commit old changes

2017-11-08 14:48:02 +01:00
parent ea9fbc6d47
commit 16e1bbb289
7 changed files with 918 additions and 28 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
 .tmp_versions/
 .idea/
+gather*/
 *~
 *.pyc
 usralgo.ko
--- a/ESB_MX.subs
+++ b/ESB_MX.subs
@@ -19,12 +19,12 @@


 file PPMACMotor.template {
-pattern {DESC    ,P       ,M             ,PORT       ,ADDR   ,DIR,VMAX,VELO,JVEL,HVEL,ACCL,JAR,MRES  ,PREC,EGU ,DHLM,DLLM}
-{ "Rotation Y"   ,"$(P_M)","MOTOR_ROT_Y" ,"$(PORT_M)","$(M1)",1  ,50  ,50  ,50  ,1   ,0.1 ,20 ,-0.001,3   ,"deg",0   ,0}
-{ "Translation X","$(P_M)","MOTOR_FX"    ,"$(PORT_M)","$(M2)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
-{ "Translation Y","$(P_M)","MOTOR_FY"    ,"$(PORT_M)","$(M3)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
-{ "CamBase X",    "$(P_M)","MOTOR_CAMX"  ,"$(PORT_M)","$(M4)",0  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
-{ "CamBase Y",    "$(P_M)","MOTOR_CAMY"  ,"$(PORT_M)","$(M5)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
-{ "TransBase X",  "$(P_M)","MOTOR_CX"    ,"$(PORT_M)","$(M7)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
-{ "TransBase Z",  "$(P_M)","MOTOR_CZ"    ,"$(PORT_M)","$(M8)",1  ,2   ,2   ,2   ,1   ,0.1 ,20 ,-0.001,3   ,"mm",0   ,0}
+pattern{ DESC              , P       , M            , PORT       , ADDR   , DIR, VELO, ACCL, JAR, MRES  , PREC, EGU  , DHLM, DLLM}
+       { "Rotation Y"      , "$(P_M)", "MOTOR_ROT_Y", "$(PORT_M)", "$(M1)", 1  , 50  , 0.1 , 20 , -0.001, 3   , "deg", 0   , 0   }
+       { "Sample F-Trans X", "$(P_M)", "MOTOR_FX"   , "$(PORT_M)", "$(M2)", 1  , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Sample F-Trans Y", "$(P_M)", "MOTOR_FY"   , "$(PORT_M)", "$(M3)", 1  , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "CamBase X"       , "$(P_M)", "MOTOR_CAMX" , "$(PORT_M)", "$(M4)", 1  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "CamBase Y"       , "$(P_M)", "MOTOR_CAMY" , "$(PORT_M)", "$(M5)", 0  , .3  , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Sample C-Trans X", "$(P_M)", "MOTOR_CX"   , "$(PORT_M)", "$(M7)", 1  , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
+       { "Sample C-Trans Z", "$(P_M)", "MOTOR_CZ"   , "$(PORT_M)", "$(M8)", 1  , 2   , 0.1 , 20 , -0.001, 3   , "mm" , 0   , 0   }
 }
--- a/PPMACMotor.template
+++ b/PPMACMotor.template
@@ -2,19 +2,20 @@ record(motor,"$(P):$(M)")
 {
    field(DESC,"$(DESC)")
    field(DTYP,"asynMotor")
-    field(OUT,"@asyn($(PORT),$(ADDR))")
-    field(DIR,"$(DIR)")
-    field(VMAX,"$(VMAX)")
-    field(VELO,"$(VELO)")
-    field(JVEL,"$(JVEL)")
-    field(HVEL,"$(HVEL)")
-    field(ACCL,"$(ACCL)")
-    field(JAR, "$(JAR)")
-    field(MRES,"$(MRES)")
-    field(PREC,"$(PREC)")
-    field(EGU,"$(EGU)")
-    field(DHLM,"$(DHLM)")
-    field(DLLM,"$(DLLM)")
+    field(OUT, "@asyn($(PORT),$(ADDR))")
+    field(DIR, $(DIR))
+    field(VMAX,$(VELO))
+    field(VELO,$(VELO))
+    field(JVEL,$(VELO))
+    field(HVEL,$(VELO))
+    field(ACCL,.1)
+    field(JAR, 20)
+    field(MRES,$(MRES))
+    field(PREC,$(PREC))
+    field(EGU, $(EGU))
+    field(DHLM,$(DHLM))
+    field(DLLM,$(DLLM))
+    field(RTRY,0)
 }

 record(asyn,"$(P):ASYN")
--- a/cfg/startOnTrigger.cfg
+++ b/cfg/startOnTrigger.cfg
@@ -0,0 +1,21 @@
+//changes the Timebase of coord system 1
+
+//modifies the timebase to start/stop a running program
+//this can also be used to adjust the execution speed
+
+open plc 1
+Coord[1].DesTimeBase=0       // freezes timebase at boot
+while(1)
+{
+  if(PowerBrick[0].GpioData[0].0.1==1)
+  {
+     PowerBrick[0].GpioData[0].16.8=255
+     Coord[1].DesTimeBase=Sys.ServoPeriod
+  }
+  else
+  {
+    PowerBrick[0].GpioData[0].16.8=7
+     Coord[1].DesTimeBase=0
+  }
+}
+close
--- a/cfg/testPerfGrid.cfg
+++ b/cfg/testPerfGrid.cfg
@@ -0,0 +1,834 @@
+define(PRG_GridXY='10',PRG_GridYX='11')
+
+
+
+//this program is generated with ./shapepath.py
+//cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg")
+//then modifiing start and end to not use gathering and to make a loop
+
+
+open prog PRG_GridXY
+N0:
+linearabs
+X505.488Y7.15189
+dwell10
+pvt10abs
+X505.488:2526.97Y7.15189:-85.15309999999999
+X556.028:4937.42Y5.44883:-34.6476
+X604.237:4917.41Y6.45894:173.445
+X654.376:5270Y8.917730000000001:-131.226
+X709.6369999999999:5177.07Y3.83442:-181.439
+X757.917:4802.19Y5.28895:271.078
+X805.6799999999999:4639.66Y9.25597:-220.883
