######soft motor for MD2
record(motor,"$(P)Soft_x") 
{ 
    field(DTYP,"Soft Channel") 
    field(DESC,"x Soft motor")
    field(OUT,"$(P)Convert_x.A  PP MS") 
    field(RDBL,"$(P)Convert_readback_x.C  NPP MS")   	
    field(URIP,"Yes")             	
    field(STOO,"$(P)Stop_x.A  PP MS") 				 	
    field(DINP,"$(P)Dmove_x.C  NPP MS")   		
    field(MRES,"0.25") 
    field(RRES,"1.000")                        		
    field(PREC,"4") 
    field(DHLM,"30000") 
    field(DLLM,"-30030") 
    field(TWV,"1") 
    field(RTRY,"0")  					
    field(EGU,"um")
}

record(motor,"$(P)Soft_yaw")
{
    field(DTYP,"Soft Channel")
    field(DESC,"yaw soft motor") 
    field(OUT,"$(P)Convert_yaw.A  PP MS") 
    field(RDBL,"$(P)Convert_readback_yaw.C  NPP MS")   	
    field(URIP,"Yes")             	
    field(STOO,"$(P)Stop_yaw.A  PP MS") 					
    field(DINP,"$(P)Dmove_yaw.C  NPP MS")   		
    field(MRES,"0.0001") 
    field(RRES,"1.000")                        		 
    field(PREC,"7")
    field(DHLM,"4")
    field(DLLM,"-4.1")
    field(TWV,"0.001")
    field(RTRY,"0") 					
    field(EGU,"deg")
}

record(motor,"$(P)Soft_z") 
{ 
    field(DTYP,"Soft Channel") 
    field(DESC,"z Soft motor")
    field(OUT,"$(P)Convert_z.A  PP MS") 
    field(RDBL,"$(P)Convert_readback_z.D  NPP MS")   	
    field(URIP,"Yes")             	
    field(STOO,"$(P)Stop_z.A  PP MS") 				 	
    field(DINP,"$(P)Dmove_z.D  NPP MS")   		
    field(MRES,"0.25") 
    field(RRES,"1.000")                        		
    field(PREC,"5") 
    field(DHLM,"28050") 
    field(DLLM,"-28160") 
    field(TWV,"1") 
    field(RTRY,"0")  					
    field(EGU,"um")
}

record(motor,"$(P)Soft_pitch")
{ 
    field(DTYP,"Soft Channel")
    field(DESC,"yaw soft motor") 
    field(OUT,"$(P)Convert_pitch.A  PP MS") 
    field(RDBL,"$(P)Convert_readback_pitch.D  NPP MS")   	
    field(URIP,"Yes")             	
    field(STOO,"$(P)Stop_pitch.A  PP MS") 				
    field(DINP,"$(P)Dmove_pitch.D  NPP MS")   		
    field(MRES,"0.0001") 
    field(RRES,"1.000")                        		 
    field(PREC,"7") 
    field(DHLM,"3.8") 
    field(DLLM,"-3.8") 
    field(TWV,"0.001") 
    field(RTRY,"0")  					
    field(EGU,"deg")
}

record(motor,"$(P)Soft_roll") 
{ 
    field(DTYP,"Soft Channel")
    field(DESC,"yaw soft motor") 
    field(OUT,"$(P)Convert_roll.A  PP MS") 
    field(RDBL,"$(P)Convert_readback_roll.C  NPP MS")   	
    field(URIP,"Yes")             	
    field(STOO,"$(P)Stop_roll.A  PP MS") 				
    field(DINP,"$(P)Dmove_roll.C  NPP MS")   		
    field(MRES,"0.0001") 
    field(RRES,"1.000")                        		 
    field(PREC,"7") 
    field(DHLM,"0.99") 
    field(DLLM,"-0.99") 
    field(TWV,"0.001") 
    field(RTRY,"0")  					
    field(EGU,"deg")
}

