diff --git a/.github/workflows/download-vm.yml b/.github/workflows/download-vm.yml
new file mode 100644
index 0000000000000000000000000000000000000000..9a232459911b419bae4cf4c54def8d32f29fa649
--- /dev/null
+++ b/.github/workflows/download-vm.yml
@@ -0,0 +1,43 @@
+name: Download the DISCOS VM
+
+on:
+  workflow_dispatch:
+  repository_dispatch:
+    types: [update-vm]
+
+concurrency:
+  group: download
+  cancel-in-progress: false
+
+jobs:
+  download-vm:
+    name: Download the latest virtual machine
+    runs-on: ubuntu-latest
+    env:
+      REPOSITORY_TOKEN: "${{ secrets.DEPENDENCIES_TOKEN }}"
+      GH_TOKEN: "${{ secrets.GH_WORKFLOWS_TOKEN }}"
+      GOOGLE_DRIVE_TOKEN: "${{ secrets.GOOGLE_DRIVE_TOKEN }}"
+      PROVISIONED_VM_GDRIVE_ID: "${{ secrets.PROVISIONED_VM_GDRIVE_ID }}"
+      PROVISIONED_ARCHIVE_GDRIVE_ID: "${{ secrets.PROVISIONED_ARCHIVE_GDRIVE_ID }}"
+    steps:
+      - name: Clone the deployment repository
+        uses: actions/checkout@v4
+        with:
+          repository: 'discos/deployment'
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3'
+          check-latest: true
+      - name: Download the provisioned virtual machine from Google Drive
+        run: |
+          pip install -r .github/utils/gdrive_requirements.txt
+          python .github/utils/download_from_gdrive.py
+          gh secret set GOOGLE_DRIVE_TOKEN --org discos --visibility selected --repos discos,deployment < token.json
+      - name: Save the downloaded VM to cache
+        uses: actions/cache/save@v4
+        with:
+          key: discos-manager-vm
+          path: |
+            /home/runner/discos_manager.ova
+            /home/runner/vagrant.tar.gz
diff --git a/Common/Interfaces/ReceiversInterface/idl/GenericDerotator.idl b/Common/Interfaces/ReceiversInterface/idl/GenericDerotator.idl
index c336518c0378b6e0d0cf7e0f2afeca686a7b9414..4a2a2ab7085057031382ff818391f5fc61cd1c60 100644
--- a/Common/Interfaces/ReceiversInterface/idl/GenericDerotator.idl
+++ b/Common/Interfaces/ReceiversInterface/idl/GenericDerotator.idl
@@ -43,10 +43,7 @@ module Receivers {
      * <h3>Methods</h3>:
      * <ul>
      *     <li>setup(): allow the derotator to be ready to move</li>
-     *     <li>powerOff(): switch the power amplifier off </li>
      *     <li>setPosition(): set the derotator position</li>
-     *     <li>setSpeed(): set the derotator speed, in rpm</li>
-     *     <li>getSpeed(): get the derotator speed, in rpm</li>
      *     <li>getActPosition(): return the actPosition value</li>
      *     <li>getCmdPosition(): return the cmdPosition value</li>
      *     <li>getPositionFromHistory(t): return the the derotator position at
@@ -61,7 +58,8 @@ module Receivers {
      *     <li>isSlewing(): return true when the derotator is moving</li>
      * </ul> 
      */
-    interface GenericDerotator : ACS::CharacteristicComponent {
+    interface GenericDerotator
+    {
        
         /** 
          * This property returns the sensor encoder position in the user
@@ -125,14 +123,6 @@ module Receivers {
         );
 
 
-        /** Switch the power amplifier off
-         *
-         * @throw CORBA::SystemException
-         * @throw ComponentErrors::ComponentErrorsEx
-         */
-        void powerOff() raises (ComponentErrors::ComponentErrorsEx);
-
-
         /** 
          * @return the actPosition property value
          *
@@ -147,6 +137,17 @@ module Receivers {
         );
 
 
+        /**
+         * This method loads a position that has to be tracked by the derotator
+         * @param point_time an ACS::Time object indicating the time associated with the coordinates to be tracked.
+         *        Only the start time is sent to the derotator and the points after are always spaced by the same amount of time from one another.
+         *        It is still necessary to fill this field in order to associate a time to the coordinates inside the component.
+         * @param position the position to track at the given time
+         * @param restart flag that says the given point is the first of a new trajectory
+         */
+        void loadTrackingPoint(in ACS::Time point_time, in double position, in boolean restart) raises (DerotatorErrors::DerotatorErrorsEx);
+
+
         /**
          * @return the cmdPosition property value
          *
@@ -178,32 +179,6 @@ module Receivers {
          double getPositionFromHistory(in ACS::Time t) raises (ComponentErrors::ComponentErrorsEx);
 
 
-        /** 
-         * Set the derotator speed
-         *
-         * @arg speed speed in rpm
-         * @throw ComponentErrors::ComponentErrorsEx,
-         * @throw DerotatorErrors::DerotatorErrorsEx
-         */
-        void setSpeed(in unsigned long speed) raises (
-            ComponentErrors::ComponentErrorsEx,
-            DerotatorErrors::DerotatorErrorsEx
-        );
-
-
-        /** 
-         * Get the derotator speed
-         *
-         * @return the derotator speed in rpm
-         * @throw ComponentErrors::ComponentErrorsEx,
-         * @throw DerotatorErrors::DerotatorErrorsEx
-         */
-        unsigned long getSpeed() raises (
-            ComponentErrors::ComponentErrorsEx,
-            DerotatorErrors::DerotatorErrorsEx
-        );
-
-
         /**
          * Return the maximum position value allowed.
          * @throw CORBA::SystemException
diff --git a/Common/Servers/PyDewarPositioner/config/CDB/schemas/DewarPositioner.xsd b/Common/Servers/PyDewarPositioner/config/CDB/schemas/DewarPositioner.xsd
index d9bb3de6496adc73f6f49714688337ba56cc49af..45d7b2f3928c6bbca1505b12df7617c0b6559f99 100644
--- a/Common/Servers/PyDewarPositioner/config/CDB/schemas/DewarPositioner.xsd
+++ b/Common/Servers/PyDewarPositioner/config/CDB/schemas/DewarPositioner.xsd
@@ -25,6 +25,7 @@
         <!--xs:attribute name="actionThreadStackSize" type="xs:unsignedLong" use="optional" default="1024" />
         <xs:attribute name="monitoringThreadStackSize" type="xs:unsignedLong" use="optional" default="2048" /-->
         <xs:attribute name="UpdatingTime" type="xs:double" use="required" />
+        <xs:attribute name="TrackingLeadTime" type="xs:double" use="required" />
         <xs:attribute name="RewindingSleepTime" type="xs:double" use="required" />
         <xs:attribute name="RewindingTimeout" type="xs:double" use="required" />
         <xs:attribute name="DefaultConfiguration" type="xs:string" use="required" />
diff --git a/Common/Servers/PyDewarPositioner/src/DewarPositioner/DewarPositionerImpl.py b/Common/Servers/PyDewarPositioner/src/DewarPositioner/DewarPositionerImpl.py
index f41d8a955daccedf796b2ad363e4dba49112d8b5..2d03721d2f71e7bdd4f95cc7beb0dcb72ab7468c 100644
--- a/Common/Servers/PyDewarPositioner/src/DewarPositioner/DewarPositionerImpl.py
+++ b/Common/Servers/PyDewarPositioner/src/DewarPositioner/DewarPositionerImpl.py
@@ -75,9 +75,9 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
             self.supplier = Supplier(Receivers.DEWAR_POSITIONER_DATA_CHANNEL)
         except CORBAProblemExImpl as ex:
             logger.logError('cannot create the dewar positioner data channel')
-            logger.logDebug('cannot create the data channel: %s' %ex.message)
+            logger.logDebug('cannot create the data channel: %s' %ex)
         except Exception as ex:
-            reason = ex.getReason() if hasattr(ex, 'getReason') else ex.message
+            reason = ex.getReason() if hasattr(ex, 'getReason') else ex
             logger.logError(reason)
 
         try:
@@ -89,9 +89,9 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
             self.statusThread.start()
         except AttributeError as ex:
             logger.logWarning('supplier not available')
-            logger.logDebug('supplier not available: %s' %ex.message)
+            logger.logDebug('supplier not available: %s' %ex)
         except Exception as ex:
-            logger.logError('cannot create the status thread: %s' %ex.message)
+            logger.logError('cannot create the status thread: %s' %ex)
 
     def initialize(self):
         addProperty(self, 'status', devio_ref=StatusDevIO(self.positioner))
@@ -104,9 +104,9 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
             if self.statusThread.isAlive():
                 logger.logError('thread %s is alive' %self.statusThread.getName())
         except AttributeError as ex:
-            logger.logDebug('self has no attribute `supplier`: %s' %ex.message)
+            logger.logDebug('self has no attribute `supplier`: %s' %ex)
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
         finally:
             self.control.stop = False
 
@@ -119,15 +119,15 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
             deviceName = self.cdbconf.getAttribute('DerotatorName')
             device = self.client.getComponent(deviceName)
         except CannotGetComponentEx as ex:
-            reason = "cannot get the %s component: %s" %(deviceName, ex.message)
+            reason = "cannot get the %s component: %s" %(deviceName, ex)
             logger.logError(reason)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
             exc.setReason(reason)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
         try:
@@ -137,7 +137,7 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
             latitude_dec, compl = lat_obj.get_sync()
             latitude = radians(latitude_dec)
         except Exception as ex:
-            reason = ex.getReason() if hasattr(ex, 'getReason') else ex.message
+            reason = ex.getReason() if hasattr(ex, 'getReason') else ex
             logger.logWarning('cannot get the site information: %s' %reason)
             latitude = radians(float(self.cdbconf.getAttribute('Latitude')))
             logger.logWarning('setting the default latitude value: %.2f radians' %latitude)
@@ -163,9 +163,9 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
             self.actualSetup = self.commandedSetup
             logger.logNotice('derotator %s setup done' %self.commandedSetup)
         except PositionerError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except ComponentErrors.ComponentErrorsEx as ex:
             data_list = ex.errorTrace.data # A list
@@ -175,7 +175,7 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
             exc.setReason(reason)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            reason = ex.getReason() if hasattr(ex, 'getReason') else ex.message
+            reason = ex.getReason() if hasattr(ex, 'getReason') else ex
             logger.logError(reason)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
             exc.setData('Reason', reason)
@@ -191,14 +191,14 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
                 logger.logWarning('positioner not ready: a setup() is required')
                 self.positioner.park()
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
         finally:
             self._setDefaultSetup()
@@ -209,19 +209,19 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             return self.positioner.getPosition()
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except (DerotatorErrors.CommunicationErrorEx, ComponentErrors.ComponentErrorsEx) as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
             exc.setReason("Cannot get the derotator position")
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
 
@@ -229,14 +229,14 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             return self.positioner.getMaxLimit()
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
 
@@ -244,14 +244,14 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             return self.positioner.getMinLimit()
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
 
@@ -259,33 +259,33 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             return self.positioner.getPositionFromHistory(t)
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except (DerotatorErrors.CommunicationErrorEx, ComponentErrors.ComponentErrorsEx) as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
             exc.setReason("Cannot get the derotator position at the time %s" %s)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
     def getCmdPosition(self):
         try:
             return self.positioner.getCmdPosition()
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
 
@@ -293,14 +293,14 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             self.positioner.setPosition(position)
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
 
@@ -355,19 +355,19 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             self.positioner.startUpdating(axis, sector, az, el, ra, dec)
         except PositionerError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
-            exc = ComponentErrorsImpl.UnexpectedExImpl(ex.message)
-            exc.setData('Reason', ex.message)
+            logger.logError(ex)
+            exc = ComponentErrorsImpl.UnexpectedExImpl(ex)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
     def stopUpdating(self):
@@ -375,14 +375,14 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             self.positioner.stopUpdating()
         except PositionerError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
         logger.logNotice('derotator position updating stopped')
 
@@ -391,9 +391,9 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             self.positioner.setAutoRewindingSteps(steps)
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
 
 
@@ -409,15 +409,15 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             return self.positioner.rewind(steps)
         except (PositionerError, NotAllowedError) as ex:
-            reason = "cannot rewind the derotator: %s" %ex.message
+            reason = "cannot rewind the derotator: %s" %ex
             logger.logError(reason)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
             exc.setReason(reason)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
 
@@ -433,14 +433,14 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             return self.positioner.getRewindingStep()
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
 
@@ -454,45 +454,45 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             return self.positioner.isReady()
         except DerotatorErrors.CommunicationErrorEx as ex:
-            reason = "cannot known if the derotator is ready: %s" %ex.message
+            reason = "cannot known if the derotator is ready: %s" %ex
             logger.logError(reason)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
             exc.setReason(reason)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
     def isSlewing(self):
         try:
             return self.positioner.isSlewing()
         except DerotatorErrors.CommunicationErrorEx as ex:
-            reason = "cannot known if the derotator is slewing: %s" %ex.message
+            reason = "cannot known if the derotator is slewing: %s" %ex
             logger.logError(reason)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
             exc.setReason(reason)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
     def isTracking(self):
         try:
             return self.positioner.isTracking()
         except DerotatorErrors.CommunicationErrorEx as ex:
-            reason = "cannot known if the derotator is tracking: %s" %ex.message
+            reason = "cannot known if the derotator is tracking: %s" %ex
             logger.logError(reason)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
             exc.setReason(reason)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
     def isUpdating(self):
@@ -502,40 +502,40 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
         try:
             self.positioner.setOffset(offset)
         except (PositionerError, NotAllowedError) as ex:
-            reason = "cannot set the derotator offset: %s" %ex.message
+            reason = "cannot set the derotator offset: %s" %ex
             logger.logError(reason)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
             exc.setReason(reason)
             raise exc.getComponentErrorsEx()
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
     def clearOffset(self):
         try:
             self.positioner.clearOffset()
         except PositionerError as ex:
-            reason = "cannot set the derotator offset: %s" %ex.message
+            reason = "cannot set the derotator offset: %s" %ex
             logger.logError(reason)
             exc = ComponentErrorsImpl.OperationErrorExImpl()
             exc.setReason(reason)
             raise exc.getComponentErrorsEx()
         except NotAllowedError as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.NotAllowedExImpl()
-            exc.setReason(ex.message)
+            exc.setReason(ex)
             raise exc.getComponentErrorsEx()
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
-            exc.setData('Reason', ex.message)
+            exc.setData('Reason', ex)
             raise exc.getComponentErrorsEx()
 
 
@@ -556,7 +556,7 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
             mode = mode.upper().strip()
             self.positioner.setRewindingMode(mode)
         except PositionerError as ex:
-            reason = 'cannot set the rewinding mode: %s' %ex.message
+            reason = 'cannot set the rewinding mode: %s' %ex
             logger.logError(reason)
             exc = ComponentErrorsImpl.ValidationErrorExImpl()
             exc.setReason(reason)
@@ -584,7 +584,7 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
             self.positioner.control.clearScanInfo()
             self.cdbconf.setConfiguration(confCode.upper())
         except Exception as ex:
-            reason = ex.getReason() if hasattr(ex, 'getReason') else ex.message
+            reason = ex.getReason() if hasattr(ex, 'getReason') else ex
             logger.logError(reason)
             exc = ComponentErrorsImpl.UnexpectedExImpl()
             exc.setData('Reason', reason)
@@ -633,7 +633,7 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
                     supplier.publishEvent(simple_data=event)
                     error = False
                 except Exception as ex:
-                    reason = ex.getReason() if hasattr(ex, 'getReason') else ex.message
+                    reason = ex.getReason() if hasattr(ex, 'getReason') else ex
                     if not error:
                         logger.logError('cannot publish the status: %s' %reason)
                         error = True
@@ -658,7 +658,7 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
             answer = 'Error - invalid command: maybe there are too many symbols of ='
         except Exception as ex:
             success = False 
-            answer = ex.message
+            answer = ex
         else:
             success = True
 
@@ -712,7 +712,7 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
             except (ValueError, TypeError) as ex:
                 success = False
                 answer = 'Error - wrong parameter usage.\nType help(%s) for details' %command
-                logger.logError('%s\n%s' %(ex.message, answer))
+                logger.logError('%s\n%s' %(ex, answer))
                 return (success, answer)
             except ComponentErrors.ComponentErrorsEx as ex:
                 success = False
@@ -723,7 +723,7 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
                 return (success, answer)
             except Exception as ex:
                 success = False
-                msg = ex.message if ex.message else 'unexpected exception'
+                msg = ex if ex else 'unexpected exception'
                 answer = 'Error - %s' %(ex.getReason() if hasattr(ex, 'getReason') else msg)
                 logger.logError(answer)
                 return (success, answer)
diff --git a/Common/Servers/PyDewarPositioner/src/DewarPositioner/cdbconf.py b/Common/Servers/PyDewarPositioner/src/DewarPositioner/cdbconf.py
index e31369e9e86584e7d20a6b071cfb23a9306d7c7d..40b7a3b582b1a528de2e5b46c7610c598a92bcff 100644
--- a/Common/Servers/PyDewarPositioner/src/DewarPositioner/cdbconf.py
+++ b/Common/Servers/PyDewarPositioner/src/DewarPositioner/cdbconf.py
@@ -11,6 +11,7 @@ class CDBConf(object):
 
     componentAttributes = (
             'UpdatingTime', 
+            'TrackingLeadTime',
             'RewindingSleepTime', 
             'RewindingTimeout',
             'DefaultConfiguration',
diff --git a/Common/Servers/PyDewarPositioner/src/DewarPositioner/posgenerator.py b/Common/Servers/PyDewarPositioner/src/DewarPositioner/posgenerator.py
index 935a1dc7478dc29f10728b57f2d15360414440c0..f6f6820e8c53d365d8b0e3307993f2f4abc9fb54 100644
--- a/Common/Servers/PyDewarPositioner/src/DewarPositioner/posgenerator.py
+++ b/Common/Servers/PyDewarPositioner/src/DewarPositioner/posgenerator.py
@@ -1,124 +1,98 @@
-"""This module implements the position generators"""
+"""This module implements the position calculation functions"""
 import datetime
 import time
-from math import sin, cos, tan, atan2, degrees
+from math import sin, cos, tan, atan2, degrees, isclose
 from IRAPy import logger
 from Acspy.Common.TimeHelper import getTimeStamp
 
 
 class PosGenerator(object):
 
-    def __init__(self, zdtimeout=5):
-        self.zdtimeout = zdtimeout # Timeout in case of zero division error
+    def __init__(self, updatingTime, trackingLeadTime):
+        self.updatingTime = updatingTime
+        self.trackingLeadTime = trackingLeadTime
         self.mapping = {
                 'parallactic': {
-                    'getAngleFunction': PosGenerator.getParallacticAngle, 
+                    'getAngleFunction': PosGenerator.getParallacticAngle,
                     'coordinateFrame': 'horizontal'
                 },
                 'galacticParallactic': {
-                    'getAngleFunction': PosGenerator.getGalacticParallacticAngle, 
+                    'getAngleFunction': PosGenerator.getGalacticParallacticAngle,
                     'coordinateFrame': 'equatorial'
                 },
         }
-      
+
     def goto(self, iStaticPos):
         yield iStaticPos
 
-    # TODO: refactoring required, in order to put all the parallactic and
-    # galacticParallactic common code in one place
-    def parallactic(self, source, siteInfo):
+    def parallactic(self, source, siteInfo, t):
         """Return the parallactic angle"""
+        latitude = PosGenerator.getLatitude(siteInfo)
+
         try:
-            latitude = siteInfo['latitude']
-        except (KeyError, TypeError) as ex:
-            raise PosGeneratorError('cannot get the latitude: %s' %ex.message)
+            coordinates = source.getApparentCoordinates(t) # Values in radians
+            az, el = coordinates[:2] # The first two elements are (az, el)
+            position = PosGenerator.getParallacticAngle(latitude, az, el)
+            return position
         except Exception as ex:
-            raeson = 'unexpected exception getting the site latitude' 
-            logger.logNotice(raeson)
+            raeson = 'cannot get the %s (az, el)  values' %source._get_name()
+            logger.logNotice('%s: %s' %(raeson, ex))
             raise PosGeneratorError(raeson)
 
-        last_zerodiv_time = datetime.datetime.now()
-        while True:
-            try:
-                t = getTimeStamp().value + 1*10*6 # 100 ms in the future
-                coordinates = source.getApparentCoordinates(t) # Values in radians
-                az, el = coordinates[:2] # The first two elements are (az, el)
-                position = PosGenerator.getParallacticAngle(latitude, az, el)
-                yield position
-                last_zerodiv_time = datetime.datetime.now()
-            except ZeroDivisionError:
-                logger.logWarning('zero division error computing the parallactic angle')
-                zerodiv_time = datetime.datetime.now() - last_zerodiv_time
-                if zerodiv_time.seconds >= self.zdtimeout:
-                    raeson = 'zero division for more than %ds' %self.zdtimeout
-                    logger.logError(raeson)
-                    raise PosGeneratorError(raeson)
-                else:
-                    time.sleep(0.5)
-                    continue
-            except GeneratorExit: # Required in Python 2.5:
-                # http://www.algorithm.co.il/blogs/programming/generatorexit-another-reason-to-upgrade-to-python-2-6/
-                raise 
-            except Exception as ex:
-                raeson = 'cannot get the %s (az, el)  values' %source._get_name()
-                logger.logNotice('%s: %s' %(raeson, ex.message))
-                raise PosGeneratorError(raeson)
-
-    def galacticParallactic(self, source, siteInfo):
+    def galacticParallactic(self, source, siteInfo, t):
         """Return the galactic parallactic angle"""
+        latitude = PosGenerator.getLatitude(siteInfo)
+
+        try:
+            coordinates = source.getApparentCoordinates(t) # Values in radians
+            az, el, ra, dec = coordinates[:4]
+            position = PosGenerator.getGalacticParallacticAngle(latitude, az, el, ra, dec)
+            return position
+        except Exception as ex:
+            raeson = 'cannot get the %s (az, el)  values' %source._get_name()
+            logger.logNotice('%s: %s' %(raeson, ex))
+            raise PosGeneratorError(raeson)
+
+    @staticmethod
+    def getLatitude(siteInfo):
+        """Return the site latitude"""
         try:
-            latitude = siteInfo['latitude']
+            return siteInfo['latitude']
         except (KeyError, TypeError) as ex:
-            raise PosGeneratorError('cannot get the latitude: %s' %ex.message)
+            raise PosGeneratorError('cannot get the latitude: %s' %ex)
         except Exception as ex:
-            raeson = 'unexpected exception getting the site latitude' 
+            raeson = 'unexpected exception getting the site latitude'
             logger.logNotice(raeson)
             raise PosGeneratorError(raeson)
 
-        last_zerodiv_time = datetime.datetime.now()
-        while True:
-            try:
-                t = getTimeStamp().value + 1*10*6 # 100 ms in the future
-                coordinates = source.getApparentCoordinates(t) # Values in radians
-                az, el, ra, dec = coordinates[:4] 
-                pg = PosGenerator.getGalacticParallacticAngle(latitude, az, el, ra, dec)
-                yield pg
-                last_zerodiv_time = datetime.datetime.now()
-            except ZeroDivisionError:
-                logger.logWarning('zero division error computing the galactic parallactic angle')
-                zerodiv_time = datetime.datetime.now() - last_zerodiv_time
-                if zerodiv_time.seconds >= self.zdtimeout:
-                    raeson = 'zero division for more than %ds' %self.zdtimeout
-                    logger.logError(raeson)
-                    raise PosGeneratorError(raeson)
-                else:
-                    time.sleep(0.5)
-                    continue
-            except GeneratorExit: # Required in Python 2.5:
-                # http://www.algorithm.co.il/blogs/programming/generatorexit-another-reason-to-upgrade-to-python-2-6/
-                raise 
-            except Exception as ex:
-                raeson = 'cannot get the %s (az, el)  values' %source._get_name()
-                logger.logNotice('%s: %s' %(raeson, ex.message))
-                raise PosGeneratorError(raeson)
-
     @staticmethod
     def getParallacticAngle(latitude, az, el):
         """Arguments in radians"""
-        p = atan2(-sin(az), tan(latitude)*cos(el) - sin(el)*cos(az))
-        return degrees(p)
+        denominator = tan(latitude) * cos(el) - sin(el) * cos(az)
+
+        # Avoid division by zero and keep continuity
+        if isclose(denominator, 0, abs_tol=1e-10):
+            return -90.0 if sin(az) > 0 else 90.0
+
+        return degrees(atan2(-sin(az), denominator))
 
     @staticmethod
     def getGalacticAngle(ra, dec):
         """Arguments in radians"""
-        # North celestial pole coordinates in equatorial celestial frame (j200)
-        # ncp = ('12 51 26.28', '27 07 41.7') 
+        # North celestial pole coordinates in equatorial celestial frame (j2000)
+        # ncp = ('12 51 26.28', '27 07 41.7')
         # ra0 = ephem.hours(ncp[0])
         # dec0 = ephem.degrees(ncp[1])
         ra0 = 3.3660332687500043
         dec0 = 0.47347728280415174
-        g = atan2(sin(ra-ra0), cos(dec)*tan(dec0) - sin(dec)*cos(ra-ra0))
-        return degrees(g)
+
+        denominator = cos(dec) * tan(dec0) - sin(dec) * cos(ra-ra0)
+
+        # Avoid division by zero and keep continuity
+        if isclose(denominator, 0, abs_tol=1e-10):
+            return 90.0 if sin(ra-ra0) > 0 else -90.0
+
+        return degrees(atan2(sin(ra-ra0), denominator))
 
