Commit b22786ef authored by aorlati's avatar aorlati
Browse files

Up to date SRT configuration

parent 233eb915

SRT/Configuration/CDB/alma/DataBlock/PointingModel/PointingModel.xml

+57 −64
Original line number Diff line number Diff line 
<?xml version = '1.0' encoding = 'ISO-8859-1'?>

<!--

	MEDICINA POINTING MODEL TABLE RECEIVERS

-->

<PointingModel xmlns="urn:schemas-cosylab-com:PointingModel:1.0"

               xmlns:baci="urn:schemas-cosylab-com:BACI:1.0"

               xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"

               xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">





<PointingModel xmlns = "urn:schemas-cosylab-com:PointingModel:1.0" >

<Receiver>

	<receiverCode>CCB</receiverCode>

        <phi>90.0</phi>

        <coefficientNum00> 1 </coefficientNum00> <coefficientVal00> -2.3029563427 </coefficientVal00>

        <coefficientNum00> 1 </coefficientNum00> <coefficientVal00> -2.2957174778 </coefficientVal00>

        <coefficientNum01> 0 </coefficientNum01> <coefficientVal01> 0.0 </coefficientVal01>

        <coefficientNum02> 1 </coefficientNum02> <coefficientVal02> -0.0102762356 </coefficientVal02>

        <coefficientNum03> 1 </coefficientNum03> <coefficientVal03> -0.0050985431 </coefficientVal03>

        <coefficientNum04> 1 </coefficientNum04> <coefficientVal04> -0.0008867322 </coefficientVal04>

        <coefficientNum05> 1 </coefficientNum05> <coefficientVal05> -0.0019946923 </coefficientVal05>

        <coefficientNum06> 1 </coefficientNum06> <coefficientVal06> 0.0873332769 </coefficientVal06>

        <coefficientNum07> 1 </coefficientNum07> <coefficientVal07> 0.0871561393</coefficientVal07>

        <coefficientNum02> 1 </coefficientNum02> <coefficientVal02> -0.0068070539 </coefficientVal02>

        <coefficientNum03> 1 </coefficientNum03> <coefficientVal03> -0.0016828823 </coefficientVal03>

        <coefficientNum04> 1 </coefficientNum04> <coefficientVal04> -0.0009974039 </coefficientVal04>

        <coefficientNum05> 1 </coefficientNum05> <coefficientVal05> -0.0006166724 </coefficientVal05>

        <coefficientNum06> 1 </coefficientNum06> <coefficientVal06> 0.0852021798 </coefficientVal06>

        <coefficientNum07> 1 </coefficientNum07> <coefficientVal07> 0.0925736725 </coefficientVal07>

        <coefficientNum08> 0 </coefficientNum08> <coefficientVal08> 0.0 </coefficientVal08>

        <coefficientNum09> 0 </coefficientNum09> <coefficientVal09> 0.0 </coefficientVal09>

        <coefficientNum10> 1 </coefficientNum10> <coefficientVal10> 0.0115426397 </coefficientVal10>

        <coefficientNum10> 1 </coefficientNum10> <coefficientVal10> 0.0148610147 </coefficientVal10>

        <coefficientNum11> 0 </coefficientNum11> <coefficientVal11> 0 </coefficientVal11>

        <coefficientNum12> 1 </coefficientNum12> <coefficientVal12> 0.0020223276 </coefficientVal12>

        <coefficientNum13> 1 </coefficientNum13> <coefficientVal13> 0.0008122203 </coefficientVal13>

        <coefficientNum12> 1 </coefficientNum12> <coefficientVal12> 0.0005418550 </coefficientVal12>

        <coefficientNum13> 1 </coefficientNum13> <coefficientVal13> -0.0000714987 </coefficientVal13>

        <coefficientNum14> 0 </coefficientNum14> <coefficientVal14> 0 </coefficientVal14>

        <coefficientNum15> 0 </coefficientNum15> <coefficientVal15> 0 </coefficientVal15>

        <coefficientNum16> 0 </coefficientNum16> <coefficientVal16> 0 </coefficientVal16>
@@ -116,20 +108,20 @@ 
<Receiver>

	<receiverCode>XB</receiverCode>

        <phi>90.0</phi>

        <coefficientNum00> 1 </coefficientNum00> <coefficientVal00> -2.3029563427 </coefficientVal00>

        <coefficientNum01> 0 </coefficientNum01> <coefficientVal01> 0.0 </coefficientVal01>

