Ignore limit errors if motor is currently at reference position

Added controller name and axis number to the driver error messages.

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=7.2.2
+motorBase_VERSION=7.3.2
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

src/masterMacsAxis.cpp

@@ -11,6 +11,11 @@
 #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
@@ -24,6 +29,7 @@ struct masterMacsAxisImpl {
     bool needInit = true;
     bool targetReachedUninitialized;
     bool dynamicLimits;
+    moveMode lastMoveCommand;
 };
 
 /*
@@ -32,7 +38,7 @@ 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 10.0 // Value in seconds
+#define PowerCycleTimeout 6.0 // Value in seconds
 
 /*
 Contains all instances of turboPmacAxis which have been created and is used in
@@ -75,10 +81,6 @@ 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);
         }
@@ -94,6 +96,7 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
           .timeAtHandshake = 0,
           .targetReachedUninitialized = true,
           .dynamicLimits = false,
+          .lastMoveCommand = positionMode,
       })) {
 
     asynStatus status = asynSuccess;
@@ -151,9 +154,9 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     }
 
     // Even though this happens already in sinqAxis, a default value for
-    // motorMessageText is set here again, because apparently the sinqAxis
+    // motorErrorMessage is set here again, because apparently the sinqAxis
     // constructor is not run before the string is accessed?
-    status = setStringParam(pC_->motorMessageText(), "");
+    status = setStringParam(pC_->motorErrorMessage(), "");
     if (status != asynSuccess) {
         asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
@@ -190,9 +193,7 @@ asynStatus masterMacsAxis::init() {
     double motVelocity = 0.0;
     double motVmax = 0.0;
     double motAccel = 0.0;
-    int motMode = 0;
     int dynamicLimits = 0;
-    int motCanSetMode = 0;
 
     // =========================================================================
 
@@ -262,7 +263,7 @@ asynStatus masterMacsAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    status = setVeloFields(motVelocity, 0.0, motVmax);
+    status = setVeloFields(abs(motVelocity), 0.0, motVmax);
     if (status != asynSuccess) {
         return status;
     }
@@ -306,37 +307,6 @@ asynStatus masterMacsAxis::init() {
     }
     pMasterMacsA_->dynamicLimits = bool(dynamicLimits);
 
-    // Check the current motor mode
-    status = pC_->read(axisNo_, 07, response);
-    if (status != asynSuccess) {
-        return status;
-    }
-    nvals = sscanf(response, "%d", &motMode);
-    if (nvals != 1) {
-        return pC_->couldNotParseResponse("R07", response, axisNo_,
-                                          __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    // If the readback value from the controller is 3, it is in velocity mode,
-    // which sinqMotor encodes as a 1. Otherwise, it is in position mode.
-    setAxisParamChecked(this, motorMode, motMode == 3);
-
-    // Check if the motor can switch its mode
-    status = pC_->read(axisNo_, 31, response);
-    if (status != asynSuccess) {
-        return status;
-    }
-    nvals = sscanf(response, "%d", &motCanSetMode);
-    if (nvals != 1) {
-        return pC_->couldNotParseResponse("R31", response, axisNo_,
-                                          __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    // If the readback value from the controller is 3, the motor supports both
-    // velocity and position mode, otherwise just one of them (the one read out
-    // with motMode).
-    setAxisParamChecked(this, motorCanSetMode, motCanSetMode == 3);
-
     status = readEncoderType();
     if (status != asynSuccess) {
         return status;
@@ -419,10 +389,7 @@ asynStatus masterMacsAxis::readLimits() {
     highLimit = highLimit - limitsOffset;
     lowLimit = lowLimit + limitsOffset;
 
-    setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
-    setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
-
-    return status;
+    return setLimits(highLimit, lowLimit);
 }
 
 // Perform the actual poll
@@ -432,10 +399,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     asynStatus poll_status = asynSuccess;
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
+    asynStatus rwStatus = asynSuccess;
 
     // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
+    asynStatus plStatus = asynSuccess;
 
     char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
@@ -476,16 +443,19 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         if (timedOut) {
-            setAxisParamChecked(this, motorMessageText,
-                                "Timed out while waiting for a handshake. "
-                                "Please call the support.");
+            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);
 
             poll_status = asynError;
         }
 
         pC_->read(axisNo_, 86, response);
-        if (rw_status != asynSuccess) {
-            return rw_status;
+        if (rwStatus != asynSuccess) {
+            return rwStatus;
         }
 
         nvals = sscanf(response, "%lf", &handshakePerformed);
@@ -511,38 +481,20 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     // Read the previous motor position
-    pl_status = motorPosition(&previousPosition);
-    if (pl_status != asynSuccess) {
-        return pl_status;
+    plStatus = motorPosition(&previousPosition);
+    if (plStatus != asynSuccess) {
+        return plStatus;
     }
 
