<?xml version='1.0' encoding='ISO-8859-1'?>
<!--
    Noto MINOR SERVO PARAMETERS
-->
<MinorServoParameters 
    xmlns="urn:schemas-cosylab-com:MinorServoParameters: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">

    <!--
        for each axis we specify name and characteristics as:
        <NAME>position_min,position_max,position_zero,position_error,speed_min,speed_max</NAME>
    -->
    <MinorServoLimits>
        <MINOR_SERVO_X>-80,80,0.0,0.05,0.01,14</MINOR_SERVO_X>
        <MINOR_SERVO_YP>-5,395,0.0,0.05,0.01,8</MINOR_SERVO_YP>
        <MINOR_SERVO_Y>-80,80,0.0,0.05,0.01,14</MINOR_SERVO_Y>
        <MINOR_SERVO_ZP>-5,345,0.0,0.05,0.01,8</MINOR_SERVO_ZP>
        <MINOR_SERVO_Z1>-125,125,0.0,0.05,0.01,14</MINOR_SERVO_Z1>
        <MINOR_SERVO_Z2>-125,125,0.0,0.05,0.01,14</MINOR_SERVO_Z2>
        <MINOR_SERVO_Z3>-125,125,0.0,0.05,0.01,14</MINOR_SERVO_Z3>
    </MinorServoLimits>

    <MinorServo>
        <code>SEC</code>
        <primary>0</primary>
        <trackel>1</trackel>
        <!--
        for each axis we specify name and characteristics as:

        <NAME>unit,min,max,pol0,pol1,pol2,pol3,pol4</NAME>

        where:
        * NAME can be one of Xaxis, Yaxis, Zaxis, THETAXaxis, THETAYaxis,
        or YPaxis, ZPaxis for primary focus
        * unit is the the unit measure for the axis
        * min and max are the maximum and minimum values the axis can get
        * pol0-4 are the coefficients of the 5th grade polynomial which describes
        elevation tracking corrections
        -->
        <Xaxis>mm,-80.0,80.0,-5.79,0,0,0,0</Xaxis>
        <Yaxis>mm,-80.0,80.0,-25.93241232,-0.29785599,0.00689783,0,0</Yaxis>
        <Zaxis>mm,-125.0,125.0,-33.5544632,-0.22953518,0.00071664,0,0</Zaxis>
        <THETAXaxis>deg,-5,5.0,-0.00435231,0,0,0,0</THETAXaxis>
        <THETAYaxis>deg,-5,5.0,0.00367988,0,0,0,0</THETAYaxis>
    </MinorServo>

    <MinorServo>
        <code>SXP</code>
        <primary>1</primary>
        <trackel>0</trackel>
        <!--
        for each axis we sepcify name an scharacteristics as:

        <NAME>unit,min,max,pol0,pol1,pol2,pol3,pol4</NAME>

        where:
        * NAME can be one of Xaxis, Yaxis, Zaxis, THETAXaxis, THETAYaxis,
        or YPaxis, ZPaxis for primary focus
        * unit is the the unit measure for the axis
        * min and max are the maximum and minimum values the axis can get
        * pol0-4 are the coefficients of the 5th grade polynomial which describes
        elevation tracking corrections
        -->
        <YPaxis>mm,-5.0,365,107,0,0,0,0</YPaxis>
        <ZPaxis>mm,-5.0,345,206,0,0,0,0</ZPaxis>
    </MinorServo>

    <MinorServo>
        <code>LLP</code>
        <primary>1</primary>
        <trackel>0</trackel>
        <!--
        for each axis we sepcify name an scharacteristics as:

        <NAME>unit,min,max,pol0,pol1,pol2,pol3,pol4</NAME>

        where:
        * NAME can be one of Xaxis, Yaxis, Zaxis, THETAXaxis, THETAYaxis,
        or YPaxis, ZPaxis for primary focus
        * unit is the the unit measure for the axis
        * min and max are the maximum and minimum values the axis can get
        * pol0-4 are the coefficients of the 5th grade polynomial which describes
        elevation tracking corrections
        -->
        <YPaxis>mm,-5.0,365.0,355,0,0,0,0</YPaxis>
        <ZPaxis>mm,-5.0,345.0,196,0,0,0,0</ZPaxis>
    </MinorServo>

</MinorServoParameters>
