File $Source: /home/juda/www/hrc_flight/RCS/door_to_cal.html,v $
Version $Revision: 1.3 $
Last Update $Date: 1999/05/10 18:08:08 $
HRC CCB Status Approved

OP03 Procedures op03:

HRC Command Sequences

Door Position Cal Source

Description:

The HRC detector housing door is used to position the internal calibration source for illumination of the HRC-I and HRC-S detectors. For ease of operation the same position is used for both the HRC-I and HRC-S; this is with the HRC housing door positioned 7000 motor steps from the fully opened position.

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.

Cautions/Restrictions:

This sequence requires a real-time contact so that the limit switch verification can be performed.

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 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 (27dec [0x1b] for 7000dec steps) 2PSHBAL1 27     sd181b
00:00:01.000 2PSLBALD Load Low-byte motor control position word (88dec [0x58] for 7000dec steps) 2PSLBAL1 88 2SCTHAST 7000 sd1958
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
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_to_cal.html,v $

Revision 1.3 1999/05/10 18:08:08 jhc

corrected initial time delay to 1 sec

Revision 1.2 1999/04/07 18:40:36 juda

HTML changes: added DOCTYPE and ALT reference for flow diagram - added "name" tags to sub-sequences

Revision 1.1 1999/03/03 20:07:30 juda

Initial revision

Revision 1.3 1998/06/01 12:21:33 juda

Corrected 2SMOTAEN serial digital value (changed sd4a00 to sd4a01) - changed 2SMOIAEN line to 2SMOIADI (entire line enable to disble) - reformatted table entries for telemetry verification of end motion

Revision 1.2 1998/05/13 19:46:48 juda

Commands to disable primary and secondary open/max limit switches changes to enables - "Verify Proper Motor Controller Configuration" moved to after "Load Low-byte motor control position word" - spelling corrections - Marked as Approved

Revision 1.1 1998/05/11 15:15:24 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