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R6-4 update.

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Ron Sluiter
2008-02-28 17:46:39 +00:00
parent 951431095e
commit a23d48eb0d
1 changed files with 33 additions and 12 deletions
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@@ -121,17 +121,16 @@ Modification Log from R6-3 to R6-4
File modified: motor_update_values() in motordevCom.cc
2) A problem with OMS VME58 version 2.35 firmware has arisen since the
modifications described in item #8 under R6-3 were made. When the user
sets the motor record's position, the previous target and readback
positions are read from the controller on the next update. This occurs
with the previous release (R6-3) because the "stale data delay" was
changed to zero for the drvOms58 driver.
2) A problem with OMS VME58 2.24-8S version firmware and all 2.35 firmware
versions has arisen since the modifications described in item #8 under
R6-3 were made. When the user sets the motor record's position, the
previous target and readback positions are read from the controller on
the next update. This occurs with the previous release (R6-3) because
the "stale data delay" was changed to zero for the drvOms58 driver.
With this release the driver searches all VME58 board ID's for version
2.35 firmware. If any board is found with this firmware version, the
"stale data delay" is set to two VxWorks system clock periods for all
VME58 boards.
With this release the driver searches all VME58 board ID's for either
2.24-8S or any 2.35 version. If any board is found, the "stale data
delay" is set to a non-zero value.
This problem is similar to the "intermittent wrong LS status" problem,
but in this case it is the Load Position (LOAD_POS) motor command that
@@ -140,9 +139,31 @@ Modification Log from R6-3 to R6-4
status" problem.
File modified: motor_init() in motorApp/OmsSrc/drvOms58.cc. Added
search for "VME58 ver 2.35"; if found, set
"update_delay" to two clock periods.
ID search; if found, set "update_delay" non-zero.
3) A problem was reported by Emma Shepherd (Diamond) with the previous release
if the "Use RDBL Link" field (URIP) was set to "Yes". The NTM logic
was sending stop commands and issuing the "tdir=.." message to the
console if the RDBL link was used. This error was the result of
changing the NTM logic as described in item #11 under R6-3
modifications.
With this release, the NTM logic is restored to using feedback rather
than reference positions. In addition, an "NTM deadband factor" field
(NTMF) is added to allow the user to set the NTM deadband;
NTM deadband = NTMF * (|BDST| + RDBD)
NTMF must be >= 2. If properly configured, the NTM deadband prevents
NTM logic from issuing a STOP command at the end of a DC motor move
that overshoots its' target position.
Files modified: - MotorSrc/motorRecord.dbd; NTMF added.
- MotorSrc/motorRecord.cc; NTM logic uses deadband
based on NTMF.
4) Changed the "update delay" for OMS MAXv's from 10ms to zero.
File modified: - MotorSrc/OmsSrc/drvMAXv.cc; set "update_delay" member
of "targs" to zero.
Modification Log from R6-2 to R6-3