Commit d1263fce authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Updated CDB and schemas

parent 2c2fa39b

SRT/CDB/alma/DataBlock/MinorServo/GFR/LookupTables/LookupTables.xml

+8 −8
Original line number Diff line number Diff line
@@ -12,14 +12,14 @@ 


    <CCG>               <axis>ROTATION</axis> <coefficients>-88.70659   </coefficients></CCG>

    <CCG_ASACTIVE>      <axis>ROTATION</axis> <coefficients>-88.70659   </coefficients></CCG_ASACTIVE>

    <KKG>               <axis>ROTATION</axis> <coefficients>0           </coefficients></KKG>

    <KKG_ASACTIVE>      <axis>ROTATION</axis> <coefficients>0           </coefficients></KKG_ASACTIVE>

    <WWG>               <axis>ROTATION</axis> <coefficients>0           </coefficients></WWG>

    <WWG_ASACTIVE>      <axis>ROTATION</axis> <coefficients>0           </coefficients></WWG_ASACTIVE>

    <QQG>               <axis>ROTATION</axis> <coefficients>0           </coefficients></QQG>

    <QQG_ASACTIVE>      <axis>ROTATION</axis> <coefficients>0           </coefficients></QQG_ASACTIVE>

    <TRI>               <axis>ROTATION</axis> <coefficients>0           </coefficients></TRI>

    <TRI_ASACTIVE>      <axis>ROTATION</axis> <coefficients>0           </coefficients></TRI_ASACTIVE>

    <KKG>               <axis>ROTATION</axis> <coefficients>-159.8899   </coefficients></KKG>

    <KKG_ASACTIVE>      <axis>ROTATION</axis> <coefficients>-159.8899   </coefficients></KKG_ASACTIVE>

    <WWG>               <axis>ROTATION</axis> <coefficients>90.971610   </coefficients></WWG>

    <WWG_ASACTIVE>      <axis>ROTATION</axis> <coefficients>90.971610   </coefficients></WWG_ASACTIVE>

    <QQG>               <axis>ROTATION</axis> <coefficients>162.771     </coefficients></QQG>

    <QQG_ASACTIVE>      <axis>ROTATION</axis> <coefficients>162.771     </coefficients></QQG_ASACTIVE>

    <TRI>               <axis>ROTATION</axis> <coefficients>55.373967   </coefficients></TRI>

    <TRI_ASACTIVE>      <axis>ROTATION</axis> <coefficients>55.373967   </coefficients></TRI_ASACTIVE>

    <MISTRAL>           <axis>ROTATION</axis> <coefficients>-51.821170  </coefficients></MISTRAL>

    <MISTRAL_ASACTIVE>  <axis>ROTATION</axis> <coefficients>-51.821170  </coefficients></MISTRAL_ASACTIVE>

SRT/CDB/alma/MINORSERVO/GFR/GFR.xml

+10 −4
Original line number Diff line number Diff line
@@ -2,26 +2,32 @@ 
<!--

   Authors: Giuseppe Carboni giuseppe.carboni@inaf.it

-->

<SRTMinorServo

<SRTGenericMinorServo

    xmlns="urn:schemas-cosylab-com:SRTMinorServo: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"

    physical_axes="2"

    virtual_axes="1">

    virtual_axes="1"

    max_speed="3.5"

    acceleration="2"

    min_range="-166"

    max_range="168.5">



    <enabled description="All physical axes enabled" />

    <drive_cabinet_status description="Drive cabinet status" />

    <block description="Minor servo in block status" />

    <operative_mode description="Minor servo operating mode" />

    <physical_axes description="Number of physical axes" />

    <physical_axes_enabled description="Sequence, physical axes enabled" />

    <physical_positions description="Sequence, physical axes positions" />

    <virtual_axes description="Number of virtual axes" />

    <virtual_positions description="Sequence, virtual axes positions" />

    <plain_virtual_positions description="Sequence, plain virtual axes positions, with offsets" />

    <virtual_positions description="Sequence, virtual axes positions, without offsets" />

    <virtual_offsets description="Sequence, sum of user and system virtual axis offsets" />

    <virtual_user_offsets description="Sequence, virtual user axes offsets" />

    <virtual_system_offsets description="Sequence, virtual system axes offsets" />

    <in_use description="Boolean indicating whether the servo is in use in the current configuration" />

    <current_setup description="The name of the current configuration" />



</SRTMinorServo>
 
</SRTGenericMinorServo>

SRT/CDB/alma/MINORSERVO/M3R/M3R.xml

+10 −4
Original line number Diff line number Diff line
@@ -2,26 +2,32 @@ 
<!--

   Authors: Giuseppe Carboni giuseppe.carboni@inaf.it

-->

<SRTMinorServo

<SRTGenericMinorServo

    xmlns="urn:schemas-cosylab-com:SRTMinorServo: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"

    physical_axes="2"

    virtual_axes="1">

    virtual_axes="1"

    max_speed="3.14"

    acceleration="1.57"

    min_range="-165"

    max_range="165">



    <enabled description="All physical axes enabled" />

    <drive_cabinet_status description="Drive cabinet status" />

    <block description="Minor servo in block status" />

    <operative_mode description="Minor servo operating mode" />

    <physical_axes description="Number of physical axes" />

    <physical_axes_enabled description="Sequence, physical axes enabled" />

    <physical_positions description="Sequence, physical axes positions" />

    <virtual_axes description="Number of virtual axes" />

    <virtual_positions description="Sequence, virtual axes positions" />

    <plain_virtual_positions description="Sequence, plain virtual axes positions, with offsets" />

