Updated sinqMotor to new 1.6.0

Makefile

@@ -7,7 +7,9 @@ EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
 # Specify the version of asynMotor we want to build against
-motorBase_VERSION=7.3.2
+motorBase_VERSION=7.2.2
+
+LIBVERSION=homeerror
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

src/masterMacsAxis.cpp

@@ -11,11 +11,6 @@
 #include <string.h>
 #include <unistd.h>
 
-enum moveMode {
-    positionMode,
-    velocityMode,
-};
-
 struct masterMacsAxisImpl {
     /*
     The axis status and axis error of MasterMACS are given as an integer from
@@ -29,7 +24,6 @@ struct masterMacsAxisImpl {
     bool needInit = true;
     bool targetReachedUninitialized;
     bool dynamicLimits;
-    moveMode lastMoveCommand;
 };
 
 /*
@@ -38,7 +32,7 @@ A special communication timeout is used in the following two cases:
 2) First move command after enabling the motor
 This is due to MasterMACS running a powerup cycle, which can delay the answer.
  */
-#define PowerCycleTimeout 6.0 // Value in seconds
+#define PowerCycleTimeout 10.0 // Value in seconds
 
 /*
 Contains all instances of turboPmacAxis which have been created and is used in
@@ -81,6 +75,10 @@ void appendErrorMessage(char *fullMessage, size_t capacityFullMessage,
         // fullMessage suffices. We need capacity for one additional character
         // because of the linebreak.
         if (lenFullMessage + lenToBeAppended + 1 < capacityFullMessage) {
+            // Append the linebreak and readd the null terminator behind it
+            // fullMessage[lenFullMessage] = '\n';
+            // fullMessage[lenFullMessage + 1] = '\0';
+
             // We check before that the capacity of fullMessage is sufficient
             strcat(fullMessage, toBeAppended);
         }
@@ -96,7 +94,6 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
           .timeAtHandshake = 0,
           .targetReachedUninitialized = true,
           .dynamicLimits = false,
-          .lastMoveCommand = positionMode,
       })) {
 
     asynStatus status = asynSuccess;
@@ -154,9 +151,9 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     }
 
     // Even though this happens already in sinqAxis, a default value for
-    // motorErrorMessage is set here again, because apparently the sinqAxis
+    // motorMessageText is set here again, because apparently the sinqAxis
     // constructor is not run before the string is accessed?
-    status = setStringParam(pC_->motorErrorMessage(), "");
+    status = setStringParam(pC_->motorMessageText(), "");
     if (status != asynSuccess) {
         asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
@@ -263,7 +260,7 @@ asynStatus masterMacsAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    status = setVeloFields(abs(motVelocity), 0.0, motVmax);
+    status = setVeloFields(motVelocity, 0.0, motVmax);
     if (status != asynSuccess) {
         return status;
     }
@@ -389,7 +386,10 @@ asynStatus masterMacsAxis::readLimits() {
     highLimit = highLimit - limitsOffset;
     lowLimit = lowLimit + limitsOffset;
 
-    return setLimits(highLimit, lowLimit);
+    setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
+    setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
+
+    return status;
 }
 
 // Perform the actual poll
@@ -399,10 +399,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     asynStatus poll_status = asynSuccess;
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rwStatus = asynSuccess;
+    asynStatus rw_status = asynSuccess;
 
     // Status of parameter library operations
-    asynStatus plStatus = asynSuccess;
+    asynStatus pl_status = asynSuccess;
 
     char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
@@ -443,19 +443,16 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         if (timedOut) {
-            char msg[pC_->MAXBUF_];
+            setAxisParamChecked(this, motorMessageText,
-            snprintf(msg, sizeof(msg),
+                                "Timed out while waiting for a handshake. "
-                     "Controller \"%s\", axis %d: Timed out while waiting for "
+                                "Please call the support.");
-                     "a handshake. Please call the support.",
-                     pC_->portName, axisNo());
-            setAxisParamChecked(this, motorErrorMessage, msg);
 
             poll_status = asynError;
         }
 
         pC_->read(axisNo_, 86, response);
-        if (rwStatus != asynSuccess) {
+        if (rw_status != asynSuccess) {
-            return rwStatus;
+            return rw_status;
         }
 
         nvals = sscanf(response, "%lf", &handshakePerformed);
@@ -481,20 +478,38 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     // Read the previous motor position
-    plStatus = motorPosition(&previousPosition);
+    pl_status = motorPosition(&previousPosition);
-    if (plStatus != asynSuccess) {
+    if (pl_status != asynSuccess) {
-        return plStatus;
+        return pl_status;
     }
 
