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

• The FW issue is not solved . No movement can be done
• The FW is going to be restarted ==> It takes several hours to put it down and up again
• Drive movement are stucked 

. 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.

Same operations as yesterday ==> Polaris position

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 ==> pointing to Polaris with the same coordinates

Pointing to polaris ==>

Azimuth = 0.808

Elevation = 59.941 + 1 degree (correction)

Start of the tracking debug ==> PLC and MOS 

Tests and debugging of the tracking procedure. Many components are involved : PLC MOS GUIs.

Each component needs to be well debbuged to achieve a safe movement of the telescope

==> IN PROGRESS

• Debugging of the "Parkout" sequence with errors ==> 
  • MOS received the error and set the FSM in error state
  • User from semi-expert GUI should acknowledge the error ==> MOS FSM acknowledge methosd is call (just authorized from the error state) to acknowledge the error to the PLC.
  • PLC set up all the needed variables to inform the MOS and GUI of the result of the acknowlegment 
• Today, an PLC error sends the MOS FSM in the ERROR state which can the only go "Parked" state via the "Acknowlegde" method.

Many differents succesfull  "goto position" operations ... MOS configuration file (XML) modified to aplly to correct Azimth and Elevation ranges for secure movement 

• GotoPosition azimuth range : [-126..354]
• GotoPosition elevation range : [0..75]
• FastGotoPosition azimuth range : [-96..324]
• FastGotoPosition elevation range : [0..50]

Many parkin operations done. To confirm the different movements , a Parkin test with a azimuth position 20 and Elevation 70.

This is to validate the complete "Parkin" scenario with "random" az and el positions

The brake of the elevation issue has been fixed. Operations on drive can be resumed.

After issues during the parkin procedures ( 100% elveation torque ) :

• a visual inpsection has been done :  access is not involved , 2 possible causes :
  • rolls on elevation structure because they are rolling (4 of them yes , 4 of them not)
  • motor break ==> under investigation

Emergency stop applied because of a azimuth value(encoder) not in the pre-defined range +-0.015

• first parkin ==> Azimuth 0.013 ==> Emergency because offset even if in the correct range
• 2nd parkin ==> Azimuth 0.004 ==> Emenrgency stop because offset not in the correct range (eye control not drive control)

• To define precisely the correction to apply to Azimuth positionning, a set of movements have been done to calculte the correction coefficient.
• A scan from 0 deg. to 270 deg. with a step of 10 deg. and a reverse scan from 270 deg. to 0 deg. with a step of 50.deg realized to have a better approximation

1. Many parkin and parkout operations with different torque  (with the clamping system of the access tower (from 18% to 8% = 26N/m). With 8%, the locking position cannot be reached
2. Some minors have been corrected

Installation of the new PLC code and re-initilalisation of the system.

Here is the first entry in the DRIVE ELOG logbook