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Mark Rivers added changes for R6-9; fixed html errors; reformatted with VS2010

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MarkRivers
2014-09-11 18:41:19 +00:00
parent 26440ac028
commit acf8d92fd8
1 changed files with 141 additions and 145 deletions
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documentation/motor_release.html
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@@ -10,7 +10,6 @@
<meta content="Notification of bug fixes, functional changes and new features." name="description" />
<meta content="text/html; charset=ISO-8859-1" http-equiv="Content-Type" />
</head>
<body>
<div style="text-align: center">
<h1>
@@ -25,7 +24,6 @@
<b></b>
</p>
</div>
<div style="text-align: center">
<h4>
New Features</h4>
@@ -35,7 +33,7 @@
<b>Micronix MMC-200 Asyn Motor Support</b>
</p>
<p>
Kevin Peterson (APS) added asyn motor support for the Micronix MMC-200 Controller.
Kevin Peterson (APS) added asyn motor support for the Micronix MMC-200 Controller.
</p>
</div>
<div style="text-align: left">
@@ -51,13 +49,33 @@
<b>Trajectory support</b>
</p>
<p>
Tim Mooney (APS) added trajectory support for a single-motor Aerotech Ensemble
Tim Mooney (APS) added trajectory support for a single-motor Aerotech Ensemble
</p>
<p>
Tim Mooney (APS) added trajectory support for the Pro-Dex OMS MAXv
</p>
</div>
<div style="text-align: left">
<p>
<b>ProfileMove support</b>
</p>
<p>
Mark Rivers (GSECARS) added ProfileMoveMode to support absolute and relative moves.
</p>
</div>
<div style="text-align: left">
<p>
<b>Newport AG_CONEX and AG_UC controllers</b>
</p>
<p>
Mark Rivers (GSECARS) made changes to support CONEX-CC servo controller; it has
KD; supports limits, velocity, acceleration; fixed homing problems
</p>
<p>
Mark Rivers (GSECARS) made changes to support AG-UC8 model that requires CC command
to select a channel pair; add delay between writes for all commands on all ARCHs.
</p>
</div>
<div style="text-align: center">
<h1>
<b>Motor Record Version 6-8 Release Notice</b></h1>
@@ -67,65 +85,57 @@
Modifications to Existing Features</h4>
</div>
<div style="text-align: left">
<b>!WARNING!</b><br />
motorRecord.dbd has been modified.&nbsp; This requires rebuilding any and all
user trees (i.e., &lt;ioctop&gt;) that load the motor record.
<p>
<b>!WARNING!</b><br />
motorRecord.dbd has been modified.&nbsp; This requires rebuilding any and all user
trees (i.e., &lt;ioctop&gt;) that load the motor record.
</p>
<p>
<b>Newport XPS Asyn Motor (Phase-2) Support</b>
</p>
<p>
The stepsPerUnit argument of XPSConfigAxis has changed from an integer to a string
to make phase-2 consistent with phase-3 support. Failing to change the stepsPerUnit
argument to a string results in parameter-out-of-range errors when attempting to
to make phase-2 consistent with phase-3 support. Failing to change the stepsPerUnit
argument to a string results in parameter-out-of-range errors when attempting to
move XPS motors.
</p>
<p>
<b>Newport ESP300</b>
</p>
<p>
Prior to this release, the ESP300 driver used the controller's resolution to
scale the EGUtoRAWbacktoEGU conversion that is done between motor record and
device driver support. With R6.8 the driver uses the motor record's MRES to
scale this conversion. Users should now set the MRES like any other motor; i.e.,
to the precision of the stage.
Prior to this release, the ESP300 driver used the controller's resolution to scale
the EGUtoRAWbacktoEGU conversion that is done between motor record and device driver
support. With R6.8 the driver uses the motor record's MRES to scale this conversion.
Users should now set the MRES like any other motor; i.e., to the precision of the
stage.
</p>
</div>
<div style="text-align: left">
<b>Soft-travel limits</b>
</p>
<p>
Several changes have been made with regard to the motor record's soft-travel
limits (LVIO field).
<ul>
<li>
Since the soft-travel limits (HLM/LLM, DHLM/DLLM) are not defined until after a
successful home search is performed, error checks have been removed from the
home search request (HOMF/HOMR).
</li>
<li>
All moves out of the invalid soft-limit travel range, toward the valid range,
are allowed.
