We've been working on a script to try improve the function of the rotation stage which controls the waveplate setting the power output to the CP.  The script is now working, but we had problems yesterday with stability of the rotation stage control. The Y rotation stage stopped responding to requests.  It's not clear what the cause of this problem is, but restarting the EtherCAT chassis for the rotation stages appears to fix the problem at least for a period of time.  After a first restart the X-arm rotation stage which is currently in use, started to exhibit problems.  The stage would correctly find home, but any angle request caused it to move randomly.

I re-calibrated the Y-arm rotation stage.  The X-arm one does not appear to be correctly calibrated which may be a BURT restore issue.  However this only affects calibration of power to angle, and should not affect operation for angle requests.

At this point I've completed the control script but don't plan on implementing it while the rotation stage is not working in a stable manor since the script asks the stage to move multiple times and may increase the tendency for it to fail.

Script is located at userapps/trunk/tcs/common/scripts/TCS_CO2P_SETPOWER.py