# Motor Releases

## __R7-2-2 (2021-02-02)__
R7-2-2 is a release based on the R7-2-1-bugfix branch.  

### Changes since R7-2-1

#### Bug fixes
* Added shareLib.h to asynMotorController.h and asynMotorAxis.h to allow building against asyn R4-41

#### Driver submodules (and noteworthy changes)
| Module           | Release | Changes |
| ---------------- | ------- | ------- |
| **motorNewport** | [070c93e](https://github.com/epics-motor/motorNewport/commits/070c93e1aa1a4dea39829f7dcb21489cfde582a1) | Added epicsExport.h to testSFTPUpload.cpp |
| **motorOms**     | [5219f8c](https://github.com/epics-motor/motorOms/commit/5219f8ceee352ec2a459f1bde316621af9c293a4)  | Fixed epicsMutexTryLock problem described [here](https://github.com/epics-modules/motor/issues/172#issuecomment-758139901) |

## __R7-2-1 (2020-05-14)__
R7-2-1 is a release based on the master branch.  

### Changes since R7-2

#### Bug fixes
* Motor drivers have been updated to resolve build problems for Windows and VxWorks

#### Driver submodules (and noteworthy changes)
| Module           | Release | Changes |
| ---------------- | ------- | ------- |
| motorAcs         | [R1-1](https://github.com/epics-motor/motorAcs/releases/tag/R1-1) |         |
| motorAcsTech80   | [R1-0-1](https://github.com/epics-motor/motorAcsTech80/releases/tag/R1-0-1) |         |
| motorAerotech    | [R1-1](https://github.com/epics-motor/motorAerotech/releases/tag/R1-1) |         |
| motorAMCI        | [R1-0-1](https://github.com/epics-motor/motorAMCI/releases/tag/R1-0-1) |         |
| motorAttocube    | [R1-0-1](https://github.com/epics-motor/motorAttocube/releases/tag/R1-0-1) |         |
| motorDeltaTau    | [R1-0-1](https://github.com/epics-motor/motorDeltaTau/releases/tag/R1-0-1) |         |
| motorFaulhaber   | [R1-0-1](https://github.com/epics-motor/motorFaulhaber/releases/tag/R1-0-1) |         |
| **motorHytec**   | [R1-0-2](https://github.com/epics-motor/motorHytec/releases/tag/R1-0-2) | Only build the example IOC on Linux and VxWorks |
| motorIms         | [R1-0-1](https://github.com/epics-motor/motorIms/releases/tag/R1-0-1) |         |
| motorKohzu       | [R1-0-1](https://github.com/epics-motor/motorKohzu/releases/tag/R1-0-1) |         |
| motorMclennan    | [R1-1](https://github.com/epics-motor/motorMclennan/releases/tag/R1-1) |         |
| motorMicos       | [R2-0](https://github.com/epics-motor/motorMicos/releases/tag/R2-0) |         |
| motorMicroMo     | [R1-0-1](https://github.com/epics-motor/motorMicroMo/releases/tag/R1-0-1) |         |
| motorMicronix    | [R1-0-1](https://github.com/epics-motor/motorMicronix/releases/tag/R1-0-1) |         |
| motorMotorSim    | [R1-1](https://github.com/epics-motor/motorMotorSim/releases/tag/R1-1) |         |
| motorMXmotor     | [R1-0-1](https://github.com/epics-motor/motorMXmotor/releases/tag/R1-0-1) |         |
| motorNewFocus    | [R1-1-1](https://github.com/epics-motor/motorNewFocus/releases/tag/R1-1-1) |         |
| motorNewport     | [R1-1](https://github.com/epics-motor/motorNewport/releases/tag/R1-1) |         |
| motorNPoint      | [R1-0-1](https://github.com/epics-motor/motorNPoint/releases/tag/R1-0-1) |         |
| motorOms         | [R1-1](https://github.com/epics-motor/motorOms/releases/tag/R1-1)  |         |
| **motorOmsAsyn** | [R1-0-2](https://github.com/epics-motor/motorOmsAsyn/releases/tag/R1-0-2) | Exclude MAXv support when building example IOC on Windows |
| motorOriel       | [R1-0-1](https://github.com/epics-motor/motorOriel/releases/tag/R1-0-1) |         |
| motorParker      | [R1-1](https://github.com/epics-motor/motorParker/releases/tag/R1-1) |         |
| motorPhytron     | [R1-1](https://github.com/epics-motor/motorPhytron/releases/tag/R1-1) |         |
| motorPI          | [R1-0-1](https://github.com/epics-motor/motorPI/releases/tag/R1-0-1) |         |
| motorPIGCS2      | [R1-1](https://github.com/epics-motor/motorPIGCS2/releases/tag/R1-1) |         |
| motorPiJena      | [R1-0-1](https://github.com/epics-motor/motorPiJena/releases/tag/R1-0-1) |         |
| motorScriptMotor | [R1-1](https://github.com/epics-motor/motorScriptMotor/releases/tag/R1-1) |         |
| **motorSmarAct** | [R1-2-1](https://github.com/epics-motor/motorSmarAct/releases/tag/R1-2-1) | Include a local definition of rint on fewer platforms |
| motorSmartMotor  | [R1-0-1](https://github.com/epics-motor/motorSmartMotor/releases/tag/R1-0-1) |         |
| motorThorLabs    | [R1-0-1](https://github.com/epics-motor/motorThorLabs/releases/tag/R1-0-1) |         |

