From 73230bef1a57d41d602aa5ef76ed928f89dee427 Mon Sep 17 00:00:00 2001 From: kpetersn Date: Mon, 30 Apr 2018 11:10:39 -0500 Subject: [PATCH 01/11] Moved trajectoryScan.html images to the trajectoryScan_files subdirectory. --- documentation/trajectoryScan.html | 10 +++++----- .../IDL_trajectory_actual.png | Bin .../IDL_trajectory_errors.png | Bin .../{ => trajectoryScan_files}/trajectoryPlot1.png | Bin .../{ => trajectoryScan_files}/trajectoryPlot2.png | Bin .../{ => trajectoryScan_files}/trajectoryScan.png | Bin .../trajectoryScanDebug.png | Bin 7 files changed, 5 insertions(+), 5 deletions(-) rename documentation/{ => trajectoryScan_files}/IDL_trajectory_actual.png (100%) rename documentation/{ => trajectoryScan_files}/IDL_trajectory_errors.png (100%) rename documentation/{ => trajectoryScan_files}/trajectoryPlot1.png (100%) rename documentation/{ => trajectoryScan_files}/trajectoryPlot2.png (100%) rename documentation/{ => trajectoryScan_files}/trajectoryScan.png (100%) rename documentation/{ => trajectoryScan_files}/trajectoryScanDebug.png (100%) diff --git a/documentation/trajectoryScan.html b/documentation/trajectoryScan.html index c5d5394f..07f5ddcc 100644 --- a/documentation/trajectoryScan.html +++ b/documentation/trajectoryScan.html @@ -1267,7 +1267,7 @@ P=13BMC:, R=traj1, TITLE=Trajectory Scans, M1=m33,M2=m34,M3=m35,M4=m36,M5=m37,M6 .

-

+

trajectoryPlot.adl is used to plot the requested trajectory in @@ -1276,14 +1276,14 @@ positions (MnActual) and the following errors (MnError).

-

+

trajectoryScanDebug.adl is used to display detailed information, useful for debugging.

-

+

MEDM displays for the MAXv and Ensemble are very similar, but also include @@ -1554,10 +1554,10 @@ IDL> iplot, errors[*,1], /overplot

These are the resulting plots:

-

+

-

+

 

diff --git a/documentation/IDL_trajectory_actual.png b/documentation/trajectoryScan_files/IDL_trajectory_actual.png similarity index 100% rename from documentation/IDL_trajectory_actual.png rename to documentation/trajectoryScan_files/IDL_trajectory_actual.png diff --git a/documentation/IDL_trajectory_errors.png b/documentation/trajectoryScan_files/IDL_trajectory_errors.png similarity index 100% rename from documentation/IDL_trajectory_errors.png rename to documentation/trajectoryScan_files/IDL_trajectory_errors.png diff --git a/documentation/trajectoryPlot1.png b/documentation/trajectoryScan_files/trajectoryPlot1.png similarity index 100% rename from documentation/trajectoryPlot1.png rename to documentation/trajectoryScan_files/trajectoryPlot1.png diff --git a/documentation/trajectoryPlot2.png b/documentation/trajectoryScan_files/trajectoryPlot2.png similarity index 100% rename from documentation/trajectoryPlot2.png rename to documentation/trajectoryScan_files/trajectoryPlot2.png diff --git a/documentation/trajectoryScan.png b/documentation/trajectoryScan_files/trajectoryScan.png similarity index 100% rename from documentation/trajectoryScan.png rename to documentation/trajectoryScan_files/trajectoryScan.png diff --git a/documentation/trajectoryScanDebug.png b/documentation/trajectoryScan_files/trajectoryScanDebug.png similarity index 100% rename from documentation/trajectoryScanDebug.png rename to documentation/trajectoryScan_files/trajectoryScanDebug.png From 9f14ffb5edb10197d33095be470d4a450dfe724d Mon Sep 17 00:00:00 2001 From: kpetersn Date: Mon, 30 Apr 2018 11:11:38 -0500 Subject: [PATCH 02/11] Created a presentations subdirectory --- documentation/{ => presentations}/MotorRec2015.pptx | Bin 1 file changed, 0 insertions(+), 0 deletions(-) rename documentation/{ => presentations}/MotorRec2015.pptx (100%) diff --git a/documentation/MotorRec2015.pptx b/documentation/presentations/MotorRec2015.pptx similarity index 100% rename from documentation/MotorRec2015.pptx rename to documentation/presentations/MotorRec2015.pptx From e99981c71d985fa8c09a1a07b197271ddf65a5ce Mon Sep 17 00:00:00 2001 From: kpetersn Date: Mon, 30 Apr 2018 11:48:12 -0500 Subject: [PATCH 03/11] Added R6-10 to 'Required Modules' section --- documentation/motor.html | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/documentation/motor.html b/documentation/motor.html index c6022e89..eafbafd6 100644 --- a/documentation/motor.html +++ b/documentation/motor.html @@ -281,6 +281,14 @@ the links in the table below:
Required modules Release needed + + R6-10 + ASYN  
+ IPAC  (for serial + or GPIB communication only) + R4-25
+ R2-13 + R6-9 ASYN  
From 67526774ffe58fc9bae723b9fa2ad138ef7f39d4 Mon Sep 17 00:00:00 2001 From: kpetersn Date: Tue, 1 May 2018 10:25:02 -0500 Subject: [PATCH 04/11] Added release notes for 6-10 --- documentation/motor_release.html | 148 ++++++++++++++++++++++++++++++- 1 file changed, 147 insertions(+), 1 deletion(-) diff --git a/documentation/motor_release.html b/documentation/motor_release.html index de55c26d..4d339f9b 100644 --- a/documentation/motor_release.html +++ b/documentation/motor_release.html @@ -15,15 +15,161 @@

Motor Record Version 6-10 Release Notice

+

Modifications to Existing Features

+

- TODO: Documentation + OMS support +

+

+ Ron Sluiter added a check for an invalid MAXv interrupt level (IRQ=1) + (1196bbe4df5968ae4ac05c142a9f4be93827d06e) +

+

+ Ron Sluiter added a check for a new MAXv failure mode where the board reboots after the 1st command with response + (e604c9588a087228dc6c0333818e00113df841ea) +

+

+ Ron Sluiter added an optional test for VME58 failure mode where the board reboots after the 1st motion related command + (4f54eb502bb1e4157db9a0587cfdbabd66de0c95)

+ +
+

+ Aerotech A3200 support +

+

+ Ron Sluiter Removed the "Task number" argument from A3200AsynConfig and switched to using Task #2 for the ASCII Interface + (a52ec2f62ff34b30597bccc7de9d70b4d2ed7f86) +

+
+ +
+

+ Newport support +

+

+ Mark Rivers modified the ESP300 driver so that it correctly determines the resolution when open-loop steppers are used + (5245991323fb8c73cd6383e064da7b02c2629fea) +

+

+ Mark Rivers changed the XPS PositionCompare API + (44351c99d92837cbb283b21877a87ecc821875e0) and made numerous improvements to the PositionCompare functionality. +

+
+ +
+

+ Motor Record improvments +

+

+ jmdewart & Ken Lauer changed the acceleration calculation so that VBAS is ignored when VELO==VBAS + (4b89359e1cc1b411f974c0733bdf0b70df303aa8) +

+

+ Ron Sluiter changed the motor record logic so that the motor is stopped if URIP=Yes and RDBL read returns an error + (220d18fcff89507a236152bd17aa48e5f13ca471) +

+

+ Tim Mooney added a field, IGSET, to allow the SET field to be ignored. + More info on why this was desirable can be found in pull request #53. + (5cad105357739d603218502eb38be20ee736b4ee) +

+

+ Tim Mooney modified the motor record's SYNC functionality so that it works when URIP=True + (ac900b90615ef650f13a9f21a5f1c145c0402408) +

+
+ +
+

+ New Features

+
+ +
+

+ AMCI ANG1 support +

+

+ Kurt Goetze added support for the AMCI ANG1 controller/driver + (8966aeabf292874de8c78754e95e14cde1f1c776) and made numerous improvements to the PositionCompare functionality. +

+
+ +
+

+ Newport CONEX-PP support +

+

+ Mark Rivers added support for the CONEX-PP series to the AG_CONEX driver + (2b853366f48230356c869a46691acbd8c7391810) and made numerous improvements to the PositionCompare functionality. +

