HET
OPERATIONS ENGINEER MANUAL: TCS &
TRACKER INITIALIZATION (REV:100204)
PRECAUTIONS:
A) The
control room audio system should be set to monitor noise in the dome generated
by the tracker.
General
Description:
The
following procedure will initialize the TCS and Tracker for night use.
Initial
Conditions:
A) Monitor 3, Screen 1 (3, 1) will display
the Tracker Control System.
B) The tracker is not
initialized and is powered down i.e. the red lamp on the Tracker 3P Box (T3P
box) is not lit. The T3P box is located
on the cabinet to the right of the Frijole monitor.
C) Make an initial inspection
that the tracker is near center . If the tracker is positioned near any of its
limits follow items 5.10 – 5.13 below.
1.0 Start the Graphical User Interface. Power up Tracker
1.1 From WorkSpace
Menu select TCS-Crockett. (Note: To access WorkSpace
Menu press the
right mouse button.
a.
Open a
b. Open a
c.
Open a Tss
– Crockett window.
i.
In this window type tss at prompt
ii. Wait for instructions in Tss window to power up tracker.
iii On the cabinet, push the black button
labeled “Tracker Power On”. The red light to
the right should turn on, indicating that
the tracker has power. The red LEDs above
should all turn green. If the tracker light turns off see Fault Conditions and
Solutions.
iv Now press enter in Tss-Crocket
window.
d.
Open TCS
GUI from the WorkSpace Menu
All the positional data for the
tracker will be displayed in the Tss-Crockett window. Notice what the position numbers are for the
upper and lower x, and y. If the tracker
is centered the numbers for upper and lower x should be around –3 and y should
be around 75.
2.0 Tracker Initialize Search.
2.1 An initialize search should
be completed on the tracker to ensure full confidence that the tracker knows
its position before beginning night operations.
Go to the interface and click on the TOOLS menu. Choose ‘TRACKER POSITION’. A small window will appear showing the
trackers current position. Click on the
OK button at the bottom.
2.2 A new window will appear
asking you too either select TRACK, SLEW, or CANCEL. Select TRACK.
The tracker motors for tracking will now be enabled. This can be verified by checking the PMAC
State Monitor shell. The track motors
will have ‘enabled’ next to them.
2.3 Now go back to the TOOLS
menu and select ‘INITIALIZE TRACKER…’.
2.4 A small window will
appear. Select INITIALIZE SEARCH. The
tracker will now go through and find accurate positions for the hexapods, y, rho, and upper and lower x.
2.5 The ‘initialize search’ process
will take about ten minutes to complete.
During the process use the video monitor and the various positions of
the audio system microphones to discern correct movement, and sounds that may
indicate a mechanical problem.
2.6 Once the process is complete
the upper and lower x should be at a position of around 24 with both upper and
lower x position numbers matching, and y should be located at 157.
2.7 There should be green lights
next to each item on the small ‘tracker initialization’ window. Close this window out. and click the red ‘abort’ button on the interface. This command stops the motors and sets the
brakes. Once again use the PMAC State
Monitor shell to confirm that the brakes are set.
2.8 Do not click on the ‘red abort’
button until the upper and lower x are reading the
same position number. Even if a ‘green
board’ has been received indicating that the initialize search process is
completed, the upper and lower x are still going through the process and the
numbers have not settled down to indicate the same position for both the upper
and lower x.
2.9 Once the upper and lower x
position numbers are the same click on the ‘red abort’ button on the TCS
interface. This command stops the motors
and sets the brakes. Once again use the PMAC State Monitor shell to confirm
that the brakes are set. The tracker is now ready to commence night operations.
2.10 If the tracker has been left up near the
limits from previous operations, the tracker will have to be moved a small
distance before an initialize search can be completed. Otherwise during the initialization process
the tracker would be driven up into the limits and the search would not be
completed.
2.11 As an example lets say the tracker is at the
upper right position which yields an upper and lower x position of around 1598
and a y position of around 1629.
2.12 After step 2.10 above go to the TOOLS
menu and select tracker position. Enter
x and y positions of 1400. Then chose
either TRACK or SLEW to move the tracker to the position selected.
2.13 Now an initialize search can be completed
without driving the tracker up into the limits.
Fault
Conditions and Solutions:
A) The red light on the T3P box
does not stay lit after pressing ‘enter’ and the tracker does not power
up. Also, the PMAC State Monitor shell will
display ‘page is not updating’ message.
1) Exit crockett then repeat steps outlined in section 3.0
until tracker powers up.
B) ‘SKEW LIMIT SWITCH
TRIGGERED!!! STOP!!!’ message is displayed in the
Monitor shell and the tracker will not power up.
1) Check to see if an emergency
stop button has been pushed by looking at the display on the
rack to the right. If an emergency stop button has been pushed a
red light will be lit next to
the location.
2) Discern why the button was
pushed and make sure the situation is resolved.