     // Update the axis status
-    rwStatus = readAxisStatus();
+    rw_status = readAxisStatus();
-    if (rwStatus != asynSuccess) {
+    if (rw_status != asynSuccess) {
-        return rwStatus;
+        return rw_status;
     }
 
-    rwStatus = pC_->read(axisNo_, 12, response);
+    // If we wait for a handshake, but the motor was moving in its last poll
-    if (rwStatus != asynSuccess) {
+    // cycle and has reached its target, it is not moving. Otherwise it is
-        return rwStatus;
+    // considered moving, even if we're still waiting for the handshake.
+    if (pMasterMacsA_->targetReachedUninitialized) {
+        *moving = false;
+    } else {
+        if (targetReached() || !switchedOn()) {
+            *moving = false;
+        } else {
+            *moving = true;
+        }
+    }
+
+    if (targetReached()) {
+        pMasterMacsA_->targetReachedUninitialized = false;
+    }
+
+    // Read the current position
+    rw_status = pC_->read(axisNo_, 12, response);
+    if (rw_status != asynSuccess) {
+        return rw_status;
     }
     nvals = sscanf(response, "%lf", &currentPosition);
     if (nvals != 1) {
@@ -502,59 +517,12 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    plStatus = setMotorPosition(currentPosition);
-    if (plStatus != asynSuccess) {
-        return plStatus;
-    }
-    setAxisParamChecked(this, motorEncoderPosition, currentPosition);
-
-    if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) {
-        double actualVelocity = 0.0;
-
-        rwStatus = pC_->read(axisNo_, 14, response);
-        if (rwStatus != asynSuccess) {
-            return rwStatus;
-        }
-        nvals = sscanf(response, "%lf", &actualVelocity);
-        if (nvals != 1) {
-            return pC_->couldNotParseResponse("R14", response, axisNo_,
-                                              __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        // Writes the actual speed in steps per second to the paramLib. This
-        // value is then returned by the RVEL field of the motor record.
-        setAxisParamChecked(this, motorVelocity,
-                            actualVelocity / motorRecResolution);
-
-        // Motor is moving in velocity mode
-        *moving = true;
-
-    } else {
-
-        // If we wait for a handshake, but the motor was moving in its last poll
-        // cycle and has reached its target, it is not moving. Otherwise it is
-        // considered moving, even if we're still waiting for the handshake.
-        if (pMasterMacsA_->targetReachedUninitialized) {
-            *moving = false;
-        } else {
-            if (targetReached() || !switchedOn()) {
-                *moving = false;
-            } else {
-                *moving = true;
-            }
-        }
-
-        if (targetReached()) {
-            pMasterMacsA_->targetReachedUninitialized = false;
-        }
-    }
-
     /*
-    Read out the error if either a fault condition status flag has been set
+    Read out the error if either a fault condition status flag has been set or
-    or if a movement has just ended.
+    if a movement has just ended.
      */
     if (faultConditionSet() || !(*moving)) {
-        rwStatus = readAxisError();
+        rw_status = readAxisError();
     }
 
     msgPrintControlKey keyError = msgPrintControlKey(
@@ -575,12 +543,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                       pC_->getMsgPrintControl().getSuffix());
         }
 
-        char msg[pC_->MAXBUF_];
+        setAxisParamChecked(this, motorMessageText,
-        snprintf(msg, sizeof(msg),
+                            "Communication error between PC and motor "
-                 "Controller \"%s\", axis %d: Communication error between IOC "
+                            "controller. Please call the support.");
-                 "and motor controller. Please call the support.",
-                 pC_->portName, axisNo());
-        setAxisParamChecked(this, motorErrorMessage, msg);
 
         poll_status = asynError;
     } else {
@@ -589,16 +554,13 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         // error message by appending strings.
         char errorMessage[pC_->MAXBUF_] = {0};
         char shellMessage[pC_->MAXBUF_] = {0};
-        snprintf(errorMessage, sizeof(errorMessage),
-                 "Controller \"%s\", axis %d: ", pC_->portName, axisNo());
 