+
+ +
+

+ iocsh scripts +

+

+ Keenan Lang add iocsh setup scripts for many motor controllers + (17d10a8158ba5ca23bfc97133901d8d6e859f1ac + & + a87835c14a20a8e11745e16591d031fb674f0e14) +

+
+ +
+

+ PI E-517 support +

+

+ Bruno Luvizotto added files for supporting PIE517 piezo controller + (f31ed90b255a554a1930ac721d595ade0c8095a2) +

+
+ +
+

+ New Focus 874x support +

+

+ Wayne Lewis added support for the NewFocus 874x series of controllers + (634e49d5076d87fefbd875cd0700e7feb6d062e3) +

+
+ +
+

+ asynMotor support +

+

+ Matthew Pearson added parameters to asynMotorController to deal with automatic amplifier control via setClosedLoop. + (36dfab4a78725866fab5bd212c4c128a86e9f044) +

+
+ + + + + + + + + + + + + + + + + +

Motor Record Version 6-9 Release Notice

From 5619f875e2ff07caef43b02ce803829601465e82 Mon Sep 17 00:00:00 2001 From: kpetersn Date: Tue, 1 May 2018 10:59:45 -0500 Subject: [PATCH 05/11] Added support motors and documentation for the IGSET field. --- documentation/motorRecord.html | 32 +++++++++++++++++++++++++++++--- 1 file changed, 29 insertions(+), 3 deletions(-) diff --git a/documentation/motorRecord.html b/documentation/motorRecord.html index 9ded5f88..087283de 100644 --- a/documentation/motorRecord.html +++ b/documentation/motorRecord.html @@ -35,7 +35,7 @@ -

Overview

This documentation describes version R6-9 of the EPICS motor +

Overview

This documentation describes version R6-10 of the EPICS motor record, and related EPICS software required to build and use it.  Version R6-9 of the motor record is compatible with EPICS base R3.14.12.2 and above.

@@ -61,7 +61,7 @@ Channel support): Mclennan models PM304 and PM600.

  • - Physik Instrumente (PI) GmbH & Co. models; C-630/844/848/862/863, E-662/710/816, micos SMC hydra and all GCS2 (General Command Set) compatible controllers. + Physik Instrumente (PI) GmbH & Co. models; C-630/662/663/844/848/862/863, E-516/517/710/816, micos SMC hydra and all GCS2 (General Command Set) compatible controllers.
  • MicroMo model MVP 2001 B02. @@ -76,7 +76,7 @@ Channel support): Parker Hannifin, Compumotor Division, 6K Series controllers.
  • - New Focus, models; 8750 and 8752. + New Focus, models; 8750, 8752, & 874x.
  • ACS Motion Control, SPiiPlus model. @@ -533,6 +533,14 @@ below.
    + + IGSET + R/W + Ignore SET Field + SHORT + (0:Normal operation, 1: SET is ignored)
    + + INIT R/W @@ -1336,6 +1344,14 @@ below. SHORT Set Set/Use switch to "Use". + + IGSET + R/W + Ignore SET Field + SHORT + (0:Normal operation, 1: SET is ignored)
    + + SET is a toggle switch used in calibrating the motor's user and dial positions:  @@ -1356,6 +1372,16 @@ below. LLM). When the offset is frozen (FOFF=1), writes to any drive field affect both user and dial values, and also load the hardware position register.

    + +

    + When IGSET = 0, the motor record will obey the SET field and behave as described above. +

    + +

    + When IGSET = 1, the motor record will behave as though SET = 0. Ignoring the SET + field can useful for applications with soft motors (motors with soft-channel device + support). +

    From 8c0f68488dab13ee8da9c098c97ad6fedba5f893 Mon Sep 17 00:00:00 2001 From: kpetersn Date: Tue, 1 May 2018 11:45:07 -0500 Subject: [PATCH 06/11] Removed Ron as the person responsible for the motor module. Kevin wishes him a git-free impending retirement. --- documentation/motor.html | 16 +++++++--------- documentation/motorRecord.html | 3 +-- documentation/motor_release.html | 3 +-- documentation/trajectoryScan.html | 2 +- 4 files changed, 10 insertions(+), 14 deletions(-) diff --git a/documentation/motor.html b/documentation/motor.html index eafbafd6..c201bd87 100644 --- a/documentation/motor.html +++ b/documentation/motor.html @@ -2,8 +2,7 @@ - - + EPICS: Motor Record @@ -13,8 +12,7 @@

    EPICS: Motor Record and Device/Driver support.

    -
    Module Owners: Ron Sluiter - and Kevin Peterson
    +
    Module Owners: Kevin Peterson

    @@ -24,9 +22,9 @@ supported by motor record device/drivers.

    -Please email any comments and bug reports to Ron -Sluiter and/or Kevin Peterson who -are responsible for coordinating development and releases. +Please email any comments to Kevin Peterson who +is responsible for coordinating development and releases. Bug reports can be created on +github.

    Where to Find it

    You can download the software by anonymous ftp from @@ -591,8 +589,8 @@ different releases of EPICS and/or the other required modules are needed).

    -Page Last Modified: 04/06/2007
    -Ron Sluiter
    +Page Last Modified: 05/01/2018
    +Kevin Peterson



    diff --git a/documentation/motorRecord.html b/documentation/motorRecord.html index 087283de..665ecaa6 100644 --- a/documentation/motorRecord.html +++ b/documentation/motorRecord.html @@ -3917,8 +3917,7 @@ specific value (e.g., kV) that is not supported by the motor controller.
    Suggestions and comments to:

    -Ron Sluiter : (sluiter@aps.anl.gov)
    Kevin Peterson : (kmpeters@anl.gov)
    -Last modified: January 7, 2015 +Last modified: May 1, 2018 diff --git a/documentation/motor_release.html b/documentation/motor_release.html index 4d339f9b..28abb135 100644 --- a/documentation/motor_release.html +++ b/documentation/motor_release.html @@ -2,11 +2,10 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + EPICS Motor Record Release R6-10 Notice - diff --git a/documentation/trajectoryScan.html b/documentation/trajectoryScan.html index 07f5ddcc..a4c0e003 100644 --- a/documentation/trajectoryScan.html +++ b/documentation/trajectoryScan.html @@ -937,7 +937,7 @@ controller must use the same units as the motor record that talks to it. Installation

    The source files for trajectory scanning are in the synApps -motor module +motor module , in the motorApp/ tree. 

    
From ad2d96b23026aa6705ee70403cbed14f375597ae Mon Sep 17 00:00:00 2001
From: kpetersn 
Date: Tue, 1 May 2018 12:16:36 -0500
Subject: [PATCH 07/11] Corrected links

---
 documentation/motor.html | 278 ++++++++++++++++++++-------------------
 1 file changed, 140 insertions(+), 138 deletions(-)

diff --git a/documentation/motor.html b/documentation/motor.html
index c201bd87..1730cdba 100644
--- a/documentation/motor.html
+++ b/documentation/motor.html
@@ -20,7 +20,9 @@
 This is the home page for both the motor record and various motor controllers 
 supported by motor record device/drivers.
 
    
-
+
    
+GitHub repository: https://github.com/epics-modules/motor
+
    
 
    
 Please email any comments to Kevin Peterson who 
 is responsible for coordinating development and releases.  Bug reports can be created on 
@@ -47,226 +49,226 @@ the links in the table   below: 
    
     motorR6-10.tar.gz
     motorRecord.html
     motor_release.html
-    Problems
+    Problems
     11/30/2017
   
   
     R6-9
     R3.15.1-3.14.12.3
-    motorR6-9.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR6-9.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
     01/07/2015
   
   
     R6-8
     R3.14.12.3
-    motorR6-8-1.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR6-8-1.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
     06/16/2014
   
   
     R6-7
     R3.14.12.2
-    motorR6-7-1.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR6-7-1.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
     03/06/2012
   
   
     R6-5
     R3.14.10-11
-    motorR6-5-2.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR6-5-2.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
     10/14/2010
   
   
     R6-4
     R3.14.8.2-10
-    motorR6-4-4.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR6-4-4.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
     06/22/2009
   
   
     R6-3
     R3.14.8.2-10
-    motorR6-3-1.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR6-3-1.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
     12/10/2008
   
   
     R6-2
     R3.14.8.2-9
-    motorR6-2-2.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR6-2-2.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
     04/04/2007
   
