Changes
/* Telescope pointing limits */
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If the telescope reaches an altitude limit, it will simply stop tracking and can be pointed to a new position. Note that the TCS will not warn you that the limit has been reached, but you will see the RA & Dec changing and the Alt & Az not. The azimuth rotation is limited to a range of 400° in order to avoid twisting the cables that pass through the pier. It is therefore possible to encounter an azimuth limit while tracking, but this should be rare because the limits are in the West. If a limit is reached, the telescope should automatically "unwind" by 360° in azimuth and continue tracking (if it doesn't, simply repoint the telescope). If the telescope would land within 40° of an azimuth limit when slewed to a target, it will "unwind" as part of the initial pointing, to avoid having to do so during the observation.
== Instrument rotation ==
Due to instrument cable length limitations, the instruments need to undergo a 180° derotation when tracking in the region of the meridian. The image orientation will switch from "North up" to "North down", or vice versa. This wasn't an issue with SHOC as the cables allowed a 360° rotation, but it does affect Mookodi. The derotation only takes ~10 seconds, but if it coincides with a long exposure then that exposure would be junk. The plot below shows the time to derotation for Mookodi, as a function of hour angle and declination, to enable observers to plan accordingly.
[[File:LesediTimeToDerotation.png|thumb|400px|frame|left|]]
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== Telescope Control System (TCS) Overview ==
