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Entry  Mon Oct 25 13:23:45 2021, Anchal, Summary, BHD, Before photos of BSC 
    Reply  Mon Oct 25 17:37:42 2021, Anchal, Summary, BHD, Part I of BHR upgrade - Removed optics from BSC rn_image_picker_lib_temp_44cb790a-c3b4-42aa-8907-2f9787a02acd.jpgrn_image_picker_lib_temp_0fd8f4fd-64ae-4ccd-8422-cfe929d4eeee.jpg
       Reply  Tue Oct 26 16:56:22 2021, Paco, Summary, BHD, Part I of BHR upgrade - Locked PMC and IMC 
          Reply  Wed Oct 27 16:27:16 2021, Anchal, Summary, BHD, Part II of BHR upgrade - Prep OMCNorthBefore.jpegOMCNorthAfter.jpeg
             Reply  Wed Oct 27 16:31:35 2021, Anchal, Summary, BHD, Part III of BHR upgrade - Removal of PR2 Small Suspension 
                Reply  Thu Oct 28 16:32:32 2021, Paco, Summary, BHD, Part IV of BHR upgrade - Removal of BSC eastern optics 
                   Reply  Fri Nov 5 12:21:16 2021, Anchal, Summary, BHD, Part VI of BHR upgrade - Removal of ITMYC optics XendFlowBenchLeftEnd.jpgXendFlowBenchMiddle.jpgXendFlowBenchRightEnd.jpg
                      Reply  Wed Dec 15 16:11:38 2021, Anchal, Summary, BHD, Part VIII of BHR upgrade - Placed LO1 signal-2021-12-15-161437.jpeg
                         Reply  Wed Dec 15 17:44:18 2021, Koji, Summary, BHD, Part VIII of BHR upgrade - Placed LO1 
                            Reply  Thu Jan 6 21:04:41 2022, Anchal, Summary, BHD, Part VIII of BHR upgrade - LO1 OSEMs inserted 
                               Reply  Mon Jan 10 14:52:51 2022, Anchal, Summary, BHD, LO1 OSEMs roughly calibrated and noise measured LO1_vs_ETMX_OSEM_Spectrum_LF_x30_Gain.pdfLO1_vs_ETMX_OSEM_Spectrum_HF_x30_Gain.pdf
                                  Reply  Mon Jan 10 18:36:41 2022, Anchal, Summary, BHD, LO1 free swinging test set to trigger 
                                     Reply  Tue Jan 11 12:19:12 2022, Anchal, Summary, BHD, LO1 Input Matrix Diagonalization performed. LO1_SUS_InpMat_Diagnolization.pdfLO1_FreeSwingData_PeakFitting.pdf
                               Reply  Mon Jan 24 18:53:09 2022, Anchal, Summary, BHD, Part VIII of BHR upgrade - LO2 placed and OSEMs tuned 
                                  Reply  Tue Jan 25 10:55:02 2022, Anchal, Summary, BHD, Part VIII of BHR upgrade - LO2 input matrix diagonalization performed. 
                                     Reply  Tue Jan 25 16:42:03 2022, Anchal, Summary, BHD, Reduced filter gains in all damped new SOS 
                         Reply  Thu Jan 6 11:54:20 2022, Anchal, Summary, BHD, Part IX of BHR upgrade - Placed AS1 and AS4 
                            Reply  Fri Jan 7 16:17:42 2022, Anchal, Summary, BHD, Part IX of BHR upgrade - Placed AS1 and AS4 filters 
                               Reply  Sat Jan 8 16:01:42 2022, Paco, Summary, BHD, Part IX of BHR upgrade - Placed LO2 filters 
                                  Reply  Tue Jan 18 14:26:09 2022, Paco, Summary, BHD, Part IX of BHR upgrade - Placed remaining filters SR2, PR3, PR2 
                               Reply  Tue Jan 11 18:18:29 2022, Anchal, Summary, BHD, Attempted OSEM installation on AS1 
                                  Reply  Tue Jan 11 18:40:25 2022, Anchal, Summary, BHD, AS1 Sat Amp has a PCB issue signal-2022-01-11-184917.jpeg
                                     Reply  Thu Jan 13 09:48:41 2022, Anchal, Summary, BHD, AS1 Sat Amp fixed signal-2022-01-13-094823_001.jpegsignal-2022-01-13-094823_002.jpeg
                                  Reply  Thu Jan 13 12:24:08 2022, Anchal, Summary, BHD, AS1 SD and LR magnets broke 
                                     Reply  Mon Jan 24 21:18:40 2022, Paco, Summary, BHD, Part IX of BHR upgrade - AS1 placed and OSEM tuned 
                                        Reply  Tue Jan 25 11:02:54 2022, Anchal, Summary, BHD, Part IX of BHR upgrade - AS1 free swing test failed AS1_freeSwingTestFailed.pdf
