The Current&Power Monitoring was not updated and hidden by two emtpy modal dialogue windows.

Restart of display (via icon on desktop) not successfull. ("MODBUS #2 communication failed.")

Called expert (ThLF), who advised how to call the old instance, then restart worked.

Ino explained: MOS was totally desynchronised with PLC. (It was assuming that the telescope was parked.) He parked the telescope manually. Thanks!
Experts will investigate on Monday. But the shift crews can continue to use the  Drive Control and tracking.

After tracking Mk421, we abort current action (acknowledged) and try to go to a new source: RA=308.1, Dec=40.96. Drive Control refuses these parameters ("check your parameters").

General Abort without effect for 2 minutes. Called expert (Ino). He will look into it.

During this weeks we solve this problems:

_ Park In: Sometimes the final locking position was too limit and the "In Position" sensor was lost during the locking witch put the sytems in bad state vs safety constaint (we can't unlock if the sensor In Position is not active). So now the final poition is now adjusted dynamically with the difference betwwen motors and encoders to be sure to stop on torque limit. No more problems since this modification.

_ Problem of communication between the 2 main PLC of the Drive. Due to this error randomly the PLC receive a 2ndTracking command after a Cancel Command. An other random error is to receive the Start Tracking before the Goto Position witch gives errors in the PLC sequence. Communication was rewritten between the 2 PLC. No more problems since this modification.

_ Some change were done in Cancel and Emergency Stop sequence.

_ Now the Power and the Intensity of Main Electrical Cabinet can be available in the OPCUA of the Drive.

_ The High speed of west ALS was decreased since sometimes the variator gives overspeed error. The speed are now identical between the two ALS

+ other minors improvement.

During this 2 weeks we solve this problems:

_ Park In: Sometimes the final locking position was too limit and the "In Position" sensor was lost

We sent a tracking with with RA211,08 and DEC29,52

1st time the goto position of azimuth was sent at +42° and the trajectory requierts  -52° !!! (speed limit of the tracking 0,001 rad/s)

After a cancel the azimuth was sent at -54° !!!

Yesterday we had the same problem with the same RAD/DEC coordinates. -31° and after a cancel +270° !!!

Is it a problem of trajectory with the 1st point positionning or with this coordinates does we need a higher speed in tracking ?

- During shutter tests, we were requested to move the telescope many times between two positions at different zenith. Sometimes, once the position is reached and in the log I got the message 'GoToTelescopePosition Done received', the command panel stay stack with the "action in progress" bar without possibility to perform other atctions. I need to click to 'general abort' to stop the action and  get the panel comand back. It happened 3 times

- During tracking, the message on the screen switch from "tracking in progress" to "action in progress, please wait..." The latter is quite misleading for non-familiar user of the gui.

The 2 swicthes are too far from the target at 56.48 elevation.  The sensor have been tuned in parkin position and the distance was correct (2mm) and at 56.48 is about 10mm. (impossible to tune correctly the sensor and the atrger has to be tuned)

• Different ParkOut and Parkin done with different values for testing the torque limitation. 
  • By decreasing the torque and the position , the parkin failed because we are not in the CSS locking sensor (in locking position)
  • By setting back the original values, th parkin is ok but the bolt cannot be properly inserted.

After pointing Polaris yesterday, it seems that the zero position of the telescope was incorrect but It's never had been calibrated (zero was equals to parking position towards center of tower).

So I shift the zero position of telescope by 0.869°.

As the consequence the new Parking Position = -0.869° don't be surprised.

• Tracking at position :
  • RA = 101.288541 RA Offset = -0.6
  • DEC = -16.71343 DEC Offset = 0.7

• Cabling the azimuth end switches.

• 1 degree has been added to the Elevation accordingly to the last measurement given by Olger

• On Wenesday morning (27/03/19) :
  • With Holger and Robert (MPI) , many telescope "park in/park out" operations have been performed in order to refine the positionning in the acces tower and at the elevation locking bolt
    Holger and Robert applied many mechanical modifications on the acces tower to make the telescope park operations very smooth
    ==> Conclusive operations. 

• Regulation of the motors (PID) for slow and fast tracking and motor oscillations.
• Implementation and Debugging of the Semi-Expert control software for the drive.
  • GUIs + MOS plugin (OPCUA Server)
•  Results are quite encouraging in good wheather condiftions.
  • additionnal tests in different (wind) conditions are envisaged to validate completly the process

new session of high speed drive tests after issues with Power Supply.

• Tests of emergency stop (with a speed at 25% and 43 % GRB speed) with a modification of the jerk value from 0.08 to 0.2 ==> OK
• Tests of azimuth movements : (-90 to 270 degres)
  • at 60% of GRB speed. ==> Ok for 6 movements
  • at 80% of GRB speed
    • Ok for 4 movements
    • Failures due to resistance  (sur-tension). Breaking modules in failure then reset
    • Ok for 2 next movements
  • at 100% of GRB speed :
    • 3 movements from -90 to 90 ==> OK
    • Temperature of breaking resistance are getting very high (at least the top one) 

• Tracking procedure has been debugged from the GUI-MOS (OPCUA Server with tracking plugin)-PLC
• Still some improvments to apply but globally the procedure is running well.

• On Thrusday :
  • new movements at 45% from -90 to 270 have been done.
  • No possible movement at 60% because the FW and UPS issues are not solved yet
    • Ino will back on site when HITACHI team will be on site for FW maintenance
      • Tests at 60% will be done to validate (or not) the correction applied by Hitachi team.

• Debugging of the MOS plugin corresponding to the tracking