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ID Date Author Type Category Subjectup
  15084   Sun Dec 8 20:27:11 2019 ranaUpdateComputersViviana upgrade to Ubuntu 16

The IBM laptop at EX was running Ubuntu 14, so I allowed it to start upgrading itself to Ubuntu16 as it desired. After it is done, I will upgrade it to 18.04 LTS. We should have them all run LTS.

  1713   Thu Jul 2 05:27:12 2009 ClaraUpdatePEMVoltage Divider Oops

I tested the voltage dividers and was getting up to about 3V. I retested the mic w/o the voltage divider in place, and, lo and behold, I was able to generate about 70-75V (previously, I maxed out at 45V). I'm not 100% sure why this was, but it occurs to me that, before, the sounds I was generating were short in duration (loud claps, short yelps). This time, I tried yelling continuously into the microphone. So, probably, I simply wasn't seeing the real peak before on the scope because it was too short to pick up. I have corrected the voltage dividers (by replacing the 25.5 kOhm resistors, which were in parallel with the ADC, with 10 kOhm resistors, taking the voltage ratio to ~60:1) and tested them. I haven't been able to generate more than 1500 mV, so I think they are safe. (It's possible we would have been fine with the old setup, since I think it would be hard to get any noises as loud as I was making, but better safe than sorry, right?)

I'm attaching a diagram of the new-and-improved voltage dividers.

voltage_divider_diagram.png

  2288   Wed Nov 18 00:38:33 2009 ranaSummaryElectronicsVoltage Noise of the SR560's OUTPUTs (the back panel)

I've measured the voltage noise of the SR560's lead acid battery outputs; they're not so bad.

Steve ordered us some replacement lead-acid batteries for our battery powered pre-amps (SR560). In the unit he replaced, I measured the noise using the following setup:

SR560                              Busby Box

(+12V/GND) -------------AC Input      Out  ----------------   SR785

The SR785 was DC coupled and auto-ranged. The input noise of the SR785 was measured via 50 Ohm term to be at least 10x less than the SR560's noise at all frequencies.

sr560.png

Its clear that this measurement was spoiled by the low frequency noise of the Busby box below 10 Hz. Needs a better pre-amp.

  8778   Thu Jun 27 23:18:46 2013 jamieUpdateComputer Scripts / ProgramsWARNING: Matlab upgraded

Quote:

I moved the old matlab directory from /cvs/cds/caltech/apps/linux64/matlab_o to /cvs/cds/caltech/apps/linux64/matlab_oo

and moved the previously current matlab dir from /cvs/cds/caltech/apps/linux64/matlab to /cvs/cds/caltech/apps/linux64/matlab_o.

And have installed the new Matlab 2013a into /cvs/cds/caltech/apps/linux64/matlab.

Since I'm not sure how well the new Matlab/Simulink plays with the CDS RCG, I've left the old one and we can easily revert by renaming directories.

Be careful with this.  If Matlab starts re-saving models in a new file format that is unreadable by the RCG, then we won't be able to rebuild models until we do an svn revert.  Or the bigger danger, that the RCG *thinks* it reads the file and generates code that does something unexpected.

Of course this all may be an attempt to drive home the point that we need an RCG test suite.

  4816   Tue Jun 14 12:23:44 2011 Jamie, JoeUpdateCDSWE ARE ALL GREEN! LSC back up and running in new configuration.

After moving the c1lsc computer to 1X4, then connecting c1lsc to it's IO chassis in 1Y3 by a fiber PCIe extension cable, everything is back up and running and the status screen is all green.  c1lsc is now directly connected to c1sus via a short copper Dolphin cable.

After lunch we will do some more extensive testing of the system to make sure everything is working as expected.

  1313   Mon Feb 16 21:49:06 2009 Kakeru, RanaUpdateIOOWFS

We centerd the input of WFS QPD.

  6066   Sun Dec 4 13:56:54 2011 DenUpdateIOOWFS

Yesterday I locked the MC and left at 8 pm. Analyzing the data I saw that MC was locked all time from 8 pm to 12.30 am when it lost lock. Moreover there was no light on transmition and reflected screens at all. I went to the PSL and saw that no red light comes to the MC from PSL, only green. I took infrared sensos to track the laser light. Then I came back to control room to study the medm diagram of the PSL. Then I came back and saw that the laser beam goes to the MC! I returned to control room and saw light on the MC screens. Does someone do something parallel with me through ssh?

I enabled the auto locker and saw the MC locked for a couple of seconds. After that the WFS were turned on automatically and I saw that the signal of the OSEM local sensors of the MC mirrors began to increase. So the WFS master provides not good feedback signal. I thought that it is due to my recompilation of c1mcs with a fixed if-statement line. And may be if c1mcs workes without digital noise and c1ioo with it then there might occur some mismatches and the signal is corrupted. For this assumption I've recompiled c1mcs back to 1e-20 in the if-statement and so added the digital noise back that I saw in the dtt tools.

However, the problem was still present - WFS feedback signal crashed the MC lock. I open the WFS master window and disabled the output to MC. I can see that the C1:IOO-WFS1_PIT_INMON and other input channels have reasonable values 8 - 20 but the output continues to increase up to 1000000. The output was off so the MC stayed at lock. As for now I turned off WFS so no feedback is applied to MC mirros.

  6067   Sun Dec 4 23:49:38 2011 DenUpdateIOOWFS

Quote:

Yesterday I locked the MC and left at 8 pm. Analyzing the data I saw that MC was locked all time from 8 pm to 12.30 am when it lost lock. Moreover there was no light on transmition and reflected screens at all. I went to the PSL and saw that no red light comes to the MC from PSL, only green. I took infrared sensos to track the laser light. Then I came back to control room to study the medm diagram of the PSL. Then I came back and saw that the laser beam goes to the MC! I returned to control room and saw light on the MC screens. Does someone do something parallel with me through ssh?

I enabled the auto locker and saw the MC locked for a couple of seconds. After that the WFS were turned on automatically and I saw that the signal of the OSEM local sensors of the MC mirrors began to increase. So the WFS master provides not good feedback signal. I thought that it is due to my recompilation of c1mcs with a fixed if-statement line. And may be if c1mcs workes without digital noise and c1ioo with it then there might occur some mismatches and the signal is corrupted. For this assumption I've recompiled c1mcs back to 1e-20 in the if-statement and so added the digital noise back that I saw in the dtt tools.

However, the problem was still present - WFS feedback signal crashed the MC lock. I open the WFS master window and disabled the output to MC. I can see that the C1:IOO-WFS1_PIT_INMON and other input channels have reasonable values 8 - 20 but the output continues to increase up to 1000000. The output was off so the MC stayed at lock. As for now I turned off WFS so no feedback is applied to MC mirros.

With the help of Suresh we have adjusted optics near PMC and input to the MC on the PSL and in the black box where WFS are. Surprisingly, some optics near WFS was not attached to the table. But these mirrors are not used. One screw was near the hole but not screwed in. This mirror is used. Suresh could also rotate other screws. I thought that they must be attached to the table more rigidly.

Then we found that WFS output matrix is wrong and Suresh recalculated it. After that we've locked the MC using WFS. C1:IOO-MC_RFPD_DCMON is 0.7-0.8. 

We also recompiled and reinstalled C1MCS and C1IOO with fixed if-statement and again saw how MC_F curve moves down. WFS error signals are also improved. But still some more work on output matrix is needed.

  15266   Wed Mar 11 18:12:53 2020 gautamSummaryPSLWFS Demod board modifications

[koji, gautam]

Attachment #1 shows the relevant parts of the schematic of the WFS demod board (not whitening board). 

