1. TCS requirements

   Runs 10Hz loop to:

   1. Set the state of the dome servo:
       disable: brakes on.
        enable: respose to velocity request.

   2. Set requested velocity in velocity mode.
         Range is 0 to 2 deg/s velocity.
         Acceleration is 0.140 deg/sec^2.

   3. Query dome status. Information should include
      control status, temperature, velocity, current, etc.

   We have implemented COMM array read/write from the Linux host using
   the ICM protocol over TCP/IP. It is assumed the COMM array could be used
   to transfer request and status information from/to the Linux host.

   Control from TCS can be done by poking COMM array, and have a MINT
   application react.
     1. React by polling in a mint applications. This could be slow, (estimate 5Hz mint loop rate`).
     2. Mint program could use COMM or NETDATA event.
     3. Could implement more ICM command over TCP/IP to give the TCS a more immediate response.

   The general controller scheme for the servo system would be:
      Manager node setup in velocity mode. It response to TCS commanded velocities.
      The 2 control node are setup to match the torque output of the manager node.

2. E100 Controllers

2.1 EPL

   Set up the controller on the network using an epl router.
   This allow the TCS computers to communication with the e100.

   3 e100 will be used for the dome servo system.
   0xf0 (node 240) contains a MINT module is a manager node.
   0x01 (node 001) contains is a control node.
   0x02 (node 002) contains is a control node.

2.2 E100 node 240

   Node 240 identifies the manager node.
   This contains a MINT module.
   The MINT module with host a MINT application to:

     1. control from TCS Using Event COMMx.
         The the MINT Program respond to the
         TCS poking of data into COMMS 1, and 2.

      2. Update status data from all 3 axis to the COMM array memory.


2.3 E100 node 100 and 101

   The other two controller will run in torque mode.
   The will match the torque output of the manages node.

   How to implement this is TBD. However, using the EPL network, the manager
   node should be able to control these axis. Setting the mode (idle, torque)
   when necessary.

2.4 How would TCS position the DOME

   TCS polls controll at 5Hz to obtain status data.

   Start of night (via TCS computer):
      enable drive_enable IO  (X3 pin 21)
      insure power is ON.

   When needing to position:

      1. enable drive/release brakes

      2. set speed

      3. decelerate to 0

      4. disable drive/set brakes

   End of night (via TCS computer).
      disable drive_enable IO  (X3 pin 21)
      insure power is OFF.

2.4 State data to TCS1

   Can we map data from axis0,1,2 to COMM arrays?

   1. Have MINT program assign data to COMM in a loop. Run about 5Hz.

   2. Have PDO move data to COMM area. Is this better? I tried, but
      control node when offline after setting up some transfers.

Questions

  What is the best way to program/setup the controllers.

  Set parameters via the Mint Work Bench by connecting to each controller one-by-one?

  Have a PC connect to all 3 via a USB Hub, How well does that work.

  About saving .wbx and .cfg?  per controller?

  Re-start workbench, then move to next controller?

  How get controller setup after cold boot.
    can everything be set in parameter tableR?

  Is there an open loop mode? How to make the axis idle.
     torqueRef(0) = 0       ; disable servo loop
     cancel(0) = 0          ;  enable servo loop

  How would we tune the system?
  axis 0 vel mode?
     kvprop
     kvint
     kvtrack
     kvelff

  axis 1,2 torque mode?
     kiprop
     kiint
     kitrack