Ian and I had tested the modified limit switches of camera hexapod and rotator on the summit and both of EUIs can get the triggered limit switches correctly. We verified these two components leg by leg already.
When the extend and retract limit switches of leg 1 were both triggered and released, we had the feedback fault and amplifier fault as the following figure:
We need to power-cycle the PXI controller to clear the faults. However, this is reproducible. The behavior only happens for the leg 1. In addition, we found these faults will not be triggered if only one of the limit switch is activated and released. I suspected this might be similar to the problem of M2 hexapod.
We found the design of rotator does not allow to trigger the limit switch leg by leg. If people trigger the extend limit switch, both of legs will reflect this:
In addition, we found the linear encoder fault is triggered here:
This linear encoder fault can be cleared by the clearError command in EUI. However, we did see some crazy values from encoder when the safety interlock is activated already (means no power to actuator):
I suspect maybe we need to investigate the encoder of rotator.