     @staticmethod
     def getGalacticParallacticAngle(latitude, az, el, ra, dec):
@@ -127,7 +101,6 @@ class PosGenerator(object):
         g = PosGenerator.getGalacticAngle(ra, dec)
         return p + g
 
-    
+
 class PosGeneratorError(Exception):
     pass
-
diff --git a/Common/Servers/PyDewarPositioner/src/DewarPositioner/positioner.py b/Common/Servers/PyDewarPositioner/src/DewarPositioner/positioner.py
index 03fbc071be72baaeeb4dc9f5023ff4c0c592c5b4..62471aaa5186a6ea76eb752f0565bef53ed2bbc4 100644
--- a/Common/Servers/PyDewarPositioner/src/DewarPositioner/positioner.py
+++ b/Common/Servers/PyDewarPositioner/src/DewarPositioner/positioner.py
@@ -25,7 +25,9 @@ class Positioner(object):
         The `cdbconf` parameter is a CDBConf instance.
         """
         self.conf = cdbconf
-        self.posgen = PosGenerator()
+        self.updatingTime = int(float(self.conf.getAttribute('UpdatingTime')) * 10**7)
+        self.trackingLeadTime = int(float(self.conf.getAttribute('TrackingLeadTime')) * 10**7)
+        self.posgen = PosGenerator(self.updatingTime, self.trackingLeadTime)
         self._setDefault()
 
 
@@ -57,12 +59,11 @@ class Positioner(object):
             self.is_setup = True
             time.sleep(0.4) # Give the device the time to accomplish the setup
             self.control.updateScanInfo({'iStaticPos': setupPosition})
-            self._start(self.posgen.goto, setupPosition)
-            time.sleep(0.1) # Give the thread the time to finish
+            self._setPosition(setupPosition)
         except (DerotatorErrors.PositioningErrorEx, DerotatorErrors.CommunicationErrorEx) as ex:
-            raise PositionerError("cannot set the position: %s" %ex.message)
+            raise PositionerError("cannot set the position: %s" %ex)
         except Exception as ex:
-            raise PositionerError(ex.message)
+            raise PositionerError(ex)
         finally:
             Positioner.generalLock.release()
 
@@ -120,7 +121,7 @@ class Positioner(object):
                 # Set the initialPosition, in order to add it to the dynamic one
                 self.control.user_position = position
             except Exception as ex:
-                raise PositionerError('cannot set the position: %s' %ex.message)
+                raise PositionerError('cannot set the position: %s' %ex)
 
 
     def _setPosition(self, position):
@@ -130,11 +131,11 @@ class Positioner(object):
                 self.device.setPosition(self.control.target)
             except (DerotatorErrors.PositioningErrorEx, DerotatorErrors.CommunicationErrorEx) as ex:
                 raeson = "cannot set the %s position" %self.device._get_name()
-                logger.logError('%s: %s' %(raeson, ex.message))
+                logger.logError('%s: %s' %(raeson, ex))
                 raise PositionerError(raeson)
             except Exception as ex:
                 raeson = "unknown exception setting the %s position" %self.device._get_name()
-                logger.logError('%s: %s' %(raeson, ex.message))
+                logger.logError('%s: %s' %(raeson, ex))
                 raise PositionerError(raeson)
         else:
             raise OutOfRangeError("position %.2f out of range {%.2f, %.2f}" 
@@ -179,22 +180,20 @@ class Positioner(object):
                             dParallacticPos=0,
                             rewindingOffset=0,
                         )
-                        self._start(self.posgen.goto, position)
+                        self._setPosition(position)
+                        self.control.mustUpdate = False
                     else:
                         posgen = getattr(self.posgen, functionName) 
                         angle_mapping = self.posgen.mapping[functionName]
                         getAngleFunction = self.posgen.mapping[functionName]['getAngleFunction']
                         coordinateFrame = self.posgen.mapping[functionName]['coordinateFrame']
                         lat = self.siteInfo['latitude']
-                        try:
-                            if coordinateFrame == 'horizontal':
-                                iParallacticPos = getAngleFunction(lat, az, el)
-                            elif coordinateFrame == 'equatorial':
-                                iParallacticPos = getAngleFunction(lat, az, el, ra, dec)
-                            else:
-                                raise PositionerError('coordinate frame %s unknown' %coordinateFrame)
-                        except ZeroDivisionError:
-                            raise NotAllowedError('zero division error computing p(%.2f, %.2f)' %(az, el))
+                        if coordinateFrame == 'horizontal':
+                            iParallacticPos = getAngleFunction(lat, az, el)
+                        elif coordinateFrame == 'equatorial':
+                            iParallacticPos = getAngleFunction(lat, az, el, ra, dec)
+                        else:
+                            raise PositionerError('coordinate frame %s unknown' %coordinateFrame)
 
                         self.control.setScanInfo(
                             axis=axis, 
@@ -204,15 +203,19 @@ class Positioner(object):
                             dParallacticPos=0,
                             rewindingOffset=0,
                         )
-                        self._start(posgen, self.source, self.siteInfo)
-                    self.control.mustUpdate = True
+                        self._start(
+                            posgen,
+                            self.source,
+                            self.siteInfo
+                        )
+                        self.control.mustUpdate = True
                 except Exception as ex:
-                    raise PositionerError('configuration problem: %s' %ex.message)
+                    raise PositionerError('configuration problem: %s' %ex)
         finally:
             Positioner.generalLock.release()
 
 
-    def _updatePosition(self, posgen, vargs):
+    def _updatePosition(self, posgen, source, siteInfo):
         try:
             self.control.isRewindingRequired = False
             self.control.isRewinding = False
@@ -229,20 +232,48 @@ class Positioner(object):
             else:
                 isOptimized = False
 
-            for position in posgen(*vargs):
+            new_trajectory = True
+            while True:
                 if self.control.stop:
                     break
                 else:
                     try:
+                        if new_trajectory:
+                            t = getTimeStamp().value + self.trackingLeadTime
+                        position = posgen(source, siteInfo, t)
                         Pis = self.control.scanInfo['iStaticPos'] + self.control.scanInfo['rewindingOffset'] 
                         Pip = self.control.scanInfo['iParallacticPos']
-                        Pdp = 0 if posgen.__name__ == 'goto' else (position - Pip)
+                        Pdp = position - Pip
                         target = Pis + Pdp if isOptimized else Pis + Pip + Pdp
                         self.control.scanInfo.update({'dParallacticPos': Pdp})
-                        self._setPosition(target) # _setPosition() will add the offset
-                        time.sleep(float(self.conf.getAttribute('UpdatingTime')))
+
+                        self.control.target = target + self.control.offset
+                        if self.device.getMinLimit() < self.control.target < self.device.getMaxLimit():
+                            try:
+                                self.device.loadTrackingPoint(t, self.control.target, new_trajectory)
+                                new_trajectory = False
+                                t += self.updatingTime
+                            except (DerotatorErrors.PositioningErrorEx, DerotatorErrors.CommunicationErrorEx) as ex:
+                                raeson = "cannot set the %s position" %self.device._get_name()
+                                logger.logError('%s: %s' %(raeson, ex))
+                                raise PositionerError(raeson)
+                            except Exception as ex:
+                                raeson = "unknown exception setting the %s position" %self.device._get_name()
+                                logger.logError('%s: %s' %(raeson, ex))
+                                raise PositionerError(raeson)
+                        else:
+                            raise OutOfRangeError("position %.2f out of range {%.2f, %.2f}" 
+                                %(self.control.target, self.device.getMinLimit(), self.device.getMaxLimit()))
+                        # We calculate the time to sleep
+                        # Next point of the trajectory - TrackingLeadTime - now
+                        # slightly less than UpdatingTime
+                        # The resulting cycle should be around
+                        # TrackingLeadTime seconds before the next point
+                        time_to_sleep = max(0, t - self.trackingLeadTime - getTimeStamp().value)
+                        time.sleep(float(time_to_sleep) / 10**7)
                     except OutOfRangeError as ex:
-                        logger.logInfo(ex.message)
+                        new_trajectory = True
+                        logger.logInfo(ex)
                         self.control.isRewindingRequired = True
                         if self.control.modes['rewinding'] == 'AUTO':
                             try:
@@ -250,7 +281,7 @@ class Positioner(object):
                             except Exception as ex:
                                 # In case of wrong autoRewindingSteps
                                 self.control.isRewindingRequired = True
-                                logger.logError('cannot rewind: %s' %ex.message)
+                                logger.logError('cannot rewind: %s' %ex)
                                 break
                         else:
                             if self.control.modes['rewinding'] == 'MANUAL':
@@ -262,16 +293,16 @@ class Positioner(object):
                             else:
                                 logger.logError('wrong rewinding mode: %s' %self.control.modes['rewinding'])
                     except Exception as ex:
-                        logger.logError(ex.message)
+                        logger.logError(ex)
                         break
             self.control.mustUpdate = False
         except KeyboardInterrupt:
             logger.logInfo('stopping Positioner._updatePosition() due to KeyboardInterrupt')
         except AttributeError as ex:
             logger.logError('Positioner._updatePosition(): attribute error')
-            logger.logDebug('Positioner._updatePosition(): %s' %ex.message)
+            logger.logDebug('Positioner._updatePosition(): %s' %ex)
         except PositionerError as ex:
-            logger.logError('Positioner._updatePosition(): %s' %ex.message)
+            logger.logError('Positioner._updatePosition(): %s' %ex)
         except Exception as ex:
             logger.logError('unexcpected exception in Positioner._updatePosition(): %s' %ex)
         finally:
@@ -315,7 +346,7 @@ class Positioner(object):
             self.control.isRewindingRequired = False
         except Exception as ex:
             self.control.isRewindingRequired = True
-            raise PositionerError(ex.message)
+            raise PositionerError(ex)
         finally:
             self.control.isRewinding = False
             Positioner.rewindingLock.release()
@@ -417,7 +448,7 @@ class Positioner(object):
             try:
                 Positioner.generalLock.acquire()
                 self.control.updateScanInfo({'iStaticPos': parkPosition})
-                self._start(self.posgen.goto, parkPosition)
+                self._setPosition(parkPosition)
             finally:
                 Positioner.generalLock.release()
                 time.sleep(0.5) # Wait the thread stops before to set the defaults
@@ -466,7 +497,7 @@ class Positioner(object):
                 Positioner.generalLock.acquire()
                 self.stopUpdating()
                 self.control.updateScanInfo({'iStaticPos': position})
-                self._start(self.posgen.goto, position)
+                self._setPosition(position)
             finally:
                 Positioner.generalLock.release()
 
@@ -481,7 +512,7 @@ class Positioner(object):
             else:
                 self.stopUpdating()
                 actPosition = self.getPosition()
-                self._start(self.posgen.goto, actPosition)
+                self._setPosition(actPosition)
 
 
     def clearOffset(self):
@@ -569,17 +600,17 @@ class Positioner(object):
     def clearAutoRewindingSteps(self):
         self.control.autoRewindingSteps = None
 
-    def _start(self, posgen, *vargs):
+    def _start(self, posgen, source, siteInfo):
         """Start a new process that computes and sets the position"""
         if self.isSetup():
             # self.stopUpdating() # Raise a PositionerError if the process stills alive
             self.t = ContainerServices.ContainerServices().getThread(
                     name=posgen.__name__, 
                     target=self._updatePosition, 
-                    args=(posgen, vargs)
+                    args=(posgen, source, siteInfo)
             )
             self.t.start()
-            time.sleep(0.10) # In case of goto, take the time to command the position
+            # time.sleep(0.10) # In case of goto, take the time to command the position
         else:
             raise NotAllowedError('not configured: a setConfiguration() is required')
 
@@ -613,12 +644,12 @@ class Positioner(object):
             try:
                 status_obj = self.device._get_status()
             except Exception as ex:
-                raise PositionerError('cannot get the device status property: %s' %ex.message)
+                raise PositionerError('cannot get the device status property: %s' %ex)
 
             try:
                 device_status, compl = status_obj.get_sync()
             except Exception as ex:
-                raise PositionerError('cannot get the device status value: %s' %ex.message)
+                raise PositionerError('cannot get the device status value: %s' %ex)
 
             if compl.code:
                 raise PositionerError('the device status value is not valid')
@@ -641,7 +672,7 @@ class Positioner(object):
                 try:
                     binrepr = Status.dec2bin(device_status, 6) # A string of 6 values 
                 except Exception as ex:
-                    raise PositionerError('error in Status.dec2bin(): %s' %ex.message)
+                    raise PositionerError('error in Status.dec2bin(): %s' %ex)
 
                 po, f, ce, nr, s, w = [bool(int(item)) for item in reversed(binrepr)]
                 if po:
@@ -665,7 +696,7 @@ class Positioner(object):
         except NotAllowedError as ex:
             return '000000' # Not ready
         except Exception as ex:
-            logger.logError(ex.message)
+            logger.logError(ex)
             return '100000' # Failure
         finally:
             Positioner.generalLock.release()
diff --git a/Medicina/Clients/MedicinaActiveSurfaceGUIClient/src/Makefile b/Medicina/Clients/MedicinaActiveSurfaceGUIClient/src/Makefile
index 0654fb0dca21ab264806be51990367ecc21efe57..12ad305d6ee5f5716794d932de325c57f703d321 100644
--- a/Medicina/Clients/MedicinaActiveSurfaceGUIClient/src/Makefile
+++ b/Medicina/Clients/MedicinaActiveSurfaceGUIClient/src/Makefile
@@ -18,7 +18,7 @@
 
 #
 # user definable C-compilation flags
-USER_CFLAGS = -DQT_THREAD_SUPPORT
+USER_CFLAGS = -DQT_THREAD_SUPPORT -fno-var-tracking-assignments
 
 #
 # additional include and library search paths
@@ -136,7 +136,7 @@ QT_COMPILE_FILES = $(subst .cpp,,$(QT_UI_FILES_MOC) $(QT_UI_FILES_EXTERN_MOC_H)
 # <brief description of xxxxx program>
 MedicinaActiveSurfaceGUIClient_OBJECTS   = $(QT_COMPILE_FILES) MedicinaActiveSurfaceGUIui MedicinaActiveSurfaceCore MedicinaActiveSurfaceClientEventLoop MedicinaActiveSurfaceGUIClient
 MedicinaActiveSurfaceGUIClient_LIBS      = IRALibrary ActiveSurfaceBossStubs MedicinaActiveSurfaceBossStubs ASErrors ComponentErrors ClientErrors ManagementErrors ManagmentDefinitionsStubs
-MedicinaActiveSurfaceManagementGUIClient_OBJECTS   = $(QT_COMPILE_FILES) MedicinaActiveSurfaceGUIui MedicinaActiveSurfaceCore MedicinaActiveSurfaceClientEventLoop MedicinaActiveSurfaceGUIClient
+MedicinaActiveSurfaceManagementGUIClient_OBJECTS   = $(QT_COMPILE_FILES) MedicinaActiveSurfaceManagementGUIui MedicinaActiveSurfaceCore MedicinaActiveSurfaceClientEventLoop MedicinaActiveSurfaceGUIClient
 MedicinaActiveSurfaceManagementGUIClient_LIBS      = IRALibrary ActiveSurfaceBossStubs MedicinaActiveSurfaceBossStubs ASErrors ComponentErrors ClientErrors ManagementErrors ManagmentDefinitionsStubs
 
 $(PROG)_OBJECTS            = $(PROG)
diff --git a/Medicina/Clients/MedicinaActiveSurfaceGUIClient/src/MedicinaActiveSurfaceGUI.ui b/Medicina/Clients/MedicinaActiveSurfaceGUIClient/src/MedicinaActiveSurfaceGUI.ui
old mode 100755
new mode 100644
diff --git a/Medicina/Clients/MedicinaActiveSurfaceGUIClient/src/MedicinaActiveSurfaceManagementGUIui.cpp b/Medicina/Clients/MedicinaActiveSurfaceGUIClient/src/MedicinaActiveSurfaceManagementGUIui.cpp
new file mode 120000
index 0000000000000000000000000000000000000000..59e99f14ec17bacf4c478e1dcdddc4dde63cf524
--- /dev/null
+++ b/Medicina/Clients/MedicinaActiveSurfaceGUIClient/src/MedicinaActiveSurfaceManagementGUIui.cpp
@@ -0,0 +1 @@
+MedicinaActiveSurfaceGUIui.cpp
\ No newline at end of file
diff --git a/Noto/Clients/NotoActiveSurfaceGUIClient/src/Makefile b/Noto/Clients/NotoActiveSurfaceGUIClient/src/Makefile
index c6e73aac9c2579a2900b74fae01e107cf51aaed3..08a1873568fa522ed496337bd491bc8e60ff5a97 100644
--- a/Noto/Clients/NotoActiveSurfaceGUIClient/src/Makefile
+++ b/Noto/Clients/NotoActiveSurfaceGUIClient/src/Makefile
@@ -18,7 +18,7 @@
 
 #
 # user definable C-compilation flags
-USER_CFLAGS = -DQT_THREAD_SUPPORT
+USER_CFLAGS = -DQT_THREAD_SUPPORT -fno-var-tracking-assignments
 
 #
 # additional include and library search paths
@@ -136,7 +136,7 @@ QT_COMPILE_FILES = $(subst .cpp,,$(QT_UI_FILES_MOC) $(QT_UI_FILES_EXTERN_MOC_H)
 # <brief description of xxxxx program>
 NotoActiveSurfaceGUIClient_OBJECTS   = $(QT_COMPILE_FILES) NotoActiveSurfaceGUIui NotoActiveSurfaceCore NotoActiveSurfaceClientEventLoop NotoActiveSurfaceGUIClient
 NotoActiveSurfaceGUIClient_LIBS      = IRALibrary ActiveSurfaceBossStubs NotoActiveSurfaceBossStubs ASErrors ComponentErrors ClientErrors ManagementErrors ManagmentDefinitionsStubs
-NotoActiveSurfaceManagementGUIClient_OBJECTS   = $(QT_COMPILE_FILES) NotoActiveSurfaceGUIui NotoActiveSurfaceCore NotoActiveSurfaceClientEventLoop NotoActiveSurfaceGUIClient
+NotoActiveSurfaceManagementGUIClient_OBJECTS   = $(QT_COMPILE_FILES) NotoActiveSurfaceManagementGUIui NotoActiveSurfaceCore NotoActiveSurfaceClientEventLoop NotoActiveSurfaceGUIClient
 NotoActiveSurfaceManagementGUIClient_LIBS      = IRALibrary ActiveSurfaceBossStubs NotoActiveSurfaceBossStubs ASErrors ComponentErrors ClientErrors ManagementErrors ManagmentDefinitionsStubs
 
 $(PROG)_OBJECTS            = $(PROG)
diff --git a/Noto/Clients/NotoActiveSurfaceGUIClient/src/NotoActiveSurfaceGUI.ui b/Noto/Clients/NotoActiveSurfaceGUIClient/src/NotoActiveSurfaceGUI.ui
old mode 100755
new mode 100644
diff --git a/Noto/Clients/NotoActiveSurfaceGUIClient/src/NotoActiveSurfaceGUI.ui.17012024 b/Noto/Clients/NotoActiveSurfaceGUIClient/src/NotoActiveSurfaceGUI.ui.17012024
deleted file mode 100755
index 43ba300a654aa099869370fdff3c9e05ab710585..0000000000000000000000000000000000000000
--- a/Noto/Clients/NotoActiveSurfaceGUIClient/src/NotoActiveSurfaceGUI.ui.17012024
+++ /dev/null
@@ -1,161729 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>NotoActiveSurfaceGUI</class>
- <widget class="QWidget" name="NotoActiveSurfaceGUI">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>1270</width>
-    <height>960</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="baseSize">
-   <size>
-    <width>1100</width>
-    <height>950</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>Noto Active Surface</string>
-  </property>
-  <widget class="QPushButton" name="ManagerButton">
-   <property name="geometry">
-    <rect>
-     <x>975</x>
-     <y>408</y>
-     <width>130</width>
-     <height>35</height>
-    </rect>
-   </property>
-   <property name="palette">
-    <palette>
-     <active>
-      <colorrole role="WindowText">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>0</red>
-         <green>0</green>
-         <blue>0</blue>
-        </color>
-       </brush>
-      </colorrole>
-      <colorrole role="Button">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>0</red>
-         <green>85</green>
-         <blue>255</blue>
-        </color>
-       </brush>
-      </colorrole>
-      <colorrole role="Light">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>127</red>
-         <green>170</green>
-         <blue>255</blue>
-        </color>
-       </brush>
-      </colorrole>
-      <colorrole role="Midlight">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>63</red>
-         <green>127</green>
-         <blue>255</blue>
-        </color>
-       </brush>
-      </colorrole>
-      <colorrole role="Dark">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>0</red>
-         <green>42</green>
-         <blue>127</blue>
-        </color>
-       </brush>
-      </colorrole>
-      <colorrole role="Mid">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>0</red>
-         <green>57</green>
-         <blue>170</blue>
-        </color>
-       </brush>
-      </colorrole>
-      <colorrole role="Text">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>0</red>
-         <green>0</green>
-         <blue>0</blue>
-        </color>
-       </brush>
-      </colorrole>
-      <colorrole role="BrightText">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>255</red>
-         <green>255</green>
-         <blue>255</blue>
-        </color>
-       </brush>
-      </colorrole>
-      <colorrole role="ButtonText">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>0</red>
-         <green>0</green>
-         <blue>0</blue>
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-       </brush>
-      </colorrole>
-      <colorrole role="Base">
-       <brush brushstyle="SolidPattern">
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-      <colorrole role="Shadow">
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-         <red>0</red>
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-      <colorrole role="HighlightedText">
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-       </brush>
-      </colorrole>
-     </disabled>
-    </palette>
-   </property>
-   <property name="styleSheet">
-    <string>background-color: rgb(0, 85, 255);</string>
-   </property>
-   <property name="text">
-    <string>MANAGER</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ActuatorLabel">
-   <property name="geometry">
-    <rect>
-     <x>970</x>
-     <y>15</y>
-     <width>130</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>ACTUATOR</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-   <property name="wordWrap">
-    <bool>false</bool>
-   </property>
-  </widget>
-  <widget class="QLabel" name="DelayActuatorLabel">
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-     <y>152</y>
-     <width>130</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Delay</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-   <property name="wordWrap">
-    <bool>false</bool>
-   </property>
-  </widget>
-  <widget class="QLabel" name="AccelerationActuatorLabel">
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-    <rect>
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-     <y>225</y>
-     <width>130</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Acceleration</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-   <property name="wordWrap">
-    <bool>false</bool>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ActuatorStatusCammLabel">
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-    <bool>true</bool>
-   </property>
-   <property name="geometry">
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-     <y>305</y>
-     <width>90</width>
-     <height>35</height>
-    </rect>
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-   <property name="toolTip">
-    <string>Zero Calibration</string>
-   </property>
-   <property name="text">
-    <string/>
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-   <property name="alignment">
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-  </widget>
-  <widget class="QLabel" name="ActuatorStatusLoopLabel">
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-    <bool>true</bool>
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-     <y>305</y>
-     <width>95</width>
-     <height>35</height>
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-   </property>
-   <property name="toolTip">
-    <string>Auto/Manual Resolution</string>
-   </property>
-   <property name="text">
-    <string/>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-   <property name="wordWrap">
-    <bool>false</bool>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ActuatorStatusCalLabel">
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-    <bool>true</bool>
-   </property>
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-     <x>1115</x>
-     <y>265</y>
-     <width>140</width>
-     <height>35</height>
-    </rect>
-   </property>
-   <property name="toolTip">
-    <string>Ready</string>
-   </property>
-   <property name="text">
-    <string/>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-   <property name="wordWrap">
-    <bool>false</bool>
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-     <y>265</y>
-     <width>140</width>
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-   <property name="toolTip">
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-   </property>
-   <property name="text">
-    <string/>
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-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-   <property name="wordWrap">
-    <bool>false</bool>
-   </property>
-  </widget>
-  <widget class="QLabel" name="ActuatorStatusRunLabel">
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-     <y>305</y>
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-   <property name="toolTip">
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-   <property name="text">
-    <string/>
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-   </property>
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-  </widget>
-  <widget class="QLabel" name="CommandedPositionActuatorLabel">
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-     <y>105</y>
-     <width>130</width>
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-   <property name="text">
-    <string>Commanded Pos</string>
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-     <height>42</height>
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-   <property name="text">
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-     <height>20</height>
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-   <property name="text">
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-     <string>02_24</string>
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-     <string>02_26</string>
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-     <string>02_27</string>
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-     <string>06_05</string>
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-       <colorrole role="Midlight">
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-          <red>38</red>
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-       <colorrole role="Dark">
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-       <colorrole role="Mid">
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-          <red>0</red>
-          <green>57</green>
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-       <colorrole role="Text">
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-          <red>128</red>
-          <green>128</green>
-          <blue>128</blue>
-         </color>
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-       <colorrole role="BrightText">
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-       <colorrole role="ButtonText">
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-          <blue>255</blue>
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-       </colorrole>
-      </disabled>
-     </palette>
-    </property>
-    <property name="toolTip">
-     <string>Stop actuator</string>
-    </property>
-    <property name="styleSheet">
-     <string>background-color: rgb(0, 85, 255);</string>
-    </property>
-    <property name="text">
-     <string>Stop</string>
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-     <rect>
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-      <y>5</y>
-      <width>90</width>
-      <height>35</height>
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-    <property name="toolTip">
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-    <property name="styleSheet">
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-    <property name="text">
-     <string>Reset</string>
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-      <height>35</height>
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-       <colorrole role="Button">
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-    <property name="toolTip">
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-    <property name="styleSheet">
-     <string>background-color: rgb(0, 85, 255);</string>
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-    <property name="text">
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-      <y>125</y>
-      <width>90</width>
-      <height>35</height>
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-    <property name="toolTip">
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-    <property name="toolTip">
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-    <property name="font">
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-  <zorder>ActuatorStatusCammLabel</zorder>
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-  <zorder>ActuatorStatusRunLabel</zorder>
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-  <zorder>ActualPositionActuatorLabel</zorder>
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-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton01_22</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton01_19</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton01_24</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton01_23</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R1ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>C1ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setcircle()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_08</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_12</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_04</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_01</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_14</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_02</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_07</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_05</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_03</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_09</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_06</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_11</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_13</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_10</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_20</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_17</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_24</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_18</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_25</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_23</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_21</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_28</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_15</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_27</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_29</sender>
-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
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-   <sender>ActuatorButton02_19</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
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-   <sender>ActuatorButton02_26</sender>
-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <sender>ActuatorButton02_30</sender>
-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <sender>ActuatorButton02_46</sender>
-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton02_39</sender>
-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
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-     <x>20</x>
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-     <y>20</y>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-     <y>20</y>
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-    <hint type="sourcelabel">
-     <x>20</x>
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-    <hint type="sourcelabel">
-     <x>20</x>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-     <x>20</x>
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-     <x>20</x>
-     <y>20</y>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="sourcelabel">
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-     <y>20</y>
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-    <hint type="sourcelabel">
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-     <y>20</y>
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-     <y>20</y>
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-     <y>20</y>
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-     <y>20</y>
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-     <y>20</y>
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-     <y>20</y>
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-     <y>20</y>
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-     <y>20</y>
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-     <y>20</y>
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-     <y>20</y>
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-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton05_41</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton05_40</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton05_37</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton05_39</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton05_42</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton05_44</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton05_48</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton05_46</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton05_45</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton05_47</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
-  <connection>
-   <sender>C5ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setcircle()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_04</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_02</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_01</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_03</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_05</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_11</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_06</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_09</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_07</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_08</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_12</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_10</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_15</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_18</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
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-   <sender>ActuatorButton06_19</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
-  <connection>
-   <sender>ActuatorButton06_13</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
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-   <sender>ActuatorButton06_16</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
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-   <sender>ActuatorButton06_20</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
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-   <sender>ActuatorButton06_14</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
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-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <sender>ActuatorButton06_28</sender>
-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <sender>ActuatorButton06_21</sender>
-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
-  </connection>
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-   <sender>ActuatorButton06_25</sender>
-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
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-   </hints>
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-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-     <y>20</y>
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-   </hints>
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-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-     <y>20</y>
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-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-     <y>20</y>
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-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-     <y>20</y>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-     <y>20</y>
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-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-     <y>20</y>
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-   <signal>clicked()</signal>
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-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-     <y>20</y>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-     <y>20</y>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-     <y>20</y>
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-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setactuator()</slot>
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-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
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-    <hint type="destinationlabel">
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-     <y>20</y>
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-   <sender>R27ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R36ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R38ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R45ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R46ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R43ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R47ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R41ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R48ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R40ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R42ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R37ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R44ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>R39ActuatorsButton</sender>
-   <signal>clicked()</signal>
-   <receiver>NotoActiveSurfaceGUI</receiver>
-   <slot>setradius()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>20</x>
-     <y>20</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
- <slots>
-  <slot>setupAS()</slot>
-  <slot>startAS()</slot>
-  <slot>stowAS()</slot>
-  <slot>stopAS()</slot>
- </slots>
-</ui>
diff --git a/Noto/Clients/NotoActiveSurfaceGUIClient/src/NotoActiveSurfaceManagementGUIui.cpp b/Noto/Clients/NotoActiveSurfaceGUIClient/src/NotoActiveSurfaceManagementGUIui.cpp
new file mode 120000
index 0000000000000000000000000000000000000000..329c09c5c1fcb1fcb2b588f8eefe2bc159f1fabe
--- /dev/null
+++ b/Noto/Clients/NotoActiveSurfaceGUIClient/src/NotoActiveSurfaceManagementGUIui.cpp
@@ -0,0 +1 @@
+NotoActiveSurfaceGUIui.cpp
\ No newline at end of file
diff --git a/SRT/CDB/MACI/Components/BACKENDS/NoiseGenerator/NoiseGenerator.xml b/SRT/CDB/MACI/Components/BACKENDS/NoiseGenerator/NoiseGenerator.xml
deleted file mode 100644
index 431cf8a1dfa155e9772ad0a7b033f80f3ac24fdc..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Components/BACKENDS/NoiseGenerator/NoiseGenerator.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
-   - History:
-   -   
--->
-<Component xmlns="urn:schemas-cosylab-com:Component: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"
-              
-	Name="NoiseGenerator"
-	Code="NoiseGeneratorImpl"
-	Type="IDL:alma/Backends/NoiseGenerator:1.0"
-	Container="NoiseGeneratorContainer"	
-	Default="false"
-	KeepAliveTime="-1"
-    ImplLang="cpp"
-/>
diff --git a/SRT/CDB/MACI/Components/BACKENDS/XBackends/XBackends.xml b/SRT/CDB/MACI/Components/BACKENDS/XBackends/XBackends.xml
deleted file mode 100644
index f008110b9512ebe7e1923862dcfa7acac78bc26c..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Components/BACKENDS/XBackends/XBackends.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
-   - History:
-   -   
--->
-<Component xmlns="urn:schemas-cosylab-com:Component: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"
-              
-	Name="XBackends"
-	Code="XBackendsImpl"
-	Type="IDL:alma/Backends/XBackends:1.0"
-	Container="XContainer"
-    ImplLang="cpp"
-/>
-<!--"BackendsContainer"-->
diff --git a/SRT/CDB/MACI/Components/MINORSERVO/PFP/PFP.xml b/SRT/CDB/MACI/Components/MINORSERVO/DR_GFR1/DR_GFR1.xml
similarity index 70%
rename from SRT/CDB/MACI/Components/MINORSERVO/PFP/PFP.xml
rename to SRT/CDB/MACI/Components/MINORSERVO/DR_GFR1/DR_GFR1.xml
index a5801b66da5c3bdcc192282f036f16269a5c689c..8e6e427d61ba49f9d73690ac98cc16bb24dd73ff 100644
--- a/SRT/CDB/MACI/Components/MINORSERVO/PFP/PFP.xml
+++ b/SRT/CDB/MACI/Components/MINORSERVO/DR_GFR1/DR_GFR1.xml
@@ -5,11 +5,10 @@
     xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"
     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
               
