrative constant Vane end control software user manual 12 34 3 2 26 IR SPDD n Set speed servo PID derivative constant 3 2 27 IR SPDIL n Set speed servo PID integrative limit 3 2 28 IR PROG Command to upload PID program into the controller to make it able to work with the servo mode used for rotation tracking If you want to be sure that program was recorded into controller s internal memory do the following steps Talk comport 19200 via IR terminal where comport is from 2 to 6 OLS to see if program was recorded f you want to begin execution of program do the following PORS 3 2 29 IR SPDERR Toggle display of speed servo error on leftmost chart 3 2 30 IR MCURR Toggle display of motor current on leftmost chart 3 2 31 IR MESTAT Toggle display of master encoder status on leftmost chart 3 2 32 IR SESTAT Toggle display of slave encoder status on leftmost chart 3 3 Charts commands 3 3 1 ERROR n Set the instrument rotator error chart scale For example ERROR 10000 sets the on screen instrument rotator error chart s scale to the given value in encoder counts All old data is immediately plotted with the new scale which ranges from given to given 3 3 2 VELn Set the instrument rotator velocity chart scale For example VEL 2 5 sets the on scre
5. 7 4 viii 7 1 17 017 Encoder read errors suspended ee 26 7 1 18 018 Move ignored fatal errors exist 2 ee 26 7 1 19 019 Incorrectly formatted UT message fromTCS oo AJ 7 1 20 020 Movement aborted via ESC key rs 2 7 121 021 Host com error X uuu DN DA bU RC oe 27 7 1 22 022 Host error messages suspended 2 27 Instrument rotator specific 27 7 2 1 100 Brake not toggled IR not enabled com error Brake not toggled Move in progress use STOP 27 7 2 2 101 Free command ignored IR not enabled error 2e 27 7 2 3 102 Stop ignored IR not enabled es 27 7 2 4 103 Power not toggled IR not enabled com error or Power not toggled Move in progress 27 7 2 5 104 Move ignored IR not enabled error or Move ignored Brake on or Move ignored Another move is being processed y Kamao ERE RUE REAR EUN RORUE NUR Kor X OY RO PORRO EUR NG 27 7 2 6 105 Home ignored IR not enabled error or Home ignored Brake on or Home ignored Another move isbeing processed s op np eR RE EG BOR GRO DAP PAR REOR ARA X 4S D Keg m n 27 7 2 1 106 xxxx IR com error pt mom RR om En Ro m RR ro mE RR 28 7 2 8 107 xxxx IR com errors suspended ne 28 7 2 9 500 Warning Instrument Rotator not homed
6. TorqueLimit r 4 3 6 Revolution Set to the number of encoder counts equal to exactly one revolution of the rotator 360 0 degrees These should be measured accurately as this number will control how close to a requested position the system can come Revolution i 4 3 7 Home jog speed Sets the speed at which the rotator will move towards the index mark once the zone switch has been found during a homing procedure in counts sec HomeJogSpeed i 4 3 8 Home During a homing procedure value to set the encoder to when when the index is reached Home i 4 3 9 Minimum home distance The number of encoder counts the rotator should be moved to insure an index or a limit is hit This is used during the homing operation An error will be generated if an index or limit isn t hit in this distance MinHomeDistance i Vane end control software user manual 21 34 4 3 10 Minimum back off limit distance The number of encoder counts the rotator should be backed up by after hitting a limit and moving forwards again to hit the index MinBackOffLimitDistance i 4 3 11 Servo PID control constants PID constants plus integral limit for the servo program that runs inside the rotator controler and that controls the rotator move ment during servo mode SpdP r SpdD SpdIL 4 3 12 Hard limits Where in degrees are the clockwise and counterclockwise hard limits located CWLimit r CCWLi
7. 0 0K 1 Near Limit 2 Error 6 7 NE Radial reading status 02OK 1 Near Limit 2 Error ff Encoder motion status hex 0 1 NW Radial motion status 02None 1 Up 2 Down 2 3 SW Radial motion status 02None 1 Up 2 Down 4 5 SE Radial motion status 02None 1 Up 2 Down 6 7 NE Radial motion status 0 None 1 Up 2 Down 7 3 3 802 Target encoder reading Format 802aaaaaabbbbbbccccceddddddee aaaaaa NW Axial target reading decimal bbbbbb SW Axial target reading decimal SE Axial target reading decimal dddddd NE Axial target reading decimal ee Encoder status hex 0 1 NW Axial target reading status 0 0K 1 Near Limit 2 Error 2 3 SW Axial target reading status 02OK 1 Near Limit 2 Error 4 5 SE Axial target reading status 0 1 Near Limit 2 Error 6 7 NE Axial target reading status 02OK 1 Near Limit 2 Error 7 3 4 803 Target encoder reading Format 803aaaaaabbbbbbccccceddddddee aaaaaa NW Radial target reading decimal bbbbbb SW Radial target reading decimal SE Radial target reading decimal dddddd NE Radial target reading decimal ee Encoder status hex 0 1 NW Radial target reading status 02OK 1 Near Limit 2 Error 2 3 SW Radial target reading status 02OK 1 Near Limit 2 Error 4 5 SE Radial target reading status 0 0K 1 Near Limit 2 Error 6 7 NE Radial target reading status 0 1 Near Limit 2 Error 7 3 5 804 Current G
8. a 1 NASE 2 CASS 3 AUX1 4 AUX2 and 5 AUX3 bbbbbbb Requested position velocity in deg 1000 or deg sec 1000 ccccccc Current position in deg 1000 ddddd Current velocity in deg sec 1000 eee Current volatge in volts 10 ffff Status flags hex 0 1 2 Communication Enabled 1 1 Communication Error 2 0 Last command was a position command 1 velocity command 3 1 Servo error 4 1 Motor power enabled 5 12 CW motion 6 12 CCW motion 7 1 CW limit hit 8 1 CCW limit hit 9 1 Brake on 10 1 Lock pin in 11 1 Home in progress 12 1 Home completed OK 13 0 CW Zone 1 CCW Zone 32 34 Vane end control software user manual 33 34 7 314 83i Encoder values Format 83iabbbbbbbbbbbcccccccccccddddddddddd i O NASW I NASE 2 CASS 3 AUXI 4 AUX2 and 5 AUX3 a 1 NASE 2 CASS 3 AUX1 4 AUX2 and 5 AUX3 bbbbbbbbbbb Encoder value Servo error value ddddddddddd Velocity in encoder counts sec 7 3 15 84i Servo flag for time and error tolerance Format 84iabc i O NASW I NASE 2 CASS 3 AUX1 4 AUX2 and 5 AUX3 a 1 NASE 2 CASS 3 AUX1 4 AUX2 and 5 AUX3 b Flag if internal servo has reached the desired tolerance ErrorTolerance c Flag that servo has been within certain tolerance ErrorTolerance for certain amount of time TimeTolerance 7 4 Successes 900 999 7 4 4 983 Host err
9. a 21 IRENABLE catar S44 I Eee A oa 3 22 IRDISABLE 0 ERO OE BR P Eos ewe ADEL d Ue 3 4 3 IRPOWER e s epa BEB R ED o BHD END LL Oh a 324 IRMO oia BAKA EU A Se eee hee ee hee Mee ae dem 3 25 CC 3 26 CASS BRAKE sida aap Rie EARS we eS EMA NG e diede Th eae RO de 3 2 7 CASSCLAMP uw ve A OO MED e doe a ee en Vane end control software user manual 3 3 3 4 3 5 3 2 8 CASS RELEASE 2 ko AA KUA KA BAND a 9 329 ARSTOD 24 ve eee A AA eux qued oe oe Eee Ss 9 3 2 10 TRESTOR ados eee aga A Blok a 9 3 21 IRUNSTOP oia A GG PA ee ee 10 32 10 IR MOVE mS sm SR hoe S eh DERMA LANA GNG S 10 3 2 13 IRMOVEA sng kk AI Boe NG Ae a 10 3 2 14 IRGOAN c uu a a A MG GT AL e he ee PAA 10 9 2515 IR gob 5 NE KA IB Pk CULA RC a 10 3 2 16 IRGOSPWI 624 a NG a A da R S Ug 10 TRIOGT a8 5 ee KA BA NAG a SATA babs O 10 3 4 18 E NG EROR ROW R OE ROG Bae 11 3 2 19 IR VEL oie RE Rey AA de RURUR CR Le
10. encoder readings display the present output from the axial and radial encoders in microns The tension readings give the current tensions each vane end is experiencing in pounds this can be changed to mV for diagnostic purposes with the P command All of these readings are color coded a black reading means that the values are well within their soft limits a yellow reading means that the values are near their limits and a red reading means that the soft limits have been exceeded a fatal error condition These limits are set in the VANE INI file and exist to help prevent any actual hardware damage To the right of the encoder readings is a pair of arrow indicators The M column motion flashes a green arrow if the associated motor is moving The L column limit is black during normal operation and red with an arrow if the associated limit switch has been triggered To the right of each tension reading is the E error column which turns red if the associated DGH s internal alarm has been triggered Finally the far right side of the pane displays the target Req and current Val global coordinates X Y and Z are in microns while H and V are in arc seconds These axes are described 2 2 Instrument rotators The middle left pane displays everything related to the instrument rotators Each line shows an instrument rotator s address a four letter name such as NASW the requested Req and current Val position in degrees the current velocit
11. 2 SE Radial alarm 0 No alarm 1 Alarm 3 NE Radial alarm 0 No alarm 1 Alarm 7 3 8 807 Current axial tensions in pounds and status Format 807 aaaaa aa bbbbb bb ccccc cc ddddd ddee aaaaa aa NW Axial Load cell reading in Pounds bbbbb bb SW Axial Load cell reading in Pounds SE Axial Load cell reading in Pounds ddddd dd NE Axial Load cell reading in Pounds 30 34 Vane end control software user manual ee Tension Status hex 0 1 NW Axial Tension status 0 2 OK 1 Near Limit 2 Error 2 3 SW Axial Tension status 0 OK 1 Near Limit 2 Error 4 5 SE Axial Tension status 0 OK 1 Near Limit 2 Error 6 7 NE Axial Tension status 0 OK 1 Near Limit 2 Error 7 3 9 808 Current radial tensions in pounds and status Format 808 aaaaa aa bbbbb bb ccccc cc ddddd ddee aaaaa aa NW Radial Load cell reading in Pounds bbbbb bb SW Radial Load cell reading in Pounds ccccc cc SE Radial Load cell reading in Pounds ddddd dd NE Radial Load cell reading in Pounds ee Tension Status hex 0 1 NW Radial Tension status 0 2 OK 1 2 Near Limit 2 Error 2 3 SW Radial Tension status 0 2 OK 1 Near Limit 2 Error 4 5 SE Radial Tension status O 2 OK 1 Near Limit 2 Error 6 7 NE Radial Tension status 0 2 1 Near Limit 2 Error 7 310 809 Current Global coordinates Format 809aaaaaabbbbbbccccccdddddddddeeeeeeeee aaaaaa current x coordinat
