...

The XRT had several disabled axes and nearly broken chassis that were causing all kinds of hackery and finagling for ops as a result of rushed commissioning. To make things better we decided to go through each chassis 1 by 1 and fix outstanding issues, enabling all axes, including bending. This post goes over what was fixed and changed, and why. Also you will find the  

 Objectives

• Enable all axes
  • Fix all chassis
  • Fix all cables
  • Verify motion
• Verify all drive settings and capture on google drive
• Improve gantry tuning and control
• Misc improvements

...