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TO Panel MCC Graphic User Interface TO Hand Paddle

1. ABEAM Beam A BBEAM Beam B 2BS Info os TW BS Beam set TW BS Info os 6 2 Scan Peak and other offset related commands TCS1 command TCS3 command with similar function C PEAK 1 ra dec 1 C PEAK user init l ra dec 0 C PEAK user inc ra dec lradec 1 C PEAK user set ra dec C SCN 1 ra dec 1 C SCN user init 1 ra dec 0 C SCN user inc ra dec lradec 1 C SCN user set ra dec PEAK Info os SCAN Info os DISP Info os 6 3 TCS Query commands TCS1 command TCS3 command with similar function C HST Info tm C STIME Info tm TCS_INFO Info mp op TPD Info mp op 6 4 Other commands TCS1 command TCS3 command with similar function C SLEW Next Page 6 Version 2010 11 08 1201_Operators_Guide doc Version 2014 07 22 TCS3 Operators Guide A guide for the TCS3 Operator Page 1 1201_Operators_Guide doc Version 2014 07 22 ECS 3 Operators Guide nyoren nne ha Ae AOA a RIA Sv RAST 1 Ltr Gu Ct OM aes ectstvesddleen capeaednled aus epee achat eptded Ud eden apd eae ete ed ice eed cee ede ee eee 3 2 Starting Stopping the TCS3 Software COMmpUlenscesiccincsop seal cosecuscnl aa eves aseqaegasspccacessaceeak boeeateasvaenaa we caodaoternaad 4 eA CAC RATS and 1 WIND Sais ca cet hash cee rates a E elgp dee Saeed anata ea aaa gee ab Raed nee 6 4 Pointing
2. Page 21 1201_Operators_Guide doc Version 2014 07 22 Appendix A Block Diagrams of the TCS3 control system A block diagram of the tcs3 control system is maintained http irtfweb ifa hawaii edu tcs3 tcs3 Design The staff should be familiar with the TCS3 at this level A of the block diagram is displayed here for reference Pat 2 fT e A tt tests foai South Pier J Box HA limits HA Zenth Opto22 FIOC EJ E Power Su eN Semen M ii ocus Motor Equad HA camiec T3_APE_HA HA APE HA APE Readout SIRTF network switch Electronics CPU E in TCS3 Equipment Rack T3_APE_DEC Dec APE Dec APE Readout an RA roremental Encoder Electronics CPU HAT HH FONC Mirror Cooling IO i and Circuit n Gar Legand Red Names of TCS3 Control System Hardware Blue TCS3 Control System Hardware Green Existing Facility Hardware Chop secondary control rack aba Title T3 1010 TCS3_Block_Diagram vsd Project TCS3 Control System Upgrade NASA IRTF Filename Edi Date Page T3 1010 TCS3 Block Diagramvsd 2 20 2013 11 41AM toft K Pat 2 3 4 tt tet ttt Page 22 1201_Operators_Guide doc Version 2014 07 22 It is also important to identify and understand the key components o
3. MP inc Increments the MP destination position in arcseconds Syntax mp inc HA Dec HA HA in arcseconds Dec Dec in arcseconds Example Increments HA by 10 and dec by 20 arcseconds Mp inc 10 20 MP cnt Specity the MP destination position in motor counts Syntax mp cnt HA Dec HA HA in motor counts Dec Dec in motor counts Example Move to HA 0 Dec 0 Mp cnt 0 0 MP Vel Set the velocity for a motor position move Syntax mp vel velocity velocity Velocity in as s 1 to 1600 Example Set MP velocity to 400 as s Mp vel 400 MS Fault Ack Re enable mirror support after a fault Syntax ms fault ack Example Re enable mirror support after a fault Ms fault ack MV Execute a Motor Velocity move Syntax mv HA Dec HA HA as time hh mm ss ss Dec Dec as angle deg mm ss ss Example Do amotor velocity move to the zenith My 00 00 00 19 49 34 39 MW Zero Zeros the value of the measurement widget The measure widget is a simple tool to allow the TO to make a distance measurement by moving the telescope using the Offsets User beam or the TH ID correction registers Theses offsets are added to the measure widget and are display in the tracking status area on MCC1 This command allow the TO to zero the values prior to any measurement Syntax mw zero Example mw zero Next Enter object data into the next buffer Syntax next RA Dec pm ra pm dec epoch equinox CS Name Mag NS_rate RA NS rate Dec
4. Move outwards on the user spiral trajectory User Spiral rate Specify the velocity of the user spiral User Spiral stop Stop moving on the user spiral User Spiral wid Specify the with of 1 rotation of the user spiral a T1Delta Set the value of utl utc Wavelength Set the value of the observed wavelength Facility Hardware Control Ape mode Set the fio_ape execute mode Ape Pos Manual method for initialing the APE value Ape set pmac Tells the tcs to initialize the position in the PMAC servo controller using the APEs Collimate EW Dpos Set desired East West collimation position Collimate EW Dpos Inc Increment East West collimation position Collimate NS Dpos Set desired North South collimation position Collimate NS Dpos Inc Increment North South collimation position Collimate enable Enable or disable collimation control loop Collimate table read Loads collimation table data into tcs3 Collimation ta ble set Set the collimation desired position using the collimation table CW Dir Set the directory path for counterweight files CW Dpos Set selected counterweight to position described as a voltage CW Enable Enable or disable counterweight movements CW Manual cntl The CW command to set a counterweight up down or off CW Mode Select the counterweight operational mode DHP enable Enables the DOME handpaddke Page 2 1103 TCS3 Command Reference Version 2012 03 20 DHP swapEW
5. Next objects can be loaded using the next command t3remote or starcat Review the next object table and slew to the object using the slew N command For convenience a slew 0 button is provide on mccl s tracking window When starting a slew check the MCC1 Time amp Position display to insure the slew is operating correctly Review the destination RA amp DEC and motor speeds To abort a slew press the slew abort button the tcs should start tracking near the aborted located Or press Stop to stop the servo and put the brakes on If the slew failed start tracking and re slew to the target Page 6 1201_Operators_Guide doc Version 2014 07 22 Parking the Telescope If you will be away from the operator area for an extend period of time ie lunch instrument changes end of shift you should 1 Goto Stop Mode Turns off Brakes Turns off the Servo 2 Turn off TO Panel s Telescope Enable Prevents anyone from moving the telescope using a remote GUID Page 7 1201_Operators_Guide doc Version 2014 07 22 4 Pointing Map Basics The tcs3 uses TPOINT for it pointing map correction Information on TPOINT can be found on the tcs3 user s manual page The tcs3 pointing map called pt map support the following tpoint coefficients IH ID NP CH ME MA HCES HCEC DCES DCEC FO TF TX These are determine by a pointing run see the pointing run procedures The IH and ID values are adjusted when peaking
6. allow setting the non sidereal rate ns rate and the pointing map rate pt rate o To set the non sidereal rate enter the RA and Dec values using the spin buttons and press ns rate to issuing the ns rate RA DEC command o To set the pointing map rate enter the RA and Dec values using the spin buttons and press pt rate to issuing the ps rate IH ID command e Pointing buttons include o Update Issues the pt madj command to transfers correction peak spiral rates to the MAdj register The MAdj registers hold IH ID values that are saved from slew to slew o Save Does a pointing update and saves the IH ID values to disk to be restored when starting the IC or when doing a Last pt restore o Last Restore the MAdj values saved to disk with pt restore Pt clear Clears the Corr pointing registers Pt peak pt spiral and pt rates o mw zero This measurement widget zero button zeros the values display by the MeaWet label O To stop Tracking e Enter another servo mode for example STOP Servo Slew The Slew mode slews to a RA and Dec sky position The can only be started while Tracking and when the slew is done Tracking resumes stop MP MV track slew Servo Mode ReSlew Slew Abort A slew is initiated from the tracking screen Once the telescope is slewing this screen appears Page 14 1101_mcc_gui_and_to_panel doc Version 2014 03 18 The status
7. FK5 FK4 I APP Defaults to ptable value Name Object name Example Set the base position to the object SAO 93498 Base 0 34 56 51 19 48 36 1 0 0011 0 0270 200 2000 FK5 SAO 93498 Base inc Increment the RA Dec values of the base Syntax base inc ra dec Ra dec value to increment in arcseconds Example Base inc 0 1 Beam Init Initializes the Beam offset by making the current position the base 0 0 setting the ra dec values to 0 0 and enabling the offset Syntax Beam init Example Initialize the Beam offsets Beam init Beam inc Apply an increment to the beam RA and Dec offsets Syntax beam inc ra dec Ra dec Offset increments in arcseconds Example Increment beam Dec offset by 1 8 arcseconds leave RA offset as is Beam inc 0 1 8 Beamoff Disable application of the beam RA and Dec offsets Syntax beam off Example Disable application of the current beam RA and Dec offsets Beam off Beam on Enable application of the beam RA and Dec offsets Syntax beam on Example Apply the current beam RA and Dec offset values Beam on Beam set Specify the RA and Dec offsets for the beam Syntax beam set ra dec Ra dec Offsets in arcseconds Example Seta beam offset of 10 2 arcseconds in RA 6 5 arcseconds in Dec Page 7 1103 TCS3 Command Reference Version 2012 03 20 Beam set 10 2 6 5 Beam toggle Toggle the beam offset enable status Syntax beam toggle Example Toggle to alternate
8. RA RA as time hh mm ss ss Dec Dec as angle deg mm ss ss Page 23 1103 TCS3 Command Reference Version 2012 03 20 pm _ra proper motion as sec tm year Optional default 0 In dRa dt rather than cos Dec dRA dt pm dec proper motion as arcsec tm year Optional default 0 epoch epoch in calendar years Epoch used for proper motion correction Optional Defaulted to ptable value equinox equinox of coordinate system in calendar years Optional defaults to ptable value CS Coordinate system Can be FK5 FK4 APP If not specifed defaults to current ptable value App is Topocentric apparent Name Object name Mag Magnitute of object Ns_rate_ra RA non sidereal rate in as s NS_rate_dec DEC non sidereal reate in as s When CS FKS the default epoch and equinox is 2000 0 When CS FK4 the default epoch and equinox is 1950 0 When CS App the following field are ignored pm_ra pm_dec equinox and epoch Example Set the star catalog next buffer to the object SAO 93498 Next 0 34 56 51 19 48 36 1 0 0011 0 0270 2000 2000 FK5 SAO 93498 8 8 0 0 0 0 Next HADec object data into the next buffer using HA and Dec coordinates Syntax next HA Dec HA HA as time hh mm lt ss ss Dec Dec as angle deg mm ss ss Example Setup the next object to zenith or 0 Hours Ha 19 50 degrees Dec Next hadec 0 19 50 Next Clear Clear a next star entry Syntax next clear entry entry Flag to sele
9. X east west error declination error zenith error east west error declination error Y hour angle declination zenith declination hour angel ha dec nonperpendicularity hour angle scatter plot of errors plot distribution of the pointing errors Cartesian cylindrical plot Page 4 1203 Determing and Using New Encoder Ratios Version 2011 08 09 Determining and Using New Encoder Ratios This document describes the procedures to measure the incremental encoder ratio And describes the steps to use the encoder ratio in the TCS Introduction The incremental encoder ratio can be measured using the APE encoders as a reference We move the TCS3 and record the APE postion and number of counts moved This data is then used to determine the encoder ratios This procdure can easily be done by hand However we have written a program to help with data collection calculation and data storage This program is called encoder_util Collecting this data can be done by the TO or Daycrew Using the new encoder values require modification of the tcs3 source code this is done by the tcs3 programmer The data collected for determining encoder ratios should be located in the directory home tcs3 data encoders Once new encoder ratio have been determined the these value must be put into the TCS software This would be done the by TCS programmer 1 Using encoder_util The encoder_util program guides you though the data collection calculatio
10. Base Load a new position into the position table base Base inc Increment the RA Dec values of the base Beamset Specify the RA and Dec offsets for the beam Beam init Initialize the beam offset Beam inc Apply an increment to the beam RA and Dec offsets Beam on or Beam B Enable application of the beam RA and Dec offsets Beamoff or Beam A Disable application of the beam RA and Dec offsets Beam toggle Toggle the beam offset enable status Cat search Search catalog for the star closest to given RA Dec within a specified radius Cat index Search specified catalog by index and load results into next buffer CS Set the default coordinate system Epoch Set the default epoch Equinox Set the default equinox HSlew Limit Override Override horizontal slew velocity limits Info Return a selected subset of tcs information Next Clear Clear a next star entry Next enter object data into the next buffer using RA Dec coordinates Next hadec enter object data into the next buffer using HA Dec coordindates NS rate Specifies an non sidereal rate to be applied to the base position NS rate inc Increments the base non sidereal rate OS 2base Transfer the enabled offsets and rates to the base and clear the offset values MP Execute a Motor Position move MP cnt Specifiy the MP destination position in motor counts MP inc Increments the MP destination position in arcseconds MP Vel Set
11. But workbench built in documentation and it probably better to first use the Help system under workbench It is more complete and up to date that the electronic documents There is a screen shot of the workbench gt dirtf epl vel mnt 8 x BSM100C 31508A Velocty i eo a Program Ga Task Comer Function we B Functionin B Function ix B Function d BB Event ONEF E Stertup COMMS INTEGER 11 COMMS INTEGER 12 COMMS 13 Coems 14 COUS 25 Spy Window ne COMMS 16 leswitch COMMSINTEGER lt lt Oe AF 6 4 tt 2 Duration G2mt Penod B2ut n J Watching Vale E ParentTask Running at line 100 o PeeTngger 0 2 ij Tngper Watch Tasks Auto ream waming 2339 Implict cast of Time 100 to Integer may lose precision on ine 171 Manuel tigger Warning 2320 Variable T on ine 57 is hidden by declaration ByVal i As Integer on ine 351 Waming 2303 Function _cip_range deckred but not used on ine 351 Warming 2303 Function d_dip_range deckred but not used on ine 356 0 Error s and 4 Warning s g 4 Terminal Build Breakponts 4 Axis 70 Monitor Data watch For Heb press FI MotFiex e1008 Mint Card Build 5633 Ln 187 Cot 9 Capture k ee Above the tool bar there is the green on black LED style node ID There will be either FO 01 or 02 This identifies the controller s ID that you are communication wi
12. Elevation Set the elevation of the observatory Syntax elevation meters meters Elevation of the observatory above sea level meters Example Set the elevation to 4168 meters above sea level Elevation 4168 Epoch Set the default epoch Syntax epoch year year Epoch of the CS as a calendar year 1900 to 2100 Example Set the default epoch to 1950 Epoch 1950 Equinox Set the default equinox Syntax equinox year year Equinox as a calendar year 1900 to 2100 Example Set the default equinox value to 2000 Equinox 2000 FioA Sim Enable or disable the simulation mode for the fio_a processes Syntax fioa sim control control Simulation mode control OFF or ON Example Turn the simulation mode off for fio_a processes Fioa sim off FioB Sim Enable or disable the simulation mode for the fio_b processes Syntax fiob sim control control Simulation mode control OFF or ON Example Turn the simulation mode on for fio_b processes Fiob sim on FioC Sim Enable or disable the simulation mode for the fio_c processes Syntax fioc sim control control Simulation mode control OFF or ON Example Turn the simulation mode off for fio_c processes Fioc sim off Page 12 1103 TCS3 Command Reference FioDome Sim Enable or disable the simulation mode for the fio_dome processes Syntax Example fiodome sim control control Simulation mode control OFF or ON Turn the simulation mode off for f
13. On North is south Set the default mapping JS swapNs off Latitude Set the latitude of the observatory Syntax Example latitude latitude hemisphere latitude latitude in degmm ss must be lt 90 hemisphere Hemisphere of the observatory N or S Set to 19 deg 49 min 34 39 sec north latitude Latitude 19 49 34 39 N Log Log a message to the log file and XUI display s Syntax Example log message message Text of the message to be logged Log the message object obscured by upper level clouds Log object obscured by upper level clouds Log Err Log message to log file XUI display s and error log Syntax Example log err message message Text of the message to be logged Log the error message unable to acquire outside air temperature Log err unable to acquire outside air temperature Log xui Log message to the XUI display s Syntax Example logxui message message Text of the message to be logged Display message starting run on all XUI displays Page 20 1103 TCS3 Command Reference Version 2012 03 20 Log xui starting run Longitude Sets the telescope s longitude Syntax Longitude d m s E W d m s Longitude in deg min sec Must be gt 180 E W Indicates East or West of Greenwich Example The IRTF s longitude Longitude 155 28 19 2 W Ltc Enable Enable disable Laser Traffic Control updates Syntax ltc enable control
14. On the top the sky RA HA Dec and their non sidereal rates are display in yellow text The the right the time is display in HST UTC and the Sidereal Time There are 2 diagram to represent the HA and Dec axis Note the HA diagram is using East to the left display convension e The larger yellow arrow is the current desired telescope position e The larger gray arrow should the actual position of the servo often covered by the yellow arrow e The mangenta line indicated where the software limit are e The inner dial show the speed of the axis using an arrow and text in arcsec sec Page 8 1101_mcc_gui_and_to_panel doc Version 2014 03 18 e The yellow bars below the diagram indicate the AMP command voltage to each of the 2 motor for each axis e The APE position is display in cyan along with the difference of the APE and IE incremental encoder The Misc box in this display contains other positional and environmental information Dome Shutter display amp control This window contains 3 sections Dome Feedback e The blue circle dome show the azimuth of the slit The Dm AZ is the Dome s slit azimuth North is on top and East 90 deg Az is on the left e The yellow arrow show the azimuth of the telescope Err shows obs_az dome_az e The Operator Inputs list some IO setting important to dome control state of the Brakes DAC output to the dome amps volts and the velocity of the dome deg sec e The O Output s
15. S E W buttons will adjust the UserOS values The Go To Base button will set the UserOS to 0 0 The Beam Sw button will toggle the Beam Position The N S Swap switch will swap the direction of the N and S buttons The E W Swap switch will swap the direction of the E and W buttons The 5 X Rate slider will set the rate to 5 times the rate set in the mcc3 GUI s rate value for the TOHP Page 29 1102 T3Remote Version 2011 09 06 T3Remote The Remote GUI for TCS3 Page 1 1102 T3Remote T3Remote OMAIDKNARWNE Introduction T3Remote 6 Display Status Area Offset Tab Next Valles eacesccecere Focus Tab 06 User Spiral Tab PtMap Tab CMD Tab 0 Version 2011 09 06 Page 2 1102 T3Remote Version 2011 09 06 1 Introduction T3Remote is a mini gui for the tcs3 It is intended to be used by observers and the Telescope Operator It is installed and runs on the IRTF workstation Multiple copies can be running by various number of users To start t3remote type t3remote on you console terminal The GUI should appear Usage t3remote d h hostname d Turn on the debug flag h hostname Sets the tcs3 computer s hostname m Use Medium size font for status Hides the Main Tabs window l Use Large size font for status Hides the Main Tabs window t Tabs only The status display is hidden 2
16. Swaps East and West inputs for the Dome HP DHP swapNS Swaps North and South inputs for the Dome HP DHP rate Sets the velocity for the Dome HP in as s Dome Auto Offset Set the an offset angle during auto tracking mode for dome control Dome HP Speed Sets maximum speed for dome handpaddle mode Dome Manual Control dome motion while in manual mode Dome Manual Speed Sets the maximum speed for dome manual mode Dome Mode Set the dome movement control mode Dome Speed Set the dome movement speed factor Focus Adj Enable Enables or disable the Temperatue and Position adjustment to the focus Focus Enable Enable or disable the focus control loop Focus Dpos Set the desired focus position Focus Dpos Inc Increment or decrement the focus position Hexapod init runs the Hexapod initialize maco file Humidity Wn Set relative humidity level to trigger warning Mirror Cover Open or close the mirror cover MS Support Turn mirror support off or on MS Fault Ack Re enable mirror support after a fault MC Actuator Mirror cooling fan control MC Fan Mirror cooling fan control MC Heater Mirror cooling Heater control MC Mode Sets the Mirror cooling mode MC SetPt Sets Mirror cooling set point temperature OH1 enable Enables the OH1 handpaddle OH1 swapEW Swaps East and West inputs for the OH1 OH1 swapNS Swaps North and South inputs for the OH1 OH1 rate Sets the vel
17. T3Remote The GUI has 2 main sections Status Display Main Tab provides various types of control widgets to the TCS3 Here is a picture of the GUI Bremote 9 8 Jan 72010 Status Display North Dec East RA West RA lt lt gt l gt Main Tabs kbd input swap EW swap N S South Dec a OM op New Base Goto Base Beam A offset next focus spiral ptmap cma Page 3 1102 T3Remote Version 2011 09 06 You can use larger font for the status using the m or l command line option Using m or l will only display the status You can run another copy using the t to display the Main Tab without status There is an example 2 t3remote running 1 large fonts 2 with tabs only gt t3remote 1 gt t3remote t Proper Motion 0 0000s y Non Sidereal 0 0000 s User Offset Scan Offset Total Offset t3remote 9 8 Yan 7 2010 Sidereal 16 33 08 UTC 19 30 14 Tee 1 063 Hour Angle 00 05 37 HST 09 30 14 Shutter 02 55 Right_Ascension Declination Object_Name 16 27 00 30 00 02 20 2 no_name 0 0000 y Mag 0 0 0 0000 s Focus 0 00 Air Dm Tp 1 9C 4 5C Humidity 20 Wind NW 14 mph Sidereal 16 Hour Angle OO Base UserOS North Dec East RA BeamOS West RA j lt E kbd input South Dec y V swap E W swap N S MM ap New Base Goto Base BeamA offset ext l focus l spiral ptma
