Patrick Thomas, Thomas Vo

We checked the CoE parameters in the Beckhoff system manager and verified that they matched the same values as those for the PSL rotation stage.
We went out to the TCSX table and used medm on a laptop to move the rotation stage.
The rotation stage would move again, but not to the requested angle.
We power cycled the Beckhoff chassis twice. (We weren't sure we left it off long enough the first time.)
We tried to move the rotation stage again. It moved to the correct requested angle.
A motor warning was reported and the rotation stage would no longer move.
Thomas forced the motor warning variable in the PLC to FALSE, which allowed the stage to start working again.  It was decided in the code review that we will only stop the motor on motor errors not warnings.  The strange thing is that the motor is working pretty well now even if I don't force the warning to be false.  The long term solution to the problem of why motor warnings stop the stage is not quite figured out yet but it seems to be working now.  Also, we don't know why the stage was moving in opposite directions, but rebooting the chassis worked to fix the problem.


Interlock:
We noticed that the medm readback for the safety interlock indicated that the rotation stage was locked out, but it was still able to move and the interlock jumper has no effect on the status on the MEDM screen.  We think it's a problem with the Beckhoff wiring or software because we tested the continuity of the interlock signal in the on/off state (closed with jumper in, open with jumper out) from the floor all the way to the CER up till the Beckhoff chassis and it looked normal to us.  For now, we can just remove the interlock signal from the MEDM screens so it doesn't confuse people