12. Err fatal flag is cleared and motor motion is possible It is vital that the encoders are properly homed before even thinking about moving the mirror 3 1 11 CLEARFFHOME Clears the HOME fatal flag without homing the M2 cage in case the need arises during engineering of moving the cage when it could not be homed Caution Use extreme caution in using this command You can actually break things moving the M2 cage around without homing first Vane end control software user manual 8 34 3 1 12 R All status flags are reset and all fatal flags except for INI Error and Home Err are reset The DMC s are reset and re sent their initialization commands and the emergency stop card is reset This command should be used to recover from a fatal error after the situation causing the error has been resolved Note that the only way to fix a homing error is to redo the homing operation HOME command and the only way to recover from an error in VANE INI is to exit the program and fix VANE INI 3 1 13 TEn Toggles tension module n a DGH between enabled and disabled For example TE 7 toggles a tension module between enabled and disabled Use this command to disable communication with DGH module load cell pair that s malfunctioning The tension readout will be replaced with symbols indicating that the module has been disabled This command s argument is from 1 8 1 NW Axial 2 SW Axial 4 NE Axial 5 NW Radial 8
13. HHMMSShh hh hundredths of a second This command is intended to be issued by the TCS when tracking for rotation control 3 217 IR JOG n Begin a jog motion of the instrument rotator at the given degrees per second For example NASW JOG 2 0 the specified instrument rotator will begin a jog motion at the given number of degrees per second A positive number will result in clockwise motion negative will result in counterclockwise motion The rotator will smoothly accelerate from it s current position speed to the given speed Vane end control software user manual 11 34 3 2 18 IR HOME Home the given instrument rotator For example NASW HOME commands the instrument rotator to home Depending on whether the rotator begins in its clock wise or counterclockwise Zone it will begin moving clockwise or counterclockwise until it hits a limit or an index If it hits a limit it will move back to an index Once it has done so the program knows where it is The home indicator will go green it will be yellow while the home is in progress and the current and target positions will go from yellow to black 3 2 19 IR VEL n Set the maximum velocity for moves in degrees per second For example NASW VEL 1 5 sets the instrument rotator top speed velocity in degrees per second If a move is in progress the rotator will begin using this new speed immediately by accelerating or decelerating smoothly to the new value 3 2 20 IR DIS
14. error 2 6 Input interface The bottom right pane is where user input is displayed next to the At the top of this pane is another status line which displays the average and maximum number of milliseconds it s taking for the main loop of the program to execute Recent commands and short prompts are also displayed in this pane Vane end control software user manual 6 34 3 Commands summary Hitting F1 at any time will display a help screen that summarizes the available commands Commands that can be used locally from the keyboard are labeled Local Commands that can be given remotely over the serial link are labeled Remote During normal operation the host computer communicates with the Vane End computer via COM 1 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 mirror position The R and HOME commands can be used to attempt to correct fatal errors and resume normal operation The vane end computer adheres to the serial communication protocol defined in D M Carr s Proposed RS 485 Control System Communications Protocol DOC 96CY0007 The vane end computer uses a prompt character of an address of H and a response character of These are defined in the VANE INI file Refer to the document Control System Serial Communication Standards for a des
15. eu oe KA 1 3 2 20 IRIDISPEAY ro ve Russe dye doe Ee te Rae NG mais ewe ep SU IS oS 11 3 222 JR RESET KUNG pi BRA OROR fe Y amp OE Ros 3o X OR S BOR GR EO S EUR Rex eee la 3 2 22 IR ACCIDECISPD in pha een eR EA eee ee ee f Roh BAR AD BARA 11 3 2 23 IR usus ups a ENS eS e a e 11 3 2 24 IR SPDR A X a ee KA E A 9 11 S225 a ee qus du ste S duet ap qe qd ege bes qe dedu Be Mod ah gode ite 11 3 2 26 IR SPDDUE RRS PER TEC GR Rn es BANG 12 3 227 IR SPDIE M s e ku AE BB BRA eed DBA BAKA AA 12 3 2 28 gic da rd dd e BPS Ade id 12 3 2 20 IRSPDERR e s cae E A E A 5 de 12 3 230 IRMCURR a a A A 12 3 2 3 IRIMESTAT o s e a HAND RAD A RC e 12 3 2 32 IRSESTAT ii Y EORR A ad a ee eS we 12 Charts commands 2 35 dt ngaa KIN ue A Se n Ace e 12 3 3 1 ERROR W psoe NG be okt Ba Red A GA eh e o 12 332 VEC LL TIT 12 333 VOLEN E dr e m PAN due A xd See e 13 M2 support commands ER RR ER a 3 EOS XE OS 13 PRES cba bea bide bean ee
16. program doesn t know where the instrument rotator is If yellow a home operation is in progress If green a home was completed successfully Z Zone flag A right arrow indicates that the rotator is in its clockwise section of travel and a left arrow indicates that it s in the counterclockwise zone Each instrument rotator has about 180 degrees of travel on either side of this switch 2 3 Fatal flags The middle right pane is devoted to displaying the current fatal flags Fatal flag LEDs are black if there is no error and red if an error occurred Any fatal error that occurs halts any further movement of the secondary mirror until it is resolved Note that the program generates a log file if enabled in the INI file at the first occurrence of a fatal flag for debugging use It will have the name mmddhhmm log month day hour minute log A description of each fatal error follows INI Error The program reads a text file called VANE INI every time it is run This file contains all of the major calibration data and soft limits and is critical to proper operation If the program fails to read VANE INI either VANE INI was missing or the various data fields were corrupted this fatal flag is set To fix the problem you must exit the program and either restore VANE INI from a backup recommended or edit it by hand to correct any errors in it The VANE INI file format and contents are described in Configuration Home Error The first thing the
17. Around A 2000 the tension should be near 10000 pounds Exit the program and copy VANEINI NEW to VANE INI to preserve this tension setting Run the system through its full range of motion and set the limit switches and soft encoder and tension limits to prevent any damage Encoder limits should have a minimum of around 5000 and a maximum of around 45000 Axial tensions should range from about 2000 to 2000 pounds Radial tensions should be between 6000 and 12000 pounds Tune the PID and speed acceleration deceleration parameters for any instrument rotators Also find the number of encoder counts per 360 0 rotator zero point and two home positions Charlie Hull s document is next 5 1 Setup of Vane End Actuators for the Magellan 6 5m telescope For proper function of the vane end actuators the zero position needs to be known 1 Adjust the relationship between the radial and axial actuator This was done by placing a square on the sides of the shafts of the radial pivot 1 and the vane end pivot 2 and fixed length scales between the square and the tops of the shafts of the vane end pivot 2 and the axial pivot 3 The radial actuator was then adjusted until all the pivots lined up properly 2 Adjust the relationship between opposed axial pivots This was done using a surveying level and sighting on the axial pivots 3 and establishing the line between the two axial pivots 3 Once this line was established the position of each of
18. E program e Two internal ISA cards the Galil DMC motor controllers one card controls all radial motion the other controls all axial motion Each of these cards has I O port assigned to it which VANE communicates with These cards are attached to amplifiers that actually drive the motors They are also attached to the Mitutoyo linear encoders and read the encoder positions Finally these cards have auxiliary inputs and outputs for communicating with the Emergency Stop Card Mycom servo amplifiers There is one of these for each of the eight motors The Galil DMC motor controllers send these clockwise or counterclockwise pulses which the amplifier translates into currents to move the motors appropriately Mitutoyo linear encoders gages There is one of these for each of the eight levers They are read by the Galil DMC motor controllers and provide a readout good to one micron Note that they are relative encoders not absolute encoders necessitating a pressure controlled retraction extension system for homing the encoders Tension Gages DGH modules There are eight tension gages four axial four radial each of which is attached to a DGH module that provides an RS 485 interface for reading the tensions from the vane end computer of these modules are strung on an RS 485 line that is connected to COM 2 on the vane end computer Each RS 485 device listens for a prompt character and an address character see document Proposed R