  • The basic problem was that the switchable gain channels were not accounted for in the Acromag channel list 😒.
  • What this meant was that the DC gain was set to the default x100 (since the two DG211s that provide the switchable x10 and x1 gain options had their control logic pins pulled up to +5V because these pins weren't connected to any sinking BIO channel).
  • Rather than set up new connections to Acromags inside the chassis (though we have plenty of spares), Koji and I decided to make these fixed to x1 gain.
  • The actual fix was implemented as shown in the annotated schematic. There are some pictures 📷 of the PCB in the DCC entry linked above.
  • Amusingly, this board will now require a sourcing BIO unit if we want to still have the capability of switching gains.

Before removing the boards from the eurocrate: 

  • I dialled down the Kepco HV supplies
  • disconnected all the cabling to these boards after noting down cable numbers etc.

After Koji effected the fix, the boards were re-installed, HV supplies were dialled back up to nominal voltage/currents, and the PMC/IMC were re-locked. The WFS DC channels now no longer saturate even when the IMC is unlocked 👏 👏 . I leave it to Yehonathan / Jon to calibrate these EPICS channels into physical units of mW of power. We should also fix the MEDM screen and remove the un-necessary EPICS channels.

Later in the evening, I took advantage of the non-saturated readbacks to center the beams better on the WFS heads. Then, with the WFS servos disabled, I manually aligned the IMC mirrors till REFLDC was minimized. Then I centered the beam on the MC2 transmission QPD (looking at individual quadrants), and set the WFS1/2 RF offsets and MC2 Trans QPD offsets in this condition.

Quote:

WFS DC channels are saturating when the IMC is unlocked.

Attachment 1: D980233-B_Mar2020Mods.pdf
D980233-B_Mar2020Mods.pdf
  13936   Sun Jun 10 03:46:38 2018 KojiUpdateIOOWFS HEAD SW confusion

I was checking on the slow machine channels and found something I could not understand.

On the IOO WFS HEAD screen, there are two sets of 4 switches (magenta rectangles in Attachment 1) labeled 2/4/8/16dB.
But as far as I could confirm with the WFS demod (D980233) and WFS head (D980012) drawings, they are the gain (attenuation) switches for the individual segments.
Their epics variable names are "C1:IOO-WFS1_SEG1_ATTEN", "C1:IOO-WFS1_SEG2_ATTEN", etc...

I confirmed the switches are alive (effective), and they are not all ON or OFF. I wonder what is the real situation there...

Attachment 1: C1IOO_WFS_HEADS.png
C1IOO_WFS_HEADS.png
  13946   Mon Jun 11 22:46:24 2018 KojiUpdateIOOWFS HEAD SW confusion

The unfortunate discovery today was that the attenuator switches on the IMC WFS heads are actually assigned to individual segments, and they are active. That means that we have been running the WFS with an uneven gain setting. The attached PDFs show that the signals with the attenuators on and off all at the same time, while the WFS servo output was frozen. A more annoying feature is that when some of the attenuators are on, this does not lower the gain completely. I mean that the attenuated channels show some reduction of the gain, but that is not the level of reduction we see when all attenuators are turned on. This RF could come from some internal RF coupling or some similar effect.

Moreover, the demodulation phases are quite off for most of the segments.

So far, the WFS is running with this uneven attenuation. We take time to characterize the gain and retune the demod phases and input matrices.

Attachment 1: 180611_IMC_WFS1.pdf
180611_IMC_WFS1.pdf
Attachment 2: 180611_IMC_WFS2.pdf
180611_IMC_WFS2.pdf
  13960   Thu Jun 14 00:46:09 2018 ranaUpdateIOOWFS HEAD SW confusion

its painful, but you and I should probably take these out, bypass the switches and use them with fixed gain; the 'Reed Relay' attenuators are not a good part for this app.

The historical problem is that they tend to self oscillate with full gain because they had 2 MAX4106 in series which couple to each other in the bad way --- need to remove one of them and set the gain of the other one to 10.

Quote:

The unfortunate discovery today was that the attenuator switches on the IMC WFS heads are actually assigned to individual segments, and they are active. That means that we have been running the WFS with an uneven gain setting.

 

  5859   Wed Nov 9 21:48:43 2011 SureshUpdateIOOWFS Servo included into the MC_Autolocker

The WFS servo loop will come on 5 seconds after the MC is locked

 

I have uncommented the lines in the mcup script which turn on the WFS servos.  But I shifted their location to the part after the MC is locked.

  17258   Fri Nov 11 19:11:50 2022 JCUpdateGeneralWFS Whitening and Demod Boards

WFS Whitening and Demod boards were scavenged. ' iLIGO WFS cards are in big plastic boxes placed on the north wall around Section Y5 or Y6 (not under the arm). The WFS head PCBs, empty WFS housing, WFS components, I/Q demod components are at SectionY10 under the arm tube. ' - Koji . I have taken pictures of the boards and will upload them to the DCC once I find a way to add a Serial Number . (I will upload this to the eLog as a HowTo) The next step is to search for at least 2 extender boards to troubleshoot these board and find if there are any issues. We may have replace some components and retune the boards. Attachment #1 is an example of the WFS Whitening Filter and Attachment #2 is and example of the the WFS Demod Board.

If you use the Camera DO NOT remove the strap. I have also purchased lens caps for the camera, so after usage PUT THE LENS CAP BACK ON. 

Attachment 1: IMG_6419.JPG
IMG_6419.JPG
Attachment 2: IMG_6424.JPG
IMG_6424.JPG
  3182   Thu Jul 8 19:43:16 2010 nancyUpdateIOOWFS calculations

The WFS error signals were recorded in the order

WFS1_PIT

WFS1_YAW

WFS2_PIT

WFS2_YAW

these measurements are made in the linear region, that is the MC is nearly perfectly aligned.

This is  the average and std. dev.of 5 measurements taken of the same signals over 10 secs each. The std. dev are under 10%. And hence, I will be using 10 secs for measurements for the WFS signals after perturbations to the mirrors.

avg =

829.4408
-517.1884
297.4168
-944.7892


std_dev =

9.0506
22.9317
15.4580
8.9827

I perturbed the Pitch and Yaw of the Three mirrors (in order MC1,2,3), using ezcastep and calculated the coefficients that relate these perturbations to the WFS error signals.

The perturbation made is of -0.01 in each dof , and after measuring the WFS error for it, the system is reverted back to the previous point before making the other perturbation.

I was able to calculate the coefficients since I have assumed a linear relationship..

Following are the coefficients calculated using 10 secs measurements

coef_mat =

   1.0e+05 *

                            MC1_P   MC1_Y  MC2_P   MC2_Y    MC3_P   MC3_Y  constant
WFS1_PIT        -0.1262    0.3677   -0.4539   -0.6297   -0.1889   -0.1356   0.013664
WFS1_YAW     -0.0112   -0.7415   -0.1844    2.4509   -0.0023   -0.3531  -0.016199
WFS2_PIT         0.1251    0.4824   -0.2028   -0.6188    0.0099   -0.1490   0.006890
WFS2_YAW      0.0120   -0.7957   -0.1793    0.9962   -0.0493    0.2672 -0.013695

Also, I measured the same thing for 100s, and to my surprize, even the signs of coeficients are different.

coef_mat =


   1.0e+05 *

                           MC1_P   MC1_Y  MC2_P   MC2_Y    MC3_P   MC3_Y   constant
WFS1_PIT       -0.1981    0.3065   -0.6084   -0.9349   -0.4002   -0.3538   0.009796
WFS1_YAW     0.0607   -0.6977    0.0592    2.8753    0.3507    0.0373   -0.008194
WFS2_PIT        0.0690    0.4769   -0.2859   -0.7821   -0.1115   -0.2953  0.004150
WFS2_YAW     0.0580   -0.8153   -0.0937    1.1424    0.0650    0.4203  -0.010629

The reason I can understand is that the measurements were not made at the same time, and hence conditions might have changed.

A thing to note in all these coefficients is that they relate the error signals to the 'perturbation' around a certain point (given below). That point is assumed to lie in the linear region.