+X850.71:4726.09Y0.871293:-46.4884
+X900.202:5353.56Y8.3262:391.441
+X957.782:5479.2Y8.70012:-16.7306
+X1009.79:4841.66Y7.99159:-44.7415
+X1054.61:4569.83Y7.80529:-79.61879999999999
+X1101.18:4840.94Y6.39921:82.0699
+X1151.43:5201.79Y9.44669:-112.63
+X1205.22:5060.6Y4.14662:-85.2176
+X1252.65:4967.15Y7.74234:76.886
+X1304.56:4877.12Y5.68434:-78.2991
+X1350.19:5077.97Y6.17635:24.25
+X1406.12:5462.48Y6.16934:32.0924
+X1459.44:2342.02Y6.8182:2250.9
+X1452.96:-2830.47Y51.1873:2219.19
+X1402.83:-4778.44Y51.202:-39.77
+X1357.39:-4653.02Y50.3919:242.324
+X1309.77:-4881.4Y56.0485:214.732
+X1259.76:-5069.41Y54.6865:-254.374
+X1208.38:-5077.73Y50.961:-185.775
+X1158.21:-5320.68Y50.971:136.313
+X1101.97:-5082.33Y53.6873:20.5408
+X1056.56:-5018.81Y51.3818:-129.175
+X1001.59:-5095.01Y51.1038:53.1213
+X954.663:-4752.93Y52.4443:71.45820000000001
+X906.5309999999999:-5128.72Y52.5329:-41.558
+X852.0890000000001:-4832.37Y51.6131:-75.6234
+X809.884:-4819.34Y51.0204:138.646
+X755.702:-5336.47Y54.386:130.833
+X703.154:-5179.91Y53.6371:-154.838
+X652.104:-4824.33Y51.2893:153.464
+X606.668:-4756.38Y56.7064:-34.3504
+X556.976:-5153.63Y50.6023:-116.803
+X503.595:-2689.82Y54.3703:2677.02
+X503.18:2352.32Y104.143:2627.72
+X550.641:5124.31Y106.925:-74.43680000000001
+X605.6660000000001:5229.55Y102.654:-299.266
+X655.232:5004.67Y100.939:331.953
+X705.759:4897.66Y109.293:286.735
+X753.186:4777.93Y106.674:-106.484
+X801.318:4985.42Y107.163:-242.11
+X852.894:5227.36Y101.832:-348.11
+X905.865:5269.77Y100.201:-89.2479
+X958.289:5045.65Y100.047:124.95
+X1006.78:4953.13Y102.7:478.747
+X1057.35:4785.47Y109.622:153.075
+X1102.49:4928.42Y105.762:-194.968
+X1155.92:4987.16Y105.723:188.296
+X1202.23:4927.54Y109.527:137.078
+X1254.47:5238.2Y108.464:-327.656
+X1306.99:5183.34Y102.974:-224.951
+X1358.14:5090.81Y103.965:141.918
+X1408.81:5033.97Y105.813:148.013
+X1458.82:2263.04Y106.925:2243.95
+X1454.07:-2537.21Y150.692:2438.28
+X1408.07:-5141.68Y155.691:389.421
+X1351.24:-5322.41Y158.48:23.2294
+X1301.62:-4987.19Y156.156:10.0589
+X1251.49:-4724.13Y158.681:191.644
+X1207.14:-5024.61Y159.988:25.6783
+X1151:-4954.02Y159.195:-147.479
+X1108.06:-4832.18Y157.039:-13.7796
+X1054.36:-4954.82Y158.919:-168.163
+X1008.97:-4891.88Y153.676:-230.252
+X956.521:-5161.11Y154.314:142.819
+X905.7430000000001:-5041.07Y156.532:79.7272
+X855.7:-5219.43Y155.909:-177.459
+X801.355:-4975.97Y152.983:-81.05200000000001
+X756.1799999999999:-4737.65Y154.288:-4.10236
+X706.602:-5299.41Y152.901:-63.5969
+X650.192:-5118.16Y153.016:158.158
+X604.239:-4531.55Y156.064:171.208
+X559.561:-4849.3Y156.44:-52.5344
+X507.253:-2629.33Y155.013:2404.78
+X506.974:2498.4Y204.535:2682.53
+X557.221:5139.05Y208.664:201.13
+X609.755:4644.83Y208.558:-253.202
+X650.117:4877.23Y203.6:-342.087
+X707.3:5254.66Y201.716:-152.82
+X755.21:4735Y200.543:-76.5539
+X802:5136.33Y200.185:84.7933
+X857.937:5072.68Y202.239:454.78
+X903.454:4955.36Y209.281:-96.0429
+X957.044:4909.67Y200.318:-153.301
+X1001.65:4936.41Y206.215:103.027
+X1055.77:5384.76Y202.379:-3.75622
+X1109.34:4979.2Y206.14:176.009
+X1155.36:4897.95Y205.899:-151.01
+X1207.3:4931.29Y203.119:-190.033
+X1253.98:4728.04Y202.098:316.214
+X1301.86:5170.66Y209.444:140.308
+X1357.4:5020.61Y204.905:-345.008
+X1402.27:4659.24Y202.544:-28.0211
+X1450.58:2525.11Y204.344:2666.21
+X1452.78:-2341.93Y255.868:2514.58
+X1403.74:-5035.08Y254.636:-81.04940000000001
+X1352.07:-4927.98Y254.247:-218.956
+X1305.18:-4976.76Y250.257:-105.687
+X1252.54:-4785.42Y252.133:352.597
+X1209.47:-4783.23Y257.309:1.09785
+X1156.87:-5380.87Y252.155:110.968
+X1101.86:-5206.97Y259.528:291.27
+X1052.74:-4778.33Y257.98:-40.0705
+X1006.29:-4842.61Y258.727:16.5008
+X955.883:-5154.48Y258.31:-244.593
+X903.2:-5283.83Y253.835:-36.3349
+X850.207:-4828.47Y257.584:-60.0708
+X806.631:-4515.16Y252.633:-270.741
+X759.903:-5063.25Y252.169:316.674
+X705.366:-5155.47Y258.967:118.4
+X656.794:-5255.95Y254.537:-414.711
+X600.247:-5150.82Y250.672:-137.047
+X553.778:-4856.44Y251.796:314.547
+X503.118:-2256.95Y256.963:2468.96
+X508.639:2602.79Y301.175:2217.86
+X555.174:4926.5Y301.321:139.264
+X607.169:5024.02Y303.961:25.6059
+X655.654:4713.99Y301.833:45.9983
+X701.448:4895.1Y304.881:378.576
+X753.556:5310.24Y309.404:130.304
+X807.653:5274.05Y307.487:-428.505
+X859.037:4893.43Y300.834:-82.0938
+X905.522:5029.11Y305.845:104.363
+X959.619:4844.32Y302.921:-242.091
+X1002.41:4527.25Y301.003:318.691
