Mechanism information
The following pages list the mechanisms, each mechanism is listed in numerical order on at least a single page, a description of the mechanism, relevant operational limits and commands are listed. Space is left for other findings to be included against each mechanism, it is therefore important to use the copy of this document kept in the WHT control room, if you do make any findings that you consider may be of value, please included them in the space provided for future reference, include extra pages if necessary.
Summary of mechanisms
ADI ADC Inner Element
ADO ADC Outer Element
AFS PFIP Autoguider Focus Slide
AFW PFIP Autoguider Focus Wheel
APX PFIP Autoguider Probe X axis
APY PFIP Autoguider Probe Y axis
DOR PFIP Access Door
HUM PFIP Relative Humidity and Temperature
MFW PFIP Main Filter Wheel
PFM Prime Focus Mode
SHS PFIP Shutter Status
ADI
Instrument Atmospheric Dispersion Corrector
Mechanism name ADC inner element
Mechanism type Stepper motor driven rotary mechanism with limit sensors restricting rotation to
180 degrees.
Operational range +90.0 to -90.0 in 0.1 degree increments
Resolution 0.3 degrees
Encoder type 12 bit digital, absolute rotary encoder.
Network commands Move ADI1O1(+900 to -900)
Datum ADI102
Stop ADI1OO
Status requests ADI200 and ADI201
Network responses ADI800, ADI801, ADI802, ADI803, ADI804
Response parameters ( EEcmd, EEmech, Pos, Dtm, 0 )
EEcmd Command errors in hex
EEmech Mechanism errors in hex
Pos Current position in decimal
Dtm Datum offset in decimal
change in position for 802 +/- 0.6 degrees
Mechanism errors 01, 02, 03, 05,06, 07, 08, OA, OD, 11, 19, 20,
21, 25
Interlocks None
Datum sensor used by datum command.
Limit sensors Restrict rotation to +/- 90 degrees
Limpit used ADC Limpit
Limpit channel Y (1)
Limpit drive 1 (Y)
Limpit Multiplexer None
Limpit Home/Datum Used, encoder confidence check.
Limpit drive brake None
Limpit Barcode reader Not used
Limpit commands used SMDC, IN, RMOVE, PARAM, WHERE,
DMOVING, DSTOP
ADO
Instrument Atmospheric Dispersion Corrector
Mechanism name ADC outer element
Mechanism type Stepper motor driven rotary mechanism with limit sensors restricting rotation to 180 degrees.
Operational range +90.0 to -90.0 in 0.1 degree increments
Resolution 0.3 degrees
Encoder type 12 bit digital, absolute rotary encoder.
Network commands Move ADO101(+900 to-900) Datum ADO102
Stop ADO101
Status requests ADO200 and ADO201
Network responses ADO800, ADO801, ADO802, ADO803,
ADO804
Response parameters ( EEcmd, EEmech, Pos, Dtrn, 0
EEcmd Command errors in hex
EEmech Mechanism errors in hex
Pos Current position in decimal
Dtm Datum offset in decimal
change in position for 802 +/- 0.6 degrees
Mechanism errors 0 1, 02, 03, 05, 06, 07, 08, 0A, 0D, 11, 19, 20,
21, 25
Interlocks None
Datum sensor used by datum command.
Limit sensors Restrict rotation to +/- 90 degrees
Limpit used ADC Limpit
Limpit channel X (0)
Limpit drive 1 (Y)
Limpit Multiplexer None
Limpit Home/Datum Used, encoder confidence check.
Limpit drive brake None
Limpit Barcode reader Not used
Limpit commands used SMDC, IN, RMOVE, PARAM, WHERE,
DMOVING, DSTOP
AFS
Instrument Prime Focus Instrument Platform
Mechanism name Autoguider Focus Slide
Mechanism type Stepper motor driven linear mechanism with limit sensors restricting movement to
operational range.
Operational range 14100um in 10 urn increments
Resolution 10um
Encoder type linear analogue encoder.
Network commands Move AFS101(0 to 14100)
Datum AFS102
Stop ANS100
Status requests AFS200 and AFS201
Network responses AFS800, AFS801, AFS802, AFS803, ADO804
Response parameters ( EEcmd, EEmech, Pos, Dtm, 0 )
EEcmd Command errors in hex
EEmech Mechanism errors in hex
Pos Current position in decimal
Dtm Datum offset in decimal
change in position for 802 +/- 30um
Mechanism errors 01, 02, 03,04, 05, 06, 07, 08, 0A, 0B, 0D, 0F,
11, 17, 18,19, 1A, 1B, 1C,1D,1E,1F, 20, 21,
25
Interlocks None
Datum sensor used by datum command.
Limit sensors Restrict movement to operational range
Limpit used PFIP Limpit
Limpit channel Either X (0) or Y (1)
Limpit drive 2
Limpit Multiplexer 1
Limpit Home/Datum Used, encoder confidence check.
Limpit drive brake None
Limpit Barcode reader Not used
Limpit commands used SMCM, IN, RMOVE, PARAM, WHERE,
DMOVING, DSTOP
AFW
Instrument Prime Focus Instrument Platform
Mechanism name Autoguider Focus Wheel
Mechanism type Stepper motor driven rotary mechanism.
Operational range 6 filter positions
Resolution 1 filter positions
Encoder type none.
Network commands Move AFW101(1 to 6)
Datum AFW102
Stop AFW100
Status requests AFW200 and AFW201
Network responses AFW800, AFW801, AFW802, AFW803,
AFW804
Response parameters ( EEcmd, EEmech, Pos, Dtm, 0
EEcmd Command errors in hex
EEmech Mechanism errors in hex
Pos Current position in decimal
Dtm Datum offset in decimal
change in position for 802 Change not detected
Mechanism errors 01, 02, 03,04, 05, 06, 07, 08,0A,0B,0D,0F,
11, 17, 18, 19,1A,1B,1C,1D, 1E,1F, 20, 21, 25
Interlocks None
Datum sensor used by datum command and move commands.
Limit sensors None
Limpit used PFIP Limpit
Limpit channel Either X (0) or Y (1)
Limpit drive 2
Limpit Multiplexer 2
Limpit Home/Datum Used, defines position 1.