19. NE Radial The example command is toggling the SE Radial tension 3 1 14 TV TP nm Turns the pressure or vacuum valve at the specified corner on or off For example TP 3 0 this command will turn the retraction or extension pressure on or off at a corner Note that we no longer use vacuum instead we use retraction pressure The first number is the corner number 1 4 and the second number is O for Off and 1 for On The example command turns extension pressure at corner 3 SE off This command can be used to home the corners by hand or to test the pressure valves Extension and retraction pressure can not be on simultaneously In normal operation after the encoders have been homed retraction pressure is off and extension pressure is on 3115 P Toggle vane tension readings between pounds and mV 3 2 Instrument rotators commands In the following commands replace R by an instrument rotator denomination i e NASW NASE AUXI AUX2 AUX3 3 2 1 IR ENABLE Enables communication with the given instrument rotator For example NASW ENABLE will enable communication with the given instrument rotator The number next to the instrument rotator designation onscreen should light green If the number turns red there are communication errors with the rotator s Galil motion controller Communication must be enabled with an instrument rotator before further commands can be given You should only enable communication with instrument rotators th
20. PLAY Display given instrument rotator on the error speed torque charts For example NASW DISPLAY displays given instrument rotator on the three on screen charts showing error speed and torque Note that communication with the rotator you want to see must be enabled in addition to using the DISPLAY command for the charts to update 3 2 21 IR RESET Reset communication with the given instrument rotator For example NASW RESET resets communication with the given instrument rotator This includes resending all communica tion setup motion profile and PID parameters to the rotator 3 2 22 IR ACC DEC SPD n Set instrument rotator motion profile variables For example NASE DEC 100000 sets the given motion profile parameter in the instrument rotator to the number entered The ACC and DEC commands set the acceleration and deceleration respectively In this case the parameter is in encoder counts sec sec The SPD command sets the maximum speed in encoder counts sec To set the maximum speed in terms of degrees sec use the VEL command The SPD command can be given while a move is in progress 3 223 IRPIID n Set PIIID servo parameter for the given instrument rotator For example NASW D 6 0 sets one of the instrument rotator s PID servo control variables to the given number three of the variables should be set to a number between 0 1 and 10 They can be set to new values while a move is in progress which is useful during tuning
21. S 485 Control System Communications Protocol by D M Carr doc 96CY0007 DGH modules look for a as a prompt character Here is a table of DGH address characters in our application DGH Module Axial Radial NW a e SW b f SE g NE d h e Host computer The vane end computer takes commands on where to position the secondary mirror in global coordinates and reports on the mirror s current location The vane end computer is attached via an RS 485 connection on COM 1 to a higher level host computer such as the TCS the Telescope Control System The vane end computer s prompt character address character and response character on this communications line is set in VANE INI Instrument rotator Galil DMC Motor Controllers Each instrument rotator is controlled by an associated Galil motor controller Vane end control software user manual 2134 The motor controllers drive motor amplifiers to move the instrument rotator and read each rotator s encoder index marks and limits Each is connected to the vane end computer via serial lines 1 2 Coordinates In the discussion of software commands following later a few coordinate systems and labeling assumptions will be used First the four corners of the top end ring NW SW etc are referred to using a reference number as defined in this sketch NW NE Command reference 1 Command reference 4 DMC axis X AUX 2 DMC axis Y Axial DGH tensio
22. VANE INI at a time for safety reasons 3 1 9 An Tensions the vanes by moving all radial motors either in out For example A 90 This command reads VANE INI changes the TensionAmount entry and writes the modified file to VANEINI NEW After changing this entry a move is begun to establish this new tension value The command A 0 sets the tension amount to zero which should be done when the vanes and cage are first installed The argument to this command is the number of microns to move all radial motors in from their zeroed location A 2000 should establish a tension of 7000 10000 pounds at each vane end although during installation this should be increased only slowly For example you should give the command A 100 after installing and zeroing the cage check the tensions use the command A 200 check the tensions again etc Use this command with caution See the section on configuration for more information The commanded tension value can be made permanent by copying the generated VANEINI NEW file to VANE INI 3 1 10 HOME This command retracts all of the encoders and sets the retracted position as the absolute zero position of the encoder Several tests are performed to ensure that this zero location is accurate the encoders are extended retracted and re extended to verify that the encoders motions are repeatable and therefore accurate After this is finished the DMCs are initialized and the emergency stop card is reset The Home
23. Vane end control software user manual Vane end control software user manual Vane end control software user manual COLLABORATORS TITLE Vane end control software user manual ACTION NAME DATE SIGNATURE WRITTEN BY Charlie Hull Greg April 29 2012 Bredthauer Silvia Baeza Jos Miguel Soto and Felipe S nchez REVISION HISTORY NUMBER DATE DESCRIPTION NAME 0 April 2003 First draft GB CH 1 April 2008 First release SB JMS 2 October 2009 Port to asciidoc FS 3 June 2010 Add several undocumented commands FS Correct several outdated command descriptions Add docinfo file with attributions Fix document generation scripts 4 Oct 2010 FS ESC key now causes IRs to emergency stop ESTOP and UNSTOP commands 5 Dec 2010 FS Fix direction of Z axis 6 Dec 2010 FS Add ports to coordinates diagram Vane end control software user manual REVISION HISTORY NUMBER DATE DESCRIPTION NAME Apr 2012 Increase presicion on M2 tilts reporting through EDS FS Vane end control software user manual Contents 1 Overview Vel Devices ANN HS we ee ee a a a de eo Oe E 1 2 Coordinates s p uox eke bs Ge ghee A PG DL DAG altho Waahhh nG 2 Userinterface 2 1 Vane end TEMES 6 04 Ss a Dha PRU eee Prec Se ER Y RU 2 2 Instrumentrotat
24. abii SW Axial i PASLI Z SE Axial i SES NE Axial i as 10 NW Radial 1 dl SW Radial 1 LASAI Z SE Radial i LSZ 3 NE Radial i axS1 0 NW Axial i US SINN SW Axial i 1 2 SE Axial i axS1 3 NE Axial i axs2 0 NW Radial 1 SW Radial 1 axs2 2 SE Radial 1 axs2 3 NE Radial 1 4 2 3 Load cell calibration constants Each of the eight load cells were calibrated by applying a range of loads recording their outputs in mV and fitting a second order function to convert mV to pounds Each load cell has a ko kj and constant such that the load cell reading is pounds ko ky mV kz mV Vane end control software user manual 17 34 TIRO LO NW Axial r NW Axial r WAN 0 NW Axial r T1kO 1 SW Axial Y SW Axial r pali SW Axial r alk Os 22 SE Axial r SE 1 1 r TAZ 2 SE Axial r WATE LS NE Axial r SL ES NE Axial r WAKA NE Axial Y T2k0 0 NW Radial T2k1 0 NW Radial T2k2 0 NW Radial r T2k0 1 SW Radial r TARLI SW Radial r WAR ib SW Radial r DAK OA EZ SE Radial r ADAE EZ SE Radial r SE Radial r LALO LS NE Radial WAAL LS NE Radial r 102152 LS NE Radial r 4 2 4 Minimum and maximum tension values The next sixteen lines are soft limits for the tension readings in pounds The progra
25. alil switches Format 804aabbccddeeffgghh aa NW Axial status hex bb NW Radial status hex cc SW Axial status hex dd SW Radial status hex 29 34 Vane end control software user manual ee SE status hex ff SE Radial status hex gg NE Axial status hex hh NE Radial status hex For a h 2 0 At Up limit 1 Not at limit 3 0 At Down limit 1 Not at limit 7 3 6 805 Current axial DGH Load cell reading in mV and hexadecimal encoded alarm Format 805 aaaaa aa bbbbb bb ccccc cc ddddd dde aaaaa aa NW Axial Load cell reading in mV bbbbb bb SW Axial Load cell reading in mV SE Axial Load cell reading in mV ddddd dd NE Axial Load cell reading in mV e Load cell alarm flags beyond internal load cell alarm limit hex 0 NW Axial alarm 0 No alarm Alarm 1 SW Axial alarm 0 No alarm 1 Alarm 2 SE Axial alarm 0 No alarm 1 Alarm 3 NE Axial alarm 0 No alarm 1 Alarm 7 3 7 806 Current radial DGH Load cell reading in mV and hexadecimal encoded alarm Format 806 aaaaa aa bbbbb bb ccccc cc ddddd dde aaaaa aa NW Radial Load cell reading in mV bbbbb bb SW Radial Load cell reading in mV ccccc cc SE Radial Load cell reading in mV ddddd dd NE Radial Load cell reading in mV e Load cell alarm flags beyond internal load cell alarm limit hex 0 NW Radial alarm 0 No alarm 1 Alarm 1 SW Radial alarm 0 No alarm 1 Alarm
26. at are in use to improve response times 3 2 2 IR DISABLE Disables communication with the given instrument rotator For example NASW DISABLE will disable communication with the given instrument rotator The number next to the instru ment rotator designation onscreen will turn black indicating that communication with that instrument rotator is no longer taking place Vane end control software user manual 9 34 3 2 3 IR POWER Toggle motor power on or off for the given instrument rotator For example NASW POWER toggles motor power on or off for the given instrument rotator If power is off the indicator in the instrument rotator s M column should be a black double arrow If power is on the indicator should be a green double arrow or a green arrow going right or left if motion is in progress and power is on This command is equivalent to sending the instrument rotator s Galil an SH servo here or MO motor off command Note that turning motor power off and back on with this command can clear a servo error indicated in the E column 3 2 4 IR MO Motor off Turn off rotator s position servo control 3 2 5 IR SH Servo here Turn on rotator s position servo control at the current position 3 2 6 CASS BRAKE Engage release Clay s cassegrain rotator clamps Only Clay s cassegrain rotator has a clamping system to keep position when the M3 turret is mounted Caution This command doesn t make any checks before engagi
