1. TCS Software Design Review

2. Have we understood all the requirements? Do we understand all the quirks of the hardware? Is the design capable of doing the job? Can it be completed with the available resources? Can it be commissioned in an acceptable time? Can this system be supported & maintained?

8. Servo system Encoders Drive motors Demand posn (in encoder units) Sky position (in RA,Dec) Coord conversion & Pointing model Autoguider Instrument computer(s)

9. Rate generator Encoders Drive motors 1970s TCS

10. Rate generator Encoders Drive motors 1970s CAMAC TCS ICS

11. Rate generator Encoders Drive motors 1980s CAMAC TCS (TEL) VAX

12. Rate generator Encoders Drive motors Late 1990s TCS UNIX ?

13. Rate generator Encoders Drive motors Early 2000s TCS CCSGATE UNIX (PTCS) (THI) Auto- guider

14. PTCS THI Telescope independent Telescope dependent Hardware GUI Instruments

15. PTCS THI Telescope independent Telescope dependent Hardware GUI Instruments RA, Dec Encoder units, Motor voltages Axis positions in radians

16. PTCS THI Hardware GUI Instruments (2) Trigger with axis positions (1) Read encoders (3) Kick with demand positions (4) Servo control

17. Rate generator Encoders Drive motors Early 2000s TCS CCSGATE UNIX (PTCS) (THI) Auto- guider

18. Encoders Drive motors 2007 onwards TCS (PTCS) (THI) Auto- guider

19. 1) Drive and Encoders AAT-specific issues

35. 1)Drive and Encoders 2)AAT pointing terms AAT-specific issues

37. Implementation

39. Stage 1 Restage Please Initial obey Last stage Finished Restage Stage 2 Restage Please Restage An ADAM/DRAMA Staged Action

40. Stage 1 Restage Please Initial obey Last stage Finished Restage Stage 2 Restage Please Restage ADAM/DRAMA Concurrent Actions Stage 1 Restage Please Initial obey Stage 2 Restage Please Restage

41. Stage 1 Restage Please Initial obey Last stage Finished Restage Stage 2 Restage Please Restage ADAM/DRAMA Cancelling an Action Stage 1 Restage Please Initial obey Cancel Finished Cancel ‘Kick’

44. Testing

45. Servo loop tests Demand posn (in encoder units) Sky position (in RA,Dec) Coord conversion & Pointing model TPOINT reverse conversion in Simulator Same sky position (in RA,Dec) ?