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-<li><a class="reference internal" href="#">SRX KB mirrors</a><ul>
-<li><a class="reference internal" href="#introduction">Introduction</a></li>
-<li><a class="reference internal" href="#high-flux">High-flux</a><ul>
-<li><a class="reference internal" href="#mir-2-high-flux-vfm">Mir:2 - High-flux VFM</a><ul>
-<li><a class="reference internal" href="#mechanics">Mechanics</a></li>
-<li><a class="reference internal" href="#motion-control">Motion control</a></li>
-</ul>
-</li>
-<li><a class="reference internal" href="#mir-3-high-flux-hfm">Mir:3 - High-flux HFM</a><ul>
-<li><a class="reference internal" href="#id1">Mechanics</a></li>
-<li><a class="reference internal" href="#id2">Motion control</a></li>
-</ul>
-</li>
-<li><a class="reference internal" href="#motion-axes">Motion axes</a></li>
-</ul>
-</li>
-<li><a class="reference internal" href="#high-resolution">High-resolution</a><ul>
-<li><a class="reference internal" href="#mir-4-high-resolution-vfm">Mir:4 - High-resolution VFM</a><ul>
-<li><a class="reference internal" href="#id3">Mechanics</a></li>
-<li><a class="reference internal" href="#id4">Motion control</a></li>
-</ul>
-</li>
-<li><a class="reference internal" href="#mir-5-high-resolution-hfm">Mir:5 - High-resolution HFM</a><ul>
-<li><a class="reference internal" href="#id5">Mechanics</a></li>
-<li><a class="reference internal" href="#id6">Motion control</a></li>
-</ul>
-</li>
-<li><a class="reference internal" href="#id7">Motion axes</a></li>
-</ul>
-</li>
-<li><a class="reference internal" href="#instructions">Instructions</a><ul>
-<li><a class="reference internal" href="#smaract-motor-closed-loop-operation">SmarAct motor closed-loop operation</a></li>
-<li><a class="reference internal" href="#mir-5-roll-referencing">Mir:5 roll referencing</a></li>
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-<li><a class="reference internal" href="#motion-control">Motion control</a></li>
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-<li><a class="reference internal" href="#mir-3-high-flux-hfm">Mir:3 - High-flux HFM</a><ul>
-<li><a class="reference internal" href="#id1">Mechanics</a></li>
-<li><a class="reference internal" href="#id2">Motion control</a></li>
-</ul>
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-<li><a class="reference internal" href="#motion-axes">Motion axes</a></li>
-</ul>
-</li>
-<li><a class="reference internal" href="#high-resolution">High-resolution</a><ul>
-<li><a class="reference internal" href="#mir-4-high-resolution-vfm">Mir:4 - High-resolution VFM</a><ul>
-<li><a class="reference internal" href="#id3">Mechanics</a></li>
-<li><a class="reference internal" href="#id4">Motion control</a></li>
-</ul>
-</li>
-<li><a class="reference internal" href="#mir-5-high-resolution-hfm">Mir:5 - High-resolution HFM</a><ul>
-<li><a class="reference internal" href="#id5">Mechanics</a></li>
-<li><a class="reference internal" href="#id6">Motion control</a></li>
-</ul>
-</li>
-<li><a class="reference internal" href="#id7">Motion axes</a></li>
-</ul>
-</li>
-<li><a class="reference internal" href="#instructions">Instructions</a><ul>
-<li><a class="reference internal" href="#smaract-motor-closed-loop-operation">SmarAct motor closed-loop operation</a></li>
-<li><a class="reference internal" href="#mir-5-roll-referencing">Mir:5 roll referencing</a></li>
-</ul>
-</li>
-</ul>
-</li>
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-      
-  <div class="section" id="srx-kb-mirrors">
-<h1>SRX KB mirrors<a class="headerlink" href="#srx-kb-mirrors" title="Permalink to this headline">¶</a></h1>
-<div class="section" id="introduction">
-<h2>Introduction<a class="headerlink" href="#introduction" title="Permalink to this headline">¶</a></h2>
-<p>There are two sets of KB mirrors in the SRX endstation, one high-flux pair and
-one high-resolution pair.</p>
-</div>
-<div class="section" id="high-flux">
-<h2>High-flux<a class="headerlink" href="#high-flux" title="Permalink to this headline">¶</a></h2>
-<div class="section" id="mir-2-high-flux-vfm">
-<h3>Mir:2 - High-flux VFM<a class="headerlink" href="#mir-2-high-flux-vfm" title="Permalink to this headline">¶</a></h3>
-<div class="section" id="mechanics">
-<h4>Mechanics<a class="headerlink" href="#mechanics" title="Permalink to this headline">¶</a></h4>
-<ul class="simple">
-<li>Weak link flexures for all translations</li>
-<li>Vertical translation system has four stepper motors, so is
-overconstrained. Extra axis is twist, and needs to be maintained at
-zero.</li>
-<li>Horizontal translation for stripe selection done by two SmarAct actuators.
