<?xml version='1.0' encoding='ISO-8859-1'?>
<!--
   Authors: 
       Marco Buttu, mbuttu@oa-cagliari.inaf.it
 
   Created: Tue Oct 13 09:36:00 CEST 2009
   Last Modified: Fri Jun 7 12:20:32 UTC 2013

-->

<!-- Expire time in seconds -->
<!-- Limits: x(-50,50), y(-110,110), z(-110,110), theta_x(-0.25,0.25), theta_y(-0.25,0.25), theta_z(-0.25,0.25) -->
<!-- Elongation Limits: Z1(-125,125), Z2(-125,125), Z3(-125,125), Y4(-125,125), Y5(-125,125), X6(-125,125) -->
<!-- Park position (elongations): Z1(-125), Z2(-125), Z3(-125), Y4(0), Y5(0), X6(0) -->
<WPServo
    xmlns="urn:schemas-cosylab-com:MinorServo: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"

    actionThreadStackSize="2048"
    monitoringThreadStackSize="4096"
    number_of_axis="6"
    number_of_slaves="7"
    scale_factor="1"
    scale_offset="0"
    server_ip="192.168.200.16"
    server_port="10000"
    timeout="2000000"
    servo_address="1"
    zero="1570.00"
    park_position="-5,5,-125,0,0,0"
    max_speed="0"
    min_speed="0"
    driver_type = "unknown"
    virtual_rs = "1"
    require_calibration = "0"
    expire_time = "0.05000"
    tracking_delta = "1.0"
    limits="(-50, 50); (-110, 110); (-110, 110); (-0.25, 0.25); (-0.25, 0.25); (-0.25, 0.25)"
>
              
    <!-- Actual Position (ROdoubleSeq) -->
    <actPos
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="MinorServo actual position" 
        units="mm, mm, mm, degree, degree, degree"
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>

    <!-- Plain Actual Position (ROdoubleSeq) -->
    <plainActPos
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="MinorServo plain actual position (actPos - user_offset)" 
        units="mm, mm, mm, degree, degree, degree"
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>

    <!-- Commanded Position (RwdoubleSeq) -->
    <cmdPos
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="MinorServo commanded position" 
        units="mm, mm, mm, degree, degree, degree"
        resolution="65535"
        graph_min="0"
        graph_max="0"
        min_step="0"
	/>
              
    <!-- Position Difference (ROdoubleSeq) -->
    <posDiff
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="MinorServo position difference" 
        units="mm, mm, mm, degree, degree, degree"
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>

    <!-- Actual Elongation (ROdoubleSeq) -->
    <actElongation
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="MinorServo actual elongation" 
        units="mm, mm, mm, mm, mm, mm"
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
 
    <!-- Virtual Actual Elongation (ROdoubleSeq) -->
    <virtualActElongation
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="MinorServo virtual actual elongation" 
        units="mm, mm, mm, mm, mm, mm"
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
            
    <!-- Engine Temperature (ROdoubleSeq) -->
    <engTemperature
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="Temperature of slave engine" 
        units="celsius"
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
              
    <!-- Counturing Error (ROdoubleSeq) -->
    <counturingErr
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="Counturing Error of slaves" 
        units=""
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
              
    <!-- Torque Percentage (ROdoubleSeq) -->
    <torquePerc
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="Torque Percentage of slaves" 
        units=""
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
              
    <!-- Engine Current (ROdoubleSeq) -->
    <engCurrent
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="Engine Current of slaves" 
        units="Ampere"
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
              
    <!-- Driver Temperature (ROdoubleSeq) -->
    <driTemperature
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="Temperature of slave drivers" 
        units="celsius"
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
              
    <!-- Utilization Percentage (ROdoubleSeq) -->
    <utilizationPerc
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="Utilization Percentage" 
        units=""
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
              
    <!-- Drive Cabinet Temperature(ROdoubleSeq) -->
    <dcTemperature
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="Drive Cabinet Temperature" 
        units="Celsius"
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
              
    <!-- Engine Voltage (ROdoubleSeq) -->
    <engVoltage
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="Engine Voltage" 
        units="Volt"
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
              
    <!-- Driver Status (ROdoubleSeq) -->
    <driverStatus
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="Driver Status" 
        units=""
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
              
    <!-- Error Code (ROdoubleSeq) -->
    <errorCode
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="Error Code" 
        units=""
        resolution="65535"
        alarm_low_on="0"
        alarm_high_on="0"
        alarm_low_off="0"
        alarm_high_off="0"
        graph_min="0"
        graph_max="0"
        min_step="0"
        alarm_timer_trig="0"
	/>
              
    <!-- MinorServo Hardware Status (ROpattern) -->
    <status
        default_timer_trig="0"
        min_timer_trig="0"
        initialize_devio="0"
        default_value="0"
        description="MinorServo hardware status" 
        units="none"
        resolution="65535"
        alarm_mask="0"
        alarm_trigger="1"
        alarm_timer_trig="0"
        bitDescription="Ready, Warning, Failure, Setup, Park, Tracking"
        whenSet="3,3,3,3,3,3"
        whenCleared="0,0,0,0,0,0"
	/>

</WPServo>
