Since we are considering reverting the PR2 spot move, I measured the spot positions by adjusting A2L gains for PR2, PRM, and PR3. The first attached screenshot shows the current sliders and pico position, the second screenshot shows the A2L gains in SDF.
| A2L gain | ||
| PRM Y2L | 0.48 | |
| PRM P2L | 1.76 | |
| PR2 Y2L | -0.39 | |
| PR2 P2L | -3.0 | |
| PR3 Y2L | 1.5 | |
| PR3 P2L | -0.3 |
Here is the calculation of what these a2l coefficients imply in spot position (fixing the typo of swapping the PR2 P2L and Y2L coeffs):
| A2L gain | Spot position [mm] | |
| PRM Y2L | 0.48 | 1.0 |
| PRM P2L | 1.76 | 3.6 |
| PR2 Y2L | -3.0 | -6.0 |
| PR2 P2L | -0.39 | -0.8 |
I don't have handy the conversion for the larger PR3 triple suspension's A2L coeff to spot position, and Sheila also mentioned that the error bars on that one are a bit larger, so I'm not quoting a spot position for PR3.
| PRM P2L | 1.7 | |
| PRM Y2L | 0.52 | |
| PR2 P2L | -0.38 | |
| PR2 Y2L | -7.5 | |
| PR3 P2L | -1.5 | |
| PR3 Y2L | 1.6 |
In the measurements above, I didn't mean that the PR3 gains had more uncertainty than the others, but that the pitch ones had more uncertainty than yaw, because when I was tuning pitch I sometimes didn't see a clear difference. PR3 yaw seemed similar to the other yaw measurements.
I've accepted this in the OBSERVE and the safe.snap. Also attached is a screenshot of the sliders at the time of this measurement.
