From fc54e37f57ae86a8291a981ed5e5736f89d8b3be Mon Sep 17 00:00:00 2001
From: sluiter <sluiter@aps.anl.gov>
Date: Wed, 10 Feb 2016 13:36:17 -0600
Subject: [PATCH 1/3] Doc valid MAXv IRQ's are 2-6

---
 iocBoot/iocNoAsyn/st.cmd.Vx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/iocBoot/iocNoAsyn/st.cmd.Vx b/iocBoot/iocNoAsyn/st.cmd.Vx
index 0d605394..ca05ba6c 100644
--- a/iocBoot/iocNoAsyn/st.cmd.Vx
+++ b/iocBoot/iocNoAsyn/st.cmd.Vx
@@ -42,7 +42,7 @@ dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=IOC:")
 #     (2)VME Address Space - A(16,24,32).
 #     (3)Base Address (see README file).
 #     (4)interrupt vector (0=disable or  64 - 255).
-#     (5)interrupt level (1 - 6).
+#     (5)interrupt level (2 - 6).
 #     (6)motor task polling rate (min=1Hz,max=60Hz).
 #!MAXvSetup(1, 16,     0xF000, 200, 5, 10)
 #!MAXvSetup(1, 24,   0xFF0000, 200, 5, 10)

From d52fe5ee2e79f2f446200a0cf9cb00912a5462ec Mon Sep 17 00:00:00 2001
From: sluiter <sluiter@aps.anl.gov>
Date: Fri, 19 Feb 2016 11:14:53 -0600
Subject: [PATCH 2/3] Changed jog error checks from dial to user limits.

---
 motorApp/MotorSrc/motorRecord.cc | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/motorApp/MotorSrc/motorRecord.cc b/motorApp/MotorSrc/motorRecord.cc
index e9e09e31..e1f29575 100644
--- a/motorApp/MotorSrc/motorRecord.cc
+++ b/motorApp/MotorSrc/motorRecord.cc
@@ -180,9 +180,9 @@ USAGE...        Motor Record Support.
  *                  - Reversed order of issuing SET_VEL_BASE and SET_VELOCITY commands. Fixes MAXv
  *                    command errors.
  * .71 02-25-15 rls - Fix for excessive motor record forward link processing.
- * 
  * .72 03-13-15 rls - Changed RDBL to set RRBV rather than DRBV.
- * 
+ * .73 02-15-16 rls - JOGF/R soft limit error check was using the wrong coordinate sytem limits.
+ *                    Changed error checks from dial to user limits.
  */                                                          
 
 #define VERSION 6.10
@@ -1366,8 +1366,8 @@ enter_do_work:
     else
     {
         if (pmr->mip & MIP_JOG)
-            pmr->lvio = (pmr->jogf && (pmr->drbv > pmr->dhlm - pmr->jvel)) ||
-                        (pmr->jogr && (pmr->drbv < pmr->dllm + pmr->jvel));
+            pmr->lvio = (pmr->jogf && (pmr->rbv > pmr->hlm - pmr->jvel)) ||
+                        (pmr->jogr && (pmr->rbv < pmr->llm + pmr->jvel));
         else if (pmr->mip & MIP_HOME)
             pmr->lvio = false;  /* Disable soft-limit error check during home search. */
     }
@@ -1972,8 +1972,8 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
             /* check for limit violation */
             if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == 0.0))
                 ;
-            else if ((pmr->jogf && (pmr->dval > pmr->dhlm - pmr->jvel)) ||
-                     (pmr->jogr && (pmr->dval < pmr->dllm + pmr->jvel)))
+            else if ((pmr->jogf && (pmr->val > pmr->hlm - pmr->jvel)) ||
+                     (pmr->jogr && (pmr->val < pmr->llm + pmr->jvel)))
             {
                 pmr->lvio = 1;
                 MARK(M_LVIO);

From ef6876c4e1deb4d05329f078ccbe1157c904d901 Mon Sep 17 00:00:00 2001
From: sluiter <sluiter@aps.anl.gov>
Date: Fri, 19 Feb 2016 14:16:13 -0600
Subject: [PATCH 3/3] Update CDIR documentation

---
 documentation/motorRecord.html | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/documentation/motorRecord.html b/documentation/motorRecord.html
index 3cbb568b..3cfad59f 100644
--- a/documentation/motorRecord.html
+++ b/documentation/motorRecord.html
@@ -301,8 +301,7 @@ below.
     <td>R</td>
     <td>Raw commanded direction</td>
     <td>SHORT</td>
-    <td><br>
-    </td>
+    <td>(1:"Pos", 0:"Neg")<br></td>
   </tr>
   <tr>
     <td><a href="#Servo_fields">CNEN</a></td>
@@ -3124,8 +3123,8 @@ below.
     <td>R</td>
     <td>Raw commanded direction<br>
     </td>
-    <td>SHORT<br>
-    </td>
+    <td>SHORT<br></td>
+    <td>(1:"Pos", 0:"Neg")<br></td>
   </tr>
   <tr valign="top">
     <td>PP</td>