We want to implement a software safety system in the MTRotator CSC: if the error between the rotator and camera cable wrap gets larger than some specified amount, halt the rotator and put the system into a FAULT state. (This gives the camera cable wrap a chance to catch up, which makes it fairly easy to recover from this error).
In order to support this I would like a new low-level command which tells the rotator controller to halt the rotator and go into a FAULT state.
(Note that the CSC summary state is maintained in the low-level controller, not the CSC, so it is not practical to simply send the CSC itself into a FAULT state.)
We would like to have in place by the time we add all the lines to the camera cable wrap and have to keep it in sync with the camera rotator. My understanding is that will occur sometime in February.