Problem(s) Encountered:

Changing the disperser resulted very often in complaints about being out-of-position (every fifth or six times when a change had to be initiated). Luckily, the reset command always worked nicely, but the frequency of this happening is a bit worrisome.

Below is an example of one of the error messages, resulting also

in a bright red warning sign on the prospero status window

at the appropriate place :

Setting disperser...

Error: Command returned error

ERROR: DISPERSER DISPERSER=FAULT Mechanism out-of-position, in-position sensor not asserted. Reset DISPERSER to recover

Error setting the Disperser      

Programming Error: invalid error code:  -99

DISPERSER request aborted with errors.

Execution error in Prospero command.

Command: disp 2

Solutions:

Motor parameters have been adjusted to allow for more torque when accelerating from zero on a position change.