+X1050.16:5214.54Y309.295:342.429
+X1106.7:5132.65Y307.852:-171.56
+X1152.82:4697.02Y305.864:-149.763
+X1200.64:5347.88Y304.856:145.048
+X1259.77:5137.1Y308.765:237.971
+X1303.38:4627.1Y309.616:36.4068
+X1352.32:5301.61Y309.493:-81.18380000000001
+X1409.41:5199.37Y307.992:-37.5154
+X1456.3:2459.59Y308.743:2463.92
+X1458.61:-2604.95Y357.27:2341.54
+X1404.21:-5094.25Y355.574:-240.839
+X1356.72:-5170.51Y352.454:-233.883
+X1300.8:-4950.73Y350.896:-49.2103
+X1257.71:-4676.96Y351.469:-39.0878
+X1207.26:-5319.05Y350.114:-46.7597
+X1151.32:-5159.18Y350.534:110.403
+X1104.07:-4899.67Y352.322:13.8371
+X1053.33:-4750.34Y350.811:270.907
+X1009.07:-4680.11Y357.74:439.867
+X959.729:-5404.36Y359.608:44.0721
+X900.978:-5230.8Y358.622:-368.259
+X855.1130000000001:-4637.86Y352.243:-336.172
+X808.221:-5071.37Y351.898:-43.7084
+X753.686:-5162.36Y351.369:224.812
+X704.974:-4693.38Y356.395:170.735
+X659.818:-5075.08Y354.784:-245.666
+X603.472:-5181.98Y351.481:-232.567
+X556.179:-5027.11Y350.132:350.401
+X502.93:-2673.77Y358.489:2559.12
+X502.703:2381.18Y401.315:2226.33
+X550.554:4995.9Y403.016:162.329
+X602.621:5313.95Y404.561:197.013
+X656.833:5010.7Y406.956:-38.1068
+X702.835:4748.93Y403.799:46.46
+X751.812:4886.66Y407.885:158.535
+X800.568:5298.77Y406.97:-5.56898
+X857.787:5101.29Y407.774:-161.592
+X902.5940000000001:4904.45Y403.738:-252.293
+X955.876:5055.72Y402.728:-88.3794
+X1003.71:4936.13Y401.971:-114.105
+X1054.6:5214.47Y400.446:-60.0489
+X1108:5029.49Y400.77:131.099
+X1155.19:4888.87Y403.068:441.238
+X1205.78:5063.37Y409.594:-135.724
+X1256.46:4926.43Y400.354:-224.708
+X1304.3:4945.3Y405.1:323.015
+X1355.36:4923.6Y406.814:-190.578
+X1402.78:4928.25Y401.289:137.507
+X1453.93:2369.37Y409.564:2528.19
+X1450.16:-2518.65Y451.852:2200.15
+X1403.55:-4991.51Y453.567:386.875
+X1350.33:-5048.34Y459.59:246.166
+X1302.59:-4985.3Y458.49:-267.475
+X1250.63:-4814.89Y454.24:-225.302
+X1206.29:-4623.59Y453.984:-132.309
+X1158.16:-4904.07Y451.594:255.205
+X1108.21:-4931.82Y459.088:208.168
+X1059.52:-4981.52Y455.758:-225.81
+X1008.58:-5246.87Y454.572:7.6165
+X954.581:-5030.67Y455.91:250.972
+X907.9640000000001:-5109.06Y459.592:-215.223
+X852.4:-5019.81Y451.605:-161.553
+X807.568:-4770.2Y456.361:83.5908
+X756.996:-4926.37Y453.277:26.982
+X709.04:-4987.73Y456.9:35.6525
+X657.242:-5011Y453.99:-115.711
+X608.8200000000001:-5090.18Y454.586:28.943
+X555.438:-5347.46Y454.569:222.69
+X501.871:-2571.27Y459.04:2736.19
+X504.013:2456.24Y509.293:2520.66
+X550.996:5234.11Y509.453:-237.565
+X608.6950000000001:5113.54Y504.542:-356.279
+X653.2670000000001:4872.49Y502.327:-210.544
+X706.145:4844.45Y500.331:98.0258
+X750.1559999999999:4726.8Y504.288:109.433
+X800.681:5102.78Y502.519:-87.8023
+X852.212:5031.49Y502.532:-119.952
+X901.311:4947.16Y500.12:182.645
+X951.155:5421.6Y506.185:489.154
+X1009.74:5146.78Y509.903:-227.763
+X1054.09:4832.25Y501.63:-250.02
+X1106.39:5290.18Y504.903:-48.8251
+X1159.89:5072.24Y500.653:-100.953
+X1207.83:4626Y502.884:298.6
+X1252.41:4731.41Y506.625:188.73
+X1302.46:5137.94Y506.659:-119.208
+X1355.17:5154.31Y504.241:-189.404
+X1405.55:5094.63Y502.871:-4.61606
+X1457.07:2719.86Y504.149:2582.39
+X1459.94:-2503.5Y554.518:2776.55
+X1407:-5027.1Y559.6799999999999:149.472
+X1359.4:-5032.79Y557.508:-50.3381
+X1306.34:-5218.91Y558.673:95.90940000000001
+X1255.02:-4897.4Y559.426:-314.774
+X1208.39:-5026.55Y552.377:-319.058
+X1154.49:-5300.69Y553.045:-32.9444
+X1102.38:-5037.5Y551.7190000000001:222.16
+X1053.74:-4982.69Y557.4880000000001:103.602
+X1002.72:-4821.79Y553.7910000000001:66.46599999999999
+X957.307:-4791.33Y558.817:-160.35
+X906.898:-4889.88Y550.5839999999999:-324.15
+X859.51:-5220.17Y552.3339999999999:23.7749
+X802.494:-5327.2Y551.059:379.295
+X752.966:-4640.22Y559.92:399.521
+X709.6900000000001:-4740.79Y559.049:-3.25991
+X658.15:-5368.17Y559.855:-278.214
+X602.326:-4945Y553.485:-469.742
+X559.25:-4936.04Y550.46:240.069
+X503.605:-2927.05Y558.287:2623.39
+X500.709:2395.9Y602.928:2294.41
+X551.524:5030.21Y604.175:155.662
+X601.313:5115.23Y606.0410000000001:238.95
+X653.828:5418.25Y608.954:-28.6165
+X709.678:4946.01Y605.4690000000001:-151.578
+X752.748:4964.48Y605.922:-70.0758
+X808.968:5138.63Y604.067:-160.289
+X855.521:4779.34Y602.717:-2.50991
+X904.554:4848.17Y604.0170000000001:117.107
+X952.484:4927.47Y605.059:-14.3393
+X1003.1:5138.28Y603.73:122.364
+X1055.25:5011.56Y607.506:275.562
+X1103.34:5168.67Y609.242:-350.952
