Continuing the HAM6 HEPI Trouble shoot.  Checked sensor readings against visual position and raange of motion.  2 vertical sensors readings where offset wrt their actual positoin enough to allow the sensor to touch its flag.  This had to be corrected so I did that.

This shifted the computed cartesian position.  I looked before and after the adjustments (Loops open all through out) and then adjusted the Target positions appropriately.

WHAM6 is back to Position control but without boost.

The V2 IPS continues to behave and I even jiggled the wires a bit this morning--Periodic maintenance: unplug & plug in cables repeatedly, fun!