fork- option allows multiple connections. No sanity check is made on these connections and it is up to the user not to move the telescope in two different directions at the same time.
debug - prints out the transactions to the PMAC and other control cards.
In the following optional arguments are indicated in  brackets. Floating point numbers input are denoted as %f, integer values as %d. All commands have the help option that lists the available keywords.
Pulses the klaxon in the dome. The quick keyword does it for a short time.
dome [center [force]] [put=%f] [windscreen]
Reports back the azimuth of the dome.
Example: tx dome done dome az=178.1
If the dome has not been homed, an ERROR message is generated.
The center option causes the dome shutter to be
centered at the proper azimuth for the telescope to look out.
The dome will only move if necessary unless overridden by
the force keyword.
If the dome actually moves it returns the keyword
in its reply.
The dome can be rotated to the azimuth set by the put= command. If the dome power is not on, the power will be turned on with a short delay before moving. Use the power command to turn off the dome power. The azimuth is in degrees from north (East is 90.0). The range is between 0 and 360 degree, inclusive.
If the windscreen keyword is used, then an error message will appear if the windscreen blocks the telescope.
If the dome is currently at the home position, the
command will return with the extra keyword
encoder [bar=] [oat=]
Reads the telescope position encoders in decimal degrees. No corrections are applied. It prints out a line like:
done encoder ha=0.095 dec=-6.220 dha=0.000 ddec=0.000 bar=805.7 oat=2.5Where ha and dec are the raw encoder readings in decimal degrees. The values of the pointing corrections (decimal degrees) are also printed. An ERROR message will result if any of the encoders are not homed.
The bar and oat values are the barometric pressure in millibars and outside air temperature in degrees Celsius. These are used to calculate the refraction. They can be set by command line options.
focus [override] [mils=%f]
Moves the telescope secondary to the desired focus position in mils.
If the requested or the reported secondary position value is outside of the legal range of motion the position report will be prefaced by the word ERROR instead of done. The range of motion can be determined by using the keyword, help. The range checking can be removed by putting the keyword override in front of the mils= statement. This doesn't override the mechanical limit switches only the readback.
home [force] [ha] [dec] [focus] [dome | domel | domer]
Homes the selected axes.
This command is equivalent to the home included in the
All of the telescope encoders are incremental and
need to have the absolute position determined; the
home command accomplishes this.
Note:Some axes may take minutes to home.
If the encoder has been homed in the past the
command will home in the direction that causes the shortest dome
If the encoder has not been homed it goes to the right.
You can override these directions by the
domer commands which cause the homing to occur towards
the left and right respectively.
The force option forces the home flag to be true without actually doing the homing. It must be placed on the command line before the axes that are to be forced.
Reports back the status of the
Example: tx interlocks done interlocks estop=off floor=off pier=off tilt=off
The telescope will not move in any direction if the estop or the floor are active.
The telescope will only move north if the tilt is active.
The telescope will not move north or west if the pier is active.
The ups will report off when running on mains power and active when running on batteries.
Returns the status of the East/West and North/South limit switches. It returns a string like
done limits east=off west=off north=active south=off
mirror [open] [close]
Controls the mirror cover on the telescope.
done mirror xx
xx is either
close depending on the status after the command is issued.
close is requested and the status
disagrees, an error message is issued.
It takes about 40 seconds to open or close the mirror. Ideally the mirror should be pointed near the zenith before closing. The program does not check if this is the case.
If the mirror is partially open or closed the following ERROR message will be generated.
ERROR mirror mirror in mixed state
offset [ra=%f] [dec=%f] [cos] [ha=%f]
Offsets the telescope from its present position where the values are in decimal degrees.
The dome will not be adjusted and the current epoch will be used.
If the cos keyword is specified the motion is corrected (increased) by 1.0/cos(declination).
Note:No limit checking is done before the move.
paddle [gain=%f] [type=%d]
Changes the gain on the paddle or how far an offset is
made for each second the button is depressed.
gain is a floating point number that
has to be determined experimentally.
type can be 0 for slow/set motions with tracking
or between 1 and 100 for faster motions.
The latter is for maintenance use only and will timeout to Set mode
in about an hour.
gain value has no meaning for the maintenance mode
as the speeds and accelerations are set by the Ix19 and Ix22 PMAC
Changing the gain will cause the paddle to revert to type 0.