Limpit drive brake None
Limpit Barcode reader Not used
Limpit commands used SMCM, IN, RMOVE, PARAM, WHERE, DMOVING, DSTOP
APX
Instrument Prime Focus Instrument Platform
Mechanism name Autoguider Probe X axis
Mechanism type Stepper motor driven linear mechanism with limit sensors restricting movement to
operational range.
Operational range 110,000um in 10 um increments
Resolution 10 um linear analogue encoder.
Network commands Move APX101(0 to 110000)
Datum APX102
Stop APX100
Status requests APX200 and APX201
Network responses APX800, APX801, APX802, APX803, APX804
Response parameters ( EEcmd, EEmech, Pos, Dtm, 0 )
EEcmd Command errors in hex
EEmech Mechanism errors in hex
Pos Current position in decimal
Dtm Datum offset in decimal
change in position for 802 +/- 60um
Mechanism errors 01, 02, 03,04, 05, 06, 07, 08, 0A, 0B, 0D, 0F,
11, 17, 18,19,1A,1B,1C,1D,1E,1F, 20, 21,
25
Interlocks None
Datum sensor used by datum command.
Limit sensors Restrict movement to operational range
Limpit used PFIP Limpit
Limpit channel Either X (0) or Y (1)
Limpit drive 1
Limpit Multiplexer 4
Limpit Home/Datum Used, encoder confidence check.
Limpit drive brake Used
Limpit Barcode reader Not used
Limpit commands used SMCM, IN, RMOVE, PARAM, WHERE,
DMOVING, DSTOP
APY
Instrument Prime Focus Instrument Platform
Mechanism name Autoguider Probe Y axis
Mechanism type Stepper motor driven linear mechanism with limit sensors restricting movement to
operational range.
Operational range 20,000um in 10 urn increments
Resolution 10 um
Encoder type linear analogue encoder.
Network commands Move APY101(0 to 20000)
Datum APY102
Stop APY100
Status requests APY200 and APY201
Network responses APY800, APY801, APY802, APY803, APY804
Response parameters ( EEcmd, EEmech, Pos, Dtm, 0 )
EEcmd Command errors in hex
EEmech Mechanism errors in hex
Pos Current position in decimal
Dtm Datum offset in decimal
change in position for 802 +/- 60um
Mechanism errors 01, 02, 03,04, 05, 06, 07, 08,0A,0B,0D,0F
11, 17, 18,19, 1A,1B,1C,1D, 1E,1F, 20, 21,
25
Interlocks None
Datum sensor used by datum command.
Limit sensors Restrict movement to operational range
Limpit used PFIP Limpit
Limpit channel Either X (0) or Y (1)
Limpit drive 1
Limpit Multiplexer 2
Limpit Home/Datum Used, encoder confidence check.
Limpit drive brake Used
Limpit Barcode reader Not used
Limpit commands used SMCM, IN, RMOVE, PARAM, WHERE,
DMOVING, DSTOP
DOR
Instrument Prime Focus Instrument Platform
Mechanism name Access door
Mechanism type microswitch.
Operational range Open (0) or Closed (1)
Network commands Status requests DOR200 and DOR201 DOR800, DOR801, DOR802, DOR803, DOR804
Network responses ( EEcmd, EEmech, Pos, Dtm, 0)
Response parameters EEcmd Command errors in hex
EEmech Mechanism errors in hex
Pos Current position in decimal
Dtm Datum offset in decimal
Change in state
change in position for 802 None
Mechanism errors interlocks MFW when open
Interlocks PFIP Limpit
Limpit used
HUM
Instrument Prime Focus Instrument Platform
Mechanism name Relative Humidity and Temperature.
Mechanism type Humidity and Temperature sensor module.
Operational range Humidity 10 to 90 % +/- 5%
Temperature 0 to 50 C +/- 1C.
Network commands Status requests HUM200 and HUM201
Network responses HUM800, HUM804
Response parameters ( EEcmd, EEmech, Pos, Dtm, 0)
EEcmd Command errors in hex
EEmech Mechanism errors in hex
Pos Current position in decimal
Dtm Datum offset in decimal
Mechanism errors 24
Interlocks none.
Limpit used PFIP Limpit.MFW
Instrument Prime Focus Instrument Platform
Mechanism name Main Filter Wheel
Mechanism type Stepper motor driven rotary mechanism with stepper motor driven locating detent.
Operational range 7 filter positions, 2 detent positions,1 read Barcode only.
-7 to-1 Move to filter position leaving detent out, no barcode read.
·0 Read Barcode only.
I to 7 Move to filter position, locate wheel using detent, read barcode.
Resolution 1 filter position
Encoder type Filter barcode.
Network commands Move MFW101(-7to+7)
Datum MFW102
Stop MFW100
Status requests MFW200 and MFW201
Network responses MFW800, MFW801, MFW802, MFW803, MFW804
Response parameters ( EEcmd, EEmech, Pos, Dtm, 0)
EEcmd Command errors in hex
EEmech Mechanism errors in hex
Pos Current position in decimal
Dtm Datum offset in decimal
change in position for 802 Change not detected
Mechanism errors 01, 02, 03,04, 08, 15, 16, 17, 18, 19,1A,1B,
1C,1D,1E,1F, 21, 22, 23, 25, 26
Interlocks Interlocked by access door
Datum sensor used by datum command and move commands.
Limit sensors None
Limpit used PFIP Limpit
Limpit channel Either X (0) or Y (1)
Limpit drive 1 ( detent drive 4 also used)
Limpit Multiplexer 3
Limpit Home/Datum Used, defines position 1.
Limpit drive brake Used
Limpit Barcode reader used
Limpit commands used SMCM, BARCODE, IN, RMOVE, PARAM, WHERE, DMOVING, DSTOP
PFM
Mechanism name Prime Focus Mode
Mechanism type none.
Operational range PFIP and ADC (0) or ADC only (1) modes.