    <virtual_positions description="Sequence, virtual axes positions, without offsets" />

    <virtual_offsets description="Sequence, sum of user and system virtual axis offsets" />

    <virtual_user_offsets description="Sequence, virtual user axes offsets" />

    <virtual_system_offsets description="Sequence, virtual system axes offsets" />

    <in_use description="Boolean indicating whether the servo is in use in the current configuration" />

    <current_setup description="The name of the current configuration" />



</SRTMinorServo>
 
</SRTGenericMinorServo>

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

+15 −4
Original line number Diff line number Diff line
@@ -2,26 +2,37 @@ 
<!--

   Authors: Giuseppe Carboni giuseppe.carboni@inaf.it

-->

<SRTMinorServo

<SRTProgramTrackMinorServo

    xmlns="urn:schemas-cosylab-com:SRTMinorServo: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"

    physical_axes="5"

    virtual_axes="3">

    virtual_axes="3"

    max_speed="1, 1, 1"

    acceleration="1, 1, 1"

    min_range="0, 0, 0"

    max_range="0, 0, 0">





    <enabled description="All physical axes enabled" />

    <drive_cabinet_status description="Drive cabinet status" />

    <block description="Minor servo in block status" />

    <operative_mode description="Minor servo operating mode" />

    <physical_axes description="Number of physical axes" />

    <physical_axes_enabled description="Sequence, physical axes enabled" />

    <physical_positions description="Sequence, physical axes positions" />

    <virtual_axes description="Number of virtual axes" />

    <virtual_positions description="Sequence, virtual axes positions" />

    <plain_virtual_positions description="Sequence, plain virtual axes positions, with offsets" />

    <virtual_positions description="Sequence, virtual axes positions, without offsets" />

    <virtual_offsets description="Sequence, sum of user and system virtual axis offsets" />

    <virtual_user_offsets description="Sequence, virtual user axes offsets" />

    <virtual_system_offsets description="Sequence, virtual system axes offsets" />

    <in_use description="Boolean indicating whether the servo is in use in the current configuration" />

    <current_setup description="The name of the current configuration" />

    <tracking description="Boolean indicating whether the servo is tracking the given coordinates" />

    <trajectory_id description="Unsigned int, the UNIX Epoch * 1000 indicating the start time of the current trajectory" />

    <total_trajectory_points description="Number of points sent for the current trajectory" />

    <remaining_trajectory_points description="Remaining points of the current trahectory" />



</SRTMinorServo>
 
</SRTProgramTrackMinorServo>

SRT/CDB/alma/MINORSERVO/SRP/SRP.xml

+14 −4
Original line number Diff line number Diff line
@@ -2,26 +2,36 @@ 
<!--

   Authors: Giuseppe Carboni giuseppe.carboni@inaf.it

-->

<SRTMinorServo

<SRTProgramTrackMinorServo

    xmlns="urn:schemas-cosylab-com:SRTMinorServo: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"

    physical_axes="6"

    virtual_axes="6">

    virtual_axes="6"

    max_speed="4, 4, 4, 0.38, 0.38, 0.38"

    acceleration="8, 8, 8, 0.76, 0.76, 0.76"

    min_range="-50, -110, -50, -0.25, -0.25, -0.25"

    max_range="50, 110, 50, 0.25, 0.25, 0.25">



    <enabled description="All physical axes enabled" />

    <drive_cabinet_status description="Drive cabinet status" />

    <block description="Minor servo in block status" />

    <operative_mode description="Minor servo operating mode" />

    <physical_axes description="Number of physical axes" />

    <physical_axes_enabled description="Sequence, physical axes enabled" />

    <physical_positions description="Sequence, physical axes positions" />

    <virtual_axes description="Number of virtual axes" />

    <virtual_positions description="Sequence, virtual axes positions" />

    <plain_virtual_positions description="Sequence, plain virtual axes positions, with offsets" />

    <virtual_positions description="Sequence, virtual axes positions, without offsets" />

    <virtual_offsets description="Sequence, sum of user and system virtual axis offsets" />

    <virtual_user_offsets description="Sequence, virtual user axes offsets" />

    <virtual_system_offsets description="Sequence, virtual system axes offsets" />

    <in_use description="Boolean indicating whether the servo is in use in the current configuration" />

    <current_setup description="The name of the current configuration" />

    <tracking description="Boolean indicating whether the servo is tracking the given coordinates" />

    <trajectory_id description="Unsigned int, the UNIX Epoch * 1000 indicating the start time of the current trajectory" />

    <total_trajectory_points description="Number of points sent for the current trajectory" />

    <remaining_trajectory_points description="Remaining points of the current trahectory" />



</SRTMinorServo>
 
</SRTProgramTrackMinorServo>