The command returns how many seconds before the timeout occurs.
point ra=hh:mm:ss.s dec=dd:mm:ss [equinox=yyyy] [nodome] [nobeep] [finder] [nopcorr] [raw] point ra=%f dec=%f decimal [equinox=yyyy] [nodome] [nobeep] [finder] [nopcorr] [raw] point ra=%f dec=%f decimal [equinox=yyyy] [nodome] [nobeep] [finder] [nopcorr] [raw] point ha=%f dec=%f decimal [equinox=yyyy] [nodome] [nobeep] [finder] [nopcorr] [raw]
Positions the telescope to the RA and Dec specified. If the equinox to which the coordinates are referred is not specified the current epoch (today) will be used. The coordinates should be mean catalog positions of the current epoch; see where command for more details.
The telescope will respond with
done when pointed
to within its tolerance.
The dome will be moved unless the nodome option is specified.
If the interlocks are violated an error message will be issued.
An error message will be issued if the axes are not homed. Use the home command to do this.
If the decimal option is specified the ra (or ha) and dec are to be specified in decimal degrees.
If the nopcorr option is specified, the telescope is pointed to the coordinates without using the telescope pointing corrections. Refraction, nutation, aberration are still used.
The raw option points the telescope without using any corrections.
If coordinates are specified with the ra= option, the telescope must be tracking at a near sidereal rate, otherwise an error message will be issued. If coordinates are specified with the ha= option, the telescope must be not be tracking, otherwise an error message will be issued.
If the finder option is specified the dome will be positioned for the finder to peek out the slit.
Examples: point ra=14:14 dec=19:19 point ha=4.856 dec=10.430 decimal nodome
See Also: where
power [off] [dec=off]
power is catch all command to turn of the servo
control of all axes.
You might want to do this to balance the telescope or twist
the gears by hand.
It also can help regain manual control of the dome azimuth if
the computer holds control by mistake.
There is no corresponding on command as the other commands
track, offset, point, dome do it automatically as needed.
The command dec=off only turns off the dec servo following. It is used for testing and may have side effects.
Example: tx tel_status done tel_status name=1.3meter obs=MDM lat=31.95000 long=-111.61670 elev=1925.0 east=-78.0 west=76.0 north=90.0 south=-36.0 alt=15.0 scale=20.72 type=equat
Where the East Longitude, latitude and limits are in decimal degrees; the elevation is in meters above sea level. The name is the name of the telscope, while obs specifies the name of the observatory. The limits to the telescope motion are specified in degrees. The scale is in arc-seconds per mm. The type of telescope is an equatorial.
Note: The values reported by this command (not necessarily the example above) are considered the authoritative values.
Returns the values of the telescope sensor temperatures in degrees Celsius.
Look at Device page for more details.
track [local] [on] [off] [ha=%f] [ra=%f] [dec=%f]
Sets the telescope tracking rate. When used without arguments it simply returns the current track rate in arc seconds per second. Note: the tracking is turned on for one hour and must be re-initialize by a track, offset, or point command.
The on keyword set the tracking to the sidereal rate (ha=15.04 dec=0).
Using the ha= and dec= allow you to set the rates explicitly in arc seconds per second. The values are limited only by the slew rate of the telescope.
Using ra= sets the tracking above or below the sidereal rate in arc-seconds per seconds.
The local option adjusts the tracking rate to the value determined by the derivative of the pointing coefficients at the hour angle and declination that the telescope is currently pointing. It cannot be combined with the ra, ha, or dec options.
where [equinox=] [nopcorr] [apparent] [raw] [decimal]
Reports the telescope position.
Example: tx where done where ra=06:50:8.04 dec=+31:57:28 equinox=2006.4 ha=-0.016 secz=1.00 alt=90.0 az=97.2The default position is the mean catalog position of the current equinox. The encoder positions have been corrected for:
The hour angle, altitude and azimuth are all reported in decimal degrees. The secant of the zenith angle is unitless.
The azimuth is that of where the telescope is pointing and is not necessarily the azimuth the dome should be pointing.
If either the HA or Dec encoder has not been homed, an ERROR message will occur. Use the home command to correct.
The decimal option causes the RA and Dec to be reported in decimal degrees rather than sexagesimal hours/degrees.
zero [ra=hh:mm:ss.s] [dec=dd:mm:ss] [equinox=yyyy] zero [last] zero [cra=%f] [cdec=%f]Used in the first method the zero command tells the telescope control program that the current position is that stated on the command line. The program will then adjust the additive constants to the pointing programs so that future
pointcommands will refer to this origin. The last keyword can be used in place of specifying the coordinates.
The additive constants can be set manually by specifying them on the command line. The values revert to 0.0 when the program is restarted.