For purposes of testing the telescope, it is often useful to send commands directly to the Galil motion controller through a serial link to the computer. You can do this through a program (galilterm) running on the computer in the telescope, t13a. To use this program, log into the computer over the network and start the program. Its source code resides in directory /usr/local/src/galil and the executable file may be installed in /usr/sbin. If you need to recompile it, follow the procedure given below. You can find a complete set of commands for the Galil controller in the manual Command Reference kept in the left side of the desk in the control room.

The Galil controller is set up to run two axes independently, X=azimuth and Y=tilt. For purposes of monitoring them, the other four motors are wired into the remaining four positions in the Galil controller, Z=, etc., but they are all controlled by the demand (troque) signal from axis X or Y. You may poll their positions as these other axes.

Running GALILTERM: Start the program using the commands shown below. Basically there are three steps in setting up the system: (1) First, you have to establish communications with the controller. (2) Second, you have to set in the PID constants for the two axes, X=azimuth and Y=tilt. (3) Third, you have to send commands to the controller to run the axes. Be careful to check beforehand whether the telescope will hit the enclosure before starting any motions.

   t13b>telnet t13a              --> connect to computer in the telescope
      (logging in etc)               over the ethernet
   t13a>cd /home/eaton/ast/src/galil --> switch to proper directory unless 
                                     program is installed in /usr/bin

               *****  Establish communications with controller  *****

   t13a>galilterm                --> start terminal program on computer
                                     in the telescope

               *****  Set up the PID (etc.) constants  *****
               *****  (This is very important since    *****
               *****  the drives will oscillate with   *****
               *****  the default values.              *****

   KP 5,5                        --> set proportional PID constant for axes X,Y
   KD 35,35                      --> set derivative (velocity) PID constants
   KI 0.01,0.01                  --> set integral PID constants = 0.01

               *****  Turn on the servos and begin tests  *****

   SH X,Y                        --> servo here, X(az), Y (tilt) axes

   JG ,25000                     --> sets jog speed for Y to 25,000 cps
   BG Y                          --> begin motion in Y axis
   TT                            --> tell torque (in volts)
                                      repeat several times
    .
    .
    .

   JG ,-25000                    --> reverses motion
   TT                            --> tell torque (in volts)
                                           repeat
    .
    .
    .

   ST X,Y                        --> stop motion 


   TT                          --> tell torque

Recording Engineering Data: You may write programs to load into the Galil controller that periodically record such useful data as the position (TP) or demand (torque).

Compiling GALILTERM: If the program does not exist on the computer, then you will have to make and install it. First change to directory /home/eaton/ast/src/galil, which should contain the proper source code. Next make the program (make galilterm) and install it or run it out of the source directory (./galilterm). ...