   
     R6-1
     R3.14.8.2
-    motorR6-1.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR6-1.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
     12/18/2006
   
   
     R6-0
     R3.14.8.2
-    motorR6-0.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR6-0.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
     09/22/2006
   
   
     R5-9
     R3.14.8.2
-    motorR5-9-1.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR5-9-1.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
     08/21/2006
   
   
     R5-8
     R3.14.7-8.2
-    motorR5-8.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR5-8.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R5-7
     R3.14.7
-    motorR5-7.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR5-7.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R5-6
     R3.14.7
-    motorR5-6.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR5-6.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R5-5
     R3.14.6 - 7
-    motorR5-5.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR5-5.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R5-4
     R3.14.6
-    motorR5-4.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR5-4.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R5-3
     R3.14.5
-    motorR5-3.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR5-3.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R5-2
     R3.14.4
-    motor5-2.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motor5-2.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R4-9
     R3.13.5 - 10
-    motorR4-9-6.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR4-9-6.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R4-8
     R3.13.5 - 9
-    motorR4-8-1.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR4-8-1.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R4-7
     R3.13.2 - 9
-    motor4-7-4.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motor4-7-4.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R4-6
     R3.13.2 - 9
-    motor4-6-4.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motor4-6-4.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R4-5
     R3.13.2 - 9
-    motorR4-5-4.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motorR4-5-4.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R4-4
     R3.13.4 - 5
-    motor4-4-2.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motor4-4-2.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R4-3
     R3.13.4 - 5
-    motor4-3-2.tar.gz
-    motorRecord.html
-    motor_release.html
-    Problems
+    motor4-3-2.tar.gz
+    motorRecord.html
+    motor_release.html
+    Problems
   
   
     R4-1
     R3.13.2
-    motor4-1.tar.gz
-    motorRecord.html
-    motor_release.html
+    motor4-1.tar.gz
+    motorRecord.html
+    motor_release.html
     
    
   
   
     R3-5
     R3.13.1.1 - 2
-    motor_V3.5.tar.gz
-    motorRecord.html
-    motor_V3.5.html
-    Problems
+    motor_V3.5.tar.gz
+    motorRecord.html
+    motor_V3.5.html
+    Problems
   
   
 
@@ -281,133 +283,133 @@ the links in the table   below: 
    
   
   
     R6-10
-    ASYN   
    
-      IPAC  (for serial 
+    ASYN   
    
+      IPAC  (for serial 
       or GPIB communication only)
     R4-25
    
       R2-13
   
   
     R6-9
-    ASYN   
    
-      IPAC  (for serial 
+    ASYN   
    
+      IPAC  (for serial 
       or GPIB communication only)
     R4-25
    
       R2-13
   
   
     R6-8
-    ASYN   
    
-      IPAC  (for serial 
+    ASYN   
    
+      IPAC  (for serial 
       or GPIB communication only)
     R4-21
    
       R2-12
   
   
     R6-7
-    ASYN   
    
-      IPAC  (for serial 
+    ASYN   
    
+      IPAC  (for serial 
       or GPIB communication only)
     R4-18
    
       R2-11
   
   
     R6-5
-    ASYN   
    
-      IPAC  (for serial 
+    ASYN   
    
+      IPAC  (for serial 
       or GPIB communication only)
     R4-13-1
    
       R2-10
   
   
     R6-4
-    ASYN   
    
-      IPAC  (for serial 
+    ASYN   
    
+      IPAC  (for serial 
       or GPIB communication only)
     R4-10
    
       R2-9
   
   
     R6-3
-    ASYN   
    
-      IPAC  (for serial 
+    ASYN   
    
+      IPAC  (for serial 
       or GPIB communication only)
     R4-9
    
       R2-9
   
   
     R6-2
-    ASYN   
    
-      IPAC  (for serial 
+    ASYN   
    
+      IPAC  (for serial 
       or GPIB communication only)
     R4-7
    
       R2-8
   
   
     R6-1
-    ASYN   
    
-      IPAC  (for serial 
+    ASYN   
    
+      IPAC  (for serial 
       or GPIB communication only)
     R4-6
    
       R2-8
   
   
     R6-0
-    ASYN   
    
-      IPAC  (for serial 
+    ASYN   
    
+      IPAC  (for serial 
       or GPIB communication only)
     R4-6
    
       R2-8
   
   
     R5-9-1
-    ASYN   
    
-      IPAC  (for serial 
+    ASYN   
    
+      IPAC  (for serial 
       or GPIB communication only)
     R4-6
    
       R2-8
   
   
     R5-8
-    ASYN   (for 
+    ASYN   (for 
     serial or GPIB communication only) 
    
-      IPAC  (for serial 
+      IPAC  (for serial 
       communication only)
     R4-4
    
       R2-8
   
   
     R5-7
-    ASYN   (for 
+    ASYN   (for 
     serial or GPIB communication only) 
    
-      IPAC  (for serial 
+      IPAC  (for serial 
       communication only)
     R4-3
    
       R2-8
   
   
     R5-6
-    ASYN   (for 
+    ASYN   (for 
     serial or GPIB communication only) 
    
-      IPAC  (for serial 
+      IPAC  (for serial 
       communication only)
     R4-2
    
       R2-8
   
   
     R5-5
-    ASYN   (for 
+    ASYN   (for 
     serial or GPIB communication only) 
    
-      IPAC  (for serial 
+      IPAC  (for serial 
       communication only)
     R4-1
    
       R2-8
   
   
     R5-4
-    ASYN   (for 
+    ASYN   (for 
     serial or GPIB communication only) 
    
-      IPAC  (for serial 
+      IPAC  (for serial 
       communication only)
     R3-3
    
       R2-7a
@@ -416,7 +418,7 @@ the links in the table   below: 
    
     R5-3
     MPF   (for 
     serial communication only; no GPIB support) 
    
-      IPAC  (for serial 
+      IPAC  (for serial 
       communication only)
     R2-4-2
    
       R2-7a

From bbc0b5019ff6e73bc4ce0e89aceb1bf5af0407e6 Mon Sep 17 00:00:00 2001
From: kpetersn 
Date: Tue, 1 May 2018 13:34:24 -0500
Subject: [PATCH 08/11] Added Problems.html, which contains the history of the
 problems of motor releases before the transition to github.

---
 documentation/Problems.html | 1091 +++++++++++++++++++++++++++++++++++
 1 file changed, 1091 insertions(+)
 create mode 100644 documentation/Problems.html

diff --git a/documentation/Problems.html b/documentation/Problems.html
new file mode 100644
index 00000000..eb314b35
--- /dev/null
+++ b/documentation/Problems.html
@@ -0,0 +1,1091 @@
+
+
+
+  
+  
+  Motor Module Known Problems
+
+
+
+
    Motor Module: Known problems
    
+
+
    Known problems with Release 6-10
    
+
+
+
    Known problems with Release 6-9
    
+
+
+
    Known problems with Release 6-8
    
+
+
      
+  
    1. 
+    
      
+    Soft-travel Limits
+    
      
+    
      
+    
        
+      
      • 
+        Although there are a number of improvements with R6-8's support of soft-travel 
+        limits (LVIO), there are also two problems that will remain "Known Problems".
+        These limitation are as follows:
+      
        • 
+      
          
+        
        • 
+          Tweaking (TWF/TWR) very small increments with UEIP = Yes while in the invalid 
+          range of the soft-travel limits may put the motor record in a state where the 
+          user cannot tweak in either direction. The solution is to either jog the motor 
+          towards the valid range or increase the tweak increment value (TWV field).
+        
          • 
+        
        • 
+          Tapping the Jog button can cause the motor to move past the soft-travel limit 
+          when backlash is nonzero.
+        
          • 
+      
        
+    
      
+    
      
+  
      2. 
+  
    2. 
+    
      
+    Newport ESP100/300/301
+    
      
+    
      
+    The R6.8 ESP support changes made to "Use MRES rather than controller resolution 
+    to do EGUtoRAWbacktoEGU conversion." do not work. (Model 1 drivers do not always 
+    have access to motor record data.) The most obvious problem with R6.8 ESP 
+    support is the inability to "set" the controller's position.
+    
      
