diff --git a/README b/README index e68ac16d..d327f55a 100644 --- a/README +++ b/README @@ -285,6 +285,57 @@ Modification Log from R6-3 to R6-4 File modified: MotorSrc/motordrvCom.cc +15) The declaration for scanOnce was changed from (void * precord) to + (struct dbCommon *) with EPICS base R3.14.10, causing a compile error + in motorRecord.cc. + + File modified: MotorSrc/motorRecord.cc + + +16) System generation files (Makefiles and "configure" files) have been updated + based on the makeBaseApp utility. In addition, this release supports + the parallel make feature available starting with R3.14.10. + + Files modified: - all "configure" files. + - the "top" and "motorApp" Makefiles. + +17) Ron Sluiter added asyn motor support for the attocube systems AG ANC150 + Piezo Step Controller. + + Files modified: added the "AttocubeSrc" directory + +18) Chad Weimer (Aerotech) added support for Aerotech's Ensemble family of + digital servo controllers. + + Files modified: added the "AerotechSrc" directory + +19) John Hammonds added support of the Physik Instrumente (PI) GmbH & Co. E-816 + motor controller. + + Files modified: added devPIE816.cc, drvPIE816 and drvPIE816.h to the + PiSrc directory + +20) Added a field (RMOD) that allows the user to select different ways of + calculating the retry distance move. The default mode (Unity) moves + the motor a relative distance based on the dial error (DIFF field). + Badly behaved devices (piezo motors) can oscillate around their target + position in this mode. Hence, two other modes were added to allow a + decreasing response from the motor record after each retry. + + The Arithmetic mode generates an arithmetic sequence of corrections. + For example, if the max. retry count (RTRY) is 10, then the retries + will proceed as follows; DIFF * (1.0), DIFF * (9/10), DIFF * (8/10), + etc. + + The Geometric mode generates a geometric sequence with a 1/2 common + factor of corrections. For example, if the max. retry count is 10, + then the retries will proceed as follows; DIFF * (1.0), DIFF * (1/2) + DIFF * (1/4), DIFF * (1/8), etc. + + Files modified: - added the "RMOD" to MotorSrc/motorRecord.dbd + - RMOD support changes to MotorSrc/motorRecord.cc + + Modification Log from R6-2 to R6-3 ================================== diff --git a/documentation/motorRecord.html b/documentation/motorRecord.html index a60c47b6..bb328018 100644 --- a/documentation/motorRecord.html +++ b/documentation/motorRecord.html @@ -66,7 +66,7 @@ Channel support): Mclennan models PM304 and PM600.
  • - Physik Instrumente (PI) GmbH & Co. model C-630, C-844, C-848, C-862, E-662 and E-710. + Physik Instrumente (PI) GmbH & Co. model C-630, C-844, C-848, C-862, E-662, E-710 and E-816.
  • MicroMo model MVP 2001 B02. @@ -103,6 +103,12 @@ Channel support):
  • Kohzu SC-800 stepper motor controller.
    • +
  • + attocube systems AG ANC150 Piezo Step Controller. +
    • +
  • + Aerotech Ensemble digital servo controller. +
    • The record maintains two coordinate systems for motor position ("user" and "dial " coordinates); displays drive and readback values; enforces limits to motor @@ -879,6 +885,14 @@ below.
    + + RMOD + R/W + Retry Mode + RECCHOICE + (0:"Unity", 1:"Arthmetic", 2:"Geometric")
    + + RMP R @@ -1751,7 +1765,34 @@ below. the motion finished. If the desired position was not reached, the field MISS will be set to 1. - + + RMOD + R/W + Retry Mode + RECCHOICE + +

    + (0:"Unity", 1:"Arthmetic", 2:"Geometric") +

    +

    + RMOD allows the user to select different ways of calculating the retry distance + move. The default mode (Unity) moves the motor a relative distance based on + the dial error (DIFF field). Badly behaved devices (piezo motors) can oscillate + around their target position in this mode. Hence, two other modes were added to + allow a decreasing response from the motor record after each retry. +

    +

    + The Arithmetic mode generates an arithmetic sequence of corrections. For example, + if the max. retry count (RTRY) is 10, then the retries will proceed as follows; + DIFF * (1.0), DIFF * (9/10), DIFF * (8/10), etc. +

    +

    + The Geometric mode generates a geometric sequence with a 1/2 common factor of + corrections. For example, if the max. retry count is 10, then the retries will + proceed as follows; DIFF * (1.0), DIFF * (1/2) DIFF * (1/4), DIFF * (1/8), etc. +

    + + diff --git a/documentation/motor_release.html b/documentation/motor_release.html index 0abea16b..50f14b13 100644 --- a/documentation/motor_release.html +++ b/documentation/motor_release.html @@ -104,6 +104,31 @@ This means that out of the list of fields that were previously set to ASL=0; VBAS, VMAX, SBAS, SMAX, UREV and MRES are now set to ASL=1.

    + +

    + OMS MAXv A24/A32 VMEbus addressing bug fix +

    +

    + Previous releases had a problem with the OMS MAXv device driver when it was + configured for more than one board, and, either A24 or A32 addressing was + specified. The driver was not sizing the address space occupied by each MAXv + correctly. +

    + +

    + asyn motor archtecture updates +

    +

    +

  • + Motor record GET_INFO commands were not supported by the asyn motor archtecture + in previous releases. +
    • +
  • + A motor record bug was fixed that caused unscheduled retries to occur with asyn + motor. +
    • +

    +
    @@ -148,6 +173,27 @@ wrung out (Mantis ID's #309, #310), there are no immediate plans to debug 64-bit related problems.

    + + attocube systems AG ANC150 +

    +

    + Ron Sluiter added support for the attocube systems AG ANC150 Piezo Step + Controller. +

    + + Aerotech's Ensemble +

    +

    + Chad Weimer (Aerotech) added support for Aerotech's Ensemble family of digital + servo controllers. +

    + + Physik Instrumente GmbH & Co. Model E-816 +

    +

    + John Hammonds added support of the Physik Instrumente (PI) GmbH & Co. E-816 + motor controller. +