Jan 14-18: 
  Prep work to finish all testing, and prep for installation.
 
Jan 22-25: 
  tues: transport the dome system.
  wed/thur/thur: Install dome drive cabinet. Wire up drive to motor, resolvers.
     wire up power; wire up to tcs3

Jan 28-29: 

Monday

+ Hook up the DriveEnable from TCS - some confusion, and bad
  switch dome servo cabinet.
+ Resolver on Drive 01 showing velocity on non-moving motor. Checked
  (wiggle) cable/connector, saw cat-wiskers on 9-pin. Proble went away.
+ The lost power on router. Opp, plugged in AC into 24v input on router,
  need better layout and labeling inside box. EW fixed it.
+ Now Amp_Enable (DriveEnable on e100) and 3Phase_Pwr_is_OFF errors are ON,
  when power is applied.

+ Switch back to old system, tried tracking, and got safety_board_error:
  SB_Tel_Amp_En_Therm. Opps, miss wiring in fioE. EW fixed all OK.

Tues

+ Dome Heater are ON, changed dev to ignore dome heaters.
+ Trouble shoot TCS Safety Brd to E100 DriveEnable Issue.
  After lots os checking, we realiized that SafetyBoard need to
  be OK, and TO Panel CANNOT locked. This feeds into DriveEnable
+ DIN0 (3PhasePwr) - EW says in Hilo we were likely not hooked up
  to 3PhasePower correct, so the logic input was wrong. EW switch
  the logic for in the input into E100 DIN0.
+ Ran AutoTuning: After troubleshooting/fixing wiring on 2 drives,
  all 3 drives passed it's autotuning testing.

  Master: (E) run autotune....
     Failed: error_code= 4012 (resolver sense is wrong).
		 Test Started - Calculate current loop gains.
		 Test Completed - Calculate current loop gains.
			KIProp: 0.510542
			KIInt: 529.485962
		 
		 Test Started - Test the feedback.
		 Test Failed - Test the feedback.

     EW found 2 pairs are in error on the small extension to the E100 drive. Imai fixed.
	  Run AutoTune again... Passed.

		 Test Started - Calculate current loop gains.
		 Test Completed - Calculate current loop gains.
			KIProp: 0.510542
			KIInt: 529.485962
		 
		 Test Started - Test the feedback.
		 Test Completed - Test the feedback.
			Feedback Offset: -88.519218 degs
		 
		 Test Started - Measure the motor inertia.
		 Test Completed - Measure the motor inertia.
			Load Inertia: 0.0052614 kgm²
			Load Damping: 0.0192898 Nms/rad
		 
		 Test Started - Calculate the speed and position gains.
		 Test Completed - Calculate the speed and position gains.
			KVProp: 5.824945
			KVInt: 442.422607
			KProp: 14.512599
			KInt: 0.000000
			KDeriv: 0.000000
			KVelFF: 841.367249

  Slave01: (NW)

     AutoTune failed: error_code= 4063, error_code=4063.
		 Test Started - Calculate current loop gains.
		 Test Completed - Calculate current loop gains.
			KIProp: 0.510541
			KIInt: 529.485901
		 
		 Test Started - Test the feedback.
		 Test Failed - Test the feedback.

     Inspected wiring, found mis-matched twisted pairs on E100 side of resolver.
	  Imai Fixed...re-ran autotune...

		 Test Started - Calculate current loop gains.
		 Test Completed - Calculate current loop gains.
			KIProp: 0.510541
			KIInt: 529.485901
		 
		 Test Started - Test the feedback.
		 Test Completed - Test the feedback.
			Feedback Offset: -88.801712 degs
		 
		 Test Started - Measure the motor inertia.
		 Test Completed - Measure the motor inertia.
			Load Inertia: 0.0080762 kgm²
			Load Damping: 0.0068048 Nms/rad
		 
		 Test Started - Calculate the speed and position gains.
		 Test Completed - Calculate the speed and position gains.
			KVProp: 9.026528
			KVInt: 678.881348
			KProp: 14.382993
			KInt: 0.000000
			KDeriv: 0.000000
			KVelFF: 841.367065

  Slave02: (SW)
     passed:
		 Test Started - Calculate current loop gains.
		 Test Completed - Calculate current loop gains.
			KIProp: 0.510542
			KIInt: 529.485962
		 
		 Test Started - Test the feedback.
		 Test Completed - Test the feedback.
			Feedback Offset: -88.695313 degs
		 
		 Test Started - Measure the motor inertia.
		 Test Completed - Measure the motor inertia.
			Load Inertia: 0.0075797 kgm²
			Load Damping: 0.0150513 Nms/rad
		 
		 Test Started - Calculate the speed and position gains.
		 Test Completed - Calculate the speed and position gains.
			KVProp: 8.438732
			KVInt: 637.200439
			KProp: 14.441665
			KInt: 0.000000
			KDeriv: 0.000000
			KVelFF: 841.367249

Wed

The plan was to change the new 20" wheel back to the old one 
to try an get the system with wheels all the same size, but
when we measure all the old wheels, they are not the same.
It was decided to leave the wheels-as-is (new, old, old).

Archive controllers to 130130-archive-after-install/

Got estimate wheel size/gearing ratios, see brian's email Jan30,2012.
Put data in google spreadsheet "dome-gear-ratio"

Thur
EW and TD went up to the smmit to test:
  1. mounting of the motor - we mounted the baldor driver.
  2. Run the system (unloaded) from the TCS - worked.

Tried running the dome with the new system.....
  master went to max current.
  slave 01 had very low current - ratio too small ?
  slave 02 had about 1/2 current of master.

Todo

Run under tcs3.
Test fit motor
Why is A/D sample so noisy, has a -0.2 offset?