+    
      
+    This 
+    patch file rolls back the R6.8 ESP changes and adds one bug fix to 
+    the EPS100/300/301 driver; when a controller error occurs, the driver prints the 
+    error code to the console and sets the RA_PROBLEM bit of the MSTA field. The 
+    motor record patch unconditionally sends a "stop motor" command whenever a 
+    driver sets the RA_PROBLEM bit. Finally, the patch file updates ESP info in the 
+    README file.
+    
      
+    
      
+    R6-8-1 includes both the MRES related rollback and the STOP on RA_PROBLEM bug fix.
+    
      
+  
      3. 
+
    
+
+
    Known problems with Release 6-7
    
+
+
      
+  
    1. 
+    
      
+    Aerotech Ensemble
+    
      
+    
      
+    
        
+      
      • 
+        Due to network broadcasting upgrades to Aerotech Ensemble Motion Composer, 
+        starting with motor module R6-7-1, the EPICS Ensemble driver only supports 
+        4.01.002 Ensemble version firmware 4.01.002 and above.
+      
        • 
+      
      • 
+        The home search from EPICS command was been restored with R6-7-1.  In order for 
+        an EPICS home search command to work, the Aerotech Ensemble example program, HomeAsync.abx, 
+        must be compiled and stored in the Ensemble.  In addition, the Parameters>System>TaskExecutionSetup 
+        parameter must be set to enable Auxiliary Task execution.
+      
        • 
+    
      
+    
      
+  
      2. 
+
+  
      
+  
    2. 
+    
      
+    Schneider Electric (formally IMS) MDrive
+    
      
+    
      
+      Joe Sullivan fixed several bugs in the Schneider Electric MDrive driver 
+      associated with input buffer overflows that arose with newer MDrive firmware (e.g., 
+      3.003).  These bug fixes were 1st released with motor module R6-7-1.
+    
      
+  
      3. 
+  
      
+
+
    
+
+
    Known problems with Release 6-5
    
+
+
      
+  
    1. 
+    
      
+    Aerotech Ensemble
+    
      
+    
      
+    
        
+      
      • 
+        With previous releases the Aerotech Ensemble asyn motor driver would crash the 
+        IOC at boot-up if the Ensemble was not powered up and able to communicate. Fixed 
+        with R6-5-1.
+      
        • 
+      
      • 
+        The EOT limit switch status was not available except via an Ensemble fault 
+        condition.  With release R6-5-1 the status of the EOT limit switches are always 
+        available.
+      
        • 
+    
      
+    
      
+  
      2. 
+
+  
      
+  
    2. 
+    
      
+    OMS MAXv WatchDog Timeout Counter
+    
      
+    
      
+    Beginning with R6-5-1 and OMS MAXv firmware ver:1.33, the EPICS MAXv driver reads 
+    the MAXv's Watchdog Timeout Counter at bootup, and with every motor status 
+    update. If the Counter is nonzero, an error message is sent to both the errlog 
+    task and the console.  Since a watchdog timer trip indicates that the MAXv has 
+    rebooted and no longer has valid motor positions, the driver disables the 
+    controller. That specific controller is no longer available to EPICS until after 
+    the VME crate has been power cycled. Other MAXv boards in the system are 
+    unaffected by this scenario.
+    
      
+    
      
+    To better communicate this problem to the user, several medm displays have been 
+    changed.  Small displays (motorx_tiny.adl, motorx.adl) will show a yellow border 
+    around their position readback values.  Larger displays (motorx_more.adl, 
+    motorx_all.adl) will display the message "Controller Error" in yellow.  The 
+    following error message at the console and/or in the errlog is definitive;
+    
      
+    
      
+    
      
+      ***MAXv card #(card#) Disabled*** Watchdog Timeout CTR =(count)
+    
      
+    
      
+  
      3. 
+  
      
+
+  
    3. 
+    
      
+    spec upgrade required
+    
      
+    
      
+    The RES field was removed from the motor record with R6-5.  Since earlier 
+    versions of Certified Scientific Software's spec used the RES field, an upgrade 
+    to spec version 5.8.06-6 or above is required for spec to work with motor record 
+    R6-5 and above.  The problem of using earlier versions of spec with motor record 
+    R6-5 exhibits itself by spec setting the "responsive" parameter to zero and not 
+    allowing any motor motion.
+    
      
+  
      4. 
+
+  
    4. 
+    
      
+    VxWorks 6.x compiler error
+    
      
+    
      
+    The GNU preprocessor assertions in motor.h are deprecated with the VxWorks 6.x 
+    compiler.  Test for CPU macros that are compatible with VxWorks 6.x have been 
+    added.  This change prevents an "Error: unknown bit order!" compiler error with 
+    VxWorks 6.x.  This problem is fixed with R6-5-2 and above. Alternatively, you can 
+    replace <motor>/motorApp/MotorSrc/motor.h with the following copy: motor.h
+    
      
+  
      5. 
+  
+  
    5. 
+    
      
+    Aerotech Ensemble Home Search
+    
      
+    
      
+    The EPICS Ensemble driver uses Aerotech's ASCII communication protocol.  That 
+    protocol blocks all communication on the ASCII comm. port during a home search. 
+    Consequently, once a home search is started from EPICS, it is unable to stop it. 
+    As a result, beginning with R6-5-2, the home search command has been commented 
+    out of the EPICS driver until an Ensemble firmware update resolves this problem.
+    
      
+  
      6. 
+  
+
    
+
+
    Known problems with Release 6-4
    
+
+
      
+  
    1. 
+    R6-4 had 64-bit compile problems with the PI E816 and Aerotech Ensemble device 
+    drivers.  Fixed with R6-4-1 and above.
+  
      2. 
+  
      
+  
    2. 
+    Dirk Zimoch (PSI) discovered and fixed a bug in the orginial OMS MAXv driver (R5-4) 
+    that caused the home switch status in the response string to be overwritten.  
+    Fixed with R6-4-2 and above.
+    
      
+  
      3. 
+  
      
+  
    3. 
+    A problem was introduced in R6-4 of the old motor record device drive 
+    architecture. If during the move of one or more motors the motor task did not 
+    issue an OS delay during status updates, it could potentially not respond to any 
+    further motor commands.  Fixed with R6-4-2 and above.
+  
      4. 
+  
      
+  
    4. 
+    There is a bug in these motor record versions (R6-4, R6-4-1, R6-4-2)
+    that affects motors that have encoders and are configured to do closed-loop 
+    control via retries (i.e. UEIP=Yes and RTRY != 0). Retries are not done 
+    correctly and occasionally motors exceed their maximum retries and are left at 
+    their backlash position; i.e., command position - backlash distance. See the 
+    Release Notice for further error conditions. Fixed with R6-4-3 and above.
+  
      5. 
+  
      
+  
    5. 
+    The asynMotor device support in general, and the simulated motor, in particular, 
+    had save/restore related problems.  Fixed with R6-4-4 and above.
+  
      6. 
+  
      
+  
    6. 
+    Previous releases of the Aerotech Ensemble device driver had incorrect Jog 
+    speeds, lacked support for a negative PosScaleFactor parameter and did not 
+    detect maximum travel limit switch faults correctly. Fixed with R6-4-4 and above.
+  
      7. 
+  
      
+
    
+
+
    Known problems with Release 6-3
    
+
+
      
+  
    1. 
+    The OMS VME58 "stale data" problem is caused by the driver communicating via the 
+    ASCII commands while the DPRAM was updating.  The OMS VME58 driver was modified 
+    with R6-3 to eliminate this contention and the "stale data delay" was set to 
+    zero. Since then a problem with OMS VME58 2.24-8S version firmware and all 2.35 
+    firmware versions has arisen.  When the user sets the motor record's position, 
+    the previous target and readback positions are read from the controller on the 
+    next update.
+    
      
+    With releases after R6-3 (e.g., R6-3-1 and R6-4) the driver searches all VME58 
+    board ID's for either 2.24-8S or any 2.35 version.  If any board is found, the "stale 
+    data delay" is set to a non-zero value.
+  
      2. 
+  
      
+  
    2. 
+    A problem was reported by Emma Shepherd (Diamond) with R6-3 if the "Use RDBL 
+    Link" field (URIP) was set to "Yes".  The NTM logic was sending stop commands 
+    and issuing the "tdir=.." message to the console if the RDBL link was used. This 
+    error was the result of changing the NTM logic as described in item #11 under R6-3 
+    modifications.
+    
      
+    With releases after R6-3 (e.g., R6-3-1 and R6-4), the NTM logic is restored to 
+    using feedback rather than reference positions.  In addition, with release R6-4 
+    and after, an "NTM deadband factor" field (NTMF) is added to allow the user to 
+    set the NTM deadband; NTM deadband = NTMF * (|BDST| + RDBD) NTMF must be >= 2. 
+    If properly configured, the NTM deadband prevents NTM logic from issuing a STOP 
+    command at the end of a DC motor move that overshoots its' target position.
+  
      3. 
+  
      
+  
    3. 
+    The asyn motor device driver architecture does not support the motor record 
+    GET_INFO command. Hence, operations that require a status update (i.e., setting 
+    the position) were not working. This is fixed in R6-4.
+  
      4. 
+  
      
+  
    4. 
+    In the process of fixing the OMS VME58 "stale data" problem described above, 
+    needless delays were added to the code that updated the VME58's DPRAM.  These 
+    needless delays can be calculated as follows;
+    
      
+    delay = (n-1) * (1/sysClkRate)
+    
      
+    where, n = # of VME58 boards in the IOC.
      
