File $Source: /home/juda/www/hrc_flight/RCS/home_negy.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

"Home" -Y Shutter


This command sequence moves the HRC -Y shutter to its "home" limit switch. The sequence uses serial digital commands to configure the motor control electronics, select the -Y shutter motor, and command motion to the Home limit switch. After the -Y shutter is verified to be at the Home position, the motor drive is disabled and all motors are de-selected.


This sequence must only be performed during a real-time contact so that the required verifications can be performed.

The HRC detector housing door must be at either the closed or the fully open position before this command sequence may be executed (see HRC-C-008).

Flow Diagram

Delta-Time Command Mnemonic Description Cmd Field Mnemonic Data Parameter Telemetry Verifier Expected Value Notes
00:00:01.000 2MCMRASL Motion Control Mode Reset     2MCMDARS RSET sd6f00
00:00:01.000 2NYMTASL Select -Y shutter motor     2NYMTAST SEL sd7400
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 2SMOIAEN Enable Selected Motor Over-current Protection     2DROIAST ENAB sd4901
00:00:01.000 2SMOTAEN Enable Selected Motor Over-temperature Protection     2DROTAST ENAB sd4a01
00:00:01.000 2CHPLAEN Enable Primary Closed/Home Limit Switch     2CPLSAST ENAB sd5001
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
Verify Proper Motor Controller Configuration
00:00:01.000 2MDRVAEN Enable Motor Drive Electronics     2MDRVAST ENAB sd6801
00:00:01.000 2MVLAAEX Move to Home/Closed Limit Switch     2MCLAAMD CMD sd6a01
Wait while -Y shutter moves
Verify Primary Home/Closed Limit Switch Activated (2CPLSAAC = ACTV)
Verify -Y Shutter Home Limit Switch Closed (2MYLSHM = ACT)
00:00:01.000 2MDRVADI Disable Motor Drive Electronics     2MDRVAST DISA sd6800
00:00:01.000 2ALMTADS Deselect All Motors     2ALMTAST SEL sd7000

$Log: home_negy.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 18:43:24 juda

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

Revision 1.1 1999/03/03 20:10:36 juda

Initial revision

Revision 1.3 1998/06/01 12:24:04 juda

Corrected 2SMOTAEN serial digital value (changed sd4a00 to sd4a01) - reformatted table entries for telemetry verification of end motion

Revision 1.2 1998/05/13 19:58:30 juda

Added reference to constraint HRC-C-008 to the Cautions/Restrictions block - Marked as Approved

Revision 1.1 1998/05/11 16:51:40 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