From 79275db1b5de099cc789473db06dabdda38fa766 Mon Sep 17 00:00:00 2001 From: Ron Sluiter Date: Tue, 21 Dec 2004 20:18:31 +0000 Subject: [PATCH] R5.5 --- README | 70 ++++++++++++++++++++++++++++---- documentation/motorRecord.html | 12 +++++- documentation/motor_release.html | 39 ++++++++++++++++-- 3 files changed, 108 insertions(+), 13 deletions(-) diff --git a/README b/README index cc1fe157..df3c5053 100644 --- a/README +++ b/README @@ -1,7 +1,7 @@ -Motor Record R5-4 Release Notice +Motor Record R5-5 Release Notice =============================================================================== -The motor record software in this release is compatible with EPICS base R3.14.6. +The motor record software in this release is compatible with EPICS base R3.14.7. Contents @@ -23,17 +23,16 @@ As distributed, this support directory only builds the following: Optionally, any of the following device/driver libraries can be built by uncommenting the appropriate line in ./motorApp/Makefile. Acs - Advanced Control Systems controllers; AcsSrc directory. + DeltaTau - Delta Tau controllers; DeltaTauSrc directory. Ims - Intelligent Motion Systems (IMS) controllers; ImsSrc directory. - Newport - Newport controllers; NewportSrc directory. Mclennan - Mclennan controllers; MclennanSrc directory. MicosLib - Micos controller; MicosSrc directory. MicroMoLib - MicroMo controllers; MicroMoSrc directory. + Newport - Newport controllers; NewportSrc directory. oms - Oregon Micro System (OMS) controllers; OmsSrc directory. - PILib - Physik Instrumente (PI) GmbH & Co. controllers; PiSrc + PI - Physik Instrumente (PI) GmbH & Co. controllers; PiSrc directory. softMotor - Soft Channel device support; SoftMotorSrc directory. - motorCOM_mpf - Communication interface between motor device/drivers and - MPF; CommSrc directory. Configuration @@ -74,7 +73,7 @@ Known Problems the motor moves to where it was commanded. However, the motor record's positions (both target and readback) do not reflect the move. This is because of the following sequence of events: - + - a limit (i.e., laser light beam) violation occurs. The Newport controller turns motor power off. - the axis stops at position X. @@ -95,6 +94,63 @@ Known Problems situation. This problem is fixed with the MAXv model. +Modification Log from R5-4 to R5-5 +================================== + + +1) Removed the /motorExApp/Db directory. R3.13.x versions of the motor + distribution needed some way to convert *.substitutions files into *.db + files, because it could not rely on the synApps version of + dbLoadTemplates(). This is not required with R3.14.x since "motor" is + able to use the EPICS base version of dbLoadTemplates(). This, in + turn, means that all the *.substitutions have been moved to their + respective iocBoot directories and loaded directly by + dbLoadTemplates(). + +2) 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. + + File modified: - update CDIR in postProcess() in motorRecord.cc + +3) Ported all affected device drivers to R4-1 of asyn. + + Files modified - all serial and/or GPIB based drivers. + +4) Slew acceleration calculations were incorrect. Instead of the correct + calculation; A = (Vf - Vo) / t, the record was using A = Vf / t, + which is correct only if Vo (VBAS) is zero. Thanks to Harvey Rarback + for pointing out this long standing error. + + File modified - motorRecord.cc + +5) Modifications for EPICS R3.14.7 compatibility. + + Files modified - devSoftAux.cc; changes to epicsThread.h required + adding an explicit "#include ". + +6) Modifications for MicroSoft Visual C compiler compatibility. Changed all + occurrences of epicsExportAddress(); to extern "C" + {epicsExportAddress();}. + + Files modified - most all. + +7) Eliminated calls to devConnectInterrupt() due to C++ problems with devLib.h; + i.e. "sorry, not implemented: `tree_list' not supported..." compiler + error message. + + Files modified - drvOms.cc, drvOms58.cc and drvMAXv.cc + +8) Omitted iocshRegister() call to resister PIC844Config(). + + Files modified - PiRegister.cc + +9) Added MM4006 to the list of controllers supported by the Newport MM4000 + device driver. + + Files modified - drvMM4000.cc + + Modification Log from R5-3 to R5-4 ================================== diff --git a/documentation/motorRecord.html b/documentation/motorRecord.html index 691630e6..d9eae0fa 100644 --- a/documentation/motorRecord.html +++ b/documentation/motorRecord.html @@ -37,9 +37,9 @@ -

Overview

This documentation describes version 5.4 of the EPICS motor +

Overview

This documentation describes version 5.5 of the EPICS motor record, and related EPICS software required to build and use it.  Version -5.4 of the motor record is compatible with EPICS base R3.14.6 and above. +5.5 of the motor record is compatible with EPICS base R3.14.7 and above.

The motor record is intended to support motors of all kinds, but currently supports only the following variety of motor controllers (in addition to Soft @@ -972,6 +972,14 @@ below.
+ + STUP + R + Status Update Request + RECCHOICE + ON(1)
+ + SUSE R/W diff --git a/documentation/motor_release.html b/documentation/motor_release.html index 391e0e64..8ff1cc81 100644 --- a/documentation/motor_release.html +++ b/documentation/motor_release.html @@ -5,13 +5,47 @@ - EPICS Motor Record Release R5.3 Notice + EPICS Motor Record Release R5.5 Notice +

+

Motor Record Version 5.5 Release Notice

+
+ +
+Requirements
+
+EPICS base R3.14.7 or greater.  See the "Required Modules" section of the +Motor Record web page for details.
+ +
+

Modifications to Existing Features

+
+ + +
+ Conversion to ASYN +

+ The motor record distribution has been converted from MPF to ASYN R4.1. All + support for MPF has been removed. +

+
+ +
+ Acceleration Correction +

+ Slew acceleration calculations were incorrect. Instead of the correct + calculation; A = (Vf - Vo) / t, the record was using A = Vf / t, which is + correct only if Vo (VBAS) is zero. Thanks to Harvey Rarback for pointing out + this long standing error. +

+
+ +

Motor Record Version 5.4 Release Notice

@@ -56,9 +90,6 @@ Motor Record web page for details.
- - -

Motor Record Version 5.3 Release Notice