BUGFIX Set 50ns veto window parameter correctly on the Fermi chopper.

Also disable the idle setting in the 'run' command.
And check that the 'run' command actually succeeded.

site_ansto/instrument/pelican/config/chopper/fermimot.tcl

@@ -326,7 +326,7 @@ namespace eval ::chopper {
     set phGain   [lindex $row 1 3 $dir]
     
     hset $hpath/$node/control/set_motor_dir $dir
-    hset $hpath/$node/control/set_vetowin50 $vetowin
+    hset $hpath/$node/control/set_vetowin50 [expr $vetowin/50.0]
     hset $hpath/$node/control/set_prop_gain $propGain
     hset $hpath/$node/control/set_int_gain $intGain
     hset $hpath/$node/control/set_phase_gain $phGain
@@ -395,6 +395,9 @@ namespace eval ::chopper {
   proc imot_SRun {hpath node addr name target} {
     global SCode
     set catch_status [ catch {
+      if {[hval $hpath/$node/control/device_error] != ""} {
+        hset $hpath/$node/control/device_error ""
+      }
       # imot_status clears the abort flag, but this only happens if imot_status
       # is being checked because of a "run" or "drive" when a stop is sent.
       hsetprop $hpath/$node abort 0
@@ -403,6 +406,10 @@ namespace eval ::chopper {
         return $ret
       }
       hset $hpath/$node/control/start 1
+      # Disable idle if set
+      if {[hval $hpath/$node/idle_toggle] == 1} {
+        hset $hpath/$node/control/idle_toggle 1
+      }
       hsetprop $hpath/$node/control timecheck -1
       set readtime [hgetpropval $hpath read_time]
       hsetprop $hpath lastupdate $readtime
@@ -416,9 +423,18 @@ namespace eval ::chopper {
     set catch_status [ catch {
       if [hgetpropval $hpath/$node abort] {
         hsetprop $hpath/$node abort 0
-        clientput "User requested stop. Aborting operation" ""
+        clientput "ERROR: User requested stop. Aborting operation"
         return $SCode(HWFault)
       }
+      set devErr [hval $hpath/$node/control/device_error]
+      if {$devErr != ""} {
+        clientput "ERROR: Drive request failed.  Aborting operation"
+        clientput $devErr
+        return $SCode(HWFault)
+      }
+      if [hpropexists $hpath geterror] {
+        clientput "WARNING: [hgetpropval $hpath geterror]"
+      }
       set readtime [hgetpropval $hpath read_time]
       set lastupdate [hgetpropval $hpath lastupdate]
       if {$readtime <= $lastupdate} {
@@ -455,7 +471,7 @@ namespace eval ::chopper {
 
   proc imot_Halt {hpath node addr name} {
     global SCode
-    # Don't halt the choppers just because someone tried to interrupt a scan.
+    # Don't halt the choppers just because someone sent INT1712 to interrupt a scan.
     if { [GetInt] == "continue" } {
       hset $hpath/$node/control/stop 1
       hsetprop $hpath/$node abort 1