Network commands Move PFM101(0 or 1)
Status requests PFM200 and PFM201
Network responses PFM800, PFM801, PFM802, PFM803, PFM804
Response parameters ( EEcmd, EEmech, Pos, Dtm, 0 )
EEcmd Command errors in hex
EEmech Mechanism errors in hex
Pos Current position in decimal
Mechanism errors 04
Interlocks When ADC only mode selected, power is
removed from PFIP LIMPIT and PFIP specific network
commands will not be available.
Limpit used none
SHS
Instrument Prime Focus Instrument Platform
Mechanism name Shutter Status
Mechanism type microswitches on shutter mechanism.
Operational range Jammed (0), Open (1), Closed (2), Disconnected (3)
Network commands Status requests SHS200 and SHS201
Network responses SHS800, SHS804
Response parameters ( EEcmd, EEmech, Pos, Dtm, 0)
EEcmd Command errors in hex
EEmech Mechanism errors in hex
Pos Current position in decimal
Mechanism errors 04, 09.
Interlocks None
Limpit used PFIP Limpit
Part 2: The Engineering terminal
The Engineering terminal is a direct serial link to the 4MS, it allows access to the FORTH code used to control the instrument, however it is highly recommended that this is not attempted as a full knowledge of the software would be required to ensure no further problems are created.
A Help facility has been provided so that direct use of the FORTH code is not required, the facility displays information for all instrument mechanisms and is updated dynamically if the data changes, it also allows network commands to be input at the terminal, can give a direct command input to the Limpits, known as transparent mode and can be used to control power to the Limpits.
This is an example snapshot of the HELP display.
PFIP & ADC DYNAMIC HELP DISPLAY SOFTWARE VERSION 1.02
Mechanism : AFS LIMPIT : PFIP Mains : ON 24V: ON
Min target:0 Max target: 1000 Steps between limits:10000
Serial link: 1 Channel nos: 2 Multiplexer nos : 3
Direct encoder reading : 10000 Operations : 0
Target 0 Position 1000
Enc.offset/detent/temp. 0 Barcode 0
Command error 0 Mechanism error 0
Network - Comms Rx Buffer
Tx Buffer
ADC - Comms: None Axis: 0 :None Axis 1: None
Transparent mode: OFF Tx last : Rx last
PFIP - Comms: None Axis 0: None Axis 1: None Barcode: None
Drive 1: None Drive2: None Drive 3:None Drive 4: None
Transparent mode OFF Tx last : Rx last :
N or I -Enter network message, P -Limit power, T -Transparent mode, m -Message
O-AFS, 1-AFW, 2-APX, 3-APY, 4-DOR, 5-HUM, 6-MFW, 7-SHS, 8-PFM, 9-ADI, A-ADO V,D, Q -QUIT
To start the Help display type HELP at the FORTH prompt, this display can be left running at all times.
The display is split into 4 areas of information.
PFIP & ADC DYNAMIC HELP DISPLAY SOFTWARE VERSION 1.02
This area shows the title and the running 4MS software version.
Mechanism: AFS LIMPIT : PFIP Mains : ON 24V: ON
Min target: 0 Max target: 1000 Steps between limits: 10000
Serial link: 1 Channel nos: 2 Multiplexer nos : 3
Direct encoder reading : 10000 Operations : 0
Target: : 0 Position: 1000
Enc.offset/detent/temp.: 0 Barcode: 0
Command error: 0 Mechanism error: 0
Shown here is the mechanism selected for display, in this case AFS, and the information associated to that mechanism.
The Limpit that the mechanism uses is displayed and the current state of the mains and 24V supply for that Limpit.
The minimum and maximum target values in real units accepted for network move commands. The number of stepper motor steps
between the limits of mechanism movement.
The Limpit Serial link number, Channel number and Multiplexer number used if relevant. The last encoder reading in A to D units
if relevant.
The mechanism operations field.
The current mechanism Target value in real units.
The current mechanism Position in real units.
The encode offset at datum, detent position or temperature depending on the mechanism. The Barcode value if relevant.
Any command errors
Any mechanism error.
Network - Comms Rx Buffer
Tx Buffer
ADC - Comms: None Axis 0: None Axis 1: None
Transparent mode: OFF Tx last : Rx last:
PFIP - Comms: None Axis 0: None Axis 1: None Barcode: None
Drive 1: None Drive 2: None Drive 3: None Drive 4: None
Transparent mode OFF Tx last : Rx last
This area shows information on the communication lines.
The Network communication receive and transmit buffers are shown, the last messages received and transmitted will be shown here.
The allocation of the serial link the axis and the drives to a mechanism is shown, when the serial link is used for a mechanism or a Limpit
axis or drive then the mechanism mnemonic is shown, as each of these can only be used for one mechanism at any one time.
Also shown is the status of Transparent mode to the Limpits, if Transparent mode is ON then this will be indicated, the last Transmitted
and received commands are also shown.
N or I -Enter network message, P -Limit power, T -Transparent mode, M -Message
O-AFS, 1-AFW, 2-APX, 3-APY, 4-DOR, 5-HUM, 6-MFW, 7-SHS, 8-PFM, 9-ADI, A-ADO V,D, Q -QUIT
This area shows the key commands accepted and also includes the space used for command input. As shown pressing keys 0 through
A selects the mechanism for which information is displayed. Pressing N allows a network command to be input at the engineering terminal,
the section on Network messages discusses this.
Pressing key P allows control of the Limpit mains and the 24V to the drive cards, the section on Limpit power discusses this.
T and M is used for Transparent mode discussed below in the Transparent mode section includes the commands required to control each
mechanism, the commands accepted by the Limpits are shown in the Limpit Command List section.
V displays the Health Monitor Status display discussed in Part 4.
D redraws the display
And Q quits the Help utility.
Network messages
Pressing N in the Help Utility allows a message to be entered which will be treated by the 4MS software as if it arrived on the network, it allows a
mechanism move or datum command to be used, however because no actual network connection is used, status requests cannot be used.
Using this facility the system can be tested without the use of the VAX or network.
Valid network commands for each mechanism is shown in the mechanism information section in Part I and listed below.
ADI101(pos) Move ADI to pos, where pos equals -900 to +900 in 0.1 degree increments.
ADI102 Move ADI to datum position.
ADI100 Stop ADI movement.
ADO101(pos) Move ADO to pos, where pos equals -900 to +900 in 0.1 degree increments.