## __R7-2 (2020-05-13)__
R7-2 is a release based on the master branch.  

### Changes since R7-1

#### Modifications to existing features
* ``CONFIG_SITE`` now includes ``$(SUPPORT)/configure/CONFIG_SITE``, which overrides ``CONFIG_SITE.local``
* ``modules/RELEASE.$(EPICS_HOST_ARCH).local`` is now rebuilt every time the build get into the ``modules`` directory
* User displays have been autoconverted

#### Bug fixes
* asynMotorAxis parameters (``motorPowerAutoOnOff_``, ``motorPowerOffDelay_``, ``motorPowerOnDelay_``) are now initialized to avoid errors
* The layout of ``motorxU.adl`` has been improved

#### Driver submodules (and noteworthy changes)
| Module           | Release | Changes |
| ---------------- | ------- | ------- |
| **motorAcs**     | [R1-1](https://github.com/epics-motor/motorAcs/releases/tag/R1-1) | iocsh files are now installed at build time |
| **motorAcsTech80** | [R1-0-1](https://github.com/epics-motor/motorAcsTech80/releases/tag/R1-0-1) |         |
| **motorAerotech** | [R1-1](https://github.com/epics-motor/motorAerotech/releases/tag/R1-1) | motorAxisHomed bit is now set in the Ensemble poller |
| **motorAMCI** | [R1-0-1](https://github.com/epics-motor/motorAMCI/releases/tag/R1-0-1) |         |
| **motorAttocube** | [R1-0-1](https://github.com/epics-motor/motorAttocube/releases/tag/R1-0-1) |         |
| **motorDeltaTau** | [R1-0-1](https://github.com/epics-motor/motorDeltaTau/releases/tag/R1-0-1) |         |
| **motorFaulhaber** | [R1-0-1](https://github.com/epics-motor/motorFaulhaber/releases/tag/R1-0-1) |         |
| **motorHytec**   | [R1-0-1](https://github.com/epics-motor/motorHytec/releases/tag/R1-0-1) |         |
| **motorIms**     | [R1-0-1](https://github.com/epics-motor/motorIms/releases/tag/R1-0-1) |         |
| **motorKohzu**   | [R1-0-1](https://github.com/epics-motor/motorKohzu/releases/tag/R1-0-1) |         |
| **motorMclennan** | [R1-1](https://github.com/epics-motor/motorMclennan/releases/tag/R1-1) | iocsh files are now installed at build time |
| **motorMicos**   | [R2-0](https://github.com/epics-motor/motorMicos/releases/tag/R2-0) | Added support for the SMC Corvus Eco |
| **motorMicroMo** | [R1-0-1](https://github.com/epics-motor/motorMicroMo/releases/tag/R1-0-1) |         |
| **motorMicronix** | [R1-0-1](https://github.com/epics-motor/motorMicronix/releases/tag/R1-0-1) |         |
| **motorMotorSim** | [R1-1](https://github.com/epics-motor/motorMotorSim/releases/tag/R1-1) | iocsh files are now installed at build time |
| **motorMXmotor** | [R1-0-1](https://github.com/epics-motor/motorMXmotor/releases/tag/R1-0-1) |         |
| **motorNewFocus** | [R1-1-1](https://github.com/epics-motor/motorNewFocus/releases/tag/R1-1-1) |         |
| **motorNewport**  | [R1-1](https://github.com/epics-motor/motorNewport/releases/tag/R1-1) | Added support for the XPS-D |
| **motorNPoint**  | [R1-0-1](https://github.com/epics-motor/motorNPoint/releases/tag/R1-0-1) |         |
| **motorOms**     | [R1-1](https://github.com/epics-motor/motorOms/releases/tag/R1-1)  | User displays can now be autoconverted at build time |
| **motorOmsAsyn** | [R1-0-1](https://github.com/epics-motor/motorOmsAsyn/releases/tag/R1-0-1) |         |
| **motorOriel**   | [R1-0-1](https://github.com/epics-motor/motorOriel/releases/tag/R1-0-1) |         |
| **motorParker**  | [R1-1](https://github.com/epics-motor/motorParker/releases/tag/R1-1) | User displays can now be autoconverted at build time |
| **motorPhytron** | [R1-1](https://github.com/epics-motor/motorPhytron/releases/tag/R1-1) | Error messages are now only printed on status changes |
| **motorPI**      | [R1-0-1](https://github.com/epics-motor/motorPI/releases/tag/R1-0-1) |         |
| **motorPIGCS2**  | [R1-1](https://github.com/epics-motor/motorPIGCS2/releases/tag/R1-1) | Added support for the E-754 and C-885 controllers |
| **motorPiJena**  | [R1-0-1](https://github.com/epics-motor/motorPiJena/releases/tag/R1-0-1) |         |
| **motorScriptMotor** | [R1-1](https://github.com/epics-motor/motorScriptMotor/releases/tag/R1-1) | User displays can now be autoconverted at build time |
| **motorSmarAct** | [R1-2](https://github.com/epics-motor/motorSmarAct/releases/tag/R1-2) | Added support for the SCU controllers |
| **motorSmartMotor** | [R1-0-1](https://github.com/epics-motor/motorSmartMotor/releases/tag/R1-0-1) |         |
| **motorThorLabs** | [R1-0-1](https://github.com/epics-motor/motorThorLabs/releases/tag/R1-0-1) |         |

