Today we changed the picomotor cable of the input mirror into the type matching the new driver(shows in the second picture). And according to the standard way of putting the pin, we put them into the right order, show in the first picture. The new picomotor driver's IP address has already set up by Eleonora(133.40.121.13). We connected this IP address with the computer, check all the picomotors, they all worked well.
From the second picture can also see that now, since we only need to control five picomotors, so we only put two layers(except the first layer).
I list this simple command to move the picomotor for easy checking later: now for us there are only a1,a2 two layers, and each layer have 0,1,2 motor
chl--> to see which motor is working in each layer
chl a1=1--> change the working motor of a1 to 1
vel--> check the velocity of each motor
vel a1 1=1000 -->change the velocity of a1 motor 1 to 1000
rel a1 1000 g --> move a1(the motor which move is defined by the second command)
Next step we are going to make and change the all the cables of the BS and PR chamber, the BS chamber can use the same driver with the input mirror, just add more layers. But for the PR chamber, we need to use a new driver, which means we need to set up another IP address for that driver. There is also one driver left then for the end mirror. Also we need to check if the picomotors also work well with the pad.