+X1158.62:4960.07Y600.487:-239.012
+X1202.54:4621.15Y604.461:149.893
+X1251.05:5243.23Y603.485:117.189
+X1307.4:5258.88Y606.8049999999999:181.026
+X1356.22:4732.41Y607.105:-169.408
+X1402.05:5026.93Y603.417:84.3532
+X1456.76:2709.19Y608.792:2772.63
+X1456.23:-2724.24Y658.87:2265.53
+X1402.28:-4964.67Y654.103:-398.038
+X1356.94:-4892.86Y650.909:54.8254
+X1304.42:-4951.56Y655.2:3.1786
+X1257.91:-4966.11Y650.972:-92.99379999999999
+X1205.1:-5047.18Y653.34:358.218
+X1156.96:-4773.52Y658.1369999999999:-158.547
+X1109.63:-5048.05Y650.169:-112.47
+X1056:-5480.03Y655.8869999999999:315.162
+X1000.03:-4964.22Y656.472:180.061
+X956.72:-4712.78Y659.489:24.0367
+X905.771:-5231.1Y656.953:-416.579
+X852.097:-4977.45Y651.157:-208.101
+X806.222:-5092.72Y652.7910000000001:113.454
+X750.2430000000001:-5266.37Y653.426:63.4372
+X700.895:-4746.89Y654.059:289.75
+X655.3049999999999:-5040.81Y659.221:-16.6316
+X600.079:-5250.15Y653.727:-105.887
+X550.302:-4732.1Y657.103:-44.9897
+X505.437:-2205.7Y652.827:2211.56
+X506.188:2718.45Y701.335:2794.54
+X559.806:4941.95Y708.718:394.443
+X605.027:4780.4Y709.223:25.7602
+X655.414:5163.59Y709.2329999999999:22.9692
+X708.299:5189.2Y709.683:-443.636
+X759.198:4672.44Y700.36:-289.576
+X801.748:5016.18Y703.891:131.998
+X859.521:4992.85Y703:248.585
+X901.605:4747.13Y708.8630000000001:303.923
+X954.4640000000001:4999.88Y709.079:-112.594
+X1001.6:4996.93Y706.611:-415.694
+X1054.4:5268.12Y700.765:-206.859
+X1106.96:4799.68Y702.474:-8.271240000000001
+X1150.4:4682.31Y700.599:330.167
+X1200.61:5350.13Y709.077:419.059
+X1257.4:5305.75Y708.981:-189.397
+X1306.73:4782.28Y705.289:49.9499
+X1353.04:4844.8Y709.98:-29.1455
+X1403.62:5036.9Y704.706:-9.21766
+X1453.78:2613.75Y709.795:2637.37
+X1455.9:-2630.46Y757.454:2063.74
+X1401.17:-4908.31Y751.0700000000001:106.671
+X1357.73:-4842.52Y759.587:207.496
+X1304.32:-5355.22Y755.22:-358.42
+X1250.63:-5048.39Y752.419:-187.155
+X1203.35:-4649.04Y751.477:228.173
+X1157.65:-4679.64Y756.982:371.054
+X1109.76:-5063.49Y758.898:57.4027
+X1056.38:-5312.17Y758.131:-84.1935
+X1003.52:-5120.16Y757.2140000000001:93.1121
+X953.973:-4880.43Y759.9930000000001:-31.1151
+X905.91:-5150.23Y756.592:-327.943
+X850.968:-4810.27Y753.434:-262.869
+X809.705:-4820.14Y751.3339999999999:-2.95717
+X754.5650000000001:-5227.99Y753.375:117.244
+X705.145:-5086.26Y753.679:-49.5321
+X652.84:-4953.63Y752.384:54.8595
+X606.072:-4801.83Y754.776:-87.6028
+X556.803:-5216.3Y750.6319999999999:-74.8293
+X501.747:-2416.1Y753.28:2936.31
+X508.482:2904.38Y809.3579999999999:2535.91
+X559.8339999999999:4766.09Y803.998:-394.012
+X603.803:4850.75Y801.478:128.48
+X656.849:5240.86Y806.568:-25.2753
+X708.621:4906.42Y800.973:-37.84
+X754.978:4689.75Y805.811:35.8837
+X802.4160000000001:5180.9Y801.6900000000001:-261.274
+X858.596:5114.53Y800.585:-26.5957
+X904.706:4798.74Y801.158:460.714
+X954.571:4976.54Y809.8:370.645
+X1004.24:4830.13Y808.571:-354.355
+X1051.17:4990.04Y802.713:-228.656
+X1104.04:5277.03Y803.998:36.733
+X1156.71:5154.99Y803.447:119.687
+X1207.14:4863.89Y806.3920000000001:43.521
+X1253.99:4950.38Y804.318:-284.572
+X1306.15:5211.62Y800.7:110.831
+X1358.22:5055.91Y806.534:233.44
+X1407.26:4644.04Y805.369:-124.193
+X1451.1:2311.55Y804.05:2622.28
+X1453.49:-2338.75Y857.8150000000001:2561.6
+X1404.33:-5098.04Y855.282:-290.942
+X1351.53:-4829.76Y851.996:-35.9123
+X1307.73:-4995.62Y854.564:180.043
+X1251.62:-5353.93Y855.597:199.933
+X1200.66:-4948.54Y858.563:-246.766
+X1152.65:-4922.1Y850.6609999999999:-378.131
+X1102.21:-5092.25Y851:9.580730000000001
+X1050.81:-4924.09Y850.853:61.4249
+X1003.73:-4781.19Y852.229:378.733
+X955.181:-5091.32Y858.428:-101.87
+X901.9059999999999:-4996.98Y850.191:-238.838
+X855.242:-4827.83Y853.651:192.56
+X805.349:-4828.51Y854.042:-167.955
+X758.672:-4787.89Y850.292:-150.473
+X709.591:-5081.97Y851.033:302.798
+X657.032:-5424.68Y856.348:251.505
+X601.098:-5336.63Y856.063:51.234
+X550.3:-4852.21Y857.373:-142.633
+X504.054:-2139.46Y853.21:2594.98
+X507.51:2311.79Y909.272:2787.32
+X550.29:4820.77Y908.957:-24.4197
+X603.926:5330.92Y908.784:45.8287
+X656.908:5183.36Y909.873:-256.914
+X707.593:4905.14Y903.645:-305.48
+X755.011:4802.81Y903.764:-51.8201
+X803.649:4997.45Y902.609:152.675
+X854.96:4956.21Y906.817:131.738
+X902.773:4810.7Y905.244:-260.947
+X951.174:4884.73Y901.598:223.176
+X1000.47:4943.24Y909.707:9.36734
+X1050.04:5283.03Y901.7859999999999:-444.681