AD0102 Move ADO to datum position.
ADO100 Stop ADO movement.
AFS101(pos) Move AFS to pos, where pos equals 0 to 14100 urn in 10um increments.
AFS102 Move AFS to datum position.
AFS100 Stop AFS movement.
AFW101(pos) Move AFW to pos, where pos equals 1 to 6 filter positions.
AFW102 Move AFW to datum position 1.
AFW100 Stop AFW movement.
APX101(pos) Move APX to pos, where pos equals 0 to 110000 urn in 10um increments.
APX102 Move APX to datum position.
APX100 Stop APX movement.
APY101(pos) Move APY to pos, where pos equals 0 to 20000 urn in 10um increments.
APY102 Move APY to datum position.
APY100 Stop APY movement.
MFW101(pos) Move MFW to pos, where pos equals I to 7 filter positions, or -1 to -7 for filter
positions I to 7 with detent left disengaged.
MFW102 Move MFW to datum position 1.
MFW100 Stop MFW movement.
Limpit power
Mains power for the Limpits and 24V drive card power for the Limpits are controlled using relays in the 4MS, these relays can also be controlled from
the Help Utility by pressing P and following the prompts to control the supply required.
The 24v supply can be powered off then on to reset the drive cards if a problem is suspected.
The mains is removed to reset the Limpits, allow a few seconds to pass before re-applying power then allow a further 40 seconds for the Limpit to complete
its initialisation sequence.
Transparent mode
Transparent mode allows you to communicate directly with the Limpits from the engineering terminal in the control room, this gives direct control of
the mechanism stepper motors.
Transparent mode is enabled from the help display by typing T, the user if then prompted for the Limpit to connect to, once connected the 4MS is not
able to communicate
The following pages list the transparent commands required to control each mechanism, each mechanism is on at least a single page, all the commands
required to control each mechanism directly is shown..
It is therefore important to use the official copy of this document kept in the WHT control room, as any amendments will be included in this document, if
you do make any findings that you consider may be of value, please included them in the space provided for future reference, please include extra pages if
necessary.
Following the mechanism listing is a full list of Limpit commands that can be used in transparent mode or when connected directly to the Limpit controller,
some understanding of the Limpit is required to use these correctly, a brief description of the Limpits is included in the system overview section, and more
detailed information is included in the Limpit document.
AFS
Start the Help utility by typing 'HELP' at the engineering terminal.
Start Transparent mode by typing
T - Selects Transparent mode.
1 - Selects mode ON.
· 0 - Selects PFIP,
Y - Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via the network, it is therefore important to disable
Transparent mode on completion.
Each time the. (period) key is pressed you will get the prompt 'Transparent command >', at which point you can type a string of
up to 25 characters which will be transmitted to the Limpit which has Transparent mode ON selected.
When a string is transmitted to a Limpit it will be displayed as the appropriate 'Tx last :'and the reply received will be displayed
as the 'Rx last:'
A (-)ve reply indicates an error, refer to pages 20 to 28 for Limpit error code descriptions. If there appears to be any problems
communicating with the Limpit see part 3 page 4 (Resetting the Limpit).
Reset the Limpit.
command > SMCM(0,64)
expected reply > 0
Selecting the motor.
command > SMCM(0,2) Selects Channel number 2.
expected reply > 2
Enabling/Stalling the motor.
command > SMCM(0,6) Applies stall current to motor
expected reply > 2
Set motor speed.
command > PARAM(0,Min-velocity,Max-Velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(0,200,500,500)
Min-Velocity = 200 Start velocity in steps/sec
Max -velocity = 500 Maximum velocity in steps/sec
Acceleration = 500 Acceleration rate in steps/sec/sec
Moving the motor/mechanism.
command > RMOVE(0,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(0,5000) Move 5000 steps in the (+)ve direction
RMOVE(0,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is 14100 urn
There is 10 step per um.
Stopping the motor.
command > STOP(0)
expected reply > 0
Mechanism position.
This mechanism has a linear encoder which is read every 20 secs, the current position is updated in the Position field in urn units to a resolution
of 10um, when a change in position of 50um or greater is detected.
The direct encoder reading is always updated.
On completion.
Reset the limpit.
command > SMCM(0,64)
expected reply > 0
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
APX
Start the Help utility by typing 'HELP' at the engineering terminal.
Start Transparent mode by typing :
T - Selects Transparent mode.
1 - Selects mode ON.
0 - Selects PFIP.
Y- Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via the network, it is therefore important to disable Transparent mode on completion.
Each time the . (period) key is pressed you will get the prompt 'Transparent command >', at which point you can enter a string of up to 25 characters which will be transmitted to the limpit which has Transparent mode ON selected.
When a string is transmitted to a limpit it will be displayed as the appropriate 'Tx last :'and the reply received will be displayed as the 'Rx last :'
A (-)ve reply indicates an error, refer to page 20 to 28 for Limpit error code descriptions.
If there appears to be any problems communicating with the limpit see part 3 page 4 (Resetting the limpit).
Reset the limpit.
command > SMCM(0,64)
expected reply > 0
Selecting the motor.
command > SMCM(0, 1) Selects Channel number 2,
expected reply >1
command> SMCM(0,2 1) Selects multiplexer channel 4
expected reply > 1
Enabling the motor.
command > SMCM(0,6) Applies stall current to motor
expected reply> 1
command> SMCM(0, 14) Releases the motor brake
expected reply > 1
Set motor speed.
command > PARAM(0,Min-velocity,Max_velocity,Acceleration) expected reply > 0
Recommended values
PARAM(O, 1 000,2000, 1 000)
Min_velocity=1000 Start velocity in steps/see
Max_velocity = 2000 Maximum velocity in steps/see
Acceleration= 1000 Acceleration rate in steps/sec/sec
Moving the motor/mechanism.
command > MOVE(0,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(0,5000) Move 5000 steps in the (+)ve direction
RMOVE(0,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is 110000 um
There is 1 step per 2um.
Stopping the motor.
command > STOP(0)
expected reply > 0
Mechanism position.
