Fix Version/s: None
Sprint:TSSW Sprint - Apr 12 - Apr 26
Team:Telescope and Site
The summit EFD shows that application status is only nonzero for the first actuator (field applicationStatus0 of logevent_controllerState. Fields 1-5 are all zero.
I suspect the problem is in the low-level controller because I checked the values when using the internal simulator and found nonzero data for all elements of the array.
For the information of limit switch, we could check the input_pin_states. The code is 0x219A. The key is to check the pins "6, 7, 8" and "16, 17, 18).
PS. The pin state here also contains the information of interlock. The details can follow:
For the implementation of low-level controller, the code is:
It looks like the copley_fault_status_register (or 0x1002) gives more information (page 61 in All-CANopen_Programmers_Manual-Manual.pdf ). The bit value in use in EUI now is:
List the interested bit value of 0x1002 in the following:
Bit 9: Positive limit switch active
Bit 10: Negative limit switch active
Bit 27: In motion (I guess this can be seen as the "Actuator moving")
I do not find something called the "kill switch".
Please help to review:
Please ignore the LabVIEW jenkins failed test. There is the problem of CTIO Jenkins now. Contact the people there to fix it already.
The details of Copley drive code can be found at: All-CANopen_Programmers_Manual-Manual.pdf.