18. allowing only the Supervised high speed moves Safety Board OK LED will be on when there are no latched errors on the safety board System Power LED is on when the system power is ON Brake ON LED is on when the HA amp Dec brake are ON 2 3 Remaining Controls The TO Joystick is a self centering 2 axis joystick It is used for error adjustment during tracking and velocity adjustment during MV moves Review track and MV servo modes for MCC1 During tracking the TO Joystick s can be used to adjust the pointing map in NSEW or Spiral mode The toggle switch to the right of the joystick enables you to control this mode The Floor light control the dimmer for the Dome floor light This hardware contol is independent of the computers The Dome Light Off On control the dome florescence light via the tcs3 software The Humidity LED display the relative humidity 0 to 100 Page 5 1101_mcc_gui_and_to_panel doc Version 2014 03 18 3 MCC GUI The MCC GUI Master Control Console is an X11 Windows based application running on the TCS3 computer the computer t1 It provides the Graphic User Interface for the Operator Normally two copies are running on the TCS3 duel monitors located at the TO area Up to five copies can be running at once for example another computer displayed via Max Normally only the two copies of the GUI should be running 3 1 General Layout The GUI application has 3 main sections Main Buttons MCC mai
19. an S with a line through it Warnings Page 15 1101_mcc_gui_and_to_panel doc Version 2014 03 18 3 7 MCC2 Tab tes3 mcc v120320 Mar 20 2012 on tihilo ifa hawaii edu tel 3 FB2 hist_save beam_test hist_on hist_off Stop Notices Quit Mirror Support Collimate Collimate Focus Tbl Jm ea Mirror Cover exe Wwe S E ARA USE J fhome tcs3 data mcc_macros ell Goto 0 00 0 00 nsfcam2 unused shut open Macro Files Act al 0 00 0 00 cshell inused 110429 pt coeff shut OFF Fault Ack EQ NQ 0 05 ne m 110809 pt coeff using Choppe enable bass inused 111029 pt coeff Mirror Cooling Laser Traffic r Smokey s Mirror Focus Misc apos ape init 80 0 off enable Goto 0 00 Hum wn pa apos manual init manual aro Actual 0 00 ings 35 control disable auto Ltc Enable is EELS nd wr EE iii OFF Focus Enable ist save 9 ptrate default 10 0000 0 0000 i Simulat No Smokey Data Adj Enable pt clear a ec ii Itc impact ce 0 01 Software Limits Override testl oqe Mirror In using Chopper Hor Slew Limit Override tesi test3 System Power off on on medi mcc2 mec3 Balance Pointing Details OK Motor Currents Ha Dec and Dome motor currents are displayed For HA and Dec the yellow graphs show the diffe
20. control LIC update control ON or OFF Example Turn LTC updating off Ltc enable off Ltc Filename Set the full path for the LTC file name Syntax ltc filename filename filename LITC filename and path defaults to tmp tcs_data txt Example Set the LTC file name to tmp ltc_data_041214 txt Ltc filename tmp ltc data_041214 txt Ltc Fov Set Laser Traffic Control Field of View Syntax ltc fov fov fov LIC field of view in degrees 0 001 to 1 6666667 100 arcmin Example Set LTC field of view to 0 01 deg Lec tov 0 401 Ltc Impact Set the value for the Laser Traffic Control impact field Syntax ltc impact value value Value for LTC impact field YES or NO Example Set LTC impact field to NO Ltc impact no Ltc Period Set period between LTC file updates Syntax ltc period time time Time between file updates in seconds 5 to 300 Example Set LTC file update period to 60 seconds Ltc period 60 LTOffset Set the ut to local time offset Syntax ltoffset time time Local time offset in minutes 720 to 720 Example Set local time offset to 600 minutes 10 hours west Ltoffset 600 MC Actuator Sets the mirror cooling actuator voltage command used to control the glycol flow Page 21 1103 TCS3 Command Reference Version 2012 03 20 Syntax mc actuator volts Volts Control voltage for actuator Range is 0 to 5 0 volts for close to fully open Example Close the actuator or turns
21. while tracking with be blocked by the shutter hours MC ne airin degC mc air out degC mc glycol degC actuator v fan 0 1 heat 0 1 mc pressure_err 0 1 mc air in Intake air temperature for mirror cooling in degrees C mc air out Outtake air temperature for mirror cooling in degrees C mce glycol Glycol temperature used by mirror cooling in degrees C actuator control value for mc actuator command in volts Fan control value for mc fan command 0 is OFF 1 is ON Heat control value for mc heater command 0 is OFF 1 is ON mc pressure_err Mirror Cooling Pressure Error value O no error 1 pressure error Example An example of each option is display below info TM OK 2008 02 08 23 44 57 204 2008 02 08 13 44 57 20 22 36 54 44 info TMr OK 54504 9899559505 54504 5732892839 5 923176443112 info SP OK 22 36 25 63 19 46 07 7 0 0000 0 0000 2000 0 2000 0 k5 info SPr OK 5 91873876393661 0 34503048854095 0 0000 0 0000 2000 0 2000 0 k5 info MP OK 22 36 33 03 19 46 07 6 info MPr OK 5 91925801245125 0 34503030521678 info OS OK 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 info OP Page 18 1103 TCS3 Command Reference Version 2012 03 20 OK 22 37 09 28 19 48 37 2 00 00 47 77 1 000 0 188 265 185 85 120 info OPr OK 5 92218610367147 0 34575561422440 0 00347363680141 1 000 0 188 265 185 85 120 info SM stop 0 O N info FO 0 340 0 338 0 2 N H D fo FO2 0 100
22. 10 sec buffer of various TCS3 servo information at 20Hz This data is display in the Details tab s Perf T and Perf G displays Hist Save This button will write the contents of the History Data Buffers to the History Directory This History Data Buffer hold 10 sec of various servo variables sampled at 20Hz The following widget are not documented in this manual Again see the tcs3 programmer for details They should not be changed by the daycrew or TO unless directed by the TCS programmer ServoOpt Enable AutoPID Track NoIOnOffset HA Track NoIOnOffset Dec Hexapod Init This button is request the fio_hexe run the hexapod init script This script initializes the hexapod However this can also be accomplished using the hexeGUI plus the HexeGUI provide better feedback that the TCS Page 20 1101_mcc_gui_and_to_panel doc Version 2014 03 18 3 9 Balance Tab Common elements appearing on the manual and auto mode screens Motor Currents Ha Dec and Dome motor currents are displayed For HA and Dec the d show the differences of the motors CW Enable checkbutton Click to enable or disable counterweight control CW Mode dropdown menu Select either the manual or auto mode Status Window displaying counterweight status information such as the enable status and any current counter weight movement in progress Auto Mode Notices Quit THE A homes ja Balance Files Ni 3 85 Niv 6 36 UP 6 0
23. Chopper NS Collimation Min 4 00 deg 9 00 v Max 4 00 deg 4 06 v Resolution 0 001 deg 0 010 v EW Collimation Min 4 00 deg 4 80 v Max 4 00 deg 8 00 v Resolution 0 001 deg 0 010 v Focus Min 8 00 mm 7 32 v Max 8 00 mm 7 00 v Resolution 0 005 mm 0 005 v According to M Connelly 0 142 degrees lv 1 7737mm lv Page 16 1201_Operators_Guide doc Version 2014 07 22 11 TCS3 and JPL Horizon ephemerides data The TCS3 accepts tracking data in the following coordinates system FK5 Any Equinox FK5 J2000 0 is the default which is the ICRF FK4 Any Equinox FK4 B 1950 0 is the default APP Topocentric Apparent RA and DEC Includes Light deflection annual aberration Precession and nutation And refraction TCS3 displays the Azimuth and Elevation values in Topocentric Apparent When using ephemerides your best option is to use an Astrometric ICRF RA amp DEC which is the same as FK5 J2000 0 1 Using JPL Horizon Astrometric RA amp DEC Highly recommended Horizon Your location should be Mauna Kea 568 Select the ICRF J200 0 format Horizon s default Select Rates RA amp DEC Enter Rates as nonsidereal rate divide by 3600 to convert from hr to s For TCS3 set CS FK5 EQ 2000 0 EP 2000 0 also TCS3 s defaults Enter RA Dec and non sidereal rates 2 Using JPL Horizon Apparent RA amp DEC not recommended Horizon Your location should be Mauna Kea 568 Select Apparent RA amp Dec S
24. Either enter the value in the text entry area or use the button to increment the desired position The slider at the bottom controls the increment amount This Goto value will update if the desired position is changed The Actual label show the actual position of the focus mechanism in volts as sampled by the TCS A D The text will be RED until the focus moved to the desired position The Focus Enable check button until Enable or Disables the software control loop to move the focus mechanism The Focus Adj Enable determine if the focus adjustment value is added to the user_dos to determine the desired postion If the tcs see the apos is not changing when commanded to move a Focus_Stuck warning is display on MCCI Misc Hum wn This slider widget sets the Humidity Warning level The page values is set to 5 Wind wm This slider sets the High Wind Warning value in MPH The page value is set to 5 Software Limit Override Toggles the Sw limits override Off or On When checked software limits are ignored See MCC GUI s Details gt Position table for value of various limits Hor Slew Limit Override Toggles the HSlew Limit Override Off or On When checked the horizon slew hardware limit which limits velocity to 400 as s is ignored Next Object List Display the next object list The tcs3 Next command allow users to send slew request positions to the tcs This request are display here To slew to one of the item on the lis
25. Map Basics isdisccesdedsvenscdssaccaetasenesaeesdenadeaswas cate ledgusedausecuasasonsabesapatei E A E O TE A Seepeateausuceusnons 8 5 AP and MV S tvo Modes onina a et a east seek yas siae as ist 10 6 Using MP Cnt MP using Counts and Raw APE Motor Positions essseeesseeesseesseesseesseresseeesseessersseesseeessees 10 7 Going beyond the software and hardware limits ocsicccccecscscccgpsseceasdncksneeacesaeqagassaocadeasauaadeadonea aaa tyaacseisdcedeacseaedns 11 Se DEMING CS SOM Ware LIMItS seroren ne a aE Ai sacs veauiec cosas ded a Eere an aO EE ETA R aoh Saas 11 9 The E100 Dome Servo System ssrisipeissne irina er anaE o A E Ea S EEA A EE AA Eiai 12 POs The E Keay 01018 SCC aTa AI AAE EE E EEE E TEE E E 15 10 1 Setting up the TCS3 with the correct secondary ssessssssessseeeseeeesseessesseessersseeessstessresseessereseessseesseest 15 10 2 Initializmg the Hex apod ws ssi ccsesecsaaecasscaes nsis ai a R A R N A a a RiR 15 10 3 Other things to know about the hexapod essseseseeeesseessesssessseesssetssseesseesseesserssseessseessresseesseessseessseesseest 15 IT TESS and JPL Horiz n eph merid s data rcreriesuesrenenne sne hee sina E E E ee sos 17 12 How to Update the collimation table anecon aeree ree era E aro O EA oE R AEA rar EE ai 18 13 Foc s Adj stment Graphs io nte nt e ar a aes a ea e ee 19 14 Mise Problems and Solutions nsnssnsiiniiasinsn aie ia aai aas asii as 20 Appendix A Block Diagrams of the TCS3 con
26. NS WE SH MC The format of each selection are described below Multiple selections can be made for example info TM OP The format for each parameter is described below TM UTC yyyy mn dd UTC thh mm ss ss UTC_local yyyy mn dd UTC_local hh mm ss ss Last hh mm ss ss TMr UTC mdj UTC_local mjd Last radians UTC is coordinated universal time UTC_local is the local time HST Last is Local Apparent Sideral Time SP target_ra hh mm ss Target_da deg mm s pm_ra sec year pm_dec arcsec year epoch yyyy y equinox yyyy y CS string SPr target_ra radians Target_dec radinas pm_ra sec year pm_dec arcsec year epoch yyyy y equinox yyyy y CS string The target RA Dec is where the telescope is pointing Base position any offset Pm ra dec is the proper motion data Epoch is the epoch of the RA Dec coordinates Page 15 1103 TCS3 Command Reference Version 2012 03 20 Equinox is the epoch of the coordinate system CS identifies the coordinate system fk5 fk4 app MP mean_ra hh mm ss mean_da deg mm s MPr mean_ra radians mean_da radians Mean_tra dec The mean fk5 J2000 equinox current epoch RA and DEC OS TotalOS ra dec UserOS ra dec enable BeamOS ra dec enable ScanOS ra dec all in arcsec TotalOS Total offset value UserOS User offset magnitude of RA and DEC in arcseconds Enable 1 of apply 0 if ignored BeamOS Beam offset magnitude of RA and DEC in arcseconds Enabl
27. Stop Notices Quit Pointing File Settings and Coefficients Pointing File Setup Path homeftcs3 data tpoiny 090319 Filename point dat Pattern Grid z Separation 14 00 Degrees used for GRID pattern Caption pointing run Open File pt open Pointing Run Control Get Next Star pt next Next amp Slew Slew Next slew 0 Add Star 7 f pt add star Do Map Adjust PtMAdj Do Next amp Slew mcc1 mec2 mec3 Balance Pointing Deis pt dir set to home tcs3 data tpoint 090319 aj OK Ki RE EEE LEE EEE Pointing File Settings and Coefficients Displays the current values of the parameters associated with a pointing run and the pointing correction map Pointing File Setup Path Enter the full path for the directory where pointing run data file is to be stored Filename Enter the name for the file where pointing run data is to be stored Separation Enter the number of degrees separation between stars in the pointing array to be generated Caption Enter a caption to be stored as part of the pointing file header information Open File button Press to create and open the pointing file and to write out the header information to the file Pointing Run Control Page 25 1101_mcc_gui_and_to_panel doc Version 2014 03 18 Get Next Star button Press to load the position information for the next pointing target in the array Slew Next button Press to start the telesc
28. area display the estimated time to completion The setting of the OneShot Safe and Supervised buttons are display The HA DEC velocity and Distance Left are display using a bar graph and text e Slew Abort Aborts the current slew The current position is loaded into the tracking table s base and tracking resumes e ReSlew Re commands the PMAC to slew Due to a bug some times the slew doesn t move the telescope sits there with 0 velocity Press this button to re command the slew Once the slew is done the TCS will automatic start tracking Warning display This window is used to display error and warning notices A sound is associated with each notice and the sounds may be controlled by the Notices dialog see 2 1 4 If the error or warning condition no longer exists the message s will be cleared from the screen Notices are displayed in order of importance Warnings In this sample display warning notices are shown that indicate a counterweight stuck during a balance operation and that the current humidity level matches or exceeds the humidity warning threshold as currently set Both of these conditions will cause a warning sound to be played every 15 seconds In this sample display the same warnings are active as in the previous example but the Notices dialog has been used to deactivate the sounds associated with the humidity warning This is indicated by the red symbol to the left of the warning text
29. focus spiral pimap cmd The Spiral Tab allows the observer to spiral the telescope The spiral RA and Dec offset are place the the User Offset To sprial check the User Spiral Enable Note that User Spiral disables user s offset Press the out button to spiral outwards use the in button to spiral inwards The Position tells you your location on the spiral in terms of rotations The RA and Dec offset values can be seen on the Users on the status display The Rate and Width is display for your reference The TO can adjust these values using the User Spiral Rate and User Spiral Wid commands The Return to Center button set the rotation to O center of the spiral Page 9 1102 T3Remote Version 2011 09 06 8 PtMap Tab PTMAP TO use only Observers use offset tab N id pt spiral swap a z N S E ih A W ih spiral gt out ala EIS ow T IH 0 0 S id V EAN spiral in adjust adjust center ptmap amp save clear spiral ce _ center a ee o The PtMap Tab is the Point Map Table These controls should be used by the Telescope Operator only not the Observer The arrow keys allow you to peak up the IH and ID corrections values Use the yellow and magenta spin buttons to set the displacement units are in arcseconds The swap N S or E W check buttons allow you to reverse the HA or Dec directions Adjust pt map issues pt madj command to a
30. for pointing data files Syntax pt dir path path Directory path defaults to home tcs3 data tpoint DATE Example Set the directory path to home tcs3 temp tpoint Pt dir home tcs3 temp tpoint Pt Filename Set the name for the pointing file Syntax pt filename name name Name to use for the pointing file Example Set the pointing file name to pt_test_number_2 PE filename pr test number 2 Pt Find Find the nearest guide star to the given HA and Dec and load into the next object buffer Syntax pt find ha dec ha HA position in hh mm ss ss dec Dec position in dd mm ss ss Example Find the guide star closest to the position 00 00 01 35 00 01 12 42 Pt find 00 00 01 35 00 01 12 42 Pt M Adj Adds the corrections Peak Spiral Rates to the MAdj MapAdjustment registers The MAdj values are not cleared after a slew thus is used to adjust the Map s IH ID values The Peak Spiral and Rates registers are zerored Syntax pt madj Example Pt madj Pt M Adj Set Set the MAdj MapAdjustment IH ID pointing coefficient values The MAdj values are not cleared after a slew thus is used to adjust the Map s IH ID values Syntax pt madj set ID IH IH IH correction in arcseconds ID ID correction in arcseconds Example Set the adjustment IH ID coefficient value to 5 10 arcseconds Pt madj set 5 10 Pt Map Turn the pointing map on or off Syntax pt map control control Turn the pointing map ON or OFF
31. in home to bin To use the new encoder ratios you will need to modifiy the TCS3 main code recompile and install the new version The TCS3 Main code is located in home tcs3 src tcs3 main VERSION The t3lib t3_defines h files contains the encoder ratio are a define ie define HA_DAS2CNT 19 93064353 HA arcsec to counts define HA_DCNT2AS 1 0 HA_DAS2CNT counts to arcsec define DEC_DAS2CNT 19 96953869 DEC arcsec to counts define DEC_DCNT2AS 1 0 DEC_DAS2CNT counts to arcsec You must modifiy theses values recompile and re install the tcs3 See the README txt file in the main source directory The PMAC uses 20 cnt as for some of its limits velocity limit acceleration limits etc There is no need to change these as long the as encoder ratios are about 20 cnt sec Page 2
32. in HA 3 5 in Dec Polar motion 5 1 3 5 Pressure Specifies the atmospheric pressure Syntax pressure value value Pressure in mBars 200 to 2000 Example Set atmospheric pressure value to 547 8 mBars Pressure 547 8 Pstart Start or kill and restart child task Syntax Pstart task task Task name e g pslow audio Example Start or kill and restart the audio child process Pstart audio Pstop Kill a child application Syntax pstop task task Task name e g pslow audio Example Kill the pslow child process Pstop pslow Pt Add Star Append the pointing data for the current star data to the tpoint file Syntax pt add star Example Append the current star s pointing data Pt add star Pt Caption Specify the text of a caption for the pointing data file Syntax pt caption text text Text of the caption max 80 characters Example Set the caption to Pointing run 17 December 2004 Pt caption Pointing run 17 December 2004 Pt Clear Clears all the non map pointing offset and rates These are pt adj pt spiral and pt rate Syntax Pt clear Example Pt Clear Pt Convert Converts current HA amp Dec to numbers to enter into t3remote to test pt runs temporary test command Syntax pt convert Page 27 1103 TCS3 Command Reference Version 2012 03 20 Example Print the current HA and Dec converted to t3remote values Pt convert Pt Dir Define the directory path
33. in the direction of in the direction of limit Goto STOP mode limit limit Horizontal Slew N A Reduce speed to Reduce speed to Reduce speed to N A 19 Deg tracking rate tracking rates racking rates Horizontal Stop Stop tracking End slew Stop movement Stop movement N A 10 Deg Goto STOP Goto STOP mode in the direction of in the direction of limit limit Brake Exit track mode Exit Slew Stop movement Stop movement Do not exit STOP Goto STOP Goto STOP in the direction of in the direction of mode mode mode limit limit Speed N A Reduce speed to Reduce speed to Reduce speed to N A tracking rate tracking rates tracking rates Hard Stop movement End Slew Stop Movement Stop Movement N A in direction of Goto STOP in direction of in the direction of limit Goto Mode limit limit STOP Table of Limit Values Speed Slew HW est Software Stop HW est Brake HW est Hard EAST HA 05 15 hrs 05 27 hrs 05 35 hrs 05 38 hrs 05 57 hrs 06 00 hrs WEST HA 05 15 hrs 05 28 hrs 05 35 hrs 05 36 hrs 5 57 hrs 06 00 hrs SOUTH DEC 50 00 deg 53 07 deg 55 00 deg 56 42 deg 59 28 deg 65 00 deg NORTH DEC 60 00 deg 62 00 deg 67 00 deg 67 19 deg 69 38 deg 70 15 deg Hor Slew Limit is 70 0 deg est Hor Stop Limit is 75 0 deg est Page 27 1201_Operators_Guide doc Version 2014 07 22 Appendix D List of MCC Errors and Warnings Notices On mccl the warning window can display the foll
34. is home tcs3 data cw By convention the files are named using these rules 1 name is capital showing the instrument in the center of MIM Upto 3 names show what else is installed in the MIM Last part is the day the file was created in MMDDYY Name and date separted by _ For example this name CSHELL_spex_hipwac_8wnm_020906 was created with CSHELL in the middle and spex hipwac 8wnm installed on the MIM Balance was done on Feb 09 2006 The content of the file is CW Dpos 1 4 015 CW Dpos 2 6 310 CW Dpos 3 Tes ho CW Dpos 4 1 264 CW Dpos 5 4 966 CW Dpos 6 5 015 CW Dpos 7 0 819 CW Dpos 8 0 905 Page 22 1101_mcc_gui_and_to_panel doc CW Dpos 9 2 248 CW Dpos 10 5158 CW Dpos 11 5 066 The CW Dpos is a TCS command to set the desired position of the counter weight The 2 field is the counterweight numeric ID The 3 field is the desired position of the counter weight in volts Page 23 Version 2014 03 18 1101_mcc_gui_and_to_panel doc Version 2014 03 18 Manual Mode About UPi UP UPi UPi Et E UP UPI Nit Ni 6 00 6 00 15 11 5 11 5 56 540 E 525 5 131 3 851 6 36 7 17 UPI UP Et UPY 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 DN DN DNL ONt wt wit DN ON St si 4 87 492 1 507 LIT s 50 540 WO 4 90 503 405 7 75 6 96 DNL DNI Wwe DNL CW Enable Waming
