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- Release V4.2

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Ron Sluiter
2000-09-05 22:42:31 +00:00
parent 81a0c00c88
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documentation/motor_release.html
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</head>
<body>
<center>
<h1>
<b><u>Motor Record Version 4.2 Release Notice</u></b></h1></center>
This release of the motor record is compatible with EPICS R3.13.2 and above.
<p><b>!WARNING!</b>
<br>motorRecord.dbd has been modified.&nbsp; This requires you to 'rebuild'
any and all user trees (i.e., &lt;ioctop>) that load the motor record (see
README item #20 for details).
<br>&nbsp;
<br>&nbsp;
<center>
<h4>
<u>Modifications to Existing Features</u></h4></center>
<b><u>Precedence between field pairs</u></b>
<p>At boot-up, if one field of a field pair (i.e., VMAX/SMAX, VBAS/SBAS,
VELO/S, BVEL/SBAK) is zero and the other field is nonzero, the nonzero
field takes precedence.&nbsp; If both fields of a given field pair are
nonzero, the RPS member of the field pair (i.e., SMAX, SBAS, S, SBAK) takes
precedence.&nbsp; This requirement was lost with the release of V4.0.
<p><b><u>Moving Off a Limit Switch with a Oms58 device</u></b>
<p>An error occurs with the OMS VME58 when the user runs the motor into
a limit switch and then attempts to move away from the limit switch.&nbsp;
If either an absolute or incremental move is utilized to move away from
the limit switch, the OMS VME58 ignores the 1st move attempt.&nbsp; Subsequent
moves work.&nbsp; In addition, the user can jog off a limit switch.&nbsp;
This error was hidden in most applications if RTRY was nonzero.
<p><b><u>Separate motion commands for target and backlash moves</u></b>
<p>The record level support assumed that the motor controller would accept
two motion commands on the same command line.&nbsp; This occurs when backlash
compensation is enabled.&nbsp; Since the IM483[PL/SM] controller does not
have this capability, support for a command line "record separator" character
was added.&nbsp; The record separator is defined as an ASCII (IS2) character
= /x1E.&nbsp; Currently, only one record separator is allowed in a command
line.
<p><b><u>Errors introduced in V4.0</u></b>
<p>Unfortunately, several errors were introduced into the motor record
with V4.0.&nbsp; The following have been fixed:
<ul>
<li>
If the "ncards" argument of the omsSetup() function in st.cmd file was
not accurate (i.e., did not match the actual number of OMS VME8/44 boards
in the VME crate); the "dbior" command could result in erroneous information
or a bus error.</li>
<li>
Jog request would not work after the state of the UEIP field was changd.</li>
<li>
Backlash correction was not occurring after a JOG.</li>
<li>
The motor record would 'hang' in the moving state on the rare occasion
when a target position (i.e., VAL or DVAL) fell almost exactly half way
between two integer RVAL values, and the retry feature was enabled (i.e.,
RTRY is nonzero)</li>
</ul>
<center>
<h4>
<b><u>New Features</u></b></h4></center>
<b><u>Newport PM500 device support</u></b>
<p>Device driver support for the Newport PM500 is available for this release
of the motor record.&nbsp; This device/driver is based on Mark River's
PM500 V2.0 release.
<p><b><u>Intelligent Motion Systems, Inc. IM483 device support</u></b>
<p>Device driver support for Intelligent Motion Systems (IMS) IM483[I/IE]
is available with this release.&nbsp; Two different device/drivers are
available for the same motor&nbsp; controller.&nbsp; The two device/drivers,
IM483PL and IM483SM, correspond to the two available IM483 communication
modes, <i>party line </i>and <i>single mode</i>, respectively (see the
IMS Software Reference Manual for details).
<br>&nbsp;
<center>
<h1>
<u>Motor Record Version 4.1 Release Notice</u></h1></center>
@@ -14,8 +86,8 @@ baseR3.13.1.1 and above, the directory structure, the "make" files and
the configuration files are intended for the "unbundled" architecture of
EPICS R3.13.2 and above.
<center>
<h3>
<u>Modifications to Existing Features</u></h3></center>
<h4>
<u>Modifications to Existing Features</u></h4></center>
<h4>
<b><u>OMS VME58 retry problem</u></b></h4>
@@ -28,10 +100,10 @@ occurred more often when the Oms setup parameters called for a high frequency
(e.g., 60 Hz) "polling" rate and OMS board interrupts were enabled.
<h4>
<b><u>OMS Stop problem</u></b></h4>
A problem with issuing a stop command (via either the STOP&nbsp;or SPMG
field) was found with <b>all</b> OMS boards and <b>all </b>versions of
the OMS device drivers.&nbsp; The root cause of this problem is a statment
in the OMS manual <i>that is not entirely correct</i>; the AC and VL commands
A problem with issuing a stop command (via either the STOP or SPMG field)
was found with <b>all</b> OMS boards and <b>all </b>versions of the OMS
device drivers.&nbsp; The root cause of this problem is a statement in
the OMS manual <i>that is not entirely correct</i>; the AC and VL commands
are not completely queued.
<br>&nbsp;
<br>&nbsp;
@@ -42,8 +114,8 @@ Release 4.0 of the motor record is <u>only</u> compatible with EPICS baseR3.13.1
and above.&nbsp; This document describes changes made to the motor record
and its' associated device driver support between versions 3.5 and 4.0.
<center>
<h3>
<u>Modifications to Existing Features</u></h3></center>
<h4>
<u>Modifications to Existing Features</u></h4></center>
<h4>
<b><u>GAIN Field Removed</u></b></h4>
@@ -153,8 +225,8 @@ status updates on PowerPC (PPC) platforms.&nbsp; All users of the OMS VME58
controller on a PPC platform must upgrade to Motor Record version 4.0 for
full functionality.
<center>
<h3>
<u>New Features</u></h3></center>
<h4>
<u>New Features</u></h4></center>
<b><u>Newport MM3000 Device Support</u></b>
<p>Device driver support for the MM3000 exist for this release of the motor
record.&nbsp; Note the following differences between the MM4000 and MM3000
@@ -207,8 +279,8 @@ and above.&nbsp; This document describes changes made to the motor record
and its' associated device driver support between versions 3.4 and 3.5.&nbsp;
Those changes are as follows:
<center>
<h3>
<u>Modifications to Existing Features</u></h3></center>
<h4>
<u>Modifications to Existing Features</u></h4></center>
<h4>
<u>Command Primitives</u></h4>
@@ -248,8 +320,8 @@ ADEL, CVEL, POSM, ALST, MLST
<br>&nbsp;
<br>&nbsp;
<center>
<h3>
<u>New Features</u></h3></center>
<h4>
<u>New Features</u></h4></center>
<h4>
<u>Device Directives</u></h4>
@@ -433,9 +505,8 @@ or through the individual PID gain parameter fields (i.e., PCOF, ICOF,
DCOF).&nbsp; Let the motor controller PID parameters be represented by
CKP, CKI and CKD; then the relationship between these two methods is as
follows:
<blockquote><u>For the MM4000</u>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
<u>For all OMS controllers</u></blockquote>
<blockquote><u>For the MM4000</u>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <u>For
all OMS controllers</u></blockquote>
<ul>
<li>