Minor Servos

The SRT Minor Servo schema differs from the Medicina and Noto relative schemas. Below you can find its definition. The Medicina and Noto definition will be added in the future.

SRT Minor Servo

Status of the SRT DISCOS Minor Servos components.

type	object
node	minor_servo
properties
GFR	all the properties of
		Minor Servo Status
		type	object
		properties
		axes	all the properties of
				Axes
				type	object
				properties
				RZ	Rotation Axis info
				additionalProperties	False
M3R	all the properties of
		Minor Servo Status
		type	object
		properties
		axes	all the properties of
				Axes
				type	object
				properties
				RZ	Rotation Axis info
				additionalProperties	False
SRP	all the properties of
		Tracking Minor Servo Status
		type	object
		properties
		axes	all the properties of
				Axes
				type	object
				properties
				TX	Translation Axis info
				TY	Translation Axis info
				TZ	Translation Axis info
				RX	Rotation Axis info
				RY	Rotation Axis info
				RZ	Rotation Axis info
				additionalProperties	False
PFP	all the properties of
		Tracking Minor Servo Status
		type	object
		properties
		axes	all the properties of
				Axes
				type	object
				properties
				TX	Translation Axis info
				TZ	Translation Axis info
				RTHETA	Rotation Axis info
				additionalProperties	False
PLCFirmwareVersion	PLC Firmware Version
	Firmware version of the minor servo PLC controller.
	type	string
currentSetup	Current setup
	Current focal setup.
	type	string
emergency	Emergency
	Minor servo system in emergency status.
	type	boolean
errorCode	Error code
gregorianCoverPosition	Gregorian cover position
	Current position of the gregorian cover.
	type	string
	enum	UNKNOWN CLOSED OPEN
maintenanceMode	Maintenance mode
	Minor servo system in maintenance mode.
	type	boolean
motionInfo	Motion info
	Information regarding the motion status of the minor servo system.
	type	string
	enum	NOT CONFIGURED STARTING CONFIGURED TRACKING PARKING PARKED ERROR
scanning	Scanning
	Minor servo system is performing a scan.
	type	boolean
socketConnected	Socket connected
	Minor servo system socket is connected.
	type	boolean
status	System status
timestamp	Timestamp
tracking	Tracking
	Minor servo system is tracking the given coordinates.
	type	boolean
trackingEnabled	Tracking enabled
	Minor servo system will track the given coordinates.
	type	boolean

Translation Axis info

Minor servo translation axis information.

type	object
properties
currentPosition	Current position
	Current axis virtual position.
	type	number
	unit	mm
commandedPosition	Commanded position
	Axis commanded virtual position.
	type	number
	unit	mm
userOffset	User Offset
	Axis user offset.
	type	number
	unit	mm
systemOffset	System Offset
	Axis system offset.
	type	number
	unit	mm
trackingError	Tracking Error
	Axis tracking error.
	type	number
	unit	mm

Rotation Axis info

Minor servo rotation axis information.

type	object
properties
currentPosition	Current position
	Current axis virtual position.
	type	number
	unit	degrees
commandedPosition	Commanded position
	Axis commanded virtual position.
	type	number
	unit	degrees
userOffset	User Offset
	Axis user offset.
	type	number
	unit	degrees
systemOffset	System Offset
	Axis system offset.
	type	number
	unit	degrees
trackingError	Tracking Error
	Axis tracking error.
	type	number
	unit	degrees

Error code

Current error code, if present.

type	string
enum	NO ERROR SOCKET NOT CONNECTED SYSTEM IN MAINTENANCE MODE EMERGENCY STOP GREGORIAN COVER IN WRONG POSITION CONFIGURATION ERROR REMOTE COMMAND ERROR MINOR SERVO IS BLOCKED DRIVE CABINET ERROR

Minor Servo Status

Status of a minor servo component.

type	object
node	minor_servo.<minorServoName>
properties
blocked	Blocked
	Minor servo is blocked
	type	boolean
currentSetup	Current Setup
	Minor servo current setup.
	type	string
driveCabinetStatus	Drive Cabinet Status
	Status of the minor servo drive cabinet
	type	string
	enum	OK WARNING FAILURE
enabled	Enabled
	Minor servo is enabled.
	type	boolean
errorCode	Error code
inUse	In Use
	Minor servo is used in the current focal configuration.
	type	boolean
operativeMode	Operative Mode
	Minor servo current operative mode.
	type	string
	enum	UNKNOWN SETUP STOW STOP PRESET PROGRAM TRACK

Tracking Minor Servo Status

Status of a tracking minor servo component.

type	object
node	minor_servo.<minorServoName>
all the properties of
	Minor Servo Status
	properties
	remainingTrajectoryPoints	Remaining Trajectory Points
		Remaining number of points for the current trajectory.
		type	number
	totalTrajectoryPoints	Total Trajectory Points
		Total number of points of the current trajectory.
		type	number
	tracking	Tracking
		Minor servo is tracking.
		type	boolean
	trajectoryID	Trajectory ID
		ID of the current tracked trajectory.
		type	number

Axes

Minor servo axes information.

type	object
patternProperties
^(TX | TY | TZ)$	Translation Axis info
^(RX | RY | RZ | RTHETA)$	Rotation Axis info