ICD_M2

M2 drives

Control of the focusing, centering and tilt mechanism (focus, x, y, a, b).
The control is deployed on the Altitude LCU.
The device is connected to the PMAC connectors J4, JS1, J8, JMACH1 & JMACH2.
The M2 controller is connected to the Connector W14.

The M2 controller PMAC-VME is supplied by ESO.

The connection layout and pin assignment is given in Annex 1 VLT-DWG-ESO-15154-2217

The control of M2 shall be performed by a PMAC VME board. The control of the PMAC board shall be done through RS422 interface on the ISER board. AMOS provides the source code to be implemented on the CPU in order to transform high-level commands into low-level commands (individual actuator motions). These commands are sent to the PMAC board via the RS422 interface. The high-level commands are listed in the table below.

Important Note: The effective interface to the M2 drives is not on PMAC connectors J4, JS1, J8, JMACH1 & JMACH2. The contractor is responsible of the interface between the PMAC-VME output connector and the Terminal Block, while ESO is responsible of interfacing the PMAC-VME RS422 input port with a ESO standard serial ISER8 output port. see also the full description in RD 18 Interface control document for the M2 support.

M2 drives interfaces:

Item	From	To	Signal	Description	Pin
COMMUNICATION:
1			M2 Communication	RS422 Port to PMAC Input port - Protocol details TBD	W14
GENERAL COMMANDS:
10	LCU	ATS	Power On/Off	M2_POWER_ON_OFF	Software Command to W14
11	LCU	ATS	Stop all actuators	M2_STOP
11.1	LCU	ATS	Execute set command	M2_GO
12	LCU	ATS	Constraints for each degree of freedom (focus, tip, tilt, x, y)	M2_PARAMETERS min,max,velocity
13	LCU	ATS	Initialize all actuators (motion to Home position)	M2_HOME
14	LCU	ATS	Request M2 status	M2_STATUS_REQUEST *M2_STATUS* **M2_GLOBAL: 4-bit value indicating Power On/Off, home, moving and error** M2_FAULT_LOCATION: On error, indicates the faulty actuator (1 to 6) M2_FAULT_DIAGNOSTIC: On error, indicates the error type *M2_TEMPERATURE_STATUS* SENSOR_TEMP: temperature measured by the sensor
MOTION COMMANDS:
20	LCU	ATS	Set M2 absolute position	M2_MOVE_ABS <axis> <absolute value> M2_DES_FOCUS <z along Z axis in mm M2_DES_TIP <a around X axis in radians M2_DES_TILT <b around Y axis in radians M2_DES_X <x along X axis in mm M2_DES_Y <y along Y axis in mm	Software Command to W14
21	LCU	ATS	Set M2 relative position	M2_MOVE_REL <axis> <relative value> *M2_DES_FOCUS* <z> along Z axis in mm *M2_DES_TIP* <a> around X axis in radians M2_DES_TILT <b around Y axis in radians M2_DES_X <x along X axis in mm M2_DES_Y <y along Y axis in mm	Software Command to W14
POSITION COMMANDS:
22	LCU	ATS	Get M2 absolute position	M2_MOVE_ABS <axis M2_DES_FOCUS returns the position <z along Z axis in mm M2_DES_TIP returns the position <a around X axis in radians M2_DES_TILT returns the position <b around Y axis in radians M2_DES_X returns the position <x along X axis in mm M2_DES_Y returns the position <y along Y axis in mm	Software Command to W14
LOW LEVEL ACTUATOR CONTROL:
30	LCU	ATS	Set actuator absolute position	M2_ACTUATOR_ABS <n=1..6 <absolute value M2_DES_ACTUATOR_n_POSITION <p along its degree of freedom	Software Command to W14
31	LCU	ATS	Set actuator relative position	M2_ACTUATOR_REL <n=1..6 <relative value M2_DES_ACTUATOR_n_POSITION <p along its degree of freedom
32	LCU	ATS	Get actuator absolute position	M2_ACTUATOR_ABS <n=1..6 M2_DES_ACTUATOR_n_POSITION returns the position <p of actuator #n along its degree of freedom

Last modified: Mon Oct 29 13:42:43 UTC 2001