Date: Fri, 30 Dec 2005 11:44:24 -0700
From: Jon Brinkmann
Subject: Re: 2.5m obslog 20051229 (MJD 53734)
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> Problem: After command InstChange, the rotator stopped at 35 deg.
> After "axis init" and a track command the Rot stopped again with an
> error message about an overcurrent in the MCP menu.  We did several
> attempts.  Checked slips on the rack - they were ok, but we resert them
> anyway.  Tried to move rotator to bigger angle, it worked. After
> several small steps to bigger angle we sent rotator to zero position,
> and it has been done. We did not understand what was a problem.  We
> noticed in the MCP window when the rotator stopped that it was actually
> an overcurrent ("*AO*"), and also got two watcher errors; first,
>
> AxisNoSlew:rot (axis cannot slew: 2005-12-30 05:19:22Z) then,
>
> start move failed; offsetting and trying again (2005-12-30 05:27:00Z
> sdssmcp) (start_move failed; offsetting and trying again (2005-12-30
> 05:27:00Z sdssmcp): 2005-12-30 05:27:06Z ).
>
> The first error happened at approximately the time we sent the
> telescope to instChange.  The second happened while we were at the
> telescope troubleshooting the problem. Also, some time during our
> attemptions we see large numbers at the error column of Rot on MCP
> GUI.
I took a look at the TPM logs (see attached plot) for the rotator motor
current.  There were no overcurrents recorded for the rotator.  I think
for the status reported, "*AO*", the "A" means the amplifier is not
ready and the "O" means that the axis is out of closed loop.  This
is the result of the abort.
I suspected that, since the fiducials were showing too large to correct
errors, the motion aborted because the servo error was too large.  This
could be due to either the actual motion or the Heidenhain tape or
fiducials being misread.  Looking at the TPM log for the rotator servo
error shows several servo errors large enough to exceed the abort limit.
See the second attached plot.
Jon
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