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. 2015 May 9;22(Pt 4):895–900. doi: 10.1107/S1600577515005354

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© Sandro Waltersperger et al. 2015

This is an open-access article distributed under the terms of the Creative Commons Attribution Licence, which permits unrestricted use, distribution, and reproduction in any medium, provided the original authors and source are cited.

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PRIGo software. The schematic shows the different modules of PRIGo’s software and their interactions (represented by arrows). PRIGo’s control system receives commands from the input/output control servers (IOC) of the EPICS framework, which also controls the other beamline components including the air-bearing rotary stage (ABR). Within the PRIGo control unit, a transmission control protocol (TCP) server handles all communication (commands and feedback) over a TCP socket connection. The TCP server also receives the ABR ω position via EPICS, which is used by the PRIGo control to perform the active correction (see §3). The SmarAct positioners (S1–S4: SmarAct positioners, PHI: SmarAct rotary stage) feedback loop is controlled by the modular control system (MCS) from SmarAct GmbH.