35. is active When OFF focus position commands are not accepted by the TCS Focus adj enable flag is 0 or OFF when the adjustment value is ignore When 1 or ON the adjust value is added to user_dpos to get dpos Page 16 1103 TCS3 Command Reference Version 2012 03 20 CO US DO PM ON NS Coll_EW dpos Coll EW apos Coll_NS dpos Coll_NS apos Collimation enable Coll_EW dpos is the collimation EW desired position in volts Coll_EW apos is the collimation EW actual position in volts Coll_NS dpos is the collimation NS desired position in volts Coll_NS apos is the collimation NS actual position in volts Collimation enable is a flag 0 for OFF 1 for ON to indicate if collimation control is enable Encoder data motor_counts ha counts motor_counts dec counts apes pos ha radians apes pos dec radians Motor_counts ha dec Motor position in counts are reported by the MotorController Hardware PMAC APE_pos ha dec The Absolute Position Encoder position are reported by the APE Hardware User Spiral data state position rate width State 1 for down 0 for stop 1 for up Position position along the spiral where 2 PI is rotation out from center Rate Rate of speed while moving alow the spiral in as s Width Width of 1 rotation ie at position 6 28 the xy offset would be 1 width 0 Dome Info az deg vel deg s Az dome azimuth in degrees Vel dome velocity in arcseconds seconds P
36. up Example Raise the lower shutter Shutter lower up Shutter Upper Control the upper shutter Syntax shutter upper control control Shutter action stop down up Example Stop the upper shutter movement Shutter upper stop Slew Slew to the next object in the specified buffer Syntax Slew buffer buffer Object buffer TO OB or SC optional defaults to TO Example Slew to the next object in the SC next buffer Slew sc Slew Abort Abort a slew and switch to track mode Syntax slew abort Example Abort the slew in progress and enter the track mode Slew abort Slew Reslew Re issue the slew command to the pmac Something when commanded to slew the PMAC will not move the axes This command re issue the command Syntax slew reslew Example Slew reslew Sw Limits Override Control software limits Syntax sw limits override control control OFFor On ON ignores software limits Example Ignore software limits Sw limits override on Sw Limits Set Sets the software limits TCS only allow stricter software limits from the defaults This command is used to restrict the TCS range for instrument configurations outside the safety zone Syntax sw limits set EAST WEST SOUTH NORTH EAST East limit in hours Ranage is 1 00 00 to 05 35 00 West West limit in hours Ranage is 1 00 00 to 05 35 00 SOUTH South limit in degrees Ranage is 10 00 00 to 55 00 00 NORTH Nor
37. using the The TCS3 is configured for the hexapod 10 2 Initializing the hexapod Before the hexapod can control the focus or collimation it must be initialized Go to the MCC GUI s MCC tab and select the Hexapod Init button to initialized This instructs the hexapod controller to home itself and should take about 1 minute 10 3 Other things to know about the hexapod The hexapod has a Ethernet port This port is reserved so that the vendor s PC software can be used with the hexapod The IP number of name for the hexapod controller at the summit is irtf hexapod The hexapod web page above has a copy of the vendor s CD containing all manual and software The TCS3 communicates with the hexapod using the controller s RS 232 port This port is connect to the network using the digimim port 16 The hexapod controller also has a keyboard and VGA port provide access to a simple GUI Terminal This can be accessed via the network Refer to the hexapod web page On the MCC Details FIOX screen some Hexapod data is displayed The TCS3 queries the hexapod about 4 Hz Position and Status information is provided NS Collimation is the U axis EW collimation is the V axis and Focus is the Z axis Note the white lettering Hexapod u NS v EW z Foc This table compares the Chopper and Hexapod units Page 15 1201_Operators_Guide doc Version 2014 07 22 Hexapod
38. 0 UP 6 00 UP 13 UPt 5 11 BASS _cshell_spex_Gwrw_072505 CSHELL_spex_Gwnm_ilpwt_092105 CShell_spex_nvrsi_hifogs_Gwnm_062705 Si 4 05 Si E775 DN 4 87 ON 4 92 DN 5 07 ON 15 17 Cshell_spex_mirsi_hitogs_6wnm_0 HEOGS_spex_cshell_Gwnom_062805 HF OGS_spex_cshell_mirsi_6wnm_063005 YHE HEI YHSO ysi i MIRSL cshell_spe_BassExlec_0727205 MIRSLcshell_spex_Gwnm_lowt_0927605 Et 5 56 El 5 40 E 7 17 UP 15 25 UP 5 13 MIRSLcshell_spex_BassElec_072205 MIRStLspex_cshell_hifogs_6wnm_063005 i wi 5 50 Wi 5 40 Wi 6 96 DNC 4 90 DN 5 03 Save As Exec Refresh Waming CW Enable OFF CW Enable Auto mode Checking CW 1 shire i Waming mirror cover is closed PECL IMCEZ EEE PL Run Gerais OK e OK E Auto Mode Screen UP DOWN EAST WEST NORTH SOUTH buttons auto mode Page 21 1101_mcc_gui_and_to_panel doc Version 2014 03 18 Clicking these button will changed the Desired Position of the counterweights The Actual Position is displayed on the widget After changing the DPos position display changes to Red and display both the desired and actual in this format 0 00 gt gt 1 00 When the DPos has been reached the display returns to black An S in the position display indicates the counterweight is stuck it has stop moving but has not reached it desired position An LY indicates it has reac
39. 0 082 0 182 0 180 11 O N info CO s2 kE Z Una Lae US O N info EN 3923 1426743 0 00199361128469 0 34680085134736 O XN Info US 0 0 00 20 0 60 0 O N Info DO 116 6 2 0 O N H D fo PM 91 1 96 1 11 0 21 0 3 0 2 0 0 00 0 0 0 0 0 0 0 0 0 0000 0 0000 O N H fo ON no_name 0 0 O N fo NS K 0 0000 0 0000 Info WE 607 20 1 T23 151 0 O N N O OH ao TA EO m L 3 0000 OH Xo imma Co m L 2 9667 O AN sO N L2 La 0 00 10 JS Enable Enable Diable TO Panel Joystick inputs Syntax JS enable f off on Off disable the joystick inputs On enables the joystick inputs Example To enable the Joystick JS enable on Page 19 1103 TCS3 Command Reference Version 2012 03 20 JS Rate Set the maximum velocity for the TO Panel Joystick input Syntax Example JS rate rate rate This value represents arcseconds seconds Range is 0 to 800 as s When the tcs3 is in track mode it will limit the rate to under 60 as s Set the rate to 10 as s JS rate 10 JS swapEW Swap the logic for the East and West inputs on the TO Panel Joystick Syntax Example JS swapEW f off on Off East is east On East is west Set the default mapping JS swapEw off JS swapNS Swap the logic for the North and South buttons on the TO Panel Joystick Syntax Example OH1 swapNS foffl on Off North is north
40. 1101_mcc_gui_and_to_panel doc Version 2014 03 18 TO Panel MCC Graphic User Interface TO Hand Paddle A Reference for the Telescope Operators Page 1 1101_mcc_gui_and_to_panel doc Version 2014 03 18 MAINO CIO A ar ashe E E E E E E ta ese ese e A EET tase ae aaa aU EN 3 2 He TO Telescope Operator s Panelssessi i AO ie ili tain E erase ci i Gi Ae a eats 4 3 MICE GUM aces ceteascais iiei E AE E R AEKA N ETENE Read Gee aa Re ea 6 3 1 General LAV OU a secs nc n tec acudiicsseed susan E oasis segeasy ea A E r aaa EEEE E R OR iias 6 3 2 Maln BUON Sasi sce cit ah her dan estate a Se debe ett Meal asia R a ane a oie eet eee Me elas Sakae 6 RAVILE SS aTi LADS seh os E E EE EEE eau auhinn Saute E ous atae estes succusn TAE 6 3 AGU CLE IMCETACE ensce o ledstes tavucneuate soley e a ohed Sand uaeaaed ces ar a E O as 7 3 5 Notices dialog WINdOW sick sescisstinsdines sisieans cagedass arei ie r n E S A E a a aa dees 7 36 MECI TAB Sane e a a A N a A a A Aa 8 Did MCC Tab zorra e e a a a a a elas a a e a 16 3 8 MICOS Tabee are a a EATE a e A a a a e aaa E AT a HER TEE 19 DD Balance Tabl gan a e n a ea e a shes e aiae aiee n eei as ae enses 21 3 104 Poinuns LA a he ce a lc a el eae as aa a aa a ein eA 25 Jlis Detas WAS a a a A a A a E a a a EN 27 4 The TO Telescope Operator s Hand Panel ssonssesesneeesseessessessseeesseeesstesseesseesserssseesssresseesseesseeessetesseesseesse 28 Page 2 1101_mcc_gui_and_to_panel doc Version 2014 03 1
41. 40 45 00 01 57 3 00 00 06 04 1 063 19 859 180 074 0 070 The OP provides Observed Position obs_ra obs_dec obs_ha airmass zenith_dist azimuth parallactic_angle track The SM provides the servo mode 0 3 20i O04 322 2 The FO provides Focus_desired_pos Focus_actual_pos Focus_enable 0 or 1 5 2 Beam Switch T3i0 beam init Use this command to setup for beam switch make current position the base zero and enable beamswitch T3io beam set 10 20 Sets the absolute value for the B Beam position T3io beam a Goto the A beam position Page 4 1104_network_communications doc Version 2010 11 08 T3io beam b Goto the B beam position 5 3 User s Offset can be used in dittering or scaning macros T3io user init Use this command to initialize user offset make current position base zero and enable offsets T3io user set 10 20 Sets the absolute displacement values T3io user inc 2 Sets the relative displacement values Increment offset by 1 2 T3io user on enable user offsets T3io user off disable user offsets 5 4 Other misc examples The next command allows a sky coordinations to be sent to the tcs3 system as possible slew targets The TO can then slew to this position Example of the next command gt t3io next 12 22 42 0 20 08 56 5 0 0012 0 0170 2000 0 2000 0 FK5 SAO 82277 OK 5 5 Instrumentation macros The IRTF instruments spex for example allow tcs command to be embedded in to their macor files C
42. 8 1 Introduction The TO Panel is a hardware panel located in the operator area This panel is use by the operator and provide hardware based input to the TCS3 The MCC GUI Master Control Console is an X11 Windows based application running on the TCS3 computer hostname t1 This provide the Graphic User Interface for the Operator Normally two copies are running on the TCS3 duel monitors located at the TO area Up to five copies can be running at once Normally only the two TO copies of the GUI should be running The TO Hand Paddle is a hardware panel located in the operator s area This hand paddle provide some offset and pointing map buttons Page 3 1101_mcc_gui_and_to_panel doc Version 2014 03 18 2 The TO Telescope Operator s Panel The TO Panel is physically attached to the tcs3 system via a cable into the T3 Servo Electronic box It is located in the Telescope Operators Area It provide numerous safety and convenience items for the operator p Emergency Close 6 amp Close 2 1 Lockable safety switches The following 3 safety controls are located with in the upper left cover These are safety controls that can be lock using the key Dome Control 3 position switch to select dome control mode Locked Software will not allow any movement MCC GUI and Dome Handpaddle locked out Handpaddle Only the Dome handpaddle will control the dome s movement software is locked out Software Dome c
43. AMP Power Warning FIOB 76 Motor Currents High 77 IQUP Data is Stale The entries in the dialog box correspond to the list of possible error and warning notices that can be displayed in the Warnings display area on the mcc1 window see 2 2 4 If the check box to the left of an entry has a check in it then if that message is activated in the Warnings display an associated sound will be played about every 15 seconds Uncheck the box to deactivate the sound associated with that notice message Once the dialog box is visible it can be dragged to any location on the desktop To hide the dialog box click the Hide button at the bottom of the box Page 7 1101_mcc_gui_and_to_panel doc Version 2014 03 18 3 6 MCC1 TAB tes3 mec v100512 May 11 2010 FB2 hist_save beam_test hist_on hist_off Stop Notices Quit Time amp Position Limits Yome Shutte Dome Shutter Servo Mode stop Warnings TCS Servo is OFF TOP Telescope Enable is ON Lock Manual i Auto APE Set PMAC Software Mode is Locked SafetyBrd Reset Hello TCS3 Up Up Lower Shutter Shutter Down Down mcc1 mada mcc3 Balance Pointing Details Upper System Power on OK The MCCI tab primarily contains widget that are concerned with the telescope dome and shutter positioning Also some safety and warning indicators are located here Time amp Position display
44. Ape Set PMAC at Zenith Initialize pointing at a Zenith Star Collect data using b1 dat and Benchmark13 pattern Pointing Data Ape Set PMAC at Zenith Initialize pointing at a Zenith Star Collect data using point dat and GRID with 13 degree separation 70 starts 1 Calculate new coefficients Update default copy of tcs init Update development copy of tcs init 1 Re start TCS software to run with new pointing map coefficients Benchmark2 Ape Set PMAC at Zenith Initialize pointing at a Zenith Star Collect data using b2 dat and Benchmark13 pattern j Check b1 vs b2 Use the appropriate coefficients Post Run 1 Complete your report in home tcs3 data tpoint Y YMMDD Page 3 1201 Pointing Run Procedures Appendix B Other Notes Version 2010 01 14 1 Another way of compare the old map vs new tpoint coefficient is to use tpoint and plot the old map using your new data An example indat pl dat call irtf fit ih XX XX id XX XX TX XX XX Fix Fit Read in data se Fit tup standard IRTF parameters to new map Replace new map with coefficient from old map Prevent terms from being changed Fit the terms 1 What are the 9 standard plots The G ydata xdata generates the plots There is a summary of the 9 standard plots left to right top to bottom SR A OY Eee ee G command GXH GDD GZZ GXD GDH GPH GSCAT E GDIST GMAP
45. Brd_Dec_Emerg_N_Latch The T3 Safety Board s North Emergency or Brake Limit Latch is TRUE 61 SafetyBrd_Dec_Emerg_S_Latch The T3 Safety Board s South Emergency or Brake Limit is TRUE 62 SafetyBrd_Horizon_Stop_Latch The T3 Safety Board s Horizon Latch is TRUE The telescope is tipped over to far Hardware switch turns on when zenith distance is gt 75 degrees 63 SafetyBrd_Watchdog_Tmr_Latch The T3 Safety Board s Watchdog Timer Latch is TRUE 64 SafetyBrd_Clocking_Error_Latch The T3 Safety Board s internal clock monitor has indicated a clocking or timeout error This is an internal safety board error 65 SafetyBrd_Dome_Amp_Enable_Therm This error indicate there is a problem with the Enable Line or the Thermal Fuse on the Dome amplifiers Try the Thermal Fuse Reset button on Dome Amplifier else contact the Daycrew or IRTF EE 66 SafetyBrd_Tel_Amp_Enable_Therm This error indicate there is a problem with the Enable Line or the Thermal Fuse on the Telescope amplifiers Stop the telescope and turn off power Contact the TCS3 support engineer 67 SafetyBrd_Sparel A spare input on the safety board has triggered This shouldn t happen Contact the TCS3 support engineer 68 SafetyBrd_Spare2 A spare input on the safety board has triggered This shouldn t happen Contact the TCS3 support engineer 69 SafetyBrd_Tach_Switch_is_off An internal switch on the safety board used to enable the t
46. CW Enable OFF Running in Manual Mode W Mode manual v y Warning miror cover is dosed ameet meca need 2 r PL Awe Deti CWmode manual OK PE z D Manual Mode screen UP DOWN EAST WEST NORTH SOUTH buttons These buttons operate as in the auto mode to control the direction of movement for the selected counterweight however in the manual mode the or control voltage will be applied for as long as the button is selected or until the counterweight hits a hard limit In the manual mode only the actual position voltage is displayed without the direction arrows S or L indicators The minimum and maximum position limits for each counterweight are displayed in in its button labels One other difference between the auto and manual modes is that some of the counterweights may be operated as linked pairs This is implemented by the wide buttons linking pairs of counterweights For example The wide UP under TVF 3 and TVF 4 move both counterweight up Note A warning appears in red in the status window if the mirror cover is closed the system power is off or the brakes are on since these will impact dynamic balancing see screen shot above Page 24 1101_mcc_gui_and_to_panel doc Version 2014 03 18 3 10 Pointing Tab v Z tes3 mcc v090323 Mar 19 2009 About FBO FB1 FB2 hist save beam_test hist_on histoff
47. Command to move outwards along the spiral Syntax User Spiral Out Example User Spiral Out User Spiral rate Sets the user spiral velocity in as s Syntax User Spiral rate vel Vel velocity in as s ranges is 10 to 40 Example Spiral rate 40 0 User Spiral Stop Stops moving along the spiral Syntax User Spiral Stop Example User Spiral Stop User Spiral wid Sets the spiral width in arcseconds Should be matched to your field of view Syntax User Spiral wid arcsec Page 34 1103 TCS3 Command Reference Version 2012 03 20 arcsec spira s width in arcseconds ranges is 10 to 180 Example User Spiral wid 60 User Toggle Toggle the user offset enable setting Syntax user toggle Example Toggle currently enabled user offsets to disabled User toggle UT1Delta Set the value of utl utc This value is need to calculate UTI utl utc utldelta You can obtain this value from the International Earth Rotation Service s Bulletin B reports http maia usno navy mil Syntax utldelta sec sec Value of utl utc in seconds 0 51 to 0 51 Example Set utl utc delta value to 0 35 seconds Utidelta 0 35 VTCS Env Update Enable or disable fio_c updating of vtcs environment variables Syntax VTCS env update mode Mode can be 0 Don t update 1 update from fio_c old tes HM amp temp sensors 2 update from fio_a Vaisala HMT300 Sensors Example Updates the vtcs
48. Example Turn the pointing map on Pt map on Pt Map Set Set a pointing map coefficient value Syntax pt map set id value id ID of coefficient IH ID NP CH ME MA FO HCES HCEC DCES DCEC TF TX value Value for the coefficient Page 28 1103 TCS3 Command Reference Version 2012 03 20 Example Set the ID pointing coefficient to 141 5 Pt map set ID 141 5 Also coefficients can be set using their ID as keyworks The following are valid tcs3 commands IH 3 4330 ID 108 2731 NP 2 5460 CH 13 326 1 ME 10 4966 MA 31 2848 HCES 70 4861 DCES 7 7726 FO 31 0086 TF 11 0809 TX 39 3999 Pt Next Get the next or specified pointing object HA and Dec from table Syntax pt next index index Index of object optional defaults to the next in the list Example Get the HA and Dec of the object with index 5 Pt next 5 Pt Open Open the pointing data file see pt dir and pt filename Syntax pt open Example Open the pomting data file Pt open Pt Peak Clear Clear the Peak IH ID pointing coefficient values Syntax pt peak clear Example Clear the adjustment ID and IH values Pt peak clear Pt Peak Inc Increment the value of the Peak IH ID coefficients Syntax pt peak inc ha dec ha Increment the adjustment IH coefficient in arcseconds dec Increment the adjustment ID coefficient in arcseconds Example Increment the user IH by 23 9 an
49. P e Enter a HA and Dev velocity e Press Execute MV to set telescope velocity e Press Stop to set velocity to 0 In the status area the following information is displayed e The requested velocity is the sum of the Software Joystick domeHP inputs The PMAC velocity is the commanded velocity to the motor controller The bar graph displays to actual motor s velocity e The OneShot Safe and Supervised labels are colored GREEN or Gray to reflect the state of these TOPanel switches e Software label will be green if the rates are enter via the GUI below show the requested rates in s Enabling the Joystick or Dome Handpaddle will set the Joystick ON or DomeHP On labels green If any buttons are pressed to command a velocity the N S E W char will turn green Page 12 1101_mcc_gui_and_to_panel doc Version 2014 03 18 Servo Track Track mode tracks the RA and Dec target position Servo Mode stop MP MV track slew Beamswitch Slew to Rates Pointing ra 6 0 4 0 RA 0 0000 7 Update Dec 6 0 al 2 Dec 0 0000 Save Last a Set B 3 4 5 ns rate pt rate pt cleat mw zerc To start tracking e Click on the track radio button e The position table display in the feedback window is used to determined the target position While Tracking e Position and offsets are display on the top left Various rates and other info
50. S kbd input EA swap E W South Deo _ si Wa MM op New Base Goto Base BeamA The Offset Tab allows the users to increment the base coordinates and or offsets First select the coordinate to change from the top radio buttons Base Base RA and Dec position UserOS User offsets BeamOS Beam offsets Use the spinbuttons yellow and magenta input fields near the bottom to set the magnitude of the offset Units are in arc seconds and the color indicate the which buttons they are for The Rot input specifies a rotation for the offset request The units are in degrees Click on the Arrow Buttons to move or change the OS values The swap E W or swap N S allows you to change the direction of the buttons The kbd input when checked allow the keyboard arrow key to function like the Yellow buttons The NewBase button will make the current position the new base zeroing any active offsets The Goto Base button will zero the user offset using user set 0 0 The Beam Switch button s label will read Beam A or Beam B to indicated the current beam position Press this button to toggle the beam position Page 6 1102 T3Remote Version 2011 09 06 5 Next Tab Send Next Object RA E 222 So 00 Spm o 000 sir Dec 19 49 4 0 0 tpm 0 000 fyr Name ObjName Epoch 2000 0 Mag 0 ee 9 0000 0 0000 H Cs J2000 Send Next Obj The Next Tab also you to send the next or slew destination to
51. The TCS3 is basically one computer talking to another computer Sometime this communication doesn t happen In the case of the slew not slewing Try the ReSlew button This this doesn t work go back to tracking and re issue the slew request In the case of MP MV reissue the commands Sometime you may need to go back to STOP and reenter the MV or MP mode I ve seen the PMAC just not respond In this case Goto Stop mode On MCC3 issue the PMAC Reset button Type die in the MCC to kill the IC Restart the IC and MCC If this don t help then to a cold boot of the system Goto Stop mode Do a cold boot of the tl computer use the poweroff command as root Power on the PC after 10 seconds Start the TCS3 software 4 NAN is displayed on the MCC on some of the position values The NAN is illegal floating point number ie Not A Number Mostly like a software bug until I track it down TO s should restart the IC 1 To help me debug this take a screen capture with the mcc in Details gt Pos and Pointing See example http irtfweb ifa hawaii edu denault others Screenshot png Page 20 1201_Operators_Guide doc Version 2014 07 22 screen shot can be made using Actions gt Take Screenshot menu on T1 2 Goto Stop mode take note of your madj values 3 Type die to kill the IC amp MCC 4 Restart the IC and MCC 5 Goto Zenith In Stop mode do a ape reset pmac 6 Resume operations
