Tonight I tried some more tests on the script; it seems to work better, with both performance and robustness improved, although the Xarm behaved badly almost all the time. I did not perform all the tests I wanted because the ALS lock was pretty unstable tonight (not only because of the X arm), with more than a few lock losses; after the last lock loss, however, I couldn't restore the Xarm. I'll do some more tests as soon I can recover it, or post the result of the first batch of tests.

In addition, I encountered the following error multiple times, but I have no idea about what could it be:

Thu Nov 06 02:00:13 PST 2014
medmCAExceptionHandlerCb: Channel Access Exception:
Channel Name: Unavailable
Native Type: Unavailable
Native Count: 0
Access: Unavailable
IOC: Unavailable
Message: Virtual circuit disconnect
Context: fb.martian.113.168.192.in-addr.arpa:5064
Requested Type: TYPENOTCONN
Requested Count: 0
Source File: ../cac.cpp
Line number: 1214