######soft motor for detector
record(motor,"$(P)Soft_DETD") 
{ 
    field(DTYP,"Soft Channel") 
    field(DESC,"x Soft motor")
    field(OUT,"$(P)Convert_DETD.A  PP MS") 
    field(RDBL,"$(P)Convert_readback_DETD.C  NPP MS")   	
    field(URIP,"Yes")             	
    field(STOO,"$(P)Stop_DETD.A  PP MS") 				 	
    field(DINP,"$(P)Dmove_DETD.D  NPP MS")   		
    field(MRES,"0.001") 
    field(RRES,"1.000")                        		
    field(PREC,"4") 
    field(DHLM,"") 
    field(DLLM,"") 
    field(TWV,"1") 
    field(RTRY,"0")  					
    field(EGU,"um")
}

record(motor,"$(P)Soft_DETtheta") 
{ 
    field(DTYP,"Soft Channel") 
    field(DESC,"x Soft motor")
    field(OUT,"$(P)Convert_DETtheta.A  PP MS") 
    field(RDBL,"$(P)Convert_readback_DETtheta.C  NPP MS")   	
    field(URIP,"Yes")             	
    field(STOO,"$(P)Stop_DETtheta.A  PP MS") 				 	
    field(DINP,"$(P)Dmove_DETtheta.D  NPP MS")   		
    field(MRES,"0.001") 
    field(RRES,"1.000")                        		
    field(PREC,"4") 
    field(DHLM,"") 
    field(DLLM,"") 
    field(TWV,"1") 
    field(RTRY,"0")  					
    field(EGU,"um")
}

######DVAL tranform for MD2
record(transform,"$(P)Convert_x") 
{ 
    field(DESC,"Convert um to um")
    field(PREC,"4")
    field(CLCC,"-A-TAN(B/57.296)*825310/2")
    field(OUTC,"$(P)$(M1).DVAL  PP MS")
    field(CLCD,"A-TAN(B/57.296)*825310/2")   
    field(OUTD,"$(P)$(M2).DVAL PP MS")
    field(CLCE,"A")  
    field(OUTE,"$(P)Convert_yaw.B PP MS")
}

record(transform,"$(P)Convert_yaw") 
{ 
    field(DESC,"Convert rotary to linear")
    field(PREC,"7") 
    field(CLCC,"-B-TAN(A/57.296)*825310/2")
    field(OUTC,"$(P)$(M1).DVAL  PP MS")
    field(CLCD,"B-TAN(A/57.296)*825310/2")
    field(OUTD,"$(P)$(M2).DVAL  PP MS") 
    field(CLCE,"A")
    field(OUTE,"$(P)Convert_x.B  PP MS")
}

record(transform,"$(P)Convert_z") 
{ 

    field(DESC,"Convert um to um")
    field(PREC,"5")
    field(CLCD,"-A+TAN(C/57.296)*825310/2")
    field(OUTD,"$(P)$(M3).DVAL  PP MS")
    field(CLCE,"-A+TAN(B/57.296)*420000/2")
    field(CLCF,"E-TAN(C/57.296)*825310/2")
    field(OUTF, "$(P)$(M4).DVAL  PP MS")
    field(CLCG,"-A-TAN(B/57.296)*420000/2")
    field(CLCH,"G-TAN(C/57.296)*825310/2")
    field(OUTH,"$(P)$(M5).DVAL  PP MS")
    field(CLCI,"A")   
    field(OUTI,"$(P)Convert_roll.C PP MS")
    field(CLCJ,"A")  
    field(OUTJ,"$(P)Convert_pitch.B PP MS")
}

record(transform,"$(P)Convert_pitch")
{
    field(DESC,"Convert rotary to linear")
    field(PREC,"7")
    field(CLCD,"-B+TAN(A/57.296)*825310/2")
    field(OUTD,"$(P)$(M3).DVAL  PP MS")
    field(CLCE,"-B+TAN(C/57.296)*420000/2")
    field(CLCF,"E-TAN(A/57.296)*825310/2")
    field(OUTF, "$(P)$(M4).DVAL  PP MS")
    field(CLCG,"-B-TAN(C/57.296)*420000/2")
    field(CLCH,"G-TAN(A/57.296)*825310/2")
    field(OUTH,"$(P)$(M5).DVAL  PP MS")
    field(CLCI,"A")
    field(OUTI,"$(P)Convert_roll.B  PP MS")
    field(CLCJ,"A")
    field(OUTJ,"$(P)Convert_z.C  PP MS")
}

record(transform,"$(P)Convert_roll")
{
    field(DESC,"Convert rotary to linear")
    field(PREC,"7")