## __R7-1 (2019-08-13)__
R7-1 is a release based on the master branch.  

### Changes since R7-0

#### Bug fixes
* Req files are now installed to motor's top-level db directory when building against EPICS base 3.14
* RELEASE now allows RELEASE.local files to override settings

#### Driver submodules (and noteworthy changes)
| Module           | Release | Changes |
| ---------------- | ------- | ------- |
| motorAcs         | R1-0    |         |
| motorAcsTech80   | R1-0    |         |
| **motorAerotech** | **R1-0-1** | [Improvements to EnsembleTrajectoryScan](https://github.com/epics-motor/motorAerotech/releases/tag/R1-0-1) |
| motorAMCI        | R1-0    |         |
| motorAttocube    | R1-0    |         |
| motorDeltaTau    | R1-0    |         |
| motorFaulhaber   | R1-0    |         |
| motorHytec       | R1-0    |         |
| motorIms         | R1-0    |         |
| motorKohzu       | R1-0    |         |
| motorMclennan    | R1-0    |         |
| **motorMicos**   | **R1-1** | [Improvements to SMC Hydra driver](https://github.com/epics-motor/motorMicos/releases/tag/R1-1) |
| motorMicroMo     | R1-0    |         |
| motorMicronix    | R1-0    |         |
| motorMotorSim    | R1-0    |         |
| motorMXmotor     | R1-0    |         |
| **motorNewFocus** | **R1-1** | [Improvements to 874xMotorDriver](https://github.com/epics-motor/motorNewFocus/releases/tag/R1-1) |
| **motorNewport**  | **R1-0-1**    | [Corrected typo that prevented template installation](https://github.com/epics-motor/motorNewport/releases/tag/R1-0-1) |
| motorNPoint      | R1-0    |         |
| motorOms         | R1-0    |         |
| motorOmsAsyn     | R1-0    |         |
| motorOriel       | R1-0    |         |
| motorParker      | R1-0    |         |
| motorPhytron     | R1-0    |         |
| motorPI          | R1-0    |         |
| motorPIGCS2      | R1-0    |         |
| motorPiJena      | R1-0    |         |
| motorScriptMotor | R1-0    |         |
| **motorSmarAct** | **R1-1** | [Added support for MCS2 controller](https://github.com/epics-motor/motorSmarAct/releases/tag/R1-1) |
| motorSmartMotor  | R1-0    |         |
| motorThorLabs    | R1-0    |         |

## __R7-0 (2019-04-19)__
R7-0 is a release based on the master branch.  

### Changes since R6-11

Stand-alone repositories have been created for most of the support that previously resided in ``motorApp``.  These new respositories can be found in [epics-motor](https://github.com/epics-motor).  The core motor functionality remains in this module.

