The BRSX remote mass adjust pico motor was finally connected to the EX pico controller this morning. This was done with the pigtail D2400020 that Fil made, to allow the BRS to use channel 5 on the controller. Channel 5 is then sent to a DB9 that goes into the box, and connects to a DB9 soldered to the pins on a feedthru on BRSX vacuum vessel. 

I tested that we are able to run the motor from the MEDM, and made an adjustment to the mass on the BRSX to try to get us better centered. I can now recenter the BRS from my office, nice.

The pico controller screen is accessed through LSC->Picmotors->End X (X PICO A) screen. To recenter push "Enabled", push the  wait for the err codes to clear, set the step size and speed. "Sprint" is fine for the speed, for the BRS at least. The motor is, I think, 10k steps per revolution, when UW was here, we used 1250 steps per move. Today, I went +2250 steps, saw that was the wrong direction, then -5000 steps from and then a final +1000 steps to disengage the mass adjuster drive yoke. The net move was -1750 steps. This is recorded in epics as H1:SYS-MOTION_X_PICO_A_CURRENT_X_POSITION, but that seems to depend on the channels selected on the chassis.

 The buttons on the pico motor screen are kind of confusing " < " makes positive steps, and " > " is negative. This moved the BRSX driftmon channel about -20k counts, and it just barely on the bottom edge of it's readout range. I've turned the voltage on the heater down to bring it back to center, but that will take a day or two to settle out, so I've taken the BRS out of loop for now.