lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

R5.1

Browse Source
This commit is contained in:
Ron Sluiter
2003-06-12 22:00:05 +00:00
parent ed10f0637c
commit 1582388ced
1 changed files with 220 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
documentation/motor_release.html
+220 -15
View File
@@ -1,6 +1,4 @@
<!DOCTYPE html PUBLIC "-//w3c//dtd html 4.0 transitional//en">
<html>
<head>
<!DOCTYPE html PUBLIC "-//w3c//dtd html 4.0 transitional//en"><html><head>
<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
@@ -8,13 +6,216 @@
<meta name="Author" content="Ronald L. Sluiter">
<meta name="Description" content="Synopsis of modifications, fixes and new features for each motor record release.">
<title>EPICS Motor Record Release Notice</title>
</head>
<body>
<meta name="Description" content="Synopsis of modifications, fixes and new features for each motor record release."><title>EPICS Motor Record Release Notice</title></head>
<body>
<center>
<h1> <b><u>Motor Record Version 4.5 Release Notice</u></b></h1>
<center>
<h1> <b><u>Motor Record Version 5.1 Release Notice</u></b></h1>
</center>
<div style="text-align: left;"><b>!WARNING!</b><br>
</div>
<div style="text-align: left;">This release of the motor record
contains major modifications.&nbsp; It has not, yet, undergone rigorous
testing.&nbsp; I highly recommend that user's test this release in a
safe, non-critical environment before committing themselves to using it
with their critical applications.<br>
<br>
This is the first R3.14 compatible release of the motor record.&nbsp;
All of the device drivers, with the exception of OMS, are operating
system independent (OSI).&nbsp; Thanks to Joe Sullivan for his work
with the initial port to R3.14.<br>
<h4><span style="text-decoration: underline;">Requirements</span><br>
</h4>
EPICS base R3.14.2 or greater.&nbsp; See the "Required Modules" section of the Motor Record web page for details.<br>
<br>
<div style="text-align: center;"><b><u>New Features</u></b><br>
<div style="text-align: left;"><span style="text-decoration: underline;"><span style="font-weight: bold;">MX Device Driver<br>
<br>
<span style="text-decoration: underline;"><span style="font-weight: bold;"></span></span></span></span>This
release includes a device driver for MX.&nbsp; The MX device driver
gives EPICS user's access to motor controllers that are not currently
supported by the motor record.&nbsp; An MX example is included with the
motor distribution. This device driver requires MX release 0.62.0 or greater.<br>
<br>
<span style="font-weight: bold; text-decoration: underline;">Mclennan PM600<br>
<br>
</span>Mark Rivers added support for the Mclennan PM600 controller.<br>
<h1 style="text-align: center;"> <b><u>Motor Record Version 4.7 Release Notice</u></b></h1>
<b>!WARNING!</b><br>
motorRecord.dbd has been modified.&nbsp; This requires rebuilding any and
all user trees (i.e., &lt;ioctop&gt;) that load the motor record (see README
items #3 and #4 for details).
