Unlocked the WHAM5 HEPI and then ran Range of Motion measurement. 1mm for most DoFs, V1 0.9 & V4 0.8mm. Elected to not run linearity test, looked good in April. Attempted to run through commissioning scripts to close the position loops but there is a bad L4C and I'll need to replace that and rerun the transfer functions.
Meanwhile I updated the Cartesian position targets to the more recent stopped time, although these saw only small changes since I updated the targets in July. And, I've driven the outputs (Cartesian basis in the Isolation filter section) to the target positions. The rotational DoFs are all within a few 100nrads and the translationals are within a few umeters. Feel free to tweek the OFFSETs on the Isolation filters if further tuning is needed.
Safe.snaps updated for both the HEPI and ISI for HAM5. The ISI is controlled by guardian; HEPI is manual.