Below I've attached the result of today's rotation stages random walk script to test the new Beckhoff control configurations for PSL RS (which was later applied to CO2 RS).

Quick Conclusion:

PSL RS requested angle and measured angle agree within 0.02 degrees (better than before).

CO2X RS requested angle and measured angle agree within0.03 degrees (better than before)

CO2Y RS requested angle and measured angle agree within 0.1 degrees (worsen)

I also increased the CO2 RS velocity by a factor of 30 and the acceleration and deceleration by a factor of 10 as Daniel suggested (3000, 10000, 10000).

And because of worsen the CO2Y RS performance the angle vs. power calculator is a bit off right now.