MC1_PIT      2.6129
MC1_YAW   -5.1781
MC2_PIT       3.6383
MC2_YAW    -1.2872
MC3_PIT      -1.9393
MC3_YAW    -7.518

 

  3184   Thu Jul 8 21:44:43 2010 nancyUpdateIOOWFS calculations

 

I just found the singular values and the condition number of the 4*4 matrix relating the WFS error signals and the MC1 and MC2 movements.

the condition number is ~12.5. I think its small enough to continue with the scheme. (if the measurements and all are reliable).

 

  7444   Wed Sep 26 23:55:14 2012 JenneUpdateIOOWFS centered

Since the MC spots are good, I put the beam back on WFS 1 and WFS 2.

Also, I changed the indicators on the LockMC screen to reflect the change in elog 7289, where we added another on/off switch for the WFS so that the ASS could be on, but the WFS off.  For the last month, the WFS could be disabled, but the MC screen's indicators would suggest that we were pushing very significantly on all 3 MC mirrors.  Now the MC screen reflects reality a little better.

I also uncommented the WFS lines in the mcup script.  Den had commented them out, but didn't elog about it!  C'mon Den, please elog stuff!!!!  (He confessed out loud the other day, but it still wasn't in the elog).

I'm leaving the WFS loops disabled (even though the MC autolocker tries to turn them on, I have them manually disabled using the extra on/off switch) since they're unstable.  I'm in the process of figuring out what's wrong.  So far, the WFS improve the MC alignment for a minute or two, and then they totally misalign the MC.  This is a work in progress.

  1358   Thu Mar 5 00:06:32 2009 Kakeru, RanaUpdateIOOWFS centering
We found that the MC REFL image was no longer round and that the MCWFS DC quadrant spots were mostly
in one quadrant. So we re-centered the MCWFS beams in the following way:

1) We unlocked the MZ and adjusted the PZT voltage to keep the beam on the WFS from saturating.
2) Re-aligned the black hole beam dump to center its beam in its aperture.
3) centered the beam on the MCWFS optics and MCWFS QPD displays.
4) Relocked MC.

Below is the image of the IOO Strip tool. You can see that the MC REFL DC is now more flat. The
MC pointing has also been changed (see the MC TRANS HOR & VERT channels). The MC transmitted
light is also now more stable and higher.

We tried to center the QPD, and we found that there were a few hundred mV of dark offset for each 
quadrant of QPD. We adjusted them with this scripts:
/cvs/cds/caltech/scripts/MC/WFS/McWFS_dc_offsets
Attachment 1: IOO_graph.jpg
IOO_graph.jpg
  1391   Wed Mar 11 23:41:33 2009 Kakeru, YoichiUpdateIOOWFS centering

We found the MC reflection was distorted . And WFC beam went to upward of QPD

We recentered WFC beam and these problems were fixed

  15450   Sun Jul 5 18:25:42 2020 ranaUpdateElectronicsWFS characterization

in the lab, checkin on the WFS

Sun Jul 5 18:25:50 2020

I redid Gautam's measurements to get a baseline before changing the head, and my results are very different: To me it looks like the WFS2 quadrants are all OK.

 

Measurement Details:

  1. The whole AG4395 + breadboard Jenne laser is wheeled over next to the SW side of the AP table.
  2. The output of the 1611 goes into channel R of the 4395
  3. I disconnected all the LEMO cables from the head and then plugged a LEMO-BNC cable into the plugs one at a time. The existing LEMO connectors, which take the signals back to the demode board, were all a little loose, so I adjusted them with some pliers (see video).
  4. The Atten = 0 dB for all AG4395 channels
  5. Source drive = 0 dBm. Checked with a -10 dBm drive that there was no change in the observed TFs, so I guess a 0 dBm drive doesn't make things nonlinear.
  6. When I first turned the setup on, the Yellow 'limit' light was ON on the ILX laser current driver, so maybe the modulation wasn't getting to the laser diode as we wish.
  7. did not change any WFS MEDM settings for these measurements. Not sure if any of those buttons work anyway.

I've left the setup as is in case either me or Gautam want to double check. If we're agreed on this response, I'll remove the notches and disable the RF attenuators.

Sun Jul 5 21:42:45 2020

Attachment 1: WFS_attenOff.pdf
WFS_attenOff.pdf
  15547   Sat Aug 29 20:07:48 2020 ranaUpdateElectronicsWFS characterization

I set up to do the WFS head modifications today, but I was shot down in flames due to a missing AC/DC adapter.

The Prologix GPIB-ethernet dongle needs +8-13 V to run. Some riff raff has removed the adapter and I was thunderstruck to see that it had not been returned.

I did the usual hunt around the lab looking for something with the right specs and connector. I found one that could do +9V and had the right connector, but it didn't light up the adapter so I put it back in black SP table.

I'll order a couple of these (5 ordered for delivery on Wednesday) in case there's a hot demand for the jack / plug combo that this one has. The setup is in the walkway, but I returned the AS table to the usual state and made sure the IMC is locking well.

  15548   Sat Aug 29 22:10:09 2020 gautamUpdateElectronicsWFS characterization

Clearly this "riff raff" is referring to me. It won't help today I guess but there is one each on the carts holding the SR785 (currently both in the office/electronics bench area), and the only other unit available in the lab is connected to a Prologix box on the Marconi inside the PSL enclosure. 

Quote:

The Prologix GPIB-ethernet dongle needs +8-13 V to run. Some riff raff has removed the adapter and I was thunderstruck to see that it had not been returned.

  15472   Sun Jul 12 22:40:35 2020 gautamUpdateElectronicsWFS characterization - old SURF report

After some hunting, I found this old SURF report with the WFS head measurements. The y-axes don't make much sense to me, and I can't find the actual data anywhere (her wiki page doesn't actually exist). So I think it's still unknown if these heads ever had the advertised transimpedance gain, or if the measured transimpedance of ~1kohm was what it always was.

  8724   Wed Jun 19 15:07:20 2013 ranaUpdateIOOWFS debugging

Trying to figure out what's wrong with the MC WFS:

1) The symptom seems to be that the control signals become very large in the pitch and then the loop breaks when they saturate. Usually this is due to a degenerate matrix or improper inversion. Most likely some of the BURT restore is bad or the analog gain for one of the WFS has been switched when Jamie was doing the "Guardian" debugging.

2) In checking this out, I found that several buttons on the WFS  screens were not working (and apparently have never been working). Please try to test things in the future...The filter bank buttons in C1IOO_MC_TRANS_QPD were using relative path names; fixed these to use abs path names. The buttons in the WFS_MASTER for the IOO_PIT banks were using IOO_PITCH instead...

2.5) Recentered beams on WFS heads with MC alignment good and MC unlocked.

3) Main problem in the WFS still not found - disabling this in the autolocker.

  8733   Thu Jun 20 15:15:39 2013 ranaUpdateIOOWFS debugging

Tried a bunch of stuff, but eventually just turned off the TRANS_QPD loops and loops are stable. Needs more debugging.

  1. Modified the on/off scripts so that the Integrators are no longer toggled. No reason to turn them off since we are clearing the filter bank histories.
  2. With QPD feedback OFF, I have lowered the overall gain by 15x so that its just drift control.
  3. Deleted unused / bad filters from the main filter banks.
  4. Gautam is going to debug the QPD with a red laser pointer and then elog.
  5. Jamie is checking out the MC Coil dewhitening logic to see if that's in a funny state.
Attachment 1: Untitled.png
Untitled.png
  8815   Tue Jul 9 20:09:53 2013 KojiUpdateIOOWFS debugging

The low UGFs of the MC WFS servos made the MC insane thesedays:
The servos are too slow and we kept having significant misalignment left uncompensated.

I increased the total gain of the MC WFS from 0.01 to 0.4 (x40) to make the UGFs of the
WFS paths to ~2Hz. This was too much gain for the QPD path so the gains for the QPD paths
were reduced by a factor of 4 (x10 in total).

