From acf8d92fd8725e518c1c6f376ed787715d5e8f02 Mon Sep 17 00:00:00 2001 From: MarkRivers Date: Thu, 11 Sep 2014 18:41:19 +0000 Subject: [PATCH] Mark Rivers added changes for R6-9; fixed html errors; reformatted with VS2010 --- documentation/motor_release.html | 286 +++++++++++++++---------------- 1 file changed, 141 insertions(+), 145 deletions(-) diff --git a/documentation/motor_release.html b/documentation/motor_release.html index 4fe8db4d..b771453e 100644 --- a/documentation/motor_release.html +++ b/documentation/motor_release.html @@ -10,7 +10,6 @@ -

@@ -25,7 +24,6 @@

-

New Features

@@ -35,7 +33,7 @@ Micronix MMC-200 Asyn Motor Support

- 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.

@@ -51,13 +49,33 @@ Trajectory support

- 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. +

+

Motor Record Version 6-8 Release Notice

@@ -67,65 +85,57 @@ Modifications to Existing Features
- !WARNING!
- motorRecord.dbd has been modified.  This requires rebuilding any and all - user trees (i.e., <ioctop>) that load the motor record. +

+ !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.

- -
- 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). -

+ 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). +

-
-
-

New Features

@@ -135,10 +145,9 @@ Physik Instrumente (PI) Asyn Motor Support

- 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.

@@ -146,8 +155,8 @@ PI micos SMC hydra Asyn Motor Support

- 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.

@@ -155,7 +164,8 @@ Schneider Electric (IMS) MDrive/MForce Asyn Motor Support

- 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.

@@ -163,7 +173,8 @@ Newport XPS 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. + 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.

@@ -182,16 +193,16 @@ Kevin Peterson (APS) added asyn motor support for the nPoint C300 piezo controller.

-
+

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 @@

-

Motor Record Version 6-6 and 6-7 Release Notice

@@ -212,81 +222,67 @@

- Aerotech Ensemble -

-

-

    -
  • - 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. -
    • -
  • - With this release, the Aerotech Ensemble driver only supports 4.01.00 Ensemble - version firmware and above. -
    • -
  • - 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). -
    • -
  • - 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. -
    • -
-

- OMS + Aerotech Ensemble

    -
  • +
  • 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.
    • +
  • With this release, the Aerotech Ensemble driver only supports 4.01.00 Ensemble + version firmware and above.
    • +
  • 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).
    • +
  • 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.
    • +

- 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 #Disabled*** Watchdog Timeout CTR =" -

-

- "***VME58 card #Disabled*** Reboot Detected." -

- -
  • - A third argument was added to the MAXvConfig() call; the SSI based absolute - encoder bit flag. -

    - 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." +

      +
      • +
    • A third argument was added to the MAXvConfig() call; the SSI based absolute encoder + bit flag. +

      + 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.
    -

    @@ -297,7 +293,7 @@ Hytec 8601

    - 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 @@

    - -

    Motor Record Version 6-5 Release Notice

    @@ -362,8 +356,8 @@ RES field deleted

    - 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.

    @@ -375,26 +369,26 @@ Aerotech Soloist and Ensemble motor controller support

    - 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).

    @@ -1117,7 +1111,8 @@
  • 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).
    • -
  • CA clients are restricted to writing ON(1) to STUP only when STUP is OFF(0).
    • +
  • CA clients are restricted to writing ON(1) to STUP only when STUP is OFF(0). +
  • 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.
    • @@ -2064,7 +2059,8 @@ Driver Power Monitoring