Arm Remote Terminal Panels

Each arm is controlled by three local processing units (LPU). These panels are templates and represent the panels for each manipulator system. Therefore Arm RT State Panel is actually four panels: DXL RT State Panel, DXR RT State Panel, PXL RT State Panel, VID RT State Panel.

These panels are used to monitor and control the activity for these LPUs. The LPUs control the manipulators actuators as described below.

LPU 0 = The monitor processor
LPU 1 = The LPU controlling the shoulder actuators, the hip actuators for the PXL.
LPU 2 = This LPU controls the elbow actuators, the knee for the PXL
LPU 3 = This LPU controls the wrist actuators, the ankle for the PXL
 
Although most of these panels are for displaying telemetry, a few commands can be sent to the LPUs. To use those objects the operator must first have command authority of the appropriate arm. Therefore to activate the Enable buttons on the PXL RT State Panel, the operator must have command authority of the PXL system.

Contents

RT Frame Time Statistics

Arm RT State Panel

Arm RT Statistics On Panel

Arm RT Statistics Panel

Arm RT SubAddress Panel

Arm RT Test Panel

Arm RT Voltage Panel


RT Frame Time Statistics

This panel shows the performance of different activities done by the RTs.

More info will be specified later

Per LPU ? or Per Arm


Arm RT State Panel

This panel summarizes the state of each of the RTs within the arm as well as the overall arm. For the arm system as a whole and for each LPU the operator may enable that processor and monitor its status. Each processor has two rows of information, the top is the status received by the main CPU, the bottom shows the monitor CPU's status. During nominal operations the values of the two rows should be similar.

Arm State Radio Buttons

These buttons allow the operator to request a change in the particular arm status. When the arm is first powered on neither of these buttons are lit. The operator can then click the 'Safe' button to request the arm to be placed in Safe mode. Then the operator may click the 'Ops' button to prepare the arm to be commanded. The operator can toggle between the Safe and Ops mode. The system may automatically change the arm mode for Ops to Safe if it detects a boundary management violation or some other anomaly.

LPU HeartBeat Text Boxes

Each LPU emits an incremented heartbeat. These boxes display the value of the last heartbeat received.

Actual and Desired State Indicators

These two indicators light green when the status in on and red when an error has occurred. The 'Act' indicator is what the main/monitor CPU believes the actual status is. The 'Des', or desired status, it what the main/monitor CPU is commanding the LPU or arm processor to change to.

Enable Buttons

These buttons allow the operator to toggle the state of the LPU/arm processor. Typically, the order of events would be as follows. The operator changes the state of the enable button, enabling the arm for instance. Soon the Des indicator should light up matching the enabled state, indicating that the CPU is attempting to change the state of the LPU/arm processor. Finally, the Act indicator should light up indicating that the LPU/arm processor is now enabled.

Cause Text Boxes

These text boxes give additional information about the state of each LPU/arm processor. Typically used to give detail when a processor has been automatically disabled.


Arm RT Statistics On Panel

A series of statistics for each LPU within a particular arm, summarized by the Arm RT Statistics Panel, can be started, stopped and reset using this panel.

LPU Reset Statistic Button

These buttons will reset the statistics display in the Arm RT Statistics Panel to zero.

LPU Statistics On Button

These buttons toggle whether statistics for each LPU within a particular arm are being calculated or not.


Arm RT Statistics Panel

Each LPU can provide a large amount of statistics which are displayed on this panel.

Only one Enable button should exist for each LPU/arm processor

RT Statistics

RT Statistics, Cmd/Tel Verification Tests

Channel Statistics

Message Stats

Frame Stats


Arm RT SubAddress Panel (1 of 2)

Subaddress Statistics

Only one Enable button should exist for each LPU/arm processor

Per Arm or Per LPU


Arm RT Test Panel

This panel is used by the operator to run verification tests on all the LPUs on an arm.

Test Buttons and Indicators

The 'Test' buttons allow the operator to initiate verification tests on the arm. Independent test can be run for the command and telemetry. The indicators light up when the verification test is on. During a nominal test, all indicators should be on; the Arm and four LPU Indicators should have the same state.

LPU Text Boxes

More info will be specified later


Arm RT Voltage Panel

This panel displays the voltage across the different power buses on each LPU.

Converted/Raw Units Menu

This menu allows the operator to toggle the units displayed in the text boxes.

Voltage Bus Text Boxes

These boxes display the voltage for each power bus on the LPUs