    field(CLCD,"-C+TAN(B/57.296)*825310/2")
    field(OUTD,"$(P)$(M3).DVAL  PP MS")
    field(CLCE,"-C+TAN(A/57.296)*420000/2")
    field(CLCF,"E-TAN(B/57.296)*825310/2")
    field(OUTF,"$(P)$(M4).DVAL  PP MS")
    field(CLCG,"-C-TAN(A/57.296)*420000/2")
    field(CLCH,"G-TAN(B/57.296)*825310/2")
    field(OUTH,"$(P)$(M5).DVAL  PP MS")
    field(CLCI,"A")
    field(OUTI,"$(P)Convert_z.B  PP MS")
    field(CLCJ,"A")
    field(OUTJ,"$(P)Convert_pitch.C  PP MS")
}

######DVAL tranform for detector
record(transform,"$(P)Convert_DETD") 
{ 

    field(DESC,"Convert um to um")
    field(PREC,"4")
    field(CLCC,"(A+128200)*cos(B/57.296)+270000/2")
    field(OUTC,"$(P)$(M6).DVAL  PP MS")
    field(CLCD,"(A+128200)*sin(B/57.296)")   
    field(OUTD,"$(P)$(M7).DVAL PP MS")
    field(CLCE,"D+270000*tan(B/57.296)")   
    field(OUTE,"$(P)$(M8).DVAL PP MS")
    field(CLCF,"A")  
    field(OUTF,"$(P)Convert_DETtheta.B PP MS")
}

record(transform,"$(P)Convert_DETtheta") 
{ 

    field(DESC,"Convert um to um")
    field(PREC,"7")
    field(CLCC,"(B+128200)*cos(A/57.296)+270000/2")
    field(OUTC,"$(P)$(M6).DVAL  PP MS")
    field(CLCD,"(B+128200)*sin(A/57.296)")   
    field(OUTD,"$(P)$(M7).DVAL PP MS")
    field(CLCE,"D+270000*tan(A/57.296)")   
    field(OUTE,"$(P)$(M8).DVAL PP MS")
    field(CLCF,"A")  
    field(OUTF,"$(P)Convert_DETD.B PP MS")
}

######readback transform for MD2
record(transform,"$(P)Convert_readback_x") 
{ 
    field(DESC,"Convert linear to linear")
    field(PREC,"5")
    field(CLCC,"(B-A)/2")
    field(CLCD,"C")  
    field(INPA,"$(P)$(M1).DRBV  CP MS")    		
    field(INPB,"$(P)$(M2).DRBV  CP MS")
    field(OUTC,"$(P)Convert_x.A NPP MS")
    field(OUTD,"$(P)Convert_yaw.B NPP MS")
}

record(transform,"$(P)Convert_readback_yaw") 
{ 
    field(DESC,"Convert linear to rotary")
    field(PREC,"7")
    field(CLCC,"ATAN((-A-B)/825310)*57.296")
    field(CLCD,"C")  
    field(INPA,"$(P)$(M1).DRBV  CP MS")    		
    field(INPB,"$(P)$(M2).DRBV  CP MS")
    field(OUTC,"$(P)Convert_yaw.A NPP MS")
    field(OUTD,"$(P)Convert_x.B NPP MS")
}

record(transform,"$(P)Convert_readback_z") 
{ 
    field(DESC,"Convert linear to linear")
    field(PREC,"5")
    field(CLCD,"-A/2-(B+C)/4")
    field(CLCE,"D")
    field(CLCF,"D")  
    field(INPA,"$(P)$(M3).DRBV  CP MS")    		
    field(INPB,"$(P)$(M4).DRBV  CP MS")
    field(INPC,"$(P)$(M5).DRBV  CP MS")
    field(OUTD,"$(P)Convert_z.A NPP MS")
    field(OUTE,"$(P)Convert_pitch.B NPP MS")
    field(OUTF,"$(P)Convert_roll.C NPP MS")
}

record(transform,"$(P)Convert_readback_pitch") 
{ 
    field(DESC,"Convert linear to rotary")
    field(PREC,"7")
    field(CLCD,"ATAN((A-(B+C)/2)/825310)*57.296")
    field(CLCE,"D")  
    field(CLCF,"D")
    field(INPA,"$(P)$(M3).DRBV  CP MS")    		
    field(INPB,"$(P)$(M4).DRBV  CP MS")
    field(INPC,"$(P)$(M5).DRBV  CP MS")
    field(OUTD,"$(P)Convert_pitch.A NPP MS")
    field(OUTE,"$(P)Convert_roll.B NPP MS")
    field(OUTF,"$(P)Convert_z.C NPP MS")
}