52. _E is off line 30 FIO_F is offline 31 FIO_MC is offline 32 FlO_ape HA comm error v 33 FlO_ape Dec comm error 34 PMAC following Err 35 SafetyBrd_OS_Ha_Latch 36 SafetyBrd_OS_Dec_Latch 37 SafetyBrd_OC_West_Latch 38 SafetyBrd_OC_East_Latch 39 SafetyBrd_OC_North_Latch 40 SafetyBrd_OC_South_Latch 41 SafetyBrd_OC_Dome1_Latch 42 SafetyBrd_OC_Dome2_Latch 43 SafetyBrd_OC_Dome3_Latch 44 SafetyBrd_Emerg_Stop_Latch 45 SafetyBrd_DomeHP_Stop_Latch 46 SafetyBrd_Mtr_Cntr_Err_Latch 47 SafetyBrd_PC_Lockout_Latch 48 SafetyBrd_HA_Stop_W_Latch 49 SafetyBrd_HA_Stop_E_Latch 50 SafetyBrd_HA_Emerg_W_Latch 51 SafetyBrd_HA_Emerg_E_Latch 52 SafetyBrd_Dec_Stop_N_Latch Y 53 SafetyBrd_Dec_Stop_S_Latch 54 SafetyBrd_Dec_Emerg_N_Latch S S S R S R S RI SiSISISISI NI SI SIS S 1 o x 55 SafetyBrd_Dec_Emerg_S_Latch 56 SafetyBrd_Horizon_Stop_Latch 57 SafetyBrd_Watchdog_Tmr_Latch 58 SafetyBrd_Clocking_Error_Latch 59 SafetyBrd_Dome_Amp_Enable_Them 60 SafetyBrd_Tel_Amp_Enable_Them 61 SafetyBrd_Spare1 62 SafetyBrd_Spare2 63 SafetyBrd_Tach_Switch_is_off 64 PwrCntl amp Brakes Err FIOE 65 Crane not stowed 66 TOP Tele Enable is OFF 67 Mir Cover open amp Cooling on 68 Check T3 P S in mcc3 GUI 69 Check Closed Cycle Coolers 70 Dome may be Stalled 71 Monitor Mirror Cooling 72 Approaching Lower Shutter 73 Check TAC amp Mtr Vel Data 74 PMAC PID not optimal 75
53. _MC details 78 Approaching Lower Shutter The tcs3 thinks you are getting close to the lower shutter 79 Check TAC amp Mtr Vel Data The data on the velocity sensor don t match The velocity sensor are the velocity voltage from the tachometer out of the safety board and the incremental encoders 80 PMAC PID not optimal You do not have the correct PID value loaded in the PMAC controller This can degrade servo performance while tracking Observing There are 2 way to fix this 1 Exit tracking mode either STOP to Re Slew to target and resume tracking 2 Use MCC3 Engineering Option to reload Tracking PID while observing 1 Goto MCC3 s Engineering Options Tab 2 Check ON the ServoOpt Enable check button The Enable the servo engineering and PID option on MCC3 3 Click the Ld Trk botton on the PID frame in MCC3 This will reload the tracking PID to the PMAC 4 Check OFF the ServoOpt Enable check button 81 AMP Power Warning FIOB The system power is ON but voltage to the servo amplifiers indicate there could be a problem HA Dec and Dome AMPs require gt 60 volts from the Power Supplies check MCC GUI gt Details gt FIOB screen for AMP power supply voltages 82 Motor Currents High If any of the motor currents East West North South Domel Dome2 Dome3 exceed some normal operational value this message and a audio warning will occurred Quickly access the situation to insure the tel
54. a hawaii edu tcs3 tcs3 data tpoint Previous run were log under the history section ie public_html tcs tcs3 history Y YMM Before Starting It would be a good ideal to generate new encoder ratios This can be done during the day Have SPEX in the center and use SPEX collimation values At Zenith re read the APE to initialize the PMAC position In idle mode do APE Set PMAC Insure the chopper is ON and in the center position Print the check list Appendix A and follow it ve Se 1 General Procedures for collecting bench mark and pointing data Go to Zenith enter idle mode do a Ape Set PMAC Enter tracking mode peak up on a zenith star and do the pt save or initialize pointing Use the Pointing tab on mcc2 Path to home tcs3 data tpoint Y YMMDD Set Filename to pointing dat if benchmarks use b1 dat b2 dat etc Set Pattern to Grid for pointing run If benchmarks select Benchmark13 Set Separation to 13 for a grid of 70 stars Set Caption to pointing run optional this is just a comment field Press the Open File button Press Next amp Slew to go to the 1 star Repeat the following steps for all stars After slew put star on cross hairs Press the Add Star button with Do Map and Do Next amp Slew check Page 1 1201 Pointing Run Procedures Version 2010 01 14 2 Generate new pointing coefficients In an xterm ssh l tcs3 tl cd to the pointi
55. achometer feedback loop is OFF The switch need to be turned on when operation the IRTF Summit Servo system It is off when running in the Hilo test system 70 PowCntl amp Brakes Err FIOE FIOE monitors the HA and Dec Brake _Enable to control the breaks and a _Sense line to confirm the start of the brakes These signals to not match Call IRTF superintendent or IRTF EE Also check the status on MCC gt Details gt FIOE 71 Crane not stowed The dome crane is not stowed 72 TOP Tele Enable is OFF The TO Panel s Telescope Enable switch is OFF 73 Mir Cover open amp Cooling on The Mirror Covers are open and the Mirror Cooling is ON 74 Check T3 P S in mec3 GUI The power supplies being monitored by FIOA B have a gt 5 error Further investigation is required Check the MCC GUI to identify the power supply triggering the error 75 Check Closed Cycle Coolers The closed cycle cooler warning signal is ON Coolers may have tripped off Page 31 1201_Operators_Guide doc Version 2014 07 22 76 Dome may be Stalled The DAC motor command to the dome amplifiers is 2 volts or greater but the dome velocity from the bar code sensor indicates not position change 77 Monitor Mirror Cooling The Operator should check or monitor the mirror cooling system There may be an error in the system or it is operating in a unusually mode You can check on the mirror cooling IO setting via the MCC Detail Tab View the FIO
56. ady further troubleshooting is needed 1 Insure SafetyBoard Error are cleared System Power is on and the TO Panel Dome switch is not locked 2 More information on the Dome Servo E100 system can be viewed on the MCC s Details Tab gt DS e100 The user manual 1101_MCC_GUI_and_TO_Panel document has some information on this details screen 3 The Dome Servo PC run the Baldor s MINT Workbench software This is a comprehensive Windows application that provide full access to the E100 Drives It does it all Status Monitoring Parameters editing Tuning Data Collection Driving Commissioning and Application Development A few good things to know is including in the section Workbench on the Dome Servo PC The dome servo pc is located in the TCS control room next to the Dome Servo Electronic box This desktop is also accessible via VNC ie vncviewer dome servo pc 16000 Use the project password Normally there is 3 copies of the workbench running one for each Drive The workbench software communication to the drives over the USB connection If not you can access the My_Mint shortcut on the desktop and run 3 workbench applications by double clicking on the wbx for each node Tala wa Castre ie Page 12 1201_Operators_Guide doc Version 2014 07 22 3 Workbench Applications running on the Dome Servo PC Some vendor documentation is located here http Artfweb ifa hawaii edu tcs3 tcs3 vendor_info Baldor
57. age has a link to the IRTF copy of the TPOINT manual Page 9 1201_Operators_Guide doc Version 2014 07 22 5 MP and MV Servo Modes MP and MV are 2 additional servo modes supported by the TCS MP is move position and MV is move velocity mode These are mount orientated mode they ignore the sky coordinates In MP stands for move position Using the MCC1 GUI enter the destination HA and DEC and execute the move MV stands for move velocity Use this mode to jog the axis at a specified velocity The dome hand paddle and TO Panel can be used to control the velocity To use a hand paddle enable the desired hard paddle and enter a rate The hand paddle can now be used to control the velocity In MV mode the Joystick DomeHP or GUI mode can be used simultaneously In MV and MP mode the TCS software does a reverse mount to sky transformation to determine the sky position The 1101_MCC_GUI_and_TO_Panel doc provide a good guide on using these mode via the MCC GUI 6 Using MP Cnt MP using Counts and Raw APE Motor Positions You can view the raw encoder position from the MCC GUI s Details gt Pos screen Here is a sample of the APE amp raw position values The raw ape values are in Radians The Motor counts are the PMAC actual position incremental encoder count values In MP mode you can also position the TCS in unit of incremental encoder counts using the MP Cnt command For example to move to 0 Ha and approxi
58. ails Provides access to engineering screens which display many internal TCS3 variables 3 4 GUI CLI interface Version 2014 03 18 EZ This is the GUI Command Line Interface CLI Here you can manually enter tcs commands First put your mouse cursor in the CLI area then type in commands Some status data also appears in the output window 3 5 Notices dialog window When the Notices button on the main window is pressed a dialog popup appears which allows control of sounds associated with the warning notices which are displayed in the mcc1 Warnings window The dialog looks like Sl S S Sl S SI Error Notices 1 Safety Board Errors Exist 2 Stop or Brake Limit Set 3 PMAC IO Error 4 PMACTimestamp Error 5 APE Motor APos gt 600 6 APE Mount Pos gt 600 R Si S SI SI SIS Sl S S S SI SI SI SIS Configure Notices Uncheck an item to disable its sound Warning Notices 9 Using sim motors CF_PMAC 0 10 Hardware Limit Override On 11 Software Limit Override On 12 System Power is off 13 Hardware Slew Limit set 14 Software Limit reached 15 Dome blocking FOV 16 MirSup Warning Kill Err 17 MirSup ON amp Volt Low 18 Counterweight s are stuck 19 Focus is stuck 20 Collimate is stuck 21 APE data is stale gt 2 sec 22 Dome pos data is stale gt 2 sec 23 ZenDist large refra disabled 24 Humidity limit exceeded 25 FIO_A is off line 26 FIO_B is offline 27 FlO_C is offline 28 FIO_D is offline 29 FlO
59. al In Command to spiral inwards Pr Spiral Out Command to spiral outwards Pt Spiral Stop Stop the spiral Pt Spiral center Centers the pointing map spiral Pt Spiral rate Controls the pointing map spira s speed Pt Spiral wid Controls the pointing map spiral s size ID IH NP CH ME MA HCES HCEC DCES DCEC FO TF TX Commands to modify pointmap coefficients using their tpoint names See Pt Map Set Page 4 1103 TCS3 Command Reference Version 2012 03 20 2 6 Application Control and Misc Die Terminate the main IC process Dome Sim Enable or disable dome control simulation mode FioA Sim Enable or disable the simulation mode for the fio_a processes FioB Sim Enable or disable the simulation mode for the fio_b processes Fioc Env Update Enable or disable fio_c updating of vtcs environment variables FioC Sim Enable or disable the simulation mode for the fio_c processes FioD Sim Enable or disable the simulation mode for the fio_d processes FioE sim Enable or diable the simulation mode for the fio_e process FioF sim Enable or disable the simulation mode for the fio_f processes FioMC sim Enable or disable the simulation mode for the fio_mc process FioHexe sim Enable or disables the simulation mode for the fio_hexe process FioDome Sim Enable or disable the simulation mode for the fio_dome processes Help Print a list of available tcs3 commands Hist Enable Disable recording o
60. beam position Beam toggle Cat index Search specified catalog by index and load results into next buffer Syntax cat index CAT Index CAT Catalog name bsc5 fk5 gsc text sao ukirt hd_sao Index catalog index of object to search for Example Load next buffer with GSC object with index 119001564 Cat Index gsc 119001564 Cat search Search catalog for the star closest to given RA Dec within a specified radius Syntax Cat search CAT RA Dec Radius CAT Catalog name bsc5 fk5 gsc text sao ukirt hd_sao fk5m RA RA as time hh mm ss ss Dec Dec as angle deg mm ss ss Radius Search radius around target RA Dec in arcseconds Example Search GSC catalog for guide star within 200 arcsecond radius of object SAO 93498 Cat search gsc 0 34 56 51 19 48 36 1 200 Collimate enable Enable or disable collimation control loop Syntax collimate enable control control control command OFF or ON Example Turn collimation control loop off Collimate enable off Collimate EW Dpos Set desired East West collimation position Syntax collimate ew dpos dpos dpos Target E W collimation position as voltage Range is 4 80 to 8 08 volts for chopper 43 63 to 43 63 for the Hexapod Example Set East West collimation position to 5 4 volts Collimate EW Dpos 5 4 Collimate EW Dpos Inc Increments East West collimation s desired position Syntax collimate ew dpos inc inc inc Incremment value Example Increm
61. compiled to using simulated software motor This is a engineering mode and should never be seen for IRTF operations 10 Hardware Limit Override On The hardware limit override switch on the TO Panel is ON 11 Software Limit Override On The software limit override in mcc2 is ON 12 System Power is off The system power is off 13 Hardware Slew Limit set The hardware slew limit switch is ON 14 Software Limit reached The software limit position has been reached 15 Dome blocking FOV The Dome and Telescope Azimuth position differ by more that 2 degrees thus the telescope s field of view may be blocked 16 MirSup Warning Kill Err The mirror support that a KILL signal indicating a hardware fault has occurred The KILL signal is true Page 28 1201_Operators_Guide doc Version 2014 07 22 17 MirSup ON amp Volt Low The mirror support is on but the voltage used to indicate pressure is close to zero indicating no air pressure 18 Counterweight s are stuck While moving a counterweight the position did not change after a few seconds thus it is stuck Maybe you reached the end of travel or some other failure occurred 19 Focus is stuck While moving the focus the position did not change after a time interval thus it is stuck Maybe you reached the end of travel or some other failure occurred 20 Collimate is stuck While moving the collimated motors the position did not change after a time in
62. ct specific next entry to ob sc Example Clear the next observer object entry Next clear ob Notice Print When ON the audio task prints the notices detected when playing the sound This output can be viewed in the IC xterm Syntax notice print off on off Do not print on Display messages Example Notice print off Notice Sound Enable disable playing of the sound associated with a notice Not intended for general use notice indices may change between system releases Syntax notice sound index offon index Specify index of the notice sound to be enabled or disabled offon disable enable notice sound off on Example Disable the sounds associated with the humidity warning notice Page 24 1103 TCS3 Command Reference Version 2012 03 20 Notice sound 22 off Notice Text Enable disable display ofan error or warning notice in the mee Warnings window Not intended for general use notice indices may change between system releases Syntax notice text index offon index Specify index of the notice to be enabled or disabled offon disable enable text display off on Example Disable display of the humidity warning text Notice text 22 off NS rate Specifies a non sidereal rate to be applied to the base position Syntax ns rate ra dec Ra dec Rate in arcseconds second Example To cancel the earth s rotation during tracking ns rate 15 0411 0 NS rate inc Increment
63. ct the data off Stop data collections Example Hist on Hist Dir Set the directory path for the history file Syntax hist dir path path Directory path for the history file defaults to home tcs3 data hist Example Set the history file directory path to home tcs3 data hist Hist dir home tcs3 data hist HSlew limit override Override the Horizontal Slew Limits This command affect the software only Syntax HSlew limit override off on on Override the limits off Slow down the max velocity to 400 as s if limit are trigged Page 14 1103 TCS3 Command Reference Version 2012 03 20 Example Disable HSlew limit HSlew limit override on Humidity Manually set the relative humidity Syntax humidity value value Relative humidity value 0 0 to 1 0 Example Set the relative humidity to 0 56 Humidity 0 56 Humidity Wn Set relative humidity level to trigger warning Syntax humidity wn value value Trigger a warning if relative humidity exceeds this value 0 0 1 0 Example Set the relative humidity warning level at 80 Humidity wn 0 8 Stop Put the tcs system in the Stop mode Syntax Stop Example Puts the TCS3 Servo in the stop mode In Stop the pmac is in open loop telescope brakes are on Stop Info Return a selected subset of tcs information Syntax info selection selection The data to display using these identifiers TM TMr SP SPr MP MPr OS OP OPr SM FO CO EN US DO PM ON
64. cts image quality Focus_temp pdf view Mapping IRTF s Focus Shift vs Pointing Micheal Connelley Apr 19 2011 http iborg ifa hawaii edu 8080 Plone irtf projects image quality Focus_Pointing Mapping pdf view Here are graphs showing the focus changes based on temperature and position This data was taken using the IRTF Chopping Secondary thus the focus units are the LVDT voltages Temperature vs Focus Gnuplot Gnuplot 0 25 0 16 60 4 2 0 2 4 6 i 0 196208 0 0914512 S i 1 30 8326 0 133446 ail Page 19 1201_Operators_Guide doc Version 2014 07 22 14 Misc Problems and Solutions 1 No Sound from the speakers The OS is not very reliable with configuring the sound If the sound is not present do the following 1 Check the power amp volume setting on the speakers 2 In an xterm run the system config soundcard program Normally just selecting the Play test sound button seem to get thing working 2 What to do if the tracking exits and goes back to STOP mode Something the PMAC terminates the PID loop and the TCS go back to Stop mode If this happens just restart tracking You will have lost your position since while the stop mode wipes out your base and target position So just re slew back to your object 3 What to do if the slew doesn t slew or the MP MV commands don t seem to execute Or the PMAC doesn t seem to be accepting the move commands Remember that the PMAC is a computer
65. d decrement the user ID by 4 3 Pt peak inc 23 9 4 3 Pt Peak Set Set the Peak IH ID pointing coefficient values Syntax pt peak set coeff value coeff Coefficient to be set ID or IH value Value to set the coefficient to in arcseconds Example Set the adjustment IH coefficient value to 9 2 arcseconds Page 29 1103 TCS3 Command Reference Version 2012 03 20 Pt peak set ih 9 2 Pt Rate Sets the pointing correction rate Positive values will move the telescope East amp South so the rate should be set to the measured drift For example if drifting West by 0 02 and North by 0 01 as s used pt rate 0 02 0 01 Syntax pt rate ih id ih The HA axis rate in AS S Ranges is 5 as s id The dec axis rate in AS S Ranges is 5 as s Example Set the ID pointing rate to 0 001 as s Pt rate 0 0 001 Pt Rate inc Increments the pointing rate Positive values will move the telescope East amp South so the rate should be set to the measured drift For example if drifting West by 0 02 and North by 0 01 as s used pt rate 0 02 0 01 Syntax pt rate inc ih id ih The HA axis rate in AS S Ranges is 5 as s id The dec axis rate in AS S Ranges is 5 as s Example Increments the IH pointing rate by 0 001 as s Pt rate inc 0 001 0 Pt Restore Clears the IH ID values in the Corrc Peak Spiral Rates registers And read the pt save txt file created by pt save to load the last saved IH ID values into
66. dd corrections values to MAdj Map Adjustment registers Adjust amp Save issue pt save does a pt madj AND saves MAdj values in the ic pt save txt files for recall at restart Center Clear Issues Pt clear to zeros the MAdj Spiral and Rates registers The pointing map spiral can be controlled using the widget in the pt spiral frame Spiral out spirals outwards Spiral in spirals inwards Spiral center issues Sp center sets the rotation to 0 The spiral Rotation IH ID vales are displayed inside the pr spiral frame 9 CMD Tab The CMD Tab allows t3remote command to be typed in using the keyboard These are not TCS3 command command defined the tcs3 command dictionary In normal operations neither the TO or Observer should use this tab Page 10 1103 TCS3 Command Reference Version 2012 03 20 TCS3 Command Reference 1 Introduction This document describes the set of commands available to the user through the TCS3 telescope control software These commands may be entered directly on the Command Line Interface CLI of the TCS3 MCC graphical user interface screens through a telnet connection or indirectly through the use of widgets on the MCC screens or the t3_remote interface 2 Summay of Commands by Catagory 2 1 Observing and Servo Add Offset opt Options when adding offset to base position Autopid Enables or disable the autopid function Autopid set Specifies a set of PID coefficients
67. desired focus position by pressing the and buttons The incremented amount is control by the slider below labeled Increment You can also enter the desired focus value in the text entry widget then hit RETURN The Actual Position shows the focus position sensor value When Focus Enable is ON the software control loop will drive the focus to the Desired Position Red means the focus is out of position Green mean it is in position Status or feedback information is presented in the black display area The Desired Pos is where the focus mechanism is commanded to The position is determined by the User Dpos entered by the user plus the Adjustment value The adjustment value is a temperature and telescope position adjustment applied in real time This adjustment values is used when Adjust Enable is ON Information on how temperature and position affect focus is in the TCS3 Operators Guide Collimation information is also displayed here The desired position Dpos and Actual position Apos is display Apos is GREEN when collimation in in position otherwise Red is used The Collimation Enable is shows if the collimation software loop is active ON or not OFF Page 8 1102 T3Remote Version 2011 09 06 7 User Spiral Tab User Offset ON but Spiral disabled User Spiral Enable in out Position is 0 00 rotations Rate is 20 0 AS S Width is 60 0 AS Return to Center offset next
68. e of apply 0 if ignored ScanOS Scan offset magniture in RA and DEC OP obs_ra hh mm ss obs_dec deg mm s obs_ha hh mm ss Am 1 00 Zn deg azimuth deg PA deg OPr obs_ra radians obs_dec radians obs_ha radians Am 1 00 Zn deg azimuth deg PA deg Obs_ra obs_dec obs_ha The observered RA and DEC and Hour Angle coordinates Amis Airmass Zn is Zenith distance Azimuth is the telescope azimuth position PA is the parallatic angle SM mode track slew value Mode is the current servo mode of the tcs3 They are Track slew MV MP stop Value is data related toa particulare servo mode for slew and MP the estimated completion time in seconds of the current move is retuned All other mode return 0 FO Focus dpos focus apos focus enable Focus dpos is the userrequested focus position Focus apos is the actual measured focus position Focus enable is a flag 0 for OFF 1 for ON to indicate if remote focus commands are accepted by tcs3 FO2 Foscus user_dpos Focus adjustment Focus dpos focus apos focus enable focus adj enable Focus user_dpos is the userrequested focus position Focus adjustment is the Temperature and Position adjustment value calculated by the TCS Focus dpos is the desired position for the focus mechanism dpos user_dpos adjust if adj enable is ON Focus apos is the actual measured focus position Focus enable is a flag 0 for OFF 1 for ON to indicate the software control loop
