- 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.
- Tim Mooney (APS) added trajectory support for a single-motor Aerotech Ensemble + Tim Mooney (APS) added trajectory support for a single-motor Aerotech Ensemble
Tim Mooney (APS) added trajectory support for the Pro-Dex OMS MAXv
+ ProfileMove support +
++ Mark Rivers (GSECARS) added ProfileMoveMode to support absolute and relative moves. +
++ Newport AG_CONEX and AG_UC controllers +
++ Mark Rivers (GSECARS) made changes to support CONEX-CC servo controller; it has + KD; supports limits, velocity, acceleration; fixed homing problems +
++ 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. +
+
+ !WARNING!
+ motorRecord.dbd has been modified. This requires rebuilding any and all user
+ trees (i.e., <ioctop>) that load the motor record.
Newport XPS Asyn Motor (Phase-2) Support
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.
Newport ESP300
- 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.
- Several changes have been made with regard to the motor record's soft-travel - limits (LVIO field). -
- Retry Deadband -
-- 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). -
+ Soft-travel limits + ++ Several changes have been made with regard to the motor record's soft-travel limits + (LVIO field).
++ Retry Deadband +
++ 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). +
- 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 <motor>/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 <motor>/motorApp/PIGCS2Src/ directory of the motor module.
- 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.
- 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.
- 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.
OMS MAXv and MAXnet Asyn Motor Support
- 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.
Newport Agilis UC series Asyn Motor Support
@@ -201,7 +212,6 @@-
- Aerotech Ensemble -
--
- OMS + Aerotech Ensemble
- 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. + OMS
-- 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. -
-- 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; -
-
- "***MAXv card #
- "***VME58 card #
- MAXvConfig(0, config0, 0x00) -
- 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. -+ 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. +
++ 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. +
++ 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; +
++ "***MAXv card #<card>Disabled*** Watchdog Timeout CTR =<ctr>" +
++ "***VME58 card #<card>Disabled*** Reboot Detected." +
++ MAXvConfig(0, config0, 0x00) +
+ 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.- 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.
@@ -307,8 +303,6 @@
- -
- 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.
- 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.
ADEL and MDEL fields added
- 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.
Synchronize field (SYNC)
- 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).