This mechanism has a linear encoder which is read every 20 secs, the current position is updated in the Position field in um
units to a resolution of 10um, when a change in position of 50um or greater is detected,
The direct encoder reading is always updated.
Applying the motor brake.
command > SMCM(0, 15)
expected reply> 1
On completion.
Reset the limpit.
command > SMCM(0,64)
expected reply > 0
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
APY
Start the Help utility by typing 'HELP' at the engineering terminal.
Start Transparent mode by typing
T - Selects Transparent mode.
I - Selects mode ON.
0 - Selects PFIP.
Y - Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via the network, it is therefore important to disable Transparent mode
on completion.
Each time the . (period) key is pressed you will get the prompt' Transparent command >', at which point you can type a string of up to 25
characters which will be transmitted to the limpit which has Transparent mode ON selected.
When a string is transmitted to a limpit it will be displayed as the appropriate 'Tx last :'and the reply received will be displayed as the
'Rx last :'
A (-)ve reply indicates an error, refer to pages 20 to 28 for Limpit error code descriptions. If there appears to be any problems
communicating with the Limpit see part 3 page 4 (Resetting the limpit).
Reset the limpit.
command > SMCM(0,64)
expected reply > 0
Selecting the motor.
command>SMCM(0,1) Selects Channel number2.
expected reply > 1
command > SMCM(0,19) Selects multiplexer channel 2
expected reply > 1
Enabling the motor.
command > SMCM(0,6) Applies stall current to motor
expected reply> 1
command> SMCM(0, 14) Releases the motor brake
expected reply > 1
Set motor speed.
command > PARAM(0,Min_Velocity,Max_Velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(O, 1 000,2000, 1 000)
Min_Velocity = 1000 Start velocity in steps/sec
Max_Velocity = 2000 Maximum velocity in steps/sec
Acceleration = 1000 Acceleration rate in steps/sec/sec
Moving the motor/mechanism.
command > RMOVE(0,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position. e.g.
RMOVE(0,5000) Move 5000 steps in the (+)ve direction
RMOVE(0,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is 24000 um
There is 1 step per um.
Stopping the motor.
command > STOP(0)
expected reply > 0
Mechanism position.
This mechanism has a linear encoder which is read every 20 secs, the current position is updated in the Position field in um
units to a resolution of 10um, when a change in position of 50um or greater is detected.
Applying the motor brake.
command > SMCM(0, 15)
expected reply > I
On completion.
Reset the limpit.
command > SMCM(0,64)
expected reply > 0
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
AFW
Start the Help utility by typing 'HELP' at the engineering terminal.
Start Transparent mode by typing
T - Selects Transparent mode.
1 - Selects mode ON.
· 0 - Selects PFIP.
Y - Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via the network, it is therefore important to disable Transparent mode
on completion.
Each time the . (period) key is pressed you will get the prompt' Transparent command >', at which point you can type a string of up to 25
characters which will be transmitted to the limpit which has Transparent mode ON selected.
When a string is transmitted to a limpit it will be displayed as the appropriate 'Tx last :'and the reply received will be displayed as the
'Rx last :'
A (-)ve reply indicates an error, refer to pages 20 to 28 for Limpit error code descriptions. If there appears to be any problems
communicating with the Limpit see part 3 page 4 (Resetting the limpit).
Reset the limpit.
command > SMCM(0,64)
expected reply > 0
Selecting the motor.
command > SMCM(0,2) Selects Channel number 2.
expected reply > 2
command -> SMCM(0, 19) Selects multiplexer channel 2
expected reply > 2
Enabling the motor.
command > SMCM(0,6) Applies stall current to motor
expected reply > 2
Set motor speed.
command > PARAM(0)
expected reply > 0
Recommended values
PARAM(0,200,500,500)
Min_velocity = 200 Start velocity in steps/see
Max_velocity = 500 Maximum velocity in steps/sec
Acceleration = 500 Acceleration rate in steps/sec/sec
Moving the motor/mechanism.
command > RMOVE(0,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(0,5000) Move 5000 steps in the (+)ve direction
RMOVE(0,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is 6 filter positions There are 1000 steps between filter position.
This mechanism is rotary and therefore there is also 1000 steps between positions 6 and 1.
Stopping the motor.
command > STOP(0)
expected reply > 0
Mechanism position.
This mechanism is not encoded, the position field will therefore not be updated.
Moving to the datum (Position 1)
command > SMCM(0, 12) Enables the datum sensor.
expected reply > 2
command > RMOVE(0,-6100) Drives into the datum sensor, motor stopped when
expected reply > 0 ( sensor reached. ) command > WHERE(0)
Returns the number of steps moved.
expected reply > If any value other than -6 1 00 then the datum sensor has been reached, if 61 00 returned then the
datum sensor was not located, see part 3 page 14 command > SMCM(0, 1 3) Disables the datum sensor
expected reply > 2
On completion.
Reset the limpit.
command > SMCM(0,64)
expected reply > 0
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
MFW
Start the Help utility by typing 'HELP' at the engineering terminal.
Start Transparent mode by typing
T - Selects Transparent mode.
1 - Selects mode ON.
· 0 - Selects PFIP.
Y - Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via the network, it is therefore important to disable Transparent mode
on completion.
Each time the . (period) key is pressed you will get the prompt' Transparent command >', at which point you can type a string of up to 25
characters which will be transmitted to the limpit which has Transparent mode ON selected.
When a string is transmitted to a limpit it will be displayed as the appropriate 'Tx last :'and the reply received will be displayed as the
'Rx last :'
A (-)ve reply indicates an error, refer to pages 20 to 28 for Limpit error code descriptions. If there appears to be any problems
communicating with the Limpit see part 3 page 4 (Resetting the limpit).
Reset the limpit.
command > SMCM(0,64)
expected reply > 0
Selecting the detent motor.
command > SMCM(1,4) Selects Channel number 4. (Detent driver)
expected reply > 4
Selecting the filter wheel motor.
command>SMCM(0,1) Selects Channel number 1
expected reply > 1
command -> SMCM(0,20) Selects multiplexer channel 3
expected reply > 1
**Enabling the detent motor. (see page 14, part 2 of original document)
**EnablingMmfihud@M~,6) Applies stall current to motor
e (0,6) Applies stall current to motor expected reply > I
Set detent motor speed.
command > PARAM(1,Min_velocity,Max_velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(1,50,100,100)
Min velocity= 50 Start velocity in steps/sec
Max velocity= 100 Maximum velocity in steps/sec
Acceleration = 100 Acceleration rate in steps/sec/sec
Set filter wheel motor speed.