27. cription of Engineering Data Stream EDS communications and remote command protocols 3 1 Vanes commands 3 1 1 X YIZIHIV n Move mirror to global coordinate X Y Z H or V to n in absolute motion For example X 124 5 a move is begun to the specified global coordinate in this case X 124 5 microns All other coordinates are held fixed This coordinate is relative to the mirror s absolute zero location 312 Gxyz hv Move mirror to global coordinates X Y Z H and V to values x y z h and v For example G 124 5 34 7 12 4 19 2 0 67 a move is begun to the specified global coordinates in this case X 124 5 microns Y 34 7 microns Z 12 4 microns H 19 2 arc seconds V 0 67 arc seconds These coordinates are relative to the mirror s absolute zero location 3 1 3 DX DY DZIDH DV n Move mirror on axis X Y Z H or V relative to the current position For example DX 124 5 a move is begun in the specified coordinate relative to its current location in this case the mirror s X position will be increased by 124 5 microns other coordinates are held fixed 3 1 4 DGxyzhv Move mirror on all axes relative to the current position For example DG 124 5 34 7 12 4 19 2 0 67 move is begun on all axes relative to its current location in this case the mirror s X position is increased by 124 5 microns Y is increased by 34 7 microns Z is decreased by 12 4 microns H is decreased by 19 2 arc seconds and V is increased by 0 67 arc s
28. croDelay i 4 2 12 Movement thresholds These are the thresholds the program uses to decide which type of movement to use If an encoder has to move more than MacroThreshold microns to reach the destination a macro move is performed If an encoder has to move more than Back lashThreshold microns backlash removals are performed BacklashTarget sets the location in microns before the actual final destination that the backlash move attempts to move to MacroError is the percentage of the commanded move that the encoders must show without flagging an error for example 0 2 means that the encoders must move at least 20 of the commanded distance BacklashThreshold i MacroThreshold BacklashTarget MacroError r at al 43 Instrument rotators settings There are six instrument rotators sections one for each instrument station All of them with the same configurable settings with different values for each of them of course 4 3 1 PID control constants PID control constants These should typically be in the range of 0 0 10 0 To tune them start with P 1 0 I 0 0 D 0 0 Set the instrument rotator being tuned to be displayed on the on screen charts with the DISPLAY command Perform small moves and increase P until it gets close to the target position pretty quickly Decrease it if the system starts to oscillate Increase I until residual errors decrease quickly Try increasing D to minimize ringing after moves or during j
29. debugging purposes The system log 15 a large 1000 line circular log You can use the cursor up and down arrow keys to scroll through a log a line at a time page up and page down to scroll quickly and home or end to look at the beginning or end of a log Whenever you re looking at the end of a log the log will automatically scroll down as new log entries are added The system log reports important events that have completed successfully general problems that have occurred and occasionally instructions or information for the user A message time message number green or red indicator good or bad and the message text is displayed on each line For minor or detailed messages such as those that appear in verbose level 2 no number or color is displayed A list of all major system log messages and a more detailed description of what the message means should be in the folder with this manual MSGNUM TXT in the development directory If a fatal error occurs all motor movement is suspended If DumpLogOnFatal 1 is in VANE INI file a time stamped text file is generated with the file name MMDDhhmm LOG where MM is the month DD is the day hh is the hour and mm is the minute A debugging log file can also be generated by hitting F2 at any time in which case the log file is named TEMP LOG The log should be examined preferably in verbose mode 2 or 3 any time there 15 a fatal error to determine the exact cause of the
30. e in microns decimal bbbbbb current y coordinate in microns decimal current 7 coordinate in microns decimal ddddddddd current h coordinate in thousands of arc seconds decimal eeeeeeeee current v coordinate in thousands of arc seconds decimal 7 3 11 810 Target global coordinates Format 810aaaaaabbbbbbcccccedddddddddeeeeeeeee aaaaaa target x coordinate in microns decimal bbbbbb target y coordinate in microns decimal target z coordinate in microns decimal ddddddddd target h coordinate in thousands of arc seconds decimal eeeeeeeee target v coordinate in thousands of arc seconds decimal 31 34 Vane end control software user manual 7 3 12 811 Fatal status and motion stage flags Format 81 laaaabbcc aaaa Fatal flags hex 1 Error reading INI file 1 Homing error 1 Motors overheating 1 Emergency stop card triggered 1 Error reading tensions 1 No motor response 1 Error checking for fatal errors 1 Error reading encoders 1 Encoders beyond soft limits ON OQ FWY 1 Tensions beyond soft limits bb Status flags hex 0 1 2 Move in progress 1 1 Host communication OK cc Movement stage hex 0 2 stopped 1 2 macro 2 micro 3 backlash 7 3 13 82i Instrument rotators status Format 82iabbbbbbbcccccccdddddeeeffff i The number of rotator NASW 1 NASE 2 CASS 3 AUX1 4 AUX2 and 5 AUX3
31. e is the number of microns each vane end should be pulled away from the cage to establish tension in the vanes A value of 2000 microns corresponds to a little less than 10000 pounds of tension in each This value should be adjusted to zero using the A command before the cage is installed and then slowly increased until the required tension is achieved TensionAmount i 4 2 7 Axial and Radial error amounts The next two lines are the maximum error the vane end system should allow at the axial and radial encoders Typically this is set to 1 as 1 micron is the smallest measurable unit from the encoders This value also determines how close the encoders must be to their original values during the verification step of the homing operation AxialError 1 RadialError 1 4 2 8 Maximum manual move The next value determines how large of a movement will be permitted by the program for IA and IR moves This just encourages smaller cautious movements MaxManualMove 1 4 2 9 Backlash movements constants These constants control the motion during a backlash removal movement step Before making a macro move the program first performs a few backlash moves where a small movement is given and the encoders checked to see if movement occurred BacklashMove gives the number of microns at the encoders that the move tries to accomplish BacklashTime is the number of milliseconds the move should take which controls the speed BacklashTimeout is th
32. e number of milliseconds to wait for the move to finish before flagging a movement error BacklashDelay is the number of milliseconds to wait after the move is complete to allow the DMCs to return to normal operation BacklashMove BacklashTime i BacklashTimeout i BacklashDelay i 4 2 10 Macro movement constants These constants control the motion during a macro move large movements towards a destination MacroMove is the maximum number of microns at the encoders to attempt to move MacroTime is the time in milliseconds the move should take which controls the speed MacroTimeout is the maximum amount of time in milliseconds to wait for the move to complete before flagging an error MacroDelay is the time in milliseconds to wait after a move is complete to allow the DMCs to return to normal operation MacroMove MacroTime MacroTimeout i MacroDelay i Vane end control software user manual 19 34 4 2 11 Micro movement constants Once the encoders are close to their destination values the vane end program executes micro moves to nudge the encoders to their final position Each micro move moves one micron at the encoder MicroTime is the time in milliseconds the move should take MicroTimeout is the time in milliseconds to wait for the move to complete before flagging an error and MicroDelay is the time in milliseconds to wait after the move for the DMC to return to normal operation MicroTime i MicroTimeout i Mi
33. e on an error This is typically left at O Off so that the disk doesn t fill up with logs Turn it on to try catching a rare error event in the act particularly with the system log verbose level set to 2 DumpLogOnFatal 1 4 2 Vanes settings 4 2 1 Zeroed encoder values The next eight lines are the radial and axial encoder values for all four corners that correspond to the zero location of the vane ends It s critical to set these correctly for proper motion of the cage Setting these is discussed later in this section Instead of altering these values by hand you can use the W command to write the current encoder values as the zero point ZS1 0 NW Axial i ZS1 1 SW Axial i aS1 2 SE Axial i ZS1 3 NE Axial i 252 0 NW Radial i 252 1 SW Radial i ASA enm R Rada 252 3 NE Radial i 4 2 2 Minimum and maximum encoder values The next sixteen lines are soft limits for the encoder readings The program will not allow moves if the encoders are outside these limits and will not begin moves whose destinations are outside of these limits Note that if the encoders are ever forced below a reading of zero after being properly homed the encoders will be damaged Encoder ranges are also limited by limit switches which should be set to be a little beyond the soft limits If a limit switch is triggered the DMC will only allow motion away from the limit switch inS1 0 NW Axial i