The script mcwfsup was also modified accordingly.

  9210   Sun Oct 6 23:43:07 2013 ranaUpdateIOOWFS debugging

Quote:

Tried a bunch of stuff, but eventually just turned off the TRANS_QPD loops and loops are stable. Needs more debugging.

  1. Modified the on/off scripts so that the Integrators are no longer toggled. No reason to turn them off since we are clearing the filter bank histories.
  2. With QPD feedback OFF, I have lowered the overall gain by 15x so that its just drift control.
  3. Deleted unused / bad filters from the main filter banks.
  4. Gautam is going to debug the QPD with a red laser pointer and then elog.
  5. Jamie is checking out the MC Coil dewhitening logic to see if that's in a funny state.

 Back around June 18, Jamie was debugging some Guardian code here to replace our MC autolocker. Afterwards our MC WFS stopped working. We never figured out what went wrong, but at the time we turned off the feedback from the MC trans QPD and it stabilized the response at DC.

Today, I noticed that the trans QPD feedback is on.  Did anyone do this on purpose?

Its problem causing behavior is slow, but you can catch it if you wait. With the nominal WFS gain of 0.4 the control signal ramps up monotonically at a rate of ~100 counts/minute. Depending upon the static alignment of the MC, this could let it take 10 minutes or a few hours before it rails the MC SUS actuators and breaks the lock. Very sneaky. Don't turn this loop back on without making sure its working and not breaking. I would trend it for you, but the SLOW channels associated with the TRANS QPD servo are not trended --- does anyone know how to get them in the channel list?

  8735   Thu Jun 20 20:46:16 2013 gautamUpdateIOOWFS debugging-QPD debugging

 

 I wanted to make sure that the QPD map on the C1IOO_MC_TRANS_QPD.adl screen corresponded to the actual physical quadrants on the photodiode at the MC2 table. We turned MC_WFS_OUT  OFF before fiddling around with a red laser pointer to try and map the quadrants.

I initially verified the correspondence between the various quadrants and the text-fields displaying the outputs using PV_Info. I found that there was good agreement in this respect. So for instance, field adjacent to the quadrant marked "1" on the C1IOO_MC_TRANS_QPD.adl screen had the following input channel: IOO_MC_TRANS_SEG1_INMON. The filter banks were empty and there was just an overall gain on -1 on all four channels. The channels leading to the filter-banks were the 'right' ones: quadrant 1 for the top bank, then quadrants 2,3 and 4 down.

Next, a red laser pointer was used to map the quadrants. Here, there was some disagreement between the physical quadrants and the map on the C1IOO_MC_TRANS_QPD.adl screen, which is summarised in the attached image-the whole thing is sort of rotated 180degrees about the centre. 

The interpretation of the figure is as follows:

quadrant 1 on screen QPD=bottom right quadrant on QPD

quadrant 2 on screen QPD=top right quadrant on QPD

quadrant 3 on screen QPD=top leftt quadrant on QPD

quadrant 4 on screen QPD=bottom left quadrant on QPD

MC_WFS_OUT was turned back ON.

 

 

 MC2_QPD-map.png

 

 

  6660   Tue May 22 13:06:11 2012 JenneUpdateIOOWFS didn't turn off automatically

I just sat down in the control room, and discovered the PMC (and everything else) unlocked.  I relocked the PMC, but the MC wasn't coming back.  After a moment of looking around, I discovered that the WFS were on, and railing.  I ran the "turn WFS off" script, and the MC came back right away, and the WFS came on as they should.

We need to relook at the WFS script, or the MC down script, to make sure that any time the MC is unlocked, no matter why it unlocked, the WFS output is off and the filter histories are cleared.

  6669   Wed May 23 21:32:15 2012 SureshUpdateIOOWFS didn't turn off automatically

Quote:

I just sat down in the control room, and discovered the PMC (and everything else) unlocked.  I relocked the PMC, but the MC wasn't coming back.  After a moment of looking around, I discovered that the WFS were on, and railing.  I ran the "turn WFS off" script, and the MC came back right away, and the WFS came on as they should.

We need to relook at the WFS script, or the MC down script, to make sure that any time the MC is unlocked, no matter why it unlocked, the WFS output is off and the filter histories are cleared.

    The only script that can currently take this action is the MC autolocker.  If that is disabled first and the PMC unlocks later, the WFS will not be turned off.  During the last round of discussions we had about the autolocker script, sometime last Nov, we decided that too much automation is not desirable and that the autolocker should be kept as simple as possible.

 

  5688   Tue Oct 18 21:19:18 2011 ranaConfigurationIOOWFS disabled in SUS

I found that the MC WFS had large offset control signals going to the MC SUS. Even though the input switch was off, the integrators were holding the offset.

I have disabled the ASCPIT outputs in the MC SUS. Suresh is going to fix the MC autolocker script to gracefully handle the OFF and ON and then test the script before resuming the WFS testing.

MCL data for OAF may be suspect from this morning.

  14858   Thu Sep 5 18:42:19 2019 aaronHowToCDSWFS discussion, restarting CDS

[aaron, rana]

While going to take some transfer functions of the MC WFS loop, LSC was down. When we tried to restart the FE using 'rtcds restart --all', c1lsc crashed and froze. We manually reset c1lsc, then laboriously determined the correct order of machines to reboot. Here's what works best:

on c1lsc:

rtcds start c1x04 c1lsc c1ass c1oaf c1cal c1daf

Starting c1dnn crashes the other FE

on c1ioo

rtcds restart --all

on c1sus

rtcds restart c1rfm c1sus c1mcs

restarting c1pem crashes the other FE on c1sus

We're seeing a lot of red IPC indicators--perhaps it's an issue with the order we're restarting?

  14859   Thu Sep 5 20:30:43 2019 ranaHowToCDSWFS discussion, restarting CDS

via Polish chat, GV tells us to RTFE

  14860   Fri Sep 6 09:40:56 2019 aaronHowToCDSWFS discussion, restarting CDS

As suggested, I ran the script cds/rebootC1LSC.sh

I got a timeout error when the script tried closing the PSL shutter ('C1:AUX-PSL_ShutterRqst' not found), but Rana and I closed the shutter before leaving last night. c1sus is down, so the script found no route to host c1sus; I'm thinking I need to reset c1sus for the script to run completely. Nonetheless, c1lsc was rebooted, which crashed c1ioo and left the c1lsc FE all red (probably because c1sus wasn't restarted).

 

  14861   Fri Sep 6 11:56:44 2019 aaronHowToCDSWFS discussion, restarting CDS

Rebooting

I reset c1lsc, c1sus, and c1ioo.

I noticed that the script gives the command 'ssh c1XXX', but we have been getting no route to host using this command. Instead, the machines are currently only reachable as c1XXX.martian. I'm not sure why this is, so I just appended .martian in rebootC1LSC.sh

This time, the script does run. I did get 'no route to host' on c1ioo, so I think I need to reset that machine again. After reset, the script failed to login to c1ioo and c1lsc.

Fri Sep 6 13:09:05 2019

After lunch, I reset the computers again, and try the script again. There is again no route to host for c1ioo. I'm going inside to shutoff the power to c1ioo, since the reset buttom seems to not be working. I still can't login from nodus, so I'm bringing a keyboard and monitor over to plug in directly.

On reset, c1ioo repeatedly reaches the screen in attachment 1, before going black. Holding down shift or ctrl+alt+f1 doesn't get me a command prompt. After waiting/searching the elog for >>3 min, we decided to follow these instructions to cycle the power of c1ioo. The same problem recurred following power up. I found online some instructions that the SunSystems 4600 can hang during reboot if it has become too hot ("reboot during a thermal shutdown"); I did notice that the temperature light was on earlier in this procedure, so perhaps that is the problem. I followed the wiki instructions to shut down the computer again (pressed power button, unplugged 4 power supplies from back of machine), and left it unplugged for 10-30 min (Fri Sep 6 14:46:18 2019 ).