     // Update the axis status
-    rw_status = readAxisStatus();
-    if (rw_status != asynSuccess) {
-        return rw_status;
+    rwStatus = readAxisStatus();
+    if (rwStatus != asynSuccess) {
+        return rwStatus;
     }
 
-    // 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 the current position
-    rw_status = pC_->read(axisNo_, 12, response);
-    if (rw_status != asynSuccess) {
-        return rw_status;
+    rwStatus = pC_->read(axisNo_, 12, response);
+    if (rwStatus != asynSuccess) {
+        return rwStatus;
     }
     nvals = sscanf(response, "%lf", &currentPosition);
     if (nvals != 1) {
@@ -550,12 +502,59 @@ 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 or
-    if a movement has just ended.
+    Read out the error if either a fault condition status flag has been set
+    or if a movement has just ended.
      */
     if (faultConditionSet() || !(*moving)) {
-        rw_status = readAxisError();
+        rwStatus = readAxisError();
     }
 
     msgPrintControlKey keyError = msgPrintControlKey(
@@ -576,9 +575,12 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                       pC_->getMsgPrintControl().getSuffix());
         }
 
-        setAxisParamChecked(this, motorMessageText,
-                            "Communication error between PC and motor "
-                            "controller. Please call the support.");
+        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);
 
         poll_status = asynError;
     } else {
@@ -587,13 +589,16 @@ 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;
         }
@@ -602,7 +607,7 @@ 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;
         }
@@ -614,7 +619,7 @@ 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;
         }
@@ -623,55 +628,96 @@ 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;
         }
 
         /*
-        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 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.
         */
-        if (positiveLimitSwitch() || negativeLimitSwitch() ||
-            positiveSoftwareLimit() || negativeSoftwareLimit()) {
+        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()) {
 
-            // 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.");
-            }
+                // 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.");
+                // 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;
+                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;
         }
@@ -681,7 +727,7 @@ 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;
         }
@@ -690,7 +736,7 @@ 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;
         }
@@ -699,7 +745,7 @@ 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;
         }
@@ -708,7 +754,7 @@ 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;
         }
@@ -724,7 +770,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             }
         }
 
-        setAxisParamChecked(this, motorMessageText, errorMessage);
+        setAxisParamChecked(this, motorErrorMessage, errorMessage);
     }
 
     // No error has been detected -> Reset the error count
@@ -735,9 +781,9 @@ 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)) {
-        rw_status = readLimits();
-        if (rw_status != asynSuccess) {
-            return rw_status;
+        rwStatus = readLimits();
+        if (rwStatus != asynSuccess) {
+            return rwStatus;
         }
     }
 
@@ -762,16 +808,11 @@ 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::doMoveVelocity(double minVelocity,
-                                          double maxVelocity,
-                                          double acceleration) {
+asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
+                                        double acceleration) {
     // Suppress unused variable warning
     (void)minVelocity;
     (void)acceleration;
@@ -822,7 +863,14 @@ asynStatus masterMacsAxis::doMoveVelocity(double minVelocity,
 
     // Start the move. We do not use the MovTimeout watchdog here, because the
     // motor can move for any time in velocity mode.
-    return pC_->write(axisNo_, 00, "3", timeout);
+    status = 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,
@@ -930,6 +978,8 @@ 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;
 }
 
@@ -1074,7 +1124,6 @@ asynStatus masterMacsAxis::readEncoderType() {
 
 asynStatus masterMacsAxis::enable(bool on) {
 
-    int timeout_enable_disable = 2;
     char msg[pC_->MAXBUF_];
 