Command>PARAM(0,Min_velocity,Max_velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(0,500,1000,500)
Min-Velocity = 500 Start velocity in steps/sec
Max - velocity= 1000 Maximum velocity in steps/sec
Acceleration = 500 Acceleration rate in steps/sec/sec
Moving the detent motor/mechanism out.
command > RMOVE(1,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(1,-1000) Will move the detent fully out.
Moving the filter wheel.
command > RMOVE(0,Steps) expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(0,-1000) Will move to the previous filter position.
RMOVE(0, 1000) Will move to the next filter position
Total range of mechanism is 7 filter positions
There are 1 000 steps per filter position.
This mechanism is rotary and therefore there is also 1 000 steps between positions 7 and 1.
Moving to the datum (Position 1)
command >SMCM(0, 12) Enables the datum sensor.
expected reply > 1
command > RMOVE(0,-7 I 00) Drives into the datum sensor, motor stopped when
expected reply > 0 ( sensor reached. )
command > WHERE(0) Returns the number of steps moved.
expected reply > If any value other than -7 1 00 then the datum sensor has been reached, if
7 1 00 returned then the datum sensor was not located, see part 3 page 14
command> SMCM(0, 13) Disables the datum sensor
expected reply> 1
Moving the detent motor/mechanism in.
command > RMOVE(1,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(1, 1 000) Will move the detent fully in
Stopping the motor.
command > STOP(0)
expected reply > 0
command > STOP(1)
expected reply > 0
Reading the barcode.
Stops the filter wheel
Stops the detent
command > BARCODE(0, 1)
expected reply > Barcode value
It may take up to 10 seconds before the barcode value is returned, a negative value indicates
that a valid barcode read was not possible.
Reading the detent status
command > IN()
expected reply > The value returned represents an 8 bit value. Bit 7 set indicates that the detent is
fully in (engage in the wheel).
Mechanism position.
This mechanism is not encoded, the position field will therefore not be updated.
On completion.
Reset the limpit.
command > SMCM(0,64)
expected reply > 0
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
ADO
Start the Help utility by typing 'HELP' at the engineering terminal.
Start Transparent mode by typing
T - Selects Transparent mode.
1 - Selects mode ON.
· 0 - Selects PFIP.
Y - Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via the network, it is therefore important to disable Transparent mode
on completion.
Each time the . (period) key is pressed you will get the prompt' Transparent command >', at which point you can type a string of up to 25
characters which will be transmitted to the limpit which has Transparent mode ON selected.
When a string is transmitted to a limpit it will be displayed as the appropriate 'Tx last :'and the reply received will be displayed as the
'Rx last :'
A (-)ve reply indicates an error, refer to pages 20 to 28 for Limpit error code descriptions. If there appears to be any problems
communicating with the Limpit see part 3 page 4 (Resetting the limpit).
Enabling the motor.
command > SMDC(0,6) Applies stall current to motor
expected reply > 0
Set motor speed.
command > PARAM(0,Min_velocity,Max_velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(0,500,1000,500)
Min_velocity = 500 Start velocity in steps/sec
Max_velocity = 1000 Maximum velocity in steps/sec
Acceleration = 500 Acceleration rate in steps/sec/sec
Moving the motor/mechanism.
command > RMOVE(0,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(0,5000) Move 5000 steps in the (+)ve direction
RMOVE(0,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is -90.0 degrees to +90.0 degrees. There is 8 steps per 0.1 degrees.
Stopping the motor.
command > STOP(0)
expected reply > 0
Disabling the motor.
command > SMDC(0,7) Removes stall current from motor
expected reply > 0
Mechanism position.
This mechanism has a rotary encoder which is read every 20 secs, the current position is updated in the Position field in 0.1
degree units.
On completion.
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
ADI
Start the Help utility by typing 'HELP' at the engineering terminal. Start Transparent mode by typing
T - Selects Transparent mode.
I - Selects mode ON.
I - Selects ADC.
y - Indicates Yes.
The display should now show Transparent mode : ON for ADC.
It is now not possible for any ADC mechanisms to be controlled via the network, it is therefore important to disable
Transparent mode on completion.
Each time the . (period) key is pressed you will get the prompt 'Transparent command >', at which point you can type a
string of up to 25 characters which will be transmitted to the limpit which has Transparent mode ON selected.
When a string is transmitted to a limpit it will be displayed as the appropriate 'Tx last :'and the reply received will be displayed as
the 'Rx last :'
A (-)ve reply indicates an error, refer to pages 20 to 28 for error code descriptions. If there appears to be any problems
communicating with the Limpit see part 3 page 4 (Resetting the limpit).
Enabling the motor.
command > SMDC(1,6) Applies stall current to motor
expected reply > 1
Set motor speed.
command > PARAM(1,Min_velocity,Max_velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(1,500,1000,500)
Min-velocity = 500 Start velocity in steps/sec
Max - velocity= 1000 Maximum velocity in steps/sec
Acceleration = 500 Acceleration rate in steps/sec/sec
Moving the motor/mechanism.
command > RMOVE(1,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(1,5000) Move 5000 steps in the (+)ve direction
RMOVE(1,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is -90.0 degrees to +90.0 degree's. There is 8 steps per 0.1 degrees.
Stopping the motor.
command > STOP(1)
expected reply > 0
Disabling the motor.
command > SMDC(1,7) Removes stall current from motor
expected reply > 1
Mechanism position.
This mechanism has a rotary encoder which is read every 20 secs, the current position is updated in the Position field in 0.1 degree units.
On completion.
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
Limpit Command List
PFIP Limpit
SMCM(Axis,Command)
Axis
Either of the two axis available on the SMDC can be used to control any mechanism
Once a drive is selected on an axis then all commands issued on that axis will relate to the mechanism connected to the drive.