Fri Sep 6 15:03:31 2019

Rana plugged in the power supplies and reset the machine again.

Fri Sep 6 16:30:37 2019

c1ioo is still unreachable! I pressed reset once, and the reset button flashes white. The yellow warning light is still on.

Fri Sep 6 16:54:21 2019

The reset light has stopped flashing, but I still can't access c1ioo. I reset once more, this time watching c1ioo on a monitor directly. I'm still seeing the same boot screen repeatedly. I do see that CPU0 is not clocking, which seems weird.

Troubleshooting CPU module

Following gautam's elog here, I found the Sun Fire X4600 manual for locating faulty CPUs. After the white reset light stopped flashing, I held down the power button to turn off the system. Before shutdown, all of the CPU displayed amber lights; after shutdown, only the leftmost CPU (as viewed from the back, presumably CPU0) displays an amber light. The manual says this is evidence that the CPU or DIMM is faulty. Following the manual, I remove the standby power, then checked out these Instructions for replacing the CPU to remove the CPU; Gautam also has done this before.

Fri Sep 6 20:09:01 2019 Fri Sep 6 20:09:02 2019

I pulled the leftmost CPU module out, following the instructions above. The CPU module matches the physical layout and part number of the Sun Fire X4600 M2 8-DIMM CPU module; pressing the fault reminder light gives amber indicators at the DIMM ejectors, indicating faulty DIMMs (see). The other indicator LEDs did not illuminate.

I located several spare DIMMs in the digital cabinet along Y arm (and a couple with misc computer components in the control room), but didn't find the correct one for this CPU module. The DIMM is Sun PN 371-1764-01; I found it online and ordered eight. Please let me know if this is incorrect.

To protect the CPU module, I've put it in an ESD safe bag with some bubble wrap and a note. It's on the E shop bench.

Conclusion: Need new DIMM, didn't find the correct part but ordered it.

Attachment 1: B26CECF8-FC0D-4348-80DC-574B1E3A4514.jpeg
B26CECF8-FC0D-4348-80DC-574B1E3A4514.jpeg
  14862   Fri Sep 6 15:12:49 2019 KojiHowToCDSWFS discussion, restarting CDS

Assuming you are at pianosa, /etc/resolv.conf is like

# Generated by NetworkManager
nameserver 192.168.113.104
nameserver 8.8.8.8

But this should be like

nameserver 192.168.113.104
nameserver 131.215.125.1
nameserver 8.8.8.8

search martian

as indicated in https://nodus.ligo.caltech.edu:8081/40m/14767

I did this change for now. But this might get overridden by Network Manager.

  6992   Thu Jul 19 02:32:45 2012 JenneUpdateIOOWFS don't come on automatically??

The MC unlocked ~20 min ago, correlated with 2 consecutive earthquakes in Mexico.  The MC came back fine after a few minutes, but the WFS never engaged.  I turned them on by hand.  I think that Yuta mentioned once that he also had to turn the WFS on by hand.  There may be a problem in the unlock/relock catching that needs to be looked at, to make sure the WFS come back on automatically.

Also, someone (Masha and I) should look at the seismic BLRMS.  I have suspected for a few days that they're not telling us everything that we want to know.  Usually, if there's an earthquake close enough / big enough that it pops the MC out of lock, it is clear from the BLRMS that that's what happened, but right now it doesn't look like much of anything....just kind of flat for hours.

  12897   Tue Mar 21 21:21:58 2017 gautamUpdateIOOWFS filter banks updated

The arrangement of filters in the WFS loop filter banks have been altered, Rana will update with details of the motivation behind these changes. Here is how the screen looks now:

I have updated the C1IOO SDF table, and also the mcwfson script to reflect these changes. The latter has been svn committed.

  15741   Sat Dec 19 20:24:25 2020 gautamUpdateElectronicsWFS hardware install

I installed 4 chassis in the rack 1X2 (characterization on the E-bench was deemed satisfactory, I will upload the analysis later). I ran out of hardware to make power cables so only 2 of them are powered right now (1 32ch AA chassis and 1 WFS head interface). The current limit on the +24V Sorensens was raised to allow for similar margin to the limit with the increased current draw.

Remaining work:

  1. Make 2 more power cables for ISC whitening chassis and quad demod chassis.
  2. Make a 2x 4pin LEMO-->DB9 cable to digitize the FSS and PMC diagnostic channels with the new AA chassis. If RnD cables has a very short turnaround time, might be worth it to give this to them as well.
  3. Connect ADC1 on c1ioo machine to new AA chassis (transfer SCSI cable from existing AA unit to the new one). This will necessarily involve some model changes as well.
  4. Make a short cable to connect 55 MHz output from RFsource box to the LO input on the quad demod chassis.
  5. Install the WFS head on the AS table at a suitable location. Probably will need a focusing lens as well. 
  6. Connect WFS head to the signal processing electronics (the cables were already laid out by Jordan and I).
  7. Make the necessary CDS model changes (WFS filters, matrices, servos etc). I personally don't see the need for a new model but if anyone feels strongly about separating the IMC WFS and AS WFS we can set up another model.
  8. Commission the system.

While I definitely bumped various cables, I don't seem to have done any lasting damage to the CDS system (the RFM errors remain of course).

  14945   Mon Oct 7 14:51:20 2019 aaronUpdateElectronicsWFS head RF measurements

Mon Oct 7 14:51:53 2019. I closed the PSL shutter to measure the WFS head responsivity.

I made a thru calibration as in this elog, treating laser, reference PD, and WFS RF output as a three-port device. The DC current supplied to the laser is 20.0 mA in all cases. The Agilent spectrum analyzer supplies a -10 dBm excitation to Jenne laser's AM port, and A/B is measured with 20dB attenuation on each input port. Results are in /users/aaron/WFS/data/191007/. The calibration had 100 averages, all other measurements 32 averages; other parameters found in the yml file, same folder as the data.

Measurement Reference PD DC (V) WFS Segment DC (V) WFS Segment DC, beam blocked (V) File Notes
WFS 1 Segment 1 1.86 0.79 -0.23
TFAG4395A_07-10-2019_154446.txt
 
WFS 1 Segment 2 1.86 0.72 -0.30 TFAG4395A_07-10-2019_155017.txt  
WFS 1 Segment 3 1.86 0.79 -0.21
TFAG4395A_07-10-2019_155645.txt
 
WFS 1 Segment 4 1.86 0.70 -0.30
TFAG4395A_07-10-2019_160334.txt
TFAG4395A_07-10-2019_160847.txt
I noticed the BS-PRM illuminator was on, and turned it off for the second measurement
WFS 2 Segment 1 1.86 0.56 -0.38 TFAG4395A_07-10-2019_162533.txt  
WFS 2 Segment 2 1.86 0.71 -0.21
TFAG4395A_07-10-2019_163402.txt
 
WFS 2 Segment 3 1.86 0.68 -0.28 TFAG4395A_07-10-2019_164152.txt  
WFS 2 Segment 4 1.86 0.57 -0.42 TFAG4395A_07-10-2019_164745.txt  

 

I normalized the result by the difference between the dark and bright DC levels of each segment.

Mon Oct 7 17:29:58 2019 opened PSL shutter.

Attachment 1: WFShead_response.pdf
WFShead_response.pdf
  14951   Tue Oct 8 16:00:06 2019 aaronUpdateElectronicsWFS head RF measurements

I simulated this circuit with zero, but haven't gotten the results to match the measurements above.