The new driver repositories have been added to motor as submodules, which reside in the ``modules`` subdirectory.  When the driver modules are built as submodules, their build products are installed into motor's top-level directories: ``db``, ``dbd``, ``lib``.  **The locations of vendor-specific files that aren't installed (iocsh scripts, user displays) will differ from previous versions of motor.** These files will remain in the vendor's submodule.

The new driver modules can be built outside of the motor module, which results in the installation of the build products into the top-level directory of the driver module.

The recommended EPICS base version is 3.15.6 or later.  Submodules that install template files will fail to build against EPICS base 3.14.

#### Bug fixes
* Multiple fixes for motor displays

#### Driver submodules (and noteworthy changes)
| Module           | Release | Changes |
| ---------------- | ------- | ------- |
| motorAcs         | R1-0    |         |
| motorAcsTech80   | R1-0    |         |
| motorAerotech    | R1-0    |         |
| motorAMCI        | R1-0    |         |
| motorAttocube    | R1-0    |         |
| motorDeltaTau    | R1-0    |         |
| motorFaulhaber   | R1-0    |         |
| motorHytec       | R1-0    |         |
| motorIms         | R1-0    |         |
| motorKohzu       | R1-0    |         |
| motorMclennan    | R1-0    |         |
| motorMicos       | R1-0    |         |
| motorMicroMo     | R1-0    |         |
| motorMicronix    | R1-0    |         |
| motorMotorSim    | R1-0    |         |
| motorMXmotor     | R1-0    |         |
| motorNewFocus    | R1-0    |         |
| motorNewport     | R1-0    | [HXP driver updated](https://github.com/epics-motor/motorNewport/releases/tag/R1-0) |
| motorNPoint      | R1-0    |         |
| motorOms         | R1-0    |         |
| motorOmsAsyn     | R1-0    |         |
| motorOriel       | R1-0    |         |
| motorParker      | R1-0    |         |
| motorPhytron     | R1-0    | [phytron.dbd renamed](https://github.com/epics-motor/motorPhytron/releases/tag/R1-0) |
| motorPI          | R1-0    |         |
| motorPIGCS2      | R1-0    |         |
| motorPiJena      | R1-0    |         |
| motorScriptMotor | R1-0    |         |
| motorSmarAct     | R1-0    |         |
| motorSmartMotor  | R1-0    |         |
| motorThorLabs    | R1-0    |         |

## __R6-11 (2018-12-12)__
R6-11 is a release based on the master branch.  

### Changes since R6-10-1

#### Modifications to existing features
* Pull request [#109](https://github.com/epics-modules/motor/pull/109) motorRecord: Don't stop motor if driver sets RA_PROBLEM true
* Pull request [#108](https://github.com/epics-modules/motor/pull/108) motorRecord: Set LVIO=1 if DLLM > DHLM
* Pull request [#36](https://github.com/epics-modules/motor/pull/36) motorRecord: Update status of limit switches regardless of movement direction
* Pull request [#99](https://github.com/epics-modules/motor/pull/99) motorRecord: Reset the JOGF/JOGR fields when a limit violation occurs
* Pull request [#56](https://github.com/epics-modules/motor/pull/56) motorRecord: Recognize stopped motor while jogging
* Pull request [#84](https://github.com/epics-modules/motor/pull/84) motorRecord: Keep the sign information of the components of the encoder ratio (MRES and ERES). Drivers made consistent in pull request #98
* Pull request [#93](https://github.com/epics-modules/motor/pull/93) OmsAsyn: Synchronize motor position with encoder position before every move
* Pull request [#103](https://github.com/epics-modules/motor/pull/103) Aerotech Ensemble: If disabling torque due to a fault, clear motorAxisProblem so that user can jog off limit switch
* Commit [74a8ced](https://github.com/epics-modules/motor/commit/74a8cedc283c6f53042dea867b4e6a1363c74479) Aerotech Ensemble: update CountsPerUnit every time torque is enabled to reduce the need for a reboot after parameter file change
* Commit [c0c5b5b](https://github.com/epics-modules/motor/commit/c0c5b5b351c33549437cffbd4233edb15a9361c2) Multiple changes to Aerotech A3200 driver: 
  * restored "task number" argument
  * don't check limit switches of virtual axes
  * added single/multi axis move argument 