</li>
</ul>
</p>
</div>
<div style="text-align: left">
<p>
<b>Retry Deadband </b>
</p>
<p>
The retry deadband (RDBD) field no longer limits the smallest allowed move. The
size of a move is now only limited by the motor resolution (MRES).
</p>
<b>Soft-travel limits</b>
</p>
<p>
Several changes have been made with regard to the motor record's soft-travel limits
(LVIO field).</p>
<ul>
<li>Since the soft-travel limits (HLM/LLM, DHLM/DLLM) are not defined until after
a successful home search is performed, error checks have been removed from the home
search request (HOMF/HOMR). </li>
<li>All moves out of the invalid soft-limit travel range, toward the valid range,
are allowed. </li>
</ul>
</div>
<div style="text-align: left">
<p>
<b>Retry Deadband </b>
</p>
<p>
The retry deadband (RDBD) field no longer limits the smallest allowed move. The
size of a move is now only limited by the motor resolution (MRES).
</p>
</div>
<div style="text-align: left">
</div>
<div style="text-align: center">
<h4>
New Features</h4>
@@ -135,10 +145,9 @@
<b>Physik Instrumente (PI) Asyn Motor Support</b>
</p>
<p>
Steffen Rau (Physik Instrumente GmbH & Co.) has added asyn motor support for PI
motion controllers that use the GCS2 (General Command Set) command language.
This support resides in the &ltmotor&gt/motorApp/PIGCS2Src/ directory of the
motor module.
Steffen Rau (Physik Instrumente GmbH & Co.) has added asyn motor support for PI
motion controllers that use the GCS2 (General Command Set) command language. This
support resides in the &ltmotor&gt/motorApp/PIGCS2Src/ directory of the motor module.
</p>
</div>
<div style="text-align: left">
@@ -146,8 +155,8 @@
<b>PI micos SMC hydra Asyn Motor Support</b>
</p>
<p>
Kevin Peterson (APS) added support for asyn motor support for the PI micos SMC
hydra controller.
Kevin Peterson (APS) added support for asyn motor support for the PI micos SMC hydra
controller.
</p>
</div>
<div style="text-align: left">
@@ -155,7 +164,8 @@
<b>Schneider Electric (IMS) MDrive/MForce Asyn Motor Support</b>
</p>
<p>
Nia Fong (SLAC) added asyn motor support for the Schneider Electric (IMS) MDrive/MForce controller that uses the MCode command language.
Nia Fong (SLAC) added asyn motor support for the Schneider Electric (IMS) MDrive/MForce
controller that uses the MCode command language.
</p>
</div>
<div style="text-align: left">
@@ -163,7 +173,8 @@
<b>Newport XPS Support</b>
</p>
<p>
Kevin Peterson (APS) added a sequence program, xpsSlave.st, that allows master/slave mode to be used with any version of the XPS motor support.
Kevin Peterson (APS) added a sequence program, xpsSlave.st, that allows master/slave
mode to be used with any version of the XPS motor support.
</p>
</div>
<div style="text-align: left">
@@ -182,16 +193,16 @@
Kevin Peterson (APS) added asyn motor support for the nPoint C300 piezo controller.
</p>
</div>
<div style="text-align: left">
<div style="text-align: left">
<p>
<b>OMS MAXv and MAXnet Asyn Motor Support</b>
</p>
<p>
Jens Eden (PTB) added asyn motor support for both the OMS MAXv and the OMS MAXnet controllers.
Jens Eden (PTB) added asyn motor support for both the OMS MAXv and the OMS MAXnet
controllers.
</p>
</div>
</div>
<div style="text-align: left">
<div style="text-align: left">
<p>
<b>Newport Agilis UC series Asyn Motor Support</b>
</p>
@@ -201,7 +212,6 @@
</div>
<p>
</p>
<div style="text-align: center">
<h1>
<b>Motor Record Version 6-6 and 6-7 Release Notice</b></h1>
@@ -212,81 +222,67 @@
</div>
<div style="text-align: left">
<p>
<b>Aerotech Ensemble</b>
</p>
<p>
<ul>
<li>
Since the Ensemble network connection requires period communication from the
host to prevent the Ensemble from closing the network socket, the Ensemble
support based on the old device driver architecture (phase 1) was removed with
this release. The asyn motor architecture supports continuous, periodic updates;
the old architecture does not.
</li>
<li>
With this release, the Aerotech Ensemble driver only supports 4.01.00 Ensemble
version firmware and above.
