CAST Calibration Status ========================== Contact: S. Biller, Oxford. Revision History:- ================ 3.01 S. Biller First version P. Harvey Added KCAST_SIN and KCAST_PERR 4.02 J. Maneira Add KCAST_ORNT. Description ----------- First bank in chain related to calibration source status. This particular bank refers to the statust of the manipulator. Reference Links --------------- None. Structural Links ---------------- None. Status Bits ----------- Note: Any status bit parameters are defined to work with bit functions such as IAND and BTEST. Data Words ---------- Data types: B(bit), I, F, D(double), H(hollerith 4 char) +1 I KCAST_SIN Source identifer/serial number (see CASL) +2 I KCAST_STAT Source status +3 I KCAST_NROPE Number of manipulator ropes+umbilical in use +4 F KCAST_PSX X-coordinate of manipulator position +5 F KCAST_PSY Y-coordinate of manipulator position +6 F KCAST_PSZ Z-coordinate of manipulator position +7 F KCAST_DSX X-coordinate of manipulator destination +8 F KCAST_DSY Y-coordinate of manipulator destination +9 F KCAST_DSZ Z-coordinate of manipulator destination +10 F KCAST_PERR Source position uncertainty +11 F KCAST_XERR Source position X uncertainty (obsolete) +12 F KCAST_YERR Source position Y uncertainty (obsolete) +13 F KCAST_ZERR Source position Z uncertainty (obsolete) +14 F KCAST_ORNT Laserball orientation:- 0 Unknown orientation (side ropes not attached) 1 Slot facing North 2 Slot facing East 3 Slot facing South 4 Slot facing West +15 F spare +16 I KCAST_TAIL Size of tail sector to follow (= 8) +17 I KCAST_RNUM1 ID number of rope 1 +18 F KCAST_LEN1 Length of rope 1 +19 F KCAST_TLEN1 Target length of rope 1 +20 F KCAST_VEL1 Velocity of rope 1 +21 F KCAST_TEN1 Tension of rope 1 +22 F KCAST_ERR1 Encoder error of rope 1 +23...+24 F spare +25 I KCAST_RNUM2 ID number of rope 2 +26 F KCAST_LEN2 Length of rope 2 +27 F KCAST_TLEN2 Target length of rope 2 +28 F KCAST_VEL2 Velocity of rope 2 +29 F KCAST_TEN2 Tension of rope 2 +30 F KCAST_ERR2 Encoder error of rope 2 +31...+32 F spare . . . . . . .