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  1. Data Management
  2. DM-28687

The MTHexapod low-level controller mis-handles clearError if there is a fault condition

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    Details

    • Story Points:
      4
    • Sprint:
      TSSW Sprint - Jun 21 - Jul 05, TSSW Sprint - Jul 05 - Jul 19
    • Team:
      Telescope and Site
    • Urgent?:
      No

      Description

      If there is a fault condition such as an e-stop pressed then the clearError command oscillates between the "FAULT" and "STANDBY" state forever. I think it should got to FAULT and stay in FAULT.

      I observed this in today's testing. I believe the sequence was:

      • Use the EUI to put the controller into DDS mode
      • Use the hexapod commander to issue "enterControl" to the CSC
      • The state goes to FAULT
      • Use the hexapod commander to issue "clearError" to the CSC
      • The state oscillates between FAULT and STANDBY. I see no sign that it will ever stop doing this.

      That's the core of the problem above. But we continued as follows:

      • Use the hexapod commander to issue "exitControl" to the CSC. The oscillation stopped.
      • Use the EUI to issue "clearError". The oscillation resumed (as reported to the commander).

        Attachments

        1. dataInEfd.png
          dataInEfd.png
          513 kB
        2. enabledStateWithInvalidCommand.png
          enabledStateWithInvalidCommand.png
          417 kB
        3. IMG_20210712_140632.jpg
          IMG_20210712_140632.jpg
          618 kB
        4. stateMachine.png
          stateMachine.png
          91 kB
        5. stateTransition.png
          stateTransition.png
          431 kB

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              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              rowen Russell Owen
              Reviewers:
              Russell Owen
              Watchers:
              Holger Drass, Petr Kubanek, Russell Owen, Te-Wei Tsai
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              Watchers:
              4 Start watching this issue

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                Updated:
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