Removing the DC readout chain from the circuit does not affect the AC response.
Perhaps something to do with the (currently unmodeled) capacitance of the diode? I think this forms a necessary part of the resonant circuit. The gain is also suspiciously low.
Edit: Indeed, simply adding the 'typical' shunt capacitance (9pF) and a small series resistor (10 Ohm) gives the right qualitative response
The python notebook is in /users/aaron/WFS/electronics.
The DC response flattens off at ~20dB by ~mHz, which also seems longer than the timescales I saw while measuring; I'm not sure I have some of the AD827 parameters correct (eg 'delay')
 
I came across this nice note on photodiodes.
 
 
Attachment 1: WFS_ACresponse.pdf
WFS_ACresponse.pdf
Attachment 2: WFS_DCresponse.pdf
WFS_DCresponse.pdf
  14959   Wed Oct 9 12:15:05 2019 ranaUpdateElectronicsWFS head RF measurements

It would be good if you and Shruti can look at how to change the parameters in Zero so as to do a fit to the measured data. Usually, in scipy.optimize we give it a function with some changeable params, so maybe there's a way to pass params to a zero object in that way. I think Ian and Anchal are doing something similar to their FSS Pockel's cell simulator.

  15731   Thu Dec 10 22:46:57 2020 gautamUpdateASCWFS head assembled

The assembly of the head is nearly complete, I thought I'd do some characterization before packaging everything up too nicely. I noticed that the tapped holes in the base are odd-sized. According to the official aLIGO drawing, these are supposed to be 4-40 tapped, but I find that something in between 2-56 and 4-40 is required - so it's a metric hole? Maybe we used some other DCC document to manufacture these parts - does anyone know the exact drawings used? In the meantime, the circuit is placed inside the enclosure with the back panel left open to allow some tuning of the trim caps. The front panel piece for mounting the SMA feedthroughs hasn't been delivered yet so hardware-wise, that's the last missing piece (apart from the aforementioned screws).

Attachment #1 - the circuit as stuffed for the RF frequencies of relevance to the 40m.

Attachment #2 - measured TF from the "Test Input" to Quadrant #1 "RF Hi" output.

  • There is reasonable agreement, but not sure what to make of the gain mismatch at most frequencies.
  • The photodiode itself hasn't been installed yet, so there will be some additional tuning required to account for the interaction with the photodiode's junction capacitance.
  • I noticed that the Qs of the resonances in between the notches is pretty high in this config, but the SPICE model also predicts this, so I'm hopeful that they will be tamed once the photodiode is installed.
  • One thing that is worrying is the feature at ~170 MHz. Could be some oscillation of the LM opamp. All the aLIGO WFS test procedure documentation shows measurements only out to 100 MHz. Should we consider increasing the gain of the preamp from x10 to x20 by swapping the feedback resistor from 453 ohms to 1 kohm? Is this a known issue at the sites
  • Any other comments?

Update 11 Dec: For whatever reason, whoever made this box decided to tap 4-40 holes from the bottom (i.e. on the side of the base plate), and didn't thread the holes all the way through, which is why I was unable to get a 4-40 screw in there. To be fair the drawing doesn't specify the depth of the 4-40 holes to be tapped. All the taps we have in the lab have a maximum thread length of 9/16" whereas we need something with at least 0.8" thread length. I'll ask Joe Benson at the physics workshop if he has something I can use, and if not, I'll just drill a counterbore on the bottom side and use the taps we have to go all the way through and hopefully that does the job.

The front panel I designed for the SMA feedthroughs arrived today. Unfortunately, it is impossible for the D-sub shaped holes in this box to accommodate 8 insulated SMA feedthroughs (2 per quadrant for RF low and RF high) - while the actual SMA connector doesn't occupy so much space, the plastic mold around the connector and the nut to hold it are much too bulky. For the AS WFS application, we will only need 4 so that will work, but if someone wants all 8 outputs (plus an optional 9th for the "Test Input"), a custom molded feedthrough will have to be designed. 

As for the 170 MHz feature - my open loop modeling in Spice doesn't suggest a lack of phase margin at that frequency so I'm not sure what the cause is there. If this is true, just increasing the gain won't solve the issue (since there is no instability at least by the phase margin metric). Could be a problem with the "Test Input" path I guess. I confirmed it is present in all 4 quadrants.

Attachment 1: aLIGO_wfs_v5_40m.pdf
aLIGO_wfs_v5_40m.pdf
Attachment 2: TF_meas.pdf
TF_meas.pdf
  15736   Thu Dec 17 15:23:56 2020 gautamUpdateASCWFS head characterization

Summary:

I think the WFS head performs satisfactorily.

  • The (input-referred) dark noise level at the operating frequency of 55 MHz is ~40pA/rtHz (modelled) and ~60 pA/rtHz (measured, converted to input-referred). See Attachment #1. Attachment #5 has the input referred current noise spectral densities, and a few representative shot noise levels.
  • The RF transimpedance gain at the operating frequency is ~500 ohms when driving a 50 ohm load (in good agreement with LTspice model). See Attachment #2 and Attachment #3.
  • The resonant gain to notch ratios are all > 30 dB, which is in line with numbers I can find for the WFS installed at the sites (and in good agreement with the LTspice model as well).
  • There are a few lines visible in the noise measurement. But these are small enough not to be a show-stopper I think.

Details and remarks:

  1. Attachment #4 shows a photo of the setup. 
    • The QPD used was S/N #84.
    • The heat sinks have a bunch of washers because the screw holes were not tappe at time of manufacture.
    • There isn't space to have 8 SMA feedthroughs in the D-shaped cutouts, so we can only have the 4 "RF HI" outputs without some major metalwork.
    • C9 has been remvoed in all channels (to isolate the "TEST INPUT").
  2. I found that some quadrants displayed a ~35 MHz sine-wave of a few mV pk-pk when I had the back of the enclosure off (for tuning the notches). The hypothesis is that this was due to some kind of stray capacitance effect. Anyways, once I closed everything up, for the noise measurement, this peak was no longer visible. With an HP8447A preamp, I measured an RMS voltage of ~2mV rms on an oscilloscope. After undoing the 20 dB gain of the amplifier, each quadrant has an output voltage noise of ~200 uVrms (as returned by the "measure" utility on the scope, I don't know the specifics of how it computes this). Point is, there wasn't any clear sine-wave oscillations like I saw on two channels when the lid was off. 
  3. Some of the lines are present during some measurement times but not others (e.g. Q4 blue vs red curve in Attachment #1). I was doing this work in the elec-bench area of the lab, right next to the network switches etc so not exactly the quietest environment. But anyway, I don't see anything in these measurements that suggest something is seriously wrong.
  4. In the transfer function measurements, above 150 MHz, there are all sorts of features. But I think this is a measurement artefact (stray cable capacitance etc) and not anything real in the RF signal path. Koji saw similar effects I believe, and I didn't delve further into it.
  5. The dark noise of the circuit is such that to be shot noise limited, each quadrant needs 10 mA of DC photocurrent. The light bulb we have has a max current rating of 0.25A, with which I could only get 3 mA DC per quadrant. So the 55 MHz sideband power needed to be shot noise limited is ~50 mW - we will never have such high power. But I think to have better performance will need a major re-work of the circuit design (finite Qs of inductors, capacitors etc).
  6. Regarding the transimpedance gains - in my earlier plots, I omitted the 50ohm input impedance of the AG4395A network analyzer. The numbers I report here are ~half of those earlier in this thread for this reason. In any case, I think this number is what is important, since the ADT-1-1 on the demod board RF input has an input impedance of 50ohm. 
  7. Regarding grounding - the RF ground on the head is actually isolated from the case pretty well. Two locations of concern are (i) the heat sinks for the voltage regulator ICs and (ii) the DB15 connector shield. I've placed electrically insulating (but thermally conducting) pads from TO220 mounting kits between both sets of objects and the case. However, for the Dsub connector, the shape of the pad doesn't quite fit all the way round the connector. So if I over-tighten the 4-40 mounting bolts, at some point, the case gets shorted to the RF ground, presumably because the connector deforms slightly and touches the case in a spot where I don't have the isolating pad installed. I think I've realized a tightness that is mechanically satisfying but electrically isolating.
  8. I will do the fitting at my leisure but the eye-fit is already suggesting that things are okay I think.