34. econds 3 1 5 Stops any motion command in progress This command gently halts any further motion The motors will not move until another movement command is given Vane end control software user manual 7134 3 1 6 ESC Hitting the ESC key will inmediatelly stop any M2 and instrument rotators motion In addition it will raise the emergency stop condition to the vanes and the instrument rotators You ll have to use the R command to reset the vane fatal flags and the UNSTOP command to allow the instrument rotator to move again 3 1 7 EDIT Edits the file VANE INI from within the VANE program This command enters the on the fly editor of VANE INI ESC exits the edit mode and returns to the VANE program 3 1 8 IR IAnm Moves individual vane end motor n m microns either radial IR or axial IA For example IR 2 223 moves the 2 radial actuator 223 microns at its encoder The first argument is the motor number to move and the second number is the distance in microns at the encoder that you want to move See the Coordinates section for the numbers assigned to each vane end The routine will warn you if the encoder is close to its zero point which can damage it though the hard and soft limits should prevent this This command should be used with caution and should only be used for establishing the mirror s absolute zero position and for tensioning Note that a move is limited to 100 microns or whatever MaxManualMove is set to in
35. en instrument rotator velocity chart s scale to the given value in degrees second All old data is immediately plotted with the new scale which ranges from given n to given Vane end control software user manual 13 34 3 3 3 VOLT n Set the instrument rotator voltage torque scale For example VOLT 10 0 sets the on screen instrument rotator voltage chart s scale to the given value in volts The voltage is representative of the torque the motors are supplying Note that the Galil motor controller voltage signal is limited to 10 0 Volts All old data is immediately plotted with the new scale which ranges from given to given 3 4 M2 support commands 3 41 PRES Toggle pressure 3 4 2 VAC Toggle vacuum 3 4 8 PVM Toggle the pressure vacuum control of the secondary mirror on or off Note that there must be air and vacuum supplied for the control to work properly 3 4 4 PVSn Change the scale of the M2 weight graph for the pressure vacuum control 3 4 5 PVKP n Set pressure vacuum to Kp gain 3 46 PVKIn Set pressure vacuum to Ki gain 3 4 7 PVKD n Set pressure vacuum to Kd gain 3 5 Message display commands 3 5 1 VERB n Set system log verbose level to n n 0 2 3 5 2 lt Up gt Scroll system message display back one line Vane end control software user manual 3 5 3 lt PgUp gt Scroll system message display back one page 3 5 4 lt Down gt Scroll system me
36. evers about its pivot results in a predominately axial motion the other lever mostly controls radial motion though there is some interplay The levers are driven by stepper motors connected to screw drives There are a total of eight motors two at each vane end one for axial motion and one for radial motion Each lever is also connected to a linear encoder so there are also eight encoders four axial and four radial Finally there are eight load cells that measure the tension on each axial and radial lever Together these systems allow the secondary mirror to be positioned down to a micron In addition the Vane End program also controls all instrument rotators Controlling all of this hardware is the software described in this manual The software is required to perform a number of Operations Accept high level commands both locally at the keyboard and remotely from higher level computer systems to position the mirror and instrument rotators and convert them to low level commands for the various motor controllers Report the position and status of the secondary mirror both on the local display and to higher level computer systems e Monitor the vane end tensions and encoder readings to insure accurate positioning and avoid any damage to the system e Report the position and status of all instrument rotators and command motion 1 1 Devices There are a number of devices attached to the vane end control computer which executes the VANE EX
37. five PID control loop sections PulseCycle 200 4 5 Clay cassegrain positions Cassegrain observing ports positions for pointing M3 CP values are in degrees and CE ones in encoder counts At the moment only CP values are used CENAS WE S CENASW i EBNASE E CENASE i CPAUX1 r CEAUX1 i CPAUX2 r CEAUX2 i CPAUX3 r CEAUX3 i Vane end control software user manual 23 34 5 Initial setup Charlie Hull has written detailed documents about the actual hardware setup for the vane end system The general steps are With the cage and vanes off adjust each vane end to its zeroed position i e the center of their arcs using Charlie Hull s reference marks Also adjust the position of each encoder so that it s in the middle of its range 1 or 25400 encoder counts Set the tension amount entry in VANE INI TensionAmount to zero Run VANE EXE Allow the encoders to home Then use the W local keyboard command to write this position as the zeroed encoder position Exit and copy VANEINI NEW to VANE INI to preserve this zero location Calibrate tensions using cables pulleys and force measurements Take enough data to generate the tension calibration values and put them in VANE INI Attach the vanes and cage Run VANE EXE After homing the encoders use the A command to slowly increase the tensions until you reach about 10000 pounds For example execute A 100 then A 200 etc
38. he telescope that the programm is controling 1 is Baade 2 is Clay Telescope i 4 1 2 Serial communication constants Characters that vane end program uses to identify itself and comunicate via serial line with the upstream computer usually the TCS Address H Weil Response 4 1 3 Clock correction factor The ClockPPM entry is used to speed up or slow down the system clock by the given number of parts per million per second This is used to match the GPS given Universal Time as closely as possible typically to within 1 100 of a second per hour To adjust this allow the system to run for several hours The TCS should send a UT update once an hour visible on the system log Subtract the time given in the UT update message from the vane end system s time stamp for the message Divide the difference in seconds by the number of seconds since the last UT update message typically 3600 seconds 1 hour Multiply this number by 1 million and add to the value of ClockPPM already in the INI file Example If the system log time stamp is greater than the UT message s time by 5 100ths of a second you should increase the value of ClockPPM by 1000000 0 05 3600 0 which is about 14 Average the corrections over many hours for better accuracy ClockPPM i Vane end control software user manual 16 34 4 1 4 Log Dump on Fatal Error This entry controls whether or not the system log is dumped to a time stamped fil
39. ified It can be edited in a simple text editor outside of the program or it can be edited on the fly using the E edit vane ini W write current location as zero and A adjust tension local keyboard commands Whenever VANE INI is altered by the program using these commands the alterations are written to the file VANEINI NEW and immediately used in the program This allows the changes to be tested before adopting them permanently To use the changes you make on the fly permanently you have to exit the program and copy VANEINI NEW to VANE INI VANE 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 title like Address an equal sign and data Everything before the equal sign is ignored There are three types of data a single character which must be enclosed in double quotes integers and floating point numbers The VANE INI file is mostly self documented but run through it with a few more detailed descriptions and comments 4 1 General settings Note In the following examples an i represents an integer value an r a real value and a c a single character Warning D The order of the lines of the VANE INI file must be preserved as the vane end program identifies them by their position on the file and not by their title to the left of the equal sign 4 1 1 Telescope identification The first line identifies t
40. ime 7 1 4 004 DGH init error x There was an error initializing one of the DGHs COM errors will tell you which DGH Check DGH communication and DGH setup strings 7 1 5 005 Destination exceeds soft limits The target of the move is beyond the allowable movement range set up in VANE INI min and max encoder values Try a different move or extend the allowable range in VANE INI Be cautious of running into limits or doing damage though 7 1 6 006 Move aborted A fatal flag is set or Move aborted Move error x Motion was aborted bacuse a fatal flag was set Resolve the fatal error and then try again or Motion was aborted because an error occurred during the move Recreate the error with full logging on and check the log to see what exactly went wrong 7 1 7 007 Encoder read error x There was an error reading the encoder values from a Galil Check Galil communication 7 1 8 008 DMC config error x There was an error during the configuration of the Galil DMCs Check Galil communication or check verbose log entries Vane end control software user manual 26 34 71 9 009 Emerg stop reset error x There was an error resetting the emergency stop card Check the emergency stop card to see which LEDs are lit red and fix the cause possibly DGH setups Also check Galil DMC communication 71 10 010 DGH x com error A communication error occurred with the given DGH module If this happens only rarely it s probably just
