File $Source: /home/juda/www/hrc_flight/RCS/door_mostly_open.html,v $
Version $Revision: 1.2 $
Last Update $Date: 2000/03/06 21:08:59 $
HRC CCB Status not reviewed

OP03 Procedures op03:

HRC Command Sequences

Move HRC Door to "Mostly" Open Position

Description:

This command sequence is used to move the HRC detector housing door to a "mostly" open position so that the detector is able to view x-rays from the HRMA. The sequence moves the door 10000 motor steps toward the open limit switch, as such it form a complementary pair with the command sequence Move HRC Door to "Mostly" Closed Position which moves the door 10000 motor steps toward the closed limit switch.

Cautions/Restrictions:

Before executing this sequence the HRC focus shutters must be verified to be in their Home positions (see HRC-C-001).

Flow Diagram

Delta-Time Command Mnemonic Description Cmd Field Mnemonic Data Parameter Telemetry Verifier Expected Value Notes
Verify +Y Shutter is at Home Position
Verify -Y Shutter is at Home Position
00:00:01.000 2MCMRASL Motion Control Mode Reset     2MCMDARS RSET sd6f00
00:00:01.000 2DRMTASL Select Door Motor     2DRMTAST SEL sd7100
00:00:01.000 2STFLADI Clear Stop Flags     2SFLGAST DISA sd5400
00:00:01.000 2STFLAEN Enable Stop Flags     2SFLGAST ENAB sd5401
00:00:01.000 2SMOIADI Disable Selected Motor Over-current Protection     2DROIAST DISA sd4900
00:00:01.000 2SMOTAEN Enable Selected Motor Over-temperature Protection     2DROTAST ENAB sd4a01
00:00:01.000 2CHPLADI Disable Primary Closed/Home Limit Switch     2CPLSAST DISA sd5000
00:00:01.000 2CHSLADI Disable Secondary Closed/Home Limit Switch     2CSLSAST DISA sd5100
00:00:01.000 2OMPLAEN Enable Primary Open/Max Limit Switch     2OPLSAST ENAB sd5201
00:00:01.000 2OMSLAEN Enable Secondary Open/Max Limit Switch     2OSLSAST ENAB sd5301
00:00:01.000 2MDRVAEN Enable Motor Drive Electronics     2MDRVAST ENAB sd6801
00:00:01.000 2PSHBALD Load High-byte motor control position word (39dec [0x27] for 10000dec steps) 2PSHBAL1 39     sd1827
00:00:01.000 2PSLBALD Load Low-byte motor control position word (16dec [0x10] for 10000dec steps) 2PSLBAL1 16 2SCTHAST 10000 sd1910
Verify Proper Motor Controller Configuration
00:00:01.000 2NSTBAEX Move loaded position word steps toward open/max limit switch     2MCNBAMD CMD sd6d01
Wait while detector housing door moves (10000 steps/125 steps/s = 80 s minimum
Verify Motor Controller Status indicates finished moving requested number of steps toward open/maximum limit switch (2MSNAAMD = NMOV)
00:00:01.000 2MDRVADI Disable Motor Drive Electronics     2MDRVAST DISA sd6800
00:00:01.000 2ALMTADS Deselect All Motors     2ALMTAST SEL sd7000

$Log: door_mostly_open.html,v $

Revision 1.2 2000/03/06 21:08:59 juda

removed duplicate "name" tag - changed commanding of secondary open limit switch from disable to enable

Revision 1.1 2000/02/29 17:38:11 juda

Initial revision

Dr. Michael Juda
Harvard-Smithsonian Center for Astrophysics
60 Garden Street, Mail Stop 70
Cambridge, MA 02138, USA
Ph.: (617) 495-7062
Fax: (617) 495-7356
E-mail: mjuda@cfa.harvard.edu