If the RF experts see some red flags / think there are more tests that need to be performed, please let me know. Big thanks to Chub for patiently supporting this build effort, I'm pleasantly surprised it worked.

Attachment 1: oNoise.pdf
oNoise.pdf
Attachment 2: Z_Hi.pdf
Z_Hi.pdf
Attachment 3: Z_Low.pdf
Z_Low.pdf
Attachment 4: IMG_9030.jpg
IMG_9030.jpg
Attachment 5: iNoise.pdf
iNoise.pdf
  17217   Mon Oct 31 21:04:43 2022 KojiUpdateASCWFS inspection

Inspected the lab to see what we can do about the IFO WFS:

  • WFS heads
    • 1 functional WFS head (tuned at 11/55MHz) @AS Table [40m ELOG 15736]
    • 1 WFS head case (empty) @Section Y10 below the tube, plastic box
    • 2 WFS PCBs, components stuffed, tuning freq unknown @Section Y10 below the tube, plastic box
  • Deomdulators
    • no 4ch IQ demod unit (some component possibly spare)
    • Build 4 iLIGO demods?
  • Whitening / AA
    • No permanent unit: Maybe we can borrow something from the BHD
  • ADC CHs
    • c1ioo seems to have just 8 more spare channels.
    • Borrow a card from bhd? This will require an AI. But their location would be close to the final positions.
  17048   Fri Jul 29 22:37:54 2022 KojiUpdateIOOWFS investigation

I wanted to check what's wrong with the WFS.

I played with MC2 misalignment to check the error signals.
MC2 pitch and yaw misalignment optically produce a vertical translation and horizontal rotation of the cavity axis at the waist, respectively. So it is thought to be a more separated excitation of the cavity axis.
Then I noticed that WFS2 error signals in general has high (~100%) pitch-yaw coupling. So it was suspicious.

I went to the rack and found that WFS2 SEG4 RF input (labeled "8") was not completely inserted. (Attachment 1)
It seemed that the LEMO connector or the receptacle didn't latch properly anymore and could be easily pulled.
I gave some elbow grease to fix this but in vain. I ended up to use LEMO-BNC adapters which somehow offered a robust connection.

Desipite the insightful discovery, this was not the intrinsic solution to the issue. I checked the past signal history, but I don't think this loose connection caused the missing signal.


Next, I needed to go a bit deeper. The WFS sensors are supposed to be adjusted to I phase where the PDH signal maximally shows up. And all the segments are supposed to have the same sign in terms of the PDH signal.

I've unlocked the IMC and turned on MC2 tickling. This swept the cavity over the resonances.
WFS1 SEG1I~3I showed about the same waveform, but SEG4 Q shows the PDH signal rather than SEG 4 I.
Then tried the same test for WFS2. The SEG4 I signal has the sign-flipped PDH signal compared to WFS2 SEG1I-SEG3I.

I quickly adjusted the demod phase of WFS1 SEG4 and WFS2 SEG4 to correct them,

WFS1 SEG4 103.9-> -20
WFS1 SEG4 -58  -> 120

This in fact made the pitch and yaw separated but flipped (Pitch signal shows up in WFS1Y and yaw signal shows up in WFS1P. Same for WFS2)

These modifications were reverted upon my leaving.


Now things are much more subtle now. And I need to do a more careful quantitative analysis of the demodulation phases / input matrix / output matrix.

Note: It seems that I had worked on IMCWFS on Dec 21, 2016

Attachment 1: PXL_20220730_040900843.jpg
PXL_20220730_040900843.jpg
Attachment 2: PXL_20220730_041216848.jpg
PXL_20220730_041216848.jpg
  17053   Tue Aug 2 01:10:26 2022 KojiUpdateIOOWFS investigation

Continued to work on the WFS repair

Demod phase adjustment:

- Use the PDH signal to adjust the demodulation phase to have uniform signals between the segments.

- Excited laser frequency at 1234Hz by injecting 10mVpp into IMC Servo Board IN2. The input was enabled on the MC Servo screen and given the input gain of 0dB.

- Looked at the ~real time spectrum in WFS1/2 SEG1/2/3/4 I&Q after the phase rotators. Changed the demod phases 1) to have ~0deg transfer function between C1:IOO-MC_F to C1:IOO-WFSi_Ij 2) to minimize the freq signal in Q phases.
(See Attachment 1)

- Resulting change of the demod phases:

WFS1 SEG1  52.0 -> 38.0deg
WFS1 SEG2  54.0 -> 53.0deg
WFS1 SEG3  16.6 -> 33.2deg
WFS1 SEG4 103.9 ->-37.1deg

WFS2 SEG1  17.0 -> 57.8deg
WFS2 SEG2  26.6 -> 51.5deg
WFS2 SEG3  24.5 -> 44.0deg
WFS2 SEG4 -58.0 ->103.7deg

SEG4 of both WFSs had significant phase rotation. A quick check of the power spectrum indicates that the Q signals have significantly (<x1/10) lower signals (Attachment 2/3/4). So that's good.

Transfer function measurement

Now the ASCPIT/ASCYAW of the MC1/2/3 suspension were excited and the transfer functions to WFS1/2 SEG1/2/3/4 and MC Trans P/Y were measured. The analysis will come later.

Again here the Q signals have significantly lower sensitivity to the mirror motion. So it is consistent with the above observation of the spectra.

However, the quick check of the transfer functions indicated that the conventional input matrices result in the flipped dependence of the combined error signals in pitch and yaw.
This might indicate that some of the cables were not inserted into the demod board properly although the cables at the demod boards show no indication of anomaly. (See the photos in ELOG 17048)

It might be the case that the cable had been inserted with a special unusual arrangement.

In any case, this can be fixed at the input matrix. Native change of the input matrix made WFS1PIT/WFS1YAW/WFS2PIT/WFS2YAW/MC2Trans YAW servos running (after some adjustment of the servo signs).
The MC2TRANS PIT servo didn't seem to settle and run away no matter which sign is used.

It's probably better to look at the sensing matrix and figure out the proper input/output matrix carefully. So at this moment, no WFSs are working.

Note that I left the new demod phases in the system


During the transfer function measurement some filters were turned off to make the shaking smoother:

IMC ASC filters were turned off to make the FResp flat:
- MC1 ASCP/Y FM1/FM5 OFF
- MC2 ASCP/Y FM1/FM5/FM6 OFF
- MC3 ASCP/Y FM1/FM5 OFF

60Hz comb OSEM Input filters were also turned off to make the transfer functions simpler:
- MC1 INPUT FM2 OFF (60Hz comb)
- MC2 INPUT FM2 OFF (60Hz comb)
- MC3 INPUT FM2 OFF (60Hz comb)


cf. Past IMCWFS commissioning http://nodus.ligo.caltech.edu:8080/40m/12684

Attachment 1: 220801_IMC_WFS_DEMOD.pdf
220801_IMC_WFS_DEMOD.pdf
Attachment 2: 220801_IMC_WFS_DEMOD2.pdf
220801_IMC_WFS_DEMOD2.pdf
Attachment 3: WFS1.png
WFS1.png
Attachment 4: WFS2.png
WFS2.png
  17059   Thu Aug 4 21:58:18 2022 KojiUpdateIOOWFS investigation

OK... It seems that all the 6 dof of the IMC WFS servo loops were closed with some condition...

- Measured the transfer functions from ASCPIT/YAW_EXC of each suspensions to WFS segs.
- FInd the proper input matrix for PIT and YAW for WFS1 and WFS2
- Closed loops one by one => This was not so successful because the loop shape was quite conditional.
- Closed WFS1/WFS2 loops one by one only with FM4 (0.8Hz Zero / (100Hz pole)^2). Adjust the gains to have the UGF at a few Hz.