-These actuators have limited ability to yaw, and as a result can get stuck.</li>
-<li>Longitudinal translation by single SmarAct actuator.</li>
-</ul>
-</div>
-<div class="section" id="motion-control">
-<h4>Motion control<a class="headerlink" href="#motion-control" title="Permalink to this headline">¶</a></h4>
-<ul class="simple">
-<li>Delta Tau coordinate system implemented for Mir:2 vertical movements: vertical
-translation, pitch, roll, twist.</li>
-<li>Twist should be maintained at zero.</li>
-<li>A PLC monitors the twist and deactivates the vertical motors if the calculated
-twist exceeds a specified value.</li>
-</ul>
-</div>
-</div>
-<div class="section" id="mir-3-high-flux-hfm">
-<h3>Mir:3 - High-flux HFM<a class="headerlink" href="#mir-3-high-flux-hfm" title="Permalink to this headline">¶</a></h3>
-<div class="section" id="id1">
-<h4>Mechanics<a class="headerlink" href="#id1" title="Permalink to this headline">¶</a></h4>
-<ul class="simple">
-<li>Weak-link flexure for all stages.</li>
-<li>No overconstrained systems.</li>
-</ul>
-</div>
-<div class="section" id="id2">
-<h4>Motion control<a class="headerlink" href="#id2" title="Permalink to this headline">¶</a></h4>
-</div>
-</div>
-<div class="section" id="motion-axes">
-<h3>Motion axes<a class="headerlink" href="#motion-axes" title="Permalink to this headline">¶</a></h3>
-<table border="1" class="docutils">
-<colgroup>
-<col width="37%" />
-<col width="6%" />
-<col width="12%" />
-<col width="12%" />
-<col width="33%" />
-</colgroup>
-<thead valign="bottom">
-<tr class="row-odd"><th class="head">Mirror system</th>
-<th class="head">Axis</th>
-<th class="head">Motor type</th>
-<th class="head">Controller</th>
-<th class="head">Notes</th>
-</tr>
-</thead>
-<tbody valign="top">
-<tr class="row-even"><td>Mir:2 (high-flux vertical focusing)</td>
-<td>X</td>
-<td>SmarAct (2)</td>
-<td>SmarAct MCS</td>
-<td>Limited yaw capability</td>
-</tr>
-<tr class="row-odd"><td>&nbsp;</td>
-<td>Y</td>
-<td>Stepper (4)</td>
-<td>Delta Tau</td>
-<td>Overconstrained mechanical system</td>
-</tr>
-<tr class="row-even"><td>&nbsp;</td>
-<td>Z</td>
-<td>SmarAct (1)</td>
-<td>SmarAct MCS</td>
-<td>&nbsp;</td>
-</tr>
-<tr class="row-odd"><td>Mir:3 (high-flux horizontal focusing)</td>
-<td>X</td>
-<td>SmarAct (2)</td>
-<td>SmarAct MCS</td>
-<td>Limited yaw capability</td>
-</tr>
-<tr class="row-even"><td>&nbsp;</td>
-<td>Y</td>
-<td>Stepper (1)</td>
-<td>Delta Tau</td>
-<td>&nbsp;</td>
-</tr>
-</tbody>
-</table>
-</div>
-</div>
-<div class="section" id="high-resolution">
-<h2>High-resolution<a class="headerlink" href="#high-resolution" title="Permalink to this headline">¶</a></h2>
-<div class="section" id="mir-4-high-resolution-vfm">
-<h3>Mir:4 - High-resolution VFM<a class="headerlink" href="#mir-4-high-resolution-vfm" title="Permalink to this headline">¶</a></h3>
-<div class="section" id="id3">
-<h4>Mechanics<a class="headerlink" href="#id3" title="Permalink to this headline">¶</a></h4>
-<ul class="simple">
-<li>Weak link flexures for all translations</li>
-<li>Vertical translation system has two stepper motors, so is not
-overconstrained.</li>
-</ul>
-</div>
-<div class="section" id="id4">
-<h4>Motion control<a class="headerlink" href="#id4" title="Permalink to this headline">¶</a></h4>
-</div>
-</div>
-<div class="section" id="mir-5-high-resolution-hfm">
-<h3>Mir:5 - High-resolution HFM<a class="headerlink" href="#mir-5-high-resolution-hfm" title="Permalink to this headline">¶</a></h3>
-<div class="section" id="id5">
-<h4>Mechanics<a class="headerlink" href="#id5" title="Permalink to this headline">¶</a></h4>
-<ul class="simple">
-<li>Weak link flexures for all translations</li>
-<li>Downstream X translation motor is in line with mirror center, so this motor
-does not move to implement pitch movement.</li>
-</ul>
-</div>