-    Name="PFP"    
-    Code="SRTProgramTrackMinorServoImpl"
+    Name="DR_GFR1"
+    Code="SRTDerotatorImpl"
     ImplLang="cpp"
-    Type="IDL:alma/MinorServo/SRTProgramTrackMinorServo:1.0"
+    Type="IDL:alma/MinorServo/SRTDerotator:1.0"
     Container="MinorServoContainer"
-	Default="true"
-
+    Default="false"
 />
diff --git a/SRT/CDB/MACI/Components/MINORSERVO/GFR/GFR.xml b/SRT/CDB/MACI/Components/MINORSERVO/GFR/GFR.xml
index 23da6db86964dbb40d2a49684fb7a0b11280d257..0b019b829da8a6d8c8821275e75d1597c45292db 100644
--- a/SRT/CDB/MACI/Components/MINORSERVO/GFR/GFR.xml
+++ b/SRT/CDB/MACI/Components/MINORSERVO/GFR/GFR.xml
@@ -5,10 +5,10 @@
     xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"
     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
               
-    Name="GFR"    
+    Name="GFR"
     Code="SRTGenericMinorServoImpl"
     ImplLang="cpp"
     Type="IDL:alma/MinorServo/SRTGenericMinorServo:1.0"
     Container="MinorServoContainer"
-    Default="true"
+    Default="false"
 />
diff --git a/SRT/CDB/MACI/Components/MINORSERVO/M3R/M3R.xml b/SRT/CDB/MACI/Components/MINORSERVO/M3R/M3R.xml
index 94efe94c9728624cfaaab98a2f33e6adadde1420..1d904b9879d5a78f0624f7b650f2fee9ba3f0ca6 100644
--- a/SRT/CDB/MACI/Components/MINORSERVO/M3R/M3R.xml
+++ b/SRT/CDB/MACI/Components/MINORSERVO/M3R/M3R.xml
@@ -5,10 +5,10 @@
     xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"
     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
               
-    Name="M3R"    
+    Name="M3R"
     Code="SRTGenericMinorServoImpl"
     ImplLang="cpp"
     Type="IDL:alma/MinorServo/SRTGenericMinorServo:1.0"
     Container="MinorServoContainer"
-	Default="true"
+    Default="false"
 />
diff --git a/SRT/CDB/MACI/Components/MINORSERVO/SRP/SRP.xml b/SRT/CDB/MACI/Components/MINORSERVO/SRP/SRP.xml
index b957480d671b04fb21d14738f5a90d079e1dab46..ebfabed00531afc5e842b0f30e659d71fd3b0989 100644
--- a/SRT/CDB/MACI/Components/MINORSERVO/SRP/SRP.xml
+++ b/SRT/CDB/MACI/Components/MINORSERVO/SRP/SRP.xml
@@ -10,6 +10,5 @@
     ImplLang="cpp"
     Type="IDL:alma/MinorServo/SRTProgramTrackMinorServo:1.0"
     Container="MinorServoContainer"
-    Default="true"
-
+    Default="false"
 />
diff --git a/SRT/CDB/MACI/Components/RECEIVERS/LO_LP/LO_LP.xml b/SRT/CDB/MACI/Components/RECEIVERS/LO_LP/LO_LP.xml
deleted file mode 100644
index 8b5d8351bd4c6b07bbef2a8541a85c2cebabc8a1..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Components/RECEIVERS/LO_LP/LO_LP.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
-   - History:
-   -   
--->
-<Component xmlns="urn:schemas-cosylab-com:Component: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"
-              
-	Name="LO_LP"
-	Code="LocalOscillatorSimImpl.LocalOscillator"
-	Type="IDL:alma/Receivers/LocalOscillator:1.0"
-	Container="LocalOscillatorLPContainer"
-	KeepAliveTime="10"
-	Default="false"
-    ImplLang="py"
-/>
diff --git a/SRT/CDB/MACI/Components/RECEIVERS/SRTIFDistributor/SRTIFDistributor.xml b/SRT/CDB/MACI/Components/RECEIVERS/SRTIFDistributor/SRTIFDistributor.xml
deleted file mode 100644
index 42b5b7832dd5148a934fb81b7851fd1a057d8d65..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Components/RECEIVERS/SRTIFDistributor/SRTIFDistributor.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!--
-     Giuseppe Carboni <gcarboni@oa-cagliari.inaf.it>
--->
-
-<Component 
-    xmlns="urn:schemas-cosylab-com:Component: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"
-              
-    Name="SRTIFDistributor"
-    Code="IFDistributor.SRTIFDistributorImpl"
-    Type="IDL:alma/Receivers/SRTIFDistributor:1.0"
-    Container="PyIFDistributorContainer"
-    ImplLang="py"
-	Default="true"
-/>
diff --git a/SRT/CDB/MACI/Components/RECEIVERS/SRTLPBandReceiver/SRTLPBandReceiver.xml b/SRT/CDB/MACI/Components/RECEIVERS/SRTLPBandReceiver/SRTLPBandReceiver.xml
deleted file mode 100644
index d6732b9634b6ffe7ef38f349e232b58e52042241..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Components/RECEIVERS/SRTLPBandReceiver/SRTLPBandReceiver.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
-   - History:
-   -   
--->
-<Component xmlns="urn:schemas-cosylab-com:Component: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"
-              
-	Name="LPBandReceiver"
-	Code="SRTLPBandReceiverImpl"
-	Type="IDL:alma/Receivers/SRTLPBand:1.0"
-	Container="SRTLPBandContainer"
-	KeepAliveTime="-1"
-	Default="false"
-    ImplLang="cpp"
-/>
diff --git a/SRT/CDB/MACI/Containers/HolographyContainer/HolographyContainer.xml b/SRT/CDB/MACI/Containers/HolographyContainer/HolographyContainer.xml
deleted file mode 100644
index b6cba55101bcf27a546f793603b02a26e8f08322..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Containers/HolographyContainer/HolographyContainer.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-<?xml version="1.0" encoding="ISO-8859-1"?>
-
-<Container
-	xmlns="urn:schemas-cosylab-com:Container:1.0"
-	xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"
-	xmlns:baci="urn:schemas-cosylab-com:BACI:1.0"
-	xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-	xmlns:log="urn:schemas-cosylab-com:LoggingConfig:1.0"
-	Timeout="30.0"
-	UseIFR="true"
-	ManagerRetry="10"
-	ImplLang="cpp"
-	Recovery="false">
-
-	<Autoload>
-		<cdb:e string="baci" />
-	</Autoload>
-	
-	<LoggingConfig
-		centralizedLogger="Log"
-		minLogLevel="5"
-		minLogLevelLocal="5"
-		dispatchPacketSize="0"
-		immediateDispatchLevel="8"
-		flushPeriodSeconds="1"
-	>
-	</LoggingConfig>
-	
-</Container>
-
diff --git a/SRT/CDB/MACI/Containers/HolographyDXCContainer/HolographyDXCContainer.xml b/SRT/CDB/MACI/Containers/HolographyDXCContainer/HolographyDXCContainer.xml
deleted file mode 100644
index 9d7d96a624f4723a03365959b0cb7fa44b72cf3e..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Containers/HolographyDXCContainer/HolographyDXCContainer.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-<?xml version="1.0" encoding="ISO-8859-1"?>
-<Container xmlns="urn:schemas-cosylab-com:Container:1.0"
-           xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0" 
-           xmlns:baci="urn:schemas-cosylab-com:BACI:1.0" 
-           xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" 
-           xmlns:log="urn:schemas-cosylab-com:LoggingConfig:1.0" 
-           ImplLang="py"
-           Timeout="30.0"
-           UseIFR="true"
-           ManagerRetry="10"
-           Recovery="false">
-
-    <Autoload>
-        <cdb:e string="baci" />
-    </Autoload>
-
-    <LoggingConfig 
-		centralizedLogger="Log"
-		minLogLevel="5"
-		minLogLevelLocal="5"
-		dispatchPacketSize="0"
-		immediateDispatchLevel="8"
-		flushPeriodSeconds="1"
-	>
-    </LoggingConfig>
-
-</Container>
-
-
-
diff --git a/SRT/CDB/MACI/Containers/LocalOscillatorLPContainer/LocalOscillatorLPContainer.xml b/SRT/CDB/MACI/Containers/LocalOscillatorLPContainer/LocalOscillatorLPContainer.xml
deleted file mode 100644
index 46868e13ad92a6372bb14baa5bbe76874298cf80..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Containers/LocalOscillatorLPContainer/LocalOscillatorLPContainer.xml
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!-- 
- *  Author Infos
- *  ============
- *  Name:         Marco Buttu
- *  E-mail:       mbuttu@oa-cagliari.inaf.it
- *  Personal Web: http://www.pypeople.com/
--->
-<Container xmlns="urn:schemas-cosylab-com:Container:1.0"
-           xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0" 
-           xmlns:baci="urn:schemas-cosylab-com:BACI:1.0" 
-           xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" 
-           xmlns:log="urn:schemas-cosylab-com:LoggingConfig:1.0" 
-           Timeout="30.0"
-           UseIFR="true"
-           ManagerRetry="10"
-           ImplLang="py"
-           Recovery="false">
-
-    <Autoload>
-        <cdb:e string="baci" />
-    </Autoload>
-
-    <LoggingConfig 
-		centralizedLogger="Log"
-		minLogLevel="5"
-		minLogLevelLocal="5"
-		dispatchPacketSize="0"
-		immediateDispatchLevel="8"
-		flushPeriodSeconds="1"
-	>
-    </LoggingConfig>
-
-</Container>
-
-
-
diff --git a/SRT/CDB/MACI/Containers/LocalOscillatorsContainer/LocalOscillatorsContainer.xml b/SRT/CDB/MACI/Containers/LocalOscillatorsContainer/LocalOscillatorsContainer.xml
deleted file mode 100644
index 3ea1b6d4d3ab4789105482f11f850deea25fabcd..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Containers/LocalOscillatorsContainer/LocalOscillatorsContainer.xml
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!-- 
- *  Author Infos
- *  ============
- *  Name:         Marco Buttu
- *  E-mail:       mbuttu@oa-cagliari.inaf.it
- *  Personal Web: http://www.pypeople.com/
--->
-<Container xmlns="urn:schemas-cosylab-com:Container:1.0"
-           xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0" 
-           xmlns:baci="urn:schemas-cosylab-com:BACI:1.0" 
-           xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" 
-           xmlns:log="urn:schemas-cosylab-com:LoggingConfig:1.0" 
-           Timeout="30.0"
-           UseIFR="true"
-           ManagerRetry="10"
-           ImplLang="cpp"
-           Recovery="false">
-
-    <Autoload>
-        <cdb:e string="baci" />
-    </Autoload>
-
-    <LoggingConfig 
-		centralizedLogger="Log"
-		minLogLevel="5"
-		minLogLevelLocal="5"
-		dispatchPacketSize="0"
-		immediateDispatchLevel="8"
-		flushPeriodSeconds="1"
-	>
-    </LoggingConfig>
-
-</Container>
-
-
-
diff --git a/SRT/CDB/MACI/Containers/NoiseGeneratorContainer/NoiseGeneratorContainer.xml b/SRT/CDB/MACI/Containers/NoiseGeneratorContainer/NoiseGeneratorContainer.xml
deleted file mode 100644
index b6cba55101bcf27a546f793603b02a26e8f08322..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Containers/NoiseGeneratorContainer/NoiseGeneratorContainer.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-<?xml version="1.0" encoding="ISO-8859-1"?>
-
-<Container
-	xmlns="urn:schemas-cosylab-com:Container:1.0"
-	xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"
-	xmlns:baci="urn:schemas-cosylab-com:BACI:1.0"
-	xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-	xmlns:log="urn:schemas-cosylab-com:LoggingConfig:1.0"
-	Timeout="30.0"
-	UseIFR="true"
-	ManagerRetry="10"
-	ImplLang="cpp"
-	Recovery="false">
-
-	<Autoload>
-		<cdb:e string="baci" />
-	</Autoload>
-	
-	<LoggingConfig
-		centralizedLogger="Log"
-		minLogLevel="5"
-		minLogLevelLocal="5"
-		dispatchPacketSize="0"
-		immediateDispatchLevel="8"
-		flushPeriodSeconds="1"
-	>
-	</LoggingConfig>
-	
-</Container>
-
diff --git a/SRT/CDB/MACI/Containers/PyIFDistributorContainer/PyIFDistributorContainer.xml b/SRT/CDB/MACI/Containers/PyIFDistributorContainer/PyIFDistributorContainer.xml
deleted file mode 100644
index 6b7298a73d3d8510b380645dd11083ef760e46a6..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Containers/PyIFDistributorContainer/PyIFDistributorContainer.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<?xml version="1.0" encoding="ISO-8859-1"?>
-<Container xmlns="urn:schemas-cosylab-com:Container:1.0"
-           xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0" 
-           xmlns:baci="urn:schemas-cosylab-com:BACI:1.0" 
-           xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" 
-           xmlns:log="urn:schemas-cosylab-com:LoggingConfig:1.0" 
-           ImplLang="py"
-           Timeout="30.0"
-           UseIFR="true"
-           ManagerRetry="10"
-           Recovery="false">
-
-    <Autoload>
-        <cdb:e string="baci" />
-    </Autoload>
-
-    <LoggingConfig 
-		centralizedLogger="Log"
-		minLogLevel="5"
-		minLogLevelLocal="5"
-		dispatchPacketSize="0"
-		immediateDispatchLevel="8"
-		flushPeriodSeconds="1"
-	>
-    </LoggingConfig>
-
-</Container>
diff --git a/SRT/CDB/MACI/Containers/SRTLPBandContainer/SRTLPBandContainer.xml b/SRT/CDB/MACI/Containers/SRTLPBandContainer/SRTLPBandContainer.xml
deleted file mode 100644
index c555569cc46559503db2f2c9eb264265dbe1f243..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Containers/SRTLPBandContainer/SRTLPBandContainer.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!-- 
- *  Author
- *  =================
- *  Name: Marco Buttu
--->
-<Container xmlns="urn:schemas-cosylab-com:Container:1.0"
-           xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0" 
-           xmlns:baci="urn:schemas-cosylab-com:BACI:1.0" 
-           xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" 
-           xmlns:log="urn:schemas-cosylab-com:LoggingConfig:1.0" 
-           Timeout="30.0"
-           UseIFR="true"
-           ManagerRetry="10"
-           ImplLang="cpp"
-           Recovery="false">
-
-    <Autoload>
-        <cdb:e string="baci" />
-    </Autoload>
-
-    <LoggingConfig 
-		centralizedLogger="Log"
-		minLogLevel="5"
-		minLogLevelLocal="5"
-		dispatchPacketSize="0"
-		immediateDispatchLevel="8"
-		flushPeriodSeconds="1"
-	>
-    </LoggingConfig>
-
-</Container>
-
-
-
diff --git a/SRT/CDB/MACI/Containers/XContainer/XContainer.xml b/SRT/CDB/MACI/Containers/XContainer/XContainer.xml
deleted file mode 100644
index d807ff2239b7aee824dbeb7d00485f8deb624a90..0000000000000000000000000000000000000000
--- a/SRT/CDB/MACI/Containers/XContainer/XContainer.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0" encoding="ISO-8859-1"?>
-
-<Container
-	xmlns="urn:schemas-cosylab-com:Container:1.0"
-	xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"
-	xmlns:baci="urn:schemas-cosylab-com:BACI:1.0"
-	xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-	xmlns:log="urn:schemas-cosylab-com:LoggingConfig:1.0"
-	Timeout="30.0"
-	UseIFR="true"
-	ManagerRetry="10"
-	ImplLang="cpp"
-	Recovery="false">
-
-	<Autoload>
-		<cdb:e string="baci" />
-	</Autoload>
-	
-	<LoggingConfig
-		centralizedLogger="Log"
-		minLogLevel="5"
-		minLogLevelLocal="5"
-		dispatchPacketSize="0"
-		immediateDispatchLevel="8"
-		flushPeriodSeconds="1"
-	>
-	</LoggingConfig>
-</Container>
-
diff --git a/SRT/CDB/alma/DataBlock/DewarPositioner/KKG/Mapping/Mapping.xml b/SRT/CDB/alma/DataBlock/DewarPositioner/KKG/Mapping/Mapping.xml
index 93d131c69fd427ee06d3fe6162cd70cfeacfdae5..7899633de04be80e1db5fdb5235a651b0b7e811f 100644
--- a/SRT/CDB/alma/DataBlock/DewarPositioner/KKG/Mapping/Mapping.xml
+++ b/SRT/CDB/alma/DataBlock/DewarPositioner/KKG/Mapping/Mapping.xml
@@ -4,7 +4,7 @@
     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"
-    DerotatorName="RECEIVERS/SRTKBandDerotator"
+    DerotatorName="MINORSERVO/DR_GFR1"
     ObservatoryName="ANTENNA/Observatory"
     CoordinateSourceName="ANTENNA/Boss"
     SetupPosition="0.0"
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/DR_GFR1/Properties/Properties.xml b/SRT/CDB/alma/DataBlock/MinorServo/DR_GFR1/Properties/Properties.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ebb604a196bd97b9c3ed510977a3a8e6f2b93ca
--- /dev/null
+++ b/SRT/CDB/alma/DataBlock/MinorServo/DR_GFR1/Properties/Properties.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   - Author: Giuseppe Carboni
+   - History:
+ 	- 14-03-23 Created
+-->
+
+<SRTMinorServoProperties xmlns="urn:schemas-cosylab-com:SRTMinorServoProperties: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_enabled><property_name>ROTARY_AXIS_ENABLED</property_name></physical_axes_enabled>
+    <physical_positions><property_name>ROTATION</property_name></physical_positions>
+    <virtual_positions><property_name>ROTATION</property_name></virtual_positions>
+    <virtual_axes_units><property_name>degree</property_name></virtual_axes_units>
+    <virtual_offsets><property_name>OFFSET</property_name></virtual_offsets>
+</SRTMinorServoProperties>
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml b/SRT/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
index 296a8bdb4fd4aa6eafdda595a452e432b2feb0e5..95038cde615880bf24921cbd54f43e6561d18ef5 100644
--- a/SRT/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
+++ b/SRT/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
@@ -12,8 +12,8 @@
 
     <!-- n stands for name, a stands for axis, p stands for polynomial -->
 
-    <configuration><n>CCB</n><a>ROTATION</a><p>44.95999544939037931     </p></configuration>
+    <configuration><n>CCB</n><a>ROTATION</a><p>-44.95999544939037931    </p></configuration>
 
-    <configuration><n>XB</n> <a>ROTATION</a><p>135.003886290282340384   </p></configuration>
+    <configuration><n>XB</n> <a>ROTATION</a><p>-135.003886290282340384  </p></configuration>
 
