LEG ALIGNMENT
    				-------------

    				EXPLANATION



				PROCEDURE

- Recommended Operation of the Alignment Mechanism (Larry Springer)

  MDI Team
  Jake has asked me to send a note out on the operation of the 
  Alignment mechanism. Therefore, this is how I beleive the Alignment
  Mechanism should be operated.

  BASELINE POWER SWITCHING
  The Alignment Mechanism should be turned on at the start of a days 
  amignment activities. At the end of the days activity it should be 
  returned to sun center and turned off. Normally the old legcenter 
  (run to limit and step back N steps) should never be done. If center
  of range if needed use Pots to center. (AM1 ~-53; AM2~-42)

  TURN ON
  Reset both of the controllers (MBAM1RS, MBAM2RS) prior to turning on
  the Alignment Mechanism Drive Power. Remember the controllers are 
  powered with the applications electronics power the Alignechanism 
  Power On powers only the motor driver.  After turning on the 
  Alignment Mechanism watch both pots and the mechanism current for 
  signs of movement. If  movement is seen turn off the Alignment 
  Mechanism because there is a problem. (Caution the pot readouts are 
  noisy)

  TURN OFF
  After the days alignment mechanism activities are completed, return 
  to the sun center position (When a sun center position is picked the
  corresponding pot readings should be noted and considered the new 
  AM center position.) prior to turning the Alignment Mechanism Drive 
  Power (MBPWAMOFF).

 
- Instance

	  ^000181:
          Action:         image_recenter
          Status:         Open
          Date_submitted: 23-May-96
          SOI_Proposal:   
          Objective:      To recenter the MDI image for the Dynamics Period
          IAP_sci_obj:    
          Requestor:      Rock Bush <rock@quake.stanford.edu> 
          Duration:       1 hour
          Requirements:   NRT-s; MDI-H VC2; Loop Open; 
          Campaign:       cam_fd_cont
          ALT_Cadence:    
          Preferred_Time: 
          Started: 
          Completed: 
 
          Script: 
                perf q_seq_options_v03
                set chain address to cam_fd_cont (addr=304)
                
                perf openloop_v01
                
                perf alignit_v15
                  do full alignment including leg motion
                  after completing PZT offset adjustment
                  renull ISS error signals and lock loop
          Notes: 
                current image center is determined by the IDL program 
	        CURVEFIT.  Example numbers are,
                      511.313      512.104      483.903
                
                Need to recenter image for the Dynamics run
                over the next two months

 	        Rock Bush uses the IDL routine monitor_center to determine
		what the image center numbers should be