Valid values
Decimal Longhand
0 X
I y
Description
Because the PFIP limpit uses a SMCM, the axis have no pre-defined connections.
Command
Refer to the mechanism information section for information on drive, multiplexer settings etc. required for each mechanism.
Valid values
Decimal or Longhand
0 RESET
1 DRIVE1
2 DRIVE2
3 DRIVE3
4 DRIVE4
6 ENABLE_DRIVE
7 DISABLE_DRIVE
8 FULL_STEP
9 HALF_STEP
10 ENABLE_INTERLOCK
11 DISABLE_INTERLOCK
12 ENABLE_HOME
13 DISABLE_HOME
14 RELAY_ON
15 RELAY_OFF
16 USER_ON
17 USER_OFF
18 MULTIPLEXER1
19 MULTIPLEXER2
20 MULTIPLEXER3
21 MULTIPLEXER4
64 CHANNEL_RESET
95 CARD_RESET
Descriptions
0 or RESET Resets the selected drive to its default state: Drive disabled, Half step mode, Interlock enabled,
Home disabled, Relay off, User bit off, Multiplexer 1.
1 or DRIVE 1 Selects Drive 1 on given axis, APY, MFW and APX use this drive
2 or DRIVE2 Selects Drive 2 on given axis, AFS and AFW use this drive
3 or DRIVE3 Selects Drive 3 on given axis, this drive is not used.
4 or DRIVE4 Selects Drive 4 on given axis, the MFW detent uses this drive
6 or ENABLE_DRIVE Enables the selected drive.
7 or DISABLE_DRIVE Disables the selected drive.
8 or FULL-STEP Sets the selected drive to Full step mode.
9 or HALF_STEP Sets the selected drive to Half step mode.
10 or ENABLE_INTERLOCK Enables any interlocks on drive.
11 or DISABLE_INTERLOCK Disables any interlocks on drive.
12 or ENABLE_HOME Enables the Home or Datum sensor.
13 or DISABLE_HOME Disables the Home or Datum sensor.
14 or RELAY_ON Closes the relay, therefore releasing any drive brake.
15 or RELAY_OFF Opens relay contacts, therefore enabling any drive brake.
16 or USER_ON Sets the user output to on.
17 or USER_OFF Sets the user o/p to off.
18 or MULTIPLEXER1 Selects the power multiplexer channel 1, AFS uses this channel.
19 or MULTIPLEXER2 Selects the power multiplexer channel 2, APY and AFW use this channel
20 or MULTIPLEXER3 Selects the power multiplexer channel 3, MFW uses this channel.
21 or MULTIPLEXER4 Selects the power multiplexer channel 4, APX uses this channel.
64 or CHANNEL_RESET Resets the selected drive to its default state and then deselects the drive.
95 or CARD_RESET Resets all drives and deselects any selected drives.
Valid Replies
Success
The value returned should represent the value of the drive selected on the axis used, i.e. values
1,2,3 and 4 are valid if they equal the drive you expected the command to have effected.
0 is also a valid return for the 64 and 95 reset commands.
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-2 Invalid command parameter, the command parameter given is out of range.
-3 Parity error, an error has occurred between the SMDC and the SMCM, see mechanism
error 1A - Parity error.
-4 No response from SMCM, see mechanism error 1B - No acknowledgement.
-5 No drive selected, select a drive before issuing command or see mechanism error 1D - No channel selected
-7 Invalid Axis, the axis given is out of range.
BARCODE(Axis,Drive)
Axis
Valid values
Decimal Longhand
0 X
1 Y
Description
The Axis used will have been selected when the drive command was used, a mechanism must
be fully connected before the barcode can be read, i.e. a drive must be selected and then the Multiplexer switched over if necessary.
Drive
Valid values
This is the drive that you have previously connected to using the drive commands, it is only used by the limpit to check that the axis
is already connected to the expected drive, otherwise an error will be issued, the value of drive can therefor be 1,2,3 or 4.
Valid Replies
Success
The value returned should represent the value of the drive selected on the axis used, i.e. values
1,2,3 and 4 are valid if they equal the drive you expected the command to have effected.
0 is also a valid return for the 64 and 95 reset commands.
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-2 Invalid command parameter, the command parameter given is out of range.
-3 Parity error, an error has occurred between the SMDC and the SMCM, see mechanism
error 1A - Parity error.
-4 No response from SMCM, see mechanism error 1B - No acknowledgement.
-5 No drive selected, select a drive before issuing command or see mechanism error 1D - No channel selected
-6 Channel selected error, the drive number given does not match that which has been previously selected, select/give correct
drive or see mechanism error 1C - Wrong channel selected.
-7 Invalid Axis, the axis given is out of range.
-9 Barcode parity error, see mechanism error 16 - Barcode read error.
IN()
Valid Replies
Success
If the return value is between 0 and 255 then this value represents the bit pattern on the input bits, as shown below:
Bit Decimal Connection Bit = 0 Bit = 1
0 1 Used by SMCM
1 2 X axis Drive status Drive error Drive OK
2 4 X axis User input I/P is high I/P is low
3 8 X axis Interlock Interlock clear Interlock set
4 16 Used by SMCM
5 32 Y axis Drive status Drive error Drive OK
6 64 Y axis User input I/P is high I/P is low
7 128 X axis Interlock Interlock clear Interlock set
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
ADC Limpit
SMDC(Axis,Command)
Axis
Decimal Longhand
0 X
I y
Descriptions
0 or X This axis is allocated to the ADO mechanism.
1 or Y This axis is allocated to the ADI mechanism.
Command
Decimal Longhand
0 RESET
6 ENABLE_DRIVE
7 DISABLE_DRIVE
12 ENABLE_HOME
13 DISABLE_HOME
Descriptions
0 or RESET Resets the selected drive to its default state: Drive
disabled, Home disabled.
6 or ENABLE_DRIVE Enables the drive on the axis given.
7 or DISABLE_DRIVE Disables the drive on the axis given.
12 or ENABLE_HOME Enables the Home or Datum sensor.
13 or DISABLE_HOME Disables the Home or Datum sensor.
Valid Replies
Success
The reply given should be the command given.
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-2 Invalid command parameter , the command parameter given is out of range.
