07_17_14_22_06_23_TargetRun Results

• PID2 did worse than other tests.

PID9 Analysis

• On target 62 (in MSIM log), positioner gets stuck and MSIM is thinking it is in region 1 instead of region 5

62,0,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 297.322719,185.243831,-0.029950,20.677804,0,0, 1639.936232,5926.000000,249.000000,0.000000,0.000000,0,0,0,0 
62,1,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 311.569390,172.811087,369.103185,56.893018,0,0, 350.257204,-61.000000,10.000000,0.000000,0.000000,0,0,0,0 
62,2,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 309.846066,171.298579,363.192897,58.412627,0,0, 149.211741,85.000000,-0.000000,0.000000,0.000000,0,0,0,0 
62,3,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 311.428456,172.113258,7.206250,58.271297,0,0, 308.958646,5778.000000,1.000000,0.000000,0.000000,0,0,0,0 
62,4,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.566340,174.129560,15.582968,58.073577,0,0, 642.911737,5612.000000,2.000000,0.000000,0.000000,0,0,0,0 
62,5,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.670360,174.086941,15.560727,58.312733,0,0, 649.330104,5613.000000,0.000000,0.000000,0.000000,0,0,0,0 
62,6,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.725052,174.120157,15.693163,58.325533,0,0, 655.079718,5610.000000,0.000000,0.000000,0.000000,0,0,0,0 
62,7,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.779507,174.149899,15.816050,58.345434,0,0, 660.663725,5608.000000,0.000000,0.000000,0.000000,0,0,0,0 
62,8,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.793935,174.174629,15.892424,58.316582,0,0, 662.857324,5606.000000,0.000000,0.000000,0.000000,0,0,0,0 
62,9,1,9, 308.299988,170.699997,359.562766,58.377883,0,0, 314.796938,174.159369,15.855189,58.351981,0,0, 662.449002,5607.000000,0.000000,0.000000,0.000000,0,0,0,0 

• Seeing lots of issues with theta overshooting on very small moves, probably one step and the ontime is too high to converge. Classic example below

24,0,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 297.367939,185.113708,-0.025645,20.956063,0,0, 3127.610570,1244.000000,280.000000,0.000000,0.000000,0,0,0,0 
24,1,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 326.169182,195.951929,70.322220,60.123634,0,0, 878.401966,193.000000,21.000000,0.000000,0.000000,0,0,0,0 
24,2,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 324.323395,207.502165,93.378307,62.768950,0,0, 189.572065,-56.000000,4.000000,0.000000,0.000000,0,0,0,0 
24,3,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 326.200802,203.664652,84.129771,63.544058,0,0, 195.846780,50.000000,-2.000000,0.000000,0.000000,0,0,0,0 
24,4,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 324.799929,206.878272,91.538474,63.179459,0,0, 119.817075,-34.000000,1.000000,0.000000,0.000000,0,0,0,0 
24,5,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 325.918582,204.382399,85.770236,63.439198,0,0, 126.443229,32.000000,-1.000000,0.000000,0.000000,0,0,0,0 
24,6,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 324.978826,206.488667,90.654646,63.184692,0,0, 81.244540,-23.000000,1.000000,0.000000,0.000000,0,0,0,0 
24,7,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 325.742211,204.857595,86.816440,63.425116,0,0, 80.876509,21.000000,-1.000000,0.000000,0.000000,0,0,0,0 
24,8,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 325.063659,206.272974,90.193445,63.161373,0,0, 60.487889,-18.000000,1.000000,0.000000,0.000000,0,0,0,0 
24,9,1,9, 325.380005,205.679993,88.720592,63.320715,0,0, 325.669717,205.035574,87.218855,63.410424,0,0, 63.589255,16.000000,-1.000000,0.000000,0.000000,0,0,0,0 

• Also seeing theta overdamped sometimes and unable to get to target such as below