69. e ON To exit stop mode select another mode Servo Mode SENN mP mv track slew TCS Servo is OFF TOP Telescope Enable is ON APE Set PMAC SafetyBrd Reset Hello TCS3 Stop mode means the servo is OFF Brakes are On The label TOP Telescope Enable is OFF ON indicates the state of the telescope enable switch on the TO Panel When operator is not present in the TO area this should be OFF to prevent remote uses from running the TCS Function you can perform in Stop mode e APE Set PMAC The command initializes the position in the PMAC motor controller using the current APE position or Apes set the PMAC This should be done at zenith at the start of the observing night Page 10 1101_mcc_gui_and_to_panel doc Version 2014 03 18 e SafetyBrd Reset Sents a reset to the TCS3 safety board When the safety board has errors they are latched until the errors are cleared Once cleared you can resume servo operation This button issues the safety board reset command e Hello TCS3 A button that plays a sound file Servo MP MP is Move Position This mode allows the operator to move to a HA Dec absolute position Servo Mode stop MP MV track slew Execute MP Move Stop MP Move Dec 19 49 34 4 Stow Vel 1800 Zenith HA 00 00 00 00 Top Ring Down To perform an MP move e Click on the MP radio button to ente
70. e provide by the IRTF software staff on request 3 Aux socket interface An auxiliary socket interface to the tcs3 is also available This aux socket interface is a telnet like session that can support both human and computer session Details on this interface can be provided by the IRTF software staff on request 4 t3io t3io is a command line program that implements the tcs3 Remote Procedure Call RPC interface It is a C program and is installed on all IRTF computers For visitor s instruments the source code can be provide for porting to your instrument software T3io is a text based program TCS3 commands are give as argument and replys are printed on standard output The t3io program can run from the command line or called from other application Rather than building the Remote Procedure Call RPC into you application your application can call t3io via a system call or fork An OK followed by the reply is output for successful commands Otherwise ERR followed by an error code is printed usage t3io v h hostname command v verbose flag h hostname Example Issuing the info tm command to get time information from the tcs3 gt t3io info tm OK 2006 08 02 00 19 55 792 2006 08 01 14 19 55 79 10 39 53 45 5 TCS3 Command Examples Details on the TCS3 command are provide in document 77107 TCS3 Command Reference This section provide examples of commands that instruments could use to control or query da
71. edback the analog signals from each tachometer motor is averaged by the safety board and provide to the PMAC 3 The Safety board is a custom built IRTF elelctronic board It has 2 primary functions the TAC feedback loop and the safety function a A feedback loop for each motor is performed The DAC output from the PMAC is conditioned before being applied to the amplifiers based on the tachometers for that motor The 2 tachometer signals are also average and provide to the PMAC a its velocity sensor input b Various inputs are monitors by the safety function circuits These signal can trigger a shutdown When alerted the safety board will display the amplifiers and apply the telescope brakes 4 Fioe is an opto22 data acquisition device It samples various signals related to the servo system and safety board The TCS3 application monitors this device and will alert the operator when a safety condition has occurred Page 23 1201_Operators_Guide doc Version 2014 07 22 Appendix B The Position Table Mean to Mount Calculations The Position Table During tracking operations the target TCS position is controlled by the position table Here is an illustration of the information in the position table Proper motion Base RA s yr Dec as y Equinox Epoch 19 49 34 39 20 28 19 2 0 000 0 000 2000 00 2000 00 NS Rates 0 000000 0 000000 as s Scan Dest as Time sec TotalOS Target 19 49 34 39 20 28 19 2 Base Posit
72. elect Rates RA amp DEC Select the standard atmosphere refraction model option Enter rates as nonsidereal rate divide by 3600 to convert from hr to s For TCS3 set CS APP Enter a apparent RA Dec from Horizon Enter Rates as nonsidereal rate divide by 3600 to convert from hr to s All Topocentric Apparent object will need a tracking rates Page 17 1201_Operators_Guide doc Version 2014 07 22 12 How to update the collimation table 1 Open a text editor and edit the home to data collimate txt file e On the tl computer start gedit by clicking on the Application gt Accessories gt Text Editor menu 2 Open the collimation file e In gedit open the file HOME data collimate txt 3 Edit e To preserved a history of the collimation data copy the current values and comment them out by placing a in front of the lines e Edit the values e Save the file e Quit gedit 4 On the TCS MCC type the follow in the command line interface to reload the new values in the TCS collimate table read then hit return Page 18 1201_Operators_Guide doc Version 2014 07 22 13 Focus Adjustment Graphs The tcs calculates a focus adjustment value based on change of temperature and position The is done in the TCS focus loop with run at 10Hz The adjustment formulas used are from the following documents IRTF Focus vs Temperature Michael Connelley Apr 8 2011 http Aborg ifa hawaii edu 8080 Plone irtf proje
73. elescope s Azimuth o Goto Allows the operation to enter the destination azimuth for a dome move e Shutter control 2 sets of button are used to control the upper amp lower shutter Select Open or Close to move the appropriate shutter cart You must click and continue holding the mouse during the move Releasing the mouse button will stop the operation Limits display This display shows the status of various limit switches the system brakes and system power Page 9 1101_mcc_gui_and_to_panel doc Version 2014 03 18 A grid showing the state of the Slew Software Stop and Brake limits for each axis N S E W and the state of the Horizon Slew and Stop These GUI s LED will blink with the limits are ON Override Software limits Override toggle on MCC2 GUL is checked Override Hardware limits Override limit switch on TOP is ON Telescope at Zenith Both the HA and DEC hardware Zenith indicator is ON Platform not stowed platform under the telescope warning Closed cycle cooler off Cooler is off warning Primary mirror color on Air blowing across the primary mirror warning Brake Off On indicates the state of the servo HA Dec brakes Sys Pwr On indicates the state of switch line power Servo This window show the current servo mode Steps for operation each servo mode is provide Servo Stop When the servo mode is STOP the pmac PID loop is disabled open Loop mode and the brakes ar
74. ents East West collimation position to 0 1 units Collimate EW Dpos Inc 0 1 Collimate NS Dpos Set desired North South collimation position Syntax collimate ns dpos dpos dpos Target N S collimation position as voltage voltage Range is 9 0 to 4 06 volts for chopper 43 63 to 43 63 for the Hexapod Page 8 1103 TCS3 Command Reference Version 2012 03 20 Example Set North South collimation position to 3 6 Collimate NS Dpos 3 6 Collimate NS Dpos Inc Increments North South collimation s desired position Syntax collimate ns dpos inc inc inc Incremment value Example Increments North South collimation position to 0 1 units Collimate NS Dpos Inc 0 1 Collimate Table Read Reads the file data collimate txt and loads collimation table data into TCS3 As of 2 2020 default collimation and focus are provide by the collimation table Syntax collimate table read Example Collimate table read Collimate Table Set Sets the collimation s desired position using name and the collimation table data Syntax collimate table set name name A text name of an entry in the collimation data Example Set the collimation for spex Collimate table set spex CS Set the default coordinate system Syntax CS coord sys Coord sys Coordinate system fk4 fk5 app If using App remember to set the ptable epoch to the current jepoch to time stamp the apparent coordinates to the curren
75. erators_Guide doc Version 2014 07 22 3 Tracking and Slewing Track and slew are TCS3 servo mode to support astronomical observations the destination position of the servo based on a sky position The Virtual TCS software process at 20Hz calculates a mount position based on the data in the Position Table The mount position is used to drive the servo General procedures for Tracking and Slewing are presented here We will start from the STOP state parked at zenith Tracking Clear any SB Errors using SafetyBrd Reset on MCC1 Stop window Turn On System Power in the MCC2 tab Insure the Telescope Enable on the TO Panel is in the ON position At zenith the APE and Incremental Encoders should show 0 errors To set the incremental encoder position in the PMAC motor controller press the APE Set PMAC To re load the last saved pointing map IH ID values press Pointing Last button does a pt restore command Click on track in the mccl servo window The telescope should start tracking Confirm that the servo is working correctly In the tracking feedback window check the Servo Performance RTCS and PMAC should be GOOD Slew a star near zenith and center the star on the cross hairs by adjusting the pointing map At this point press the pointing SAVE button to add the errors to the pointing map and save it to disk Slewing To slew you must first be tracking and have a next object loaded in the next object table
76. escope or dome isn t stuck or impeded 83 IQUP Data is Stale The TCS3 gets some facility data temperature wind speed from the IQUP system This warning indicates some IQUP data is stale Go to the Details gt FOX tab and review the IQUP data The details show the timestamp of the data normally data is taken at 180 or 360 second intervals or less Disregard any stale data and report the problem to the technical staff 84 High Wind Warning A notice warning with sound alert should trigger when the wind speed exceed the high wind warning level normally set at 35mph 85 Machine Room is Hot gt 80 deg F The iqup sensor TMRS is sample by the tcs When the temperature exceeds 80 deg then this warning appears Operators Staff should address the situation Open the machine room door and use the fan to cool the room 86 DS e100 data stale check details 87 DS e100 has errors check details The DS e100 refers to the Baldor E100 Dome Servo Drive system The message indicate an issue with the servo system Please review the Details gt DS e100 tab After reviewing the tab hopefully a better assessment of the state of the dome servo could be provided Also section 8 The E100 Dome Servo System has some instructions on using the Baldor Workbench Software to assist with trouble shooting any Dome Servo System issues Page 32 1201_Operators_Guide doc Version 2014 07 22 88 Hexapod has errors check details FIOX Plea
77. exist in the TCS Software limits Software Limit to limit the commanded position of the TCS Handled by software Slew limit hardware limit to limit max velocity from slew to tracking rates Handled by software Stop limit hardware limit Handled by the Safety Board Brake limit hardware limit to indicated emergency condition Handled by the Safety Board Horizontal slew limit A hardware limit Handled by software Horizontal stop limit A hardware limit Handled by the Safety Board Speed limit Internal position if passed the software will reduce the velocity to tracking velocity Handled by software Hard limit Internal variables in the TCS3 software RTCS will not command movement pass this limit Handle by software Hardware safety limits Stop Brake Hor Stop can be overridden by the limit override switch on the TO Panel Software limits Software Hor Slew have off on toggle buttons on the GUI Speed Hard cannot be overridden Summary of Limit Logic TRACK SLEW MP MV STOP Software Stop movement End Slew Stop movement Stop movement N A in the direction of Goto STOP in the direction of in the direction of limit Goto STOP mode limit limit Slew N A Reduce speed to Reduce speed to Reduce speed to N A tracking rates tracking rates tracking rates Stop Stop movement End slew Stop movement Stop movement N A in direction of Goto STOP
78. f history data Hist Dir Set the directory path for the history file Log Log a message to the log file and XUI display s Log Err Log message to log file XUI display s and error log Logxui Log message to the XUI display s Notice Print ON to enable print statements when a warning error is played in IC xterm Notice Text Enable disable display of an error or warning notice in the mcc Warnings window Notice Sound Enable disable playing of the sound associated with a notice Pstart Start or kill and restart child task Pstop Kill a child application Page 5 1103 TCS3 Command Reference Version 2012 03 20 3 TCS3 Commands Details This section describes the full set of TCS3 commands with syntax and an example for each Add Offset Opt How to add offsets to the base position Syntax Ape Mode none cosdec none Simple addition target base offset cosdec Apply cos dec to offset target base cos dec offset Example Set to cosdec option Add Offset Opt cosdec Ape Mode Specifiy the mode for the fio_ape program This program obtains the APE data for tcs3 Syntax Ape Mode off on sim simtac Off No update are performed On Obtains APE data from APE hardware Sim Simulate data using vtcs mount ha dec position Simtac read data from simtac lab computer Example Set the mode to on Ape mode on Ape Pos Manual method for initialing the APE value In case of hardware failure
79. f the servo system Reads FIOE input for tes3 Data Acquisition Hardware VTCS 20 Hz loop Astro calculations FIOE Monitors Opto22 fioe FioE Opto22 Ethernet based Astronomy calculations PMAC RTCS Motor Cmd for AMP 2 Commands PMAC PID Motor Controller Motor Controller Velocity Feedback averages 2 Tachs Feedback Commands and APE ata to TCS3 Position Feedback using incremental encoder Safety Board TAC Feedback Safety loop Function amp avg Safety Board Inputs Emergency Stop Telescope Enable Switch Axis Over speed tachs Computer watchdog timer Amp Over Current Dome HP Stop Horizon Limits Stop Limits Block Diagram of TCS3 Servo System Emergency Limits Motor Cmd for AMP 2 computer electronics SSAA 1 The Virtual TCS VTCS is a software process running at 20Hz it calculates the mount position to observe a sky object The Real TCS RTCS is another software process it takes the mount position and commands the motor controller to follow a trajectory to track the sky object 2 The PMAC is a PID based motor controller It is a PCI slot peripheral board located inside the T1 PC It is commanded by the RTCS and is the servo controller for the TCS3 Each PMAC axis HA and Dec is configured to driver 2 DAC for the IRTF s dual motor configuration For position feedback an incremental encoder on the bull gear is used For velocity fe
80. ffic Control impact field Ltc Period Set period between LTC file updates 2 5 Pointing Map Pt Add Star Append the pointing data for the current star data to the tpoint file Pt Caption Specify the text of a caption for the pointing data file Pt Clear Clears all user pointing offsets and rates Pt Convert Converts current HA amp Dec to numbers to enter into t3remote to test pt runs Pt Dir Define the directory path for pointing data files Pt Find Find the nearest guide star to the given HA and Dec and load into the next object buffer Pt M Adj Add pointing corrections peak spiral rates to the map via the MAdj registers Pt MAdj Set Set the IH ID values of the madj pointing register Pt Map Turn the pointing map on or off Pt Map Set Set a pointing map coefficient value Pt Next Get the next or specified pointing object HA and Dec from table Pt Open Open the pointing data file see pt dir and pt filename Pt Peak Clear Clear the Peak IH ID pointing coefficient values Pt Peak Set Set the Peak IH ID pointing coefficient values Pt Peak Inc Increment the value of the Peak IH ID coefficients Pt Restore Restores the last saved MAdj IH ID values saved by pt save Pt Rate Sets the pointing rates Pt Rate inc Increments the pomting rate Pt Save Add IH ID correction to the MAdj registor and save the value to disk Pt Sep Specify the separation between pointing targets Pt Spir
81. he maximum velocity for the handpaddle Syntax TOHP rate rate rate This value represents arcseconds seconds Range is 0 to 60 as s Example Set the rate to 10 as s TOHP rate 10 User Init Initializes the users offset by making the current position the base 0 0 setting the ra dec values to 0 0 and enabling the offset Syntax user init Example Initialize the user offsets User init User Inc Apply an increment to user RA and Dec offsets Page 33 1103 TCS3 Command Reference Version 2012 03 20 Syntax user inc ra dec ra RA offset increment arcseconds dec Dec offset increment arcseconds Example Apply an incremental Dec offset of 25 1 arcseconds User inec 0 25 1 User Off Disable user offsets Syntax user off Example Disable user offsets User off User On Enable user offsets Syntax user on Example Enable user offsets User on User Set Set the values for the user RA and Dec offsets Syntax user set ra dec ra Value of user RA offset arcseconds dec Value of user Dec offset arcseconds Example Set user Ra offset to 110 7 and Dec to 29 0 arcseconds User set 110 7 29 User Spiral center Zero s the user spiral s offset return you to the center position Syntax User Spiral center Example User spiral center User Spiral in Command to move inwards along the spiral Syntax User Spiral In Example User Spiral iIn User Spiral Out
82. heck the instarument documentation for an example of embedding tcs command in a macro Typically it would be something like Tcs Beam A When tcs is the instrument command and the remaining text is the tcs3 command Most macros can be support using on the following command Offset commands User init Initialize the user offset by make the current position 0 0 without moving the telescope User inc ra dec Apply an increment to the RA and Dec offsets User set ra dec Set the RA and DEC offset to ra dec Beam switch commands Beam Set 0 0 0 0 set the beam switch displacement Beam A Puts the telescope in the A beam Beam B Pust the telescope in the B beam 6 Using the TCSD V3 and Upgrading from TCS1 commands TCS1 used a program called tcsd to provide a network interface to the control system TCS3 implement a similar deamon call tcsd v3 running on the tcs3 computer tcs3_host tesd v3 to mimics the old network interface and translates a sub set of tcs commands to the new tcs3 system Older systems may not need to be converted to work with tcs3 This section documents the command tcsd v3 supports and can be used as a porting guide for tcs3 Page 5 1104_network_communications doc If possible please update you software to communication with tcs3 directly TCSD V3 supported commands are listed below 6 1 Beam Switch Commands TCS1 command TCS3 command with similar function
83. hed a limit set in the software and can not be moved further in auto mode Notes The numbers next to each counterweight name refers to the counterweight numeric ID If counterweights are not enabled the brakes are on or the power is off a warning message will appear in the status window Because the voltage indicating counterweight position fluctuates slightly the test for reaching the desired position does must allow for this This may result in the counterweight stopping at a position which does not exactly match the desired position voltage Increment Slider used to set the amount of voltage increment added or subtracted by each click on an UP DOWN EAST WEST NORTH or SOUTH button Balance Files Counterweight position settings may be saved and restored as named files The current save path is shown above the file list window Executing a position file will load in the saved position for each counterweight and the TCS will cycle through the counterweights to moving each one into positions To save a set of counterweight positions enter a file name in the file entry box and click the Save As button To execute a saved file click on the file in the list and then click the Exec button The Refresh button relists the files in the balance file directory The directory path man be changed by the CW Dir command see the 1101_command user s manual document The default CW dir
84. how state of brakes DAC Amplifier input voltage and dome velocity in deg sec Shutter Feedback e The yellow arrow show the telescope s elevation on the blue side view of the dome slit e The blue shows a side view of the dome and illustrates the shutter s open position The shutter opening is divided in to 3 segments The meaning of the the top and bottom segments are o Zenith to 1 125 Air mass ZD 90 to 27 3 degrees would be the area covered by the lower shutter when it is in its highest position ULimit Touch o 1 5 Air mass to bottom ZD 48 to 70 degrees show the position of the lower shutter when it is down DLimit e The magenta line illustrate is where the Horizontal hardware limits is approx ZD of 70 degrees e The bottom has indicator for Upper Shutter UP ULimit Shutters Touching Touch and Lower Shutter Down DLimit shutter switches Dome Shutter control widgets e For software dome control to work you much select Software on the Dome_Cnlt Software on the TO Panel e The Dome Software Modes are Lock Manual Auto Goto o Lock Software will not attempt to move the dome o Manual using the widget provided the operator has full manual control of the dome The slider allows you to control the range to apply of the dome amps ie 0 5 is half range 5V 1 0 is full range 10V The buttons will command the dome to move left right or stop o Auto Auto mode will attempt to position the dome at the current t