 </SRTMinorServoCoefficientsTable>
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/PFP/Properties/Properties.xml b/SRT/CDB/alma/DataBlock/MinorServo/PFP/Properties/Properties.xml
deleted file mode 100644
index 688491e3051fc40ae7a0b13e14b0ff78ca5f6ec9..0000000000000000000000000000000000000000
--- a/SRT/CDB/alma/DataBlock/MinorServo/PFP/Properties/Properties.xml
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
-   - Author: Giuseppe Carboni
-   - History:
- 	- 14-03-23 Created
--->
-
-<SRTMinorServoProperties xmlns="urn:schemas-cosylab-com:SRTMinorServoProperties: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_enabled><property_name>X_ENABLED</property_name></physical_axes_enabled>
-    <physical_axes_enabled><property_name>Z_MASTER_ENABLED</property_name></physical_axes_enabled>
-    <physical_axes_enabled><property_name>Z_SLAVE_ENABLED</property_name></physical_axes_enabled>
-    <physical_axes_enabled><property_name>THETA_MASTER_ENABLED</property_name></physical_axes_enabled>
-    <physical_axes_enabled><property_name>THETA_SLAVE_ENABLED</property_name></physical_axes_enabled>
-
-    <physical_positions><property_name>ELONG_X</property_name></physical_positions>
-    <physical_positions><property_name>ELONG_Z_MASTER</property_name></physical_positions>
-    <physical_positions><property_name>ELONG_Z_SLAVE</property_name></physical_positions>
-    <physical_positions><property_name>ELONG_THETA_MASTER</property_name></physical_positions>
-    <physical_positions><property_name>ELONG_THETA_SLAVE</property_name></physical_positions>
-
-    <virtual_positions><property_name>TX</property_name></virtual_positions>
-    <virtual_positions><property_name>TZ</property_name></virtual_positions>
-    <virtual_positions><property_name>RTHETA</property_name></virtual_positions>
-
-    <virtual_axes_units><property_name>mm</property_name></virtual_axes_units>
-    <virtual_axes_units><property_name>mm</property_name></virtual_axes_units>
-    <virtual_axes_units><property_name>degree</property_name></virtual_axes_units>
-
-    <virtual_offsets><property_name>OFFSET_TX</property_name></virtual_offsets>
-    <virtual_offsets><property_name>OFFSET_TZ</property_name></virtual_offsets>
-    <virtual_offsets><property_name>OFFSET_RTHETA</property_name></virtual_offsets>
-</SRTMinorServoProperties>
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/Tabella Setup.csv b/SRT/CDB/alma/DataBlock/MinorServo/Tabella Setup.csv
index 1a9f02b7e6b48354164204fc278b74b26841e964..a686bb1a552f4f941c41bd6b2a70f40265e0af25 100644
--- a/SRT/CDB/alma/DataBlock/MinorServo/Tabella Setup.csv	
+++ b/SRT/CDB/alma/DataBlock/MinorServo/Tabella Setup.csv	
@@ -1,7 +1,7 @@
 CONFIGURATION;PFP_TX;PFP_TZ;PFP_RTHETA;SRP_TX;SRP_TY;SRP_TZ;SRP_RX;SRP_RY;SRP_RZ;M3R_RZ;GFR_RZ;DR_GFR1;DR_GFR2;DR_GFR3;DR_PFP;GREGORIAN_CAP;
 Primario;0;0;0;-5;5;-120;0;0;0;*;*;*;*;*;*;*;
 Gregoriano1;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;-88.70659;*;*;*;*;4;
-Gregoriano2;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;-159.8899;*;*;*;*;4;
+Gregoriano2;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;-159.8899;12.5;*;*;*;4;
 Gregoriano3;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;90.97161;*;*;*;*;4;
 Gregoriano4;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;162.771;*;*;*;*;4;
 Gregoriano5;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;55.373967;*;*;*;*;4;
diff --git a/SRT/CDB/alma/MINORSERVO/DR_GFR1/DR_GFR1.xml b/SRT/CDB/alma/MINORSERVO/DR_GFR1/DR_GFR1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..18191fa8093e972bdf890aa8a2e674e85e41816a
--- /dev/null
+++ b/SRT/CDB/alma/MINORSERVO/DR_GFR1/DR_GFR1.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   Authors: Giuseppe Carboni giuseppe.carboni@inaf.it
+-->
+<SRTDerotator
+    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="1"
+    virtual_axes="1"
+    max_speed="3.276"
+    acceleration="2.67"
+    min_range="-130"
+    max_range="130"
+    step="60"
+    tracking_delta="0.1"
+    zero_offset="12.5">
+
+    <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" />
+    <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" />
+    <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 trajectory" />
+    <actPosition description="Current position, with sign inverted in respect to the LDO one"/>
+    <cmdPosition description="Latest commanded position, with sign inverted in respect to the LDO one" />
+    <positionDiff description="Difference between the commanded and the current position" />
+    <status description="Bit pattern indicating the status of the derotator" />
+
+</SRTDerotator>
diff --git a/SRT/CDB/alma/MINORSERVO/GFR/GFR.xml b/SRT/CDB/alma/MINORSERVO/GFR/GFR.xml
index f34f6a21c21e6608d46e5421bf2782bb21615b6b..4e5b1329417bdfb5efa0185d772c00605fa82972 100644
--- a/SRT/CDB/alma/MINORSERVO/GFR/GFR.xml
+++ b/SRT/CDB/alma/MINORSERVO/GFR/GFR.xml
@@ -27,7 +27,7 @@
     <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" />
-    <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+    <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
     <error_code description="The type of error encountered" />
diff --git a/SRT/CDB/alma/MINORSERVO/M3R/M3R.xml b/SRT/CDB/alma/MINORSERVO/M3R/M3R.xml
index 8dfa3aa1c8f945f231acdedde0dd77c726517f2b..15d5e2db41d24dff1e80442608eb82f75bf0a3ee 100644
--- a/SRT/CDB/alma/MINORSERVO/M3R/M3R.xml
+++ b/SRT/CDB/alma/MINORSERVO/M3R/M3R.xml
@@ -27,7 +27,7 @@
     <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" />
-    <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+    <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
     <error_code description="The type of error encountered" />
diff --git a/SRT/CDB/alma/MINORSERVO/SRP/SRP.xml b/SRT/CDB/alma/MINORSERVO/SRP/SRP.xml
index d783896b4853eac3afbc8e7ddf75cf141c2931a7..53e1c5438a06ca33e4418da3913a320673dc2514 100644
--- a/SRT/CDB/alma/MINORSERVO/SRP/SRP.xml
+++ b/SRT/CDB/alma/MINORSERVO/SRP/SRP.xml
@@ -28,7 +28,7 @@
     <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" />
-    <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+    <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
     <error_code description="The type of error encountered" />
diff --git a/SRT/CDB/alma/RECEIVERS/Boss/Boss.xml b/SRT/CDB/alma/RECEIVERS/Boss/Boss.xml
index 4f67761f9950703fd6fb856d82f9f11b8db7df9e..6f82987bbfe0ba70634578e4f26376e2ecbd2aa0 100644
--- a/SRT/CDB/alma/RECEIVERS/Boss/Boss.xml
+++ b/SRT/CDB/alma/RECEIVERS/Boss/Boss.xml
@@ -28,7 +28,7 @@
 
 <AvailableReceiver Code="CCG" Derotator="false" Component="RECEIVERS/SRT5GHzReceiver"/>
 
-<AvailableReceiver Code="KKG" Derotator="false" Component="RECEIVERS/SRTKBandMFReceiver"/>
+<AvailableReceiver Code="KKG" Derotator="true"  Component="RECEIVERS/SRTKBandMFReceiver"/>
 
 <AvailableReceiver Code="LLP" Derotator="false" Component="RECEIVERS/SRTLPBandReceiver"/>
 
diff --git a/SRT/CDB/alma/RECEIVERS/DewarPositioner/DewarPositioner.xml b/SRT/CDB/alma/RECEIVERS/DewarPositioner/DewarPositioner.xml
index 12b213ea443be960d2777527773b7f8d2ae39910..8a57982ba106769132cfdba23ebd8e6c8769e53d 100644
--- a/SRT/CDB/alma/RECEIVERS/DewarPositioner/DewarPositioner.xml
+++ b/SRT/CDB/alma/RECEIVERS/DewarPositioner/DewarPositioner.xml
@@ -4,7 +4,8 @@
     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"
-    UpdatingTime="0.1"
+    UpdatingTime="0.2"
+    TrackingLeadTime="2.6"
     RewindingSleepTime="0.1"
     RewindingTimeout="200"
     DefaultConfiguration="FIXED"
diff --git a/SRT/Clients/SRTActiveSurfaceGUIClient/src/Makefile b/SRT/Clients/SRTActiveSurfaceGUIClient/src/Makefile
index 3d5195e56be098f93dd2098ad713c6cef01d29a1..dabed8d0a1b42d65fbc609139d87339051245d70 100644
--- a/SRT/Clients/SRTActiveSurfaceGUIClient/src/Makefile
+++ b/SRT/Clients/SRTActiveSurfaceGUIClient/src/Makefile
@@ -18,7 +18,7 @@
 
 #
 # user definable C-compilation flags
-USER_CFLAGS = -DQT_THREAD_SUPPORT
+USER_CFLAGS = -DQT_THREAD_SUPPORT -fno-var-tracking-assignments
 
 #
 # additional include and library search paths
@@ -136,7 +136,7 @@ QT_COMPILE_FILES = $(subst .cpp,,$(QT_UI_FILES_MOC) $(QT_UI_FILES_EXTERN_MOC_H)
 # <brief description of xxxxx program>
 SRTActiveSurfaceGUIClient_OBJECTS   = $(QT_COMPILE_FILES) SRTActiveSurfaceGUIui SRTActiveSurfaceCore SRTActiveSurfaceClientEventLoop SRTActiveSurfaceGUIClient
 SRTActiveSurfaceGUIClient_LIBS      = IRALibrary ActiveSurfaceBossStubs SRTActiveSurfaceBossStubs ASErrors ComponentErrors ClientErrors ManagementErrors ManagmentDefinitionsStubs
-SRTActiveSurfaceManagementGUIClient_OBJECTS   = $(QT_COMPILE_FILES) SRTActiveSurfaceGUIui SRTActiveSurfaceCore SRTActiveSurfaceClientEventLoop SRTActiveSurfaceGUIClient
+SRTActiveSurfaceManagementGUIClient_OBJECTS   = $(QT_COMPILE_FILES) SRTActiveSurfaceManagementGUIui SRTActiveSurfaceCore SRTActiveSurfaceClientEventLoop SRTActiveSurfaceGUIClient
 SRTActiveSurfaceManagementGUIClient_LIBS      = IRALibrary ActiveSurfaceBossStubs SRTActiveSurfaceBossStubs ASErrors ComponentErrors ClientErrors ManagementErrors ManagmentDefinitionsStubs
 
 $(PROG)_OBJECTS            = $(PROG)
diff --git a/SRT/Clients/SRTActiveSurfaceGUIClient/src/SRTActiveSurfaceManagementGUIui.cpp b/SRT/Clients/SRTActiveSurfaceGUIClient/src/SRTActiveSurfaceManagementGUIui.cpp
new file mode 120000
index 0000000000000000000000000000000000000000..6736aa4aa4ac8bb79e96f7c873e9a86725e18da7
--- /dev/null
+++ b/SRT/Clients/SRTActiveSurfaceGUIClient/src/SRTActiveSurfaceManagementGUIui.cpp
@@ -0,0 +1 @@
+SRTActiveSurfaceGUIui.cpp
\ No newline at end of file
diff --git a/SRT/Configuration/CDB/MACI/Components/MINORSERVO/DR_GFR1/DR_GFR1.xml b/SRT/Configuration/CDB/MACI/Components/MINORSERVO/DR_GFR1/DR_GFR1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8e6e427d61ba49f9d73690ac98cc16bb24dd73ff
--- /dev/null
+++ b/SRT/Configuration/CDB/MACI/Components/MINORSERVO/DR_GFR1/DR_GFR1.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Component
+    xmlns="urn:schemas-cosylab-com:Component: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"
+              
+    Name="DR_GFR1"
+    Code="SRTDerotatorImpl"
+    ImplLang="cpp"
+    Type="IDL:alma/MinorServo/SRTDerotator:1.0"
+    Container="MinorServoContainer"
+    Default="false"
+/>
diff --git a/SRT/Configuration/CDB/alma/DataBlock/DewarPositioner/KKG/Mapping/Mapping.xml b/SRT/Configuration/CDB/alma/DataBlock/DewarPositioner/KKG/Mapping/Mapping.xml
index 93d131c69fd427ee06d3fe6162cd70cfeacfdae5..7899633de04be80e1db5fdb5235a651b0b7e811f 100644
--- a/SRT/Configuration/CDB/alma/DataBlock/DewarPositioner/KKG/Mapping/Mapping.xml
+++ b/SRT/Configuration/CDB/alma/DataBlock/DewarPositioner/KKG/Mapping/Mapping.xml
@@ -4,7 +4,7 @@
     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"
-    DerotatorName="RECEIVERS/SRTKBandDerotator"
+    DerotatorName="MINORSERVO/DR_GFR1"
     ObservatoryName="ANTENNA/Observatory"
     CoordinateSourceName="ANTENNA/Boss"
     SetupPosition="0.0"
diff --git a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/DR_GFR1/Properties/Properties.xml b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/DR_GFR1/Properties/Properties.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ebb604a196bd97b9c3ed510977a3a8e6f2b93ca
--- /dev/null
+++ b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/DR_GFR1/Properties/Properties.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   - Author: Giuseppe Carboni
+   - History:
+ 	- 14-03-23 Created
+-->
+
+<SRTMinorServoProperties xmlns="urn:schemas-cosylab-com:SRTMinorServoProperties: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_enabled><property_name>ROTARY_AXIS_ENABLED</property_name></physical_axes_enabled>
+    <physical_positions><property_name>ROTATION</property_name></physical_positions>
+    <virtual_positions><property_name>ROTATION</property_name></virtual_positions>
+    <virtual_axes_units><property_name>degree</property_name></virtual_axes_units>
+    <virtual_offsets><property_name>OFFSET</property_name></virtual_offsets>
+</SRTMinorServoProperties>
diff --git a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
index 296a8bdb4fd4aa6eafdda595a452e432b2feb0e5..95038cde615880bf24921cbd54f43e6561d18ef5 100644
--- a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
+++ b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
@@ -12,8 +12,8 @@
 
     <!-- n stands for name, a stands for axis, p stands for polynomial -->
 
-    <configuration><n>CCB</n><a>ROTATION</a><p>44.95999544939037931     </p></configuration>
+    <configuration><n>CCB</n><a>ROTATION</a><p>-44.95999544939037931    </p></configuration>
 
-    <configuration><n>XB</n> <a>ROTATION</a><p>135.003886290282340384   </p></configuration>
+    <configuration><n>XB</n> <a>ROTATION</a><p>-135.003886290282340384  </p></configuration>
 
 </SRTMinorServoCoefficientsTable>
diff --git a/SRT/Configuration/CDB/alma/MINORSERVO/DR_GFR1/DR_GFR1.xml b/SRT/Configuration/CDB/alma/MINORSERVO/DR_GFR1/DR_GFR1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..18191fa8093e972bdf890aa8a2e674e85e41816a
--- /dev/null
+++ b/SRT/Configuration/CDB/alma/MINORSERVO/DR_GFR1/DR_GFR1.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   Authors: Giuseppe Carboni giuseppe.carboni@inaf.it
+-->
+<SRTDerotator
+    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="1"
+    virtual_axes="1"
+    max_speed="3.276"
+    acceleration="2.67"
+    min_range="-130"
+    max_range="130"
+    step="60"
+    tracking_delta="0.1"
+    zero_offset="12.5">
+
+    <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" />
+    <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" />
+    <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 trajectory" />
+    <actPosition description="Current position, with sign inverted in respect to the LDO one"/>
+    <cmdPosition description="Latest commanded position, with sign inverted in respect to the LDO one" />
+    <positionDiff description="Difference between the commanded and the current position" />
+    <status description="Bit pattern indicating the status of the derotator" />
+
+</SRTDerotator>
diff --git a/SRT/Configuration/CDB/alma/MINORSERVO/GFR/GFR.xml b/SRT/Configuration/CDB/alma/MINORSERVO/GFR/GFR.xml
index f34f6a21c21e6608d46e5421bf2782bb21615b6b..4e5b1329417bdfb5efa0185d772c00605fa82972 100644
--- a/SRT/Configuration/CDB/alma/MINORSERVO/GFR/GFR.xml
+++ b/SRT/Configuration/CDB/alma/MINORSERVO/GFR/GFR.xml
@@ -27,7 +27,7 @@
     <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" />
-    <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+    <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
     <error_code description="The type of error encountered" />
diff --git a/SRT/Configuration/CDB/alma/MINORSERVO/M3R/M3R.xml b/SRT/Configuration/CDB/alma/MINORSERVO/M3R/M3R.xml
index 8dfa3aa1c8f945f231acdedde0dd77c726517f2b..15d5e2db41d24dff1e80442608eb82f75bf0a3ee 100644
--- a/SRT/Configuration/CDB/alma/MINORSERVO/M3R/M3R.xml
+++ b/SRT/Configuration/CDB/alma/MINORSERVO/M3R/M3R.xml
@@ -27,7 +27,7 @@
     <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" />
-    <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+    <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
     <error_code description="The type of error encountered" />
diff --git a/SRT/Configuration/CDB/alma/MINORSERVO/SRP/SRP.xml b/SRT/Configuration/CDB/alma/MINORSERVO/SRP/SRP.xml
index d783896b4853eac3afbc8e7ddf75cf141c2931a7..53e1c5438a06ca33e4418da3913a320673dc2514 100644
--- a/SRT/Configuration/CDB/alma/MINORSERVO/SRP/SRP.xml
+++ b/SRT/Configuration/CDB/alma/MINORSERVO/SRP/SRP.xml
@@ -28,7 +28,7 @@
     <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" />
-    <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+    <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
     <error_code description="The type of error encountered" />
diff --git a/SRT/Configuration/CDB/alma/RECEIVERS/Boss/Boss.xml b/SRT/Configuration/CDB/alma/RECEIVERS/Boss/Boss.xml
index 4f67761f9950703fd6fb856d82f9f11b8db7df9e..b098cecce2304e86ef39aba69edb56be8e37120c 100644
--- a/SRT/Configuration/CDB/alma/RECEIVERS/Boss/Boss.xml
+++ b/SRT/Configuration/CDB/alma/RECEIVERS/Boss/Boss.xml
@@ -28,7 +28,7 @@
 
 <AvailableReceiver Code="CCG" Derotator="false" Component="RECEIVERS/SRT5GHzReceiver"/>
 
-<AvailableReceiver Code="KKG" Derotator="false" Component="RECEIVERS/SRTKBandMFReceiver"/>
+<AvailableReceiver Code="KKG" Derotator="true" Component="RECEIVERS/SRTKBandMFReceiver"/>
 
 <AvailableReceiver Code="LLP" Derotator="false" Component="RECEIVERS/SRTLPBandReceiver"/>
 
diff --git a/SRT/Configuration/CDB/alma/RECEIVERS/DewarPositioner/DewarPositioner.xml b/SRT/Configuration/CDB/alma/RECEIVERS/DewarPositioner/DewarPositioner.xml
index 12b213ea443be960d2777527773b7f8d2ae39910..8a57982ba106769132cfdba23ebd8e6c8769e53d 100644
--- a/SRT/Configuration/CDB/alma/RECEIVERS/DewarPositioner/DewarPositioner.xml
+++ b/SRT/Configuration/CDB/alma/RECEIVERS/DewarPositioner/DewarPositioner.xml
@@ -4,7 +4,8 @@
     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"
-    UpdatingTime="0.1"
+    UpdatingTime="0.2"
+    TrackingLeadTime="2.6"
     RewindingSleepTime="0.1"
     RewindingTimeout="200"
     DefaultConfiguration="FIXED"
diff --git a/SRT/Interfaces/SRTMinorServoInterface/idl/SRTDerotator.idl b/SRT/Interfaces/SRTMinorServoInterface/idl/SRTDerotator.idl
new file mode 100644
index 0000000000000000000000000000000000000000..aa65c3ccc937c5957320c47cbe00ab1a6c0e7be0
--- /dev/null
+++ b/SRT/Interfaces/SRTMinorServoInterface/idl/SRTDerotator.idl
@@ -0,0 +1,44 @@
+#ifndef __SRTDEROTATOR_IDL__
+#define __SRTDEROTATOR_IDL__
+/***************************************************************\
+ *  Authors: 
+ *      Giuseppe Carboni <giuseppe.carboni@inaf.it>
+ *
+ *  Created: Mon May 06 10:00:00 CEST 2024
+\***************************************************************/
+
+#include "GenericDerotator.idl"
+#include "SRTMinorServoCommon.idl"
+
+#pragma prefix "alma"
+
+module MinorServo
+{
+    /**
+     * This IDL interface describes the CORBA interface of a common Leonardo Derotator component.
+     */
+    interface SRTDerotator : SRTLDOBaseProperties, Receivers::GenericDerotator, ACS::CharacteristicComponent
+    {
+        /**
+         * This property indicates the ID of the trajectory. It always corresponds to starting time of the trajectory, expressed as the UNIX Epoch * 1000 (long)
+         */
+        readonly attribute ACS::ROlong trajectory_id;
+
+        /**
+         * This property indicates the total number of points loaded into the current trajectory
+         */
+        readonly attribute ACS::ROlong total_trajectory_points;
+
+        /**
+         * This property indicates the number of points of the current trajectory which remain to be tracked
+         */
+        readonly attribute ACS::ROlong remaining_trajectory_points;
+
+        /**
+         * This method asks the hardware its status and updates the properties.
+         */
+        boolean updateStatus();
+    };
+};
+
+#endif
diff --git a/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl b/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl
index b88d589425cfde7d01be5cb95193f67df5f9960b..1d6018ae4507e283dbea35a019cbef3e2b70523b 100644
--- a/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl
+++ b/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl
@@ -17,61 +17,8 @@ module MinorServo
      * This IDL interface describes the CORBA interface of a common SRTMinorServo component.
      * This is simply the base interface from which the SRTGenericMinorServo and SRTProgramTrackMinorServo interfaces inherit.
      */
-    interface SRTBaseMinorServo : ACS::CharacteristicComponent
+    interface SRTBaseMinorServo : SRTLDOBaseProperties, ACS::CharacteristicComponent
     {
-        /**
-         * This property tells if all the servo axes are enabled
-         */
-        readonly attribute Management::ROTBoolean enabled;
-
-        /**
-         * This property tells the status of the servo drive cabinet
-         */
-        readonly attribute ROSRTMinorServoCabinetStatus drive_cabinet_status;
-
-        /**
-         * This property tells if the servo is in blocked state and cannot move
-         */
-        readonly attribute Management::ROTBoolean block;
-
-        /**
-         * This property returns the current operative mode of the servo
-         */
-        readonly attribute ROSRTMinorServoOperativeMode operative_mode;
-
-        /**
-         * This property returns the sequence of statuses of the servo physical axes
-         */
-        readonly attribute ACS::RObooleanSeq physical_axes_enabled;
-
-        /**
-         * This property returns the sequence of current positions of the physical axes of the servo
-         */
-        readonly attribute ACS::ROdoubleSeq physical_positions;
-
-        /**
-         * This property returns the number of virtual axes of the servo
-         */
-        readonly attribute ACS::ROlong virtual_axes;
-
-        /**
-         * This property returns the current plain positions of the virtual axes of the servo
-         * The plain positions are the positions returned from the Leonardo servo system, without subtracting the offsets
-         */
-        readonly attribute ACS::ROdoubleSeq plain_virtual_positions;
-
-        /**
-         * This property returns the current positions of the virtual axes of the servo
-         * The positions returned by this property equals to the plain virtual positions minus the offsets
-         */
-        readonly attribute ACS::ROdoubleSeq virtual_positions;
-
-        /**
-         * This property returns the current offsets of the virtual axes of the servo
-         * The offset values are the sum of user and system offsets
-         */
-        readonly attribute ACS::ROdoubleSeq virtual_offsets;
-
         /**
          * This property returns the current user offsets of the virtual axes of the servo
          */
@@ -84,9 +31,8 @@ module MinorServo
 
         /**
          * This property returns the latest virtual positions commanded with a preset command.
-         * Offsets are not taken into account since they are added by the LDO system.
          */
-        readonly attribute ACS::ROdoubleSeq commanded_virtual_positions;
+        readonly attribute ACS::ROdoubleSeq commanded_plain_virtual_positions;
 