<h4> </h4>
<h4 style="text-align: center;"> <u>Modifications to Existing Features</u></h4>
<div align="left"><u><b>Redundant DMOV Monitor Postings</b></u><br>
<br>
Eliminated redundant DMOV monitor postings.&nbsp; Under certain conditions
the motor record would post the state of the DMOV field twice. &nbsp;For
example, with previous releases the motor record would post DMOV=0 twice
if backlash correction was enabled and the user jogged the motor.<br>
<br>
<u><b>OMS VME58 Intermittent Limit Switch Status Error<br>
<br>
</b></u>There is a problem with OMS VME58 ver 2.35-8 firmware when used with
MVME2700 CPU boards.&nbsp; The problem is that the controller board intermittently,
reports that there is no limit switch error when there is an error.&nbsp;
This error can occur if the user repeatedly, tries to move in the direction
of the limit switch when the limit error condition exits.&nbsp; A delay has
been added to work around the problem.<br>
<center>
<p><b><u>New Features</u></b></p>
<div align="left">
<u><b>Motor Synchronized DB Puts</b></u><br>
<br>
<i>device directive </i>support has been extended to the PREM and POST fields
for OMS devices only.&nbsp; The new device directive supports changing the
value of a database variable.&nbsp; The syntax is as follows:<br>
<blockquote>PREM - @PUT(<i>pvname</i>, <i>pv-value</i>, <i>delay in seconds</i>)@<br>
</blockquote>
<blockquote>POST &nbsp;- @PUT(<i>pvname</i>, <i>pv-value</i>)@<br>
</blockquote>
Note that the PREM supports a delay argument, but that POST does not. &nbsp;The <i>Readback settle time field</i> (DLY) should be used to create a time delay after the PV specified in the POST field is written.&nbsp; See the <i>Miscellaneous fields</i> section of motorRecord.html for further information on the INIT, PREM and POST fields.<br>
<br>
<u><b>IMS MDrive17 device support</b></u>
</div>
</center>
<br>
Device driver support for the Intelligent Motion Systems (IMS) MDrive17 model motor controller is available with this release.<br>
<u><b><br>
Home Velocity<br>
</b></u><br>
A home velocity field (HVEL) was added with this release. &nbsp;Like all
speed related fields, the HVEL is limited by the maximum (VMAX) and base
(VBAS) velocity fields. &nbsp;In addition, if HVEL is not initialized by the user, the motor record sets HVEL to VBAS.<br>
</div>
<h1 style="text-align: center;"><b><u>Motor Record Version 4.6 Release Notice</u></b></h1>
<b>!WARNING!</b><br>
motorRecord.dbd has been modified.&nbsp; This requires rebuilding any and
all user trees (i.e., &lt;ioctop&gt;) that load the motor record (see README
items #3 and #4 for details).
<h4> </h4>
<center>
<h4> <u>Modifications to Existing Features</u></h4>
<div align="left"><b><u>Soft Channel Device Support<br>
<br>
</u></b></div>
<div align="left">A conflict between the requirements specified under <i>Requirements
Clarification </i>below and the goal of having the same record level functionality
for all device drivers, including Soft Channel device support, was found by
Tim Graber.<br>
</div>
<div align="left"><br>
</div>
<div align="left">A problem occurred with, for example, the SoftMotorEx.db
that is distributed with the motor record, when backlash was enabled in the
<i>hard motor</i>(a motor configured <u>without</u> Soft Channel device support).&nbsp;
The result was that the <i>soft motor</i> (a motor configured <u>with</u>
Soft Channel device support) would interpret the hard motor's backlash correction
as the motor going in the wrong direction, and stop the "hard" motor from
completing the backlash correction.<br>
</div>
<div align="left"><br>
</div>
<div align="left">With this release, the requirements on how the motor record
processes a new target position while the motor is in motion have been modified
based on a new field; New Target Monitor (NTM).<br>
</div>
<div align="left">
<blockquote>Case #1: The motor record is given a new position, which is in
the opposite direction from the current motor motion. &nbsp;If NTM is <u>yes,</u>
the motor is immediately stopped and given a motion command to the new position.
