we did again the complete alignment procedure starting with iris and optimizing injection motors Ma and Mb, then installing mirror S2, S3, P4 and P1, optimizing thetaX and thetaY axis for each motor.

everything was fine until we installed P1. we tried to optimize thetaX and thetaY of P1 and we clearly observed a strange motion when doing that :
   - for thetaX axis, steps in one direction seem to have a different length from steps in reverse direction.
   - for thetaY axis, trying to move in one direction, makes sometime a motion in the reverse direction.
at this moment, it is difficult to say if the problem comes from the controller, the mirror mount or the motor itself.
if both axis are concerned on the same mirror (P1), maybe the problem comes from the mount... to be continued on Monday.