-<div class="section" id="id6">
-<h4>Motion control<a class="headerlink" href="#id6" title="Permalink to this headline">¶</a></h4>
-<ul class="simple">
-<li>Roll motor has approximately +/- 5 degrees of movement.</li>
-</ul>
-</div>
-</div>
-<div class="section" id="id7">
-<h3>Motion axes<a class="headerlink" href="#id7" title="Permalink to this headline">¶</a></h3>
-<table border="1" class="docutils">
-<colgroup>
-<col width="41%" />
-<col width="5%" />
-<col width="17%" />
-<col width="15%" />
-<col width="22%" />
-</colgroup>
-<thead valign="bottom">
-<tr class="row-odd"><th class="head">Mirror system</th>
-<th class="head">Axis</th>
-<th class="head">Motor type</th>
-<th class="head">Controller</th>
-<th class="head">Notes</th>
-</tr>
-</thead>
-<tbody valign="top">
-<tr class="row-even"><td>Mir:4 (high-resolution vertical focusing)</td>
-<td>X</td>
-<td>SmarAct (2)</td>
-<td>SmarAct MCS</td>
-<td>Limited yaw capability</td>
-</tr>
-<tr class="row-odd"><td>&nbsp;</td>
-<td>Y</td>
-<td>Stepper (2)</td>
-<td>Delta Tau</td>
-<td>&nbsp;</td>
-</tr>
-<tr class="row-even"><td>&nbsp;</td>
-<td>Z</td>
-<td>SmarAct (1)</td>
-<td>SmarAct MCS</td>
-<td>&nbsp;</td>
-</tr>
-<tr class="row-odd"><td>Mir:5 (high-resolution horizontal focusing)</td>
-<td>X</td>
-<td>SmarAct (2)</td>
-<td>SmarAct MCS</td>
-<td>Limited yaw capability</td>
-</tr>
-<tr class="row-even"><td>&nbsp;</td>
-<td>Y</td>
-<td>Stepper (1)</td>
-<td>Delta Tau</td>
-<td>&nbsp;</td>
-</tr>
-<tr class="row-odd"><td>&nbsp;</td>
-<td>Roll</td>
-<td>Attocube ECGt5050</td>
-<td>Attocube ECC100</td>
-<td>&nbsp;</td>
-</tr>
-</tbody>
-</table>
-</div>
-</div>
-<div class="section" id="instructions">
-<h2>Instructions<a class="headerlink" href="#instructions" title="Permalink to this headline">¶</a></h2>
-<div class="section" id="smaract-motor-closed-loop-operation">
-<h3>SmarAct motor closed-loop operation<a class="headerlink" href="#smaract-motor-closed-loop-operation" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li>To activate closed-loop operation, set the &#8216;Closed Loop&#8217; button on the desired
-axis to Enable.</li>
-<li>Moving the axis will reset this to &#8216;Disable&#8217; but the axis will remain in
-closed-loop.</li>
-<li>The motor should show &#8216;Holding&#8217; after the move has complete. &#8216;Stopped&#8217;
-indicates open-loop operation.</li>
-<li>To deactivate closed-loop operation, set the &#8216;Closed Loop&#8217; button on the
-desired axis to Disable. Even if it is already showing Disable, this will move
-the motor into open-loop operation.</li>
-<li>Pressing &#8216;Stop&#8217; will stop movement and put the motor into open-loop.</li>
-</ul>
-</div>
-<div class="section" id="mir-5-roll-referencing">
-<h3>Mir:5 roll referencing<a class="headerlink" href="#mir-5-roll-referencing" title="Permalink to this headline">¶</a></h3>
-<ul class="simple">
-<li>Turn on both auto-reference and auto-reset in Advanced display.</li>
-<li>Move axis over full range until &#8216;Referenced&#8217; light turns green.</li>
-<li>Turn off both auto-reference and auto-reset.</li>
-</ul>
-</div>
-</div>
-</div>
-
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Mirror system	Axis	Motor type	Controller	Notes
Mir:2 (high-flux vertical focusing)	X	SmarAct (2)	SmarAct MCS	Limited yaw capability
	Y	Stepper (4)	Delta Tau	Overconstrained mechanical system
	Z	SmarAct (1)	SmarAct MCS
Mir:3 (high-flux horizontal focusing)	X	SmarAct (2)	SmarAct MCS	Limited yaw capability
	Y	Stepper (1)	Delta Tau
Mirror system	Axis	Motor type	Controller	Notes
Mir:4 (high-resolution vertical focusing)	X	SmarAct (2)	SmarAct MCS	Limited yaw capability
	Y	Stepper (2)	Delta Tau
	Z	SmarAct (1)	SmarAct MCS
Mir:5 (high-resolution horizontal focusing)	X	SmarAct (2)	SmarAct MCS	Limited yaw capability
	Y	Stepper (1)	Delta Tau
	Roll	Attocube ECGt5050	Attocube ECC100