+    sysClkRate = 60 Hz, unless changed by a sysClkRateSet() from st.cmd.
+    
      
+    These delays are eliminated with R6-4-2 and above.
+  
      5. 
+  
      
+
    
+
+
    Known problems with Release 6-2
    
+
+
+
      
+  
    1. 
+    Link errors occurred when building "XPSGatheringMain" for the solaris-sparc-gnu 
+    target.  Newport users should upgrade to R6-2-1.
+  
      2. 
+  
      
+  
    2. 
+    Errors occurred in various motorApp's when building for the solaris-sparc (SUNWspro) 
+    target.  SUNWspro users should upgrade to R6-2-1.
+  
      3. 
+  
      
+  
    3. 
+    Mark River's found and fixed a bug in the motor record.  RDBD was being used in 
+    motor record initialization before the RDBD validation check.  This resulted in 
+    motor positions not being initialized from save/restore at boot-up if RDBD was 
+    not included in a save/restore save set.  This is fixed in R6-2-2.
+  
      4. 
+  
      
+  
    4. 
+    A bug was introduced into the shell command motorUtilInit affecting these 
+    versions of the motor distribution; R6-2, R6-2-1 and R6-2-2.  This bug resulted 
+    in the erroneous error message; "motorUtilInit: Prefix %c: has more than 53 
+    characters. Exiting". Replace <motor>/motorApp/MotorSrc/motorUtil.cc with 
+    the following copy:  motorUtil.cc
+  
      5. 
+  
      
+  
    5. 
+    The "alldone" PV in motorUtil.db defaulted to the "moving" state between "iocInit 
+    " and "motorUtilInit", giving the false indication that motors were moving 
+    during boot-up.  The "alldone" PV now defaults to the "done" state. Replace <motor>/motorApp/Db/motorUtil.db 
+    with the following copy:  motorUtil.db
+  
      6. 
+  
      
+
    
+
+
    Known problems with Release 6-1
    
+
+
      
+  
    1. 
+    The Newport PM500 driver was not issuing the correct command when it queried for 
+    the number of axes at boot up. This resulted in a "PM500 system error" message 
+    on the 1st axis; fixed in R6-2.
+  
      2. 
+  
    2. 
+    A bug was introduced with R6-0; the OMS device support was overwriting PID 
+    parameter fields during its' normalization calculation; fixed in R6-2.
+  
      3. 
+  
    3. 
+    There was a bug in the logic that determines the precedence between using the 
+    controller's or save/restore's motor position at boot-up. Negative controller 
+    positions were not handled correctly; fixed in R6-2
+  
      4. 
+  
    4. 
+    The home request (HOMF/HOMR) were not cleared when a soft-limit violation 
+    occurred; fixed in R6-2.
+  
      5. 
+  
    5. 
+    Due to releasing R6-1 during Newport development, R6-1 can result in linker 
+    errors on the symbol "xpsgathering".  Newport users should upgrade to R6-2.
+  
      6. 
+
    
+
+
    Known problems with Release 6-0
    
+
+
      
+  
    1. 
+    The R6-0-bugfix CVS repository branch has become corrupted. Hence, no further 
+    changes will be made (i.e., bug fixes) to the R6-0 branch.
+  
      2. 
+  
    2. 
+    A bug was introduced with this release.  The OMS device support overwrites PID 
+    parameter fields during its' normalization calculation.  This is fixed in R6-2.
+  
      3. 
+
    
+
+
    Known problems with Release 5-9
    
+
+
      
+  
    1. 
+    An undocumented change was made in R5-4 to two OMS setup functions.  Namely, the 
+    unused 2nd argument ("axes per card") was eliminated from omsSetup() and 
+    oms58Setup().
+  
      2. 
+
+  
    2. 
+    Since R4-5 the motor record has required that RDBD be >= MRES.  The test for 
+    this condition was done using floating point values.  This caused an occasional 
+    error that resulted in the record not always issuing a motor move command when 
+    RDBD = MRES and the user issued an incremental move request equal to MRES.  This 
+    is fixed with R5-9-1 and R6-0.
+  
      3. 
+  
+  
    3. 
+    A warning message was added with R5-6 when a user attempted to move an OMS motor 
+    with an invalid velocity (slew <= base).  Applications that manipulate the
+    velocity values are unaware of this restriction and create a torrent of
+    these messages.  With release R5-9-1 and R6-0 the OMS device driver will
+    only output this warning message once.
+  
      4. 
+
+  
    4. 
+    Added a work around for OMS PC68/78 firmware error.  PC68/78 controllers make an 
+    erroneous response after they are queried with the "?KP" command at boot-up. 
+    This resulted in 1st axis having same position (RP command) as last the axis.  
+    This is fixed with R5-9-1 and R6-0.
+  
      5. 
+  
+  
    5. 
+    GPIB under ASYN allows only one input EOS character; no output EOS is allowed.  
+    Adjustments were made to the Newport ESP300 driver to accomodate this 
+    restriction with R5-9-1 and R6-0.
+  
      6. 
+  
+  
    6. 
+    The CVS repository has become out of synch with the R5-9-1 tar file (motorR5-9-1.tar.gz). 
+    Hence, no further changes will be made (i.e., bug fixes) to the R5-9 branch.
+  
      7. 
+
    
+
+
    Known problems with Release 5-8
    
+
+
      
+  
    1. 
+    An undocumented change was made in R5-4 to two OMS setup functions.  Namely, the 
+    unused 2nd argument ("axes per card") was eliminated from omsSetup() and 
+    oms58Setup().
+  
      2. 
+
    
+
+
    Known problems with Release 5-7
    
+
+
      
+  
    1. 
+    An undocumented change was made in R5-4 to two OMS setup functions.  Namely, the 
+    unused 2nd argument ("axes per card") was eliminated from omsSetup() and 
+    oms58Setup().
+  
      2. 
+
    
+
+
    Known problems with Release 5-6
    
+
+
      
+  
    1. 
+    An undocumented change was made to two OMS setup functions.  Namely, the unused 
+    2nd argument ("axes per card") was eliminated from omsSetup() and oms58Setup() 
+    in R5-4.
+  
      2. 
+
    
+
+
    Known problems with Release 5-5
    
+
+
      
+  
    1. 
+    An undocumented change was made to two OMS setup functions.  Namely, the unused 
+    2nd argument ("axes per card") was eliminated from omsSetup() and oms58Setup() 
+    in R5-4.
+  
      2. 
+
    
+
+
    Motor Record: Known problems with Release 5-4
    
+
+
      
+  
    1. 
+    An undocumented change was made to two OMS setup functions.  Namely, the unused 
+    2nd argument ("axes per card") was eliminated from omsSetup() and oms58Setup() 
+    in R5-4.
+  
      2. 
+
    
+
+
    Known problems with Release 5-3
    
+
+
      
+  
    1. 
+    "sorry, not implemented: `tree_list' not supported by dump_type" error when 
+    compiling drvOms.cc and drvOms58.cc under Tornado 2.2.  The Tornado 2.2 compiler 
+    (i.e., 2.96) creates errors in devLib.h.  The root cause of this "bug" is a 
+    problem with the gcc-2.96 compiler bundled with Tornado 2.2.  Unfortunately, to 
+    date, Wind River is only helping with workarounds; not fixing the compiler.  Hence,
+    the following patches are required.
+  
      2. 
+  
        