</li>
<li>
In order to support SCURVE trajectories, the move commands have been changed
from MOVE[ABS/INC] to LINEAR. Currently, the SCURVE command can only be set
from an asyn record (e.g., SCURVE 75).
</li>
<li>
There is a problem with initiating a home search with the Aerotech Ensemble
motor controller with EPICS. The problem is that the EPICS Ensemble driver uses
Aerotech's ASCII communication protocol and that protocol blocks all
communication on ASCII communication ports during a home search. Consequently,
once a home search is started from EPICS, it is unable to stop it. With release
R6-6, the home search function was commented out of the Ensemble driver. Users
that need to perform a home search should do it from Aerotech's IDE software,
which can abort a home search. The Home Search ability will be restored in a
future release.
</li>
</ul>
<p>
<b>OMS</b>
<b>Aerotech Ensemble</b>
</p>
<ul>
<li>
<li>Since the Ensemble network connection requires period communication from the host
to prevent the Ensemble from closing the network socket, the Ensemble support based
on the old device driver architecture (phase 1) was removed with this release. The
asyn motor architecture supports continuous, periodic updates; the old architecture
does not. </li>
<li>With this release, the Aerotech Ensemble driver only supports 4.01.00 Ensemble
version firmware and above. </li>
<li>In order to support SCURVE trajectories, the move commands have been changed from
MOVE[ABS/INC] to LINEAR. Currently, the SCURVE command can only be set from an asyn
record (e.g., SCURVE 75). </li>
<li>There is a problem with initiating a home search with the Aerotech Ensemble motor
controller with EPICS. The problem is that the EPICS Ensemble driver uses Aerotech's
ASCII communication protocol and that protocol blocks all communication on ASCII
communication ports during a home search. Consequently, once a home search is started
from EPICS, it is unable to stop it. With release R6-6, the home search function
was commented out of the Ensemble driver. Users that need to perform a home search
should do it from Aerotech's IDE software, which can abort a home search. The Home
Search ability will be restored in a future release. </li>
</ul>
<p>
Watchdog and reboot error checks have been added to both the VME58 and MAXv (with
firmware ver:1.33 and above) device drivers. The EPICS drivers check for a
reboot error or Watchdog timeout (MAXv) with every motor status update.
<b>OMS</b>
</p>
<p>
If an error occurs, an error message is sent to both the errlog task and the
console. Since a reboot or watchdog timer trip indicates that the controller
has rebooted and no longer has valid motor positions, the controller is disabled
and is no longer available to EPICS until after the VME crate has been rebooted.
Other OMS boards in the system are unaffected by this scenario.
</p>
<p>
To better communicate this problem to the user, several medm displays have been
changed. Small displays (motorx_tiny.adl, motorx.adl) will show a yellow border
around their position readback values. Larger displays (motorx_more.adl,
motorx_all.adl) will display the message "Controller Error" in yellow. The
following error message at the console and/or in the IOC errlog is definitive;
</p>
<div style="text-align: center">
<p>
"***MAXv card #<card>Disabled*** Watchdog Timeout CTR =<ctr>"
</p>
<p>
"***VME58 card #<card>Disabled*** Reboot Detected."
</p>
</li>
<li>
A third argument was added to the MAXvConfig() call; the SSI based absolute
encoder bit flag.
<p>
MAXvConfig(0, config0, 0x00)
</p>
Bit #0 for Axis X, bit #1 for Axis Y, etc.. Set a bit flag to '1' for absolute
encoder values; '0' for the standard incremental encoder values.
</li>
<ul>
<li>
<p>
Watchdog and reboot error checks have been added to both the VME58 and MAXv (with
firmware ver:1.33 and above) device drivers. The EPICS drivers check for a reboot
error or Watchdog timeout (MAXv) with every motor status update.
</p>
<p>
If an error occurs, an error message is sent to both the errlog task and the console.
Since a reboot or watchdog timer trip indicates that the controller has rebooted
and no longer has valid motor positions, the controller is disabled and is no longer
available to EPICS until after the VME crate has been rebooted. Other OMS boards
in the system are unaffected by this scenario.
