= Trouble Shooting - Drivectrl

The list of states can be found in dimcrl (HowToDimctrl) or here
http://fact-project.org/FACT++/namespaceDrive_1_1State_a0620e65c19529fd0318fd5ec880f8df3.html

== drivectrl in state LOCKED

__Symptom__

- drivectrl is in status LOCKED

__Solution__

- drivectrl goes in this status when the sun is rising, so if this "problem" occurs in the morning it is properly not a problem, it's only the way the telescope should behave, due to the rising sun
- if this problem occurs during startup, you have to unlock the telescope:
 - unlock in smartfact 
 - or DRIVECTRL/UNLOCK in dimcrl (HowToDimctrl)

__Not Helping__

- DRIVECTRL/STOP
- killing / quiting / restarting drivectrl 
- switching off/on drive hardware


== timeout while waiting for expected state (e.g. Moving, !OnTrack, ...) 

__Sympton__

- Main.js stopped because drivectrl is not in expected state

__Solution__

- check status of drivectrl
- in case of warning/error, see below
- in case the expected state is reached in the meantime (i.e. waiting time was not long enough), restart Main.js

== drivectrl in !PositioningFailed 

__Symptom__

- drivectrl in state !PositioningFailed 

__Solution__

- check drivectrl log
- at the end of the night, when parking the telescope
 - first check if the telescope is parked. 
- send RESET to drivectrl 
 - either via smartfact 
 - or DRIVE_CONTROL/RESET via dimcrl (HowToDimctrl)
- restart script (or park telescope if at the end of the night)

__Not Helping__

- restart Main.js
- DRIVECTRL/STOP
- DRIVECTRL/PARK
- killing / quiting / restarting drivectrl 
- switching off/on drive hardware


== drivectrl in !OutOfRange or !InvalidCoordinates

__Symptom__

- drivectrl in state !OutOfRange or !InvalidCoordinates

__Solution__

- check drivectrl log
- in case you are doing a special test: 
 - check coordinates
 - make sure that the coordinates are valid
 - if coordinates where fine, contact experts
 - else send RESET to drivectrl (via smartfact or dimctrl (HowToDimctrl)) and restart with correct coordinates
- in case of normal operation: 
 - contact experts

__Not Helping__

- restart Main.js
- DRIVECTRL/STOP
- DRIVECTRL/PARK
- killing / quiting / restarting drivectrl 
- switching off/on drive hardware


== drivectrl in !HardwareWarning

__Symptom__

- drivectrl in state !HardwareWarning

__Solution__

- check drivelog which warning it is
- in case of ''[e8260]: Torque limit active!''
 - note to the logbook in which situation it happened and on which axis
 - send RESET to drivectrl (via smartfact or dimctrl (HowToDimctrl))
 - restart Main.js
- in case it is another warning
 - contact expert

__Not Helping__

- restart Main.js
- DRIVECTRL/STOP
- DRIVECTRL/PARK
- killing / quiting / restarting drivectrl 
- switching off/on drive hardware


== drivectrl in state ERROR, !HardwareError or FATAL

__Solution__

- check drivelog which error it is
- contact experts

__Not Helping__

- restart Main.js
- DRIVECTRL/STOP
- DRIVECTRL/PARK
- killing / quiting / restarting drivectrl 
- switching off/on drive hardware

__Information for Experts__

- indra-drive: http://www.astro.uni-wuerzburg.de/~tbretz/DriveDoku/IndraDrive/Firmware%20MPH-05%20-%20Stoerungsbeseitigung.pdf



=== drivectrl in state !HardwareError and giving message "error in zd indradrive f2075"

This error means that the telescope was moved while the drive hardware was switched off. It might occur after there was ice on the telescope or in case of manual interaction while the drive was off. 

__Symptom__

- drivectrl in state ERROR
- in drivelog you find the message "error in zd indradrive f2075"

__Solution__

- check the position of the telescope visually
- try to find out what happened while the drive hardware was switched off
- if the telescope is NOT in the expected position
 - manual interaction needed -> contact experts
- if the telescope is in the expected position: 
 - switch drive off and on
 - wait for hardware to boot 
 - drivectrl should go to 'Initialized' now
 - check whether position seen by the software is as expected


== Manual parking of the telescope

__Symptom__

- drivectrl does not accept / react to commands, for example an error with the IndraDrives occur


__Solution__

- if it's not too late in the night, try to call an expert before you park manually
- Park the telescope manually:

0. Proceed all parts of the Shutdown procedure you can do in the current situation (see [[shutdown here]])
 - be sure the bias voltage is OFF!
 - wear a helmet when going to the telescope
0. there are two bars near the door, to move the telescope in the azimuth and zenith direction:
 - long bar: zenith
 - short bar: azimuth
0. These bars, you can use for turning the telescope manually on the spots provided for this
 - azimuth: below the telescope
 - zenith: right of the mirrors
 - be aware that you don't turn in a way, that the cables get damaged
0. Turn the telescope in the Parking Position (pointing north, towards the old container)