Extended Axis Controller Commands

Charlie Briegel
Fermi National Accelerator Laboratory

Commands

• CWMOV id position
• CWPOS position
• CWINST name
• CWSTATUS
• BRAKE.ON
• BRAKE.OFF
• CLAMP.ON
• CLAMP.OFF
• SP1
• SP2
• SLIT.CLOSE
• SLIT.OPEN
• CART.LATCH
• CART.UNLATCH
• SLIT.STATUS
• AB.STATUS offset length
• FFS.OPEN
• FFS.CLOSE
• FFL.ON
• FFL.OFF
• NE.ON
• NE.OFF
• HDCG.ON
• HDCD.OFF
• FF Status
• Status Bits

CWMOVE id position
Causes the counter-weight specified by the id (0-3) to move to the specified position in units of volts*100 consistent with the hardware display. For instance, a value of 400 is a 4.00 volt read back from the string pot and is displayed on the hardware.

CWPOS position
Causes all four counter-weights to move in sequence (0,1,2,3) to the specified position in units of volts*100 consistent with the hardware display. For instance, a value of 400 is 4.00 volts read back from the sting pot and is displayed on the hardware.

CWINST name
Causes all four counter-weights to move in sequence (0,1,2,3) to the specified position for the instrument name. This enables the counter-weights to move to pre-specified positions for a given instrument configuration. There are currently 15 possible instrument names. Three have been named as follows: CAMERA, FIBER, and EMPTY. Each counter-weight has a unique setting. For instance, a value of 400 could be set for counter-weight 1 versus counter-weight 2 could be set to 410.

CWSTATUS
Returns status of the counter-weights including position. If a lower or upper limit is reached, a U or L corresponds to the appropriate status.

Sample output:
CW0 202 CW1 208 CW2 206 CW3 204

BRAKE.ON
Causes the brake of the previously selected axis to turn on. Only the TEL1 (Azimuth) and TEL2 (Altitude) have brakes.

BRAKE.OFF
Causes the brake of the previously selected axis to turn off. Only the TEL1 (Azimuth) and TEL2 (Altitude) have brakes.

CLAMP.ON
Causes the instrument change position clamp to turn on.

CLAMP.OFF
Causes the instrument change position clamp to turn off.

SP1
Selects spectograph 1 for the following commands: SLIT.CLOSE, SLIT.OPEN, CART.LATCH, CART.UNLATCH, and SLIT.STATUS. This command does not change the status of the currently selected axis for corresponding axis commands.

SP2
Selects spectograph 2 for the following commands: SLIT.CLOSE, SLIT.OPEN, CART.LATCH, CART.UNLATCH, and SLIT.STATUS. This command does not change the status of the currently selected axis for corresponding axis commands.

SLIT.CLOSE
Causes the selected spectographs slit head door to close. The spectograph is selected by the most recent command SP1 or SP2.

SLIT.OPEN
Causes the selected spectographs slit head door to open. The spectograph is selected by the most recent command SP1 or SP2.

CART.LATCH
Causes the selected spectographs cartridge pin to latch. The spectograph is selected by the most recent command SP1 or SP2.

CART.UNLATCH
Causes the selected spectographs cartridge pin to unlatch. The spectograph is selected by the most recent command SP1 or SP2.

SLIT.STATUS
Returns status of the selected spectographs slit head and cartridge latch pin.

Sample output:
SP1 CLOSE UNLATCH

AB.STATUS offset length
Returns the status in hexadecimal words starting at the specified offset for the specified length. The maximum length is 20 words. This data can be interpreted from the structure definition in data_collection.h for data returned from the Allen-Bradley interface. There are no CR or LF in the output string.

Sample output for cmd "AB.STATUS 10 10:
000e 0000 0000 0000 0000 0000 0000 0000 0fff 0555

FFS.OPEN
Causes the flat field screen to open.

FFS.CLOSE
Causes the flat field screen to close.

FFL.ON
Causes the flat field lamps to turn on.

FFL.OFF
Causes the flat field lamps to turn off.

NE.ON
Causes the neon lamps to turn on.

NE.OFF
Causes the neon lamps to turn off.

HGCD.ON
Causes the mercury-cadmium lamps to turn on.

HGCD.OFF
Causes the mercury-cadmium lamps to turn off.

FF.STATUS
Returns status of the flat field screen and lamps. The flat field screen has 16 bits of status; either open and/or closed for each of the 8 sections. There are three sets of lamps; incandescent, neon, and mercury-cadium. Each set consists of four lamps which are either off or on.

Sample output:
Leaf 01 02 03 04 05 06 07 08
FF O O O O C C C C
Lamp 01 02 03 04
FF Off Off Off Off
Ne Off Off Off Off
HgCd Off Off Off Off

Status Bits
The status bits for data returned from the axis command STATUS is defined by the following structure also found in data_collection.h.

struct AXIS_STAT {
unsigned always_zero : 1;
unsigned : 7;
unsigned : 6;
unsigned clock_slow_signal : 1;
unsigned clock_loss_signal : 1;
unsigned : 5;
unsigned stop_ok : 1;
unsigned amp_ok : 1;
unsigned closed_loop : 1;
unsigned max_limit: 1;
unsigned min_limit: 1;
unsigned max_acc: 1;
unsigned max_vel: 1;
unsigned max_pos: 1;
unsigned min_pos: 1;
unsigned pvt_time_late : 1;
unsigned pvt_empty : 1;
};