Added reminder comment

See TODO in src/masterMacsAxis.cpp, line 552. The velocity readback is
the only thing that doesn't work properly, everything else does work.
Once a solution has been found here, this can be a new minor release.

Makefile

@@ -7,7 +7,7 @@ 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
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

src/masterMacsAxis.cpp

@@ -29,6 +29,8 @@ struct masterMacsAxisImpl {
     bool needInit = true;
     bool targetReachedUninitialized;
     bool dynamicLimits;
+    bool canPositionMove;
+    bool canVelocityMove;
     moveMode lastMoveCommand;
 };
 
@@ -38,7 +40,7 @@ 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 +83,10 @@ 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);
         }
@@ -96,6 +102,8 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
           .timeAtHandshake = 0,
           .targetReachedUninitialized = true,
           .dynamicLimits = false,
+          .canPositionMove = true,
+          .canVelocityMove = false,
           .lastMoveCommand = positionMode,
       })) {
 
@@ -154,9 +162,9 @@ 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 "
@@ -194,6 +202,7 @@ asynStatus masterMacsAxis::init() {
     double motVmax = 0.0;
     double motAccel = 0.0;
     int dynamicLimits = 0;
+    int possibleModes = 0;
 
     // =========================================================================
 
@@ -307,6 +316,39 @@ asynStatus masterMacsAxis::init() {
     }
     pMasterMacsA_->dynamicLimits = bool(dynamicLimits);
 
+    // Check if the motor can switch its mode
+    status = pC_->read(axisNo_, 31, response);
+    if (status != asynSuccess) {
+        return status;
+    }
+    nvals = sscanf(response, "%d", &possibleModes);
+    if (nvals != 1) {
+        return pC_->couldNotParseResponse("R31", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    switch (possibleModes) {
+    case 1:
+        pMasterMacsA_->canPositionMove = true;
+        pMasterMacsA_->canVelocityMove = false;
+        break;
+    case 2:
+        pMasterMacsA_->canPositionMove = false;
+        pMasterMacsA_->canVelocityMove = true;
+        break;
+    case 3:
+        pMasterMacsA_->canPositionMove = true;
+        pMasterMacsA_->canVelocityMove = true;
+        break;
+    default:
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line "
+                  "%d:\nunexpected answer %d for R31 (possible operation "
+                  "modes). Expected one of 1, 2 or 3.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  possibleModes);
+    }
+
     status = readEncoderType();
     if (status != asynSuccess) {
         return status;
@@ -443,12 +485,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         if (timedOut) {
-            char msg[pC_->MAXBUF_];
-            snprintf(msg, sizeof(msg),
-                     "Controller \"%s\", axis %d: Timed out while waiting for "
-                     "a handshake. Please call the support.",
-                     pC_->portName, axisNo());
-            setAxisParamChecked(this, motorErrorMessage, msg);
+            setAxisParamChecked(this, motorMessageText,
+                                "Timed out while waiting for a handshake. "
+                                "Please call the support.");
 
             poll_status = asynError;
         }
@@ -509,6 +548,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     setAxisParamChecked(this, motorEncoderPosition, currentPosition);
 
     if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) {
+
+        // TODO: Not sure whether the RVEL field of the motor record does not
+        // work - has to be clarified
         double actualVelocity = 0.0;
 
         rwStatus = pC_->read(axisNo_, 14, response);
@@ -521,10 +563,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                               __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);
+        // Write the actual velocity to the paramLib (TODO: does it though?)
+        setAxisParamChecked(this, motorVelocity, actualVelocity);
 
         // Motor is moving in velocity mode
         *moving = true;
@@ -575,12 +615,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                       pC_->getMsgPrintControl().getSuffix());
         }
 
-        char msg[pC_->MAXBUF_];
-        snprintf(msg, sizeof(msg),
-                 "Controller \"%s\", axis %d: Communication error between IOC "
-                 "and motor controller. Please call the support.",
-                 pC_->portName, axisNo());
-        setAxisParamChecked(this, motorErrorMessage, msg);
+        setAxisParamChecked(this, motorMessageText,
+                            "Communication error between PC and motor "
+                            "controller. Please call the support.");
 
         poll_status = asynError;
     } else {
@@ -589,16 +626,13 @@ 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(
-                errorMessage, sizeof(errorMessage),
-                "Short circuit error. Please call the support. ");
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
+                               "Short circuit error. Please call the support.");
 
             poll_status = asynError;
         }
@@ -607,7 +641,7 @@ 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 +653,7 @@ 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;
         }
@@ -628,96 +662,55 @@ 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;
         }
 
