For the normal operation range, the cart rotation is in the clock-wise direction (A1 goes up: +Y, A4 goes down). When the cart is flat, (M2 face down), the TMA elevation angle is 90 degree and the zenith angle is 0 degree. When the cart rotates to straight (clock-wise), the TMA elevation angle is 0 degree and the zenith angle is 90 degree. This rotation is between "A2+A3" and "A5+A6". Because of the force direction of tangent link, A1 and A4 will not take the mirror's weight in the rotation process.

When the mirror is face down, the TMA elevation angle should be 90 degree and the M2 processed inclinometer also show ~90 degree.

The geometry can see:

Moved the rigid body movement.

We did the cart rotation today. We found that for the elevation angle between 90 and 0 degrees, the coordination system between the M2 and TMA should be the same. Note that at this moment, the cart is rotated in the clockwise direction (cart angles: 0 degree to 270 degree ==> this means the angle of cart would be 0 -> 350 -> 330 -> 300 -> 270 degree).

For the cart rotates in CCW, 0 degree to 90 degree.

We found something strange for a small elevation range for the LUT of glass. Need to check it.

For the LUT test, we test:
1. morning: Configurable_File_Description_20180831T092556_surrogate_handling.csv
2. afternoon Configurable_File_Description_20180831T092423_surrogate_optical.csv

Please help to review this ticket. Thanks!

Thanks for all your effort!

Logs from Italy team:
1. 15-05-23-M2-RBM-log .rtf
2. 17-05-23-LUT-cart-rotation.rtf