record(transform,"$(P)Convert_readback_roll") 
{ 
    field(DESC,"Convert linear to rotary")
    field(PREC,"7")
    
    field(CLCC,"ATAN((A-B)/420000)*57.296")
    field(CLCD,"C") 
    field(CLCE,"C")
    field(INPA,"$(P)$(M4).DRBV  CP MS")
    field(INPB,"$(P)$(M5).DRBV  CP MS")
    field(OUTC,"$(P)Convert_roll.A NPP MS")
    field(OUTD,"$(P)Convert_z.B NPP MS")
    field(OUTE,"$(P)Convert_pitch.C NPP MS")
}

######readback transform for detector
record(transform,"$(P)Convert_readback_DETD") 
{ 
    field(DESC,"Convert linear to linear")
    field(PREC,"4")
    field(CLCC,"SQR((A-270000/2)^2+B^2)-128200")
    field(CLCD,"C")  
    field(INPA,"$(P)$(M6).DRBV  CP MS")    		
    field(INPB,"$(P)$(M7).DRBV  CP MS")
    field(OUTC,"$(P)Convert_DETD.A NPP MS")
    field(OUTD,"$(P)Convert_DETtheta.B NPP MS")
}

record(transform,"$(P)Convert_readback_DETtheta") 
{ 
    field(DESC,"Convert rotary to linear")
    field(PREC,"7")
    field(CLCC,"ATAN(B/(A-270000/2))*57.296")
    field(CLCD,"C")  
    field(INPA,"$(P)$(M6).DRBV  CP MS")    		
    field(INPB,"$(P)$(M7).DRBV  CP MS")
    field(OUTC,"$(P)Convert_DETtheta.A NPP MS")
    field(OUTD,"$(P)Convert_DETD.B NPP MS")
}

#####################################
#soft motor STOO LINKS TRANSFORM for MD2
#**********************************************************************
record(transform,"$(P)Stop_x") 
{ 
    field(DESC,"soft x stop link")
    field(PREC,"0")
    field(CLCB,"A")
    field(OUTA,"$(P)$(M1).STOP  PP MS")
    field(OUTB,"$(P)$(M2).STOP  PP MS")
}
record(transform,"$(P)Stop_yaw") 
{ 
    field(DESC,"soft yaw stop link")
    field(PREC,"0")
    field(CLCB,"A")     
    field(OUTA,"$(P)$(M1).STOP  PP MS")    		
    field(OUTB,"$(P)$(M2).STOP  PP MS")
 		
}
record(transform,"$(P)Stop_z") 
{ 
    field(DESC,"soft y stop link")
    field(PREC,"0")
    field(CLCB,"A")
    field(CLCC,"A")
    field(OUTA,"$(P)$(M3).STOP  PP MS")    		
    field(OUTB,"$(P)$(M4).STOP  PP MS")
    field(OUTC,"$(P)$(M5).STOP  PP MS") 		
}
record(transform,"$(P)Stop_pitch") 
{ 
    field(DESC,"soft pitch stop link")
    field(PREC,"0")
    field(CLCB,"A")
    field(CLCC,"A")
    field(OUTA,"$(P)$(M3).STOP  PP MS")    		
    field(OUTB,"$(P)$(M4).STOP  PP MS")
    field(OUTC,"$(P)$(M5).STOP  PP MS") 		
}
record(transform,"$(P)Stop_roll") 
{ 
    field(DESC,"soft roll stop link")
    field(PREC,"0")
    field(CLCB,"A")
    field(OUTA,"$(P)$(M4).STOP  PP MS")    		
    field(OUTB,"$(P)$(M5).STOP  PP MS")
 		
