Date: Wed, 30 May 2007 11:06:22 -0600
From: Dan Long
Subject: Init problem:  from 2.5m obslog 20070529 (MJD 54250)
    Regarding last evening's trouble getting the axes to initialize,
there were two issues.  First, the failed attempts to initialize from
the TCC were because it could not get the semaphore.  The most common
reason for this is that an mcpMenu still has it (full control mode).
    The second problem was that when trying from the mcpMenu, the
amplifiers were not reset first, just attempts to clear the brakes
which were immediately reversed because the amplifiers were not ready
(reset).  I could find no problems with permits or interlocks during
this time other than the motor ready inputs.
    Timeline of events:
01:11:17Z  axis init  from TCC (fails unable to take semaphore)
01:12:12Z  axis init  from TCC (fails unable to take semaphore)
01:12:48Z  axis init  from TCC (fails unable to take semaphore)
01:14:16Z  axis init  from TCC (fails unable to take semaphore)
ALT_MTR_UP
ALT_MTR_DN
AZ_MTR_CW
AZ_MTR_CCW
never go high
The plc permits for the axes do become true as do the windscreen
permits when the stop button is released, so there is no interlock
preventing motion (including the slip detection module).
The source of the directional inhibits is from the MTR_RDY inputs all
staying low.  If the TCC could not get the semaphore, it would not be
able to reset the amplifiers, so this makes sense.
Next were two attempts from the mcp.  For some reason the amplifiers
were never reset, only an attempt at clearing the brakes, which was
immediately reversed because the amplifiers had not been reset.
01:16:42Z  clearing brake for altitude
01:16:47Z  brake comes back on
01:23:04Z  clearing brake for altitude
01:23:07Z  aborting (bad alt amp)
The sequence from 01:16 looks like (the 01:23 is the same)
sdssmcp    tTelnetCmd dsc_I_trcInfo Clearing brake for axis altitude
sdssmcp    tBrakes    dsc_I_trcInfo Putting axis altitude into closed loop
sdssmcp    tBrakes    dsc_I_trcInfo Stopping axis altitude
sdssmcp    ampMgt     dsc_W_trcWarn MGT: bad alt amp (0 now 0)
sdssmcp    ampMgt     dsc_E_trcErr MGT: bad alt amp; aborting
sdssmcp    ampMgt     dsc_I_trcInfo Setting brake for axis altitude
sdssmcp    tBrakes    dsc_I_trcInfo Taking axis altitude out of closed loop
The normal sequence looks like
sdssmcp    tTelnetCmd dsc_I_trcInfo Resetting amp for axis altitude: 2
sdssmcp    tTelnetCmd dsc_I_trcInfo Resetting amp for axis altitude: 3
sdssmcp    tTelnetCmd dsc_I_trcInfo Holding axis altitude
sdssmcp    tTelnetCmd dsc_I_trcInfo Clearing brake for axis altitude
sdssmcp    tBrakes    dsc_I_trcInfo Putting axis altitude into closed loop
sdssmcp    tBrakes    dsc_I_trcInfo Stopping axis altitude
01:36:00Z  successful TCC axis init.
				Cheers,
				  Dan