+    
      • 
+      For R3.14.4-5, replace <base>src/libCom/osi/devLib.h with the following  
+      copy: devLib.h
+    
        • 
+    
      • 
+      Edit <motor>/motorApp/OmsSrc/drvOms.cc by uncommenting the lines with the Tornado 
+      2.2 comment and commenting out the line with the Tornado 2.0.2 
+      comment.
+    
        • 
+    
      • 
+      Edit <motor>/motorApp/OmsSrc/drvOms58.cc by uncommenting the lines with 
+      the Tornado 2.2 comment and commenting out the line with the Tornado 
+      2.0.2 comment.
+    
        • 
+  
      
+
    
+
+
    Known problems with Release 5-2
    
+
+
      
+  
    1. 
+    "sorry, not implemented: `tree_list' not supported by dump_type" error when 
+    compiling drvOms.cc and drvOms58.cc under Tornado 2.2.  The Tornado 2.2 compiler 
+    (i.e., 2.96) creates errors in devLib.h.  The root cause of this "bug" is a 
+    problem with the gcc-2.96 compiler bundled with Tornado 2.2.  Unfortunately, to 
+    date, Wind River is only helping with workarounds; not fixing the compiler.  Hence,
+    the following patches are required.
+  
      2. 
+  
        
+    
      • 
+      For R3.14.4-5, replace <base>src/libCom/osi/devLib.h with the following  
+      copy: devLib.h
+    
        • 
+    
      • 
+      Replace <motor>/motorApp/OmsSrc/drvOms.cc with the following  
+      updated copy: drvOms.cc
+    
        • 
+    
      • 
+      Replace <motor>/motorApp/OmsSrc/drvOms58.cc with the following  
+      updated copy: drvOms58.cc
+    
        • 
+  
      
+
    
+
+
    Known problems with Release 4-9
    
+
+
      
+  
    1. 
+    PID parameters (i.e., PCOF, ICOF and DCOF fields) were not initialized at boot-up. 
+    With R4.9.1, if the GAIN_SUPPORT bit in the MSTA is true, each nonzero, 
+    PID parameter will be initialized.  For backwards compatibility, zero valued PID 
+    parameters will not be initialized.
+  
      2. 
+  
+  
    2. 
+    Previous releases of the IMS MDrive device driver did not work.  Thanks to Kevin 
+    M. Peterson (UNI-CAT) for identifying and fixing the errors in previous releases.
+  
      3. 
+  
        
+    
      • 
+      Fixed with R4-9-2.
+    
        • 
+  
      
+
+  
    3. 
+    Two bugs were found and fixed with the Newport MM3000 device support.  First, 
+    the enable/disable torque control field (CNEN) was not working.  Second, an 
+    error was introduced into the Newport MM3000 device driver with R4-8; the driver 
+    was confusing valid responses with the "system error" response from the 
+    controller
+  
      4. 
+  
        
+    
      • 
+      Fixed with R4-9-3.
+    
        • 
+  
      
+
+  
    4. 
+    A retry on initial communication with the Physik Instrumente (PI) C-844 motor 
+    controller was added.  The controller was intermittently not responding after an 
+    IOC power-cycle.
+  
      5. 
+  
        
+    
      • 
+      Fixed with R4-9-4.
+    
        • 
+  
      
+
+  
    5. 
+    Modifications were made to the motor record in order to allow a user to 
+    configure it for periodic status updates using the SCAN field.
+  
      6. 
+  
        
+    
      • 
+      Available with R4-9-4.
+    
        • 
+  
      
+
+  
    6. 
+    The motor record would get into an invalid state when it attempted to perform a 
+    backlash correction move in the direction of an activated limit switch.
+  
      7. 
+  
        
+    
      • 
+      Fixed with R4-9-5.
+    
        • 
+  
      
+
+  
    7. 
+    Bug fix for home request re-activating after a limit switch error is cleared.  
+    This release clears the homing and jog request after a LS or travel limit error.  
+    Updated the motorx_all.adl MEDM screen (V2.5) to show the state of the jog 
+    request.
+  
      8. 
+  
        
+    
      • 
+      Fixed with R4-9-5.
+    
        • 
+  
      
+
+  
    8. 
+    A bug was reported by David Maden (PSI) that occurred when a motor was jogged 
+    into a limit switch with the DIR field set to "Neg". Under these conditions, the 
+    motor record was not processing the limit error condition correctly.  This 
+    resulted in the motor record not setting either of the limit error indicator 
+    fields (HLS/LLS) and becoming stuck in the "Moving" state.
+  
      9. 
+  
        
+    
      • 
+      Fixed with R4-9-6.
+    
        • 
+  
      
+
+  
    9. 
+    Kevin Peterson (UNI-CAT) and I diagnosed a bug that is in all R3.13 versions of 
+    the motor record distribution.  The bug is in the interface between motor record 
+    GPIB capable drivers (i.e., Newport MM4000/5/6, MM3000, PM500, ESP300/100) and 
+    the EPICS base GPIB driver; drvGpib.
      
+    Dynamic memory is allocated and shared with drvGpib by the motor task. The 
+    problem arises here, at the end of ibLinkTask in drvGpib.c;
      
+
+    plink->deviceStatus[pnode->device] = (*(pnode->workStart))(pnode);
      
+
+    pnode->workStart is a pointer to gpibIOCallback() in gpibIO.c.  When 
+    gpibIOCallback() is done processing it "gives" a semaphore that is "taken" by 
+    either gpibIOSend() and gpibIORecv().  Both gpibIOSend() and gpibIORecv() 
+    immediately free the shared memory.
      
+
+    This works almost all the time; but occasionally the memory is taken by some 
+    other task and trashed before the line above is executed resulting in a bus 
+    error on "pnode->device".
      
+
+    As a quick fix, the task priorities of the all GPIB capable controllers has been 
+    lowered below ibLinkTasks priority.  This allows ibLinkTask to finish processing 
+    and be waiting for the next GPIB request before the shared memory is de-allocated.
+    
      
+
+    All users of the R3.13.x version of the motor record distribution that use GPIB 
+    to communicate to Newport controllers (i.e., Newport MM4000/5/6, MM3000, PM500, 
+    ESP300/100), should upgrade to the R4-9-6 release.
+  
      10. 
+  
        
+    
      • 
+      Fixed with R4-9-6.
+    
        • 
+  
      
+
    
+
+
    Known problems with Release 4-8
    
+
+
      
+  
    1. 
+    Previous releases of the IMS MDrive device driver did not work.  Thanks to Kevin 
+    M. Peterson (UNI-CAT) for identifying and fixing the errors in previous releases.
+  
      2. 
+  
        
+    
      • 
+      Fixed with R4-9-1.
+    
        • 
+  
      
+  
    2. 
+    Users of the status update field (STUP) should use a later release.
+  
      3. 
+  
        
+    
      • 
+      Fixed with R4-9 and above.
+    
        • 
+  
      
+  
    3. 
+    Two bugs were found and fixed with the Newport MM3000 device support.  First, 
+    the enable/disable torque control field (CNEN) was not working.  Second, an 
+    error was introduced into the Newport MM3000 device driver with R4-8; the driver 
+    was confusing valid responses with the "system error" response from the 
+    controller
+  
      4. 
+  
        
+    
      • 
+      Fixed with R4-8-1 and above.
+    
        • 
+  
      
+
    
+
+
    Known problems with Release 4-7
    
+
+
      
+  
    1. 
+    With release R4-5, DBE_LOG was omitted from the event select mask of all 
+    db_post_events() calls.  This prevented archival clients from being 
+    notified of process variable changes.
+  
      2. 
+  
        
+    
      • 
+      Fixed with R4-7-1.
+    
        • 
+  
      
+  
    2. 
+    Communication with the Newport MM3000 motor controller was getting out of 
+    synchronization whenever the MM3000 responded with an error message. This 
+    problem was resolved by having recv_mess() in drvMM3000.c detect an error 
+    message response, print the error message and then, recursively, call itself. 
+    This restored communication transmit/receive synchronization.
+  
      3. 
+  
        
