This week, I worked on HAM-HEPI commissionig with HughR and JimW.

I perfomed what could be called "assembly validation" tests on HAM2 and HAM3 HEPI. Those tests allow checking the good mechanical behaviour of the platforms, as well as the good functionning of the sensors and actuators. Tests performed include, but ar enot limited to: Local Static Offset test (small drive in one corner, we read the IPS sensors responses in every corner), sensor spectra, and Linearity tests. Thests were concluded with transfer function measurements which confirmed that the whole chain (actuation, platform, sensors) is functional, on both platforms. Transfer functions are attached.

All results are commited under the SVN, and testing reports are ongoing.

I also started designing Isolation loops (actually position loops, using IPS sensors only). I could not get thoses loops to be stable and I don't know why. I tried different designs, lowering the ISO block gain, and decreasing the ramp time on the boost filters, with no success. I am hoping Sebastian, who is coming next week, could give the problem a fresher look.

In parallel, I showed HughR and JimW how to use the SEI commissioning tools on HAM6-HEPI. They noticed that one of the acutuators (V1) was performing in the reverse direction. Their throughout troubleshooting, revealed a misconection at the actuator's hoses, which they fixed.