During a park-in action , the acces tower did not close correctly.

• Test at 60% maximal speed from -90 to 0
  •  Check of the FW discharge : No error (FW 2 : 95% FW1 : 100%)
• Test at 60% maximal speed from -90 to 270
  • Check of the FW discharge ==> Error (FW 2 : 90 % FW1 : 100%)
  • Drive stops at 250 degree.
  • Power consumption = 60kw
•  

• Debugging of the MOS plugin corresponding to the tracking 

• 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.

• 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.

• 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

• 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. 

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

• 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.

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)

Thierry&Ino on site

Ievgen, Vitalli and Jean-Luc remotely.

TCU tests to perform the parkin-in and park-out procedure from the Drive.

Results :

• Actions can be triggered from the TCU and correctly executed thru the ACS Drive Bridge-MOS-Drive PLC.
• Monitoring information is not correctly pushed from the bridge to the TCU (positions , ...)
  • Investigation brings many options. For the time being, a simple change in the ACS xml description will fix the problem. Anyway, this solution is not satifactory and a new solution will be implement asap.

Plans : Monday September 16th (2pm localtime) : new TCU tests to validate the intermediate solution for park-in, park-out and probably for some others action like Tracking,  GotoCircularPosition, ...

Start of the tracking debug ==> PLC and MOS 

Pointing to polaris ==>

Azimuth = 0.808

Elevation = 59.941 + 1 degree (correction)

Same operations as yesterday ==> pointing to Polaris with the same coordinates

Debugging of the tracking sequence :

• PLC sequence : trajectory tracking data correctly managed
• PLC tuning : regulation OK ==> need to refine.
• Tracking algorithm :
  • Changes in Drive.ccp to allow azimuth negative values.
  • Tracking duration : even by changing the duration of he tracking (from 1'to 5') ==> not correctly managed (still 1' tracking) ==> to be checked
•  

Same operations as yesterday ==> Polaris position

. Fisrt day of the high speed drive tests with IFAE team.

• Tests for tuning and generating motor plots at 10% (0.0234 Rad/s) of the maximal speed (GRB alert speed)
• Tuning of the emergency stop from 0.05 Rad/s2 up to 0.2 Rad/s2
• 6 movements at 25% speed. (from -90 to 270)
• repositionnning to -90 at 40% 
• movements from -90 to 270 and reverse at 40%
• 3 movements from -90 to 270 and reverse at 60%  : the FW generates an alarm and the drive stops the movement.
  • The FW level was ok but the the status (GRB Fast Rotation and UPS system) got red.
  • Koji has been contacted to look at this issue.

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

Tuesday September 110th :

• Tests park-in and park-out to manage the different type of failures 
• Tests failure during park-in phase with a telescope in a position different from the park-out position
• Tests (from the Drive semi-expert GUI) to send the telecope to the parking area from any positions. Useful to close the camera shutter without parking-in the telescope.
• Night : tracking tests for fixing the shifhting issues : Problems with the PSF camera  

Wenesday September 11th :

• Night : Still tracking tests for fixing the shifhting issues. PSF camera OK. Many pictures taken. Small shifting not yet understood

• Cabling the azimuth end switches.