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


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.


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


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