Details
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Type:
Story
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Status: Invalid
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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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Team:Telescope and Site
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Urgent?:No
Description
The MT rotator no longer seems able to follow "ramp" tracking sequences from the MTRotator commander. Here is a log (with an extra print statement to show the tracking commands that the commander is sending):
MT Rotator failed ramp 2022-11-03
ramp -25 -26 1
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run_command running command method <bound method RotatorCommander.do_ramp of <lsst.ts.mtrotator.rotator_commander.RotatorCommander object at 0x7fc1390205e0>>
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Tracking a ramp from -25.0 to -26.0 at speed 1.0; this will take 1.00 seconds
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Finished command ramp
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track angle=-25.00 velocity=-1.00
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1667506455.090: controllerState: controllerState=2, offlineSubstate=1, enabledSubstate=2, applicationStatus=5124
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1667506455.090: tracking: tracking=False, lost=True, noNewCommand=False
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1667506455.091: target: position=-25.0000, velocity=-1.0000, tai=1667506455.0936
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1667506455.090: inPosition: inPosition=False
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track angle=-25.15 velocity=-1.00
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1667506455.240: rotation: demandPosition=-25.0000, demandVelocity=-0.0000, demandAcceleration=-0.0600, actualPosition=-25.0000, actualVelocity=-0.0000, debugActualVelocityA=-0.0000, debugActualVelocityB=-0.0000, odometer=392282.8500, timestamp=1667506455.1500
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1667506455.240: tracking: tracking=True, lost=True, noNewCommand=False
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1667506455.240: inPosition: inPosition=True
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1667506455.290: rotation: demandPosition=-25.0000, demandVelocity=-0.0100, demandAcceleration=-0.1200, actualPosition=-25.0000, actualVelocity=-0.0000, debugActualVelocityA=-0.0000, debugActualVelocityB=-0.0000, odometer=392282.8500, timestamp=1667506455.2000
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1667506455.290: target: position=-25.1530, velocity=-1.0000, tai=1667506455.2466
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1667506455.340: rotation: demandPosition=-25.0000, demandVelocity=-0.0100, demandAcceleration=-0.1200, actualPosition=-25.0000, actualVelocity=-0.0200, debugActualVelocityA=-0.0200, debugActualVelocityB=-0.0100, odometer=392282.8500, timestamp=1667506455.2500
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1667506455.340: ccwFollowingError: positionError=-0.0000, velocityError=-0.0200, timestamp=1667506455.2500
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1667506455.390: rotation: demandPosition=-25.0000, demandVelocity=-0.0200, demandAcceleration=-0.1200, actualPosition=-25.0000, actualVelocity=-0.0300, debugActualVelocityA=-0.0300, debugActualVelocityB=-0.0300, odometer=392282.8600, timestamp=1667506455.3000
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1667506455.390: motors: raw=[-2453700000.0, -2451600000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506455.390: ccwFollowingError: positionError=-0.0000, velocityError=-0.0300, timestamp=1667506455.3000
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track angle=-25.35 velocity=-1.00
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1667506455.440: rotation: demandPosition=-25.0000, demandVelocity=-0.0300, demandAcceleration=-0.1200, actualPosition=-25.0000, actualVelocity=-0.0300, debugActualVelocityA=-0.0300, debugActualVelocityB=-0.0300, odometer=392282.8600, timestamp=1667506455.3500
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1667506455.490: motors: raw=[-2453600000.0, -2451500000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506455.490: target: position=-25.3514, velocity=-1.0000, tai=1667506455.4450
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1667506455.540: rotation: demandPosition=-25.0100, demandVelocity=-0.0400, demandAcceleration=-0.1200, actualPosition=-25.0100, actualVelocity=-0.0400, debugActualVelocityA=-0.0400, debugActualVelocityB=-0.0400, odometer=392282.8600, timestamp=1667506455.4500
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1667506455.540: motors: raw=[-2453600000.0, -2451400000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506455.540: ccwFollowingError: positionError=-0.0100, velocityError=-0.0400, timestamp=1667506455.4500
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1667506455.590: motors: raw=[-2453500000.0, -2451400000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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track angle=-25.55 velocity=-1.00
