| File | $Source: /home/juda/www/hrc_flight/RCS/door_safe.html,v $ |
| Version | $Revision: 1.1 $ |
| Last Update | $Date: 2000/01/19 15:39:23 $ |
| HRC CCB Status | not reviewed |
| OP03 Procedures | op03: |
This sequence assumes that the HRC door is already fully opened. It first configures the motor control system, then moves the door a requested number of steps toward the closed limit switch. Once the door is in position the motor drive is disabled and all motors deselected.
| Delta-Time | Command Mnemonic | Description | Cmd Field Mnemonic | Data Parameter | Telemetry Verifier | Expected Value | Notes |
|---|---|---|---|---|---|---|---|
| Verify HRC Door is Open | |||||||
| 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 | 2CHSLAEN | Enable Secondary Closed/Home Limit Switch | 2CSLSAST | ENAB | sd5101 | ||
| 00:00:01.000 | 2OMPLADI | Disable Primary Open/Max Limit Switch | 2OPLSAST | DISA | sd5200 | ||
| 00:00:01.000 | 2OMSLADI | Disable Secondary Open/Max Limit Switch | 2OSLSAST | DISA | sd5300 | ||
| 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 | 2NSTAAEX | Move loaded position word steps toward closed/home limit switch | 2MCNAAMD | CMD | sd6c01 | ||
| 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_safe.html,v $
Revision 1.1 2000/01/19 15:39:23 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