                                           Reply  Thu Jan 27 08:27:34 2022, Paco, Summary, BHD, Part IX of BHR upgrade - AS1 inspection and correction 
                                              Reply  Wed Feb 2 16:32:02 2022, Anchal, Summary, BHD, Part IX of BHR upgrade - AS1 free swing test still not good AS1_FreeSwingData_PeakFitting_20220125.pdfAS1_SUS_InpMat_Diagnolization_20220202.pdf
                                                 Reply  Tue Mar 15 18:42:37 2022, Anchal, Summary, BHD, Part IX of BHR upgrade - AS1 resuspended and OSEMs tuned 
                                                    Reply  Tue Mar 15 18:45:12 2022, Anchal, Summary, BHD, Part X of BHR upgrade - BHDBS Path setup 
                            Reply  Thu Jan 13 12:29:27 2022, Anchal, Summary, BHD, AS4 LR magnet broke 
                               Reply  Fri Jan 14 18:12:47 2022, Anchal, Summary, BHD, AS4 placed in ITMY Chamber, OSEMs connected 
                                  Reply  Tue Jan 18 18:19:22 2022, Koji, Summary, BHD, AS4 placed in ITMY Chamber, OSEMs connected Screen_Shot_2022-01-18_at_17.48.16.pngcable_swap.png
                                     Reply  Wed Jan 19 12:56:52 2022, Paco, Summary, BHD, AS4 OSEMs installation 
                                        Reply  Thu Jan 20 16:42:55 2022, Paco, Update, BHD, AS4 OSEMs installation - part 2 
                                           Reply  Thu Jan 20 18:16:29 2022, Anchal, Update, BHD, AS4 set to trigger free swing test 
                                              Reply  Fri Jan 21 16:40:10 2022, Anchal, Update, BHD, AS4 Input Matrix Diagonalization performed.  AS4_SUS_InpMat_Diagnolization_20220121.pdfAS4_FreeSwingData_PeakFitting_20220121.pdf
                                                 Reply  Mon Jan 24 17:12:27 2022, rana, Update, BHD, AS4 Input Matrix Diagonalization performed.  
                                                    Reply  Mon Jan 24 20:48:48 2022, Anchal, Update, BHD, AS4 Input Matrix Diagonalization performed.  
                   Reply  Tue Jan 18 15:19:49 2022, Paco, Summary, BHD, Part IV of BHR upgrade - Replaced old SR3 with SOS SR2. OSEM tuning attemtped. PXL_20220119_012954365.jpgPXL_20220119_013003522.jpg
                      Reply  Tue Jan 18 18:16:28 2022, Anchal, Summary, BHD, Part IV of BHR upgrade - SR2 Sat Amp Box inspection 
                         Reply  Wed Jan 19 12:50:10 2022, Anchal, Summary, BHD, Part IV of BHR upgrade - SR2 OSEM tuning progress. 
                            Reply  Thu Jan 20 17:03:36 2022, Anchal, Summary, BHD, Part IV of BHR upgrade - SR2 OSEM tuned. DJI_0144.JPG
                               Reply  Thu Jan 20 18:41:55 2022, Anchal, Summary, BHD, SR2 set to trigger free swing test 
                                  Reply  Fri Jan 21 11:24:42 2022, Anchal, Summary, BHD, SR2 Input Matrix Diagonalization performed.  SR2_SUS_InpMat_Diagnolization_20220121.pdfSR2_FreeSwingData_PeakFitting_20220121.pdf
                Reply  Thu Oct 28 17:01:54 2021, Anchal, Summary, BHD, Part III of BHR upgrade - Adding temp fixed flat mirror for PR2 
                Reply  Thu Jan 27 17:57:35 2022, Anchal, Summary, BHD, Part III of BHR upgrade - Replaced small suspended PR3 with new SOS PR3 and OSEM tuning 
                   Reply  Thu Jan 27 18:03:36 2022, Paco, Summary, BHD, Part III of BHR upgrade - Install PR2, balance, and attempt OSEM tuning 
                      Reply  Thu Jan 27 20:46:38 2022, Koji, Summary, BHD, Part III of BHR upgrade - Install PR2, balance, and attempt OSEM tuning Screen_Shot_2022-01-27_at_20.33.56.pngScreen_Shot_2022-01-27_at_21.30.16.png
                         Reply  Fri Jan 28 10:37:59 2022, Paco, Summary, BHD, Part III of BHR upgrade - PR2 OSEM finalized, reinsall LO1 OSEMs 
                            Reply  Fri Jan 28 11:30:52 2022, Koji, Summary, BHD, Part III of BHR upgrade - PR2 OSEM finalized, reinsall LO1 OSEMs 