</p>
<p>
To better communicate this problem to the user, several medm displays have been
changed. Small displays (motorx_tiny.adl, motorx.adl) will show a yellow border
around their position readback values. Larger displays (motorx_more.adl, motorx_all.adl)
will display the message "Controller Error" in yellow. The following error message
at the console and/or in the IOC errlog is definitive;
</p>
<p>
"***MAXv card #&lt;card&gt;Disabled*** Watchdog Timeout CTR =&lt;ctr&gt;"
</p>
<p>
"***VME58 card #&lt;card&gt;Disabled*** Reboot Detected."
</p>
</li>
<li>A third argument was added to the MAXvConfig() call; the SSI based absolute encoder
bit flag.
<p>
MAXvConfig(0, config0, 0x00)
</p>
Bit #0 for Axis X, bit #1 for Axis Y, etc.. Set a bit flag to '1' for absolute encoder
values; '0' for the standard incremental encoder values. </li>
</ul>
</div>
</div>
<div style="text-align: center">
<h4>
@@ -297,7 +293,7 @@
<b>Hytec 8601</b>
</p>
<p>
Asyn motor driver support was added by Hytec for the 8601 stepper motor driver.
Asyn motor driver support was added by Hytec for the 8601 stepper motor driver.
</p>
<p>
<b></b>
@@ -307,8 +303,6 @@
</div>
<p>
</p>
<div style="text-align: center">
<h1>
<b>Motor Record Version 6-5 Release Notice</b></h1>
@@ -362,8 +356,8 @@
<b>RES field deleted</b>
</p>
<p>
The RES field was removed from the motor record database definition with this
release (R6-5). The RES field has been depreciated by the MRES field since R4-5.
The RES field was removed from the motor record database definition with this release
(R6-5). The RES field has been depreciated by the MRES field since R4-5.
</p>
</div>
<div style="text-align: center">
@@ -375,26 +369,26 @@
<b>Aerotech Soloist and Ensemble motor controller support</b>
</p>
<p>
Two new drivers from Aerotech were add; an asyn motor version of the Ensemble
and the Soloist under the old driver architecture. Since the Ensemble network
connection requires period communication from the host to prevent the Ensemble
from closing the network socket, the Ensemble support based on the old device
driver architecture will be removed after R5-6. The asyn motor architecture
supports continuous, periodic updates; the old architecture does not.
Two new drivers from Aerotech were add; an asyn motor version of the Ensemble and
the Soloist under the old driver architecture. Since the Ensemble network connection
requires period communication from the host to prevent the Ensemble from closing
the network socket, the Ensemble support based on the old device driver architecture
will be removed after R5-6. The asyn motor architecture supports continuous, periodic
updates; the old architecture does not.
</p>
<p>
<b>ADEL and MDEL fields added</b>
</p>
<p>
Matthew Pearson (Diamond) added support for the ADEL and MDEL motor record
fields. Unlike most records, the ADEL/MDEL fields in the motor record apply to
the User Readback Value (RBV). See the motorRecord.html document for details.
Matthew Pearson (Diamond) added support for the ADEL and MDEL motor record fields.
Unlike most records, the ADEL/MDEL fields in the motor record apply to the User
Readback Value (RBV). See the motorRecord.html document for details.
</p>
<p>
<b>Synchronize field (SYNC)</b>
</p>
<p>
When the SYNC field is set to Yes(1) the record sets the Drive fields (VAL/DVAL/RVAL)
When the SYNC field is set to Yes(1) the record sets the Drive fields (VAL/DVAL/RVAL)
to their readback values (RBV/DRBV/RRBV) and sets SYNC field back to No(0).
</p>
</div>
@@ -1117,7 +1111,8 @@
<li>A Channel Access (CA) client writes ON(1) to the STUP field which causes the motor
record to set STUP to BUSY(2) and request a single controller status update. After
the status is updated the record sets STUP to OFF(0). </li>
<li>CA clients are restricted to writing ON(1) to STUP only when STUP is OFF(0). </li>
<li>CA clients are restricted to writing ON(1) to STUP only when STUP is OFF(0).
</li>
<li>It is the responsibility of the user to restrict the frequency (and thus the incurred
overhead) at which the CA client writes ON(1) to STUP. </li>
</ul>
@@ -2064,7 +2059,8 @@
Driver Power Monitoring</h4>
<ul>
<li>This feature is only available with the OMS VME58 device support. </li>
<li>The 8 User I/O signals are assigned to the 8 possible VME58 axes as follows: </li>
<li>The 8 User I/O signals are assigned to the 8 possible VME58 axes as follows:
</li>
</ul>
<p>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;