MTRotator Motion Check

Overview

This procedure checks the motion of the MTRotator under nominal movements, issued independently from the LOVE/MTQueue or the MTRotator EUI.

Warning

This check cannot be accomplished if MTRotator is in FAULT on the CSC and/or with interlocks activated on the GIS or the MTRotator EUI. Please refer to MTRotator Recovery Procedure to clear these warnings before proceeding.

Using the maintel/mtrotator/move_rotator.py SAL script

Use the following configuration to run maintel/mtrotator/move_rotator.py on the LOVE/MTQueue using the following configuration

maintel/mtrotator/move_rotator.py

angle = < +/ - angle you want the MTRotator to move (in degrees) >

If this procedure fails, follow the next one using the MTRotator EUI.

Using the MTRotator EUI

MTRotator EUI Access

1. Enter the virtual machine that controls the rotator hexrot-vm02.cp.lsst.org with your IPA account credentials.

2. Once in the virtual machine, choose your user profile and enter your IPA password.

3. Open a terminal from the ‘Activities’ tab on top left -

   1. First check that there are no processes running on the EUI by typing

      ps -aux | grep "runRotEui"
      

      If processes are already running, you may need to identify who is running them and ask permission to end one (or both) so you can run your own EUI session. If another runRotEui is running then type the following to kill the existing process

      sudo kill -9 {pid}
      

   2. Enter the runRotEui by typing

      cd /rubin/rotator/build/
      ./runRotEui
      

Moving the MTRotator point to point (p2p)

1. On the MTRotator Client, under the Main tab, State Cmd is selected, StateTriggers menu shows Enable under and then click Send Command button. This enables the MTRotator.

2. To move the MTRotator, go to the Commands to Send section and in Enabled Substate Triggers, choose Move. Then, input 0 degrees in the Position Cmd field and execute the movement by clicking on the Send Command button.

3. If the MTRotator does not follow:

   1. Transition to Standby state followed by the Enabled state again to reset the internal calculation of Simulink model. Then, do the p2p movement to origin again.

   2. It might also be possible that some internal signals are not triggered in Simulink module. You can try to do the p2p movement to another point such as 1 or 2 degree position first. If the MTRotator moves then you could move it back to the origin.

Note

If you want to p2p move the rotator after the soak test, consider the following steps:

1. Issue a Stop command to MTRotator and wait for 5 min. This should make sure the internal queue of track commands from the soak test has been processed by Simulink model totally.

   

2. Check the controller State is Enabled State and the Actuator Enabled Sub-Sate is Stationary.

   

Warning

MTRotator position should always be at 0 degrees in the Standby state.

This procedure was last modified on Nov 19, 2024.