We are working on the HEPI tilt decoupling on HAM2:

- The latest set of filters designed for this unit has been installed

- Turned on the HEPI position loops (5 Hz ugf) and ISI isolation (high blend, control level 2).

- Set up tilt coupling measurements parameters:
   Added cases for that in exc channel lists (to drive X and Y only) and resp channel list (to record HEPI and ISI)
   Set up drive values:
   200 um (200000counts excitation at the error point) for drives from quasi DC up to 100 mHz.
   50 um (50000counts excitation at the error point) for drives up from 100 mHz to 700 mHz.
   2 um (2000counts excitation at the error point) for drives between 700 mHz and 10 Hz.   

- Started the measurements. They should be completed around 9am tomorrow morning.


Things to look at more carefully tomorrow:
- I had to add quite a lot of phase at low frequency in the Z loop, so we need to check there is no confusion with what we think is the latest version of filters for this unit. (the non-boosted open loop had only 11 degrees of phase at 0.2 Hz, so it was close from being conditionally stable, and therefore ringing while ramping on the loop). Made it larger (>45 degrees). The loop turns on well now. 
- Could not turn on the pringle loops
- Could not offset using the bias block
- The blend offset was off because of the "IPS_Switch". Could not find this switch in the MEDM screens. Turned it on using "caput".


HAM 6: We have installed and turned on the position sensor loops controller designed by Jim and Rich last week. Some work need to be done on the HAM-ISI to be ready to drive for tilt decoupling.