1. Conditions

All tests described can be executed from SAFE MODE of from SPECTROSCOPY. As these tests do not ensure that the grating remains configured with senseful controller parameters, it is safe to end them by sending the SAFE MODE OBCP

One should care that the DPU_HK_LIST command has been commanded to "SPEC - BOTH". This is performed by the PACS_Spec_HK_Setup_OBS.cus script.

Their analysis relies only on HK & diagnostic HK data.

2. Amplitude

The amplitude of the excitation of the inductosyn (& sine and cosine) has to be adjusted first. The amplitude can be adapted by manual commanding with the following command DMC_WRT_GRAT_INDUC_AMPL. The following procedure runs a loop over 10 values of the amplitude which should surround the correct value.

3. PID

3.1. First Check

The first test's purpose is to check that a given set of parameters provides the most basic stability. The test consists in writing the paramters, enabling the grating for a few seconds, and desabling it.

3.2. Second Check

The second check is a variation of the first one. It is about the same, except for the addition of a grating movement.

3.3. PID Loop

The following test loops over a serie of sets of grating PID parameters.

Execution Date : 
          Phase  I : 20061107 to 20061109
          Phase II :

State :
          Phase  I : OBSW updates needed. Test needs to be rerun @ Phase II
          Phase II : 

4. Grating Behaviour Characterisation

Once a possibly acceptable set of PID parameters has been found, the grating behaviour should be characterised in all its aspects. This is the goal of the following tests.

4.1. Grating Healthcheck

This test homes the grating a number of times, on both sides of the grating range, and performs large amplitude movements in between. It allows to check for the grating range, the presence or absence of hard points in the path, the behaviour of the driving current throughout the range and it allows to establish the GRAT_CUR_POS vs HALL A & B characteristics.

4.2. Slew Time Cal

This is the main grating characterisation test. It performs series of grating movements of all amplitudes, all over the grating range

4.3. PID Check ("Tune PID")

This test performs a set of small amplitude movements every 5 degrees of the grating range.