Details
-
Type:
Story
-
Status: Done
-
Resolution: Done
-
Fix Version/s: None
-
Component/s: ts_main_telescope
-
Labels:
-
Story Points:0
-
Sprint:TSSW Sprint - Dec 19 - Jan 02, TSSW Sprint - Jan 02 - Jan 16
-
Team:Telescope and Site
-
Urgent?:No
Description
In the last two days every time we try a ramp tracking sequence for the MT rotator from the MTRotator commander, the rotator moves in the wrong direction, often quite far in the wrong direction. Here is an example, with a very short ramp (so I didn't have to stop it):
MT Rotator failed ramp 2022-11-03
ramp -25 -26 1
|
run_command running command method <bound method RotatorCommander.do_ramp of <lsst.ts.mtrotator.rotator_commander.RotatorCommander object at 0x7fc1390205e0>>
|
Tracking a ramp from -25.0 to -26.0 at speed 1.0; this will take 1.00 seconds
|
Finished command ramp
|
track angle=-25.00 velocity=-1.00
|
1667506455.090: controllerState: controllerState=2, offlineSubstate=1, enabledSubstate=2, applicationStatus=5124
|
1667506455.090: tracking: tracking=False, lost=True, noNewCommand=False
|
1667506455.091: target: position=-25.0000, velocity=-1.0000, tai=1667506455.0936
|
1667506455.090: inPosition: inPosition=False
|
track angle=-25.15 velocity=-1.00
|
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
|
1667506455.240: tracking: tracking=True, lost=True, noNewCommand=False
|
1667506455.240: inPosition: inPosition=True
|
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
|
1667506455.290: target: position=-25.1530, velocity=-1.0000, tai=1667506455.2466
|
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
|
1667506455.340: ccwFollowingError: positionError=-0.0000, velocityError=-0.0200, timestamp=1667506455.2500
|
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
|
1667506455.390: motors: raw=[-2453700000.0, -2451600000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506455.390: ccwFollowingError: positionError=-0.0000, velocityError=-0.0300, timestamp=1667506455.3000
|
track angle=-25.35 velocity=-1.00
|
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
|
1667506455.490: motors: raw=[-2453600000.0, -2451500000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506455.490: target: position=-25.3514, velocity=-1.0000, tai=1667506455.4450
|
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
|
1667506455.540: motors: raw=[-2453600000.0, -2451400000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506455.540: ccwFollowingError: positionError=-0.0100, velocityError=-0.0400, timestamp=1667506455.4500
|
1667506455.590: motors: raw=[-2453500000.0, -2451400000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
track angle=-25.55 velocity=-1.00
|
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
|
1667506455.640: motors: raw=[-2453400000.0, -2451300000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506455.640: ccwFollowingError: positionError=-0.0100, velocityError=-0.0500, timestamp=1667506455.5500
|
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
|
1667506455.690: motors: raw=[-2453300000.0, -2451200000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506455.690: ccwFollowingError: positionError=-0.0100, velocityError=-0.0600, timestamp=1667506455.6000
|
1667506455.690: target: position=-25.5512, velocity=-1.0000, tai=1667506455.6448
|
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
|
1667506455.740: motors: raw=[-2453200000.0, -2451100000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506455.741: ccwFollowingError: positionError=-0.0200, velocityError=-0.0600, timestamp=1667506455.6500
|
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
|
1667506455.790: motors: raw=[-2453100000.0, -2451000000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506455.791: ccwFollowingError: positionError=-0.0200, velocityError=-0.0700, timestamp=1667506455.7000
|
track angle=-25.75 velocity=-1.00
|
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
|
1667506455.840: motors: raw=[-2452900000.0, -2450800000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506455.840: ccwFollowingError: positionError=-0.0200, velocityError=-0.0800, timestamp=1667506455.7500
|
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
|
1667506455.890: motors: raw=[-2452800000.0, -2450700000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506455.890: ccwFollowingError: positionError=-0.0300, velocityError=-0.0800, timestamp=1667506455.8000
|
1667506455.890: target: position=-25.7517, velocity=-1.0000, tai=1667506455.8453
|
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
|
1667506455.940: motors: raw=[-2452600000.0, -2450500000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506455.940: ccwFollowingError: positionError=-0.0300, velocityError=-0.0900, timestamp=1667506455.8500
|
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
|
1667506455.990: motors: raw=[-2452500000.0, -2450300000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506455.990: ccwFollowingError: positionError=-0.0400, velocityError=-0.0900, timestamp=1667506455.9000
|
track angle=-25.95 velocity=-1.00
|
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
|
1667506456.040: motors: raw=[-2452300000.0, -2450200000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506456.041: ccwFollowingError: positionError=-0.0400, velocityError=-0.1000, timestamp=1667506455.9500
|
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
|
1667506456.090: motors: raw=[-2452100000.0, -2450000000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506456.090: ccwFollowingError: positionError=-0.0500, velocityError=-0.1100, timestamp=1667506456.0000
|
1667506456.091: target: position=-25.9516, velocity=-1.0000, tai=1667506456.0452
|
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
|
1667506456.140: motors: raw=[-2451900000.0, -2449800000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506456.140: ccwFollowingError: positionError=-0.0500, velocityError=-0.1000, timestamp=1667506456.0500
|
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
|
1667506456.190: motors: raw=[-2451700000.0, -2449600000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
track angle=-26.00 velocity=0.00
|
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
|
1667506456.240: motors: raw=[-2451500000.0, -2449400000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506456.240: ccwFollowingError: positionError=-0.0600, velocityError=-0.0900, timestamp=1667506456.1500
|
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
|
1667506456.290: motors: raw=[-2451400000.0, -2449200000.0], torque=[0.0, 0.0], current=[0.0, 0.0], busVoltage=0.0000
|
1667506456.291: ccwFollowingError: positionError=-0.0600, velocityError=-0.0700, timestamp=1667506456.2000
|
1667506456.290: tracking: tracking=False, lost=True, noNewCommand=False
|
1667506456.291: target: position=-26.0000, velocity=0.0000, tai=1667506456.2452
|
1667506456.290: inPosition: inPosition=False
|
This shows an attempt to track a path from -25 to -26 degrees at 1 deg/second (thus a very short ramp). The rotator starts moving in the correct direction but soon turns around. The tracking commands look like this: track angle=-25.95 velocity=-1.00 (though you can also get the same information from the "target: " events, which the CSC publishes when it sends a track command or point-to-point move command to the low-level controller).
I also attached a graph from Julen Garcia showing position vs time (of both rotator and camera cable wrap). This shows the rotator starting off in the correct direction, but then turning around and ending up in the wrong direction from the starting point. Also notice that the end of the motion is very abrupt; I doubt it is properly jerk-limited.
Attachments
Issue Links
- relates to
-
- To Do
-
- Done
-
- Done
-
- Invalid