         /**
          * This property indicates whether the servo is in use in the current configuration
diff --git a/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServoCommon.midl b/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServoCommon.midl
index 45980430fa97f2591b1769bc83542e6daa0a64a7..54c6585a69fd4321eb67ebeca1ffc85b2412d962 100644
--- a/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServoCommon.midl
+++ b/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServoCommon.midl
@@ -126,5 +126,65 @@ module MinorServo
         ERROR_DRIVE_CABINET
     };
     ACS_ENUM(SRTMinorServoError);
+
+    /*
+     * This IDL interface describes the CORBA interface of a common Leonardo Minor Servo System component.
+     * This interface contains the properties that are common to a focus path minor servo system and a derotator minor servo system.
+     */
+    interface SRTLDOBaseProperties
+    {
+        /**
+         * This property tells if all the servo axes are enabled
+         */
+        readonly attribute Management::ROTBoolean enabled;
+
+        /**
+         * This property tells the status of the servo drive cabinet
+         */
+        readonly attribute ROSRTMinorServoCabinetStatus drive_cabinet_status;
+
+        /**
+         * This property tells if the servo is in blocked state and cannot move
+         */
+        readonly attribute Management::ROTBoolean block;
+
+        /**
+         * This property returns the current operative mode of the servo
+         */
+        readonly attribute ROSRTMinorServoOperativeMode operative_mode;
+
+        /**
+         * This property returns the sequence of statuses of the servo physical axes
+         */
+        readonly attribute ACS::RObooleanSeq physical_axes_enabled;
+
+        /**
+         * This property returns the sequence of current positions of the physical axes of the servo
+         */
+        readonly attribute ACS::ROdoubleSeq physical_positions;
+
+        /**
+         * This property returns the number of virtual axes of the servo
+         */
+        readonly attribute ACS::ROlong virtual_axes;
+
+        /**
+         * This property returns the current plain positions of the virtual axes of the servo
+         * The plain positions are the positions returned from the Leonardo servo system, without subtracting the offsets
+         */
+        readonly attribute ACS::ROdoubleSeq plain_virtual_positions;
+
+        /**
+         * This property returns the current positions of the virtual axes of the servo
+         * The positions returned by this property equals to the plain virtual positions minus the offsets
+         */
+        readonly attribute ACS::ROdoubleSeq virtual_positions;
+
+        /**
+         * This property returns the current offsets of the virtual axes of the servo
+         * The offset values are the sum of user and system offsets
+         */
+        readonly attribute ACS::ROdoubleSeq virtual_offsets;
+    };
 };
 #endif
diff --git a/SRT/Interfaces/SRTMinorServoInterface/src/Makefile b/SRT/Interfaces/SRTMinorServoInterface/src/Makefile
index 9cac56365c702b4372361e45dceed9178f460c00..2ddc48b823b3cc1fb772a6257d6fd5fb07370979 100644
--- a/SRT/Interfaces/SRTMinorServoInterface/src/Makefile
+++ b/SRT/Interfaces/SRTMinorServoInterface/src/Makefile
@@ -24,11 +24,12 @@ CSOURCENAMES = \
 #
 # IDL FILES
 #
-IDL_FILES = SRTMinorServoBoss SRTMinorServo SRTMinorServoCommon
+IDL_FILES = SRTMinorServoBoss SRTMinorServo SRTDerotator SRTMinorServoCommon
 
 SRTMinorServoCommonStubs_LIBS = baciStubs ManagmentDefinitionsStubs MinorServoDefinitionsStubs ComponentErrorsStubs MinorServoErrorsStubs
 SRTMinorServoStubs_LIBS = SRTMinorServoCommonStubs
 SRTMinorServoBossStubs_LIBS = SRTMinorServoCommonStubs MinorServoBossStubs
+SRTDerotatorStubs_LIBS = SRTMinorServoCommonStubs GenericDerotatorStubs
 
 #
 # INCLUDE STANDARDS
diff --git a/SRT/Interfaces/SRTReceiversInterface/idl/SRTKBandDerotator.idl b/SRT/Interfaces/SRTReceiversInterface/idl/SRTKBandDerotator.idl
index 2710d184fc46ef629f62b9c9d94084cf4ae4fd25..d0617293256dac4f3aec04a383e5705e2a6eec7b 100644
--- a/SRT/Interfaces/SRTReceiversInterface/idl/SRTKBandDerotator.idl
+++ b/SRT/Interfaces/SRTReceiversInterface/idl/SRTKBandDerotator.idl
@@ -10,7 +10,17 @@
 
 module Receivers {
 
-    interface SRTKBandDerotator : GenericDerotator {
+    interface SRTKBandDerotator : GenericDerotator, ACS::CharacteristicComponent
+    {
+
+        /**
+         * <h3>Methods</h3>:
+         * <ul>
+         *     <li>powerOff(): switch the power amplifier off </li>
+         *     <li>setSpeed(): set the derotator speed, in rpm</li>
+         *     <li>getSpeed(): get the derotator speed, in rpm</li>
+         * </ul>
+         */
  
         /** Computation of the sensor lenght
          *
@@ -104,9 +114,42 @@ module Receivers {
             ComponentErrors::ComponentErrorsEx
         );
 
-	};
+
+        /** Switch the power amplifier off
+         *
+         * @throw CORBA::SystemException
+         * @throw ComponentErrors::ComponentErrorsEx
+         */
+        void powerOff() raises (ComponentErrors::ComponentErrorsEx);
+
+
+        /**
+         * Set the derotator speed
+         *
+         * @arg speed speed in rpm
+         * @throw ComponentErrors::ComponentErrorsEx,
+         * @throw DerotatorErrors::DerotatorErrorsEx
+         */
+        void setSpeed(in unsigned long speed) raises (
+            ComponentErrors::ComponentErrorsEx,
+            DerotatorErrors::DerotatorErrorsEx
+        );
+
+
+        /**
+         * Get the derotator speed
+         *
+         * @return the derotator speed in rpm
+         * @throw ComponentErrors::ComponentErrorsEx,
+         * @throw DerotatorErrors::DerotatorErrorsEx
+         */
+        unsigned long getSpeed() raises (
+            ComponentErrors::ComponentErrorsEx,
+            DerotatorErrors::DerotatorErrorsEx
+        );
 
 
+    };
 };
 
 #endif
diff --git a/SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoContainers.h b/SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoContainers.h
index e966f532dec770beeac0b78a168a79f29a287d71..e4474676c23bc245f1dc8f2946b17a354a6f0822 100644
--- a/SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoContainers.h
+++ b/SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoContainers.h
@@ -583,7 +583,7 @@ namespace MinorServo
         const std::string getPlainCommand() const
         {
             std::shared_lock<std::shared_mutex> lock(m_mutex);
-            return this->get<std::string>("PLAIN_COMMAND");
+            return this->count("PLAIN_COMMAND") > 0 ? this->get<std::string>("PLAIN_COMMAND") : "";
         }
 
         /**
@@ -593,7 +593,7 @@ namespace MinorServo
         const std::string getPlainAnswer() const
         {
             std::shared_lock<std::shared_mutex> lock(m_mutex);
-            return this->get<std::string>("PLAIN_ANSWER");
+            return this->count("PLAIN_ANSWER") > 0 ? this->get<std::string>("PLAIN_ANSWER") : "";
         }
 
     protected:
@@ -883,6 +883,25 @@ namespace MinorServo
          */
         const std::vector<std::string> m_virtual_offsets;
     };
+
+    /**
+     * This class is a specialization of the SRTMinorServoStatus for a derotator of the Leonardo Minor Servo System.
+     */
+    class SRTDerotatorStatus : public SRTMinorServoStatus
+    {
+    public:
+        using SRTMinorServoStatus::SRTMinorServoStatus;
+
+        /**
+         * This method returns the current derotator position. There is a sign inversion since the LDO derotator sign is opposite to the required one.
+         * @return the current derotator position
+         */
+        double getActualPosition() const
+        {
+            double position = getVirtualPositions()[0];
+            return position == 0 ? position : -position;
+        }
+    };
 }
 
 #endif
diff --git a/SRT/Misc/SRTScripts/app-defaults/simulationStartup.xml b/SRT/Misc/SRTScripts/app-defaults/simulationStartup.xml
index 55d8ba5caea2d4b2a04c1c0fad0e7336af19c23e..197c93cfabee53eec9ef20554fd67b284094247e 100644
--- a/SRT/Misc/SRTScripts/app-defaults/simulationStartup.xml
+++ b/SRT/Misc/SRTScripts/app-defaults/simulationStartup.xml
@@ -14,7 +14,7 @@
     <toolAgainstInterfaceRepository></toolAgainstInterfaceRepository>
     <toolAgainstNameService></toolAgainstNameService>
     <containers>
-        <select>34</select>
+        <select>31</select>
         <againstManagerHost></againstManagerHost>
         <againstManagerPort></againstManagerPort>
         <againstCDB></againstCDB>
@@ -64,7 +64,7 @@
             <remoteHost>MASTERHOST</remoteHost>
             <remoteAccount>discos</remoteAccount>
         </container>
-        <container>
+        <!--container>
             <name>LocalOscillatorLPContainer</name>
             <type>py</type>
             <heapSizeMB></heapSizeMB>
@@ -72,7 +72,7 @@
             <scriptBase>0</scriptBase>
             <remoteHost>MASTERHOST</remoteHost>
             <remoteAccount>discos</remoteAccount>
-        </container>
+        </container-->
         <container>
             <name>LocalOscillatorCContainer</name>
             <type>py</type>
@@ -190,7 +190,7 @@
             <remoteHost>MASTERHOST</remoteHost>
             <remoteAccount>discos</remoteAccount>
         </container>
-        <container>
+        <!--container>
             <name>SRTLPBandContainer</name>
             <type>cpp</type>
             <heapSizeMB></heapSizeMB>
@@ -198,7 +198,7 @@
             <scriptBase>0</scriptBase>
             <remoteHost>MASTERHOST</remoteHost>
             <remoteAccount>discos</remoteAccount>
-        </container>
+        </container-->
         <container>
             <name>TotalPowerContainer</name>
             <type>cpp</type>
diff --git a/SRT/Outdated/CDB/MACI/Components/MINORSERVO/DR_GFR2/DR_GFR2.xml b/SRT/Outdated/CDB/MACI/Components/MINORSERVO/DR_GFR2/DR_GFR2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7f7a8218792534d9093b13a50fb842b1e9212d13
--- /dev/null
+++ b/SRT/Outdated/CDB/MACI/Components/MINORSERVO/DR_GFR2/DR_GFR2.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Component
+    xmlns="urn:schemas-cosylab-com:Component: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"
+              
+    Name="DR_GFR2"
+    Code="SRTDerotatorImpl"
+    ImplLang="cpp"
+    Type="IDL:alma/MinorServo/SRTDerotator:1.0"
+    Container="MinorServoContainer"
+    Default="false"
+/>
diff --git a/SRT/Outdated/CDB/MACI/Components/MINORSERVO/DR_GFR3/DR_GFR3.xml b/SRT/Outdated/CDB/MACI/Components/MINORSERVO/DR_GFR3/DR_GFR3.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3b329339acdcef19b0afa2b36746c3fbd06e4660
--- /dev/null
+++ b/SRT/Outdated/CDB/MACI/Components/MINORSERVO/DR_GFR3/DR_GFR3.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Component
+    xmlns="urn:schemas-cosylab-com:Component: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"
+              
+    Name="DR_GFR3"
+    Code="SRTDerotatorImpl"
+    ImplLang="cpp"
+    Type="IDL:alma/MinorServo/SRTDerotator:1.0"
+    Container="MinorServoContainer"
+    Default="false"
+/>
diff --git a/SRT/Outdated/CDB/MACI/Components/MINORSERVO/DR_PFP/DR_PFP.xml b/SRT/Outdated/CDB/MACI/Components/MINORSERVO/DR_PFP/DR_PFP.xml
new file mode 100644
index 0000000000000000000000000000000000000000..05bdc74fb9596a883e2e748a9813871d83677fb3
--- /dev/null
+++ b/SRT/Outdated/CDB/MACI/Components/MINORSERVO/DR_PFP/DR_PFP.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Component
+    xmlns="urn:schemas-cosylab-com:Component: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"
+              
+    Name="DR_PFP"
+    Code="SRTDerotatorImpl"
+    ImplLang="cpp"
+    Type="IDL:alma/MinorServo/SRTDerotator:1.0"
+    Container="MinorServoContainer"
+    Default="false"
+/>
diff --git a/SRT/Outdated/CDB/MACI/Components/MINORSERVO/PFP/PFP.xml b/SRT/Outdated/CDB/MACI/Components/MINORSERVO/PFP/PFP.xml
index a5801b66da5c3bdcc192282f036f16269a5c689c..f3b9c99dfa9beadaa0b48c8aaaeb522461844b08 100644
--- a/SRT/Outdated/CDB/MACI/Components/MINORSERVO/PFP/PFP.xml
+++ b/SRT/Outdated/CDB/MACI/Components/MINORSERVO/PFP/PFP.xml
@@ -5,11 +5,10 @@
     xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"
     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
               
-    Name="PFP"    
+    Name="PFP"
     Code="SRTProgramTrackMinorServoImpl"
     ImplLang="cpp"
     Type="IDL:alma/MinorServo/SRTProgramTrackMinorServo:1.0"
     Container="MinorServoContainer"
-	Default="true"
-
+    Default="false"
 />
diff --git a/SRT/CDB/MACI/Components/RECEIVERS/SRTSBandMFReceiver/SRTSBandMFReceiver.xml b/SRT/Outdated/CDB/MACI/Components/RECEIVERS/SRTSBandMFReceiver/SRTSBandMFReceiver.xml
similarity index 100%
rename from SRT/CDB/MACI/Components/RECEIVERS/SRTSBandMFReceiver/SRTSBandMFReceiver.xml
rename to SRT/Outdated/CDB/MACI/Components/RECEIVERS/SRTSBandMFReceiver/SRTSBandMFReceiver.xml
diff --git a/SRT/CDB/MACI/Components/TestNamespace/Positioner/Positioner.xml b/SRT/Outdated/CDB/MACI/Components/TestNamespace/Positioner/Positioner.xml
similarity index 100%
rename from SRT/CDB/MACI/Components/TestNamespace/Positioner/Positioner.xml
rename to SRT/Outdated/CDB/MACI/Components/TestNamespace/Positioner/Positioner.xml
diff --git a/SRT/CDB/MACI/Components/TestNamespace/Positioner00/Positioner00.xml b/SRT/Outdated/CDB/MACI/Components/TestNamespace/Positioner00/Positioner00.xml
similarity index 100%
rename from SRT/CDB/MACI/Components/TestNamespace/Positioner00/Positioner00.xml
rename to SRT/Outdated/CDB/MACI/Components/TestNamespace/Positioner00/Positioner00.xml
diff --git a/SRT/CDB/MACI/Components/TestNamespace/Positioner01/Positioner01.xml b/SRT/Outdated/CDB/MACI/Components/TestNamespace/Positioner01/Positioner01.xml
similarity index 100%
rename from SRT/CDB/MACI/Components/TestNamespace/Positioner01/Positioner01.xml
rename to SRT/Outdated/CDB/MACI/Components/TestNamespace/Positioner01/Positioner01.xml
diff --git a/SRT/CDB/MACI/Components/TestNamespace/Positioner02/Positioner02.xml b/SRT/Outdated/CDB/MACI/Components/TestNamespace/Positioner02/Positioner02.xml
similarity index 100%
rename from SRT/CDB/MACI/Components/TestNamespace/Positioner02/Positioner02.xml
rename to SRT/Outdated/CDB/MACI/Components/TestNamespace/Positioner02/Positioner02.xml
diff --git a/SRT/CDB/MACI/Components/TestNamespace/Positioner03/Positioner03.xml b/SRT/Outdated/CDB/MACI/Components/TestNamespace/Positioner03/Positioner03.xml
similarity index 100%
rename from SRT/CDB/MACI/Components/TestNamespace/Positioner03/Positioner03.xml
rename to SRT/Outdated/CDB/MACI/Components/TestNamespace/Positioner03/Positioner03.xml
diff --git a/SRT/CDB/MACI/Containers/AntennaBossSimContainer/AntennaBossSimContainer.xml b/SRT/Outdated/CDB/MACI/Containers/AntennaBossSimContainer/AntennaBossSimContainer.xml
similarity index 100%
rename from SRT/CDB/MACI/Containers/AntennaBossSimContainer/AntennaBossSimContainer.xml
rename to SRT/Outdated/CDB/MACI/Containers/AntennaBossSimContainer/AntennaBossSimContainer.xml
diff --git a/SRT/CDB/MACI/Containers/PositionerContainer/PositionerContainer.xml b/SRT/Outdated/CDB/MACI/Containers/PositionerContainer/PositionerContainer.xml
similarity index 100%
rename from SRT/CDB/MACI/Containers/PositionerContainer/PositionerContainer.xml
rename to SRT/Outdated/CDB/MACI/Containers/PositionerContainer/PositionerContainer.xml
diff --git a/SRT/CDB/MACI/Containers/PyLOContainer/PyLOContainer.py b/SRT/Outdated/CDB/MACI/Containers/PyLOContainer/PyLOContainer.py
similarity index 100%
rename from SRT/CDB/MACI/Containers/PyLOContainer/PyLOContainer.py
rename to SRT/Outdated/CDB/MACI/Containers/PyLOContainer/PyLOContainer.py
diff --git a/SRT/CDB/MACI/Containers/SRTSBandContainer/SRTSBandContainer.xml b/SRT/Outdated/CDB/MACI/Containers/SRTSBandContainer/SRTSBandContainer.xml
similarity index 100%
rename from SRT/CDB/MACI/Containers/SRTSBandContainer/SRTSBandContainer.xml
rename to SRT/Outdated/CDB/MACI/Containers/SRTSBandContainer/SRTSBandContainer.xml
diff --git a/SRT/Outdated/CDB/alma/DataBlock/MinorServo/DR_GFR2/Properties/Properties.xml b/SRT/Outdated/CDB/alma/DataBlock/MinorServo/DR_GFR2/Properties/Properties.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ebb604a196bd97b9c3ed510977a3a8e6f2b93ca
--- /dev/null
+++ b/SRT/Outdated/CDB/alma/DataBlock/MinorServo/DR_GFR2/Properties/Properties.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   - Author: Giuseppe Carboni
+   - History:
+ 	- 14-03-23 Created
+-->
+
+<SRTMinorServoProperties xmlns="urn:schemas-cosylab-com:SRTMinorServoProperties: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_enabled><property_name>ROTARY_AXIS_ENABLED</property_name></physical_axes_enabled>
+    <physical_positions><property_name>ROTATION</property_name></physical_positions>
+    <virtual_positions><property_name>ROTATION</property_name></virtual_positions>
+    <virtual_axes_units><property_name>degree</property_name></virtual_axes_units>
+    <virtual_offsets><property_name>OFFSET</property_name></virtual_offsets>
+</SRTMinorServoProperties>
diff --git a/SRT/Outdated/CDB/alma/DataBlock/MinorServo/DR_GFR3/Properties/Properties.xml b/SRT/Outdated/CDB/alma/DataBlock/MinorServo/DR_GFR3/Properties/Properties.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ebb604a196bd97b9c3ed510977a3a8e6f2b93ca
--- /dev/null
+++ b/SRT/Outdated/CDB/alma/DataBlock/MinorServo/DR_GFR3/Properties/Properties.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   - Author: Giuseppe Carboni
+   - History:
+ 	- 14-03-23 Created
+-->
+
+<SRTMinorServoProperties xmlns="urn:schemas-cosylab-com:SRTMinorServoProperties: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_enabled><property_name>ROTARY_AXIS_ENABLED</property_name></physical_axes_enabled>
+    <physical_positions><property_name>ROTATION</property_name></physical_positions>
+    <virtual_positions><property_name>ROTATION</property_name></virtual_positions>
+    <virtual_axes_units><property_name>degree</property_name></virtual_axes_units>
+    <virtual_offsets><property_name>OFFSET</property_name></virtual_offsets>
+</SRTMinorServoProperties>
diff --git a/SRT/Outdated/CDB/alma/DataBlock/MinorServo/DR_PFP/Properties/Properties.xml b/SRT/Outdated/CDB/alma/DataBlock/MinorServo/DR_PFP/Properties/Properties.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ebb604a196bd97b9c3ed510977a3a8e6f2b93ca
--- /dev/null
+++ b/SRT/Outdated/CDB/alma/DataBlock/MinorServo/DR_PFP/Properties/Properties.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   - Author: Giuseppe Carboni
+   - History:
+ 	- 14-03-23 Created
+-->
+
+<SRTMinorServoProperties xmlns="urn:schemas-cosylab-com:SRTMinorServoProperties: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_enabled><property_name>ROTARY_AXIS_ENABLED</property_name></physical_axes_enabled>
+    <physical_positions><property_name>ROTATION</property_name></physical_positions>
+    <virtual_positions><property_name>ROTATION</property_name></virtual_positions>
+    <virtual_axes_units><property_name>degree</property_name></virtual_axes_units>
+    <virtual_offsets><property_name>OFFSET</property_name></virtual_offsets>
+</SRTMinorServoProperties>
diff --git a/SRT/Outdated/CDB/alma/MINORSERVO/DR_GFR2/DR_GFR2.xml b/SRT/Outdated/CDB/alma/MINORSERVO/DR_GFR2/DR_GFR2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..18191fa8093e972bdf890aa8a2e674e85e41816a
--- /dev/null
+++ b/SRT/Outdated/CDB/alma/MINORSERVO/DR_GFR2/DR_GFR2.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   Authors: Giuseppe Carboni giuseppe.carboni@inaf.it
+-->
+<SRTDerotator
+    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="1"
+    virtual_axes="1"
+    max_speed="3.276"
+    acceleration="2.67"
+    min_range="-130"
+    max_range="130"
+    step="60"
+    tracking_delta="0.1"
+    zero_offset="12.5">
+
+    <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" />
+    <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" />
+    <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 trajectory" />
+    <actPosition description="Current position, with sign inverted in respect to the LDO one"/>
+    <cmdPosition description="Latest commanded position, with sign inverted in respect to the LDO one" />
+    <positionDiff description="Difference between the commanded and the current position" />
+    <status description="Bit pattern indicating the status of the derotator" />
+
+</SRTDerotator>
diff --git a/SRT/Outdated/CDB/alma/MINORSERVO/DR_GFR3/DR_GFR3.xml b/SRT/Outdated/CDB/alma/MINORSERVO/DR_GFR3/DR_GFR3.xml
new file mode 100644
index 0000000000000000000000000000000000000000..df76d9833829b353ab9c6cd6ebc7145c0e9ea26d
--- /dev/null
+++ b/SRT/Outdated/CDB/alma/MINORSERVO/DR_GFR3/DR_GFR3.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   Authors: Giuseppe Carboni giuseppe.carboni@inaf.it
+-->
+<SRTDerotator
+    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="1"
+    virtual_axes="1"
+    max_speed="3.276"
+    acceleration="2.67"
+    min_range="-127"
+    max_range="127"
+    step="60"
+    tracking_delta="0.1"
+    zero_offset="12.5">
+
+    <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" />
+    <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" />
+    <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 trajectory" />
+    <actPosition description="Current position, with sign inverted in respect to the LDO one"/>
+    <cmdPosition description="Latest commanded position, with sign inverted in respect to the LDO one" />
+    <positionDiff description="Difference between the commanded and the current position" />
+    <status description="Bit pattern indicating the status of the derotator" />
+
+</SRTDerotator>
diff --git a/SRT/Outdated/CDB/alma/MINORSERVO/DR_PFP/DR_PFP.xml b/SRT/Outdated/CDB/alma/MINORSERVO/DR_PFP/DR_PFP.xml
new file mode 100644
index 0000000000000000000000000000000000000000..18191fa8093e972bdf890aa8a2e674e85e41816a
--- /dev/null
+++ b/SRT/Outdated/CDB/alma/MINORSERVO/DR_PFP/DR_PFP.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   Authors: Giuseppe Carboni giuseppe.carboni@inaf.it
+-->
+<SRTDerotator
+    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="1"
+    virtual_axes="1"
+    max_speed="3.276"
+    acceleration="2.67"
+    min_range="-130"
+    max_range="130"
+    step="60"
+    tracking_delta="0.1"
+    zero_offset="12.5">
+
+    <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" />
+    <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" />
+    <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 trajectory" />
+    <actPosition description="Current position, with sign inverted in respect to the LDO one"/>
+    <cmdPosition description="Latest commanded position, with sign inverted in respect to the LDO one" />
+    <positionDiff description="Difference between the commanded and the current position" />
+    <status description="Bit pattern indicating the status of the derotator" />
+
+</SRTDerotator>
diff --git a/SRT/Configuration/CDB/alma/MINORSERVO/PFP/PFP.xml b/SRT/Outdated/CDB/alma/MINORSERVO/PFP/PFP.xml
similarity index 95%
rename from SRT/Configuration/CDB/alma/MINORSERVO/PFP/PFP.xml
rename to SRT/Outdated/CDB/alma/MINORSERVO/PFP/PFP.xml
index 5503ee2fd943b7591bda5e05d2c3a118a987e09c..067ee1b189b116a0fc61adc88003c525da501c07 100644
--- a/SRT/Configuration/CDB/alma/MINORSERVO/PFP/PFP.xml
+++ b/SRT/Outdated/CDB/alma/MINORSERVO/PFP/PFP.xml
@@ -28,7 +28,7 @@
     <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" />
-    <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+    <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
     <error_code description="The type of error encountered" />
diff --git a/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServo.xsd b/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServo.xsd
index 88b05456865326e953d7468380297f4673bce694..6ac34e2178a5bcb15bb1bb5488e65c8cc34fc29b 100644
--- a/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServo.xsd
+++ b/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServo.xsd
@@ -19,7 +19,7 @@
     <xs:import namespace="urn:schemas-cosylab-com:Managment:1.0" schemaLocation="Managment.xsd"/>
     <xs:import namespace="urn:schemas-cosylab-com:SRTMinorServoCommon:1.0" schemaLocation="SRTMinorServoCommon.xsd"/>
 