41. m will not allow movement commanded remotely if the DGH tension readings exceed these amounts However local movement will be allowed The DGHs also have internal alarms that are triggered when their readings exceed a given value These values are set by the vane end program Each radial DGH is set so that its internal alarm will trigger when the tension is 10 higher than the radial maximum soft tension limit Each axial DGH is set so that its internal alarm will trigger when the tension is 10 less than the axial minimum soft tension limit When these alarms trigger the emergency stop card disables power to the motors NW 1 1 1 in Tlga SW Axial r TuS D SE Axial r quer Ut NE Axial r ERES 2 0 NW Radial r al SW Radial r SE Radial r NEZ 3 NE Radial r axT1 0 NW Axial r 1 1 SW Axial r axT1 2 SE Axial r ES NE Axial r 2 0 NW Radial r cab dl SW Radial o2 SE Radial r axT2 3 NE Radial r 4 2 5 Motion correction factors In its native configuration the vane end software does not move the expected distances in the X Y and Z axes It is off by a linear factor Actual cage motion was measured and FixXY FixZ FixH and FixV were set to correct axial radial and rotation motion FixXY r FixZ r Vane end control software user manual 18 34 FixH r FixV ll K 4 2 6 Tension amount This valu
42. mit r 4 3 13 Soft limit distance How far from the hard limits should the rotator stop SLDist r 4 3 14 Enabled flag Sets whether this instrument rotator has communication enabled at program startup 0 disabled 1 enabled Enabled 0 44 Secondary mirror support settings At the moment it is possible to install two secondary mirrors an F11 mirror and an F5 one The F11 have only one pressure vacuum circuit while the F5 have four of them The INI file have five sections with the same configurable parameters for each of this five pressure vacuum circuits 4 4 1 PID constants PID constants for pressure vacuum control loop Iure CE Ki r KO uem Vane end control software user manual 22 34 4 4 2 Integral limits Integral limits for the integral part of the PID loop to avoid wind up VII Baril NG NG 4 4 3 Integral reset threshold Lower limit for the integral part of the PID above which integration occurs IntegralThreshold 15 000 4 4 4 Valves minimum open times Minimum pulse time in milliseconds for a valve to actually open At smaller pulses the valve frequently doesn t open at all VacuumMinPulseWidth 1 PressureMinPulseWidth at 4 4 5 Mirror weight conversion factor Convertion factor pounds per millivolt PMfact r 4 4 6 Pulse cycle The width of PID control cycle in milliseconds This value is common to all five PID loops and is found only once at the end of the
43. mmunication occurs 7 1 18 018 Move ignored fatal errors exist A movement was commanded while there were fatal errors that prevent motion Fix the fatals and then try again Vane end control software user manual 27 34 7 1 19 019 Incorrectly formatted UT message from TCS The command to set Universal Time from the TCS was garbled Check communications 7 1 20 020 Movement aborted via ESC key All motion has been aborted because the user hit the ESC key 7 1 21 021 Host com error x There was a host TCS communications error Put the log into verbose mode to see what is being said between the computer and the TCS The error number given helps pinpoint where in the source code the error occurred 71 22 022 Host error messages suspended The host TCS had too many consecutive communication errors Further error messages will be suppressed 7 2 Instrument rotator specific errors 7 2 1 100 Brake not toggled IR not enabled com error or Brake not toggled Move in progress use STOP A command to toggle an instrument rotator s brake was ignored for the given reason To correct enable IR communication fix any communication problems or stop current motion 7 2 2 101 Free command ignored IR not enabled error The command to free an instrument rotator for motion by hand wasignored because the given instrument rotator doesn t have communicationenabled or is having communication errors 7 2 3 102 Stop ignored IR no
44. n address a Axial DGH tension address d Radial DGH tension address e Radial DGH tension address h NASW NASE SW SE Command reference 2 Command reference 3 DMC axis Z M jc This sketch assumes the telescope is pointed at the horizon and you re looking into the telescope towards the primary mirror The four corners are physically labeled NW SW SE and NE on the top end ring along with the five instrument ports NASE AUX1 AUX2 AUX3 and NASW Each corner has an associated command reference number used in the keyboard and serial commands The DMC axis tells which axis that corner is attached to on the Galil DMC motor controllers The axial and radial addresses give the RS 485 addresses of the attached DGH modules Drawn inside the top end ring are the global coordinate axes These are used in commands for moving the entire secondary mirror instead of one vane end X Y and Z into the plane of the page are given in microns H and V for rotation around horizontal and vertical axes are given in arc seconds Vane end control software user manual 3 34 2 User interface 000 000 000 000 2 1 Vane end readings The top pane gives all of the readings from the vane end system Each of the four vane ends has a labeled section giving target encoder readings current encoder readings and tensions The target Req encoder readings are the encoder values the system is currently moving to The current Val
45. ng or releasing the clamp and therefore could potentially damage the clamp or anything that is mounted if executed at the wrong circumstances Use it only for engeneering tasks if necessary For normal operations use the more user friendly CLAMP or RELEASE 3 2 7 CASS CLAMP Engage Clay s cassegrain rotator clamp This command should be safe to use as it checks for dangerous situations before clamping and aborts the operation if one such situation is detected 3 2 8 CASS RELEASE Release Clay s cassegrain rotator clamp This command should be safe to use as it checks for dangerous situations before clamping and aborts the operation if one such situation is detected 3 2 9 IR STOP Command given instrument rotator to stop motion For example NASW STOP it sends an ST command to the Galil for the given instrument rotator smoothly decelerating any move in progress to a stop 3 2 10 IR ESTOP Instrument rotator emergency stop This command will stop the rotator and will raise an emergency stop condition which will prevent any further movement command from being acccepted To move the rotator again you ll need to use de UNSTOP command to reset the emergency stop condition Vane end control software user manual 10 34 3 2 11 IR UNSTOP Resets the instrument rotator emergency stop condition allowing it to comply with movement commands Caution D Before using the UNSTOP command you should fix the problem that caused
46. noise in the serial line If a bunch occur check DGH wiring power setup and check communication with a terminal 7 1 11 011 Axial Radial DMC com error A communication error occurred with the Axial or Radial Galil DMC Check communication with it manually and check the logs 7 1 12 012 Axial Radial motor timeout The program waited for the Galil DMC to report that a move was finished but the Galil didn t report this in the given timeout period Try to recreate the error with full logging on and see if the Galil was given a bad move to do 7 1 13 013 Individual move error x An error occurred during an individual motor move Check the log in verbose mode to find out exactly what went wrong 7 1 14 014 DGH x error messages suspended Error messages with the given DGH will no longer be displayed because too many occurred 7 1 15 015 Axial Radial DMC error messages suspended Too many consecutive com errors with the Axial or Radial Galil DMC have occurred Further errors will not be reported until there is a successful communication 7 1 16 016 Check fatal error x There was an error checking to see if any fatal errors exist This 15 always a communication error with one of the Galils Try to recreate the error with full logging on to see which Galil is having trouble with what 7 1 17 017 Encoder read errors suspended There were too many encoder read errors Further error messages will not be displayed until a successful co
47. ode is just used to find where in the program s source code the error occurred and is used to find bugs The system in log in verbose mode and with log dumps enabled should be used in most cases to diagnose strange problems Then just recreate the problem error message and hit the log dump function key Vane end control software user manual 25 34 7 1 Errors 0 799 7 1 1 001 DMC check error x On startup the program checks the Galil DMCs power up outputs and corrects them if necessary An error means that com munication with the Galils is impaired in some way Use a Galil terminal in the program TA or TR to try communicating and check that the cards are seated in the computer properly 7 1 2 002 VANE INI read error x There was an error reading VANE INI during startup This could mean the file was missing or that the program had trouble parsing it Check to make sure it exists and that the lines are all formatted correctly and in the right order compare to a backup known working copy 7 1 3 003 Encoder homing error x or xx corner homing error y There was an error homing the Mitutoyo encoders Check encoder retraction extension and readings You can retry the home operation with the M command Note that the encoders MUST be homed before any vane end motion can occur or There was an error homing the encoder on the given corner The local display will ask if you want to retry the corner and then timeout after a short t