         // Concatenate all other errors
         if (shortCircuit()) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Short circuit fault.");
-            appendErrorMessage(
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
-                errorMessage, sizeof(errorMessage),
+                               "Short circuit error. Please call the support.");
-                "Short circuit error. Please call the support. ");
 
             poll_status = asynError;
         }
@@ -607,7 +569,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Encoder error.");
             appendErrorMessage(errorMessage, sizeof(errorMessage),
-                               "Encoder error. Please call the support. ");
+                               "Encoder error. Please call the support.");
 
             poll_status = asynError;
         }
@@ -619,7 +581,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 errorMessage, sizeof(errorMessage),
                 "Maximum allowed following error exceeded.Check if "
                 "movement range is blocked. Otherwise please call the "
-                "support. ");
+                "support.");
 
             poll_status = asynError;
         }
@@ -628,7 +590,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Feedback error.");
             appendErrorMessage(errorMessage, sizeof(errorMessage),
-                               "Feedback error. Please call the support. ");
+                               "Feedback error. Please call the support.");
 
             poll_status = asynError;
         }
@@ -637,9 +599,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         If the motor is homing or has been homed, ignore limit switch errors.
          */
         int homing = 0;
-        int at_home = 0;
+        int homed = 0;
         getAxisParamChecked(this, motorStatusHome, &homing);
-        getAxisParamChecked(this, motorStatusAtHome, &at_home);
+        getAxisParamChecked(this, motorStatusHomed, &homed);
 
         /*
         Ignore limit switch errors when homing / motor has been homed or when
@@ -670,7 +632,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         moving would be set to true anyway. The check is here for clarity /
         being explicit.
         */
-        if (!homing && !at_home && !(*moving)) {
+        if (!homing && !homed && !(*moving)) {
             /*
             Either the software limits or the end switches of the controller
             have been hit. Since the EPICS limits are derived from the software
@@ -707,7 +669,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                     "Software limits or end switch hit. Try homing the motor, "
                     "moving in the opposite direction or check the SPS for "
                     "errors (if available). Otherwise please call the "
-                    "support. ");
+                    "support.");
 
                 poll_status = asynError;
             }
@@ -717,7 +679,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Overcurrent error.");
             appendErrorMessage(errorMessage, sizeof(errorMessage),
-                               "Overcurrent error. Please call the support. ");
+                               "Overcurrent error. Please call the support.");
 
             poll_status = asynError;
         }
@@ -727,7 +689,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                "Overtemperature error.");
             appendErrorMessage(
                 errorMessage, sizeof(errorMessage),
-                "Overtemperature error. Please call the support. ");
+                "Overtemperature error. Please call the support.");
 
             poll_status = asynError;
         }
@@ -736,7 +698,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Overvoltage error.");
             appendErrorMessage(errorMessage, sizeof(errorMessage),
-                               "Overvoltage error. Please call the support. ");
+                               "Overvoltage error. Please call the support.");
 
             poll_status = asynError;
         }
@@ -745,7 +707,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Undervoltage error.");
             appendErrorMessage(errorMessage, sizeof(errorMessage),
-                               "Undervoltage error. Please call the support. ");
+                               "Undervoltage error. Please call the support.");
 
             poll_status = asynError;
         }
@@ -754,7 +716,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "STO input is on disable state.");
             appendErrorMessage(errorMessage, sizeof(errorMessage),
-                               "STO fault. Please call the support. ");
+                               "STO fault. Please call the support.");
 
             poll_status = asynError;
         }
@@ -770,7 +732,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             }
         }
 
-        setAxisParamChecked(this, motorErrorMessage, errorMessage);
+        setAxisParamChecked(this, motorMessageText, errorMessage);
     }
 
     // No error has been detected -> Reset the error count
@@ -781,9 +743,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     // Read out the limits, if the motor is not moving and if the limits are
     // dynamic
     if (pMasterMacsA_->dynamicLimits && !(*moving)) {
-        rwStatus = readLimits();
+        rw_status = readLimits();
-        if (rwStatus != asynSuccess) {
+        if (rw_status != asynSuccess) {
-            return rwStatus;
+            return rw_status;
         }
     }
 
@@ -808,11 +770,16 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     setAxisParamChecked(this, motorStatusDone, !(*moving));
     setAxisParamChecked(this, motorStatusDirection, direction);
 
+    pl_status = setMotorPosition(currentPosition);
+    if (pl_status != asynSuccess) {
+        return pl_status;
+    }
     return poll_status;
 }
 
-asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
+asynStatus masterMacsAxis::doMoveVelocity(double minVelocity,
-                                        double acceleration) {
+                                          double maxVelocity,
+                                          double acceleration) {
     // Suppress unused variable warning
     (void)minVelocity;
     (void)acceleration;
@@ -863,14 +830,7 @@ asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
 
