diff --git a/README b/README
index 2aa25c80..c31e17b6 100644
--- a/README
+++ b/README
@@ -1,4 +1,4 @@
-Motor Record R6-5-1 Release Notice
+Motor Record R6-5-2 Release Notice
===============================================================================
The motor record software in this release is compatible with EPICS base
@@ -134,13 +134,49 @@ Known Problems
retry if retries are enabled.
+
+Modification Log from R6-5-1 to R6-5-2
+======================================
+
+1) 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.
+
+ File modified: motorApp/MotorSrc/motor.h
+
+2) Wang Xiaoqiang (PSI) bug fix for Aerotech Ensemble communication problem
+ with Ensemble firmware 2.54.004 and above. Redundant EOS append in
+ sendAndReceive() removed.
+
+ File modified: drvEnsembleAsyn.cc
+
+3) Minor bug fix to ACS Motion Control, SPiiPlus controller. Uninitialized
+ data area would sometimes cause a crash at iocInit time.
+
+ Files modified: AcsTech80Src/drvSPiiPlus.cc
+ AcsTech80Src/Makefile
+
+4) Matthew Pearson's (Diamond) bug fix for deferred moves broken with Motor
+ Simulation (devMotorSim) device driver.
+
+ File modified: MotorSimSrc/drvMotorSim.c
+
+5) Currently, the Aerotech Ensemble home search can not be aborted from EPICS.
+ Therefore, the home search command has been commented out of this
+ release until an Ensemble firmware update resolves this problem.
+
+ Files modified: devEnsemble.cc and drvEnsembleAsyn.cc
+
+
+
Modification Log from R6-5 to R6-5-1
====================================
1) Aerotech Ensemble asyn motor driver would crash the IOC at boot-up if the
Ensemble was not powered up and able to communicate.
- Files modified: drvEnsembleAsyn.cc
+ File modified: drvEnsembleAsyn.cc
2) Aerotech Ensemble EOT limit switch status was not available except via an
Ensemble fault condition. With this release the status of the EOT
diff --git a/documentation/motor_release.html b/documentation/motor_release.html
index 3cb286da..488a4496 100644
--- a/documentation/motor_release.html
+++ b/documentation/motor_release.html
@@ -11,15 +11,56 @@
-
-
-
- Motor Record Version 6-5-1 Release Notice
-
-
-
- Modifications to Existing Features
-
+
+
+
+
+
Motor Record Version 6-5-2 Release Notice
+
+
+
Modifications to Existing Features
+
+
+
+ Aerotech Ensemble
+
+
+
+ -
+ With the current Aerotech Ensemble firmware a home search can not be aborted
+ from EPICS. Therefore, the home search command has been commented out of this
+ release until an Ensemble firmware update resolves this problem. Aerotech's
+ Ensemble IDE software can be used to perform a home search that can be aborted.
+
+ -
+ Wang Xiaoqiang (PSI) fixed a bug in the Aerotech Ensemble asyn motor driver that
+ was causing communication problems with Ensemble firmware 2.54.004 and above.
+ The problem was a redundant EOS was being append to transmitted commands.
+
+
+
+
+
+ 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.
+
+
+
+
+ Motor Record Version 6-5-1 Release Notice
+
+
+
+ Modifications to Existing Features
+