-    <xs:complexType name="SRTBaseMinorServoType">
+    <xs:complexType name="SRTLDOBasePropertiesType">
      <xs:complexContent>
       <xs:extension base="baci:CharacteristicComponent">
        <xs:sequence>
@@ -34,12 +34,6 @@
         <xs:element name="plain_virtual_positions" type="baci:ROdoubleSeq" /> 
         <xs:element name="virtual_positions" type="baci:ROdoubleSeq" /> 
         <xs:element name="virtual_offsets" type="baci:ROdoubleSeq" /> 
-        <xs:element name="virtual_user_offsets" type="baci:ROdoubleSeq" /> 
-        <xs:element name="virtual_system_offsets" type="baci:ROdoubleSeq" /> 
-        <xs:element name="commanded_virtual_positions" type="baci:ROdoubleSeq" />
-        <xs:element name="in_use" type="mng:BooleanType" />
-        <xs:element name="current_setup" type="baci:ROstring" />
-        <xs:element name="error_code" type="ms:SRTMinorServoErrorType" />
        </xs:sequence>
        <xs:attribute name="physical_axes" type="xs:unsignedShort" use="required" />
        <xs:attribute name="virtual_axes" type="xs:unsignedShort" use="required" />
@@ -51,6 +45,21 @@
      </xs:complexContent>
     </xs:complexType>
 
+    <xs:complexType name="SRTBaseMinorServoType">
+     <xs:complexContent>
+      <xs:extension base="SRTLDOBasePropertiesType">
+       <xs:sequence>
+        <xs:element name="virtual_user_offsets" type="baci:ROdoubleSeq" /> 
+        <xs:element name="virtual_system_offsets" type="baci:ROdoubleSeq" /> 
+        <xs:element name="commanded_plain_virtual_positions" type="baci:ROdoubleSeq" />
+        <xs:element name="in_use" type="mng:BooleanType" />
+        <xs:element name="current_setup" type="baci:ROstring" />
+        <xs:element name="error_code" type="ms:SRTMinorServoErrorType" />
+       </xs:sequence>
+      </xs:extension>
+     </xs:complexContent>
+    </xs:complexType>
+
     <xs:complexType name="SRTProgramTrackMinorServoType">
      <xs:complexContent>
       <xs:extension base="SRTBaseMinorServoType">
@@ -66,7 +75,29 @@
      </xs:complexContent>
     </xs:complexType>
 
+    <xs:complexType name="SRTDerotatorType">
+     <xs:complexContent>
+      <xs:extension base="SRTLDOBasePropertiesType">
+       <xs:sequence>
+        <xs:element name="tracking" type="mng:BooleanType" />
+        <xs:element name="trajectory_id" type="baci:ROlong" />
+        <xs:element name="total_trajectory_points" type="baci:ROlong" />
+        <xs:element name="remaining_trajectory_points" type="baci:ROlong" />
+        <xs:element name="actPosition" type="baci:ROdouble" />
+        <xs:element name="cmdPosition" type="baci:RWdouble" />
+        <xs:element name="positionDiff" type="baci:ROdouble" />
+        <xs:element name="status" type="baci:ROpattern" />
+       </xs:sequence>
+       <xs:attribute name="status_thread_period" type="xs:double" use="optional" default="0.05" />
+       <xs:attribute name="step" type="xs:string" use="required" />
+       <xs:attribute name="tracking_delta" type="xs:string" use="required" />
+       <xs:attribute name="zero_offset" type="xs:string" use="optional" default="0.0" />
+      </xs:extension>
+     </xs:complexContent>
+    </xs:complexType>
+
     <xs:element name="SRTGenericMinorServo" type="SRTBaseMinorServoType" />
     <xs:element name="SRTProgramTrackMinorServo" type="SRTProgramTrackMinorServoType" />
+    <xs:element name="SRTDerotator" type="SRTDerotatorType" />
 
 </xs:schema>
diff --git a/SRT/Servers/SRTMinorServo/include/MSDevIOs.h b/SRT/Servers/SRTMinorServo/include/MSDevIOs.h
index 49749dc7f403892ce4c488dbc51a5f475c443f4f..8a53266bf0b5016879364b5773bff493ac1f5969 100644
--- a/SRT/Servers/SRTMinorServo/include/MSDevIOs.h
+++ b/SRT/Servers/SRTMinorServo/include/MSDevIOs.h
@@ -47,6 +47,8 @@ namespace MinorServo
 
         /**
          * It writes values into controller. Unused because all the properties are read-only.
+         * Derotator update, the cmdPosition is actually a RW property, but the position is never set anywhere by using the DevIO.
+         * I will keep this implementation that does nothing and the position will be set by the setPosition or programTrack methods.
          */
         void write(const T& value, ACS::Time& timestamp)
         {
@@ -237,7 +239,7 @@ namespace MinorServo
      * The templates is specialized for the types listed right below and compilation will fail if the developer attempts to use it for an unknown MSDevIO type.
      */
     template <typename X, typename Y, typename = std::enable_if<
-        is_any_v<Y, SRTMinorServoGeneralStatus, SRTMinorServoStatus>
+        is_any_v<Y, SRTMinorServoGeneralStatus, SRTMinorServoStatus, SRTDerotatorStatus>
         && is_any_v<X,
             Management::TBoolean,
             CORBA::Double,
@@ -306,7 +308,7 @@ namespace MinorServo
         const std::string m_property_name;
 
         /**
-         * The reference to the SRTMinorServoAnswerMap in which the readings from the PLC appear. This could be either a SRTMinorServoGeneralStatus or a SRTMinorServoStatus.
+         * The reference to the SRTMinorServoAnswerMap in which the readings from the PLC appear. This could be either a SRTMinorServoGeneralStatus, a SRTMinorServoStatus or a SRTDerotatorStatus.
          */
         const Y& m_map;
 
@@ -322,7 +324,14 @@ namespace MinorServo
      * The templates is specialized for the combinations of types listed right below and the compilation will fail if the developer attempts to use it with any other types combination.
      */
     template <typename C, typename A, typename = std::enable_if_t<
-        is_any_v<C, Management::TSystemStatus, Management::TBoolean, ACE_CString, CORBA::Long, SRTMinorServoError> || (std::is_same_v<C, ACS::doubleSeq> && std::is_same_v<A, std::vector<double>>)
+        is_any_v<C,
+            Management::TSystemStatus,
+            Management::TBoolean,
+            ACE_CString,
+            CORBA::Long,
+            SRTMinorServoError,
+            double,
+            ACS::pattern> || (std::is_same_v<C, ACS::doubleSeq> && std::is_same_v<A, std::vector<double>>)
     >>
     class MSGenericDevIO : public MSBaseDevIO<C>
     {
diff --git a/SRT/Servers/SRTMinorServo/include/SRTDerotatorImpl.h b/SRT/Servers/SRTMinorServo/include/SRTDerotatorImpl.h
new file mode 100644
index 0000000000000000000000000000000000000000..546b7f55ca34b9285159e9de71422f45960ca0c8
--- /dev/null
+++ b/SRT/Servers/SRTMinorServo/include/SRTDerotatorImpl.h
@@ -0,0 +1,545 @@
+#ifndef __SRTDEROTATORIMPL_H__
+#define __SRTDEROTATORIMPL_H__
+
+/**
+ * SRTDerotatorImpl.h
+ * Giuseppe Carboni (giuseppe.carboni@inaf.it)
+ */
+
+#include "SuppressWarnings.h"
+//#include <regex>
+#include <IRA>
+#include <baciCharacteristicComponentImpl.h>
+#include <baciSmartPropertyPointer.h>
+#include <baciROlong.h>
+#include <baciRObooleanSeq.h>
+#include <baciROdoubleSeq.h>
+#include <baciROstring.h>
+#include <baciROdouble.h>
+#include <baciRWdouble.h>
+#include <enumpropROImpl.h>
+#include <SRTMinorServoS.h>
+#include <maciACSComponentDefines.h>
+#include <ManagmentDefinitionsS.h>
+#include "ManagementErrors.h"
+#include "DerotatorErrors.h"
+#include "SRTMinorServoSocket.h"
+#include "MSDevIOs.h"
+#include "SRTDerotatorStatusThread.h"
+#include <SRTDerotatorS.h>
+
+class SRTDerotatorStatusThread;
+
+
+using namespace MinorServo;
+
+/**
+ * This class implements the base ACS::CharacteristicComponent CORBA interface for a SRTDerotator component.
+ * It is inherited by the other classes declared below.
+ */
+class SRTDerotatorImpl : public baci::CharacteristicComponentImpl, public virtual POA_MinorServo::SRTDerotator
+{
+    friend class SRTDerotatorStatusThread;
+
+public:
+    /**
+     * Constructor.
+     * @param component_name component's name. This is also the name that will be used to find the configuration data for the component in the Configuration DataBase.
+     * @param container_services pointer to the class that exposes all services offered by container.
+     * @throw ComponentErrors::ComponentErrorsEx when there has been an issue reading some value from the CDB.
+     */
+    SRTDerotatorImpl(const ACE_CString& component_name, maci::ContainerServices* container_services);
+
+    /**
+     * Destructor.
+     */
+    virtual ~SRTDerotatorImpl();
+
+    /**
+     * Called to give the component time to initialize itself. The component reads in configuration files/parameters, builds up connection.
+     * Called before execute. It is implemented as a synchronous (blocking) call.
+     * @throw ComponentErrors::ComponentErrorsEx when there has been a memory allocation issue with the properties pointers.
+     */
+    void initialize();
+
+    /**
+     * Called after initialize to tell the component that it has to be ready to accept incoming functional calls any time.
+     * Must be implemented as a synchronous (blocking) call. In this class the default implementation only logs the COMPSTATE_OPERATIONAL.
+     */
+    void execute();
+
+    /**
+     * Called by the container before destroying the server in a normal situation. This function takes charge of releasing all resources.
+     */
+    void cleanUp();
+
+    /**
+     * Called by the container in case of error or emergency situation.
+     * This function tries to free all resources even though there is no warranty that the function is completely executed before the component is destroyed.
+     */
+    void aboutToAbort();
+
+    /**
+     * Asks the servo system to get ready.
+     * @throw DerotatorErrors::DerotatorErrorsEx
+     * @throw ComponentErrors::ComponentErrorsEx
+     */
+    void setup();
+
+    // TODO: this should be a simple preset command
+    void setPosition(CORBA::Double position);
+
+    // TODO easy implementation, return last commanded preset or programTrack position
+    double getCmdPosition() { return m_commanded_position.load(); };
+
+    // TODO return current position, just read the devio or the AnswerMap
+    double getActPosition() { return getPositionFromHistory(0); };
+
+    /**
+     * Returns the rotation the derotator was at the given time acs_time.
+     * @param acs_time the epoch we want to retrieve the derotator position.
+     * @throw MinorServoErrors::MinorServoErrorsEx when the position history is empty.
+     * @throw ComponentErrors::ComponentErrorsEx when the position history is empty
+     * @return a double object containing the derotator position at the given epoch.
+     */
+    double getPositionFromHistory(ACS::Time acs_time);
+
+    // TODO: easy implementation, return the min and max values read from the CDB
+    double getMinLimit() { return m_min; };
+    double getMaxLimit() { return m_max; };
+
+    // TODO: degrees between 2 lateral feeds. How to implement this with new receivers?
+    double getStep() { return m_step; };
+
+    // TODO: easy implementation
+    bool isReady();
+    bool isSlewing();
+
+    /**
+     * Returns the tracking status of the minor servo.
+     * @return true if the minor servo is tracking within the tracking error, false otherwise
+     */
+    bool isTracking() { return m_tracking.load() == Management::MNG_TRUE; }
+
+    /**
+     * This method loads a position that has to be tracked by the derotator
+     * @param point_time an ACS::Time object indicating the time associated with the coordinates to be tracked.
+     *        Only the start time is sent to the derotator and the points after are always spaced by the same amount of time from one another.
+     *        It is still necessary to fill this field in order to associate a time to the coordinates inside the component.
+     * @param position the position to track at the given time
+     * @param restart flag that restarts the tracking with a new trajectory
+     */
+    void loadTrackingPoint(ACS::Time point_time, CORBA::Double position, CORBA::Boolean restart);
+
+    /**
+     * Asks the component to calculate the servo system position starting from the given elevation.
+     * @param elevation the elevation we want to use to calculate and retrieve the servo system coordinates, expressed in degrees.
+     * @throw MinorServoErrors::MinorServoErrorsEx when the servo has not been configured yet and has not loaded any coefficient for the position calculation.
+     * @return a pointer to the double sequence object containing the calculated coordinates of the servo system.
+     */
+    //ACS::doubleSeq* calcCoordinates(CORBA::Double elevation);
+
+    /**
+     * Asks the component the virtual axes user offsets.
+     * @return a pointer to the double sequence object containing the current virtual axes user offsets of the servo system.
+     */
+    //ACS::doubleSeq* getUserOffsets();
+
+    /**
+     * Load a single virtual axis user offset to the component and to the servo system.
+     * @param axis_name the name of the axis to load the given offset to.
+     * @param offset the desired user offset, expressed in millimeters or degrees, depending if the axis is a translation axis or a rotation one.
+     * @throw MinorServoErrors::MinorServoErrorsEx when the given axis_name is unknown, when the sum of user and system offsets for the given axis are out of range,
+     *        when there has been a communication error or when the command was not accepted.
+     */
+    //void setUserOffset(const char* axis_name, CORBA::Double offset);
+
+    /**
+     * Resets the virtual axes user offsets to 0.
+     * @throw MinorServoErrors::MinorServoErrorsEx when there has been a communication error or when the command was not accepted.
+     */
+    //void clearUserOffsets();
+
+    /**
+     * Asks the component the virtual axes system offsets.
+     * @return a pointer to the double sequence object containing the current virtual axes system offsets of the servo system.
+     */
+    //ACS::doubleSeq* getSystemOffsets();
+
+    /**
+     * Load a single virtual axis system offset to the component and to the servo system.
+     * @param axis_name the name of the axis to load the given offset to.
+     * @param offset the desired system offset, expressed in millimeters or degrees, depending if the axis is a translation axis or a rotation one.
+     * @throw MinorServoErrors::MinorServoErrorsEx when the given axis is unknown, when the sum of user and system offsets for the given axis are out of range,
+     *        when there has been a communication error or when the command was not accepted.
+     */
+    //void setSystemOffset(const char* axis_name, CORBA::Double offset);
+
+    /**
+     * Resets the virtual axes system offsets to 0.
+     * @throw MinorServoErrors::MinorServoErrorsEx when there has been a communication error or when the command was not accepted.
+     */
+    //void clearSystemOffsets();
+
+    /**
+     * Reload the user and the system offsets to the minor servo when the Leonardo offsets do not correspond to the sum of the DISCOS user and system offsets.
+     * @throw MinorServoErrors::MinorServoErrorsEx when there has been a communication error or when the command was not accepted.
+     */
+    //void reloadOffsets();
+
+    /**
+     * Returns the maximum travel time to get from a starting position to a destination position.
+     * @param start a double sequence containing the starting position. If the provided sequence is empty, the current axes positions are used for the calculation.
+     * @param dest a double sequence containing the destination position.
+     * @throw MinorServoErrors::MinorServoErrorsEx when receiving a starting position sequence of length different from zero or the number of virtual axes of the servo,
+     *        when receiving a destination position sequence of lenght different from the number of virtual axes of the servo
+     * @return an ACS::TimeInterval object representing the total duration of the movement from the starting position to the destination position
+     */
+    //ACS::TimeInterval getTravelTime(const ACS::doubleSeq& start, const ACS::doubleSeq& dest);
+
+    /**
+     * Returns the minimum and maximum range of the virtual axes of the servo system, as reference arguments.
+     * @param min_ranges_out a double sequence object containing the minimum ranges of the virtual axes of the servo system.
+     * @param max_ranges_out a double sequence object containing the maximum ranges of the virtual axes of the servo system.
+     */
+    //void getAxesRanges(ACS::doubleSeq_out min_ranges_out, ACS::doubleSeq_out max_ranges_out);
+
+    /**
+     * Returns a reference to the enabled property implementation of the IDL interface.
+     * @return pointer to the read-only boolean property enabled.
+     */
+    virtual Management::ROTBoolean_ptr enabled();
+
+    /**
+     * Returns a reference to the drive_cabinet_status property implementation of the IDL interface.
+     * @return pointer to the read-only SRTMinorServoCabinerStatus (enumeration) property drive_cabinet_status.
+     */
+    virtual ROSRTMinorServoCabinetStatus_ptr drive_cabinet_status();
+
+    /**
+     * Returns a reference to the block property implementation of the IDL interface.
+     * @return pointer to the read-only boolean property block.
+     */
+    virtual Management::ROTBoolean_ptr block();
+
+    /**
+     * Returns a reference to the operative_mode property implementation of the IDL interface.
+     * @return pointer to the read-only SRTMinorServoOperativeMode (enumeration) property operative_mode.
+     */
+    virtual ROSRTMinorServoOperativeMode_ptr operative_mode();
+
+    /**
+     * Returns a reference to the physical_axes_enabled property implementation of the IDL interface.
+     * @return pointer to the read-only boolean sequence property physical_axes_enabled.
+     */
+    virtual ACS::RObooleanSeq_ptr physical_axes_enabled();
+
+    /**
+     * Returns a reference to the physical_positions property implementation of the IDL interface.
+     * @return pointer to the read-only boolean sequence property physical_positions.
+     */
+    virtual ACS::ROdoubleSeq_ptr physical_positions();
+
+    /**
+     * Returns a reference to the virtual_axes property implementation of the IDL interface.
+     * @return pointer to the read-only long property virtual_axes.
+     */
+    virtual ACS::ROlong_ptr virtual_axes();
+
+    /**
+     * Returns a reference to the plain_virtual_positions property implementation of the IDL interface.
+     * @return pointer to the read-only double sequence property plain_virtual_positions.
+     */
+    virtual ACS::ROdoubleSeq_ptr plain_virtual_positions();
+
+    /**
+     * Returns a reference to the virtual_positions property implementation of the IDL interface.
+     * @return pointer to the read-only double sequence property virtual_positions.
+     */
+    virtual ACS::ROdoubleSeq_ptr virtual_positions();
+
+    /**
+     * Returns a reference to the virtual_offsets property implementation of the IDL interface.
+     * @return pointer to the read-only double sequence property virtual_offsets.
+     */
+    virtual ACS::ROdoubleSeq_ptr virtual_offsets();
+
+    /**
+     * Returns a reference to the tracking property implementation of the IDL interface.
+     * @return pointer to the read-only boolean property tracking.
+     */
+    virtual Management::ROTBoolean_ptr tracking();
+
+    /**
+     * Returns a reference to the trajectory_id property implementation of the IDL interface.
+     * @return pointer to the read-only long property trajectory_id.
+     */
+    virtual ACS::ROlong_ptr trajectory_id();
+
+    /**
+     * Returns a reference to the total_trajectory_points property implementation of the IDL interface.
+     * @return pointer to the read-only long property total_trajectory_points.
+     */
+    virtual ACS::ROlong_ptr total_trajectory_points();
+
+    /**
+     * Returns a reference to the remaining_trajectory_points property implementation of the IDL interface.
+     * @return pointer to the read-only long property remaining_trajectory_points.
+     */
+    virtual ACS::ROlong_ptr remaining_trajectory_points();
+
+    virtual ACS::RWdouble_ptr cmdPosition();
+
+    virtual ACS::ROdouble_ptr actPosition();
+
+    /**
+     * Returns a reference to the positionDiff property implementation of the IDL interface.
+     * @return pointer to the read-only double sequence property positionDiff.
+     */
+    virtual ACS::ROdouble_ptr positionDiff();
+
+    virtual ACS::ROpattern_ptr status();
+
+private:
+    /**
+     * Updates the status of the component by asking the hardware its status.
+     */
+    bool updateStatus();
+
+    /**
+     * Checks if the socket is connected and if the minor servo system is in a good state.
+     * @throw MinorServoErrors::MinorServoErrorsEx when the socket is not connected or when the minor servo system is blocked or the drive cabinet is in error state.
+     */
+    void checkLineStatus();
+
+    /**
+     * Static function used to retrieve some constants from the component CDB xml schema.
+     * @param object the instance of this class, used inside the function logic.
+     * @param constant the name of the constants we want to retrieve from the CDB.
+     * @throw ComponentErrors::ComponentErrorsEx when the requested value cannot be read from the CDB or when it has a non meaningful value.
+     * @return a vector of doubles containing the retrieved constants, its length is the same as the number of virtual axes of the servo system.
+     */
+    //static std::vector<double> getMotionConstant(SRTBaseMinorServoImpl& object, const std::string& constant);
+
+    /**
+     * Static function used to retrieve a table from the CDB DataBlock directory. Used inside the initialization list.
+     * @param object the instance of this class, used inside the function logic.
+     * @param properties_name the name of the block to retrieve as written inside the DataBlock file.
+     * @throw ComponentErrors::ComponentErrorsEx when the requested value cannot be read from the CDB.
+     * @return a vector of strings containing the retrieved table fields.
+     */
+    static std::vector<std::string> getPropertiesTable(SRTDerotatorImpl& object, const std::string& properties_name);
+
+    /**
+     * Attributes.
+     * Keep the same order for the initialization list.
+     */
+
+    /**
+     * Name of the component.
+     */
+    const std::string m_component_name;
+
+    /**
+     * Name of the servo system.
+     */
+    const std::string m_servo_name;
+
+    /**
+     * Number of virtual axes of the servo system.
+     */
+    const size_t m_virtual_axes;
+
+    /**
+     * Number of physical axes of the servo system.
+     */
+    const size_t m_physical_axes;
+
+    /**
+     * Name of the virtual axes of the servo system.
+     */
+    const std::vector<std::string> m_virtual_axes_names;
+
+    /**
+     * Units of the virtual axes of the servo system.
+     */
+    const std::vector<std::string> m_virtual_axes_units;
+
+    /**
+     * Dictionary containing the last status retrieved form the servo system.
+     */
+    SRTDerotatorStatus m_status;
+
+    /**
+     * Commanded user offsets for each axis of the servo system.
+     */
+    std::vector<double> m_user_offsets;
+
+    /**
+     * Commanded system offsets for each axis of the servo system.
+     */
+    std::vector<double> m_system_offsets;
+
+    /**
+     * Queue of positions assumed by the servo system in time.
+     */
+    SRTMinorServoPositionsQueue m_positions_queue;
+
+    /**
+     * The offset to apply to bring the derotator to the receiver rest position.
+     */
+    const double m_zero_offset;
+
+    /**
+     * Minimum ranges of the axes of the servo system.
+     */
+    const double m_min;
+
+    /**
+     * Maximum ranges of the axes of the servo system.
+     */
+    const double m_max;
+
+    /**
+     * Queue of positions to be assumed by the servo system when tracking a trajectory.
+     */
+    SRTMinorServoPositionsQueue m_tracking_queue;
+
+    /**
+     * Degrees between 2 adjacent lateral feeds.
+     */
+    const double m_step;
+
+    /**
+     * Tracking delta values for all minor servo system virtual axes.
+     */
+    const double m_tracking_delta;
+
+    /**
+     * Tracking error values for all minor servo system virtual axes.
+     */
+    std::vector<double> m_tracking_error;
+
+    /**
+     * Indicates if the servo system is tracking or not. It is tracking when the position error is lower than the tracking delta for all the virtual axes.
+     */
+    std::atomic<Management::TBoolean> m_tracking;
+
+    /**
+     * Current trajectory ID.
+     */
+    std::atomic<unsigned int> m_trajectory_id;
+
+    /**
+     * Total trajectory points of the current trajectory.
+     */
+    std::atomic<unsigned int> m_total_trajectory_points;
+
+    /**
+     * Remaining trajectory points of the current trajectory.
+     */
+    std::atomic<unsigned int> m_remaining_trajectory_points;
+
+    std::atomic<double> m_commanded_position;
+
+    std::atomic<double> m_position_difference;
+
+    std::atomic<long> m_status_pattern;
+
+    /**
+     * Current speed of rotation
+     */
+    double m_c_s;
+
+    /**
+     * Pointer to the enabled property.
+     */
+    baci::SmartPropertyPointer<ROEnumImpl<ACS_ENUM_T(Management::TBoolean), POA_Management::ROTBoolean>> m_enabled_ptr;
+
+    /**
+     * Pointer to the drive_cabinet_status property.
+     */
+    baci::SmartPropertyPointer<ROEnumImpl<ACS_ENUM_T(SRTMinorServoCabinetStatus), POA_MinorServo::ROSRTMinorServoCabinetStatus>> m_drive_cabinet_status_ptr;
+
+    /**
+     * Pointer to the block property.
+     */
+    baci::SmartPropertyPointer<ROEnumImpl<ACS_ENUM_T(Management::TBoolean), POA_Management::ROTBoolean>> m_block_ptr;
+
+    /**
+     * Pointer to the operative_mode property.
+     */
+    baci::SmartPropertyPointer<ROEnumImpl<ACS_ENUM_T(SRTMinorServoOperativeMode), POA_MinorServo::ROSRTMinorServoOperativeMode>> m_operative_mode_ptr;
+
+    /**
+     * Pointer to the physical_axes_enabled property.
+     */
+    baci::SmartPropertyPointer<baci::RObooleanSeq> m_physical_axes_enabled_ptr;
+
+    /**
+     * Pointer to the physical_positions property.
+     */
+    baci::SmartPropertyPointer<baci::ROdoubleSeq> m_physical_positions_ptr;
+
+    /**
+     * Pointer to the virtual_axes property.
+     */
+    baci::SmartPropertyPointer<baci::ROlong> m_virtual_axes_ptr;
+
+    /**
+     * Pointer to the plain_virtual_positions property.
+     */
+    baci::SmartPropertyPointer<baci::ROdoubleSeq> m_plain_virtual_positions_ptr;
+
+    /**
+     * Pointer to the virtual_positions property.
+     */
+    baci::SmartPropertyPointer<baci::ROdoubleSeq> m_virtual_positions_ptr;
+
+    /**
+     * Pointer to the virtual_offsets property.
+     */
+    baci::SmartPropertyPointer<baci::ROdoubleSeq> m_virtual_offsets_ptr;
+
+    /**
+     * Pointer to the tracking property.
+     */
+    baci::SmartPropertyPointer<ROEnumImpl<ACS_ENUM_T(Management::TBoolean), POA_Management::ROTBoolean>> m_tracking_ptr;
+
+    /**
+     * Pointer to the trajectory_id property.
+     */
+    baci::SmartPropertyPointer<baci::ROlong> m_trajectory_id_ptr;
+
+    /**
+     * Pointer to the total_trajectory_points property.
+     */
+    baci::SmartPropertyPointer<baci::ROlong> m_total_trajectory_points_ptr;
+
+    /**
+     * Pointer to the remaining_trajectory_points property.
+     */
+    baci::SmartPropertyPointer<baci::ROlong> m_remaining_trajectory_points_ptr;
+
+    baci::SmartPropertyPointer<baci::ROdouble> m_actual_position_ptr;
+    baci::SmartPropertyPointer<baci::RWdouble> m_commanded_position_ptr;
+    baci::SmartPropertyPointer<baci::ROdouble> m_position_difference_ptr;
+    baci::SmartPropertyPointer<baci::ROpattern> m_status_ptr;
+
+    /**
+     * Configuration of the socket object.
+     */
+    const SRTMinorServoSocketConfiguration& m_socket_configuration;
+
+    /**
+     * Socket object.
+     */
+    SRTMinorServoSocket& m_socket;
+
+    /**
+     * Pointer to the status thread.
+     */
+    SRTDerotatorStatusThread* m_status_thread;
+};
+
+#endif
diff --git a/SRT/Servers/SRTMinorServo/include/SRTDerotatorStatusThread.h b/SRT/Servers/SRTMinorServo/include/SRTDerotatorStatusThread.h
new file mode 100644
index 0000000000000000000000000000000000000000..b0c3ece339d6c9f47d2534cf9d1ef22c571d445a
--- /dev/null
+++ b/SRT/Servers/SRTMinorServo/include/SRTDerotatorStatusThread.h
@@ -0,0 +1,63 @@
+#ifndef _SRTDEROTATORSTATUSTHREAD_H_
+#define _SRTDEROTATORSTATUSTHREAD_H_
+
+/**
+ * SRTDerotatorStatusThread.h
+ * Giuseppe Carboni (giuseppe.carboni@inaf.it)
+ */
+
+#include "SuppressWarnings.h"
+#include <acsThread.h>
+#include <ComponentErrors.h>
+#include "SRTMinorServoSocket.h"
+#include "SRTDerotatorImpl.h"
+
+class SRTDerotatorImpl;
+
+
+/**
+ * This class implements a status thread. This thread is in charge of updating the status of the relative derotator component.
+ */
+class SRTDerotatorStatusThread : public ACS::Thread
+{
+public:
+    /**
+     * Constructor.
+     * @param name thread name
+     * @param response_time thread's heartbeat response time in 100ns unit. Default value is 1s.
+     * @param sleep_time thread's sleep time in 100ns unit. Default value is 100ms.
+     */
+    SRTDerotatorStatusThread(const ACE_CString& name, SRTDerotatorImpl& component, const ACS::TimeInterval& response_time=ThreadBase::defaultResponseTime, const ACS::TimeInterval& sleep_time=ThreadBase::defaultSleepTime);
+
+    /**
+     * Destructor.
+     */
+    ~SRTDerotatorStatusThread();
+
+    /**
+     * This method is executed once when the thread starts.
+     */
+    virtual void onStart();
+
+    /**
+     * This method is executed once when the thread stops.
+     */
+    virtual void onStop();
+
+    /**
+     * This method overrides the thread implementation class.
+     * The thread can be exited by calling ACS::ThreadBase::stop or ACS::ThreadBase::exit command.
+     */
+    virtual void runLoop();
+
+private:
+    SRTDerotatorImpl& m_component;
+
+    /**
+     * The sleeping time of the thread.
+     * The thread should be cycling at a constant rate, therefore the inner sleeping time is always updated taking into account this and the thread execution time.
+     */
+    ACS::TimeInterval m_sleep_time;
+};
+
+#endif /*_SRTDEROTATORSTATUSTHREAD_H_*/
diff --git a/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h b/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h
index a664462c010fc810284a98ebaf5cbe5ea8f0a8fc..4304d05fb8a0ea8a869d2b5cf1e679b58c335eeb 100644
--- a/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h
+++ b/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h
@@ -283,10 +283,10 @@ public:
     virtual ACS::ROdoubleSeq_ptr virtual_system_offsets();
 
