From 437843e14d344015bfc7bd763d6e092b1f5ef6ae Mon Sep 17 00:00:00 2001 From: Ron Sluiter Date: Tue, 3 Jun 2008 19:09:28 +0000 Subject: [PATCH] OMS MAXv bug fixes. --- README | 22 +++++++++++++++++++++- 1 file changed, 21 insertions(+), 1 deletion(-) diff --git a/README b/README index 52661e74..6b03b56b 100644 --- a/README +++ b/README @@ -241,7 +241,27 @@ Modification Log from R6-3 to R6-4 - implemented the motorAxisPosition command in motorAxisSetDouble(). - added motorAxisforceCallback() which calls forceCallback() to set the forceCallback parameter and then signals the poller task. - + +9) The OMS MAXv handles execution of queued acceleration commands differently + than earlier controllers. In the case where the slew acceleration + (ACCL field) had been overridden by an acceleration command primitive in + the Pre-move field (PREM), this resulted in the inability to restore + the slew acceleration when a stop command was issued. + + With this release, the common OMS device support (devOmsCom.cc) checks + the controller ID (ident) for a MAXv when a STOP command is issued and + if a MAXv is found, extra controller commands are added to force the + restoration of the slew acceleration. + + File modified: OmsSrc/devOmsCom.cc + +10) Previous releases had a problem with the OMS MAXv device driver when it was + configured for more than one board, and, either A24 or A32 addressing + was specified. The driver was not sizing the address space occupied by + each MAXv correctly. + + Files modified: OmsSrc/drvMAXv.[cc/h] + Modification Log from R6-2 to R6-3 ==================================