Make sure the
button that was pushed is in the
out position and then repeat steps in section 3.0 above.
3) If an emergency stop button
was not pushed check the upper and lower x values to make
sure they are not different by
more than 15 mm. If they are wait for
the TO to arrive
before continuing.
4)
If an emergency stop button has not been pushed and item 3 above is not
the case then
check
the glycol control box for an EF5 fault.
An EF5 is an external power fault. If an EF5
fault
has occurred push the reset button on the box and then restart the unit. Check the
glycol
flow gauge on the equipment rack in the control room for flow rate.
5) If 1-4 above have not occurred then exit and
restart crockett until
tracker stays powered up.
a) Put the cursor within the crockett shell and press the ‘backspace’ key. Type ‘exit’ and
press ‘enter’. Repeat
steps as outlined in section 1.0
above to power tacker up.
6) If the TCS interface is up
when the skew limit switch error occurs, then do the following.
a) Go to the TOOLS menu and
select TRACKER SHUTDOWN.
b) Then go back to the TOOLS
menu and select RELINQUISH CONTROL OF THE TRACKER.
c) Once again under the TOOLS
menu disable the structure.
d) Select the file menu and
exit the TCS interface.
e) Place the cursor in the crockett shell, do a ‘backspace’
followed by typing ‘exit’ at the crockett prompt and
press ‘enter. This exits the crockett software.
f)
Now repeat steps as outline in 1.0
above to bring crockett back
up.
C)
Core Dump Error.
1) If a core dump fault has occurred the
tracker will not power up and the error message
‘GATFloating
exception (core dumped)’ will be displayed on crockett.
2) To clear the error, exit to the main prompt
by doing a backspace and then typing exit in
crockett.
3) At the prompt type ‘pe
xy’ and press ‘enter’.
4) At the pe xy prompt that appears type ‘$$$’ and press ‘enter’.
5) Do a ‘Ctrl D’ to exit the utility.
6) Power up the tracker as outlined in section
3 above.
D) Either an XY or a
1) Reset the appropriate amp on
the T3P box by toggling the switch.
2) Click on the red ‘ABORT MOVE’
button on the TCS GUI.
3) The fault should clear. If not, repeat 1 and 2.
4) If the rho
fault occurs again the PFIP should be checked to make sure there is nothing
hindering
movement of the rho stage.
Method
for System Shutdown:
A) The
method is as outline in B).6), items a) thru e) above, with the following
additions.
1)
After TRACKER SHUTDOWN is selected from the
TOOLS menu an alarm will sound from the equipment rack. Wait until this alarm has quit sounding
before going to the next step and selecting RELINQUISH CONTROL OF THE TRACKER.
2)
Once the crockett software has been exited, put the cursor in
the TCS background and left click. A
menu will appear; select exit from it. Then left click ‘OK’. This action will exit the TCS software, and
concludes the system shutdown method.
Special
Tracker Procedures:
A) Instructions
for Manually Controlling the Tracker
1)
Discussion:
The rho brake system is a magnetically held
mechanism. Magnets and springs hold the
brake open or closed to avoid heat dissipation on a solenoid system. Therefore there are two PMAC variables that
control the rho brake: M40, which controls the state
of the brake, and M41 which controls the ‘pull’ mechanism that will pull the
brake to release it. The pull mechanism
is a solenoid type device. The sequence
to release the brake is to release the brake mechanism (M40=1), then activate
the pull mechanism for 1 second (M41=1), then deactivate the pull mechanism
(M40=0), and finally set the brake mechanism (M40=0). The activation time for the pull mechanism is
not rigid to avoid heat dissipation.
In addition to controlling
the brake the safety plc, plc30, must also be shutdown. Plc30 monitors the state of the motors and
the brakes. Anytime it sees a motor off,
the plc commands the associated brake to set.
Plc30 is primarily to prevent back drive on the Y axis. Make sure that plc30 is enabled when the
procedure for controlling the rho brake is finished.
2)
Points to watch out for:
a)
The first character that is typed at tss will cause the cursor to move
to the command line. The second
character will start the command buffer.
Make sure the command gets entered correctly.
b)
Be aware of the position and status of the rho stage. Don’t
release the brake if the stage is out of balance and there is a chance that the
stage could swing down.
c)
Verify that the command is correct before
sending it. It is very easy to type the
wrong M variable number and change something you don’t want to change.
3)
Procedure for controlling the rho brake.
a)
On the crockett
shell start tss, if the program is not already
running, by typing
‘tss’
at the prompt. Do not start TCS.
b)
At the crockett
prompt type “xy displc30” and press ‘enter’.
c)
Now release the brake. At the prompt enter the command “xy m40=1m41=1”, then enter the command “xy
m41=0.
d)
To set the brake enter the command at the crockett prompt “xy m40=0”.
e)
To shutdown enable plc30 by entering the
command “xy enaplc30”.
f)
This concludes the rho
brake procedure.