     // Start the move. We do not use the MovTimeout watchdog here, because the
     // motor can move for any time in velocity mode.
-    status = pC_->write(axisNo_, 00, "3", timeout);
+    return pC_->write(axisNo_, 00, "3", timeout);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    // Cache the information that the current movement is in velocity mode
-    pMasterMacsA_->lastMoveCommand = velocityMode;
-    return status;
 }
 
 asynStatus masterMacsAxis::doMove(double position, int relative,
@@ -978,8 +938,6 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         return asynError;
     }
 
-    // Cache the information that the current movement is in position mode
-    pMasterMacsA_->lastMoveCommand = positionMode;
     return status;
 }
 
@@ -1124,6 +1082,7 @@ asynStatus masterMacsAxis::readEncoderType() {
 
 asynStatus masterMacsAxis::enable(bool on) {
 
+    int timeout_enable_disable = 2;
     char msg[pC_->MAXBUF_];
 
     // =========================================================================
@@ -1152,7 +1111,7 @@ asynStatus masterMacsAxis::enable(bool on) {
                   "idle and can therefore not be disabled.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
-        setAxisParamChecked(this, motorErrorMessage,
+        setAxisParamChecked(this, motorMessageText,
                             "Axis cannot be disabled while it is moving.");
 
         return asynError;
@@ -1181,7 +1140,8 @@ asynStatus masterMacsAxis::enable(bool on) {
     // hence we wait for a custom timespan in seconds instead of
     // pC_->comTimeout_
     double timeout = pC_->comTimeout();
-    if (timeout < PowerCycleTimeout) {
+    if (pMasterMacsA_->targetReachedUninitialized &&
+        timeout < PowerCycleTimeout) {
         timeout = PowerCycleTimeout;
     }
 
@@ -1193,7 +1153,7 @@ asynStatus masterMacsAxis::enable(bool on) {
     // Query the axis status every few milliseconds until the axis has been
     // enabled or until the timeout has been reached
     int startTime = time(NULL);
-    while (time(NULL) < startTime + PowerCycleTimeout) {
+    while (time(NULL) < startTime + timeout_enable_disable) {
 
         // Read the axis status
         usleep(100000);
@@ -1210,21 +1170,19 @@ asynStatus masterMacsAxis::enable(bool on) {
         }
     }
 
-    // Failed to change axis status within PowerCycleTimeout => Send a
+    // Failed to change axis status within timeout_enable_disable => Send a
     // corresponding message
     asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
               "Controller \"%s\", axis %d => %s, line %d:\nFailed to %s axis "
-              "within %f seconds\n",
+              "within %d seconds\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-              on ? "enable" : "disable", PowerCycleTimeout);
+              on ? "enable" : "disable", timeout_enable_disable);
 
     // Output message to user
-    snprintf(msg, sizeof(msg),
+    snprintf(msg, sizeof(msg), "Failed to %s within %d seconds",
-             "Controller \"%s\", axis %d: Failed to %s within %f seconds",
+             on ? "enable" : "disable", timeout_enable_disable);
-             pC_->portName, axisNo_, on ? "enable" : "disable",
-             PowerCycleTimeout);
 
-    setAxisParamChecked(this, motorErrorMessage, msg);
+    setAxisParamChecked(this, motorMessageText, msg);
     return asynError;
 }
 
@@ -1280,8 +1238,8 @@ asynStatus masterMacsAxis::readAxisStatus() {
 
     // =========================================================================
 
-    asynStatus rwStatus = pC_->read(axisNo_, 10, response);
+    asynStatus rw_status = pC_->read(axisNo_, 10, response);
-    if (rwStatus == asynSuccess) {
+    if (rw_status == asynSuccess) {
 
         float axisStatus = 0;
         int nvals = sscanf(response, "%f", &axisStatus);
@@ -1293,7 +1251,7 @@ asynStatus masterMacsAxis::readAxisStatus() {
         pMasterMacsA_->axisStatus = toBitset(axisStatus);
     }
 
-    return rwStatus;
+    return rw_status;
 }
 
 asynStatus masterMacsAxis::readAxisError() {
@@ -1301,8 +1259,8 @@ asynStatus masterMacsAxis::readAxisError() {
 