     /**
-     * Returns a reference to the commanded_virtual_positions property implementation of the IDL interface.
-     * @return pointer to the read-only double sequence property commanded_virtual_positions.
+     * Returns a reference to the commanded_plain_virtual_positions property implementation of the IDL interface.
+     * @return pointer to the read-only double sequence property commanded_plain_virtual_positions.
      */
-    virtual ACS::ROdoubleSeq_ptr commanded_virtual_positions();
+    virtual ACS::ROdoubleSeq_ptr commanded_plain_virtual_positions();
 
     /**
      * Returns a reference to the in_use property implementation of the IDL interface.
@@ -388,12 +388,12 @@ protected:
     std::vector<double> m_system_offsets;
 
     /**
-     * Latest commanded virtual positions. It only takes into account the preset command.
+     * Latest commanded virtual positions.
      */
-    std::vector<double> m_commanded_virtual_positions;
+    std::vector<double> m_commanded_plain_virtual_positions;
 
     /**
-     * Queue of positions assumed by the servo system in time.
+     * Queue of positions assumed by the servo system in time, they comprehend the LDO offsets.
      */
     SRTMinorServoPositionsQueue m_positions_queue;
 
@@ -503,9 +503,9 @@ private:
     baci::SmartPropertyPointer<baci::ROdoubleSeq> m_virtual_system_offsets_ptr;
 
     /**
-     * Pointer to the commanded_virtual_positions property.
+     * Pointer to the commanded_plain_virtual_positions property.
      */
-    baci::SmartPropertyPointer<baci::ROdoubleSeq> m_commanded_virtual_positions_ptr;
+    baci::SmartPropertyPointer<baci::ROdoubleSeq> m_commanded_plain_virtual_positions_ptr;
 
     /**
      * Pointer to the in_use property.
@@ -584,7 +584,7 @@ protected:
     virtual ACS::ROdoubleSeq_ptr virtual_offsets()                                              { return SRTBaseMinorServoImpl::virtual_offsets();                      }\
     virtual ACS::ROdoubleSeq_ptr virtual_user_offsets()                                         { return SRTBaseMinorServoImpl::virtual_user_offsets();                 }\
     virtual ACS::ROdoubleSeq_ptr virtual_system_offsets()                                       { return SRTBaseMinorServoImpl::virtual_system_offsets();               }\
-    virtual ACS::ROdoubleSeq_ptr commanded_virtual_positions()                                  { return SRTBaseMinorServoImpl::commanded_virtual_positions();          }\
+    virtual ACS::ROdoubleSeq_ptr commanded_plain_virtual_positions()                            { return SRTBaseMinorServoImpl::commanded_plain_virtual_positions();    }\
     virtual Management::ROTBoolean_ptr in_use()                                                 { return SRTBaseMinorServoImpl::in_use();                               }\
     virtual ACS::ROstring_ptr current_setup()                                                   { return SRTBaseMinorServoImpl::current_setup();                        }\
     virtual ROSRTMinorServoError_ptr error_code()                                               { return SRTBaseMinorServoImpl::error_code();                           }
diff --git a/SRT/Servers/SRTMinorServo/src/Makefile b/SRT/Servers/SRTMinorServo/src/Makefile
index 141c676de6656bd3bba8aef79cacd265160390f9..3cf5a0bcd372536affc9b7d31fa5489aa970e598 100644
--- a/SRT/Servers/SRTMinorServo/src/Makefile
+++ b/SRT/Servers/SRTMinorServo/src/Makefile
@@ -18,12 +18,12 @@ CDB_SCHEMAS = SRTMinorServoCommon SRTMinorServoBoss SRTMinorServo SRTMinorServoS
 # ----------------------------
 # Libraries (public and local)
 # ----------------------------
-LIBRARIES = SRTGenericMinorServoImpl SRTProgramTrackMinorServoImpl SRTMinorServoBossImpl
+LIBRARIES = SRTGenericMinorServoImpl SRTProgramTrackMinorServoImpl SRTMinorServoBossImpl SRTDerotatorImpl
 
 USER_CFLAGS =
 
 SRTMinorServoBossImpl_OBJECTS = SRTMinorServoBossCore SRTMinorServoSetupThread SRTMinorServoParkThread SRTMinorServoTrackingThread SRTMinorServoScanThread SRTMinorServoBossImpl SRTMinorServoStatusThread
-SRTMinorServoBossImpl_LIBS = IRALibrary SRTMinorServoBossStubs SRTMinorServoStubs ComponentErrors MinorServoErrors ManagementErrors MinorServoDefinitionsStubs SRTMinorServoCommandLibrary AntennaBossStubs SRTMinorServoSocketLibrary ParserErrors DiscosVersion acsnc
+SRTMinorServoBossImpl_LIBS = IRALibrary SRTMinorServoBossStubs SRTMinorServoStubs SRTDerotatorStubs ComponentErrors MinorServoErrors ManagementErrors MinorServoDefinitionsStubs SRTMinorServoCommandLibrary AntennaBossStubs SRTMinorServoSocketLibrary ParserErrors DiscosVersion acsnc
 SRTMinorServoBossImpl_CFLAGS = -std=c++17 -fconcepts
 SRTMinorServoBossCore_CFLAGS = -std=c++17 -fconcepts
 SRTMinorServoStatusThread_CFLAGS = -std=c++17 -fconcepts
@@ -39,6 +39,10 @@ SRTGenericMinorServoImpl_CFLAGS = -std=c++17 -fconcepts
 SRTProgramTrackMinorServoImpl_OBJECTS = SRTProgramTrackMinorServoImpl SRTBaseMinorServoImpl
 SRTProgramTrackMinorServoImpl_LIBS = IRALibrary SRTMinorServoStubs MinorServoErrors MinorServoDefinitionsStubs SRTMinorServoCommandLibrary SRTMinorServoSocketLibrary DiscosVersion
 SRTProgramTrackMinorServoImpl_CFLAGS = -std=c++17 -fconcepts
+SRTDerotatorImpl_OBJECTS = SRTDerotatorImpl SRTDerotatorStatusThread
+SRTDerotatorImpl_LIBS = IRALibrary SRTMinorServoStubs MinorServoDefinitionsStubs SRTMinorServoCommandLibrary SRTMinorServoSocketLibrary GenericDerotatorStubs SRTDerotatorStubs DerotatorErrors DiscosVersion
+SRTDerotatorImpl_CFLAGS = -std=c++17 -fconcepts
+SRTDerotatorStatusThread_CFLAGS = -std=c++17 -fconcepts
 
 
 # ----------------------------------------------------------------------
diff --git a/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp b/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp
index ce3eca5c2ced82f96efe2bb6eb92b2d84b9689c7..2e384ca0c805596b76b09d2872812be27b6fe09f 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp
@@ -20,7 +20,7 @@ SRTBaseMinorServoImpl::SRTBaseMinorServoImpl(const ACE_CString& component_name,
     m_error_code(ERROR_NO_ERROR),
     m_user_offsets(m_virtual_axes, 0.0),
     m_system_offsets(m_virtual_axes, 0.0),
-    m_commanded_virtual_positions(m_virtual_axes, 0.0),
+    m_commanded_plain_virtual_positions(m_virtual_axes, 0.0),
     m_positions_queue(5 * 60 * int(1 / getCDBValue<double>(container_services, "status_thread_period", "/MINORSERVO/Boss")), m_virtual_axes),
     m_min(SRTBaseMinorServoImpl::getMotionConstant(*this, "min_range")),
     m_max(SRTBaseMinorServoImpl::getMotionConstant(*this, "max_range")),
@@ -43,7 +43,7 @@ SRTBaseMinorServoImpl::SRTBaseMinorServoImpl(const ACE_CString& component_name,
     m_virtual_offsets_ptr(this),
     m_virtual_user_offsets_ptr(this),
     m_virtual_system_offsets_ptr(this),
-    m_commanded_virtual_positions_ptr(this),
+    m_commanded_plain_virtual_positions_ptr(this),
     m_in_use_ptr(this),
     m_current_setup_ptr(this),
     m_error_code_ptr(this),
@@ -89,8 +89,8 @@ void SRTBaseMinorServoImpl::initialize()
                 new MSGenericDevIO<ACS::doubleSeq, std::vector<double>>(m_user_offsets), true);
         m_virtual_system_offsets_ptr = new baci::ROdoubleSeq((m_component_name + ":virtual_system_offsets").c_str(), getComponent(),
                 new MSGenericDevIO<ACS::doubleSeq, std::vector<double>>(m_system_offsets), true);
-        m_commanded_virtual_positions_ptr = new baci::ROdoubleSeq((m_component_name + ":commanded_virtual_positions").c_str(), getComponent(),
-                new MSGenericDevIO<ACS::doubleSeq, std::vector<double>>(m_commanded_virtual_positions), true);
+        m_commanded_plain_virtual_positions_ptr = new baci::ROdoubleSeq((m_component_name + ":commanded_plain_virtual_positions").c_str(), getComponent(),
+                new MSGenericDevIO<ACS::doubleSeq, std::vector<double>>(m_commanded_plain_virtual_positions), true);
         m_in_use_ptr = new ROEnumImpl<ACS_ENUM_T(Management::TBoolean), POA_Management::ROTBoolean>((m_component_name + ":in_use").c_str(), getComponent(),
                 new MSGenericDevIO<Management::TBoolean, std::atomic<Management::TBoolean>>(m_in_use), true);
         m_current_setup_ptr = new baci::ROstring((m_component_name + ":current_setup").c_str(), getComponent(),
@@ -142,7 +142,7 @@ bool SRTBaseMinorServoImpl::status()
     {
         m_socket.sendCommand(SRTMinorServoCommandLibrary::status(m_servo_name), m_status);
 
-        ACS::doubleSeq current_point = m_status.getVirtualPositions();
+        ACS::doubleSeq current_point = m_status.getPlainVirtualPositions();
 
         // Calculate the current speed of the axes
         try
@@ -215,8 +215,8 @@ void SRTBaseMinorServoImpl::preset(const ACS::doubleSeq& virtual_coords)
     if(virtual_coordinates.length() == 0)
     {
         // It means we want to command the latest coordinates again, to apply the offset in the LDO servo system
-        virtual_coordinates.length(m_commanded_virtual_positions.size());
-        std::copy(m_commanded_virtual_positions.begin(), m_commanded_virtual_positions.end(), virtual_coordinates.begin());
+        virtual_coordinates.length(m_commanded_plain_virtual_positions.size());
+        std::copy(m_commanded_plain_virtual_positions.begin(), m_commanded_plain_virtual_positions.end(), virtual_coordinates.begin());
     }
 
     if(virtual_coordinates.length() != m_virtual_axes)
@@ -251,7 +251,7 @@ void SRTBaseMinorServoImpl::preset(const ACS::doubleSeq& virtual_coords)
         throw ex.getMinorServoErrorsEx();
     }
 
-    std::copy(coordinates.begin(), coordinates.end(), m_commanded_virtual_positions.begin());
+    std::copy(coordinates.begin(), coordinates.end(), m_commanded_plain_virtual_positions.begin());
 }
 
 bool SRTBaseMinorServoImpl::setup(const char* configuration_name, CORBA::Boolean as_off)
@@ -353,7 +353,7 @@ bool SRTBaseMinorServoImpl::setup(const char* configuration_name, CORBA::Boolean
         // The positions tables inside the Leonardo minor servo systems are calculated with an elevation of 45 degrees.
         // We need to be sure the values are correct otherwise there will be a discrepancy.
         ACS::doubleSeq commanded_coordinates = *calcCoordinates(45);
-        std::copy(commanded_coordinates.begin(), commanded_coordinates.end(), m_commanded_virtual_positions.begin());
+        std::copy(commanded_coordinates.begin(), commanded_coordinates.end(), m_commanded_plain_virtual_positions.begin());
         return true;
     }
     else
@@ -641,10 +641,24 @@ ACS::TimeInterval SRTBaseMinorServoImpl::getTravelTime(const ACS::doubleSeq& _s_
 
     ACS::doubleSeq s_p(_s_p);
 
-    // No starting coordinates, it means we have to start from the current position taking into account the current speed
+    if(d_p.length() != m_virtual_axes)
+    {
+        _EXCPT(MinorServoErrors::StatusErrorExImpl, ex, (m_servo_name + "getTravelTime()").c_str());
+        ex.setReason("Wrong number of axes for destination_position.");
+        ex.log(LM_DEBUG);
+        throw ex.getMinorServoErrorsEx();
+    }
+
+    // No starting coordinates, it means we have to start from the current position taking into account the current speed.
     if(_s_p.length() == 0)
     {
         s_p = *getAxesPositions(0);
+
+        // Subtract the offsets since the destination coordinates are pure virtual
+        for(size_t i = 0; i < m_virtual_axes; i++)
+        {
+            s_p[i] -= m_user_offsets[i] + m_system_offsets[i];
+        }
     }
     else if(_s_p.length() != m_virtual_axes)
     {
@@ -653,13 +667,6 @@ ACS::TimeInterval SRTBaseMinorServoImpl::getTravelTime(const ACS::doubleSeq& _s_
         ex.log(LM_DEBUG);
         throw ex.getMinorServoErrorsEx();
     }
-    if(d_p.length() != m_virtual_axes)
-    {
-        _EXCPT(MinorServoErrors::StatusErrorExImpl, ex, (m_servo_name + "getTravelTime()").c_str());
-        ex.setReason("Wrong number of axes for destination_position.");
-        ex.log(LM_DEBUG);
-        throw ex.getMinorServoErrorsEx();
-    }
 
