Turns out that the rotation stages are sufficiently different that the same parameters won't give optimal results. In particular, the CO2Y rotation stage seems to require significantly more current for the same velocity.

For TCS I reduced the maximum speed even further, since it is unlikely that we ever need high speed. The maximum is now about 100 times slower than originally. The speed can simply be left at 100% with 10 sec acceleration and deceleration times. I also needed to reduce the PI loop gains by 2 for X.

I noticed that the motion always falls short of the final destination. For large angles the errors tend to be somewhat larger. I added a fine adjust feature which, when engaged, will nudge the motor, after it finishes its initial motion. This feature includes an adjustment angle which is intended to compensate for the shortfall.

The busy flag gets stuck quite often, and the auto-abort is required for the fine adjust feature to work consistently.

In order to connect the duty cycle and current readbacks, the 0x1A07 and 0x1A09 regions need to be assigned in the process data configuration of the motor terminal. This will add "DCM Synchron info data channel" structures which contain the info1 and info2 channels.