}

#####################################
#soft motor STOO LINKS TRANSFORM for detector
#**********************************************************************
record(transform,"$(P)Stop_DETD") 
{ 
    field(DESC,"soft DETD stop link")
    field(PREC,"0")
    field(CLCB,"A")
    field(CLCC,"A")
    field(OUTA,"$(P)$(M6).STOP  PP MS")
    field(OUTB,"$(P)$(M7).STOP  PP MS")
    field(OUTC,"$(P)$(M8).STOP  PP MS")
}
record(transform,"$(P)Stop_DETtheta") 
{ 
    field(DESC,"soft DETtheta stop link")
    field(PREC,"0")
    field(CLCB,"A")
    field(CLCC,"A")       
    field(OUTA,"$(P)$(M6).STOP  PP MS")    		
    field(OUTB,"$(P)$(M7).STOP  PP MS")
    field(OUTC,"$(P)$(M8).STOP  PP MS") 		
}

#**********************************************************************
#soft motor DINP LINKS TRANSFORM for MD2
#***********************************************************************
record(transform,"$(P)Dmove_x") 
{ 
    field(DESC,"soft x stop link")
    field(PREC,"0")
    field(CLCC,"A&&B")     
    field(INPA,"$(P)$(M1).DMOV  CP MS")
    field(INPB,"$(P)$(M2).DMOV  CP MS")
}
record(transform,"$(P)Dmove_yaw") 
{ 
    field(DESC,"soft yaw stop link")
    field(PREC,"0")
    field(CLCC,"A&&B")     
    field(INPA,"$(P)$(M1).DMOV  CP MS")    		
    field(INPB,"$(P)$(M2).DMOV  CP MS")
}
record(transform,"$(P)Dmove_z") 
{ 
    field(DESC,"soft z stop link")
    field(PREC,"0")
    field(CLCD,"A&&B&&C")     
    field(INPA,"$(P)$(M3).DMOV  CP MS")    		
    field(INPB,"$(P)$(M4).DMOV  CP MS")
    field(INPC,"$(P)$(M5).DMOV  CP MS")
}
record(transform,"$(P)Dmove_pitch") 
{ 
    field(DESC,"soft pitch stop link")
    field(PREC,"0")
    field(CLCD,"A&&B&&C")     
    field(INPA,"$(P)$(M3).DMOV  CP MS")    		
    field(INPB,"$(P)$(M4).DMOV  CP MS")
    field(INPC,"$(P)$(M5).DMOV  CP MS")
}
record(transform,"$(P)Dmove_roll") 
{ 
    field(DESC,"soft roll stop link")
    field(PREC,"0")
    field(CLCC,"A&&B")     
    field(INPA,"$(P)$(M4).DMOV  CP MS")    		
    field(INPB,"$(P)$(M5).DMOV  CP MS")
}

#***********************************************************************
#soft motor DINP LINKS TRANSFORM for detector
#**********************************************************************
record(transform,"$(P)Dmove_DETD") 
{ 
    field(DESC,"soft DETH stop link")
    field(PREC,"0")
    field(CLCD,"A&&B&&C")     
    field(INPA,"$(P)$(M6).DMOV  CP MS")
    field(INPB,"$(P)$(M7).DMOV  CP MS")
    field(INPC,"$(P)$(M8).DMOV  CP MS")
}
record(transform,"$(P)Dmove_DETtheta") 
{ 
    field(DESC,"soft yaw stop link")
    field(PREC,"0")
    field(CLCD,"A&&B&&C")     
    field(INPA,"$(P)$(M6).DMOV  CP MS")    		
    field(INPB,"$(P)$(M7).DMOV  CP MS")
    field(INPC,"$(P)$(M8).DMOV  CP MS")
}

#--------------------------------------------
# use DETH.DMOV to controll the braker
#-------------------------------------------
record(transform,"$(P)HBraker")
{
    field(DESC,"soft link between DMOV and MOX")
    field(INPA,"$(P)$(M6).DMOV CP MS")
    field(CLCB,"!A")
    field(OUTB,"$(P)DETH-DO0:DO PP MS")
}

record(transform,"$(P)V1Braker")
{
    field(DESC,"soft link between DMOV and MOX")
    field(INPA,"$(P)$(M7).DMOV CP MS")
    field(CLCB,"!A")
    field(OUTB,"$(P)DETV1-DO1:DO PP MS")
}

record(transform,"$(P)V2Braker")
{
    field(DESC,"soft link between DMOV and MOX")
    field(INPA,"$(P)$(M8).DMOV CP MS")
    field(CLCB,"!A")
    field(OUTB,"$(P)DETV2-DO2:DO PP MS")
}