     // =========================================================================
@@ -1103,7 +1152,7 @@ asynStatus masterMacsAxis::enable(bool on) {
                   "idle and can therefore not be disabled.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
-        setAxisParamChecked(this, motorMessageText,
+        setAxisParamChecked(this, motorErrorMessage,
                             "Axis cannot be disabled while it is moving.");
 
         return asynError;
@@ -1132,8 +1181,7 @@ asynStatus masterMacsAxis::enable(bool on) {
     // hence we wait for a custom timespan in seconds instead of
     // pC_->comTimeout_
     double timeout = pC_->comTimeout();
-    if (pMasterMacsA_->targetReachedUninitialized &&
-        timeout < PowerCycleTimeout) {
+    if (timeout < PowerCycleTimeout) {
         timeout = PowerCycleTimeout;
     }
 
@@ -1145,7 +1193,7 @@ 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 + timeout_enable_disable) {
+    while (time(NULL) < startTime + PowerCycleTimeout) {
 
         // Read the axis status
         usleep(100000);
@@ -1162,19 +1210,21 @@ asynStatus masterMacsAxis::enable(bool on) {
         }
     }
 
-    // Failed to change axis status within timeout_enable_disable => Send a
+    // Failed to change axis status within PowerCycleTimeout => Send a
     // corresponding message
     asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
               "Controller \"%s\", axis %d => %s, line %d:\nFailed to %s axis "
-              "within %d seconds\n",
+              "within %f seconds\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-              on ? "enable" : "disable", timeout_enable_disable);
+              on ? "enable" : "disable", PowerCycleTimeout);
 
     // Output message to user
-    snprintf(msg, sizeof(msg), "Failed to %s within %d seconds",
-             on ? "enable" : "disable", timeout_enable_disable);
+    snprintf(msg, sizeof(msg),
+             "Controller \"%s\", axis %d: Failed to %s within %f seconds",
+             pC_->portName, axisNo_, on ? "enable" : "disable",
+             PowerCycleTimeout);
 
-    setAxisParamChecked(this, motorMessageText, msg);
+    setAxisParamChecked(this, motorErrorMessage, msg);
     return asynError;
 }
 
@@ -1230,8 +1280,8 @@ asynStatus masterMacsAxis::readAxisStatus() {
 
     // =========================================================================
 
-    asynStatus rw_status = pC_->read(axisNo_, 10, response);
-    if (rw_status == asynSuccess) {
+    asynStatus rwStatus = pC_->read(axisNo_, 10, response);
+    if (rwStatus == asynSuccess) {
 
         float axisStatus = 0;
         int nvals = sscanf(response, "%f", &axisStatus);
@@ -1243,7 +1293,7 @@ asynStatus masterMacsAxis::readAxisStatus() {
         pMasterMacsA_->axisStatus = toBitset(axisStatus);
     }
 
-    return rw_status;
+    return rwStatus;
 }
 
 asynStatus masterMacsAxis::readAxisError() {
@@ -1251,8 +1301,8 @@ asynStatus masterMacsAxis::readAxisError() {
 
     // =========================================================================
 
-    asynStatus rw_status = pC_->read(axisNo_, 11, response);
-    if (rw_status == asynSuccess) {
+    asynStatus rwStatus = pC_->read(axisNo_, 11, response);
+    if (rwStatus == asynSuccess) {
 
         float axisError = 0;
         int nvals = sscanf(response, "%f", &axisError);
@@ -1262,7 +1312,7 @@ asynStatus masterMacsAxis::readAxisError() {
         }
         pMasterMacsA_->axisError = toBitset(axisError);
     }
-    return rw_status;
+    return rwStatus;
 }
 
 bool masterMacsAxis::readyToBeSwitchedOn() {
@@ -1289,6 +1339,8 @@ 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

@@ -52,17 +52,15 @@ class HIDDEN masterMacsAxis : public sinqAxis {
     asynStatus doPoll(bool *moving);
 
     /**
-     * @brief Implementation of the `doMoveVelocity` function from sinqAxis. The
-     * parameters are described in the documentation of
-     * `sinqAxis::doMoveVelocity`.
+     * @brief TODO
      *
      * @param minVelocity
      * @param maxVelocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMoveVelocity(double minVelocity, double maxVelocity,
-                              double acceleration);
+    asynStatus moveVelocity(double minVelocity, double maxVelocity,
+                            double acceleration);
 
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
@@ -252,6 +250,12 @@ 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

