<?xml version='1.0' encoding='ISO-8859-1'?>
<!--
   Authors: Giuseppe Carboni giuseppe.carboni@inaf.it
-->
<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"
    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"
    tracking_delta="1, 1, 1, 1, 1, 1">

    <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" />
    <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" />
    <tracking_error description="The tracking error of each axis" />

</SRTProgramTrackMinorServo>