85. ility IO device fioa details Facility IO device fiob details Facility IO device fioc details Facility IO device fiod details Facility IO device fioe details Facility IO device fiof details Facility IO device for the Mirror Cooling IO Facility IO details for misc processes Dome Serial input process details Fio_ape process details Laser Traffic Control details IQUP Wind Speed details Queries to smokey IRTF Guider Page 27 1101_mcc_gui_and_to_panel doc Version 2014 03 18 4 The TO Telescope Operator s Hand Panel The TO Hand Panel is attach to the tcs3 system via the FIOCD box It provides some buttons for offsetting and point map control Here a photo of the hand paddle TO Hand Paddle Top View TO Hand Paddle Front side The TO Hand Paddle is to be used while the telescope is tracking To activate it go to the MCC3 GUI and check the enable in the TOHP box Also enter your desired rate in the rate s prompt On the front side of the TOHP there is a Pointing Offset slider switch This sets the mode of some of the buttons on the top face to either pointing or offset The N S E W and Go To Base button are affected by this mode setting Pointing Mode In pointing mode the N S E W buttons will adjust the IH ID values for the pointing map The Go To Base button is equivalent to a pt save Offset Mode Page 28 1101_mcc_gui_and_to_panel doc Version 2014 03 18 In offset mode the N
86. io_dome processes Fiodome sim off FioD Sim Enable or disable the simulation mode for the fio_d processes Syntax Example fiod sim control control Simulation mode control OFF or ON Turn the simulation mode on for fio_d processes Fiod sim off FioE Sim Enable or disable the simulation mode for the fio_e processes Syntax Example fioe sim control control Simulation mode control OFF or ON Turn the simulation mode on for fio_e processes Fioe sim on FioF Sim Enable or disable the simulation mode for the fio_f processes Syntax Example fiof sim control control Simulation mode control OFF or ON Turn the simulation mode on for fio_f processes Fioe sim on FioHexe Sim Enable or disable the simulation mode for the fio_hexe processes Syntax Example fioHexe sim control control Simulation mode control OFF or ON Turn the simulation mode on for fio_hexe processes FioHexe sim on FioMC Sim Enable or disable the simulation mode for the fio_mc processes Syntax Example Focus Adj Enable Enable or disable the focus adjustment value A focus adjustment value is calculated by the TCS based on the telescope truss temperature and it position These values are applied fioMC sim control control Simulation mode control OFF or ON Turn the simulation mode on for fio_mc processes FioMC sim on to the TCS in real time when adj enable is ON Syntax Example foc
87. ion e CS is the Coordination System which can be FK5 FK4 and Apparent Related commands are o cs k4 k5 app e The Base provides the RA Dec position Proper motion defines the space motion of the BASE RA Dec Related commands are o Base RA hr Dec deg ra_pm sec yr dec_pm as Yr Ep Eq CS o Base inc ra as dec as e Equinox is the cataglog equinox of the coordinate system Epoch is the chronological references for the position For FK5 the standard equinox and epoch are usually 2000 0 For FK4 they are 1950 0 For apparent the equinox is not used but the epoch dates the apparent coordinates In most cases when using apparent set the epoch to the current julian epoch Jan 01 2010 would be Epoch 2010 0 Related commands are o Epoch Yr o Equinox Yr e NS rates allow you to track non sidereal object o ns rate ra as s dec as s o ns rate inc ra as s dec as s Off Sets The user and beam are both general purpose user offsets It is suggest using UserOS for dithering and offsets and BeamOS for Beamswitching Related commands are o Beam set ra as dec as Beam clear Beam inc ra as dec as Beam on or Beam B Beam off or Beam A Beam toggle User set ra as dec as 000000 Page 24 1201_Operators_Guide doc Version 2014 07 22 User clear User inc ra as dec as User on User off User toggle 0000 0 Scan is a special case offset for scan across a target Related commands are o Sca
88. iral Pt spiral stop Pt spiral wid Sets the pointing map spiral width in arcseconds Should be matched to your field of view Syntax Pt spiral wid arcsec arcsec spira s width in arcseconds ranges is 10 to 180 Example Pt spiral width 60 SafetyBrd Reset Sents a reset pulse to the T3 Servo Electronic clears safety board latched errors Syntax SafetyBrd Reset Example Send the reset command safetybrd reset Scan Clear Turns off scaning and sets to 0 the scan offset and duration Syntax scan clear Example Scan clear Scan Go Move to specified offset from the current position Syntax scan go Example Start a scan as set up by Scan Se Scan go Scan Return scan by returning to the base offset 0 0 position Syntax scan return Example Return to the original position Scan return Scan Set Set up the parameters for scanning to an offset position Syntax scan set ra dec time ra RA offset to be applied to the original position arcseconds dec Dec offset to be applied to the original position arcseconds time Duration of the move from the original to the offset position seconds Example Set up to offset by 200 2 arcsec in RA 30 4 in Dec in a scan of 15 5 seconds Scan set 200 2 30 4 15 5 Page 31 1103 TCS3 Command Reference Version 2012 03 20 Shutter Lower Control the lower shutter Syntax shutter lower control control Shutter action stop down
89. lecting the radio button will issue the mc mode command to the TCS 2 A label to show a status string This is a short description on the mirror cooling status some example are MC is OFF summary of mc mode off Fan OFF Heater OFF Actuator at 0 volts Manual Mode Fan On Heat Off Act 10 0v summary of manual mode The default setting for manual mode is for the cooling to be ON AUTO and cooling ON Mc mode is Auto and cooling is ON Fan ON Heater OFF Actuator at 5 volts AUTO Defrost 99 Mc mode is Auto but in Defrost mode Fan OFF heater ON Actuator 0 volts the percent indicate how long you are in the defrost cycle about 30 minutes long AUTO but cooling OFF mirror is below set point For detail status on the mirror cooling see the Detail Tab and view FIO_MC on the MCC GUI For addition documentation on mirror cooling see the TCS3 Design Documents T3 315x in http Artfweb ifa hawaii edu tcs3 tcs3 Design document_index html Laser Traffic These widget provide frequently used Laser Traffic options When Lct Enable is ON the system should write the telescope position to the web site The Ltc impact checkbox when check will set IMPACT YES Page 17 1101_mcc_gui_and_to_panel doc Version 2014 03 18 Focus This is the chopping secondary focus control disable the focus when not using the chopper You can set the desire focus position by editing the Goto value
90. mately 20 deg Dec do MP cnt 0 1440000 where 20 deg 3600 deg arc sec 20 cnt arcsec 1440000 counts To move HA to 144000 this is 10 rotation of the HA motor axis and keep dec at 20 degs MP cnt 144000 1440000 Page 10 1201_Operators_Guide doc Version 2014 07 22 7 Going beyond the software and hardware limits It important to remember the limit for the HA and DEC axis will trigger in the following order Software slew stop brake Hard Also the Horizon limit are based on elevation Review Appendix C to understand how limits are handled in the TCS3 If you hit a limit for example software or stop You can going MV mode and reverse directions to move away from the limit You may need to travel beyond the limits To do this you would need to disable the limit safety functions e Software Limit Override is a checkbox on the MCC2 GUI Check it to disable software limits e Horizon Slew limits can be overridden on MCC2 e The Stop Brake and Horizon Stop limits can be overridden by tuning ON the Limit Override switch on the TO Panel Once disable you should be able to move to position beyond these limits 8 Setting the Software Limits Software limits are HA and DEC limits within the software They are used to prevent the operation from slew the telescope beyond a established HA and DEC position The default are HA 05 35 00 05 35 00 Dec 55 00 00 67 00 00 These limit can be changed using the command s
91. n and data archival steps The program works by asking you to do a series of 9 moves At the end of each move the APE and incremental counts are obtains And the end the encoder ratios for each move and an average is presented Note the destination of the moves presented by the cal_encoder_ratio program are suggestions you can use this program using your own destination points To run the program 1 Position the telescope at Zenith and reinitize the TCS incremental encoder with the APEs Do an APE Set PMAC from mccl in idle mode Open an xterm on tl or ssh to tl as to gt ssh t1 1 to 3 cd to data encoders a gt cd data encoders 4 Type encoder_util 5 Perform the following commands a r get follow the on screen commands to collect the data Lower the slew rate to 1400 as s b r show view the data and ratios from the xterm c r save save the data to a file N 2 Programmer s Notes Page 1 1203 Determing and Using New Encoder Ratios Version 2011 08 09 The APE Apos values also give you a good indication if the current encoder ratios are too larger or small A negative slope means ration are too small new ratios should be larger A positive slope means the ration are too big new ratios should be smaller The source code for the encoder_util is located in home tcs3 src tcs3 encoder_util For tcs3 a link in bin points to src tcs3 encoder_util encoder_util For to the execuable is installed
92. n next to the label Actual Green text indicated the actual position in within range of the desired position otherwise the value is displayed in red On the bottom a label show with secondary chopper or hexapod is currently in use Collimate Focus Table The collimate table provides up to 10 preset collimation and focus positions for various instruments To set the collimation using the table 1 Enable Collimation and Focus 2 Click a button in collimation table This will set the collimation and Focus Dpos to values stored in the table and the collimation should move to this new position The button s Text colors provide the following information Green Collimation Desired Position match this entry in the collimation table Black This entry s position doesn t match the current collimation s dpos Gray This is a unused table entry text should say unused The data in the collimation table is read from home to data collimation txt Using a text editor you can update the entries in this file or add new items More detailed instruction on how to edit the collimation table is located the in 1201_Operators_Guide This file is read when the IC is started To re read the file type collimate table read in the CLI interface The FIOC Details display should the collimation table data for tcs3 Mirror Cooling There are 2 widget for Mirror Cooling 1 A radio button to set the mirror cooling mode to off manual or auto Se
93. n set ra as dec as duration sec o Scan go Scan return o Scan clear Target Position The base offset are summed to produce the target position This is the sky position the telescope the pointing at Mean to Mount Calculation Summary It is important to understand the basic terms to describe position The following diagram illustrates the terms and how the astronomical coordinates are transformed in TCS3 Page 25 1201_Operators_Guide doc APP Geocentric FK5 FK4 Apparent current any eq any Ep Any eq any Ep Epoch User Input Position Table CS CS Equinox PM ra dec any Epoch Base ra dec Offset Sets ra dec User s Sky Position transformed to FK5 Mean J2000 0 Current Epoch using esla_cc Mean CurEp ra dec FK5 Eq 2000 Current Ep slaMapqkZ Light deflection by the Sun Aberration of Light by Earth motion Precession and nutation of Earth spin axis slaMapaqkZ G Apparent ra dec Celestial Coordinates given with respect to the center of the earth slaAopqK earth rotation diurnal aberration refraction slaAopqK Observed ha dec Topocentric or pertaining to a point on the surface of the earth Pointing Map Mount ha dec Mechanical Coordinates based on incremental encoders Page 26 Version 2014 07 22 1201_Operators_Guide doc Version 2014 07 22 Appendix C Telescope HA Dec Horizontal Limits The follow types of limits
94. n tabs MCC CLI command line interface 3 2 Main Buttons At the top of the MCC GUI the following Main Buttons appear aa reo rei fe2 res res res Fee Stop Notices uit About brings up an about dialog box FBO to FB6 the GUI provides six Function Buttons Function buttons can execute tcs commands stored in a text file To associate a text file with a function button you would enter the command m SetButton PATH FILENAME For example m SetButton 0 home tcs3 data mcc_macros zenith would set FBO to run the file zenith from path home tcs3 data mcc_macros The FBO button would then execute it Hints To make a macro file assignment permenant place it in the current to main mcc mcc init file Stop cancel the currently executing macro file Notices Brings up the Notices popup dialog window for controlling sounds related to warning notices see 2 1 4 Quit exits the GUI 3 3 MCC main tabs mcc1 mcc2 mce3 Balance Pointing Details The GUI is organized as a set of tabs on the main window Each tab will be covered in a separate section in this document Mccl Mostly concerned with the HA Dec Dome and shutter control Mcc2 General facility IO and show next object buffers Page 6 1101_mcc_gui_and_to_panel doc Mcc3 Less frequently used MCC widgets Balance Counter weight control Pointing Pointing Map related widgets Det
95. ng directory home tcs3 data tpoint Y YMMDD Run tpoint tpoint log At the tpoint prompt enter these commands indat pointing dat call irtf Fate call e9 gc p pointing ps outmod pointing_coeff txt quit A bad data point will mess up the fit do a SLIST command to show the star list From this output you can identify any bad points Delete the line and repeat the above commands Examine the displayed results and perform other fitting if needed see tpoint documentation If any changes are made be sure to reissue the call e9 gc p pointing ps and outmod pointing coeff txt commands so that all the new data is saved Type quit to exit tpoint Convert ps file to a pdf View graph with acroread gt ps2pdf pointing ps gt acroread pointing pdf 3 Enter the new pointing coefficients into the TCS Edit the tcs init and replace the old coefficients value with the new one Type die on the mcc to termination the TCS then restart Update both the home to current ic and TCS3 development version of the tcs init file Page 2 1201 Pointing Run Procedures Version 2010 01 14 Appendix A Check list Before the RUN 1 Day Crew should clean inspect gears and encoders Measure the encoder ratios Update TCS3 if deemed necessary Beginning of Run spex in the center Check balance 1 Check collimation numbers chopper ON and Centered Benchmark1
96. ocity for the OH1 in as s OH2 enable Enables the OH2 handpaddle OH2 swapEW Swaps East and West inputs for the OH2 OH2 swapNS Swaps North and South inputs for the OH2 OH72 rate Sets the velocity for the OH2 in as s SafetyBrd Reset Reset the error latch on the safety board Secondary Identifies the secondary in use chopper or hexapod Shutter Lower Control the lower shutter Shutter Upper Control the upper shutter System power Turns system power on or off Track NoIOnOffset HA Controls the integrator hold option during tracking Track NoIOnOffset Dec Controls the integrator hold option during tracking TOHP enable Enables the TO Handpaddle inputs TOHP rate Sets the velocity form the TOHP in s 2 3 Environmental and Other setup Elevation Set the elevation of the observatory Humidity Manually set the relative humidity Latitude Set the latitude of the observatory Page 3 1103 TCS3 Command Reference Version 2012 03 20 LTOffset Set the ut to local time offset Pressure Specifies the atmospheric pressure TempK Set ambient temperature value in degrees Kelvin VTCS Env Update Enables enviroment data updates from FIO inputs 2 4 Laser Traffic Control Ltc Enable Enable disable Laser Traffic Control updates Ltc Filename Set the full path for the LTC file name Ltc Fov Set Laser Traffic Control Field of View Ltc Impact Set the value for the Laser Tra
97. off cooling mc actuator 0 MC fan Sets the mirror cooling Fan control output to OFF or ON Syntax mc Fan off on Example Turning the fan on mc fan on MC Heater Sets the mirror cooling Heater control output to OFF or ON Syntax mc heater off on Example Turning the heater off mc heater off MC Mode Sets the mirror cooling control mode The control mode tells the TCS how to control the mirror cooling Syntax mc mode off manual auto off Off turns the Fan OFF Heater OFF and Actuator to Ov manual Allow the user to control the fan heater and actuator manually auto TCS control mirroring cooling Example Tuning of mirror cooling off mc mode off MC SetPt Sets the mirror cooling Set Point value in degrees C The set point is the temperature you wish to cool the mirror to Syntax mc setpt DegC Example Enter a set point of 1 degree C mc setpt 1 Mirror Cover Open or closes the mirror covers Syntax mirror cover shut open Example Close the mirror cover Mirror cover shut Mirror Support Turns off on the mirror support Syntax Mirror support OFF ON Example To turn mirror support on Mirror support on MP Execute a Motor Position move Syntax mp HA Dec HA HA as time hh mm ss ss Dec Dec as angle deg mm ss ss Example Do a motor position to the zenith Mp 00 00 00 19 49 34 39 Page 22 1103 TCS3 Command Reference Version 2012 03 20
98. ointing Map information Map JH as Map ID as madj JH as madj ID as peak H as peak ID as Sp Rot Sp IH as Sp ID as Rates pos IH as Rate pos ID as Rate vector H as s Rate vector ID as s Map IH ID The IH ID values of the point map in arcseconds madj IH ID The IH ID values in the Map Adjustment registers arcseconds peak IH ID The IH ID values in the Peak Adjustment registers arcseconds Sp Rot Number of rotation for the spiral Sp IH ID The IH ID values for the Sprial registers arcseconds Rates pos IH ID The IH ID values from the pointing rates registers arcseconds Rate vector IH ID The rates in the pointer rates register arcseconds per seconds Object Name and Mag string magnitude String The object name in the ptable Magnitude the magnitude from the ptable Non sidereal rates ra as s dec as s Ra dec the non sidereal rates in the ptable Page 17 1103 TCS3 Command Reference Version 2012 03 20 WE Weather air_temperature c humidity 0 100 wind_speed mph Wind_dir deg dome_td6 c Air_temperature in celcius Humidity 0 to 100 Wind_speed mph Wind_direction degrees Dome Temperature from sensorTD6 in celcius SH sh_ulimit sh_touchsh_dlimit sh_block_time hr Sh_ulimit upper limit state of shutter 0 or 1 Sh_touch The touch limit state 0 or 1 Sh_dlimit The lower shutter down limit state 0 or 1 Block_time Number of hours until view of field
99. ome to a azimuth of 90 degrees Dome goto 90 Dome HP Speed Sets the maximum speed in dome handpaddle mode Syntax dome HP Speed speed speed speed factor 0 0 to 1 0 maps to 0 to 10 volt max output to the Ampilifiers Example Set the max speed to 1 2 or 0 5 Maxinum of 5 volt to the ampilifiers inputs Dome HP Speed 0 5 Dome Manual Control dome motion while in manual mode Syntax dome manual motion motion Desired dome motion forward reverse stop Example Move dome in the reverse direction Dome manual reverse Dome Manual Speed Sets the maximum speed in dome manual mode Syntax dome Manual Speed speed speed speed factor 0 0 to 1 0 maps to 0 to 10 volt max output to the Ampilifiers Example Set the max speed to 1 2 or 0 5 Maxinum of 5 volt to the ampilifiers inputs Dome Manual Speed 0 5 Dome Mode Set the dome movement control mode Syntax dome manual mode mode Dome movement control mode auto manual lock Example Put dome in manual control mode Dome mode manual Dome Sim Enable or disable dome simulation mode Syntax dome sim control Page 11 1103 TCS3 Command Reference Version 2012 03 20 control Dome simulation mode ON or OFF Example Turn dome simulation off Dome sim off Dome Speed Set the dome movement speed factor Syntax dome speed speed speed Speed as a factor of full speed 0 0 to 1 0 Example Set dome speed to half of full speed Dome speed 0 5
100. on Off ignores the dome handpaddle IO On accepts dome handpaddle inputs Example Enable the dome handpaddle DHP enable on DHP Rate Set the maximum velocity for the dome handpaddle Syntax DHP rate rate rate This value represents arcseconds seconds Range is 0 to 800 as s Example Set the rate to 200 as s DHP rate 200 DHP swapEW Swap the logic for the East and West buttons on the dome handpaddle Syntax DHP swapEW foff on Off East is east On East is west Example Set the default mapping DHP swapEW off DHP swapNS Swap the logic for the North and South buttons on the dome handpaddle Syntax DHP swapNS foff on Off North is north On North is south Example Set the default mapping DHP swapNs off Die Terminate the main IC process Syntax die Example Terminate the current ic process Page 10 1103 TCS3 Command Reference Version 2012 03 20 Die Dome Auto Offset Specifies an offset angel to be used during Dome Control s auto tracking mode Syntax dome auto offset deg deg offset in degrees 180 to 180 Example Set the auto offset value to 20 degrees Dome auto offset 20 Dome Capture Capture some dome serial data to a file Debugging command Syntax dome capture Example Start the dome capture Dome capture Dome Goto Specifies a dome position for goto mode Syntax dome goto AZ des AZ deg azimuth in degrees 0 360 Example Moved the d
101. ontrol via the MCC GUI is enabled Dome Handpaddle is locked out Limit Override ON Green LED is on mean to override the hardware stop amp brake limits for the HA amp Dec axis Telescope Enable OFF to disable HA DEC AMP and engage telescope brakes ON to allow servo control Telescope enable should be OFF when the TCS Servo is not used 2 2 Other Safety Controls Emergency Stop Press to disable Telescope amp Dome movements via the safety board Mirror Cover Emergency Close Open the normally operation mode as mirror covers are control via the MCC GUL In an Emergency and the TCS software in inoperable setting the switch to close will close the mirror covers Page 4 1101_mcc_gui_and_to_panel doc Version 2014 03 18 There are 3 switch to control the max velocity of the telescope There are 2 velocity limits in the tcs 400 as s and 1600 as s Automatic Unsafe When in Automatic velocity of 1600 as s is allow When in unsafe 400 as s is the velocity limit unless overridden by the One Shot or Supervised switch Supervised During some moves ie slewing the velocity limit can be raised to 1600 as s by depressing this momentary switch The ideal is the TO are to visually supervised the telescope when pressing this switch One Shot Supervised and Supervised can be pressed together to allow the 1600 as s limit for the duration of the move The Automatic amp One Shot can be secured using the eyelet
