forked from epics_driver_modules/motorBase
R5-7 update.
This commit is contained in:
Ron Sluiter
@@ -1,4 +1,4 @@
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Motor Record R5-6 Release Notice
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Motor Record R5-7 Release Notice
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===============================================================================
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The motor record software in this release is compatible with EPICS base R3-14-7.
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@@ -92,6 +92,20 @@ Known Problems
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move off an activated limit switch. Users are advised to avoid this
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situation. This problem is fixed with the MAXv model.
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4) With R5-3 of the motorRecord, negative encoder resolutions (ERES) are
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supported. This allows the user to change the sign of ERES rather than
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reverse encoder wires when the motor and encoder direction are reversed.
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There is a peculiarity with the OMS controller boards when they are
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configured with MRES and ERES of opposite polarity. Since both the
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commanded and feedback positions are set with the same command (LP),
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the user must enter the opposite polarity when setting the OMS motor
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controllers position.
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For example, if MRES is positive and ERES is negative and the user
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wants to set the current position to 10.00 inches, then -10.00 must be
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entered in the VAL or DVAL field.
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Modification Log from R5-6 to R5-7
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==================================
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@@ -187,6 +201,47 @@ Modification Log from R5-6 to R5-7
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File modified: do_work in motorRecord.cc. If WRITE_MSG(GET_INFO, NULL)
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returns an error, set STUP to motorSTUP_OFF.
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10) Added debug messages to Soft Channel device support and fixed error when
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devSoft.cc was compiled with "gcc version 3.4.2 20041017 (Red Hat
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3.4.2-6.fc3)".
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File modified: devSoft.cc
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11) Kurt Goetze added support for the Physik Instrumente (PI) model C-630
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motion controller.
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Files added: to PiSrc directory; drvPIC630.h, devPIC630.cc,
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drvPIC630.cc
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12) Bug fix for PI C-844 driver processing of axis #4.
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File modified: drvPIC844.cc, missing break"'s in axis #4 switch/case
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stmts. in set_status().
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13) Added support for the Physik Instrumente (PI) GmbH & Co. C-848 motor
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controller.
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Files added: - devPIC848.cc, drvPIC848.h, drvPIC848.cc
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14) A bug was reported by David Maden that occurred when a motor was jogged
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into a limit switch with the DIR field set to "Neg". Under these
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conditions, the motor record was not processing the limit error
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condition correctly. This resulted in the motor record not setting
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either of the limit error indicator fields (HLS/LLS) and becoming stuck
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in the "Moving" state.
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File modified: do_work() in motorRecord.cc; complement CDIR when
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jogging if DIR="Neg".
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15) Added maximum communication timeout for all devices drivers (MAX_TIMEOUT).
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This value is set in motordrvCom.h to 5 seconds. This helps prevent
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the "dev_NoInit (init_record_com: callback2 timeout" error message at
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motor record initialization.
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Files modified: - Added MAX_TIMEOUT to motordrvCom.h.
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- Reference MAX_TIMEOUT in motor_init_record_com() in
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motordevCom.cc.
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Modification Log from R5-5 to R5-6
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==================================
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@@ -37,9 +37,9 @@
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</ul>
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<a name="Overview"></a>
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<h2>Overview</h2> This documentation describes version 5.6 of the EPICS motor
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<h2>Overview</h2> This documentation describes version 5.7 of the EPICS motor
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record, and related EPICS software required to build and use it. Version
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5.6 of the motor record is compatible with EPICS base R3.14.7 and above.
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5.7 of the motor record is compatible with EPICS base R3.14.7 and above.
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<p>
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The motor record is intended to support motors of all kinds, but currently
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supports only the following variety of motor controllers (in addition to Soft
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@@ -54,7 +54,7 @@ Channel support):
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Highland Technologies model V540.
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</li>
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<li>
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Newport models MM3000, MM4000, MM4005, MM4006, PM500, ESP300 and XPSC8.
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Newport models MM3000, MM4000/5/6, PM500, ESP300/100 and XPSC8.
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</li>
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<li>
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Intelligent Motion Systems, Inc. (IMS) models IM483 and MDrive.
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@@ -66,7 +66,7 @@ Channel support):
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Mclennan models PM304 and PM600.
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</li>
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<li>
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Physik Instrumente (PI) GmbH & Co. model C-844.
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Physik Instrumente (PI) GmbH & Co. model C-630, C-844 and C-848.
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</li>
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<li>
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MicroMo model MVP 2001 B02.
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@@ -245,7 +245,7 @@ below.
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<tr>
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<td><a href="#Fields_private">CDIR</a></td>
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<td>R</td>
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<td>Command direction</td>
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<td>Raw commanded direction</td>
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<td>SHORT</td>
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<td><br>
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</td>
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@@ -2356,7 +2356,7 @@ below.
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<blockquote>
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<ol>
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<li>
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DIRECTION: (0:Negative, 1:Positive)
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DIRECTION: last raw direction; (0:Negative, 1:Positive)
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</li>
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<li>
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DONE: motion is complete.
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@@ -2938,7 +2938,7 @@ below.
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<td>CDIR<br>
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</td>
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<td>R</td>
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<td>Command direction<br>
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<td>Raw commanded direction<br>
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</td>
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<td>SHORT<br>
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</td>
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@@ -5,12 +5,60 @@
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<meta name="GENERATOR" content="Mozilla/4.77 [en] (X11; U; SunOS 5.8 sun4u) [Netscape]">
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<meta name="Author" content="Ronald L. Sluiter">
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<meta name="Description" content="Synopsis of modifications, fixes and new features for each motor record release.">
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<title>EPICS Motor Record Release R5.6 Notice</title>
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<title>EPICS Motor Record Release R5.7 Notice</title>
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<meta name="author" content="Ronald L. Sluiter">
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<meta name="description" content="Notification of bug fixes, functional changes and new features.">
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</head>
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<body>
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<CENTER>
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<H1><B><U>Motor Record Version 5.7 Release Notice</U></B></H1>
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</CENTER>
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<BR>
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<B><U>Requirements</U></B><BR>
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<BR>
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EPICS base R3.14.7 or greater. See the "Required Modules" section of the
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Motor Record web page for details.<BR>
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<CENTER>
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<H4><U>Modifications to Existing Features</U></H4>
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</CENTER>
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<DIV align="left">
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<U><B>Initial Position</B></U>
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<P>
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With this release, if the absolute values of both the save/restore's target
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position and the controller's commanded position are greater than the re-try
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deadband (RDBD) at boot-up, then DVAL will be initialized from the controller's
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value. In other words, if the absolute value of the controller's commanded
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position is greater than the re-try deadband at boot-up, than the controller's
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position takes precedence over the save/restore value.
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</P>
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</DIV>
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<CENTER>
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<H4><U>New Features</U></H4>
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</CENTER>
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<DIV align="left">
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<P>
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<U><B>Physik Instrumente (PI) C-630</B></U>
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</P>
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<P>
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Kurt Goetze added support for the Physik Instrumente (PI) model C-630 motion
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controller.
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</P>
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<P>
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<U><B>Physik Instrumente (PI) C-848</B></U>
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</P>
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<P>
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Support added for the Physik Instrumente (PI) C-848 motor controller.
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</P>
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</DIV>
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<CENTER>
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<h1><b><u>Motor Record Version 5.6 Release Notice</u></b></h1>
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</CENTER>
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