         /*
-        If the motor is homing or has been homed, ignore limit switch errors.
-         */
-        int homing = 0;
-        int at_home = 0;
-        getAxisParamChecked(this, motorStatusHome, &homing);
-        getAxisParamChecked(this, motorStatusAtHome, &at_home);
-
-        /*
-        Ignore limit switch errors when homing / motor has been homed or when
-        the motor is moving.
-
-        Background:
-        MasterMACS controllers move the motor outside the allowed range defined
-        by the "software limits" defined within the controllers because they
-        need to hit the physical end switch to determine the motor position. The
-        motor then rests close to the end switch, which might be outside the
-        controller-side software limits. This leads to this error, which is then
-        forwarded to the user even though nothing went wrong. The three checks
-        are here to prevent this:
-        - "homing": Is set at the start of a homing maneuver and removed once
-        the motor does not move anymore => Prevents the error from showing up
-        during the homing procedure
-        - "homed": Is set after a homing maneuver has been finished => Prevents
-        the error from showing up while the motor is resting idle outside the
-        software limits.
-        - "moving": Prevents the error from showing up when moving out of the
-        homing position.
-
-        If the motor hits the limits during normal operation, it is stopped by
-        the controller. Once stopped, moving is false and then the error is
-        shown to the user (because "homed" is not set).
-
-        Note: strictly speaking, it is not necessary to check homing because
-        moving would be set to true anyway. The check is here for clarity /
-        being explicit.
+        Either the software limits or the end switches of the controller
+        have been hit. Since the EPICS limits are derived from the software
+        limits and are a little bit smaller, these error cases can only
+        happen if either the axis has an incremental encoder which is not
+        properly homed or if a bug occured.
         */
-        if (!homing && !at_home && !(*moving)) {
-            /*
-            Either the software limits or the end switches of the controller
-            have been hit. Since the EPICS limits are derived from the software
-            limits and are a little bit smaller, these error cases can only
-            happen if either the axis has an incremental encoder which is not
-            properly homed or if the motor moved outside the limits while homing
-            (but in that case, the error is not shown, see previous
-            if-statement).
-            */
-            if (positiveLimitSwitch() || negativeLimitSwitch() ||
-                positiveSoftwareLimit() || negativeSoftwareLimit()) {
+        if (positiveLimitSwitch() || negativeLimitSwitch() ||
+            positiveSoftwareLimit() || negativeSoftwareLimit()) {
 
-                // Distinction for developers
-                if (positiveLimitSwitch()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Positive limit switch.");
-                }
-                if (negativeLimitSwitch()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Negative limit switch.");
-                }
-                if (positiveSoftwareLimit()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Positive software limit.");
-                }
-                if (negativeSoftwareLimit()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Negative software limit.");
-                }
-
-                // Generic error message for user
-                appendErrorMessage(
-                    errorMessage, sizeof(errorMessage),
-                    "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. ");
-
-                poll_status = asynError;
+            // Distinction for developers
+            if (positiveLimitSwitch()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Positive limit switch.");
             }
+            if (negativeLimitSwitch()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Negative limit switch.");
+            }
+            if (positiveSoftwareLimit()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Positive software limit.");
+            }
+            if (negativeSoftwareLimit()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Negative software limit.");
+            }
+
+            // Generic error message for user
+            appendErrorMessage(
+                errorMessage, sizeof(errorMessage),
+                "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.");
+
+            poll_status = asynError;
         }
 
         if (overCurrent()) {
             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 +720,7 @@ 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 +729,7 @@ 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 +738,7 @@ 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 +747,7 @@ 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 +763,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             }
         }
 
-        setAxisParamChecked(this, motorErrorMessage, errorMessage);
+        setAxisParamChecked(this, motorMessageText, errorMessage);
     }
 
     // No error has been detected -> Reset the error count
@@ -828,6 +821,18 @@ asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
 
     // =========================================================================
 
+    // Can the motor be operated in velocity mode?
+    if (!pMasterMacsA_->canVelocityMove) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nAxis cannot "
+                  "operate in velocity mode.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        setAxisParamChecked(this, motorStatusProblem, true);
+        setAxisParamChecked(this, motorMessageText,
+                            "cannot operate in velocity mode");
+        return asynError;
+    }
+
     getAxisParamChecked(this, motorEnableRBV, &enabled);
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
@@ -893,6 +898,18 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // =========================================================================
 