        <coefficientNum02> 1 </coefficientNum02> <coefficientVal02> -0.0102762356 </coefficientVal02>

        <coefficientNum03> 1 </coefficientNum03> <coefficientVal03> -0.0050985431 </coefficientVal03>

        <coefficientNum04> 1 </coefficientNum04> <coefficientVal04> -0.0008867322 </coefficientVal04>

        <coefficientNum05> 1 </coefficientNum05> <coefficientVal05> -0.0019946923 </coefficientVal05>

        <coefficientNum06> 1 </coefficientNum06> <coefficientVal06> 0.0873332769 </coefficientVal06>

        <coefficientNum07> 1 </coefficientNum07> <coefficientVal07> 0.0871561393</coefficientVal07>

        <coefficientNum08> 0 </coefficientNum08> <coefficientVal08> 0.0 </coefficientVal08>

        <coefficientNum09> 0 </coefficientNum09> <coefficientVal09> 0.0 </coefficientVal09>

        <coefficientNum10> 1 </coefficientNum10> <coefficientVal10> 0.0115426397 </coefficientVal10>

        <coefficientNum00> 1 </coefficientNum00> <coefficientVal00> -2.3043539524 </coefficientVal00>

        <coefficientNum01> 0 </coefficientNum01> <coefficientVal01> 0 </coefficientVal01>

        <coefficientNum02> 1 </coefficientNum02> <coefficientVal02> -0.0103099272 </coefficientVal02>

        <coefficientNum03> 1 </coefficientNum03> <coefficientVal03> 0.0030994823 </coefficientVal03>

        <coefficientNum04> 1 </coefficientNum04> <coefficientVal04> -0.0007470800 </coefficientVal04>

        <coefficientNum05> 1 </coefficientNum05> <coefficientVal05> -0.0010929909 </coefficientVal05>

        <coefficientNum06> 1 </coefficientNum06> <coefficientVal06> 0.0612707771 </coefficientVal06>

        <coefficientNum07> 1 </coefficientNum07> <coefficientVal07> 0.0878318101 </coefficientVal07>

        <coefficientNum08> 0 </coefficientNum08> <coefficientVal08> 0 </coefficientVal08>

        <coefficientNum09> 0 </coefficientNum09> <coefficientVal09> 0 </coefficientVal09>

        <coefficientNum10> 1 </coefficientNum10> <coefficientVal10> 0.0308663435 </coefficientVal10>

        <coefficientNum11> 0 </coefficientNum11> <coefficientVal11> 0 </coefficientVal11>

        <coefficientNum12> 1 </coefficientNum12> <coefficientVal12> 0.0020223276 </coefficientVal12>

        <coefficientNum13> 1 </coefficientNum13> <coefficientVal13> 0.0008122203 </coefficientVal13>

        <coefficientNum12> 1 </coefficientNum12> <coefficientVal12> 0.0008999962 </coefficientVal12>

        <coefficientNum13> 1 </coefficientNum13> <coefficientVal13> 0.0000846578 </coefficientVal13>

        <coefficientNum14> 0 </coefficientNum14> <coefficientVal14> 0 </coefficientVal14>

        <coefficientNum15> 0 </coefficientNum15> <coefficientVal15> 0 </coefficientVal15>

        <coefficientNum16> 0 </coefficientNum16> <coefficientVal16> 0 </coefficientVal16>
@@ -148,4 +140,5 @@ 
        <coefficientNum29> 0 </coefficientNum29> <coefficientVal29> 0 </coefficientVal29>

</Receiver>





</PointingModel>

SRT/Configuration/CDB/alma/MINORSERVO/Boss/Boss.xml

+21 −15
Original line number Diff line number Diff line
@@ -35,18 +35,18 @@ 
    monitoringThreadStackSize="4096"

    

    CCB_ASACTIVE="

        @ PFP: park;

        @ PFP: none;

        @ GFR: park;

        @ SRP: TX = (-1.5); 

               TY = (29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855); 

               TZ = (11.5796960573, -0.4234293285, 0.0115320065, -0.0001960492, 0.0000012410);

               TZ = (91.5590595452, -16.4202062811, 1.16941963489, -0.040640240455, 0.000733782714288, -6.62393455442e-06, 2.36410838911e-08);

               RX = (-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053);

               RY = (-0.036111111111111108); 

               RZ = (0);

        @ M3R: RZ = (286.67);