48. ogs OH td ll AE 4 3 2 Acceleration Deceleration Speed Settings Sets the rate at which the instrument rotator accelerates and decelerates in encoder counts second second The speed is the maximum speed of motion in encoder counts second Acc 1 Dec 1 Ic ak Vane end control software user manual 20 34 4 3 3 Error Limit Maximum error in encoder counts before the Galil flags an error which triggers the brake and halts motion This type of an error occurs if someone tries to move the rotator by hand or the motor isn t moving the rotator when commanded to or the system is oscillating due to bad PID settings This must be in the range 0 10000 It s usually set to 10000 because 10000 encoder counts is a small amount of motion If an error of this type occurs the E indicator will turn red on the display ErrorLimit i 4 3 4 Velocity profile filter This value is used to filter the acceleration and deceleration functions in independent moves like GOA GOR or JOG to produce a smooth velocity profile The resulting profile known as S curve has continuous accelerartion reducing mechanical vibrations The value sets the bandwidth of the filter with a maximum value os 1 0 meaning no filter and a minimum value of 0 004 meaning maximum filtering Note that filtering results in longer motion times VelProfFilter r 4 3 5 Torque limit Set the limit on the motor command output Maximum is 9 998
49. or messages resumed Communication with the host TCS was restored 7 4 2 984 xxxx IR com errors resumed Communication has resumed with the given instrument rotator 7 4 3 985 xxxx Instrument Rotator homed The given instrument rotator successfully completed a homing operation 7 44 986 UT set by TCS to xx xx xx xx The vane end computer s clock has been set to the proper universal time by the TCS 7 4 5 987 Encoder read errors resumed Encoder read errors have been resumed because communication has been restored 7 4 6 988 Axial Radial error messages resumed Either axial or radial Galil DMC error messages have been resumed because communication with them has been restored 7 4 7 989 x error messages resumed Error messages about DGH x have been resumed because communication with the DGH has been restored Vane end control software user manual 7 4 8 990 Screen dumped to SCREEN BMP An picture of the screen was dumped to the file SCREEN BMP in Windows BMP format 7 4 9 993 Homing xx corner The given corner of the vane end system is being homed 7 4 10 994 DGH init success All DGH modules were initialized successfully 7 4 11 995 Main loop started All initialization completed successfully and the main program loop is running 7 412 996 Encoder homing success 8 vane end encoders were homed successfully 7 4 13 997 VANE INI read success The VANE INI initialization file was read s
50. ors 2 4425 ers be eee o a RU UR OR CROPS s 2 3 Fatal fags s oo 5k eb a E BA Rp ARE KAKA de 2 4 Pressure vacuum control 2 3 Logunterfate e RR Rey y BOR eee ee Rod X OR S BOR NG XP EROR WG eX RS KAL 216 Inputintertace per n oS BABA Ron ok a d RUE S 25506 a do ede eed 3 Commands summary 3 1 Vanes commands s Robo I ROB RE ROGER BOR e Roe Re E Sog BARE des EORR ae a 3 1 XIYIZIHIN es Ecce PN KAP DP RR A E eux a lid CUY IE dos ve apt bd e ERU QE dos e epe dod a NEL E e xg aep aeos du 3 3 DXIDYIDZIDHIDV m suo A t Ree ed 3 de EUROS S E RC oa LA X RR Ue Tete E eux YE ae es SM TL rcr Cp ht eee LO esere a a EE wee BRA GA ede 34 7 EDIE zd gea NG KA WIPE SS Se BES o MG is 3 1 8 INTA Mazo ow NG bow MuR SUR USD RO EHR E SUR AU ELE EUER A EAE bA MEME CIT 3 1 10 HOME xo Bde Be BG OE a X Eee Ue ECE RS E ox ER ESAE 95111 3 momen m EROS UR E v dep ge eeu Eee desque ie Ss EPA Ar 3 1 13 TENG puh KG eR we Re RS eA m SALE aere A AAA E A A AS AS SLOP sr a A A ed eee Sok cen ee A ee ed a 3 2 Instrument rotators commands
51. program does after reading VANE INI is home the encoders This process involves retracting each of the encoders using the pressure system setting the retracted position as zero extending the encoders re retracting re extending and verifying that the encoders are fully extending and retracting If this process fails this fatal flag is set The first solution to this problem is to just re home the encoders using the HOME command If the homing error re occurs even after a few tries it s necessary to clean the encoders if the encoder rods get dirty the encoders can stick or check the pressure supplies and valves Once done re home the encoders Motor Temp Each of the Galil DMC motor controllers is attached to an amplifier that drives a motor If this fatal flag is set one of these amplifiers is overheating To fix it ensure that the case enclosing the motor controllers is properly ventilated and or turn the motor controllers off and allow them to cool down After they ve cooled use the R command to reset all fatal flags Emerg Stop The emergency stop card is wired to a number of hard limits both for the encoders and for tensions If any of these hard limits are triggered or the watchdog isn t updated often enough the emergency stop card will disable power to the motor amplifiers To fix it first try the R command which will reset the emergency stop card and the fatal flag If this doesn t work one of the hard limits was actually hi
52. rror messages will be suppressed until communication resumes 7 2 9 500 Warning Instrument Rotator not homed Instrument rotator has not been homed Home it with ZR HOME command 7 3 EDS log message 800 899 7 3 1 800 Current encoder reading and hexadecimal motion values Format 800aaaaaabbbbbbccccccddddddeeff aaaaaa NW Axial reading decimal bbbbbb SW Axial reading decimal cccccc SE Axial reading decimal dddddd NE Axial reading decimal ee Encoder reading status hex 0 1 NW Axial reading status OZOK 1 Near Limit 2 Error 2 3 SW Axial reading status OZOK 1 Near Limit 2 Error 4 5 SE Axial reading status 02OK 1 Near Limit 2 Error 6 7 NE Axial reading status 02OK 1 Near Limit 2 Error ff Encoder motion status hex 0 1 NW Axial motion status 0 None 1 Up 2 Down 2 3 SW Axial motion status 0 None 1 Up 2 Down 4 5 SE Axial motion status 0 None 1 Up 2 Down 6 7 NE Axial motion status 02None 1 Up 2 Down 7 3 2 801 Current encoder reading and hexadecimal values Format 801aaaaaabbbbbbccccceddddddeeff aaaaaa NW Radial reading decimal bbbbbb SW Radial reading decimal cccccc SE Radial reading decimal dddddd NE Radial reading decimal ee Encoder reading status hex 0 1 NW Radial reading status 02OK 1 Near Limit 2 Error 2 3 SW Radial reading status 0 0K 1 Near Limit 2 Error Vane end control software user manual 4 5 SE Radial reading status
53. s 05799 x du Ape be ede ee eek me E SEU Seek ue 7 1 1 7 1 2 7 1 3 7 1 4 7 1 5 7 1 6 7 1 7 7 1 8 7 1 9 7 1 10 7 1 1 7 1 12 7 1 13 7 1 14 7 1 15 7 1 16 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 016 DMC ChecK error X gu oe d ww SN x EERE TOME AGA VANE INI read ertt ok ey BRA on REARS A RAG RRS eS Encoder homing error x or xx corner homing errory DGEIILGIYOEX ma a KA RUD a de A PE Ee debes da Destination exceeds soft limits ee Move aborted A fatal flag is set or Move aborted Move errorx Encoder read errorx ehh ho ns DMC Confit error X oroe pi KANA E LING EAR 9 KG EMETE STOP treset litori Ge eas ema vide DEBATE LNG amp SE os BA UR Axial Radial DMC com error e Axial Radial motor timeout Individual move ec seta ma a E E a AA DGH x error messages suspended ee Axial Radial DMC error messages suspended CheckfataLertorx 24 y EAS ERE ORS OR XE DRE a AE e xe de vii 20 20 20 21 21 21 21 21 21 21 22 22 22 22 22 22 23 23 24 Vane end control software user manual 7 2 7 3
54. ssage display forward one line 3 5 5 lt PgDn gt Scroll system message display forward one page 3 5 6 Home Set system message display to show the first message 3 5 7 End Set system message display to show the current message 3 5 8 Scroll Lock gt Pause Resume system log messages 3 6 Engineering commands 3 6 1 TR TA TD T3 TIR Terminal mode with DMCs or DGHs 14 34 Switches to a simple terminal mode with the radial DMC TR the axial DMC TA the DGHs at 19200 baud TD or 300 baud T3 or the Instrument Rotator DMCs TIR Use lt ESC gt to leave terminal mode 362 W Write current location as zero to VANE INI This command reads the VANE INI file modifies the zeroed encoder entries to match the current encoder readings and writes the modified file to VANEINI NEW All subsequent moves will be in reference to this zero position the encoder readings that correspond to global coordinates 0 0 0 0 0 This command should be given right after the cage and vanes are installed at zero tension in their zeroed mechanical position i e axial and radial levers are at the middle of their arcs To use the zero position permanently copy VANEINI NEW to VANE INI 3 7 Other commands 3 74 Exit the program Vane end control software user manual 15 34 4 Configuration VANE INI is the configuration file for the vane end program It includes all of the parameters that might need to be mod
55. t and the emergency stop card itself must be inspected to figure out what s causing the error The emergency stop card documentation describes what each of the emergency stop card LEDs indicates Vane end control software user manual 5 34 Motion Err This fatal flag is relatively serious It means that the encoder values aren t changing as expected with motor movements This can mean an error reading the encoders or the encoders are sticking or motors are losing steps or the motors aren t responding to commands Check these and then try the R command to reset Check Err This fatal flag generally means an error occurred while communicating with the Galil cards Check the generated log file to see what happened Try to fix the communication problem and then use the R command to reset the flag Posn Com An error occurred while querying the Galil cards for the encoder or limit switch readings You can check the generated log file for details or just use the R command to reset the flag Tnsn Com An error occurred while querying a DGH module for its tension reading You can check the generated log file for details or just use the R command to reset the flag If the error persists check the DGH wiring and the DGH s setup Posn Limit This fatal flag is set when the encoders have exceeded the soft limits The motors can be moved back within their limits by temporarily editing the VANE INI file using the EDIT command changing the limits moving