+    
      • 
+      Fixed with R4-7-2.
+    
        • 
+  
      
+  
    3. 
+    With release R4-7, there was a slight (undocumented) modification made to the 
+    way that backlash correction functioned. If a move is in the preferred direction 
+    and the backlash speed and acceleration are the same as the slew speed and 
+    acceleration, then the backlash move is skipped and the motor moves directly to 
+    the target position. Unfortunately, there was a bug in the logic that appeared 
+    only when MRES< 0. When MRES < 0, and the backlash speed and acceleration were 
+    the same as the slew speed and acceleration, the motor record did the opposite 
+    of the requirements; i.e., it did backlash correction when the move was in the 
+    preferred direction and did not do backlash correction when the move was not in 
+    the preferred direction.   
+  
      4. 
+  
        
+    
      • 
+      Fixed with R4-7-2.
+    
        • 
+  
      
+  
    4. 
+    The Newport ESP300 would randomly crash at boot-up because an internal parameter 
+    ("drive_resolution") was not always, under all configurations, initialized. With 
+    this release, the "drive_resolution" is set based on the response to the ESP300 
+    "SU?" command. In addition, the user is required to set MRES to the resolution 
+    of the controller as explained in the new document /motorApp/NewportSrc/README.
+  
      5. 
+  
        
+    
      • 
+      Fixed with R4-7-2.
+    
        • 
+  
      
+  
    5. 
+    A bug was introduced in R4-6 while fixing another bug; see item#2 under 
+    Modification Log from R4-5 to R4-6 in the distribution README file. This error 
+    exhibited itself only under the following conditions; BDST != 0, DLY != 0 and a 
+    new target position is issued before the backlash correction move. Under these 
+    conditions the motor record became unresponsive; i.e., it locked up.
+  
      6. 
+  
        
+    
      • 
+      Fixed with R4-7-3.
+    
        • 
+  
      
+  
    6. 
+    Although there is no explicit statement in the motor record documentation, most 
+    user's would expect the "Readback settle time" field (DLY) to update the 
+    readback after the delay timeout. It did not do this. With this release, the 
+    readback is updated one time after the timeout.
+  
      7. 
+  
        
+    
      • 
+      Fixed with R4-7-3.
+    
        • 
+  
        
+  
    7. 
+    There were problems with the tweak function (TWF/TWR) when the TWV was set to 
+    less than MRES. Under this condition, the following scenario would result. First, 
+    tweak forward (TWF).  Since DIFF < MRES, the motor is not moved. Next, tweak 
+    reverse (TWR).  Next TWF again.  The motor record does not respond; i.e., DVAL 
+    and RVAL are not updated; VAL is not posted. A single tweak, back and forth, 
+    confirms that the motor record is not responding.
+  
      8. 
+  
        
+    
      • 
+      Fixed with R4-7-4.
+    
        • 
+  
        
+  
    8. 
+    The motor record would lock-up when a user tried to move off an activated limit 
+    switch with the OMS VME58 servo motor controller board (i.e., model -8S).  See "Known 
+    Problems" item #4 in the motor record's distribution README file.
+  
      9. 
+  
        
+    
      • 
+      Fixed with R4-7-4.
+    
        • 
+  
      
+
    
+
+
    Known problems with Release 4-6
    
+
+
      
+  
    1. 
+    An  uninitialized pointer error check was omitted from ESP300_init_record() in 
+    the devESP300.c file.  This resulted in a bus error at boot-up if there was 
+    a failure to connect to the controller.  Choose one of the following 
+    methods to applying the bug fix:
+  
      2. 
+  
        
+    
      • 
+      Replace <motor>/motorApp/NewportSrc/devESP300.c with the following  
+      updated copy: devESP300.c
+    
        • 
+    
      • 
+      Install motor record version R4-6-1 or above, which includes this bug fix.
+    
        • 
+
+  
      
+  
    2. 
+    With release 4-5, DBE_LOG was omitted from the event select mask of all 
+    db_post_events() calls.  This prevented archival clients from being 
+    notified of process variable changes.
+  
      3. 
+  
        
+    
      • 
+      Fixed with R4-6-2.
+    
        • 
+  
      
+  
    3. 
+    Communication with the Newport MM3000 motor controller was getting out of 
+    synchronization whenever the MM3000 responded with an error message. This 
+    problem was resolved by having recv_mess() in drvMM3000.c detect an error 
+    message response, print the error message and then, recursively, call itself. 
+    This restored communication transmit/receive synchronization.
+  
      4. 
+  
        
+    
      • 
+      Fixed with R4-6-3.
+    
        • 
+  
      
+  
    4. 
+    The Newport ESP300 would randomly crash at boot-up because an internal parameter 
+    ("drive_resolution") was not always, under all configurations, initialized. With 
+    this release, the "drive_resolution" is set based on the response to the ESP300 
+    "SU?" command. In addition, the user is required to set MRES to the resolution 
+    of the controller as explained in the new document /motorApp/NewportSrc/README.
+  
      5. 
+  
        
+    
      • 
+      Fixed with R4-6-3.
+    
        • 
+  
      
+  
    5. 
+    A bug was introduced in R4-5-1 while fixing another bug; see item#2 under 
+    Modification Log from R4-5 to R4-5-1 in the distribution README file. This error 
+    exhibited itself only under the following conditions; BDST != 0, DLY != 0 and a 
+    new target position is issued before the backlash correction move. Under these 
+    conditions the motor record became unresponsive; i.e., it locked up.
+  
      6. 
+  
        
+    
      • 
+      Fixed with R4-6-4.
+    
        • 
+  
      
+  
    6. 
+    Although there is no explicit statement in the motor record documentation, most 
+    user's would expect the "Readback settle time" field (DLY) to update the 
+    readback after the delay timeout. It did not do this. With this release, the 
+    readback is updated one time after the timeout.
+  
      7. 
+  
        
+    
      • 
+      Fixed with R4-6-4.
+    
        • 
+  
        
+
    
+
+
    Known problems with Release 4-5
    
+
+
      
+  
    1. 
+    Soft Channel Device Support - see Release 
+    Notice.
+  
      2. 
+  
        
+    
      • 
+      Fixed with R4-5-1.
        
+    
        • 
+  
      
+  
    2. 
+    Backlash Correction Bug Fixes -  see Release 
+    Notice.
+  
      3. 
+  
        
+    
      • 
+      Fixed with R4-5-1
        
+    
        • 
+  
      
+  
    3. 
+    With release 4-5, DBE_LOG was omitted from the event select mask of all 
+    db_post_events() calls.  This prevented archival clients from being 
+    notified of process variable changes.
+  
      4. 
+  
        
+    
      • 
+      Fixed with R4-5-2
        
+    
        • 
+  
      
+
+  
    4. 
+    Communication with the Newport MM3000 motor controller was getting out of 
+    synchronization whenever the MM3000 responded with an error message. This 
+    problem was resolved by having recv_mess() in drvMM3000.c detect an error 
+    message response, print the error message and then, recursively, call itself. 
+    This restored communication transmit/receive synchronization.
+  
      5. 
+  
        
+    
      • 
+      Fixed with R4-5-3.
+    
        • 
+  
      
+  
    5. 
+    The Newport ESP300 would randomly crash at boot-up because an internal parameter 
+    ("drive_resolution") was not always, under all configurations, initialized. With 
+    this release, the "drive_resolution" is set based on the response to the ESP300 
+    "SU?" command. In addition, the user is required to set MRES to the resolution 
+    of the controller as explained in the new document /motorApp/NewportSrc/README.
+  
      6. 
+  
        
+    
      • 
+      Fixed with R4-5-3.
+    
        • 
+  
      
+  
    6. 
+    A bug was introduced in R4-5-1 while fixing another bug; see item#2 under 
+    Modification Log from R4-5 to R4-5-1 in the distribution README file. This error 
+    exhibited itself only under the following conditions; BDST != 0, DLY != 0 and a 
+    new target position is issued before the backlash correction move. Under these 
+    conditions the motor record became unresponsive; i.e., it locked up.
+  
      7. 
+  
        
+    
      • 
+      Fixed with R4-5-3.
+    
        • 
+  
      
+  
    7. 
+    Although there is no explicit statement in the motor record documentation, most 
+    user's would expect the "Readback settle time" field (DLY) to update the 
+    readback after the delay timeout. It did not do this. With this release, the 
+    readback is updated one time after the timeout.
+  
      8. 
+  
        
+    
      • 
+      Fixed with R4-5-3.
+    
        • 
+  
      
+
+  
    8. 
+    An error occurred when the SET/USE field was in the SET mode and the FOFF field 
+    was in the FROZEN mode. Under these conditions, if the user entered a new RVAL, 
+    the record ignored every other new RVAL; with every other new DVAL that the user 
+    entered, RVAL was not updated. VAL always worked.
+  
      9. 
+  
        