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1667506455.640: rotation: demandPosition=-25.0100, demandVelocity=-0.0500, demandAcceleration=-0.1200, actualPosition=-25.0100, actualVelocity=-0.0500, debugActualVelocityA=-0.0500, debugActualVelocityB=-0.0500, odometer=392282.8600, timestamp=1667506455.5500
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1667506455.640: motors: raw=[-2453400000.0, -2451300000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506455.640: ccwFollowingError: positionError=-0.0100, velocityError=-0.0500, timestamp=1667506455.5500
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1667506455.690: rotation: demandPosition=-25.0100, demandVelocity=-0.0600, demandAcceleration=-0.1200, actualPosition=-25.0100, actualVelocity=-0.0600, debugActualVelocityA=-0.0600, debugActualVelocityB=-0.0600, odometer=392282.8700, timestamp=1667506455.6000
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1667506455.690: motors: raw=[-2453300000.0, -2451200000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506455.690: ccwFollowingError: positionError=-0.0100, velocityError=-0.0600, timestamp=1667506455.6000
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1667506455.690: target: position=-25.5512, velocity=-1.0000, tai=1667506455.6448
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1667506455.740: rotation: demandPosition=-25.0200, demandVelocity=-0.0600, demandAcceleration=-0.1200, actualPosition=-25.0200, actualVelocity=-0.0600, debugActualVelocityA=-0.0600, debugActualVelocityB=-0.0600, odometer=392282.8700, timestamp=1667506455.6500
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1667506455.740: motors: raw=[-2453200000.0, -2451100000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506455.741: ccwFollowingError: positionError=-0.0200, velocityError=-0.0600, timestamp=1667506455.6500
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1667506455.790: rotation: demandPosition=-25.0200, demandVelocity=-0.0700, demandAcceleration=-0.1200, actualPosition=-25.0200, actualVelocity=-0.0700, debugActualVelocityA=-0.0700, debugActualVelocityB=-0.0700, odometer=392282.8700, timestamp=1667506455.7000
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1667506455.790: motors: raw=[-2453100000.0, -2451000000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506455.791: ccwFollowingError: positionError=-0.0200, velocityError=-0.0700, timestamp=1667506455.7000
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track angle=-25.75 velocity=-1.00
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1667506455.840: rotation: demandPosition=-25.0200, demandVelocity=-0.0800, demandAcceleration=-0.1200, actualPosition=-25.0200, actualVelocity=-0.0800, debugActualVelocityA=-0.0800, debugActualVelocityB=-0.0800, odometer=392282.8800, timestamp=1667506455.7500
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1667506455.840: motors: raw=[-2452900000.0, -2450800000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506455.840: ccwFollowingError: positionError=-0.0200, velocityError=-0.0800, timestamp=1667506455.7500
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1667506455.890: rotation: demandPosition=-25.0300, demandVelocity=-0.0800, demandAcceleration=-0.1200, actualPosition=-25.0300, actualVelocity=-0.0800, debugActualVelocityA=-0.0800, debugActualVelocityB=-0.0800, odometer=392282.8800, timestamp=1667506455.8000
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1667506455.890: motors: raw=[-2452800000.0, -2450700000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506455.890: ccwFollowingError: positionError=-0.0300, velocityError=-0.0800, timestamp=1667506455.8000
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1667506455.890: target: position=-25.7517, velocity=-1.0000, tai=1667506455.8453
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1667506455.940: rotation: demandPosition=-25.0300, demandVelocity=-0.0900, demandAcceleration=-0.1200, actualPosition=-25.0300, actualVelocity=-0.0900, debugActualVelocityA=-0.0900, debugActualVelocityB=-0.0800, odometer=392282.8800, timestamp=1667506455.8500
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1667506455.940: motors: raw=[-2452600000.0, -2450500000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506455.940: ccwFollowingError: positionError=-0.0300, velocityError=-0.0900, timestamp=1667506455.8500
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1667506455.990: rotation: demandPosition=-25.0400, demandVelocity=-0.0900, demandAcceleration=-0.1200, actualPosition=-25.0400, actualVelocity=-0.0900, debugActualVelocityA=-0.0900, debugActualVelocityB=-0.0900, odometer=392282.8900, timestamp=1667506455.9000
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1667506455.990: motors: raw=[-2452500000.0, -2450300000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506455.990: ccwFollowingError: positionError=-0.0400, velocityError=-0.0900, timestamp=1667506455.9000
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track angle=-25.95 velocity=-1.00
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1667506456.040: rotation: demandPosition=-25.0400, demandVelocity=-0.1000, demandAcceleration=-0.1100, actualPosition=-25.0400, actualVelocity=-0.1000, debugActualVelocityA=-0.1000, debugActualVelocityB=-0.1000, odometer=392282.8900, timestamp=1667506455.9500
