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Servo tests of friction compensation

starting az=404, el=77.9

                                     gains
scan    time    scantype          azim   elev
1     13:38:59  ccb7arcmindaisy    1.0   0.11  warning about no Config
2     13:43:42   "                 1.2
3     13:49:18   "                 1.4                    
4     13:54:33   "                 1.8
5     13:59:12   "                 1.1
6     14:04:55  circle             1.1
7     14:08:07   "                 1.2
8     14:11:05   "                 1.4
9     14:14:13   "                 1.8
10    14:16:41   "                 0.0
11    14:19:07  ccb7arcmindaisy    0.9
12    14:24:26  circle             0.9
13-14 14:27:18  ccbnodservo        0.7
15-16 14:31:29  "                  0.9
17-18 14:35:02  "                  1.0
20-21 14:39:55  "                  1.2
22-23 14:43:33  "                  1.4
      14:53     negative 360 degree turn at -1000 arcmin/minute
           finished at 15:39  (at az -77, el +77)

25-28 15:41:11   fastswitch    1.4
 move away  from limit to az=0
29-32 15:51:42    "            1.2
33-36 15:58:25    "            1.0
37-40 16:04:09    "            0.9
41-44 16:13:23    "            0.6
45    16:18:47  sawtooth       0.6    accel=0.08  avg wind = 25mph
48    16:25:53  sawtooth                    0.04  azim motor overcurrent err
49    16:29:36  sawtooth                    0.01  completed okay  
50    16:31:35  "                           0.02
move to survival el=60

54    16:38:05   sawtooth with a=0.02, maxvel=0.2  4 times (90 seconds)
55    16:41:18                   0.08         0.4  6 times (65 seconds)
                         hit a current limit

56    16:47:44      0.04         0.4   6 times   elev not enabled (scan aborted)          

-- ToddHunter - 14 Feb 2007

Note that most of the rms tracking errors listed in the plots attached below are w.r.t. the azimuth axis. On-sky performance will be better by the factor of cosine(elevation).

Attachment:	Action:	Size:	Date:	Who:	Comment:
daisyazimcompare7merge.pdf	action	641940	15 Feb 2007 - 22:22	ToddHunter	7' daisy petal scan at 10 different azimuth gains
circleazimcompare.pdf	action	321837	15 Feb 2007 - 22:22	ToddHunter	circle scans at 10 different azimuth gains
drawcircle.pdf	action	46800	16 Feb 2007 - 19:48	ToddHunter	elev. vs cross-elev. during circle (2 azim gains)
nodcompare.pdf	action	381258	15 Feb 2007 - 22:30	ToddHunter	ccb nod scans at 9 different azimuth gains
drawdaisy.pdf	action	59995	16 Feb 2007 - 19:43	ToddHunter	elev. vs cross-elev during daisy petal (2az gains)
fastswitchcompare.pdf	action	461217	16 Feb 2007 - 20:57	ToddHunter	fast-switching scans at 5 different azimuth gains
daisyazimcompare7acf.pdf	action	611424	22 Feb 2007 - 00:51	ToddHunter	same data as 1st attachment, but uses log_collator
acfcompare1panel.pdf	action	54730	22 Feb 2007 - 01:11	ToddHunter	comparison of log_collator vs. IDL+Mathematica