Something happened with BRSY this morning during maintenance that caused it to ring up more than normal and now the damping is not behaving quite as expected. For now, I have paused the ETMY sensor correction guardian with the BRSY out of loop and turned off the output of the BRS so it won't be used for eq mode, should that transition happen.
So far today, I did a bunch of "recapturing frames" in the BRS C# code, which has usually fixed this issue in the past. We also restarted the beckhoff computer, then the plc, C# and epics ioc. This did not recover the BRS either. Marc, Fil and I went to EY and looked at the damping drive in the enclosure and I think it was behaving okay. When the drive came on, the output would reach ~1.8V, then go to 0V when it turned off.
I've contacted UW and we will take a look at this again tomorrow.
Looked at this with Michael and Shoshana and the BRS is damped down now. Still not sure what is wrong but we have a theory that one side of the capacitive damper is not actuating. This seems to work okay when the velocities are either low or very high, but if they are moderate the high gain damping doesn't work well enough to get the BRS below a certain threshold, and instead keeps the BRS moderately rung up. We adjusted the damping on/off thresholds so the high gain damping will turn off at a higher velocities.
I will try to do some tests with it next week to see if we can tell if one side of the damper is working better than the other. For now, we should be able to bring the BRS back in loop.