102. ope slewing to the loaded target star position Next amp Slew combines the Get Net Star and Slew Next buttons Add Star button When the telescope has completed slewing to the target press this button to store the telescope pointing information for the target star into the pointing file Checking the Do Map Adjust Pt map will also add the offset to the pointing adjustment register Checking the Do Next amp Slew will after saving the data get the Next Star and start the Slew The pointing run procedures are documented in document 1201_pointing_run doc under the tcs3 user s guide Follow these procedure when doing a pointing run Page 26 1101_mcc_gui_and_to_panel doc Version 2014 03 18 3 11 Details Tabs The details tab provide access to engineering screens where the detailed information on the TCS3 can be viewed To be used by the technical staff for trouble shooting The individual items are not covered in this document only a summary of the available engineering displays are listed Pos Time Graph1 Graph2 PMAC App FIOA FIOB FIOC FIOD FIOE FIOF FIOMC FIOX Astronomy and servo motor positional data Time and other VTCS informaiton variables Performace graphs for TCS mostly show server performance Performace graphs for TCS has motor current collimation focus and guider corrections The PMAC motor control details Internal TCS3 amp MCC process and application data Fac
103. ose hostname is t3fiof is offline 31 FIO_MC is off line The RIO device whose hostname is t3fiomc is offline 32 FIO_ape HA comm error There was an error communicating with the fio_ape computer hostname t3apeha Check the embedded APE computer for HA 33 FIO_ape Dec comm error There was an error communicating with the fio_ape computer hostname t3apedec Check the embedded APE computer for DEC 34 Bad AIO on FIO_A 35 Bad AIO on FIO_B 36 Bad AIO on FIO_C Page 29 1201_Operators_Guide doc Version 2014 07 22 37 Bad AIO on FIO_D 38 Bad AIO on FIO_E 39 Bad AIO on FIO_F FIO A B C D E and F are opto22 device They have Analog In modules have can go bad This TCS warning indicate the software see bad Analog In values on a module It is likely the module need to be replaced Day Crew and TCS support staff need to be consulted Details tab on MCC may help you determine which module is bad but sometime the 1 analog module on the opto22 bus can cause the other to report bad data 40 PMAC following Err The following error in the pmac exceeds 1800 arcsec 0 5 degrees 41 SafetyBrd_OS_Ha_Latch The T3 Safety Board s Over Speed HA Latch is TRUE 42 SafetyBrd_OS_Dec_Latch The T3 Safety Board s Over Speed Dec Latch is TRUE 43 SafetyBrd_OC_West_Latch The T3 Safety Board s Over Current West Latch is TRUE 44 SafetyBrd_OC_East_Latch The T3 Safety Board s Over Current East Latch is TRUE 45 Safe
104. owing errors and warning messages Appendix C further describes these messages There are 3 type of Notices 1 Error notices are displayed in Red These are problem most serious in nature 1 Safety Board Errors Exist A error condition exist on the t3 servo electronic safety board The condition must be cleared in order to allow tcs3 servo operations 2 Stop or Brake Limit Set Physical limit switches on the HA and Dec axis or Horizon limit have been tripped These are axis limit switches 3 PMAC IO Error The tcs3 software was not able to communicate with the PMAC motor controller To clear the condition 1 Retry the operation 2 restart the tcs3 IC 3 reboot the tcs3 computer 4 Call for technical assistance 4 PMACTimestamp Error This indicated the software loops in the PMAC motor controller are not executing To clear the condition 1 Retry the operation 2 restart the tcs3 IC 3 reboot the tcs3 computer 4 Call for technical assistance 5 APE Motor Apos gt 600 6 APE Motor Apos gt 600 The APE position differ from the Incremental Encoder Position IPE by more that 600 Make sure the APE are working and try re setting the APos using APE SET PMAC with the telescope in STOP mode at Zenith 2 Warning Notices are less serious errors or message that indicate a condition the operation should be aware of They are display in Yellow 9 Using sim motors CF_PMAC 0 The software has be
105. own or ReStart the computer Other methods ssh into the system as root and type reboot or halt or poweroff Manual method to start the TCS3 If the above method doesn t work this section describes how to startup the applications via the command line ie in an xterm The main binaries are located in the home to VERSION directory where current is the default version The t3remote application is copied to usr local bin IC in an xterm running on T1 as user TO gt cd Currents ie gt ic MCC in an xterm running on T1 as user TOO gt cd current mcc Page 4 1201_Operators_Guide doc Version 2014 07 22 gt mcc t3remote any IRTF workstation any user gt t3remote How to manually kill the IC process 1 Login to the tl t2 computers and become root 2 Issue the pkill ic command 3 Issue the ps ef command to review the currently running processes Problem Shared memory from last IC still exist The following messages indicate the IC may be already running or some shared resource was not deleted when the IC was termindated ic creating shared memory shm_tcs3 pshm_create shm_ open File exists ic Can t create shared memory shm_tcs3 Another copy of ic may already be running To clear up this problem make sure the IC isn t already running Also the rm_ipc application may be run to try to delete shared resources current ic rm ipc rm ipc If this fails reboot the PC Page 5 1201_Op
106. p cmd l 34 Airmass 1 409 34 Shutter 01 10 eclination Objec t Name PL M m ir Dn Tp 1 38 Humidity Win d NNW Guiding 0 00 eee The Display Status Area provides status from the TCS3 Data provided includes Sidereal The Local Sidereal Time Page 4 1102 T3Remote Version 2011 09 06 Hour Angle The observed Hour Angle position UTC Coordinated Universal Time HST The local time Hawaii Standard Time Airmass Air mass Shutter Time in HH MM until the shutter will block the field of view CS The Celestially Coordination frame of reference for the RA and Dec positions J2000 The FK5 reference frame using the Equinox of J2000 0 B1950 The FK4 reference frame using the Equinox of B1950 0 App Topocentric Apparent Other the FK4 or FKS is display with its Equinox values Right Ascension Target Right Ascension target is base position offsets Declination Target Declination Object Name The object name field from the ptable TCS3 position table Proper motion display proper motion ra s yr and dec yr Non Sidereal The non sidereal rate in s Mag The magnitude value from the position table User User offset magnitude display color coded yellow when applied gray when disabled Beamswitch A or B Indicates the beam position and offset magnitude Scan offset applied from the scan offset Total display the total offse
107. r MP mode e Enter your HA Dec destination position and velocity OR e Press the buttons on the right Top Ring Down Stow Zenith to auto fill the HA Dec destination positions with a pre determined position e Click on Execute MP Move to begin While in MP e The Servo window displays the status of the current move e The velocity is limited to 400 as s unless the OneShow Safe or Supervised buttons are used to allow high speed moves e You can enter new HA Dec Vel values and press Execute MP Move while a move is in progress To stop an MP move e Press the Stop MP Move button Servo MV MV is Move Velocity This mode allows the operator to move the telescope by specifying a velocity for each axis Page 11 1101_mcc_gui_and_to_panel doc Version 2014 03 18 Servo Mode idle MP MV track slew Joystick DomeHP HAC s 1100 v enable enable Dec s 1 100 rate s 15 0 rate s 110 0 Execute vv Stop Enter the MV mode by clicking on the Servo Mode s MV radio button You can now control the velocity using 3 methods Joystick DomeHP or GUI All inputs are used simultaneously Joystick e Enable the TO Joystick and Disable DomeHP e Enter your desired rate e Use the TO Panel s Joystick to change the velocity Dome HP e Enable the DomeHP and disable Joystick e Enter your desired rate e Use the dome hand paddle N S E W buttons to move the telescope GUI e Disable both the Joystick and DomeH
108. rences of the motors scaled up by 2 x Operators need to monitor this while tracking to insure the telescope is in balance Mirror covers Select Shut or Open to close or open the mirror covers The bottom label provide feedback on the position Mirror Support The voltage for monitoring the mirror pressure is displayed Below the voltage use the mirror support OFF On button to turn off on the air support The label to show the current state of the air support control Off or ON This button issues the mirror support command You muse be at Zenith for this command to execute The OK FAULT label indicates the condition of the Kill_Support IO line If Air Support is off due to a hardware error the FAULT label is shown You must clear the hardware fault then press the Page 16 1101_mcc_gui_and_to_panel doc Version 2014 03 18 Fault Ack button to return on an OK status Then you may turn on Mirror Support using the OF F On button Collimate To change collimation you must have the collimation enabled by checking the enable checkbox Use the slider to set the desired increment value for the and buttons Click on the E W N or S button to change the desired collimation position The Goto or desired position is shown in the Text Entry widget You can also enter the desired postion in the text widget remember to hit return to specify the desired dpos The actual position or apos is show
109. rmation is display on the right e The performance of the RTCS and servo system Motors are summaries in Servo Performance The status should always be Good or OR o Good RTCS status means the commanded position to the PMAC matches the VTCS o Good PMAC performance means the motor servo error is less that 0 1 arcseconds e The Pointing Map status shows key map variables o MAdj is the MapAdjustment register Map adjustments preserved during slews o Corr is the total from the Peak Spiral and Rates registers o The pointing rates are shown but group with other telescope rates o The Spiral Position in rotation is also displayed e The lower right status area has miscellaneous data o The MeaWegt label identifies the current value for the measurement widget The measurement widget allow you to measure offset and Pointing map movement without needing to clear either the offset or pointing map Use the mw z tozero the values e Beam Switch controls include o A button switch to beam A Page 13 1101_mcc_gui_and_to_panel doc Version 2014 03 18 o Set button amp RA Dec offset spin buttons Pressing Set will set the beam offsets to these values loaded in the spin box numeric inputs o PB button switch to beam B e Slew to includes o Slew 0 Slews to next object 0 see MCC2 s next object list o Slew 1 Slew to next object 1 o etc e Rates controls
110. s the base non sidereal rate Syntax ns rate inc ra dec Ra dec Add these values to the base rates in arcseconds second Example ns rate inc 0 1 3 OH1 Enable Enable Diable Observers Hand Paddle 1 inputs Syntax OHl enable foff on Off ignores the OHI handpaddle IO On accepts OH1 handpaddle inputs Example Enable the OH1 handpaddle OH1l enable on OH1 Rate Set the maximum velocity for the OH1 handpaddle Syntax OHl rate rate rate This value represents arcseconds seconds Range is 0 to 60 as s Example Set the rate to 10 as s OH1l rate 10 OH1 swapEW Swap the logic for the East and West buttons on the OH1 handpaddle Syntax OH1l swapEW foff lon Off East is east On East is west Example Set the default mapping OH1 swapEW off OH1 swapNS Swap the logic for the North and South buttons on the OH1 handpaddle Syntax OH1l swapNS foff lon Off North is north On North is south Page 25 1103 TCS3 Command Reference Version 2012 03 20 Example Set the default mapping OH1 swapNsS off OH2 Enable Enable Diables Observers Hand Paddle 2 inputs Syntax OH2 enable foff on Off ignores the OH2 handpaddle IO On accepts OH1 handpaddle inputs Example Enable the OH2 handpaddle OH2 enable on OH2 Rate Set the maximum velocity for the OH2 handpaddle Syntax OH2 rate rate rate This value represents arcseconds seconds Range is 0 to 60 as s Example Set
111. se review the Details gt Misc tab s Hexapod information There is an issue with the hexapod Also review section 9 The IRTF Hexapod Secondary has some information operation the hexapod 3 Sound notices are audio message play via the computer s speaker output Usually they are self explanatory completing slew slew has reach its destination sm_stop Entering Stop Mode sm_mp Entering MP mode sm_mv Entering MV mode sm_track Entering track mode sm_slew Entering slew mode sm_error_exiting TCS is existing a servo mode due to an error system_power_off The system power has been turned off humidity_rising humidity_falling The humidity crossed the warning point falling or rising next_obj The tcs has received a new data in its slew next buffer sound is a bee boo upper_shutter_up Upper shutter limit turned ON shutters_touch Shutter touch limited turned ON lower_shutter_dn The lower shutter limit turned ON approaching _lower_shutter You are getting near the lower shutter Can t do please check Operator can t start the servo if the system power is off or safety board error exist start data recorded audio freed back with pt star add is done dome is ready When tracking the dome has lined up with the telescope move completed The MP move has reached it destinations Brakes are set TCS tells you when brake are engaged Beamswitch A sound plays
112. st 4 1 2 Whenever the telescope is slewed to an object with good coordinates the TO should e Center the star on the cross hairs by adjusting the pointing map s IH ID e Press Pointing Update button on MCC1 to Update Pointing map s IH and ID values Page 8 1201_Operators_Guide doc Version 2014 07 22 4 1 3 Whenever the telescope is slew to an object with bad coordinates e Optional slew to a nearby object that as a good coordinate and do 4 1 2 This will adjust the pointing map for the current telescope position e Slew to your bad object e Center the star on the cross hairs by the adjusting base position using t3remote User TAB and click arrow in Base mode This preserves the pointing map and RA and DEC sky coordinate values e Ifyou center on an bad object by adjusting the pointing map you degrade the pointing map and the sky RA and DEC position 4 2 Pointing FAQ 1 Where and how are the point coefficients stored And can I modify them After a pointing run the resulting pointing map is written to current ic tcs init The is the startup file for the IC program You should not modify these coefficients as we wish to keep the original pointing map A pt save command writes the MAdj value to current ic pt save txt The pt save txt file is executed at IC startup You can edit delete this file to change the initial MAdj values 2 Where can I learn more about TPOINT The tcs3 s user manual p
113. t added to the base resulting in the target RA Dec position Focus display the actual focus position actual is the position sensor value Temp The temperature in degree C TCS Mode provide to operating mode of the TCS They are Stop telescope is parked servo is off brakes are on MP Move Postion mode non observing positional moves MV Move Velocity mode non observing velocity moves Track Track the sky position specifed by the tracking table slew Slewing to a tracking position To the right of TCS Mode relevant status is displayed for current TCS Mode During tracking you may see Dome is ready Dome moving sec where sec is estimated seconds in current move Dome blocking FOV Field of view During Slew the estimated time to the end of the slew is displayed GuideMir Display the location of the off on axis guider mirror Out means the mirror in out of the optical path green text In means the mirror is blocking the optical path to the instrument Red Unkn means the position is not known by the TCS Guiding Indicates if guiding is active YES or not NO Guiding YES occurs when peaking up the pointing map using the guider or manually YES is display when the TCS receives 5 guiding updates within the last 60 seconds Page 5 1102 T3Remote Version 2011 09 06 4 Offset Tab Base UserOS BeamOS North Dec Al Al East RA West RA EE
114. t date Example Set default coordinate system to fk5 CS k5 CW Dir Set the directory path for counterweight files Syntax cw dir path path full path name defaults to home tcs3 data cw Example Set counterweight path to home tcs3 data cw_041214 CW dir cw dir home tcs3 data cw_ 041214 CW Dpos Set selected counterweight to position described as a voltage Syntax cw dpos name position name Name of the counterweight to be positioned e g TV2S position Desired counterweight position as voltage If the voltage is outside the min max range of the counterweight it will be clipped to its min max value Example Move counterweight YH3F to position 4 23 volts CW dpos yh3f 4 23 CW Enable Enable or disable counterweight movements Syntax cw enable control control Enable control ON or OFF Page 9 1103 TCS3 Command Reference Version 2012 03 20 Example Enable control of the counterweight system CW enable on CW Manual cntl The CW command to set a counterweight up down or off Syntax cw manual cntl control control off 01 up 01 dn 02 up 02 dn 1 10_11 up 10_11 dn Example Enable counterweight manual control mode CW manual cntl on CW Mode Select the counterweight operational mode Syntax cw mode mode Mode operational mode Auto Manual Lock Example Place counterweights in manual mode CW mode manual DHP Enable Enable Esiable Dome Hand Paddle inputs Syntax DHP enable foff l
115. t use the Slew N command where N is a value from 0 to 5 If a proper motion is in excess of 10 arcseconds per year the PM values are colored red Bad proper motion value had been sent to the TCS this warning will help flag potential bad slew destinations System Power Turns off or On the system power Macro Dialog Box To the right the macro dialog box is available Text files of TCS3 commands can be execute by selecting the pressing the Exec button The directory contains the macro files is print at the top of the macro box You can use a text editor file manager to inspect maintain these files Page 18 1101_mcc_gui_and_to_panel doc Version 2014 03 18 3 8 MCC3 Tab tcs3 mcc v120320 Mar 20 2012 on tlhilo ifa hawaii edu FB2 hist_save beam_test hist_on hist_off Stop Hand Paddles Dome TOP Joystick TOHP OH1 OH2 enable enable enable enable enable swap E W x5 Offset swap E W swap E W swap E W swap N S BS gotoBase swap N S swap N S swap N S ate s 5 0 rate s 5 0 ate s 10 0 rate s 10 0 rate s 10 0 rate s paket s rate s rate s rate s EWN S EWN S EWN S E WN sS EWN S Engineering Options hist save Hist ON Add Offset Opt cosdec ed PID ServoOpt Enable cok SABIE AutoPID she Bae Track NolOnOffset HA Ba Track NolOnOffset Dec b vif Hexapod Init Wri
116. ta from the TCS3 5 1 Info Page 3 1104_network_communications doc Version 2010 11 08 The tcs3 info command is used to query position time and other type of facility data The info command s parameters will dictate the type of information returned For example the info tm will return UTC_data UTC_time LAST gt t3io info tm OK 2006 08 02 00 19 55 792 2006 08 01 14 19 55 79 10 39 53 45 Multiple type of information can be requested This command probably returns everything you want to know gt t3io info tm sp mp os op sm fo OK 2006 08 02 00 44 44 760 2006 08 01 14 44 44 76 11 04 46 49 11 04 21 12 00 00 17 6 0 0000 0 0000 2000 0 2000 0 k5 11 04 21 12 00 00 17 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11 04 40 45 00 01 57 3 00 00 06 04 1 063 19 859 180 074 0 070 track 0 320 0 321 1 Let s break down the reply OK The ok tell us the command reply is good 2006 08 02 00 44 44 760 2006 08 01 14 44 44 76 11 04 46 49 The TM returns Time data UTC_data UTC_time Local_date Local_time LAST 11 04 21 12 00 00 17 6 0 0000 0 0000 2000 0 2000 0 k5 The sp provides Sky position parameters RA Dec pm_ra pm_dec epoch equinox coordinate_system Lit 04221 02 0 0 2 0 032756 The MP returns the means position J2000 0 FK5 current epoch ra dec O29 0 20 0 90 2 0 02 50 0 0 50 05 0 The OS provides Offset information total_ra total_dec user ra user dec user enable beam ra beam dec beam enable scan ra scan dec 11 04
117. te Read Write mecl maA mcc3 Balance Pointing l Details On A OK Z Ay Motor Currents Ha Dec and Dome motor currents are displayed For HA and Dec the yellow graph shows the differences of the motors scaled up by 2 x Hand Paddles Options for each physical TCS3 hand paddles Each hand paddle that has a N S E W button has a set of widget to control the following properties Enable Off On to disable or enable hand paddle inputs Swap E W swap the E W directions on the hand paddle Swap N S swap the N S directions on the hand paddle Rate as s enter the velocity applied with the hand paddle s NSEW buttons E W NS these label indicate the status of the handpaddle button Black off Green ON or pressed The TOHP also has the following labels to indicate the status of the following inputs Black off Green on X5 5x rate switch BS beamswitch request button Offset pointing off or offset On adjustment mode Gotobase goto base request button Engineering Options and PID Page 19 1101_mcc_gui_and_to_panel doc Version 2014 03 18 Item in these window are engineering option Daycrew TOs should not change them unless directed by the TCS3 technical support staff Vtcs offset opt controls how the offset are added to the base resulting in the target destination for tracking Hist_ON Use this check box to enable display the recording of the tes History Data
118. terval thus it is stuck Maybe you reached the end of travel or some other failure occurred 21 APE data is stale gt 2 sec The ape are polled for new position at an interval greater that 5Hz A new position was not received for more that 2 second indicating a communication problem between the tcs3 comptuer and the ape computers t3apeha or t3apedec 22 Dome pos data is stale gt 2 sec The dome position is sent to the the tcs3 via a serial stream The dome_scanner ouput is feed into the fio_a opto22 serial module The update rate is about 2 Hz Thes message indicated no new data was received within 2 seconds Further investigation is needed 23 ZenDist large refra disabled When the zenith distance is gt 85 degress the refraction calculation is disabled This is because large zenith distance requires a huge amount of cpu time and after this zenith distance it will soon overwhelm the computer 24 Humidity limit exceeded The humidity exceeds the limit set by the humidity wn command 25 FIO_A is off line The opto22 device whose hostname is t3fioa is offline 26 FIO_B is off line The opto22 device whose hostname is t3fiob is offline 27 FIO_C is off line The opto22 device whose hostname is t3fioc is offline 28 FIO_D is off line The opto22 device whose hostname is t3fiod is offline 29 FIO_E is off line The opto22 device whose hostname is t3fioe is offline 30 FIO_F is off line The opto22 device wh
