Details
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Type:
Story
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Status: Done
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Resolution: Done
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Fix Version/s: None
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Component/s: ts_main_telescope
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Story Points:2
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Sprint:TSSW Sprint - Apr 15 - Apr 27
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Team:Telescope and Site
Description
Give software support to M2 at the summit
Attachments
Activity
I looked over the code and found what is the expected behavior of M2Controller when there are no errors when we try to enable the contorller.
These are the steps that happen when we try to enable the controller, we see the "On error" case:
This code handles the state transition from the MANUAL_STANDBY state to the MANUAL_ENABLED/OPEN_LOOP_CONTROL state.
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1. Check to make sure the cRIO is online. It is an error if it is not. |
2. Distribute the configuration data throughout the system. |
3. Set the control-loop mode to IDLE. |
4. Power up both power busses going to the cell electronics and actuator control. |
5. Initialize the cell electronics. |
6. Set the control-loop mode to OPEN-LOOP. |
7. Enable telemetry logging. |
8. Change the state to the MANUAL_ENABLED/OPEN_LOOP_CONTROL state. |
9. Enable the faults/warnings appropriate for the ENABLED state. |
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On error:
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1. Turn off motor power. |
2. Don't change the state. |
We were also able to look for the equations for the fault conditions in the vi TangentLoadCellFaultDetection.vi:
With John we updated the limits on the file TangentLoadFauldDetection we may need to compile this on the cRio (It seems that there is some replication of this VI and didn't update the right one the last time), I'm going to the summit tomorrow and will suggest this to John.
We were able to Enable the M2 Controller and that gave control over the actuators to John and Mike. The instructions to replicate this are in:
https://confluence.lsstcorp.org/display/LTS/Update+force+limits+to+enable+M2+controller
Andres did a great job support John Bagnasco and getting the M2 up and running. Thanks!
Done
This Monday I will go to the summit