+X1106.13:5439.02Y900.814:270.52
+X1158.82:5176.76Y907.196:213.133
+X1209.66:4709.25Y905.076:-85.0598
+X1253:4982.21Y905.495:6.56295
+X1309.31:4983.4Y905.208:163.949
+X1352.67:4720.55Y908.774:-259.689
+X1403.72:4990.24Y900.014:-279.583
+X1452.48:2439.24Y903.182:2741.01
+X1452.5:-2427.94Y954.8339999999999:2461.97
+X1403.92:-4637.26Y952.422:224.584
+X1359.76:-4897.68Y959.326:-62.3265
+X1305.96:-5203.83Y951.175:-343.002
+X1255.68:-5085.89Y952.466:-4.95397
+X1204.25:-5132.01Y951.076:-85.5989
+X1153.04:-5161.12Y950.754:24.3828
+X1101.02:-4730.67Y951.564:371.337
+X1058.43:-4981.67Y958.1799999999999:135.261
+X1001.39:-5032.34Y954.269:13.1008
+X957.782:-4842.99Y958.442:33.5267
+X904.5309999999999:-4927.71Y954.9400000000001:-275.079
+X859.228:-5118.32Y952.941:-163.955
+X802.165:-5123.53Y951.66:-24.5936
+X756.7569999999999:-4625.15Y952.449:312.916
+X709.6609999999999:-4841.9Y957.919:65.9259
+X659.919:-5042.73Y953.7670000000001:76.5736
+X608.807:-5273.65Y959.45:-20.3195
+X554.446:-5010.95Y953.361:-243.262
+X508.588:-2292.9Y954.585:61.2005
+X508.588:0Y954.585:0
+X508.588Y954.585
+dwell10
+goto 0
+close
+
+
+
+open prog PRG_GridYX
+N0:
+linearabs
+X505.488 Y7.15189
+dwell 10
+  pvt10 abs
+X505.488:-94.6528 Y7.15189:2360.92
+X503.595:-115.415 Y54.3703:4849.54
+X503.18:182.873 Y104.143:5032.15
+X507.253:189.723 Y155.013:5019.64
+X506.974:-206.729 Y204.535:5097.51
+X503.118:83.2134 Y256.963:4831.99
+X508.639:-9.3878 Y301.175:5076.3
+X502.93:-296.764 Y358.489:5006.98
+X502.703:-52.9447 Y401.315:5027.52
+X501.871:65.4658 Y459.04:5398.9
+X504.013:86.7073 Y509.293:4962.34
+X503.605:-165.195 Y558.287:4681.75
+X500.709:91.5662 Y602.928:4727.02
+X505.437:273.978 Y652.827:4920.33
+X506.188:-184.51 Y701.335:5022.64
+X501.747:114.662 Y753.28:5401.19
+X508.482:115.358 Y809.358:4996.53
+X504.054:-48.5644 Y853.21:4995.69
+X507.51:226.702 Y909.272:5068.73
+X508.588:2346.78 Y954.585:2204.45
+X554.446:2085.09 Y953.361:-2281.41
+X550.29:-207.318 Y908.957:-4799.42
+X550.3:477.237 Y857.373:-5247.94
+X559.834:325.199 Y803.998:-5337.02
+X556.803:-1.42305 Y750.632:-4764.01
+X559.806:-325.057 Y708.718:-4676.44
+X550.302:-414.113 Y657.103:-5227.15
+X551.524:447.366 Y604.175:-5332.16
+X559.25:-26.3699 Y550.46:-4736.09
+X550.996:-190.58 Y509.453:-4794.55
+X555.438:-22.1203 Y454.569:-5321.85
+X550.554:37.0354 Y403.016:-5221.84
+X556.179:231.002 Y350.132:-5084.77
+X555.174:-120.062 Y301.321:-4916.82
+X553.778:102.338 Y251.796:-4632.84
+X557.221:289.166 Y208.664:-4767.81
+X559.561:-328.954 Y156.44:-5086.96
+X550.641:-129.226 Y106.925:-5291.88
+X556.976:269.308 Y50.6023:-5073.79
+X556.028:2363.01 Y5.44883:-2207.17
+X604.237:2532 Y6.45894:2562.88
+X606.668:71.4733 Y56.7064:4809.75
+X605.666:-121.456 Y102.654:4967.88
+X604.239:204.46 Y156.064:5295.21
+X609.755:-199.588 Y208.558:4730.43
+X600.247:-129.331 Y250.672:4770.13
+X607.169:161.277 Y303.961:5040.45
+X603.472:-227.371 Y351.481:5030.04
+X602.621:267.404 Y404.561:5155.23
+X608.82:303.685 Y454.586:4999.01
+X608.695:-324.707 Y504.542:4944.96
+X602.326:-369.1 Y553.485:5074.98
+X601.313:-112.371 Y606.041:5012.08
+X600.079:185.716 Y653.727:5159.12
+X605.027:299.683 Y709.223:5052.48
+X606.072:-61.1928 Y754.776:4612.73
+X603.803:-248.732 Y801.478:5064.33
+X601.098:6.1168 Y856.063:5365.28
+X603.926:385.447 Y908.784:5169.36
+X608.807:2799.66 Y959.45:2249.18
+X659.919:2405.05 Y953.767:-2478.84
+X656.908:-144.336 Y909.873:-4870.98
+X657.032:-2.92517 Y856.348:-5165.29
+X656.849:-209.609 Y806.568:-5198.19
+X652.84:-71.7768 Y752.384:-4866.73
+X655.414:123.269 Y709.233:-4658.15
+X655.305:-79.2864 Y659.221:-5013.96
+X653.828:142.215 Y608.954:-4968.31
+X658.15:-28.0536 Y559.855:-5331.32
+X653.267:-45.3994 Y502.327:-5293.23
+X657.242:178.29 Y453.99:-4768.56
+X656.833:128.831 Y406.956:-4960.33
+X659.818:-58.93 Y354.784:-5256.17
+X655.654:-151.218 Y301.833:-5012.34
+X656.794:-276.854 Y254.537:-4911.65
+X650.117:-330.1 Y203.6:-5076.06
+X650.192:255.767 Y153.016:-5133.02
+X655.232:95.5947 Y100.939:-5086.32
+X652.104:-42.8304 Y51.2893:-4601.08
+X654.376:2876.64 Y8.91773:-2372.74
+X709.637:2438.92 Y3.83442:2235.97
+X703.154:-193.858 Y53.6371:5272.93
+X705.759:172.373 Y109.293:4963.18
+X706.602:77.022 Y152.901:4621.17
+X707.3:-61.7972 Y201.716:5303.3
+X705.366:-292.571 Y258.967:5158.21
+X701.448:-19.5939 Y304.881:4871.4
+X704.974:69.3355 Y356.395:4945.94
+X702.835:203.327 Y403.799:5025.28
+X709.04:165.473 Y456.9:4826.57