#### New features
* Pull request [#114](https://github.com/epics-modules/motor/pull/114) motorRecord: Added Set Point Deadband field (SPDB) enabling deadbands greater than the MRES
* Pull request [#95](https://github.com/epics-modules/motor/pull/95) Added support for AMCI ANF-series controllers (depends on the modbus module: https://github.com/epics-modules/modbus, R2-11 or later)
* Pull request [#79](https://github.com/epics-modules/motor/pull/79) Added support for Scriptable Motor Controller (depends on the lua module: https://github.com/epics-modules/lua)

#### Bug fixes
* Pull request [#105](https://github.com/epics-modules/motor/pull/105) Fix for segfault when XPSConfigAxis isn't called before using a motor
* Commit [df11f3e](https://github.com/epics-modules/motor/commit/df11f3e153e2aa6c6cb605cbc1392e0a9e663d93) Corrected a typo in motorSim.iocsh that prevented any motion by setting the DLLM and DHLM to the same value

#### Documentation updates
* Pull request [#101](https://github.com/epics-modules/motor/pull/101), commit [58976fa](https://github.com/epics-modules/motor/commit/58976fa2885660b753ab84003667638934fdd557) Made motor documentation compatible with github pages

## __R6-10-1 (2018-06-07)__ 
R6-10-1 is a bugfix release based on the R6-10-bugfix branch.  

### Changes since R6-10
The following commits to the master branch have been cherry-picked for this release.

#### Bug fixes
* pull request [#60](https://github.com/epics-modules/motor/pull/60) motor record DLY and STOP fix
* pull request [#83](https://github.com/epics-modules/motor/pull/83) asynMotor autoPower fix
* pull request [#94](https://github.com/epics-modules/motor/pull/94) Micronix MMC-x00 I/O flush
* commit [7493d50](https://github.com/epics-modules/motor/commit/7493d50bc818bb56440525f71a4ca31c9a28ee29) Don't start a new move if URIP=Yes & RDBL link error

#### Code fixes
* commit [4938a51](https://github.com/epics-modules/motor/commit/4938a51ce459e6b213ac3e157112892c86e629a8) Fixed casts
* commit [23b8c5f](https://github.com/epics-modules/motor/commit/23b8c5f528416def6ee8329caf4f0fe8331e434c) Fix for URLS in travis script
* commit [75162d1](https://github.com/epics-modules/motor/commit/75162d1fefc2aa1c3009a3bbbde7fac69345213b) Fix for example substitutions file
* commit [6998c37](https://github.com/epics-modules/motor/commit/6998c3716317e725d123c77844dfb3da84ed9768) Fix typos
* commit [c1c4407](https://github.com/epics-modules/motor/commit/c1c440764414627237580c2642bf5542aee623b2) Corrected EPICS version test
* commit [60aa414](https://github.com/epics-modules/motor/commit/60aa414b373b48e96db2bd010492ae6b29577f35) Added header files for EPICS 7.0 compatiblity
* commit [8409249](https://github.com/epics-modules/motor/commit/840924984945a3454cd114ef8391952158151308) Added header files for EPICS 7.0 compatiblity

#### Documentation updates

* commit [6529abb](https://github.com/epics-modules/motor/commit/6529abb0cfccc08a1c4ea6f0c7a3d326b48bd81b) Added R6-10-1 links
* commit [acf0d00](https://github.com/epics-modules/motor/commit/acf0d00496ce7b4edf953991ecc3037b236e37ea) Added home-search documentation to Aerotech README
* commit [4bbba98](https://github.com/epics-modules/motor/commit/4bbba98bd51f65a5efea30fa647e9d914c99d50b) Minor improvements to documentation
* commit [2cfd494](https://github.com/epics-modules/motor/commit/2cfd494c1631c9af287fde3d93de650b0de2a3b2) Added R6-10 documentation

## __R6-10 and older__

Release notes can be found here: https://epics-modules.github.io/motor/motor_release.html

Details relevant to developers can be found here: https://github.com/epics-modules/motor/blob/master/docs/RELEASE.txt