119. th Be aware of this to insure to are accessing the correct controller The toolbar has some icons where you can check on Errors The green No Error Bar will be red when the controller has errors Click on error bar to display the error The P attemps to clear the error And the should be press to keep appliation refreshed The Toolbox icon will change the middle area depending on the toolbox function selected Many of the top icons run wizards that configure various aspect of the system like Connectivity System Configuration Drive Setup Operating Mode AutoTune FindTuning These would be used only during initil setup so avoid using them Page 13 1201_Operators_Guide doc Version 2014 07 22 Some toolbox function could be useful Edit amp Debug on Node FO we run an mint application This toolbox allow access window related to program development Becareful not to change the MINT program s source code The watch window is usefull to show that the program is running The Terminal window show console output of the program And the Command window allow you to interactively type MINT command to the controller Normally the progam should be running I like to check the parentTask that the MINT program is running and when the dome is IDLE it is at or about line 100 Scope Using the Spy Window s monitor tab you could capture and graph data using the Scope Toolbox Parameter All the controller parameters can be vie
120. th limit in degrees Ranage is 30 00 00 to 67 00 00 Example This example sets new software limits Sw limits set 05 00 00 05 00 00 45 00 00 45 00 00 This example sets the software limits back to their defaults Sw limits set 05 35 00 05 35 00 55 00 00 67 00 00 Page 32 1103 TCS3 Command Reference Version 2012 03 20 System power Turns system power on or off Syntax system power off on Example Turn system power on System power on TempK Set ambient temperature value in degrees Kelvin Syntax tempk t t temperature in deg Kelvin 100 350 Example Set ambient temperature value to 120 4 degrees Kelvin Tempk 120 4 Track Commands tes to enter the track servo mode Syntax track Example Command tcs to enter track mode Track Track NoIOnOffset HA Track NoIOnOffSet Dec Turn offon a flag telling the tcs3 to hold the pmac s integrator value during an offset This command is not intended for observers operators or daycrew It use should be reserved to the tcs3 servo engineer Syntax track NolonOffset HA off on track NolonOffset Dec off on Example To Hold the integrator during offsets on the HA axis Track NolOnOffset HA on TOHP Enable Enable Diables TO Hand Paddle inputs Syntax TOHP enable foff on Off ignores the handpaddle IO On accepts handpaddle inputs Example Enable the TOHP handpaddle TOHP enable on TOHP Rate Set t
121. the MAdj registers Syntax pt restore Example pt restore Pt Save Makes the map ID IH equal to the total value Map Adj Spiral Rates The adj spiral and rates variable are reset to zero The new map ID IH values are written to a file pt save txt in the IC directory If the TCS3 is re started the IC will used the lasted saved IH ID values for the map Syntax pt save Example Pt save Pt Sep Specify the separation between pointing targets Syntax pt sep separation separation Separation in degrees between pointing objects 5 0 to 30 0 Example Set up a pointing target array with a 20 0 degree separation Pt sep 20 0 Pt Spiral Center Zero s the pointing map sprral s offset return you to the center position Syntax Spiral center Example Spiral center Pt Spiral In This command move the pointing map spiral inwards Syntax Pt spiral in Example Start moving inward Pt spiral in Pt Spiral out This command move the pointing map spiral out wards Page 30 1103 TCS3 Command Reference Version 2012 03 20 Syntax Pt spiral out Example Start moving outward Pt spiral out Pt spiral rate Sets the pointing map spiral velocity in as s Syntax Pt spiral rate vel Vel velocity in as s ranges is 10 to 70 Example Pt spiral rate 40 0 Pt Spiral Stop This command stop the pointing map spiral Syntax Pt spiral Stop Example Stops the pointing sp
122. the TCS Just fill in the sky coordinate and press the Sent Next Obj button RA Right Ascension in hh mm ss Dec Declination in deg mm ss PM proper motion RA proper motion in sec yr Dec in yr Name a name for the object Optional Epoch Epoch is used for proper motion correction Not used for CS Apparent Mag a visual magnitude optional Non sidereal rate s RA and Dec non sidereal rates in arcseconds second CS The Celestial Coordinate System Reference Frame B1950 The RA and DEC is in the FK4 Reference Frame Its standard Equinox of B1950 0 is assumed J2000 The RA and DEC is in the FK5 Reference Frame Its standard Equinox of J2000 is assumed Apparent The RA and DEC is in topcentric apparent position Note For ICRS coordinates used CS of J2000 0 Page 7 1102 T3Remote Version 2011 09 06 6 Focus Tab None Chopper Hexapod Set Focus Fio fE Actual a 1 04 D Increment CA 0 01 Focus Information Collimation Information E W N S The Focus Tab allows the observer to change the telescope focus The top radio buttons identifies which focus hardware you wish to command None disable focus communications Chopper Commands the chopping secondary focus via the tcs3 This is the default IRTF secondary Hexapod Commands the hexapod secondary focus via the hexe deamon NOTE this hasn t be tested or used for many years You can decrement or increment the
123. the rate to 10 as s OH2 rate 10 OH2 swapEW Swap the logic for the East and West buttons on the OH2 handpaddle Syntax OH2 swapEW foff on Off East is east On East is west Example Set the default mapping OH2 swapEW off OH2 swapNS Swap the logic for the North and South buttons on the OH2 handpaddle Syntax OH2 swapNS off on Off North is north On North is south Example Set the default mapping OH2 swapNsS off OS 2base Transfer the enabled offsets and rates to the base and clear the offset values Syntax os 2base offset offset Specify offset s to be transferred User Beam All Example Transfer the enabled beam offsets and rates to the base Os 2base beam PID Dec Makes a request to the rtcs to change the PID value for the Dec axis Syntax pid dec P I D P I D Numeric PID values Range is 100000 to 100000 Example Set P 25000 I 75000 D 5000 pid dec 25000 75000 5000 PID HA Makes a request to the rtcs to change the PID value for the HA axis Syntax pid HA P I D P I D Numeric PID values Range is 100000 to 100000 Page 26 1103 TCS3 Command Reference Version 2012 03 20 Example Set P 25000 I 75000 D 5000 pid HA 25000 75000 5000 Polar Motion Specifies the earth s polar motion Syntax polar motion ha dec ha HA polar motion in arcseconds 10 to 10 dec Dec polar motion in arcseconds 10 to 10 Example Set polar motion to 5 1 arcseconds
124. the velocity for a motor position move PID Dec Makes a requests to set the PID for the Dec axis PID HA Make a request to set the PID for the HA axis Polar Motion Specifies the earth s polar motion Page 1 1103 TCS3 Command Reference Version 2012 03 20 2 2 MV Execute a Motor Velocity move Mw zero zero the measurement widget value Scan Clear Remove scan offsets to return to the original position Scan Go Scans by moving to the offset ra dec position Scan Return Scans by returning to the 0 0 offset position Scan Set Set up the parameters for scanning to an offset position Slew Slew to the next object in the specified buffer Slew Abort Abort a slew and switch to track mode Slew Reslew Re issue a the slew command to the pmac to fix slew not slewing problem Stop Put the tcs system in the stop mode Sw Limits Override Overrides software limt velocity controls Sw Limits Set Set the software limits Track Commands tcs to enter the track servo mode Jser Inc Apply an increment to user RA and Dec offsets Jser Init Initialize the User Offsets Jser Off Disable user offsets Jser On Enable user offsets Jser Set Set the values for the user RA and Dec offsets Jser Toggle Toggle the user offset enable setting Jser Spiral Center Move to the center of the user spiral ser Spiral in Move inwards on the user spiral trajectory Seco eee ae User Spiral out
125. tors_Guide doc Version 2014 07 22 2 Starting Stopping the TCS3 Software Computer This document describes the procedures to start and stop the TCS3 application Plus provides instructions on rebooting the TCS3 computers tl and t2 The TCS3 has two linux computers that can run the TCS application Their hostnames are tl and t2 Normally t1 is used for all tcs3 operations The t2 computer is a backup to t1 All tcs operation are performed on tl unless specifically instructed to use t2 There is a KVM switch to select either the tl or t2 computer The KVM box is located in the TCS room and can be manually switched using buttons on the KVM It also supports hot keys via the keyboard press scroll lock scroll lock then the up arrow Easy Startup 1 login in as the user to using the project password 2 In an xterm type startic to begin the TCS3 main instrument control program 3 Click on the TCS3 icon to start the mecc GUI and then set the tab to mccl 4 Click on the TCS3 icon to start the mcc GUI and then set the tab to mcc2 Shutdown Normally you would leave the TCS3 running at all times Here are procedures to reboot or shutdown the computer 1 Put TCS3 in Stop servo mode 2 Set TO Panel s Telescope Enable to OFF 3 Turn system power on MCC2 4 Type Die in the mcc command prompt to Kill the TCS3 applications IC amp MCC 5 Desktop Logout menu allows you to Logout ShutD
126. trol system eeccceesseceencecesececeeneeceeneeceeneeceeeeceeneecneeeeeeeeeees 22 Appendix B The Position Table Mean to Mount Calculations 20 0 0 eccceeececeeseceseeceeeeeceeneeceeceeceeeeeceeeeeneeeees 24 Appendix C Telescope HA Dec Horizontal Limits ssssssesssesssssessseessressersserssseessstesseesseesseessseeessresseesseesset 27 Appendix D List of MCC Errors and Warnings Notices ccessscesseceesceceeneeceeacecesneeceeceeceeeeceeeecseeecseeeee 28 Page 2 1201_Operators_Guide doc Version 2014 07 22 1 Introduction The manual provides note and instruction on using the TCS3 It is a tutorial style guide Operators should also refer to the User Manual references when using this guide Here are some key link allowing access to the TCS3 Documentation http rtfweb ifa hawaii edu tcs3 TCS3 Home Page http irtfweb ifa hawaii edu tcs3 tcs3 users_manual TCS3 Users operational manuals http irtfweb ifa hawaii edu tcs3 tcs3 Design document_index html TCS3 Design Schematics In the Design Directory these documents provide an overview of what available and allows quick access to a particular subject Please review and understand these documents T3 1000 Document_Index List the documents available T3 1010 TCS3_Block_Diagram Display a block diagram of the documents T3 1011 TCS3_Block_Diagram Item_Index Provide reference for items in the block diagram Page 3 1201_Opera
127. tyBrd_OC_North_Latch The T3 Safety Board s Over Current North Latch is TRUE 46 SafetyBrd_OC_South_Latch The T3 Safety Board s Over Current South Latch is TRUE 47 SafetyBrd_OC_Dome1_Latch The T3 Safety Board s Over Current Dome Motor 1 Latch is TRUE 48 SafetyBrd_OC_Dome2_Latch The T3 Safety Board s Over Current Dome Motor 2 Latch is TRUE 49 SafetyBrd_OC_Dome3_Latch The T3 Safety Board s Over Current Dome Motor 3 Latch is TRUE 50 SafetyBrd_Emerg_Stop_Latch The T3 Safety Board s Emerg Stop Latch is TRUE 51 SafetyBrd_DomeHP_Stop_Latch The T3 Safety Board s Dome Hand Paddle Stop Latch is TRUE 52 SafetyBrd_Mtr_Cntr_Err_Latch The T3 Safety Board s Motor Controller Err Latch is TRUE 53 SafetyBrd_PC_Lockout_Latch The T3 Safety Board s PC Lockout Latch is TRUE 54 SafetyBrd_HA_Stop_W_Latch The T3 Safety Board s West Stop Limit Latch is TRUE 55 SafetyBrd_HA_Stop_E_Latch The T3 Safety Board s East Stop Limit Latch is TRUE 56 SafetyBrd_HA_Emerg_W_Latch The T3 Safety Board s West Emergency or Brake Limit Latch is TRUE 57 SafetyBrd_HA_Emerg_E_ Latch The T3 Safety Board s East Emergency or Brake Limit Latch is TRUE 58 SafetyBrd_Dec_Stop_N_Latch The T3 Safety Board s North Stop Limit Latch is TRUE 59 SafetyBrd_Dec_Stop_S_Latch The T3 Safety Board s South Stop Limit Latch is TRUE Page 30 1201_Operators_Guide doc Version 2014 07 22 60 Safety
128. up the pointing map after the slew A Correction register holds the recent adjustment to IH amp ID sum of the Peak Spiral and Rate IH ID values This value is cleared on the next slew Corrections can be save to an MAdj Map Adjustments register to preserves the values during slews This is done using the update pointing button on MCC1 which issue a pt madj command The correction and MAdj register are memory register which can be lost if the tcs3 is restarted The MAdj values can be saved using the pt save command Save button on MCC1 You can restore the MAdj value using the pt restore command Last button on the MCC1 After the slew you can peak up on a star using 1 TO Panel s joystick for N S E W movements Be sure the TOP joystick is enable in MCC3 and check the rate 2 T3remote ptmap s arrow widgets 3 TO Hand Paddle If you star is not the field of view you can spiral by 1 Using the TO Panel change the joystick mode to Spiral on the mcc1l The JoyStick s north will spiral OUT and South will spiral IN 2 Using T3remote s ptmap s pt spiral widgets 4 1 Tip for peaking up the pointing map or telescope position 4 1 1 On your Ist Star near Zenith good catalog position the TO should e Center the star on the cross hairs by adjusting the pointing map s IH ID e Press pointing Save button on MCC1 to Update Pointing and save the IH ID value to disk can be recalled using pointing La
129. us adj enable OFF ON OFF ignore the focus adjustment values Dpos user_dpos ON apply adjustment value dpos user_dpos adj Turn on focus adjustment Focus adj enable on Page 13 Version 2012 03 20 1103 TCS3 Command Reference Version 2012 03 20 Focus Dpos Set the desired focus position Syntax focus dpos position position Desired focus position as voltage Range is 7 33 to 7 00 volts for the chopper and 8 to 8 mm for the hexapod Example Set the focus position to 2 4 Focus dpos 2 4 Focus Dpos Inc Increment or decrement the focus position Syntax focus dpos inc pos inc Pos inc Position increment decrement value Example Decrements the focus position by 0 43 Focus dpos inc 0 43 Focus Enable Enable or disable the focus control loop Syntax focus enable control control Focus loop control ON or OFF Example Disable the focus control loop Focus enable off Help Print a list of available tcs3 commands Syntax help Example Print the list of commands Help Hexapod Init Will cause the TCS to run the hexapod init macro home tcs3 data hexapod_init TCS3 has limited feedback so it is suggested the the hexegui be used to initialize the hexapod Syntax Hexapod init Example Hexapod init Hist Enable Disable the collection of the realtime history data Off is useful to freeze the graphical dislay on the mcc to view the data Syntax Hist off on on Colle
130. using the HMT300 device vtcs env update 2 Wavelength Set the value of the observed wavelength Syntax wavelength m m Wavelength in microns 0 1 50 0 Example Set observed wavelength to 43 8 microns Wavelength 43 8 Page 35 1104_network_communications doc Version 2010 11 08 TCS3 Network Communication Page 1 1104_network_communications doc Version 2010 11 08 POSS Network Communication aes lass pe pcezzayosssscyscesesavtovasniw ieee ras aeasaawwcasvsiek ghasaped baa av aahan dee tai atte ast Te TintrO MU Ct OM sasesecosesesa sl seh ends Ae bis T ts Aas Saba es bigs SHEE Ss TE ac as E N GR 2 P may INGIWOEK INL E ACE aachcas ceca ctua cen sconcthiat a a ys ac andaameauuategcca ey duha athe A E ius ccelcaseate Ses Fy AUR SOCK CCINLETEACE sis ccece chad egestas eee a oa SS ERR haa TAS eas oe E De CS Fm AND ES ANTI So ie iG ss aa atc ast airs net ose vos cans cu ee tag Soe ne Segoe seca case eas tas ao nae acer Base ees 6 Using the TCSD V3 and Upgrading from TCS1 commands ee eeeeessecsseceseeessceceaeceaeesseeesaeecsaeeneenseeennees Page 2 1104_network_communications doc Version 2010 11 08 1 Introduction The network interface allow communication to the tcs3 over the IRTF network This document describes these interfaces 2 Primary Network Interface The primary network interface for tcs3 is a Remote Procedure Call RPC server to the hostname tcs3_host which is an alias to tl Details on this interface can b
131. w limits set command The Daycrew is responsible for setting the correctly TCS software limits per instrument configuration The procedure for setting the limit are as follows 1 As the user to on the tl computer open an text editor to home to current ic tcs init 2 Within this file you should see the following line software limits used texes on 2012 01 Sw limits set 05 34 00 05 34 00 50 00 00 48 00 00 normal software limits are sw limits set 05 34 00 05 34 00 55 00 00 67 00 00 3 The are comments Set the appropriate software limits by uncommenting or adding the correct values 4 Restart the IC Check the MCC Details gt Position tab and confirm the correct software limits values are set Page 11 1201_Operators_Guide doc Version 2014 07 22 9 The E100 Dome Servo System In 2013 a new dome servo system based on the Baldor E100 Drives were installed at the IRTF This sections highlights key information the operators and daycrew should know in order to use or deal with the system A block diragram of the Dome Servo System is provide in T3 3040 Dome_cntl Overview You should be familiar with the name location and function of the equipment There is the PDF link http Artfweb ifa hawaii edu tcs3 tcs3 Design T3 3040 Dome_Cntl Overview pdf On MCC the Dome Shutter area provides dome control and feedback for normal operations If the a red message appear indicating the Dome Servo is not re
132. wed from the parameter toolbox Be very careful because they can also be changed here too Errorlog All error are log by the workbench You can review past error here Clearing Errors During operation if the Dome System stop due to error It may be possible to clear the error and continue on with operations Resetting the controller Sometime when error happen the program may be interrupted You will need to reset the E100 Drive This is done by Locate the workbench for FO Reset the controller by hitting Tool gt Reset Controller Hopefully a 3 controllers will come up in an error free state Page 14 1201_Operators_Guide doc Version 2014 07 22 10 The Hexapod Secondary In 2013 a hexapod secondary was purchased and put it into service The TCS3 has the option of using the chopper or hexapod secondary The focus and collimation is controlled by the secondary The hexapod has a web page under the TCS3 located at http irtfweb ifa hawaii edu tcs3 hexapod This site has a block diagram Everyone should be familiar parts of the system 10 1 Setting up the TCS3 with the correct secondary When changing the secondary the TCS3 need to be configure to work with the correct secondary Edit this file on the tl computer home to current ic tcs init and insure these lines are correct set to chopper or hexapod secondary chopper secondary hexapod In the above example the chopper is commented out
133. when a beam switch occurs Please reslew Trying to slew but velocity is 0 Operators needs to press the reslew button on the mccl GUI Last_Pointing_star or Completed pointing pattern when the last star in the pointing pattern is recorded Motor Currents High Check the TCS3 motor currents for the HA DEC and Dome motors High Wind Warning Winds speed is above the high wind warning limit normally 35mph Page 33 1201 Pointing Run Procedures Version 2010 01 14 Pointing Run Procedures This document is intended as a checklist for generating a new set of TCS3 pointing coefficients and is not intended to be a tutorial for new users Should be done by an experienced TO or TCS3 program Doing pointing run require proficiently in unix operation the TCS3 In the case of encoder ratios be able to update the software In general the procedure are to 1 Run a benchmark with current map 2 Do a pointing run to collect data for analysis by tpoint Then enter the new coefficients generated by tpoint into the system 2 Run a benchmark with the new map Make sure it not worse 3 Make the new coefficients the defaults for the TCS The resulting pointing tpoint data is located in home tcs3 data tpoint Y YMMDD And index html file is created as a log for the run and for the techgroup report The best way to do a new pointing run is to copy the index html into a new directory and follow along The link http irtfweb if
134. you can set the APE using the following sequence of commands Kill fio ape Kill automatic apes update Ape pos HA DEC Manually set ape position Ape set apos Initialize the APE position Syntax Ape Pos HA DEC Example TO set the APE data pos to zenith Ape pos 00 00 00 19 49 34 39 Ape set pmac Tells the tcs to initialize the position in the PMAC servo controller Syntax ape set pmac Example ape set pmac Autopid Enable Disable the AutoPID feature AutoPID allow you to auto load different PID value during tracking and slewing Syntax autopid off on Example autopid off Autopid Set Specifies a set of auto PID coefficients Syntax autopid set ID PID ID Identifies the PID set Vaild names are track ha track dec slew ha slew dec P I D Numeric PID values Ranges is 100000 to 100000 Example autopid track ha 40000 75000 6000 Page 6 1103 TCS3 Command Reference Version 2012 03 20 Base Load a new position into the position table base Syntax base RA Dec pm ra pm dec epoch equinox CS Name RA RA as time hh mm ss ss Dec Dec as angle deg mm ss ss pm ra proper motion as sec tm year Optional default 0 In dRa dt rather than cos Dec dRA dt pm dec proper motion as arcsec tm year Optional default 0 epoch epoch in calendar years Optional Defaulted to ptable value equinox equinox in calendar years Optional Defaulted to ptable value CS Coordinate system Can be

TO Panel MCC Graphic User Interface TO Hand Paddle

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