+X706.145:32.4637 Y500.331:5107.46
+X709.69:176.665 Y559.049:5256.91
+X709.678:-439.739 Y605.469:4750.5
+X700.895:-68.9487 Y654.059:5210.7
+X708.299:212.509 Y709.683:4980.99
+X705.145:16.0826 Y753.679:4564.49
+X708.621:222.315 Y800.973:4867.69
+X709.591:-51.3901 Y851.033:5133.64
+X707.593:3.5026 Y903.645:5344.29
+X709.661:2458.2 Y957.919:2440.17
+X756.757:2267.46 Y952.449:-2707.75
+X755.011:95.739 Y903.764:-5107.85
+X758.672:-1.64313 Y850.292:-4897.65
+X754.978:-205.324 Y805.811:-4845.86
+X754.565:211.003 Y753.375:-5272.52
+X759.198:-216.103 Y700.36:-4997.43
+X750.243:-322.48 Y653.426:-4721.9
+X752.748:136.122 Y605.922:-4675.3
+X752.966:-129.609 Y559.92:-5081.72
+X750.156:201.533 Y504.288:-5332.15
+X756.996:82.7724 Y453.277:-4820.13
+X751.812:-165.519 Y407.885:-5095.41
+X753.686:87.2309 Y351.369:-4924.06
+X753.556:310.877 Y309.404:-4960
+X759.903:82.7119 Y252.169:-5443.05
+X755.21:-186.162 Y200.543:-4894.06
+X756.18:-101.234 Y154.288:-4693.46
+X753.186:-23.9093 Y106.674:-4995.08
+X755.702:236.578 Y54.386:-5069.26
+X757.917:2498.92 Y5.28895:-2256.5
+X805.68:2598.32 Y9.25597:2286.57
+X809.884:-218.123 Y51.0204:4895.37
+X801.318:-426.45 Y107.163:5098.12
+X801.355:34.0993 Y152.983:4651.1
+X802:263.802 Y200.185:4982.52
+X806.631:282.664 Y252.633:5365.07
+X807.653:79.5198 Y307.487:4963.26
+X808.221:-354.239 Y351.898:4974.17
+X800.568:-32.6695 Y406.97:5223.11
+X807.568:5.613 Y456.361:4777.47
+X800.681:-253.679 Y502.519:4734.92
+X802.494:414.344 Y551.059:5077.4
+X808.968:186.406 Y604.067:5086.58
+X806.222:-360.995 Y652.791:4991.2
+X801.748:174.131 Y703.891:4927.19
+X809.705:33.3925 Y751.334:4889.95
+X802.416:-217.788 Y801.69:5135.4
+X805.349:61.6774 Y854.042:5045.94
+X803.649:-159.23 Y902.609:4880.9
+X802.165:2778.92 Y951.66:2516.59
+X859.228:2639.76 Y952.941:-2242.15
+X854.96:-199.286 Y906.817:-4964.49
+X855.242:181.805 Y853.651:-5311.6
+X858.596:-213.69 Y800.585:-5010.85
+X850.968:46.2809 Y753.434:-4879.25
+X859.521:56.473 Y703:-5113.84
+X852.097:-200.032 Y651.157:-5014.19
+X855.521:370.601 Y602.717:-4941.14
+X859.51:-165.459 Y552.334:-5009.23
+X852.212:-355.466 Y502.532:-5036.44
+X852.4:278.767 Y451.605:-4737.89
+X857.787:135.649 Y407.774:-4968.11
+X855.113:62.5122 Y352.243:-5346.99
+X859.037:-245.334 Y300.834:-4732.97
+X850.207:-55.011 Y257.584:-4929.75
+X857.937:274.657 Y202.239:-5083.75
+X855.7:-252.146 Y155.909:-5020.37
+X852.894:-180.544 Y101.832:-5214.78
+X852.089:-109.185 Y51.6131:-5048.03
+X850.71:2405.67 Y0.871293:-2164.34
+X900.202:2791.04 Y8.3262:2583.08
+X906.531:283.147 Y52.5329:4593.74
+X905.865:-39.3915 Y100.201:5199.95
+X905.743:-120.581 Y156.532:5453.99
+X903.454:-127.154 Y209.281:4865.13
+X903.2:103.42 Y253.835:4828.2
+X905.522:-111.086 Y305.845:5239.36
+X900.978:-146.385 Y358.622:4894.67
+X902.594:349.273 Y403.738:5048.49
+X907.964:-64.1837 Y459.592:4819.11
+X901.311:-53.3116 Y500.12:4549.59
+X906.898:162.194 Y550.584:5194.84
+X904.554:-56.314 Y604.017:5318.46
+X905.771:-147.488 Y656.953:5242.3
+X901.605:6.94333 Y708.863:4981.95
+X905.91:155.077 Y756.592:4614.76
+X904.706:-200.23 Y801.158:4679.97
+X901.906:-96.6403 Y850.191:5204.27
+X902.773:131.264 Y905.244:5237.42
+X904.531:2750.42 Y954.94:2659.93
+X957.782:2332.14 Y958.442:-2667.06
+X951.174:-130.011 Y901.598:-5000.73
+X955.181:169.839 Y858.428:-4589.94
+X954.571:-60.4465 Y809.8:-4921.75
+X953.973:-5.33217 Y759.993:-5036.04
+X954.464:137.35 Y709.079:-5025.21
+X956.72:-98.9905 Y659.489:-5201
+X952.484:29.376 Y605.059:-5033.57
+X957.307:-66.4646 Y558.817:-4943.69
+X951.155:-136.285 Y506.185:-5145.37
+X954.581:236.058 Y455.91:-5172.83
+X955.876:257.39 Y402.728:-4815.07
+X959.729:187.168 Y359.608:-4990.34
+X959.619:-192.301 Y302.921:-5064.89
+X955.883:-128.761 Y258.31:-5130.15
+X957.044:31.8931 Y200.318:-5199.82
+X956.521:62.2628 Y154.314:-5013.57
+X958.289:-92.8962 Y100.047:-5093.5
+X954.663:-25.3916 Y52.4443:-4567.34
+X957.782:2756.15 Y8.70012:-2222.63
+X1009.79:2190.41 Y7.99159:2120.18
+X1001.59:-150.401 Y51.1038:4735.42
+X1006.78:368.789 Y102.7:5128.59
+X1008.97:-256.561 Y153.676:5175.74
+X1001.65:-133.782 Y206.215:5252.54
+X1006.29:38.0673 Y258.727:4739.41
+X1002.41:138.787 Y301.003:4950.7
+X1009.07:65.012 Y357.74:5048.38
+X1003.71:-24.4164 Y401.971:4841.59
+X1008.58:301.702 Y454.572:5396.65
+X1009.74:-292.643 Y509.903:4960.92
+X1002.72:-331.938 Y553.791:4691.34
+X1003.1:-134.867 Y603.73:5134.07
+X1000.03:-75.0752 Y656.472:5144.04
+X1001.6:174.595 Y706.611:5037.11