&nbsp;If NTM is <u>no</u>, the motor completes the previous move before it
is given a motion command to the new position.<br>
</blockquote>
</div>
<div align="left">
<blockquote>Case #2: The motor record is given a new position, which is in
the same direction as the current motor motion, but the new position is closer
to the motor's current position than the original target position. &nbsp;If
NTM is <u>yes</u>, the motor is stopped after it has gone past the new position;
then a command is given to return to the new position. &nbsp;If NTM is <u>no</u>,
the motor completes the previous move before it is given a motion command
to the new position.<br>
</blockquote>
</div>
<div align="left">
<blockquote>Case #3: The motor record is given a new position, which is in
the same direction as the current motor motion, but the new position is further
from the motor's current position than the original position. &nbsp;After
the motor reaches the original target position and stops, a command is given
to the new target position.&nbsp; This case is <u>independent</u> of NTM.<br>
</blockquote>
</div>
<div align="left"><br>
</div>
<div align="left">A Soft Channel device support design limitation was discovered
by Tim Mooney.&nbsp; The problem is a result of the modifications made with
R4-5 below, where the soft motor synchronizes it's target position (i.e.,
VAL/DVAL/RVAL) with it's readback position (RBV/DRBV/RRBV). &nbsp;Given an
application where there are two or more soft motors driving the system (e.g.,
slit), when one soft motor is moved, the other soft motor <i>sees</i> it's
readback changing and synchronizes it's target position with it's readback
position at the end of the move, thereby losing it's target position.<br>
</div>
&nbsp;&nbsp;&nbsp; <br>
<div align="left">With this release, the LOCK field has been added to allow
the user to enable/disable synchronization due to the readback changing.</div>
</center>
<div align="left">
<h4><u>Backlash Correction Bug Fixes</u></h4>
The following scenario would put the motor record into an invalid state. &nbsp;A
new target position (i.e., VAL/DVAL/RVAL) is written to the motor record
under the following conditions;<br>
<ol><li>motion is in progress (i.e., DMOV is false).</li><li>the new target position is different from the actual position by less
than the retry deadband (|DIFF| &lt; RDBD).</li><li>backlash correction is enabled (i.e., BDST is non-zero) and the new
move is <b>not</b> in the "preferred direction" (preferred direction is the
direction in which the motor moves during the backlash-takeout part of a motor
move).</li></ol>
A bug was introduced in R4.5 when backlash correction was changed.&nbsp; The
error occurred when a new target position was issued while the motor was
moving.&nbsp; The motor would move to the new target position at the backlash
velocity rather than the slew velocity.<br>
<br>
Thanks to Kevin M. Peterson, James B. Stevens and John Maclean for their help
in finding and fixing these bugs.
<br>
<center>
<p><b><u>New Features</u></b></p>
</center>
<h4><u>Newport ESP300 device support</u></h4>
Device support for the Newport ESP300 motor controller is available with
this release.<br>
<h1> </h1>
</div>
<h1> </h1>
<span style="text-decoration: underline;"><span style="font-weight: bold;"></span></span></div>
</div>
</div>
<h1> </h1>
<h1><b><u>Motor Record Version 4.5 Release Notice</u></b></h1>
</center>
<b>!WARNING!</b><br>
motorRecord.dbd has been modified.&nbsp; This requires you to 'rebuild' any
@@ -33,8 +234,8 @@ using GPIB or RS232 serial communication mechanisms (i.e., non-VME Bus boards).
</p>
<h4> </h4>
<h4>
<h4><u>Requirements Clarification</u></h4>
</h4>
</h4><h4><u>Requirements Clarification</u></h4>
The requirements on how the motor record processes a new target position
while the motor is in motion have never been specified.&nbsp; The requirements
are as follows:<br>
@@ -618,11 +819,16 @@ the relationship between these two methods is as follows:
<u>For all OMS controllers</u></blockquote>
<ul>
<li> CKP&nbsp; = GAIN&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
<li>
CKP&nbsp; =
GAIN&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
CKP =&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 1999.9 * GAIN</li>
<li> CKI&nbsp;&nbsp; = 2 * GAIN&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
<li>
CKI&nbsp;&nbsp; = 2 *
GAIN&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
CKI =&nbsp; 2 * 1999.9 * GAIN</li>
<li> CKD = 3 * GAIN&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
<li> CKD = 3 *
GAIN&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
CKD = 3 * 1999.9 * GAIN</li>
</ul>
@@ -711,5 +917,4 @@ primitives that result in a response from the motion control board are valid,
but the response is not processed. <br>
&nbsp; <br>
&nbsp; </p>
</body>
</html>
</body></html>