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1667506456.040: motors: raw=[-2452300000.0, -2450200000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506456.041: ccwFollowingError: positionError=-0.0400, velocityError=-0.1000, timestamp=1667506455.9500
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1667506456.090: rotation: demandPosition=-25.0500, demandVelocity=-0.1000, demandAcceleration=-0.0500, actualPosition=-25.0500, actualVelocity=-0.1000, debugActualVelocityA=-0.1000, debugActualVelocityB=-0.1100, odometer=392282.9000, timestamp=1667506456.0000
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1667506456.090: motors: raw=[-2452100000.0, -2450000000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506456.090: ccwFollowingError: positionError=-0.0500, velocityError=-0.1100, timestamp=1667506456.0000
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1667506456.091: target: position=-25.9516, velocity=-1.0000, tai=1667506456.0452
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1667506456.140: rotation: demandPosition=-25.0500, demandVelocity=-0.1000, demandAcceleration=0.0200, actualPosition=-25.0500, actualVelocity=-0.1000, debugActualVelocityA=-0.1100, debugActualVelocityB=-0.1000, odometer=392282.9000, timestamp=1667506456.0500
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1667506456.140: motors: raw=[-2451900000.0, -2449800000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506456.140: ccwFollowingError: positionError=-0.0500, velocityError=-0.1000, timestamp=1667506456.0500
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1667506456.190: rotation: demandPosition=-25.0600, demandVelocity=-0.1000, demandAcceleration=0.1600, actualPosition=-25.0600, actualVelocity=-0.1000, debugActualVelocityA=-0.1000, debugActualVelocityB=-0.1000, odometer=392282.9100, timestamp=1667506456.1000
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1667506456.190: motors: raw=[-2451700000.0, -2449600000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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track angle=-26.00 velocity=0.00
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1667506456.240: rotation: demandPosition=-25.0600, demandVelocity=-0.0900, demandAcceleration=0.3000, actualPosition=-25.0600, actualVelocity=-0.0900, debugActualVelocityA=-0.0900, debugActualVelocityB=-0.1000, odometer=392282.9100, timestamp=1667506456.1500
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1667506456.240: motors: raw=[-2451500000.0, -2449400000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506456.240: ccwFollowingError: positionError=-0.0600, velocityError=-0.0900, timestamp=1667506456.1500
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1667506456.290: rotation: demandPosition=-25.0600, demandVelocity=-0.0700, demandAcceleration=0.3700, actualPosition=-25.0600, actualVelocity=-0.0700, debugActualVelocityA=-0.0700, debugActualVelocityB=-0.0700, odometer=392282.9200, timestamp=1667506456.2000
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1667506456.290: motors: raw=[-2451400000.0, -2449200000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
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1667506456.291: ccwFollowingError: positionError=-0.0600, velocityError=-0.0700, timestamp=1667506456.2000
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1667506456.290: tracking: tracking=False, lost=True, noNewCommand=False
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1667506456.291: target: position=-26.0000, velocity=0.0000, tai=1667506456.2452
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1667506456.290: inPosition: inPosition=False
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Notice that the target position does show the right thing, but the demandPosition is very different.
I will also attach a graph that shows the reported rotator position (and the CCW, which you can ignore)
Attachments
Issue Links
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Activity
I reorganized your log in the following:
1667506455.240: rotation: demandPosition=-25.0000, demandVelocity=-0.0000, demandAcceleration=-0.0600, actualPosition=-25.0000, actualVelocity=-0.0000, debugActualVelocityA=-0.0000, debugActualVelocityB=-0.0000, odometer=392282.8500, timestamp=1667506455.1500
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1667506455.290: rotation: demandPosition=-25.0000, demandVelocity=-0.0100, demandAcceleration=-0.1200, actualPosition=-25.0000, actualVelocity=-0.0000, debugActualVelocityA=-0.0000, debugActualVelocityB=-0.0000, odometer=392282.8500, timestamp=1667506455.2000
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1667506455.340: rotation: demandPosition=-25.0000, demandVelocity=-0.0100, demandAcceleration=-0.1200, actualPosition=-25.0000, actualVelocity=-0.0200, debugActualVelocityA=-0.0200, debugActualVelocityB=-0.0100, odometer=392282.8500, timestamp=1667506455.2500
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1667506455.390: rotation: demandPosition=-25.0000, demandVelocity=-0.0200, demandAcceleration=-0.1200, actualPosition=-25.0000, actualVelocity=-0.0300, debugActualVelocityA=-0.0300, debugActualVelocityB=-0.0300, odometer=392282.8600, timestamp=1667506455.3000
