Bin Wu, Julia Rice
We have been working on writing a new Guardian script that will allow us to switch off the dither loops sooner in the power up process and instead use cameras.
We first looked at the error signals in the ASC cameras to see if we could adjust offsets to better values. We did this for the CAMERA_SERVO guardian, and added new intermediate states, including TURN_ON_CAMERA_25W_OFFSETS and TURN_ON_CAMERA_MOVESPOTS_FIXED_OFFSETS. We've attached screenshots showing the graph before and after our additional states. Below are the values we used for offsets for each. The weight from DITHER_ON to TURN_ON_CAMERA_25W_OFFSETS is set to be 10.
TURN_ON_CAMERA_25W_OFFSETS
| PIT1 | -233 |
| PIT2 | -168 |
| PIT3 | -217 |
| YAW1 | -248 |
| YAW2 | -397 |
| YAW3 | -338 |
TURN_ON_CAMERA_MOVESPOTS_FIXED_OFFSETS
| PIT1 | -232 |
| PIT2 | -159 |
| PIT3 | -226 |
| YAW1 | -248 |
| YAW2 | -431 |
| YAW3 | -351 |
We also adjusted the offsets for TURN_ON_CAMER_FIXED_OFFSETS:
| PIT1 | --230 |
| PIT2 | -181 |
| PIT3 | -226 |
| YAW1 | -245 |
| YAW2 | -418 |
| YAW3 | -353 |
These are added in lscparams.py. We also added the necessary code into CAMERA_SERVO.py.
We also added a parameter in lscparams.py for new ADS camera CLK_GAIN at 25W ('ads_camera_gains_25W', screenshot included)
Right now the new states are not requestable, so they will need to be ran manually to test. We haven't made any change to the ICS_LOCK guardian.
Also added lines in CAMERA_SERVO.py under DITHER_ON to check if ISC_LOCK is at 25W when proceeding through self counter loop, see attached.
Adding A2L gains for reference, first chart clarifies dither loop actuators and cameras.
| Beam pointing actuator | ADS Dither | Cam Sensor |
| PRM PIT | Dither ITMX: ITMX P2L | BS Cam 1 PIT |
| PRM YAW | Dither ITMX: ITMX Y2L | BS Cam 1 YAW |
| X SOFT PIT | Dither ETMX: ETMX P2L | ETMX Cam 2 PIT |
| X SOFT YAW | Dither ETMX: ETMX Y2L | ETMX Cam 2 Yaw |
| Y SOFT PIT | Dither ETMY: EMTY P2L | ETMY Cam 3 PIT |
| Y SOFT YAW | Dither ETMY: ETMY Y2L | ETMY Cam 3 Yaw |
| GRD State | A2L Gain | Cam Offset |
| POWER_25W [506] | P2L ITMX: -1.25 | -233 |
| P2L ETMX: 0.85 | -168 | |
| P2L ETMY: 0.85 | -217 | |
| Y2L ITMX: 0 | -248 | |
| Y2L ETMX: 0 | -397 | |
| Y2L ETMY: 0 | -338 |
| GRD State | A2L Gain | Cam Offset |
| MOVE_SPOTS [508] | P2L ITMX: -1.8+1.0 | -232 |
| P2L ETMX: 4.0 | -159 | |
| P2L ETMY: 3.6+1.0 | -226 | |
| Y2L ITMX: 2.1 | -248 | |
| Y2L ETMX: 4.4 | -431 | |
| Y2L ETMY: 2.2+1.0 | -351 |
| GRD State | A2L Gain | Cam Offset |
| MAX_POWER [520] | P2L ITMX: -0.54 | -230 |
| P2L ETMX: 3.31 | -181 | |
| P2L ETMY: 5.57 | -226 | |
| Y2L ITMX: 3.23 | -245 | |
| Y2L ETMX: 4.96 | -418 | |
| Y2L ETMY: 1.37 | -353 |