This report is a summary of some of the issues that came up during the recent ISI_HAMX guardian commissioning (alog 10394, alog 10300):

There is quite a bit of overshoot in the X/Y location when the platform are ramped to RX/RY setpoints with offsets.  The image below shows the CPS_<dof>_LOCATION readback while the setpoint ramps with 10 urad offsets in RX and RY:

Note that X and Y locations swing through more than 100,000 counts during and after the ramp.  Fabrice's suggestion is therefore that we break up the isolation procedure such that we engage the isolation loops and ramp the biases for the RX and RY degrees of freedom first, before engaging the isolation loops for the other degrees of freedom.  This will help prevent the isolation loops from saturating during the isolation process, even if there are large cart bias offsets.

During deisolation we should also be ramping down any biases before we begin the deisolation procedure.