+X1003.52:131.738 Y757.214:5098
+X1004.24:10.6615 Y808.571:4750.73
+X1003.73:-188.45 Y852.229:5056.8
+X1000.47:-117.072 Y909.707:5102.02
+X1001.39:2898.02 Y954.269:2423.65
+X1058.43:2432.39 Y958.18:-2624.16
+X1050.04:-381.161 Y901.786:-5366.36
+X1050.81:56.7276 Y850.853:-4953.66
+X1051.17:278.525 Y802.713:-4636.13
+X1056.38:161.474 Y758.131:-5097.38
+X1054.4:-18.5952 Y700.765:-5112.16
+X1056:42.3533 Y655.887:-4662.95
+X1055.25:-113.048 Y607.506:-4919.98
+X1053.74:-57.9582 Y557.488:-5293.82
+X1054.09:288.789 Y501.63:-5086.52
+X1059.52:25.4009 Y455.758:-5059.17
+X1054.6:-309.365 Y400.446:-5247.32
+X1053.33:-221.713 Y350.811:-4557.54
+X1050.16:-29.8016 Y309.295:-4641.53
+X1052.74:280.399 Y257.98:-5345.82
+X1055.77:81.1614 Y202.379:-4953.06
+X1054.36:78.9827 Y158.919:-4637.85
+X1057.35:110.232 Y109.622:-5376.87
+X1056.56:-136.857 Y51.3818:-5090.83
+X1054.61:2230.97 Y7.80529:-2249.13
+X1101.18:2367.55 Y6.39921:2294.1
+X1101.97:65.2394 Y53.6873:4968.12
+X1102.49:304.806 Y105.762:5167.58
+X1108.06:342.73 Y157.039:5018.9
+X1109.34:-310.279 Y206.14:5124.45
+X1101.86:-132.149 Y259.528:5085.59
+X1106.7:110.803 Y307.852:4639.72
+X1104.07:64.9397 Y352.322:4645.9
+X1108:206.763 Y400.77:5338.3
+X1108.21:-80.5171 Y459.088:5206.67
+X1106.39:-291.48 Y504.903:4631.5
+X1102.38:-152.627 Y551.719:5216.93
+X1103.34:362.482 Y609.242:4922.51
+X1109.63:181.478 Y650.169:4661.62
+X1106.96:6.72767 Y702.474:5436.46
+X1109.76:-146.335 Y758.898:5076.21
+X1104.04:-377.415 Y803.998:4605.11
+X1102.21:104.537 Y851:4840.78
+X1106.13:-59.4913 Y900.814:5028.18
+X1101.02:2345.67 Y951.564:2496.99
+X1153.04:2889.74 Y950.754:-2218.38
+X1158.82:-19.5795 Y907.196:-5004.6
+X1152.65:-105.257 Y850.661:-5187.45
+X1156.71:249.761 Y803.447:-4683.95
+X1157.65:-315.884 Y756.982:-5142.39
+X1150.4:-34.0398 Y700.599:-4942.28
+X1156.96:411.352 Y658.137:-5005.63
+X1158.62:-123.595 Y600.487:-5254.61
+X1154.49:63.5456 Y553.045:-4991.69
+X1159.89:183.116 Y500.653:-5072.53
+X1158.16:-235.287 Y451.594:-4879.25
+X1155.19:-341.518 Y403.068:-5052.99
+X1151.32:-118.553 Y350.534:-4860.2
+X1152.82:277.5 Y305.864:-4918.96
+X1156.87:126.951 Y252.155:-4998.25
+X1155.36:-293.631 Y205.899:-4648.01
+X1151:28.2046 Y159.195:-5008.83
+X1155.92:360.383 Y105.723:-5411.19
+X1158.21:-224.344 Y50.971:-4813.79
+X1151.43:2350.43 Y9.44669:-2341.22
+X1205.22:2847.3 Y4.14662:2075.71
+X1208.38:-149.383 Y50.961:5269.04
+X1202.23:-61.8518 Y109.527:5451.37
+X1207.14:253.52 Y159.988:4679.6
+X1207.3:116.565 Y203.119:4866
+X1209.47:-333.083 Y257.309:5086.84
+X1200.64:-110.888 Y304.856:4640.29
+X1207.26:256.794 Y350.114:5236.9
+X1205.78:-48.348 Y409.594:5193.5
+X1206.29:102.846 Y453.984:4664.48
+X1207.83:105.145 Y502.884:4919.65
+X1208.39:-264.796 Y552.377:5078.87
+X1202.54:-164.691 Y604.461:5048.11
+X1205.1:-96.282 Y653.34:5230.8
+X1200.61:-87.1545 Y709.077:4906.86
+X1203.35:326.344 Y751.477:4865.73
+X1207.14:-134.947 Y806.392:5354.3
+X1200.66:126.312 Y858.563:4934.22
+X1209.66:179.529 Y905.076:4625.67
+X1204.25:2300.91 Y951.076:2369.46
+X1255.68:2437.87 Y952.466:-2279.06
+X1253:-203.049 Y905.495:-4843.44
+X1251.62:49.3787 Y855.597:-5058.87
+X1253.99:-49.7421 Y804.318:-5158.89
+X1250.63:170.361 Y752.419:-4766.85
+X1257.4:364.102 Y708.981:-5072.33
+X1257.91:-317.628 Y650.972:-5274.79
+X1251.05:-144.225 Y603.485:-4577.33
+X1255.02:68.3954 Y559.426:-4842.99
+X1252.41:-219.838 Y506.625:-5259.28
+X1250.63:202.076 Y454.24:-5313.57
+X1256.46:353.934 Y400.354:-5138.54
+X1257.71:165.962 Y351.469:-4579.43
+X1259.77:-258.32 Y308.765:-4966.82
+X1252.54:-289.637 Y252.133:-5333.33
+X1253.98:-52.2467 Y202.098:-4672.59
+X1251.49:24.4522 Y158.681:-4681.72
+X1254.47:413.506 Y108.464:-5199.74
+X1259.76:-91.2849 Y54.6865:-5036.09
+X1252.65:2239.85 Y7.74234:-2450.11
+X1304.56:2856.1 Y5.68434:2415.31
+X1309.77:121.664 Y56.0485:4864.5
+X1306.99:-407.134 Y102.974:5005.36
+X1301.62:-256.643 Y156.156:5323.47
+X1301.86:177.854 Y209.444:4705.05
+X1305.18:75.983 Y250.257:5008.6
+X1303.38:-219.339 Y309.616:5031.97
+X1300.8:46.1217 Y350.896:4774.22
+X1304.3:89.581 Y405.1:5379.72
+X1302.59:-92.1696 Y458.49:5077.92
+X1302.46:187.657 Y506.659:5009.13
+X1306.34:247.017 Y558.673:5007.33
+X1307.4:-95.981 Y606.805:4826.33
+X1304.42:-33.7576 Y655.2:4924.21
+X1306.73:-4.87708 Y705.289:5001.02
+X1304.32:-29.0273 Y755.22:4770.55
+X1306.15:170.587 Y800.7:4967.21
+X1307.73:158.146 Y854.564:5225.36
+X1309.31:-88.5112 Y905.208:4830.56
