Diving into the Sardinia Radio Telescope minor servo system

The Sardinia Radio Telescope (SRT) is a new 64-metre, Gregorian-shaped antenna built in Sardinia (Italy). It is designed to carry out observations up to 100 GHz. The telescope is provided with six focal positions: primary, Gregorian and four beam-waveguide foci. This paper describes the project of the servo system which allows the focus and receiver selection during the instrument setup. This system also operates, at the observation stage, the compensation of some of the stucture deformations due to gravity, temperature variations and other environmental effects. We illustrate the system features following a bottom-up approach, analysing all the project layers ranging from low-level systems, as the hardware controls, to the design and implementation of high-level software, which is based on the distributed objects ACS (ALMA Common Software) framework. Particular focus will be put on the links among the hierarchical levels of the system, and on the solutions adopted in order to guarantee that the control of the servo system is abstracted from the underlying hardware.