                               Reply  Fri Jan 28 16:35:18 2022, Anchal, Summary, BHD, AS1, PR2 and PR3 set to trigger free swing test 
                            Reply  Wed Feb 2 16:22:00 2022, Anchal, Summary, BHD, Part III of BHR upgrade - PR2 inpute matrix diagonalized PR2_FreeSwingData_PeakFitting_20220125.pdfPR2_SUS_InpMat_Diagnolization_20220202.pdf
                   Reply  Wed Feb 2 16:27:57 2022, Anchal, Summary, BHD, Part III of BHR upgrade - PR3 inpute matrix diagonalized PR3_FreeSwingData_PeakFitting_20220125.pdfPR3_SUS_InpMat_Diagnolization_20220202.pdf
             Reply  Wed Oct 27 16:38:02 2021, Anchal, Summary, BHD, Part II of BHR upgrade - Relocation of TT2 and MMT1/2 alignment 
                Reply  Wed Oct 27 18:11:37 2021, Koji, Summary, BHD, Part II of BHR upgrade - Relocation of TT2 and MMT1/2 alignment 
                Reply  Wed Oct 27 18:16:45 2021, Koji, Summary, BHD, Part II of BHR upgrade - Relocation of TT2 and MMT1/2 alignment 
             Reply  Thu Mar 17 17:23:22 2022, Anchal, Summary, BHD, Part IIa of BHR upgrade - Green laser alignment 
                Reply  Mon Mar 21 18:24:07 2022, Anchal, Summary, BHD, Part IIa of BHR upgrade - Green laser alignment on Yarm 
                   Reply  Thu Mar 24 19:20:28 2022, Anchal, Summary, BHD, Part IIa of BHR upgrade - Green laser alignment on Yarm 
                      Reply  Fri Mar 25 18:20:28 2022, Anchal, Summary, BHD, Part IIa of BHR upgrade - Green laser alignment on Yarm 
                         Reply  Sat Mar 26 13:04:38 2022, Paco, Summary, BHD, Part IIa of BHR upgrade - Green laser alignment on Yarm 
                            Reply  Thu Mar 31 18:58:16 2022, Ian MacMillan, Summary, BHD, Part IIa of BHR upgrade - IR laser alignment on Xarm 
                               Reply  Tue Apr 5 18:15:06 2022, Anchal, Summary, BHD, Part IIa of BHR upgrade - IR laser alignment on Xarm 
                                  Reply  Wed Apr 6 01:20:48 2022, Koji, Summary, BHD, Part IIa of BHR upgrade - IR laser alignment on Xarm PXL_20220406_060846581.jpgPXL_20220406_014205726.jpgPXL_20220406_060324812.jpgPXL_20220406_015259326.jpg
                                     Reply  Wed Apr 6 22:51:47 2022, Koji, Summary, BHD, Part IIa of BHR upgrade - IR laser alignment on Xarm PXL_20220406_213356237.MP.jpgPXL_20220406_212936502.MP.jpg
                                  Reply  Wed Apr 6 12:03:51 2022, Anchal, Summary, BHD, Part IIa of BHR upgrade - IR laser alignment on Yarm 
                                     Reply  Thu Apr 7 17:59:51 2022, Anchal, Summary, BHD, Part IIa of BHR upgrade - IR laser alignment on Yarm 
                                        Reply  Fri Apr 8 17:21:31 2022, Ian MacMillan, Summary, BHD, Part IIa of BHR upgrade - IR laser alignment on Yarm 
                                           Reply  Mon Apr 11 21:13:21 2022, Paco, Summary, BHD, Part IIa of BHR upgrade - POY11 debugging 
                                              Reply  Mon Apr 11 21:44:14 2022, Koji, Summary, BHD, Part IIa of BHR upgrade - POY11 debugging D990543A1.PDFPXL_20220412_023941730.jpgPXL_20220412_023950567.jpg
                                                 Reply  Thu Apr 14 11:52:57 2022, yehonathan, Summary, BHD, Part IIa of BHR upgrade - POY11 debugging Screenshot_2022-04-14_15-53-39.pngPXL_20220414_220616875.jpg
                                                    Reply  Thu Apr 14 18:39:13 2022, Paco, Summary, BHD, Part IIa of BHR upgrade - POY11 debugging 
                                                       Reply  Mon Apr 18 17:53:45 2022, Paco, Summary, BHD, Part IIa of BHR upgrade - POY11 debugging 
Message ID: 16758     Entry time: Wed Apr 6 01:20:48 2022     In reply to: 16757     Reply to this: 16760
Author: Koji 
Type: Summary 
Category: BHD 
Subject: Part IIa of BHR upgrade - IR laser alignment on Xarm 