     // d = delta/distance
     std::vector<double> d(m_virtual_axes);
@@ -891,7 +898,7 @@ GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_virtual_positi
 GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_virtual_offsets_ptr, virtual_offsets);
 GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_virtual_user_offsets_ptr, virtual_user_offsets);
 GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_virtual_system_offsets_ptr, virtual_system_offsets);
-GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_commanded_virtual_positions_ptr, commanded_virtual_positions);
+GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_commanded_plain_virtual_positions_ptr, commanded_plain_virtual_positions);
 GET_PROPERTY_REFERENCE(Management::ROTBoolean, SRTBaseMinorServoImpl, m_in_use_ptr, in_use);
 GET_PROPERTY_REFERENCE(ACS::ROstring, SRTBaseMinorServoImpl, m_current_setup_ptr, current_setup);
 GET_PROPERTY_REFERENCE(ROSRTMinorServoError, SRTBaseMinorServoImpl, m_error_code_ptr, error_code);
diff --git a/SRT/Servers/SRTMinorServo/src/SRTDerotatorImpl.cpp b/SRT/Servers/SRTMinorServo/src/SRTDerotatorImpl.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b00a29420f14e34d640c349a5ad25d9fcc61b85d
--- /dev/null
+++ b/SRT/Servers/SRTMinorServo/src/SRTDerotatorImpl.cpp
@@ -0,0 +1,490 @@
+#include "SRTDerotatorImpl.h"
+
+using namespace MinorServo;
+
+SRTDerotatorImpl::SRTDerotatorImpl(const ACE_CString& component_name, maci::ContainerServices* container_services):
+    CharacteristicComponentImpl(component_name, container_services),
+    m_component_name(std::string(component_name.c_str())),
+    m_servo_name(std::string(strchr(component_name.c_str(), '/') + 1)),
+    m_virtual_axes(getCDBValue<size_t>(container_services, "virtual_axes")),
+    m_physical_axes(getCDBValue<size_t>(container_services, "physical_axes")),
+    m_virtual_axes_names(SRTDerotatorImpl::getPropertiesTable(*this, "virtual_positions")),
+    m_virtual_axes_units(SRTDerotatorImpl::getPropertiesTable(*this, "virtual_axes_units")),
+    m_status(
+        m_servo_name,
+        SRTDerotatorImpl::getPropertiesTable(*this, "physical_axes_enabled"),
+        SRTDerotatorImpl::getPropertiesTable(*this, "physical_positions"),
+        m_virtual_axes_names,
+        SRTDerotatorImpl::getPropertiesTable(*this, "virtual_offsets")
+    ),
+    m_positions_queue(5 * 60 * int(1 / getCDBValue<double>(container_services, "status_thread_period", "/MINORSERVO/Boss")), m_virtual_axes),
+    m_zero_offset(getCDBValue<double>(container_services, "zero_offset")),
+    m_min(-(getCDBValue<double>(container_services, "max_range") - m_zero_offset)),
+    m_max(-(getCDBValue<double>(container_services, "min_range") - m_zero_offset)),
+    m_tracking_queue(1500, m_virtual_axes),
+    m_step(getCDBValue<double>(container_services, "step")),
+    m_tracking_delta(getCDBValue<double>(container_services, "tracking_delta")),
+    m_tracking_error(m_virtual_axes, 0.0),
+    m_tracking(Management::MNG_FALSE),
+    m_trajectory_id(0),
+    m_total_trajectory_points(0),
+    m_remaining_trajectory_points(0),
+    m_commanded_position(0),
+    m_position_difference(0),
+    m_status_pattern(0),
+    m_c_s(0),
+    m_enabled_ptr(this),
+    m_drive_cabinet_status_ptr(this),
+    m_block_ptr(this),
+    m_operative_mode_ptr(this),
+    m_physical_axes_enabled_ptr(this),
+    m_physical_positions_ptr(this),
+    m_virtual_axes_ptr(this),
+    m_plain_virtual_positions_ptr(this),
+    m_virtual_positions_ptr(this),
+    m_virtual_offsets_ptr(this),
+    m_tracking_ptr(this),
+    m_trajectory_id_ptr(this),
+    m_total_trajectory_points_ptr(this),
+    m_remaining_trajectory_points_ptr(this),
+    m_actual_position_ptr(this),
+    m_commanded_position_ptr(this),
+    m_position_difference_ptr(this),
+    m_status_ptr(this),
+    m_socket_configuration(SRTMinorServoSocketConfiguration::getInstance(container_services)),
+    m_socket(SRTMinorServoSocket::getInstance(m_socket_configuration.m_ip_address, m_socket_configuration.m_port, m_socket_configuration.m_timeout))
+{
+    AUTO_TRACE(m_servo_name + "::SRTDerotatorImpl()");
+}
+
+SRTDerotatorImpl::~SRTDerotatorImpl()
+{
+    AUTO_TRACE(m_servo_name + "::~SRTDerotatorImpl()");
+
+    if(m_status_thread != nullptr)
+    {
+        m_status_thread->terminate();
+        getContainerServices()->getThreadManager()->destroy(m_status_thread);
+    }
+}
+
+void SRTDerotatorImpl::initialize()
+{
+    AUTO_TRACE(m_servo_name + "::initialize()");
+
+    try
+    {
+        m_enabled_ptr = new ROEnumImpl<ACS_ENUM_T(Management::TBoolean), POA_Management::ROTBoolean>((m_component_name + ":enabled").c_str(), getComponent(),
+                new MSAnswerMapDevIO<Management::TBoolean, SRTMinorServoStatus>("enabled", m_status, &SRTMinorServoStatus::isEnabled), true);
+        m_drive_cabinet_status_ptr = new ROEnumImpl<ACS_ENUM_T(SRTMinorServoCabinetStatus), POA_MinorServo::ROSRTMinorServoCabinetStatus>((m_component_name + ":drive_cabinet_status").c_str(), getComponent(),
+                new MSAnswerMapDevIO<SRTMinorServoCabinetStatus, SRTMinorServoStatus>("drive_cabinet_status", m_status, &SRTMinorServoStatus::getDriveCabinetStatus), true);
+        m_block_ptr = new ROEnumImpl<ACS_ENUM_T(Management::TBoolean), POA_Management::ROTBoolean>((m_component_name + ":block").c_str(), getComponent(),
+                new MSAnswerMapDevIO<Management::TBoolean, SRTMinorServoStatus>("block", m_status, &SRTMinorServoStatus::isBlocked), true);
+        m_operative_mode_ptr = new ROEnumImpl<ACS_ENUM_T(SRTMinorServoOperativeMode), POA_MinorServo::ROSRTMinorServoOperativeMode>((m_component_name + ":operative_mode").c_str(), getComponent(),
+                new MSAnswerMapDevIO<SRTMinorServoOperativeMode, SRTMinorServoStatus>("operative_mode", m_status, &SRTMinorServoStatus::getOperativeMode), true);
+        m_physical_axes_enabled_ptr = new baci::RObooleanSeq((m_component_name + ":physical_axes_enabled").c_str(), getComponent(),
+                new MSAnswerMapDevIO<ACS::booleanSeq, SRTMinorServoStatus>("physical_axes_enabled", m_status, &SRTMinorServoStatus::getPhysicalAxesEnabled), true);
+        m_physical_positions_ptr = new baci::ROdoubleSeq((m_component_name + ":physical_positions").c_str(), getComponent(),
+                new MSAnswerMapDevIO<ACS::doubleSeq, SRTMinorServoStatus>("physical_positions", m_status, &SRTMinorServoStatus::getPhysicalPositions), true);
+        m_virtual_axes_ptr = new baci::ROlong((m_component_name + ":virtual_axes").c_str(), getComponent(),
+                new MSGenericDevIO<CORBA::Long, const size_t>(m_virtual_axes), true);
+        m_plain_virtual_positions_ptr = new baci::ROdoubleSeq((m_component_name + ":plain_virtual_positions").c_str(), getComponent(),
+                new MSAnswerMapDevIO<ACS::doubleSeq, SRTMinorServoStatus>("plain_virtual_positions", m_status, &SRTMinorServoStatus::getPlainVirtualPositions), true);
+        m_virtual_positions_ptr = new baci::ROdoubleSeq((m_component_name + ":virtual_positions").c_str(), getComponent(),
+                new MSAnswerMapDevIO<ACS::doubleSeq, SRTMinorServoStatus>("virtual_positions", m_status, &SRTMinorServoStatus::getVirtualPositions), true);
+        m_virtual_offsets_ptr = new baci::ROdoubleSeq((m_component_name + ":virtual_offsets").c_str(), getComponent(),
+                new MSAnswerMapDevIO<ACS::doubleSeq, SRTMinorServoStatus>("virtual_offsets", m_status, &SRTMinorServoStatus::getVirtualOffsets), true);
+        m_tracking_ptr = new ROEnumImpl<ACS_ENUM_T(Management::TBoolean), POA_Management::ROTBoolean>((m_component_name + ":tracking").c_str(), getComponent(),
+                new MSGenericDevIO<Management::TBoolean, std::atomic<Management::TBoolean>>(m_tracking), true);
+        m_trajectory_id_ptr = new baci::ROlong((m_component_name + ":trajectory_id").c_str(), getComponent(),
+                new MSGenericDevIO<CORBA::Long, std::atomic<unsigned int>>(m_trajectory_id), true);
+        m_total_trajectory_points_ptr = new baci::ROlong((m_component_name + ":total_trajectory_points").c_str(), getComponent(),
+                new MSGenericDevIO<CORBA::Long, std::atomic<unsigned int>>(m_total_trajectory_points), true);
+        m_remaining_trajectory_points_ptr = new baci::ROlong((m_component_name + ":remaining_trajectory_points").c_str(), getComponent(),
+                new MSGenericDevIO<CORBA::Long, std::atomic<unsigned int>>(m_remaining_trajectory_points), true);
+        m_actual_position_ptr = new baci::ROdouble((m_component_name + ":actPosition").c_str(), getComponent(),
+                new MSAnswerMapDevIO<CORBA::Double, SRTDerotatorStatus>("actPosition", m_status, &SRTDerotatorStatus::getActualPosition), true);
+        m_commanded_position_ptr = new baci::RWdouble((m_component_name + ":cmdPosition").c_str(), getComponent(),
+                new MSGenericDevIO<CORBA::Double, std::atomic<double>>(m_commanded_position), true);
+        m_position_difference_ptr = new baci::ROdouble((m_component_name + ":positionDiff").c_str(), getComponent(),
+                new MSGenericDevIO<CORBA::Double, std::atomic<double>>(m_position_difference), true);
+        m_status_ptr = new baci::ROpattern((m_component_name + ":status").c_str(), getComponent(),
+                new MSGenericDevIO<ACS::pattern, std::atomic<long>>(m_status_pattern), true);
+    }
+    catch(std::bad_alloc& ba)
+    {
+        _EXCPT(ComponentErrors::MemoryAllocationExImpl, ex, (m_servo_name + "::initialize()").c_str());
+        ex.log(LM_DEBUG);
+        throw ex.getComponentErrorsEx();
+    }
+
+    // Try to read the current status of the derotator
+    try
+    {
+        updateStatus();
+    }
+    catch(...)
+    {
+        // This block is necessary since the socket might not be connected yet. If the Leonardo system is not reachable the status(); call will fail, but we want to instantiate the component anyway
+        // A non connected socket will try to connect every time a new command is sent, therefore the status thread will establish the connection as soon as possible.
+    }
+}
+
+void SRTDerotatorImpl::execute()
+{
+    AUTO_TRACE(m_servo_name + "::execute()");
+
+    try
+    {
+        m_status_thread = getContainerServices()->getThreadManager()->create<SRTDerotatorStatusThread, SRTDerotatorImpl&>((m_component_name + "StatusThread").c_str(), *this);
+        m_status_thread->setSleepTime(getCDBValue<double>(getContainerServices(), "status_thread_period") * 10000000);
+        m_status_thread->resume();
+    }
+    catch(acsthreadErrType::CanNotSpawnThreadExImpl& impl)
+    {
+        // The thread failed to start for some reason
+        _ADD_BACKTRACE(ComponentErrors::CanNotStartThreadExImpl, ex, impl, (m_component_name + "::startThread()").c_str());
+        ex.setThreadName((m_component_name + "StatusThread").c_str());
+        ex.log(LM_DEBUG);
+        throw ex.getComponentErrorsEx();
+    }
+}
+
+void SRTDerotatorImpl::cleanUp()
+{
+    AUTO_TRACE(m_servo_name + "::cleanUp()");
+}
+
+void SRTDerotatorImpl::aboutToAbort()
+{
+    AUTO_TRACE(m_servo_name + "::aboutToAbort()");
+}
+
+/////////////////// PUBLIC methods
+bool SRTDerotatorImpl::updateStatus()
+{
+    AUTO_TRACE(m_servo_name + "::status()");
+
+    // Initialize the status variable
+    long status = 0;
+
+    // We don't check if the socket is connected here since a status command will try to reconnect it automatically
+    try
+    {
+        m_socket.sendCommand(SRTMinorServoCommandLibrary::status(m_servo_name), m_status);
+
+        ACS::Time last_timestamp = m_status.getTimestamp();
+
+        // Send the zero offset if not correct
+        if(m_status.getVirtualOffsets()[0] != m_zero_offset)
+        {
+            m_socket.sendCommand(SRTMinorServoCommandLibrary::offset(m_servo_name, { m_zero_offset }));
+        }
+
+        if(m_status.isBlocked() == Management::MNG_TRUE || m_status.getDriveCabinetStatus() == DRIVE_CABINET_ERROR)
+        {
+            // Set to failure
+            status |= (1L << 1);
+            // Not ready as well
+            status |= (1L << 3);
+        }
+
+        if(!isReady())
+        {
+            // No failures but not ready
+            status |= (1L << 3);
+        }
+
+        if(isSlewing())
+        {
+            status |= (1L << 4);
+        }
+
+        double current_point = m_status.getActualPosition();
+
+        // Calculate the current speed of the axes, °/s
+        try
+        {
+            std::pair<ACS::Time, const std::vector<double>> previous_point = m_positions_queue.get(last_timestamp);
+            m_c_s = (current_point - previous_point.second[0]) * ((double(last_timestamp - previous_point.first)) / 10000000);
+        }
+        catch(...)
+        {
+            // Empty queue, first reading, skip the speed calculation
+        }
+
+        if(m_status.getOperativeMode() == OPERATIVE_MODE_PROGRAMTRACK)
+        {
+            try
+            {
+                m_commanded_position = m_tracking_queue.get(last_timestamp).second[0];
+                m_remaining_trajectory_points.store(m_tracking_queue.getRemainingPoints(last_timestamp));
+            }
+            catch(...)
+            {
+                // Weird, we should have at least one tracking point by now, just skip
+            }
+        }
+
+        m_positions_queue.put(last_timestamp, { current_point });
+        m_position_difference.store(m_commanded_position - current_point);
+        if(std::fabs(m_position_difference.load()) <= m_tracking_delta)
+        {
+            m_tracking.store(Management::MNG_TRUE);
+        }
+        else
+        {
+            m_tracking.store(Management::MNG_FALSE);
+        }
+    }
+    catch(...)
+    {
+        // Communication error, sets failure, communication error and not ready bits
+        status |= (1L << 1);
+        status |= (1L << 2);
+        status |= (1L << 3);
+
+        m_status_pattern.store(status);
+        return false;
+    }
+
+    m_status_pattern.store(status);
+    return true;
+}
+
+void SRTDerotatorImpl::setup()
+{
+    AUTO_TRACE(m_servo_name + "::setup()");
+}
+
+void SRTDerotatorImpl::setPosition(CORBA::Double position)
+{
+    AUTO_TRACE(m_servo_name + "::setPosition()");
+
+    checkLineStatus();
+
+    if(position < m_min || position > m_max)
+    {
+        _EXCPT(DerotatorErrors::OutOfRangeErrorExImpl, ex, (m_servo_name + "::setPosition()").c_str());
+        ex.addData("Reason", std::string("Resulting position " + std::to_string(position) + " out of range.").c_str());
+        ex.log(LM_DEBUG);
+        throw ex.getDerotatorErrorsEx();
+    }
+
+    // Sign inversion required
+    double pos = position * -1;
+
+    if(!m_socket.sendCommand(SRTMinorServoCommandLibrary::preset(m_servo_name, std::vector<double>{ pos })).checkOutput())
+    {
+        _EXCPT(DerotatorErrors::CommunicationErrorExImpl, ex, (m_servo_name + "::setPosition()").c_str());
+        ex.addData("Reason", "Received NAK in response to a PRESET command.");
+        ex.log(LM_DEBUG);
+        throw ex.getDerotatorErrorsEx();
+    }
+
+    m_commanded_position.store(position);
+}
+
+double SRTDerotatorImpl::getPositionFromHistory(ACS::Time acs_time)
+{
+    AUTO_TRACE(m_servo_name + "::getPositionFromHistory()");
+
+    // Get the latest position
+    if(acs_time == 0)
+    {
+        acs_time = getTimeStamp();
+    }
+
+    try
+    {
+        return m_positions_queue.get(acs_time).second[0];
+    }
+    catch(std::logic_error& le)
+    {
+        // TODO: change this to ComponentErrors
+        _EXCPT(ComponentErrors::OperationErrorExImpl, ex, (m_servo_name + "::getPositionFromHistory()").c_str());
+        ex.setReason("Positions history is empty!");
+        ex.log(LM_DEBUG);
+        throw ex.getComponentErrorsEx();
+    }
+}
+
+bool SRTDerotatorImpl::isReady()
+{
+    // Always ready unless it has errors
+    return (m_status.isBlocked() == Management::MNG_TRUE || m_status.getDriveCabinetStatus() == DRIVE_CABINET_ERROR) ? false : true;
+}
+
+bool SRTDerotatorImpl::isSlewing()
+{
+    SRTMinorServoOperativeMode operative_mode = m_status.getOperativeMode();
+    if(operative_mode == OPERATIVE_MODE_PROGRAMTRACK)
+    {
+        if(m_remaining_trajectory_points.load() > 0)
+        {
+            // We are still tracking a trajectory, therefore we are slewing
+            return true;
+        }
+        else
+        {
+            // Trajectory is finished, the derotator might still be slowing down to 0°/s but for simplicity we say it's not slewing anymore
+            return false;
+        }
+    }
+    else if(operative_mode == OPERATIVE_MODE_UNKNOWN)
+    {
+        // We trust the protocol, this means the derotator is moving due to a preset command
+        return true;
+    }
+
+    return false;
+}
+
+void SRTDerotatorImpl::loadTrackingPoint(ACS::Time point_time, CORBA::Double position, CORBA::Boolean restart)
+{
+    AUTO_TRACE(m_servo_name + "::loadTrackingPoint()");
+
+    checkLineStatus();
+
+    if(position < m_min || position > m_max)
+    {
+        _EXCPT(DerotatorErrors::OutOfRangeErrorExImpl, ex, (m_servo_name + "::loadTrackingPoint()").c_str());
+        ex.addData("Reason", std::string("Resulting position " + std::to_string(position) + " out of range.").c_str());
+        ex.log(LM_DEBUG);
+        throw ex.getDerotatorErrorsEx();
+    }
+
+    unsigned int trajectory_id, point_id;
+
+    if(restart)
+    {
+        trajectory_id = (unsigned int)(IRA::CIRATools::ACSTime2UNIXEpoch(point_time));
+        point_id = 0;
+    }
+    else
+    {
+        trajectory_id = m_trajectory_id.load();
+        point_id = m_total_trajectory_points.load();
+    }
+
+    if(!m_socket.sendCommand(SRTMinorServoCommandLibrary::programTrack(m_servo_name, trajectory_id, point_id, std::vector<double>{ -position }, restart ? IRA::CIRATools::ACSTime2UNIXEpoch(point_time) : 0)).checkOutput())
+    {
+        _EXCPT(DerotatorErrors::CommunicationErrorExImpl, ex, (m_servo_name + "::loadTrackingPoint()").c_str());
+        ex.addData("Reason", "Received NAK in response to a PROGRAMTRACK command.");
+        ex.log(LM_DEBUG);
+        throw ex.getDerotatorErrorsEx();
+    }
+
+    if(restart)
+    {
+        // Clear the tracking queue to avoid interpolation between 2 different trajectories
+        m_tracking_queue.clear();
+    }
+
+    m_trajectory_id.store(trajectory_id);
+    m_tracking_queue.put(point_time, { position });
+    m_total_trajectory_points.store(point_id + 1);
+}
+
+
+/////////////////// PROTECTED methods
+void SRTDerotatorImpl::checkLineStatus()
+{
+    if(!m_socket.isConnected())
+    {
+        _EXCPT(DerotatorErrors::CommunicationErrorExImpl, ex, (m_servo_name + "checkLineStatus()").c_str());
+        ex.addData("Reason", "Socket not connected.");
+        ex.log(LM_DEBUG);
+        throw ex.getDerotatorErrorsEx();
+    }
+
+    if(m_status.isBlocked() == Management::MNG_TRUE || m_status.getDriveCabinetStatus() == DRIVE_CABINET_ERROR)
+    {
+        _EXCPT(DerotatorErrors::UnexpectedErrorExImpl, ex, (m_servo_name + "::checkLineStatus()").c_str());
+        ex.addData("Reason", "Servo system blocked or drive cabinet error.");
+        ex.log(LM_DEBUG);
+        throw ex.getDerotatorErrorsEx();
+    }
+}
+
+/////////////////// PRIVATE methods
+std::vector<std::string> SRTDerotatorImpl::getPropertiesTable(SRTDerotatorImpl& object, const std::string& properties_name)
+{
+    AUTO_STATIC_TRACE(object.m_servo_name + "::getPropertiesTable()");
+
+    std::vector<std::string> properties;
+    
+    IRA::CDBTable table(object.getContainerServices(), properties_name.c_str(), std::string("DataBlock/MinorServo/" + object.m_servo_name).c_str());
+    IRA::CError error;
+    error.Reset();
+
+    if(!table.addField(error, "property_name", IRA::CDataField::STRING))
+    {
+        error.setExtra("Error adding field property_name", 0);
+    }
+    if(!error.isNoError())
+    {
+        _EXCPT_FROM_ERROR(ComponentErrors::IRALibraryResourceExImpl, ex, error);
+        ex.setCode(error.getErrorCode());
+        ex.setDescription((const char *)error.getDescription());
+        ex.log(LM_DEBUG);
+        throw ex.getComponentErrorsEx();
+    }
+    if(!table.openTable(error))
+    {
+        _EXCPT_FROM_ERROR(ComponentErrors::CDBAccessExImpl, ex, error);
+        ex.setFieldName(properties_name.c_str());
+        ex.log(LM_DEBUG);
+        throw ex.getComponentErrorsEx();
+    }
+
+    table.First();
+    for(unsigned int i = 0; i < table.recordCount(); i++, table.Next())
+    {
+        properties.push_back(std::string(table["property_name"]->asString()));
+    }
+    table.closeTable();
+
+    size_t expected_size = 0;
+
+    if(properties_name.find("virtual_") == 0)
+    {
+        expected_size = object.m_virtual_axes;
+    }
+    else if(properties_name.find("physical_") == 0)
+    {
+        expected_size = object.m_physical_axes;
+    }
+
+    if(expected_size == 0 || properties.size() != expected_size)
+    {
+        _EXCPT(ComponentErrors::CDBAccessExImpl, ex, (object.m_servo_name + "::initialize()").c_str());
+        ex.setFieldName(properties_name.c_str());
+        ex.log(LM_DEBUG);
+        throw ex.getComponentErrorsEx();
+    }
+
+    return properties;
+}
+
+
+GET_PROPERTY_REFERENCE(Management::ROTBoolean, SRTDerotatorImpl, m_enabled_ptr, enabled);
+GET_PROPERTY_REFERENCE(ROSRTMinorServoCabinetStatus, SRTDerotatorImpl, m_drive_cabinet_status_ptr, drive_cabinet_status);
+GET_PROPERTY_REFERENCE(Management::ROTBoolean, SRTDerotatorImpl, m_block_ptr, block);
+GET_PROPERTY_REFERENCE(ROSRTMinorServoOperativeMode, SRTDerotatorImpl, m_operative_mode_ptr, operative_mode);
+GET_PROPERTY_REFERENCE(ACS::RObooleanSeq, SRTDerotatorImpl, m_physical_axes_enabled_ptr, physical_axes_enabled);
+GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTDerotatorImpl, m_physical_positions_ptr, physical_positions);
+GET_PROPERTY_REFERENCE(ACS::ROlong, SRTDerotatorImpl, m_virtual_axes_ptr, virtual_axes);
+GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTDerotatorImpl, m_plain_virtual_positions_ptr, plain_virtual_positions);
+GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTDerotatorImpl, m_virtual_positions_ptr, virtual_positions);
+GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTDerotatorImpl, m_virtual_offsets_ptr, virtual_offsets);
+GET_PROPERTY_REFERENCE(Management::ROTBoolean, SRTDerotatorImpl, m_tracking_ptr, tracking);
+GET_PROPERTY_REFERENCE(ACS::ROlong, SRTDerotatorImpl, m_trajectory_id_ptr, trajectory_id);
+GET_PROPERTY_REFERENCE(ACS::ROlong, SRTDerotatorImpl, m_total_trajectory_points_ptr, total_trajectory_points);
+GET_PROPERTY_REFERENCE(ACS::ROlong, SRTDerotatorImpl, m_remaining_trajectory_points_ptr, remaining_trajectory_points);
+GET_PROPERTY_REFERENCE(ACS::ROdouble, SRTDerotatorImpl, m_actual_position_ptr, actPosition);
+GET_PROPERTY_REFERENCE(ACS::RWdouble, SRTDerotatorImpl, m_commanded_position_ptr, cmdPosition);
+GET_PROPERTY_REFERENCE(ACS::ROdouble, SRTDerotatorImpl, m_position_difference_ptr, positionDiff);
+GET_PROPERTY_REFERENCE(ACS::ROpattern, SRTDerotatorImpl, m_status_ptr, status);
+
+MACI_DLL_SUPPORT_FUNCTIONS(SRTDerotatorImpl)
diff --git a/SRT/Servers/SRTMinorServo/src/SRTDerotatorStatusThread.cpp b/SRT/Servers/SRTMinorServo/src/SRTDerotatorStatusThread.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e9ddd980c5a9259e04426ab7b37212d047ab1181
--- /dev/null
+++ b/SRT/Servers/SRTMinorServo/src/SRTDerotatorStatusThread.cpp
@@ -0,0 +1,46 @@
+#include "SRTDerotatorStatusThread.h"
+
+using namespace MinorServo;
+
+SRTDerotatorStatusThread::SRTDerotatorStatusThread(const ACE_CString& name, SRTDerotatorImpl& component, const ACS::TimeInterval& response_time, const ACS::TimeInterval& sleep_time) :
+    ACS::Thread(name, response_time, sleep_time),
+    m_component(component),
+    m_sleep_time(this->getSleepTime())
+{
+    AUTO_TRACE("SRTDerotatorStatusThread::SRTDerotatorStatusThread()");
+}
+
+SRTDerotatorStatusThread::~SRTDerotatorStatusThread()
+{
+    AUTO_TRACE("SRTDerotatorStatusThread::~SRTDerotatorStatusThread()");
+}
+
+void SRTDerotatorStatusThread::onStart()
+{
+    AUTO_TRACE("SRTDerotatorStatusThread::onStart()");
+
+    ACS_LOG(LM_FULL_INFO, "SRTDerotatorStatusThread::onStart()", (LM_DEBUG, "STATUS THREAD STARTED"));
+}
+
+void SRTDerotatorStatusThread::onStop()
+{
+    AUTO_TRACE("SRTDerotatorStatusThread::onStop()");
+
+    ACS_LOG(LM_FULL_INFO, "SRTDerotatorStatusThread::onStop()", (LM_DEBUG, "STATUS THREAD STOPPED"));
+}
+
+void SRTDerotatorStatusThread::runLoop()
+{
+    AUTO_TRACE("SRTDerotatorStatusThread::runLoop()");
+
+    ACS::Time t0 = getTimeStamp();
+    unsigned long sleep_time = 10000000;
+
+    if(m_component.updateStatus())
+    {
+        // Update the sleep time in order to not drift away by adding latency
+        sleep_time = std::max(m_sleep_time - (getTimeStamp() - t0), (long unsigned int)0);
+    }
+
+    this->setSleepTime(sleep_time);
+}
diff --git a/SRT/Servers/SRTMinorServo/src/SRTMinorServoSetupThread.cpp b/SRT/Servers/SRTMinorServo/src/SRTMinorServoSetupThread.cpp
index cd6c05ca4c70a1deba59c0b4bf86cbf5012adc8e..f610aaf3eac3a8436da619bbba274b5d2ea7a35c 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTMinorServoSetupThread.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTMinorServoSetupThread.cpp
@@ -154,7 +154,7 @@ void SRTMinorServoSetupThread::runLoop()
             {
                 try
                 {
-                    if(servo->setup(m_core.m_commanded_setup.c_str(), m_core.m_as_configuration.load()))
+                    if(servo->setup(m_core.m_commanded_setup.c_str(), m_core.m_as_configuration.load() == Management::MNG_TRUE ? false : true))
                     {
                         m_core.m_current_servos[servo_name] = servo;
                         try
@@ -176,7 +176,7 @@ void SRTMinorServoSetupThread::runLoop()
                 }
             }
 
-            if(!m_core.m_as_configuration.load())
+            if(m_core.m_as_configuration.load() == Management::MNG_FALSE)
             {
                 // We commanded a configuration which does not use the active surface, therefore we need to send some slightly different coordinates with a preset command
 
diff --git a/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp b/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp
index 925881a89c035f9acab68fbd919400d9492af788..ec4bfdadaeb515808db919f77e3ea1a77ae8c470 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp
@@ -55,7 +55,7 @@ bool SRTProgramTrackMinorServoImpl::status()
 {
     bool status = SRTBaseMinorServoImpl::status();
 
-    ACS::doubleSeq virtual_positions = m_status.getVirtualPositions();
+    ACS::doubleSeq virtual_positions = m_status.getPlainVirtualPositions();
     std::vector<double> commanded_positions;
 
     SRTMinorServoOperativeMode operative_mode = m_status.getOperativeMode();
@@ -69,6 +69,7 @@ bool SRTProgramTrackMinorServoImpl::status()
             // The tracking timestamp is interpolated instead
             std::pair<ACS::Time, std::vector<double>> tracking_point = m_tracking_queue.get(last_timestamp);
             commanded_positions = tracking_point.second;
+            m_commanded_plain_virtual_positions = commanded_positions;
 
             m_remaining_trajectory_points.store(m_tracking_queue.getRemainingPoints(last_timestamp));
 
@@ -92,7 +93,11 @@ bool SRTProgramTrackMinorServoImpl::status()
     }
     else if(operative_mode == OPERATIVE_MODE_SETUP || operative_mode == OPERATIVE_MODE_PRESET)
     {
-        commanded_positions = m_commanded_virtual_positions;
+        commanded_positions = m_commanded_plain_virtual_positions;
+        for(size_t i = 0; i < m_virtual_axes; i++)
+        {
+            commanded_positions[i] += m_user_offsets[i] + m_system_offsets[i];
+        }
     }
     else
     {
@@ -149,11 +154,12 @@ void SRTProgramTrackMinorServoImpl::programTrack(CORBA::Long trajectory_id, CORB
 
     std::vector<double> coordinates(virtual_coordinates.get_buffer(), virtual_coordinates.get_buffer() + virtual_coordinates.length());
     ACS::doubleSeq offsets = m_status.getVirtualOffsets();
+    std::vector<double> coordinates_and_offsets = coordinates;
 
     for(size_t i = 0; i < m_virtual_axes; i++)
     {
-        double coordinate = coordinates[i] + offsets[i];
-        if(coordinate < m_min[i] || coordinate > m_max[i])
+        coordinates_and_offsets[i] += offsets[i];
+        if(coordinates_and_offsets[i] < m_min[i] || coordinates_and_offsets[i] > m_max[i])
         {
             _EXCPT(MinorServoErrors::TrackingErrorExImpl, ex, (m_servo_name + "::programTrack()").c_str());
             ex.addData("Reason", "Resulting position out of range, check the offsets!");
@@ -178,7 +184,7 @@ void SRTProgramTrackMinorServoImpl::programTrack(CORBA::Long trajectory_id, CORB
         // Clear the tracking queue to avoid interpolation between 2 different trajectories
         m_tracking_queue.clear();
     }
-    m_tracking_queue.put(point_time, coordinates);
+    m_tracking_queue.put(point_time, coordinates_and_offsets);
 }