-7 Invalid Axis, the axis given is out of range.
IN()
Valid Replies
Success
If the return value is between 0 and 255 then this value represents the bit pattern on the input bits, as shown below:
Bit Decimal Connection Bit = 0 Bit = I
0 1
1 2 ADO Drive status Drive error Drive OK
2 4 ADO Home sensor No home sensed Home sensor detected
3 8
4 16
5 32 ADI Drive status Drive error Drive OK
6 64 ADI Home sensor No home sensed Home sensor detected
7 128
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
ADC and PFIP Limpits
In the following commands Axis is defined as in SMCM or SMDC above depending on the limpit used.
RMOVE(Axis,Steps)
Refer to the section mechanism info for information on step size for each mechanism.
Steps
The number of steps to move the mechanism from its current position.
Valid Replies
Success
0 indicates success
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-7 Invalid Axis, the axis given is out of range.
PARAM(Axis,StartVel,MaxVel,Accel)
Set the velocities and acceleration/deceleration rates for the given axis.
See the section mechanism into for recommend settings for each mechanism.
Startvel
The start velocity in steps per second. MaxVel
The maximum velocity in steps per second. Accel
The acceleration and deceleration rate in steps per second per second.
Valid replies
Success
0 indicates success
1 indicates parameters are incompatible
Error
**WHM"- icate an error.
**@turi §t4@pA4@ tM (see original doc, page 28)
**parameters given
DMOVING(Axis)
Read status of axis, indicating if axis is attempting a move, this does not indicate if drive is selected and enabled.
Valid Replies
Success
0 indicates mechanism is not moving 1 indicates the mechanism is moving
Error
All negative values indicate an error.
- 1 Invalid command, Limpit did not understand command or parameters given
-7 Invalid Axis, the axis given is out of range.
DSTOP(Axis)
Stop any drive connected to axis given, this is an abrupt stop for emergency purposes only, DHALT(Axis) should be used where
possible,
Valid Replies
Success
0 indicates success
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-7 Invalid Axis, the axis given is out of range.
DHALT(Axis)
Halts any drive connected to the given axis, this causes the drive to ramp down to an eventual stop.
Valid Repels
Success
0 indicates axis was not previously moving.
1 indicates axis was previously moving.
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-7 Invalid Axis, the axis given is out of range.
LIMIT(Axis)
Reads the status of the limit sensors.
This command is only for engineering use, as it has an adverse effect of interrupting any move active on the other axis.
Valid Replies
Success
0 No limit sensor active
1 Positive limit sensor active.
-1 Negative limit sensor active.
Error
-2 Invalid command.
DISPLAY(Command)
Change the amount of information displayed on the Limpit LCD, usually Display is OFF and only a small amount of information
is display, it is important that Display is returned to OFF when under 4MS control, With Display ON a message is written to the
LCD for all commands.
Command
Decimal Longhand
1 OFF
2 ON
Command errors
Command accepted mechanism active ( error code C0)
This is not an error, and indicates a that a command has been accepted, is being action and that the mechanism is moving, this
value may be or'd with other command errors.
Command accepted, task active ( error code 80 )
This is not an error, and indicates a that a command has been accepted and is being action, this value may be or'd with other
command errors.
01 - Mechanism is busy
If a command had already been accepted and another was sent for the same mechanism then a mechanism error 01 is given,
allow the previous command to complete before sending another, the active command is not affected.
02 - Command rejected - Out of range
A parameter sent was out of range, each mechanism has an operational range which has been exceeded, no action is taken.
03 - Command rejected - Invalid parameter
To many or too few parameters were given, no action is taken.
04 - Command rejected - Invalid format
05 - Command rejected - Monitor mode list full
The list of monitors which will receive status commands is full, usually this is only the system
computer, reset the 4MS if necessary to ensure that no monitors a left on the list inadvertently.
06 - Command rejected - Invalid function
Each mechanism has valid functions, e.g. a move command cannot be issued to the DOR mechanism, if the function is not allowed
then this error is given and no action is taken.
07 - Filter wheel is interlocked - access cover open
The MFW cannot be moved because the access cover is open,
08 - Command has been cancelled
The network cancel command was used on the mechanism.
09 - Node-name not entered on Monitor mode list
Mechanism errors
Use the engineering terminal to identify the mechanism error given for the mechanism this is the EEmech field half way down
the display ( see the section on the engineering terminal ), alternatively use the error message given by the mimic display,
the section on the VAX/Mimic display lists the error messages against the mechanism error number.
The following pages list the mechanism errors, each error is listed in numerical order on at least a single page, a description
of what the error is indicating is given and probable causes and possible corrective actions are listed.
Space is left for other findings to be included against each error code, it is therefore important to use the copy of this
document kept in the WHT control room, as the fault may have been seen before, if you do make any findings during fault
diagnosis that you consider may be of value, please included them in the space provided for future reference, please include
extra pages if necessary.
Quick reference listing:
01 Mechanism time-out
02 Serial link time-out
03 Serial link access time-out
04 Only ADC control and status commands are enabled
05 No encoder position change detected
06 Did not achieve requested position with required accuracy
07 Maximum mechanism move attempts exceeded
08 Datum switch not located
09 Shutter status fault
0A Mechanism at limit switch
0B Linear encoder module error
0C Detent status error
0D Encoder calibration at datum exceeds limit
0E Failed to find limit switch during datum set
0F A to D module failure
15 Time-out on barcode read
16 Bar code read failed after repeated attempts
17 SMDC axis and SMCM channel access time-out
18 SMCM channel access time-out
19 Motor drive card error
1A SMCM parity error
1B No acknowledgement from SMCM
1C Wrong PFIP LIMPIT channel number from SMCM
1D No PFIP LIMPIT channel active
1E Unrecognised command sent to SMDC
1F Unrecognised reply from SMCM
20 Encoder near limit
21 Comms link unreliable - succeeded after multiple attempts
22 Barcode read required many attempts
23 Unencoded mechanism - position unknown
24 Relative Humidity limit exceeded
25 Mechanism has been stopped by a STOP command
26 Main Filter Wheel interlock: Cover not in place/cables disconnected