The table below contains the most recent
manuals from klaus (vertex). I've included the original .doc
file as well as an .odt version (created by libre office).
The original location and date for the manual is also included.
volume |
manual |
section |
.doc |
rev,date |
1 |
||||
2 |
operation and maintenance manual control system |
1 |
Operation,Maintenance, and
troubleshooting om5034.odt om5034.doc |
2.2 sept1997 |
2 |
LAN interface description (i have a corrupted version of this..LAN5034.TXT |
2.1 1997 |
||
3 |
programmable controller
siemens simatic s5-135u Description of Internal interfaces if5034.odt if5034.doc |
2.3 dec1999 |
||
4 |
modifications and
adjustments adj530.odt adj530.doc |
2.3 dec1999 |
||
3 |
installation manual control system |
drawing list |
2.1 sept1997 |
|
single line diagram and
control circuit diagram (the electrical schematics) |
||||
list of parts |
||||
interconnection diagram |
||||
cable list |
||||
cable diagram |
||||
location diagram |
||||
4 |
maintenance
manual control system |
1 |
Vendor publications md5034.odt md5034.doc |
2.2 sept1997 |
|
||||
misc |
PLC
Simatic S5-135U list of plc routines |
progl034.odt
progl034.doc |
dec1999 |
|
dcs
device hardware interface pinouts |
dcs_pinouts.doc |
sept 1995 |
On 17 jan 13 aeronomy was doing azimuth spins when encoder 2 failed. The encoder was replaced.
The plots show the azimuth encoder difference before and after the replacement (.ps) (.pdf)
On 08mar06 the encoder 2 jumped again. It was replaced by a new encoder on 09mar06
processing: x101/060307/agc.proprocessing: x101/agc/ampglitch20jun02.proFig 1 top. Torques versus hour of day. The zenith angle is plotted in black at the top. The green spikes are the torques from motor 21. Fig 1 bottom. This is a blowup of the top plots. The sampling is once per second so the glitch is on the order of 1 second. Fig 2. The top is torque versus velocity (degrees/second), middle is torque versus acceleration (deg/sec^2), and the bottom plot is torque versus za. The green crosses are motor 21. The glitches only occur at positive acceleration.
The az,gr,ch information is recorded once a second. I
searched the files from april through august and found more
occurrences of this problem: 2 in april, 5 in august, 11 in
june, 8 in july, 5 in august. I never saw it occur in the gr or
ch. This is why i think that a wheel slippage may be
related to this.
I've changed the trkinit code so that it doesn't try to take control of the axis if it already has it. This will cut down on the number of times that this condition should occur. It should still be fixed since users can request the azimuth to stop and start without going through the vme system (via the lcu or ocu).
This problem will stress the motors/amplifiers (removing the load so quickly). The brakes should also be inspected. Jose maldonado pointed out that wheels spinning on the track will remove the grease and could cause damage to the rail.
01sep01 update. Motor/amp 12 on the azimuth had an output voltage of 300 millivolts when the azimuth was not moving. All of the other motors/amps were under 10 millivolts. This value was averaged with the other 7 motors and caused the velocity error to be non zero and integrate up while the brakes were on. Fixing this will decrease the chances of this happening again. The code should still be changed so that the integrator is disabled whenever the brakes are on (at least for the azimuth).