@@ -171,17 +171,16 @@ 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",
-                              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.\n",
+                        portName, __PRETTY_FUNCTION__, __LINE__,
+                        firmware_major_version(), major,
+                        firmware_minor_version(), minor);
                     exit(-1);
                 }
             }
@@ -189,7 +188,7 @@ 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__);
         }
     }
@@ -248,7 +247,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     asynStatus status = asynSuccess;
     char fullCommand[MAXBUF_] = {0};
     char fullResponse[MAXBUF_] = {0};
-    char drvMessageText[MAXBUF_] = {0};
+    char drvMessage[MAXBUF_] = {0};
     int motorStatusProblem = 0;
 
     int valueStart = 0;
@@ -306,7 +305,7 @@ 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);
         }
@@ -319,7 +318,7 @@ 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, drvMessageText,
+        status = parseResponse(fullCommand, fullResponse, drvMessage,
                                &valueStart, &valueStop, axisNo, tcpCmd, isRead);
 
         // Read out the important information from the response
@@ -336,23 +335,29 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
         }
         break;
     case asynTimeout:
-        snprintf(drvMessageText, sizeof(drvMessageText),
-                 "Connection timeout. Please call the support.");
+        snprintf(drvMessage, sizeof(drvMessage),
+                 "Controller \"%s\", axis %d: Connection timeout. Please call "
+                 "the support.",
+                 portName, axisNo);
         break;
     case asynDisconnected:
-        snprintf(drvMessageText, sizeof(drvMessageText),
-                 "Axis is not connected.");
+        snprintf(drvMessage, sizeof(drvMessage),
+                 "Controller \"%s\", axis %d: Axis is disconnected.", portName,
+                 axisNo);
         break;
     case asynDisabled:
-        snprintf(drvMessageText, sizeof(drvMessageText), "Axis is disabled.");
+        snprintf(drvMessage, sizeof(drvMessage),
+                 "Controller \"%s\", axis %d: Axis is disabled.", portName,
+                 axisNo);
         break;
     case asynError:
-        // Do nothing - error message drvMessageText has already been set.
+        // Do nothing - error message has already been set.
         break;
     default:
-        snprintf(drvMessageText, sizeof(drvMessageText),
-                 "Communication failed (%s). Please call the support.",
-                 stringifyAsynStatus(status));
+        snprintf(drvMessage, sizeof(drvMessage),
+                 "Controller \"%s\", axis %d: Communication failed (%s). "
+                 "Please call the support.",
+                 portName, axisNo, stringifyAsynStatus(status));
         break;
     }
 
@@ -386,7 +391,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
             getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
 
             if (motorStatusProblem == 0) {
-                setAxisParamChecked(axis, motorMessageText, drvMessageText);
+                setAxisParamChecked(axis, motorErrorMessage, drvMessage);
                 setAxisParamChecked(axis, motorStatusProblem, true);
                 setAxisParamChecked(axis, motorStatusCommsError, false);
             }
@@ -402,11 +407,11 @@ 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 *drvMessageText,
+    const char *fullCommand, const char *fullResponse, char *drvMessage,
     int *valueStart, int *valueStop, int axisNo, int tcpCmd, bool isRead) {
 
     bool responseValid = false;
@@ -469,7 +474,9 @@ asynStatus masterMacsController::parseResponse(
             NAK
             This indicates that the axis is not connected. This is not an error!
             */
-            snprintf(drvMessageText, MAXBUF_, "Axis not connected.");
+            snprintf(drvMessage, MAXBUF_,
+                     "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.
@@ -493,12 +500,14 @@ asynStatus masterMacsController::parseResponse(
                     }
                 }
             }
-            break;
+            return asynDisconnected;
         } else if (fullResponse[i] == '\x18') {
             // CAN
-            snprintf(drvMessageText, MAXBUF_,
-                     "Tried to write with a read-only command. This is a "
-                     "bug, please call the support.");
+            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);
 
             if (getMsgPrintControl().shouldBePrinted(parseKey, true,
                                                      pasynUserSelf)) {
@@ -551,10 +560,10 @@ asynStatus masterMacsController::parseResponse(
                           getMsgPrintControl().getSuffix());
             }
 
-            snprintf(drvMessageText, MAXBUF_,
-                     "Mismatched response %s to command %s. Please call the "
-                     "support.",
-                     printableResponse, printableCommand);
+            snprintf(drvMessage, MAXBUF_,
+                     "Controller \"%s\", axis %d: Mismatched response %s for "
+                     "command %s. Please call the support.",
+                     portName, axisNo, printableResponse, printableCommand);
             return asynError;
         } else {
             getMsgPrintControl().resetCount(responseMatchKey, pasynUserSelf);