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1667506455.440: rotation: demandPosition=-25.0000, demandVelocity=-0.0300, demandAcceleration=-0.1200, actualPosition=-25.0000, actualVelocity=-0.0300, debugActualVelocityA=-0.0300, debugActualVelocityB=-0.0300, odometer=392282.8600, timestamp=1667506455.3500
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1667506455.540: rotation: demandPosition=-25.0100, demandVelocity=-0.0400, demandAcceleration=-0.1200, actualPosition=-25.0100, actualVelocity=-0.0400, debugActualVelocityA=-0.0400, debugActualVelocityB=-0.0400, odometer=392282.8600, timestamp=1667506455.4500
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1667506455.640: rotation: demandPosition=-25.0100, demandVelocity=-0.0500, demandAcceleration=-0.1200, actualPosition=-25.0100, actualVelocity=-0.0500, debugActualVelocityA=-0.0500, debugActualVelocityB=-0.0500, odometer=392282.8600, timestamp=1667506455.5500
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1667506455.690: rotation: demandPosition=-25.0100, demandVelocity=-0.0600, demandAcceleration=-0.1200, actualPosition=-25.0100, actualVelocity=-0.0600, debugActualVelocityA=-0.0600, debugActualVelocityB=-0.0600, odometer=392282.8700, timestamp=1667506455.6000
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1667506455.740: rotation: demandPosition=-25.0200, demandVelocity=-0.0600, demandAcceleration=-0.1200, actualPosition=-25.0200, actualVelocity=-0.0600, debugActualVelocityA=-0.0600, debugActualVelocityB=-0.0600, odometer=392282.8700, timestamp=1667506455.6500
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1667506455.790: rotation: demandPosition=-25.0200, demandVelocity=-0.0700, demandAcceleration=-0.1200, actualPosition=-25.0200, actualVelocity=-0.0700, debugActualVelocityA=-0.0700, debugActualVelocityB=-0.0700, odometer=392282.8700, timestamp=1667506455.7000
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1667506455.840: rotation: demandPosition=-25.0200, demandVelocity=-0.0800, demandAcceleration=-0.1200, actualPosition=-25.0200, actualVelocity=-0.0800, debugActualVelocityA=-0.0800, debugActualVelocityB=-0.0800, odometer=392282.8800, timestamp=1667506455.7500
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1667506455.890: rotation: demandPosition=-25.0300, demandVelocity=-0.0800, demandAcceleration=-0.1200, actualPosition=-25.0300, actualVelocity=-0.0800, debugActualVelocityA=-0.0800, debugActualVelocityB=-0.0800, odometer=392282.8800, timestamp=1667506455.8000
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1667506455.940: rotation: demandPosition=-25.0300, demandVelocity=-0.0900, demandAcceleration=-0.1200, actualPosition=-25.0300, actualVelocity=-0.0900, debugActualVelocityA=-0.0900, debugActualVelocityB=-0.0800, odometer=392282.8800, timestamp=1667506455.8500
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1667506455.990: rotation: demandPosition=-25.0400, demandVelocity=-0.0900, demandAcceleration=-0.1200, actualPosition=-25.0400, actualVelocity=-0.0900, debugActualVelocityA=-0.0900, debugActualVelocityB=-0.0900, odometer=392282.8900, timestamp=1667506455.9000
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1667506456.040: rotation: demandPosition=-25.0400, demandVelocity=-0.1000, demandAcceleration=-0.1100, actualPosition=-25.0400, actualVelocity=-0.1000, debugActualVelocityA=-0.1000, debugActualVelocityB=-0.1000, odometer=392282.8900, timestamp=1667506455.9500
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1667506456.090: rotation: demandPosition=-25.0500, demandVelocity=-0.1000, demandAcceleration=-0.0500, actualPosition=-25.0500, actualVelocity=-0.1000, debugActualVelocityA=-0.1000, debugActualVelocityB=-0.1100, odometer=392282.9000, timestamp=1667506456.0000
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1667506456.140: rotation: demandPosition=-25.0500, demandVelocity=-0.1000, demandAcceleration=0.0200, actualPosition=-25.0500, actualVelocity=-0.1000, debugActualVelocityA=-0.1100, debugActualVelocityB=-0.1000, odometer=392282.9000, timestamp=1667506456.0500
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1667506456.190: rotation: demandPosition=-25.0600, demandVelocity=-0.1000, demandAcceleration=0.1600, actualPosition=-25.0600, actualVelocity=-0.1000, debugActualVelocityA=-0.1000, debugActualVelocityB=-0.1000, odometer=392282.9100, timestamp=1667506456.1000
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1667506456.240: rotation: demandPosition=-25.0600, demandVelocity=-0.0900, demandAcceleration=0.3000, actualPosition=-25.0600, actualVelocity=-0.0900, debugActualVelocityA=-0.0900, debugActualVelocityB=-0.1000, odometer=392282.9100, timestamp=1667506456.1500
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1667506456.290: rotation: demandPosition=-25.0600, demandVelocity=-0.0700, demandAcceleration=0.3700, actualPosition=-25.0600, actualVelocity=-0.0700, debugActualVelocityA=-0.0700, debugActualVelocityB=-0.0700, odometer=392282.9200, timestamp=1667506456.2000
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Where is the problem in this ticket?
Accidental duplicate of DM-36861 (something went wrong with Jira when I was submitting the ticket). I'll answer your question in that ticket.
Please help to point out the details of this: "the target position does show the right thing, but the demandPosition is very different.". I do not know what you are talking about. Thanks!