PR2/PR3 Output R for fame OSEMS reduced from 1.2K to 1.2K//100Ohm

I put the R=100Ohm for PR3 with the functions of the units mistakenly swapped. This affects imbalanced actuation of PR3 right now as well as too strong SD

PR2 Coil Driver 1 (UL/LL/UR) / S2100616 / PCB S2100520 / R_OUT = (1.2K // 100) for CH1/2/3

PR2 Coil Driver 2 (LR/SD) / S2100617 / PCB S2100519 / R_OUT = (1.2K // 100) for CH3

PR3 Coil Driver 1 (UL/LL/UR) / S2100619 / PCB S2100516 / R_OUT = (1.2K // 100) for CH3 only

PR3 Coil Driver 2 (LR/SD) / S2100618 / PCB S2100518 / R_OUT = (1.2K // 100) for CH1/2/3

----

The output R was reduced from 1.2k to 1.2k//100 = 92 Ohm.

This means that the face coil gains were increased by a factor of 13.

The original gains for PR2 Pos/Pit/Yaw were {0.7, 0.3, 0.2}. To keep the same loop gain, the new gains were supposed to be {0.054, 0.023, 0.015}.
With the new gain, the oscillations were very slowly reduced. Therefore, I increased the gains to have the gain margin of 2. (i.e. increased the gains until I have the oscillation, and then made it half.)
The new values were {0.2, 0.1, 0.05}. The side gain was 20 and unchanged

For PR3 the same operation has been done.

The original gains for PR3 Pos/Pit/Yaw were {1, 0.52, 0.2}. They were supposed to be reduced to  {0.077, 0.04, 0.015}.
The gains were increased to {0.5, 0.1, 0.1}. The side gain was also increased from 1 to 5.

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