+X1305.96:2522.53 Y951.175:2705.9
+X1359.76:2335.39 Y959.326:-2120.06
+X1352.67:-411.257 Y908.774:-5366.48
+X1351.53:277.6 Y851.996:-5111.99
+X1358.22:309.857 Y806.534:-4620.43
+X1357.73:-258.98 Y759.587:-4827.73
+X1353.04:-39.5636 Y709.98:-5433.93
+X1356.94:158.969 Y650.909:-5143.72
+X1356.22:123.127 Y607.105:-4670.06
+X1359.4:-52.538 Y557.508:-5143.22
+X1355.17:-453.453 Y504.241:-4895.89
+X1350.33:9.43449 Y459.59:-4871.35
+X1355.36:319.372 Y406.814:-5356.81
+X1356.72:-152.238 Y352.454:-4866.04
+X1352.32:-232.289 Y309.493:-4910.34
+X1352.07:253.925 Y254.247:-5229.43
+X1357.4:-41.825 Y204.905:-4788.34
+X1351.24:37.1235 Y158.48:-5046.98
+X1358.14:307.722 Y103.965:-5404.41
+X1357.39:-397.504 Y50.3919:-4889.44
+X1350.19:2436.42 Y6.17635:-2211.13
+X1406.12:2632.01 Y6.16934:2251.28
+X1402.83:134.504 Y51.202:4982.17
+X1408.81:262.256 Y105.813:5224.45
+X1408.07:-326.844 Y155.691:4836.54
+X1402.27:-216.574 Y202.544:4947.24
+X1403.74:356.982 Y254.636:5272.42
+X1409.41:23.1847 Y307.992:5046.9
+X1404.21:-331.891 Y355.574:4664.83
+X1402.78:-32.5853 Y401.289:4899.67
+X1403.55:138.546 Y453.567:5079.1
+X1405.55:172.103 Y502.871:5305.63
+X1407:-174.882 Y559.68:5027.32
+X1402.05:-235.908 Y603.417:4721.17
+X1402.28:78.6327 Y654.103:5064.48
+X1403.62:-55.2195 Y704.706:4848.35
+X1401.17:182.077 Y751.07:5033.14
+X1407.26:157.832 Y805.369:5210.61
+X1404.33:-177.212 Y855.282:4732.23
+X1403.72:-20.5936 Y900.014:4856.97
+X1403.92:2439.24 Y952.422:2741.01
+X1452.5:2427.94 Y954.834:-2461.97
+X1452.48:49.521 Y903.182:-4850.96
+X1453.49:-68.604 Y857.815:-4956.6
+X1451.1:120.127 Y804.05:-5018.04
+X1455.9:133.884 Y757.454:-4712.75
+X1453.78:16.8 Y709.795:-4929.22
+X1456.23:148.999 Y658.87:-5050.15
+X1456.76:185.553 Y608.792:-5217.57
+X1459.94:15.1661 Y554.518:-5232.19
+X1457.07:-489.036 Y504.149:-5133.29
+X1450.16:-156.95 Y451.852:-4729.23
+X1453.93:422.111 Y409.564:-4729.09
+X1458.61:118.886 Y357.27:-5041.06
+X1456.3:-291.461 Y308.743:-5070.13
+X1452.78:-286.209 Y255.868:-5219.94
+X1450.58:64.7773 Y204.344:-5258.81
+X1454.07:411.853 Y150.692:-4870.94
+X1458.82:-55.5215 Y106.925:-4975.22
+X1452.96:31.0064 Y51.1873:-5005.36
+X1459.44:323.804 Y6.8182:-2218.45
+X1459.44:0 Y6.8182:0
+X1459.44 Y6.8182
+dwell10
+goto 0
+close
--- a/cfg/torqueCtrl.cfg
+++ b/cfg/torqueCtrl.cfg
@@ -26,12 +26,11 @@
 //Mot 3: Stage X Parker MX80L D11 25mm               one pole cycle = 13mm = 2048 phase_step
 //Enc 3: Stage X Parker MX80L D11 inc_enc 20nm       one pole cycle = 13mm = 650000 enc_step (20nm/enc_step)

-//Enc 4: Interferometer 1
-
-//Enc 5: Interferometer 2
-
-
+//Mot/Enc 4: camera base plate X
+//           OBSOLETE: Enc 4: Interferometer 1

+//Mot/Enc 5: camera base plate Y
+//           OBSOLETE Enc 5: Interferometer 2

 //Mot 7: Stada Stepper:                           670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
 //Enc 7: Renishaw absolute BiSS
@@ -94,8 +93,8 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
 //!encoder_inc(enc=4,tbl=4,mot=4)# ,posSf=13000./650000)
 //!encoder_inc(enc=5,tbl=5,mot=5)# ,posSf=13000./650000)

-//Base plate
-//----------
+//camera base plate X,Y
+//---------------------

 //102400000 ustep 200000 encCnt = 10mm = 10000um
 //posSf = userUnits/encoder_steps = 10000/200000 =1./20
--- a/qt/ESB_MX_exp.ui
+++ b/qt/ESB_MX_exp.ui
@@ -217,8 +217,42 @@ P=$(P),M=MOTOR_CAMY</string>
    <string notr="true">enable plc 1</string>
   </property>
  </widget>
+  <widget class="caRelatedDisplay" name="carelateddisplay">
+   <property name="geometry">
+    <rect>
+     <x>620</x>
+     <y>250</y>
+     <width>121</width>
+     <height>24</height>
+    </rect>
+   </property>
+   <property name="label">
+    <string notr="true">Smaract</string>
+   </property>
+   <property name="background">
+    <color>
+     <red>128</red>
+     <green>136</green>
+     <blue>255</blue>
+    </color>
+   </property>
+   <property name="labels">
+    <string>Smaract</string>
+   </property>
+   <property name="files">
+    <string>ESB_MX_SMARACT_main.ui</string>
+   </property>
+   <property name="args">
+    <string>P=SARES30-ESBMX</string>
+   </property>
+  </widget>
 </widget>
 <customwidgets>
+  <customwidget>
+   <class>caRelatedDisplay</class>
+   <extends>QWidget</extends>
+   <header>caRelatedDisplay</header>
+  </customwidget>
  <customwidget>
   <class>caMessageButton</class>
   <extends>QPushButton</extends>