D22
D22 - Large dynamic range small-angle diffractometer
MAD command DET DTR DAN SDI SAN STR TTR SHT SHT PHI BX BY
HARD (tag) DTC DTD DRD EY ER EX TE TE BSX BSY
meaning detector distance detector translation lateral detector rotation sample distance along beam direction sample table angle (counterclockwise seen from top) sample changer translation lateral sample table translation lateral sample table height (incremental) sample table height (incremental) sample cradle angle beamstop horizontal beamstop vertical
Here is the D22 documentation