+    // Can the motor be operated in position mode?
+    if (!pMasterMacsA_->canPositionMove) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nAxis cannot "
+                  "operate in position mode.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        setAxisParamChecked(this, motorStatusProblem, true);
+        setAxisParamChecked(this, motorMessageText,
+                            "cannot operate in position mode");
+        return asynError;
+    }
+
     getAxisParamChecked(this, motorEnableRBV, &enabled);
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
@@ -1124,6 +1141,7 @@ asynStatus masterMacsAxis::readEncoderType() {
 
 asynStatus masterMacsAxis::enable(bool on) {
 
+    int timeout_enable_disable = 2;
     char msg[pC_->MAXBUF_];
 
     // =========================================================================
@@ -1152,7 +1170,7 @@ 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 +1199,8 @@ 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 +1212,7 @@ 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 +1229,19 @@ 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),
-             "Controller \"%s\", axis %d: Failed to %s within %f seconds",
-             pC_->portName, axisNo_, on ? "enable" : "disable",
-             PowerCycleTimeout);
+    snprintf(msg, sizeof(msg), "Failed to %s within %d seconds",
+             on ? "enable" : "disable", timeout_enable_disable);
 
-    setAxisParamChecked(this, motorErrorMessage, msg);
+    setAxisParamChecked(this, motorMessageText, msg);
     return asynError;
 }
 

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(
-                        this->pasynUser(), ASYN_TRACE_ERROR,
-                        "Controller \"%s\" => %s, line %d\nFATAL ERROR "
-                        "(Incorrect version number of firmware: Expected major "
-                        "version equal to %d, got %d. Expected minor version "
-                        "equal to or larger than %d, got %d).\nTerminating "
-                        "IOC.\n",
-                        portName, __PRETTY_FUNCTION__, __LINE__,
-                        firmware_major_version(), major,
-                        firmware_minor_version(), minor);
+                    asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                              "Controller \"%s\" => %s, line %d\nFATAL ERROR "
+                              "(Incorrect "
+                              "version number of firmware: Expected major "
+                              "version equal "
+                              "to %d, got %d. Expected minor version equal to "
+                              "or larger "
+                              "than %d, got %d).\nTerminating IOC",
+                              portName, __PRETTY_FUNCTION__, __LINE__,
+                              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),
-                 "Controller \"%s\", axis %d: Connection timeout. Please call "
-                 "the support.",
-                 portName, axisNo);
+        snprintf(drvMessageText, sizeof(drvMessageText),
+                 "Connection timeout. Please call the support.");
         break;
     case asynDisconnected:
-        snprintf(drvMessage, sizeof(drvMessage),
-                 "Controller \"%s\", axis %d: Axis is disconnected.", portName,
-                 axisNo);
+        snprintf(drvMessageText, sizeof(drvMessageText),
+                 "Axis is not connected.");
         break;
     case asynDisabled:
-        snprintf(drvMessage, sizeof(drvMessage),
-                 "Controller \"%s\", axis %d: Axis is disabled.", portName,
-                 axisNo);
+        snprintf(drvMessageText, sizeof(drvMessageText), "Axis is disabled.");
         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),
-                 "Controller \"%s\", axis %d: Communication failed (%s). "
-                 "Please call the support.",
-                 portName, axisNo, stringifyAsynStatus(status));
+        snprintf(drvMessageText, sizeof(drvMessageText),
+                 "Communication failed (%s). Please call the support.",
+                 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_,
-                     "Controller \"%s\", axis %d: Axis is disconnected.",
-                     portName, axisNo);
+            snprintf(drvMessageText, MAXBUF_, "Axis not connected.");
 
             // 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(
-                drvMessage, MAXBUF_,
-                "Controller \"%s\", axis %d: Tried to write with a "
-                "read-only command. This is a bug, please call the support.",
-                portName, axisNo);
+            snprintf(drvMessageText, MAXBUF_,
+                     "Tried to write with a read-only command. This is a "
+                     "bug, please call the support.");
 
             if (getMsgPrintControl().shouldBePrinted(parseKey, true,
                                                      pasynUserSelf)) {
@@ -560,10 +551,10 @@ asynStatus masterMacsController::parseResponse(
                           getMsgPrintControl().getSuffix());
             }
 
-            snprintf(drvMessage, MAXBUF_,
-                     "Controller \"%s\", axis %d: Mismatched response %s for "
-                     "command %s. Please call the support.",
-                     portName, axisNo, printableResponse, printableCommand);
+            snprintf(drvMessageText, MAXBUF_,
+                     "Mismatched response %s to command %s. Please call the "
+                     "support.",
+                     printableResponse, printableCommand);
             return asynError;
         } else {
             getMsgPrintControl().resetCount(responseMatchKey, pasynUserSelf);