     // =========================================================================
 
-    asynStatus rwStatus = pC_->read(axisNo_, 11, response);
+    asynStatus rw_status = pC_->read(axisNo_, 11, response);
-    if (rwStatus == asynSuccess) {
+    if (rw_status == asynSuccess) {
 
         float axisError = 0;
         int nvals = sscanf(response, "%f", &axisError);
@@ -1312,7 +1270,7 @@ asynStatus masterMacsAxis::readAxisError() {
         }
         pMasterMacsA_->axisError = toBitset(axisError);
     }
-    return rwStatus;
+    return rw_status;
 }
 
 bool masterMacsAxis::readyToBeSwitchedOn() {
@@ -1339,8 +1297,6 @@ bool masterMacsAxis::remoteMode() { return pMasterMacsA_->axisStatus[9]; }
 
 bool masterMacsAxis::targetReached() { return pMasterMacsA_->axisStatus[10]; }
 
-bool masterMacsAxis::speedEqualZero() { return pMasterMacsA_->axisStatus[12]; }
-
 bool masterMacsAxis::internalLimitActive() {
     return pMasterMacsA_->axisStatus[11];
 }

src/masterMacsAxis.h

@@ -52,15 +52,17 @@ class HIDDEN masterMacsAxis : public sinqAxis {
     asynStatus doPoll(bool *moving);
 
     /**
-     * @brief TODO
+     * @brief Implementation of the `doMoveVelocity` function from sinqAxis. The
+     * parameters are described in the documentation of
+     * `sinqAxis::doMoveVelocity`.
      *
      * @param minVelocity
      * @param maxVelocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus moveVelocity(double minVelocity, double maxVelocity,
+    asynStatus doMoveVelocity(double minVelocity, double maxVelocity,
-                            double acceleration);
+                              double acceleration);
 
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
@@ -250,12 +252,6 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      */
     bool internalLimitActive();
 
-    /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
-     */
-    bool speedEqualZero();
-
     // Bits 12 and 13 are unused
 
     /**

src/masterMacsController.cpp

@@ -171,16 +171,17 @@ masterMacsController::masterMacsController(const char *portName,
                 // Compare to target values
                 if (firmware_major_version() != major ||
                     firmware_minor_version() > minor) {
-                    asynPrint(
+                    asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
-                        this->pasynUser(), ASYN_TRACE_ERROR,
+                              "Controller \"%s\" => %s, line %d\nFATAL ERROR "
-                        "Controller \"%s\" => %s, line %d\nFATAL ERROR "
+                              "(Incorrect "
-                        "(Incorrect version number of firmware: Expected major "
+                              "version number of firmware: Expected major "
-                        "version equal to %d, got %d. Expected minor version "
+                              "version equal "
-                        "equal to or larger than %d, got %d).\nTerminating "
+                              "to %d, got %d. Expected minor version equal to "
-                        "IOC.\n",
+                              "or larger "
-                        portName, __PRETTY_FUNCTION__, __LINE__,
+                              "than %d, got %d).\nTerminating IOC",
-                        firmware_major_version(), major,
+                              portName, __PRETTY_FUNCTION__, __LINE__,
-                        firmware_minor_version(), minor);
+                              firmware_major_version(), major,
+                              firmware_minor_version(), minor);
                     exit(-1);
                 }
             }
@@ -188,7 +189,7 @@ masterMacsController::masterMacsController(const char *portName,
             asynPrint(
                 this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\" => %s, line %d\nCould not read firmware "
-                "version.\n",
+                "version\n",
                 portName, __PRETTY_FUNCTION__, __LINE__);
         }
     }
@@ -247,7 +248,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     asynStatus status = asynSuccess;
     char fullCommand[MAXBUF_] = {0};
     char fullResponse[MAXBUF_] = {0};
-    char drvMessage[MAXBUF_] = {0};
+    char drvMessageText[MAXBUF_] = {0};
     int motorStatusProblem = 0;
 
     int valueStart = 0;
@@ -305,7 +306,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
             adjustForPrint(printableCommand, fullCommand, MAXBUF_);
             asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d => %s, line %d:\nError "
-                      "%s while sending command %s to the controller.\n",
+                      "%s while sending command %s to the controller\n",
                       portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
                       stringifyAsynStatus(status), printableCommand);
         }
@@ -318,7 +319,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     case asynSuccess:
         // We did get a response, but does it make sense and is it designated as
         // OK from the controller? This is checked here.
-        status = parseResponse(fullCommand, fullResponse, drvMessage,
+        status = parseResponse(fullCommand, fullResponse, drvMessageText,
                                &valueStart, &valueStop, axisNo, tcpCmd, isRead);
 