+    
      • 
+      Fixed with R4-5-4.
+    
        • 
+    
      • 
+      Replace <motor>/motorApp/MotorSrc/motorRecord.c with the following updated 
+      copy: motorRecord.c
+    
        • 
+  
        
+
    
+
+
    Known problems with Release 4-4
    
+          
+
      
+     
    1.  The "Driver Power Monitoring" feature (available only for OMS VME58
+  controllers)  was erroneously and randomly being enabled.  Choose
+  one of the following methods to applying the bug fix:
      2. 
+                     
+  
        
+     
      •  Make the following modification to <motor>/motorApp/MotorSrc/motordevCom.c:
        • 
+                               
+    
          
+    202a203 
          
+    >     ptrans->dpm = OFF;                   
+    
+    
        
+      
      •  Replace <motor>/motorApp/MotorSrc/motordevCom.c with the
+following  updated copy:  
+    motordevCom.c        
        • 
+      
      •  Install motor record version R4-4-1 or above, which includes this
+bug fix.
        • 
+                    
+  
      
+      
    2.   Code around "safeDoubleToFloat conversion bug" in EPICS R3.13.5. 
+  A bug was introduced into R3.13.5 with the "dbConvert and dbFastLinkConv"
+  fix (see EPICS base Release Notes for R3.13.5) that resulted in the inability
+  to set PV fields defined as DBF_FLOAT's to zero.  One of the scenarios
+  where this has caused a problem is when a user tries to disable software
+ travel limits by setting DHLM = DLLM = 0.  Choose the following methods
+ to applying the bug fix:
      3. 
+                     
+  
        
+     
      •  Replace <motor>/motorApp/MotorSrc/motordevCom.c with the following
+  updated copy:  
+    motorRecord.c        
        • 
+                    
+  
      
+      
    3. The makeConfigAppInclude.pl perl script distibuted with R4-4 and
+ R4-4-1  does not support spaces between the macro and the "=" sign in the
+ config/RELEASE  file.
      4. 
+          
+  
+  
    4. The following scenario would put the motor record into an invalid state.
+ A new target position (i.e., VAL/DVAL/RVAL) is written to the motor
+record under the following conditions,
      
+    
        
+      
      • motion is in progress (i.e., DMOV is false).
        • 
+    
      
+    
        
+      
      • the new target position is different from the actual position by
+less than the retry deadband (|DIFF| < RDBD).
        • 
+    
      
+    
        
+      
      • backlash correction is enabled (i.e., BDST is non-zero) and the
+new move is NOT in the "preferred direction" (preferred direction is the
+direction in which the motor moves during the backlash-takeout part of a
+motor move).
        • 
+    
      
+Install motor record version 4-4-2 or above to fix this problem.
      
+  
      5. 
+
    
+
+
    Known problems with Release 4-3
    
+
+
      
+
    1. 
+The "Driver Power Monitoring" feature (available only for OMS VME58 controllers) 
+was erroneously and randomly being enabled.  Choose one of the following
+methods to applying the bug fix:
      2. 
+
+
        
+
      • 
+Make the following modification to <motor>/motorApp/MotorSrc/motordevCom.c:
        • 
+
+
          202a203
+
          >     ptrans->dpm = OFF;
        
+
+
      • 
+Replace <motor>/motorApp/MotorSrc/motordevCom.c with the following updated
+copy:  motordevCom.c
        • 
+
+
      • 
+Install motor record version R4-3-1, which includes this bug fix.
        • 
+
      
+
+
    2. 
+Under certain conditions target positions entered through RVAL were ignored. 
+If the difference between the current and the next target position (i.e.,
+RDIF, DIFF) was less than the retry deadband (RDBD), and the next target
+position was in the "preferred direction", then the new RVAL was ignored. 
+Motor record version R4-3-2 includes the fix for this bug.
      3. 
+
+
    
+
+
    Known problems with Release 3-5
    
+  
+
      
+   
    1.  Under certain conditions target positions entered through RVAL were
+ignored.  If the difference between the current and the next target
+position (i.e., RDIF, DIFF) was less than the retry deadband (RDBD), and
+the next target position was in the "preferred direction", then the new RVAL
+was ignored.
      2. 
+
    
+
      
+  
        
+    
      •  Replace motorRecord.c with the following   updated copy: 
+motorRecord.c
+    
        • 
+  
      
+
    
+
+
    
+
+
+

From 7d2c337c0aaf7fb8e4d1cf893b9468a295247aa6 Mon Sep 17 00:00:00 2001
From: kpetersn 
Date: Tue, 1 May 2018 15:03:41 -0500
Subject: [PATCH 09/11] Removed duplicate Known-problems entries.  Added link
 to github issues.

---
 documentation/Problems.html | 35 ++---------------------------------
 1 file changed, 2 insertions(+), 33 deletions(-)

diff --git a/documentation/Problems.html b/documentation/Problems.html
index eb314b35..7a07f569 100644
--- a/documentation/Problems.html
+++ b/documentation/Problems.html
@@ -11,6 +11,7 @@
 
 
    Known problems with Release 6-10
    
 
+See issues on github: https://github.com/epics-modules/motor/issues
 
 
    Known problems with Release 6-9
    
 
@@ -424,45 +425,13 @@
 
 
    Known problems with Release 5-8
    
 
-
      
-  
    1. 
-    An undocumented change was made in R5-4 to two OMS setup functions.  Namely, the 
-    unused 2nd argument ("axes per card") was eliminated from omsSetup() and 
-    oms58Setup().
-  
      2. 
-
    
-
 
    Known problems with Release 5-7
    
 
-
      
-  
    1. 
-    An undocumented change was made in R5-4 to two OMS setup functions.  Namely, the 
-    unused 2nd argument ("axes per card") was eliminated from omsSetup() and 
-    oms58Setup().
-  
      2. 
-
    
-
 
    Known problems with Release 5-6
    
 
-
      
-  
    1. 
-    An undocumented change was made to two OMS setup functions.  Namely, the unused 
-    2nd argument ("axes per card") was eliminated from omsSetup() and oms58Setup() 
-    in R5-4.
-  
      2. 
-
    
-
 
    Known problems with Release 5-5
    
 
-
      
-  
    1. 
-    An undocumented change was made to two OMS setup functions.  Namely, the unused 
-    2nd argument ("axes per card") was eliminated from omsSetup() and oms58Setup() 
-    in R5-4.
-  
      2. 
-
    
-
-
    Motor Record: Known problems with Release 5-4
    
+
    Known problems with Release 5-4
    
 
 
      
   
    1. 

From 55a92186c22761cd19711c4c6b746e6ef195aabf Mon Sep 17 00:00:00 2001
From: kpetersn 
Date: Tue, 1 May 2018 15:04:33 -0500
Subject: [PATCH 10/11] Removed reverted change from README

---
 README | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/README b/README
index ca754d46..10eb6cd0 100644
--- a/README
+++ b/README
@@ -147,14 +147,6 @@ Known Problems
 Modification Log for R6-10
 ==========================
 
-1) Alexander Aulin Söderqvist (Cosylab) reported illogical motor record FLNK
-        processing. Corrected FLNK processing so that recGblFwdLink() is only
-        called on a False to True transition of DMOV. Added "Last Done Moving
-        Value" field (LDMV) to the database definition.
-
-        Files modified: motorApp/MotorSrc/motorRecord.cc
-                        motorApp/MotorSrc/motorRecord.dbd
-
 2) Fix for OMS controllers that do not have the correct deceleration rate at
         the end of a JOG. Bug introduced with item #9 under R6-6.
 

From 497bdac0c9e6e5c9e7873157cdeb262ce15b3358 Mon Sep 17 00:00:00 2001
From: kpetersn 
Date: Tue, 1 May 2018 15:08:00 -0500
Subject: [PATCH 11/11] Added a notice to the README

---
 README | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/README b/README
index 10eb6cd0..10ca6a5e 100644
--- a/README
+++ b/README
@@ -1,3 +1,12 @@
+Notice
+======
+
+This file was historically used to document changes to the motor module that
+were relevant to developers.  It is largely obsolete now that the motor module
+has moved github.  It will not be updated in the future and is likely to move
+to the documentation directory.
+
+
 Motor Module R6-10 Release Notes
 ===============================================================================