Details
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Type:
Improvement
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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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Labels:
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Story Points:2
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Epic Link:
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Sprint:TSSW Sprint - Jun 21 - Jul 05, TSSW Sprint - Jul 05 - Jul 19
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Team:Telescope and Site
Description
This was encountered during the execution of test case
https://jira.lsstcorp.org/secure/Tests.jspa#/testCase/LVV-T1599
the execution is:
https://jira.lsstcorp.org/secure/Tests.jspa#/testPlayer/testExecution/LVV-E1228
After unplugging and replugging the motor encoder cable:
Test Step:
Send the "clearError" trigger and bring the system to the Enabled/Stationary state.
Expected Result:
The system is in the Enabled/Stationary state and ready to be commanded.
Actual Result:
Sending the "clearError" command cleared the "Drive fault" but not the "Simulink" fault and transitioned the state machine into standbyState.
After transitioning the state machine, using the EUI, into disabledState the system allowed to clear the Simulink fault by sending the "clearError" command.
Attachments
Activity
– ClearError did not work from DDS:
await hexapod_csc.cmd_clearError.set_start(timeout=10.) # This clears the error
This was the answer:
AckError: msg='Command failed', ackcmd=(ackcmd private_seqNum=159701259, ack=<SalRetCode.CMD_FAILED: -302>, error=1, result='Failed: Failed: final state is <State.FAULT: 3> instead of <State.STANDBY: 5>')
– ClearError send from the EUI also does not work.
After the discussion with Holger, this fault comes from the low-level drive fault (actuator 5). The clearError command does clear the error and go to the Standby state. But it comes back to the Fault again because of the drive fault is still there.
Please help to review the PR:
https://github.com/lsst-ts/ts_hexapod_controller/pull/18
Thanks!
Reviewed on github
The update of branch
DM-29788-2 will break the state machine transition and I tried another method in branch 3.