    "

    CCB="

        @ PFP: park;

        @ PFP: none;

        @ GFR: park;

        @ SRP: TX(mm) = (-1.5); 

               TY(mm) = (28.256852219272844, -0.002707044952, -0.009870218853, 0.000031617958);
@@ -58,22 +58,22 @@ 
    "



    XB_ASACTIVE="

        @ PFP: park;

        @ PFP: none;

        @ GFR: park;

        @ SRP: TX = (-1.5); 

               TY = (29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855); 

               TZ = (11.5796960573, -0.4234293285, 0.0115320065, -0.0001960492, 0.0000012410);

	       TZ = (-62.4908146635, 6.98439048963, -0.29490654835, 0.00576168925985, -5.37111297435e-05, 1.93982122885e-07 );

               RX = (-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053);

               RY = (-0.036111111111111108); 

               RZ = (0);

        @ M3R: RZ = (860.8);

    "

    XB="

        @ PFP: park;

        @ PFP: none;

        @ GFR: park;

        @ SRP: TX(mm) = (-1.5); 

               TY(mm) = (28.256852219272844, -0.002707044952, -0.009870218853, 0.000031617958);

               TZ(mm) = (9.530113849340003, -0.169826241752, 0.000419997047, 0.000003985237);

               TZ = (7.92754535681, -1.73279985542, 0.147346047014, -0.00516934108597, 7.69094654954e-05, -4.0697957632e-07 );

               RX(degree) = (-0.011392527142374848, -0.0001426193499425, 0.000039508844799, -0.000000131010010); 

               RY(degree) = (-0.03611111111111111); 

               RZ(degree) = (0);
@@ -81,7 +81,7 @@ 
    "

 

    KKG_ASACTIVE="

        @ PFP: park;

        @ PFP: none;

        @ SRP: TX = (-1.5); 

               TY = (29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855); 

               TZ = (-15.6669651675, 1.9293068324, -0.0628990613, 0.0007771141, -0.0000032940);
@@ -91,8 +91,20 @@ 
        @ GFR: RZ(mm) = (1323.5);

        @ M3R: RZ(mm) = (860);

    "

    KKG_TEST_ASACTIVE="

        @ PFP: none;

        @ SRP: TX = (-1.5); 

               TY = (83.53947196, -9.17664589, 0.42877766, -0.00940768, 0.00009361, -0.00000035); 

               TZ = (-15.6669651675, 1.9293068324, -0.0628990613, 0.0007771141, -0.0000032940);

               RX = (-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053);

               RY = (-0.036111111111111108); 

               RZ = (0);

        @ GFR: RZ(mm) = (1323.5);

        @ M3R: RZ(mm) = (860);

    "



    KKG="

        @ PFP: park;

        @ PFP: none;

        @ SRP: TX(mm) = (-1.5); 

               TY(mm) = (28.256852219272844, -0.002707044952, -0.009870218853, 0.000031617958);

               TZ(mm) = (9.530113849340003, -0.169826241752, 0.000419997047, 0.000003985237);
@@ -142,12 +154,6 @@ 
        @ M3R: RZ(mm) = (860);

    "



    SSP="

        @ SRP: park;

        @ PFP: RY(mm) = (-25.95); TX(mm) = (-223); TZ(mm) = (-67);

        @ GFR: RZ(mm) = (-600);

        @ M3R: RZ(mm) = (860);

    "



    slaves="GFR, M3R, PFP, SRP"

>

SRT/Configuration/CDB/alma/MINORSERVO/PFP/PFP.xml

+2 −2
Original line number Diff line number Diff line
@@ -9,7 +9,7 @@ 
-->



<!-- Expire time in seconds -->

<!-- Limits in mm: theta_y(-28.51,2740), x(-1400,1400), z(-199,40) -->

<!-- Limits in mm: theta_y(-34.00,2740), x(-1400,1400), z(-199,40) -->

<!-- Park position: theta_y(2730.15), x(0), z(-195) -->

<WPServo

    xmlns="urn:schemas-cosylab-com:MinorServo:1.0"
@@ -36,7 +36,7 @@ 
    require_calibration = "0"

    expire_time = "0.05000"

    tracking_delta = "1.0"

    limits="(-28.51, 2740); (-1480, 1480); (-199, 40)"

    limits="(-34.0, 2740); (-1480, 1480); (-199, 40)"

>

              

    <!-- Actual Position (ROdoubleSeq) -->