bank_cast

                          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
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    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
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