56. t enabled The command to stop an instrument rotator was ignored because the given instrument rotator doesn t have communication enabled 7 2 4 103 Power not toggled IR not enabled com error or Power not toggled Move in progress The command to toggle an instrument rotator s power was ignored for the given reason To correct enable IR communication fix any communication problems or stop current motion 7 2 5 104 Move ignored IR not enabled error or Move ignored Brake on or Move ignored Another move is being processed The command to move the instrument rotator was ignored for the given reason To correct enable IR communication fix any communication problems release the brake or wait for the current move command to finish getting sent to the IR and try again 7 2 6 105 Home ignored IR not enabled error or Home ignored Brake on or Home ignored Another move is being processed The command to home the instrument rotator was ignored for the given reason To correct enable IR communication fix any communication problems release the brake or wait for the current move command to finish getting sent to the IR and try again Vane end control software user manual 28 34 7 2 7 106 xxxx IR com error The specified instrument rotator had a communications error Turn on full verbose mode to see commands and responses 7 2 8 107 xxxx IR com errors suspended The specified instrument rotator had too many com errors Further e
57. the emergency stop to trigger in the first place otherwise the instrument rotator could keep moving into a dangerous zone 3 2 12 IR MOVE n Move given instrument rotator the given number of steps A positive number is clockwise motion and negative is counterclockwise If a move is already in progress the number of steps requested will be added to the current target location the IP Galil command is used 3 2 13 IR MOVEA n Move given number of degrees A positive number is clockwise motion and negative is counterclockwise If a move is already in progress the number of degrees requested will be added to the current target location 3 2 14 IR GOA n Have instrument rotator go to the given angle relative to absolute zero For example NASW GOA 123 1 the given instrument rotator will begin a move to the specified angle 0 0 degrees is about the middle of travel and each instrument rotator can move 180 degrees from there Note that the displayed current and target positions will be yellow if the instrument rotator has not been homed and black if it has The GOA command will move the rotator without being homed but the current and target positions will likely be wrong 3 2 15 IR GOR n Similar to GOA but the given angle is relative to the current position 3 2 16 IRGOS p vt Move instrument rotator to position p at velocity v the time 7 at which the command was issued must be provided for jitter correction Format for t is
58. the motors back to a safe location and restoring VANE INI Tnsn Limit This fatal flag occurs when the tensions exceed the soft limits Try to fix this using the R command if that fails check to see if the limits really have been exceeded or if there are communication problems with the DGH module using a terminal You can check DGH calibrations or move the system back to the zeroed location with G 0 0 0 0 0 and readjust the tensions 2 4 Pressure vacuum control Under the Instrument Rotator pane the status of the secondary support system is displayed The secondary mirror support control is achieved sensing the mirror weight through three DGH modules addresses i j and and then acting on two valves one for letting the mirror rise pressure valve and one for lowering it vacuum valve according to a PID algorithm The control can be enabled disabled typing PVM The graph shows the average weight of the mirror in raw units milli volts 2 5 Log interface The bottom left pane displays the system s running log By default the system log only shows high level messages However more detailed low level information can be displayed using the VERB command to change verbose levels At the top of the log display is a readout showing what part of the log is being displayed how long the program has been running and what universal time on the computer is You can use scroll lock to pause and resume adding log entries for
59. the vane end pivots 2 was adjusted such that they were also on this line The position of the vane end pivot was adjusted in the axial direction using the axial actuator Note that the separation between the two vane ends is not to scale Vane end control software user manual 24 34 3 Marks were made using a center punch to indicate these zero positions One punch mark is on the axial arm near the attachment point for the preload spring It is placed 22 inches from the top of the axial actuator support structure The other mark is on the side of the radial arm and is 18 inches from the cylindrical surface of the bolt holding the preload spring to the axial arm 4 The linear actuators were then set to the middle of their range using the control system to read out the encoder positions At zero the encoders should read about 25000 6 Running the program The vane end program requieres the following files installed in a directory in order to run VANE EXE The main program binary VIDEO16 FNT VIDEO8 FNT VIDEO32 FNT Fonts used for the display VANE INI An user editable text file with all configurable options Usually the program is run automatically after a boot by the autoexec bat script but if the necessity arises maintenance debug ging etc of launching it manually it suffices to CD to the installation directory and run vane 7 Log message system Note that for error messages with an error code the error c
60. tion se RR RR RR RR we ee 15 4 1 2 Serial communication constants AA 15 4 1 3 Clockcorrectionfactor AA 15 414 Log Dump on Fatal Ettore amp RR ROGER A ts HA 16 42 Vanes settings gd Ra as A eR oe de e ng 16 4 2 1 Jeroed encoder values ee 16 4 2 2 Minimum and maximum encoder values 22222 AA 16 4 2 3 Load cell calibration constants 16 42 4 Minimum and maximum tension values 7 4 2 5 Motion correction factors AA I7 4 2 0 Tension amount a yw see ue eS Bae Ge bee Pee whe ENG S 18 42 7 Axial and Radial error amounts 18 4 2 8 Maximum manual move aa a 18 4 2 9 Backlash movements 18 4 2 10 Macro movement constants 18 4 2 11 Micro movement 19 4 2 12 Movement thresholds Aa 19 4 3 Instrument rotators settings s seors e e eu 19 4 3 1 PID control constants AA 19 4 3 2 AccelerationlDecelerationlSpeed Settings 19 4 3 3 EnmorLimt 42 23 DENG e wu A Ra EES e WD A d MG o KA 20 434 Velocity profile filter lt e siec os ss c oo ooo oko A 20 4 3 5
61. uccessfully 7 4 14 998 DMC check success The Galil DMCs passed the program s startup check 7 4 15 999 Program startup vx xx First log entry after program startup includes program version 94 34
62. x IR com errors resumed ne 33 7 4 3 985 xxxx Instrument Rotator 0 33 TAA 986 UT set by TCS to xx xx XX XX 0 0 33 Vane end control software user manual 7 4 5 7 4 6 7 4 7 7 4 8 7 4 9 7 4 10 7 4 11 7 4 12 7 4 13 7 4 14 7 4 15 987 988 989 990 993 994 995 996 997 998 999 ix Encoder read errors resumed ne 33 Axial Radial error messages resumed 33 DGH x error messages resumed ne 2 Screen dumped to SCREEN BMP 34 Homing XX COMEN ic A DN RON A BOR om iaa 34 DGH imitsuccess 3 2 dd om du Eve EE 34 Main loop started gt REOR e UR WE WU TR Rte wx FOE Ede UR Re ER 34 Encoder homing success 5 pa ERR RR ERR S 34 VANE INI read success 2 mre 34 DME check success 2 usd ome deo oe eo doe Rom qox A e Pe ae E Pe 34 Program startup VIX v eR Doe pk RRR BRS m des RA cete n m 34 Vane end control software user manual 1 34 1 Overview The secondary mirror of Magellan telescopes is supported by a cage This cage is in turn supported by four vanes each of which terminates on the top end ring Each vane end where a vane connects to the top end ring is composed of a pair of levers connected to each other the vanes and the top end ring by pivots Rotation of one of the l
63. y in degrees per Vane end control software user manual 4 34 second the current output voltage to the motors torque in volts a number of flags and the current encoder reading The address of the instrument rotator is black if communication is disabled red if there is an error and green if it s OK The name of the instrument rotator is green if it has been selected for display on the charts below if not it s black The target and current positions are yellow if the instrument rotator has not been homed The various flag columns have the following meanings E Error flag This is black if OK and red if the Galil has flagged a motion error This occurs if the servo error exceeds a certain limit This usually means that the motor isn t getting power or the brake isn t releasing or something else is impeding commanded motion M Motion flag A black double arrow means current to the motor is off A green double arrow means current to the motor is on A right green arrow indicates clockwise motion and a left green arrow indicates counterclockwise motion L Limit flag A black double arrow indicates that no limits have been tripped A red right or left arrow indicates that the clockwise or counterclockwise limits are active respectively B Brake flag If black the brake is off If red the brake is on P Lock pin flag If black the lock pin is out if red the lock pin is in H Homed flag If black a home operation has not been done the

Vane end control software user manual

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