```

telnet SAR-CPPM-EXPMX3 50001

zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX$ PBInspect --host SAR-CPPM-EXPMX3 --cfg PBInspect3.pbi



ssh root@SAR-CPPM-EXPMX3
sendgetsends -1


gpasciiCommander --host SAR-CPPM-EXPMX3 -i
//!MX3_coordTrf(exc=5000,height=118000,width=377500,length=600000,camSf=1.7453292519943296e-05)
!MX3_coordTrf(exc=5000,height=0,width=377500,length=600000,camSf=1.7453292519943296e-05)
!MX3_coordTrf(exc=5000,height=0,width=377500,length=600000,camSf=1.7453292519943296e-05,q=-.8)
Coord[1].Ta=10
Coord[1].Td=10
Coord[1].AltFeedRate=1000
Coord[1].Tm=-10000  //1000um/FeedTime -> 1mm/sec
Coord[1].FeedTime=1000 //default value 1000um


list subProg10
call15
jog1=(L0)
call16

open prog 1
call15
abslinear
X(0) Y(0) U(0) V(0) w(0)
call16
close
&1b1r

open prog 1
call15
abslinear
X(2000) Y(0) U(0) V(0) w(0)
dwell 1000
X(-2000) Y(0) U(0) V(0) w(0)
dwell 1000
X(0) Y(0) U(0) V(0) w(0)
call16
close

open prog 2
call15
abslinear
X(0) Y(2000) U(0) V(0) w(0)
dwell 1000
X(0) Y(-2000) U(0) V(0) w(0)
dwell 1000
X(0) Y(0) U(0) V(0) w(0)
call16
close

open prog 3
call15
abslinear
X(0) Y(0) U(2000) V(0) w(0)
dwell 1000
X(0) Y(0) U(-2000) V(0) w(0)
dwell 1000
X(0) Y(0) U(0) V(0) w(0)
call16
close

open prog 4
call15
abslinear
X(0) Y(0) U(0) V(2000) w(0)
dwell 1000
X(0) Y(0) U(0) V(-2000) w(0)
dwell 1000
X(0) Y(0) U(0) V(0) w(0)
call16
close

open prog 5
call15
abslinear
X(0) Y(0) U(0) V(0) w(2000)
dwell 1000
X(0) Y(0) U(0) V(0) w(-2000)
dwell 1000
X(0) Y(0) U(0) V(0) w(0)
call16
close

&1b1r
&1b2r
&1b3r
&1b4r
&1b5r








open prog 2
call15
abslinear
X(2000) Y(0) U(0) V(0) w(0)
dwell 1000
X(0) Y(0) U(0) V(0) w(0)
dwell 1000
X(0) Y(2000) U(0) V(0) w(0)
dwell 1000
X(0) Y(0) U(0) V(0) w(0)
dwell 1000
X(0) Y(0) U(2000) V(0) w(0)
dwell 1000
X(0) Y(0) U(0) V(0) w(0)
dwell 1000
X(0) Y(0) U(0) V(2000) w(0)
dwell 1000
X(0) Y(0) U(0) V(0) w(0)
dwell 1000
X(0) Y(0) U(0) V(0) w(2000)
dwell 1000
X(0) Y(0) U(0) V(0) w(0)
call16
close
&1b2r

cpx call 15
#1..5j=90000
cpx call 16



Koordinate U is wrong



fwd_inp(0)  90000 90000 90000 90000 90000
fwd_inp(0)  2.16489e-13 2.16489e-13 2.16489e-13 2.16489e-13 2.16489e-13
fwd_res     -3.17041e-14 4.01274e-13 1.26816e-13 6.34082e-14 -6.34082e-14
inv_inp(0)  2000 0 0 0 0
inv_res     73570.1 106430 73570.1 106430 90000
inv_inp(0)  0 0 0 0 0
inv_res     90000 90000 90000 90000 90000
inv_inp(0)  0 2000 0 0 0
inv_res     73570.1 73570.1 73570.1 73570.1 66421.8
inv_inp(0)  0 0 0 0 0
inv_res     90000 90000 90000 90000 90000
inv_inp(0)  0 0 2000 0 0
inv_res     81869.9 98130.1 81869.9 81869.9 101537
inv_inp(0)  0 0 0 0 0
inv_res     90000 90000 90000 90000 90000
inv_inp(0)  0 0 0 2000 0
inv_res     98130.1 81869.9 81869.9 98130.1 90000
inv_inp(0)  0 0 0 0 0
inv_res     90000 90000 90000 90000 90000
inv_inp(0)  0 0 0 0 2000
inv_res     98130.1 98130.1 81869.9 81869.9 78463
inv_inp(0)  0 0 0 0 0
inv_res     90000 90000 90000 90000 90000














> list forward
list forward
L6=118000/377500
L7=5000/1.4142135623700001
L11=L7*cos(L2*0.0000174532925199)
L12=L7*cos(L1*0.0000174532925199)
L13=L7*cos(L4*0.0000174532925199)
L14=L7*cos(L5*0.0000174532925199)
L15=L7*cos(L3*0.0000174532925199)
C6=0.5*L11-0.5*L12+(L6+0.25)*L13+(L6-0.75)*L14+(0.25-L6)*1.4142135623700001*L15
C7=0.5*L11+0.5*L12+0.25*L13+0.25*L14+0.25*1.4142135623700001*L15
C3=1*L13+1*L14-1*1.4142135623700001*L15
C4=-1*L11+1*L12+1.5*L13-0.5*L14-0.5*1.4142135623700001*L15
C5=-1*L11-1*L12+0.5*L13+0.5*L14+0.5*1.4142135623700001*L15
D0=248
> list inverse
list inverse
L6=118000/377500
L11=0.5*C6+0.5*C7+(0.25-0.5*L6)*C3-0.25*C4-0.25*C5
L12=-0.5*C6+0.5*C7+(0.5*L6-0.25)*C3+0.25*C4-0.25*C5
L13=0.5*C6+0.5*C7+(0.25-0.5*L6)*C3+0.25*C4+0.25*C5
L14=-0.5*C6+0.5*C7+(0.25+0.5*L6)*C3-0.25*C4+0.25*C5
L15=0.5*1.4142135623700001*C7-0.25*1.4142135623700001*C3+0.25*1.4142135623700001*C5
L7=1.4142135623700001/5000
L2=acos(L11*L7)/0.0000174532925199
L1=acos(L12*L7)/0.0000174532925199
L4=acos(L13*L7)/0.0000174532925199
L5=acos(L14*L7)/0.0000174532925199
L3=acos(L15*L7)/0.0000174532925199
> 


```