         // Read out the important information from the response
@@ -335,29 +336,23 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
         }
         break;
     case asynTimeout:
-        snprintf(drvMessage, sizeof(drvMessage),
+        snprintf(drvMessageText, sizeof(drvMessageText),
-                 "Controller \"%s\", axis %d: Connection timeout. Please call "
+                 "Connection timeout. Please call the support.");
-                 "the support.",
-                 portName, axisNo);
         break;
     case asynDisconnected:
-        snprintf(drvMessage, sizeof(drvMessage),
+        snprintf(drvMessageText, sizeof(drvMessageText),
-                 "Controller \"%s\", axis %d: Axis is disconnected.", portName,
+                 "Axis is not connected.");
-                 axisNo);
         break;
     case asynDisabled:
-        snprintf(drvMessage, sizeof(drvMessage),
+        snprintf(drvMessageText, sizeof(drvMessageText), "Axis is disabled.");
-                 "Controller \"%s\", axis %d: Axis is disabled.", portName,
-                 axisNo);
         break;
     case asynError:
-        // Do nothing - error message has already been set.
+        // Do nothing - error message drvMessageText has already been set.
         break;
     default:
-        snprintf(drvMessage, sizeof(drvMessage),
+        snprintf(drvMessageText, sizeof(drvMessageText),
-                 "Controller \"%s\", axis %d: Communication failed (%s). "
+                 "Communication failed (%s). Please call the support.",
-                 "Please call the support.",
+                 stringifyAsynStatus(status));
-                 portName, axisNo, stringifyAsynStatus(status));
         break;
     }
 
@@ -391,7 +386,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
             getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
 
             if (motorStatusProblem == 0) {
-                setAxisParamChecked(axis, motorErrorMessage, drvMessage);
+                setAxisParamChecked(axis, motorMessageText, drvMessageText);
                 setAxisParamChecked(axis, motorStatusProblem, true);
                 setAxisParamChecked(axis, motorStatusCommsError, false);
             }
@@ -407,11 +402,11 @@ message!):
 - [ENQ][LSB][MSB][PDO1] 1 R 2=12.819[ACK][CR] (No error)
 - [ENQ][LSB][MSB][PDO1] 1 R 2=12.819[NAK][CR] (Communication failed)
 - [ENQ][LSB][MSB][PDO1] 1 S 10 [CAN][CR] (Driver tried to write with
-a read-only command). Read out the second-to-last char of the
+a read-only command) Read out the second-to-last char of the
 response and check if it is NAK or CAN.
 */
 asynStatus masterMacsController::parseResponse(
-    const char *fullCommand, const char *fullResponse, char *drvMessage,
+    const char *fullCommand, const char *fullResponse, char *drvMessageText,
     int *valueStart, int *valueStop, int axisNo, int tcpCmd, bool isRead) {
 
     bool responseValid = false;
@@ -474,9 +469,7 @@ asynStatus masterMacsController::parseResponse(
             NAK
             This indicates that the axis is not connected. This is not an error!
             */
-            snprintf(drvMessage, MAXBUF_,
+            snprintf(drvMessageText, MAXBUF_, "Axis not connected.");
-                     "Controller \"%s\", axis %d: Axis is disconnected.",
-                     portName, axisNo);
 
             // Motor was connected before -> Update the paramLib entry and PV
             // to show it is now disconnected.
@@ -500,14 +493,12 @@ asynStatus masterMacsController::parseResponse(
                     }
                 }
             }
-            return asynDisconnected;
+            break;
         } else if (fullResponse[i] == '\x18') {
             // CAN
-            snprintf(
+            snprintf(drvMessageText, MAXBUF_,
-                drvMessage, MAXBUF_,
+                     "Tried to write with a read-only command. This is a "
-                "Controller \"%s\", axis %d: Tried to write with a "
+                     "bug, please call the support.");
-                "read-only command. This is a bug, please call the support.",
-                portName, axisNo);
 
             if (getMsgPrintControl().shouldBePrinted(parseKey, true,
                                                      pasynUserSelf)) {
@@ -560,10 +551,10 @@ asynStatus masterMacsController::parseResponse(
                           getMsgPrintControl().getSuffix());
             }
 
-            snprintf(drvMessage, MAXBUF_,
+            snprintf(drvMessageText, MAXBUF_,
-                     "Controller \"%s\", axis %d: Mismatched response %s for "
+                     "Mismatched response %s to command %s. Please call the "
-                     "command %s. Please call the support.",
+                     "support.",
-                     portName, axisNo, printableResponse, printableCommand);
+                     printableResponse, printableCommand);
             return asynError;
         } else {
             getMsgPrintControl().resetCount(responseMatchKey, pasynUserSelf);