- Found that the separation between WFS1P and WFS2P was not good. This caused instability of these loops when the gains were matched. I ended up lowering the gain of WFS1P by a factor of 10. This made the loop OK to work. FM3 (Integrator below 0.8Hz) worked fine.

- FM9 Rolloff filters (RLP12) makes the loops unstable.

- The MC2 spot loops (MC2_TRANS_PIT/YAW) are supposed to be slow loops. From the time series behavior it looks they are working.


MEDM Snapshots (Attchaments 1~4)

Attachment 1: Screenshot_2022-08-04_22-10-57.png
Screenshot_2022-08-04_22-10-57.png
Attachment 2: Screenshot_2022-08-04_22-11-16.png
Screenshot_2022-08-04_22-11-16.png
Attachment 3: Screenshot_2022-08-04_22-11-53.png
Screenshot_2022-08-04_22-11-53.png
Attachment 4: Screenshot_2022-08-04_22-12-39.png
Screenshot_2022-08-04_22-12-39.png
  17060   Thu Aug 4 22:14:20 2022 KojiUpdateIOOWFS investigation

Sensing matrix measurement

MCx_ASCyyy_EXC was shaken with the amplitude of 3000 cnt. Measure the transfer functions to each segment of the WFS I&Q demod outputs.

- Pitch excitations consistently indicated WFS1 SEG2&3 / SEG1&4, and WFS2 SEG 1&2 / SEG 3&4 are the pairs.
- Yaw excitations consistently indicated WFS1 SEG1&2 / SEG3&4, and WFS2 SEG 1&4 / SEG 2&3 are the pairs.

---> WFS1P matrix {1,-1,-1,1}, WFS1Y matrix {1,1,-1,-1}, WFS2P matrix {1,1,-1,-1}, WFS2Y matrix {-1,1,1,-1}

Now look at the servo input. The following lists show the important numbers for the actuation to sensor matrices. The numbers were the measured transfer function between 7~10Hz and the unit is 1/f^2 [cnt/cnt].

CHA:, C1:SUS-MC1_ASCPIT_EXC, CHB:, C1:IOO-WFS1_I_PIT_OUT, -77.4602 +/- 18.4495
CHA:, C1:SUS-MC1_ASCPIT_EXC, CHB:, C1:IOO-WFS2_I_PIT_OUT, -22.6042 +/- 5.289
CHA:, C1:SUS-MC1_ASCPIT_EXC, CHB:, C1:IOO-MC_TRANS_PIT_OUT, -0.0007949 +/- 0.00019046
CHA:, C1:SUS-MC1_ASCYAW_EXC, CHB:, C1:IOO-WFS1_I_YAW_OUT, -60.5557 +/- 14.1008
CHA:, C1:SUS-MC1_ASCYAW_EXC, CHB:, C1:IOO-WFS2_I_YAW_OUT, -206.3526 +/- 47.1332
CHA:, C1:SUS-MC1_ASCYAW_EXC, CHB:, C1:IOO-MC_TRANS_YAW_OUT, 0.00027094 +/- 6.6131e-05

CHA:, C1:SUS-MC2_ASCPIT_EXC, CHB:, C1:IOO-WFS1_I_PIT_OUT, 57.8636 +/- 35.3874
CHA:, C1:SUS-MC2_ASCPIT_EXC, CHB:, C1:IOO-WFS2_I_PIT_OUT, -185.079 +/- 104.679
CHA:, C1:SUS-MC2_ASCPIT_EXC, CHB:, C1:IOO-MC_TRANS_PIT_OUT, 0.00089367 +/- 0.00052603
CHA:, C1:SUS-MC2_ASCYAW_EXC, CHB:, C1:IOO-WFS1_I_YAW_OUT, -349.7898 +/- 202.967
CHA:, C1:SUS-MC2_ASCYAW_EXC, CHB:, C1:IOO-WFS2_I_YAW_OUT, -193.7146 +/- 111.2871
CHA:, C1:SUS-MC2_ASCYAW_EXC, CHB:, C1:IOO-MC_TRANS_YAW_OUT, 0.003911 +/- 0.0023028

CHA:, C1:SUS-MC3_ASCPIT_EXC, CHB:, C1:IOO-WFS1_I_PIT_OUT, 65.5405 +/- 14.305
CHA:, C1:SUS-MC3_ASCPIT_EXC, CHB:, C1:IOO-WFS2_I_PIT_OUT, 78.8535 +/- 17.1719
CHA:, C1:SUS-MC3_ASCPIT_EXC, CHB:, C1:IOO-MC_TRANS_PIT_OUT, -0.00087661 +/- 0.00020837
CHA:, C1:SUS-MC3_ASCYAW_EXC, CHB:, C1:IOO-WFS1_I_YAW_OUT, -130.7286 +/- 29.6898
CHA:, C1:SUS-MC3_ASCYAW_EXC, CHB:, C1:IOO-WFS2_I_YAW_OUT, 129.0654 +/- 28.6328
CHA:, C1:SUS-MC3_ASCYAW_EXC, CHB:, C1:IOO-MC_TRANS_YAW_OUT, -0.00024944 +/- 5.9112e-05

Put these numbers in the matrix calculation and take the inverse for pitch and yaw separately.

We obtained

WFS1P    WFS2P    MCTP    
-4.017   -4.783   -7.306e5   MC1P
 3.611   -5.252   -2.025e5   MC2P
 7.323   -1.017   -6.847e5   MC3P

WFS1Y    WFS2Y    MCTY    
-3.457   -4.532   -5.336e5   MC1Y
-0.1249   0.3826   2.635e5   MC2Y
-5.714    1.076   -4.578e5   MC3Y

Basically we can put these numbers into the output matrix. The last column corresponds to the spot position servo and we want to make this slow.
So used x1e-5 values (i.e. removed e5) instead of these huge numbers.

 

Attachment 1: IMC_SUS_channels_TF.pdf
IMC_SUS_channels_TF.pdf
Attachment 2: IMC_WFS_channels_TF.pdf
IMC_WFS_channels_TF.pdf
Attachment 3: IMC_WFS_segment_TF.pdf
IMC_WFS_segment_TF.pdf
Attachment 4: IMC_WFS_220804.xlsx
  17061   Thu Aug 4 22:14:38 2022 KojiUpdateIOOWFS investigation

WFS/MCTRANS_QPD Power Spectra

Attachment 1: HEPA ON

WFS1/2 PIT/YAW Spectra are stabilized below 1Hz (0.1Hz for WFS1P)

MC2 TRANS PIT is largely contaminated by the other WFS loops.
MC2 TRANS YAW is slightly contaminated but not much compared to the one for pitch.

Attachment 2: HEPA OFF

Again, WFS1/2 PIT/YAW Spectra are stabilized below 1Hz (0.1Hz for WFS1P)

MC2 TRANS PIT is still contaminated but better.
MC2 TRANS YAW is not contaminated.


Observation

WFS1/2 signals are largely disturbed when PSL HEPA is ON. Probably the amount of HEPA air flow was not optimized.
Above 1Hz, invacuum suspension are quieter than the beam incident on the IMC.

The dirty WFS signals are fedback to the mirrors. Due the large motion of the beam and also the imperfection of the actuator matrix cause the MC2 spot rather moves than stabilized.

This means that the WFS loops should leave the mirrors untouched above 1Hz i.e. The loop bandwidths should be low (~<0.1Hz). (Yes I know)
However, the simple gain reduction (x10) does make the servos unstable. So more adjustment is necessary. (<-Not for today)

Attachment 1: Screenshot_2022-08-04_22-17-19.png
Screenshot_2022-08-04_22-17-19.png
Attachment 2: Screenshot_2022-08-04_22-18-45.png
Screenshot_2022-08-04_22-18-45.png
ELOG V3.1.3-