====== Telescope stuck ======

This is a [[:troubleshooting:soft_alarms|soft]] alarm. However, the alarm will be accompanied by a [[:troubleshooting:alarm:tsa_robot_stuck_too_many_times|robot stuck ]]alarm.

===== Description =====

The telescope [[:troubleshooting:alarm:tsa_motor_stuck|motor has stuck]] in the given direction (inwards or outwards), i.e. no significant movement has been detected for a couple of seconds when the motor was expected to move. The motor is stuck due to a physical obstacle (bad programming with too small margins or other environmental changes).

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[[:service:service_instructions:high_friction_telescope|]] could also lead to stuck telescope motor. A symptom of high friction would be if the telescope gets stuck without physically hitting anything. The further out the telescope is the higher the friction gets. It's more likely that the telescope gets stuck in a position far out if the sliding plates are in a bad condition.

===== Troubleshooting =====

  * Check that the robot has not run into anything. Keep in mind that the function that has set of the alarm does not necessarily need to be the function causing the trouble originally.
  * Check that the margins to the surroundings are sufficient
  * Check that moving parts are not damaged
  * Check that the telescope motor is working
  * Check that the brake unit is working properly
  * Check that the telescope zero position sensor are working
  * Check that the functions are initialized properly
  * Check the condition of the sliding plates and that they are mounted correctly with washers


===== Suspecting high friction in the telescope? =====

Visit this [[:service:service_instructions:high_friction_telescope|troubleshooting guide for worn plates.]]

[[:service:service_instructions:sliding_plates_replacement|Remove the sliding plates.]] Look at them and see if there is any metal coating. If so, scrape the plates with a knife and mount them back. This can help lowerig the friction until the plates have been replaced or service technician have arrive.