forked from epics_driver_modules/motorBase
R6-7 update.
This commit is contained in:
Ron Sluiter
@@ -1,8 +1,8 @@
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Motor Record R6-6 Release Notice
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Motor Record R6-7 Release Notice
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===============================================================================
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The motor record software in this release is compatible with EPICS base
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R3-14-11. See the <motor>/configure/RELEASE file for support module version
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R3-14-12-1. See the <motor>/configure/RELEASE file for support module version
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dependencies.
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@@ -107,15 +107,17 @@ Known Problems
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reverse encoder wires when the motor and encoder direction are
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reversed.
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There is a peculiarity with the OMS controller boards when they are
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configured with MRES and ERES of opposite polarity. Since both the
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commanded and feedback positions are set with the same command (LP),
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the user must enter the opposite polarity when setting the OMS motor
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controllers position.
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There is a peculiarity with the OMS (sans MAXv) controller boards when
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they are configured with MRES and ERES of opposite polarity. Since
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both the commanded and feedback positions are set with the same command
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(LP), the user must enter the opposite polarity when setting the OMS
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motor controllers position.
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For example, if MRES is positive and ERES is negative and the user
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wants to set the current position to 10.00 inches, then -10.00 must be
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entered in the VAL or DVAL field.
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This limitation does not apply to the MAXv model after release R6-7.
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5) There are several known problems with the status update field (STUP);
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- the motor record gets stuck in the moving state (i.e., DMOV=0) if
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@@ -161,6 +163,19 @@ Modification Log for R6-7
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File modified: motorApp/OmsSrc/drvOms58.cc
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3) Added OMS MAXv device drive support for MRES and ERES having different
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polarities. See "Known Problems" item #4).
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Files modified: motorApp/OmsSrc/devOmsCom.cc
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motorApp/OmsSrc/drvMAXv.cc
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4) With this release, the Aerotech Ensemble driver only supports 4.01.00
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version firmware and above.
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In order to support SCURVE trajectories, the move commands have been changed
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from MOVE[ABS/INC] to LINEAR. Currently, the SCURVE command can only
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be set from an asyn record (e.g., SCURVE 75).
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Modification Log from R6-5 to R6-6
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==================================
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+10
-11
@@ -9,22 +9,21 @@
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#
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# Add your declarations here
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#!GATEWAY=
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SUPPORT=/corvette/home/epics/devel
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SUPPORT=
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-include $(TOP)/../configure/SUPPORT.$(EPICS_HOST_ARCH)
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# If any motor controller communication mechanism besides the VME backplane is
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# required, then ASYN must be defined.
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# Recommended ASYN release: R4-17
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ASYN=$(SUPPORT)/asyn-4-17
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# Recommended ASYN release: R4-18
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ASYN=$(SUPPORT)/asyn/R4-18
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# Need the sequencer and the bust record for the MM4005 and XPS trajectory scanning
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# Recommended SNCSEQ release: R2-0-12
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SNCSEQ=$(SUPPORT)/seq-2-0-12
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BUSY=$(SUPPORT)/busy-1-3
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# Recommended SNCSEQ release: R2-1-13
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SNCSEQ=$(SUPPORT)/seq/2-1-3
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BUSY=$(SUPPORT)/busy/R1-4
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# Recommended EPICS release: R3.14.11
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EPICS_BASE=/corvette/usr/local/epics/base-3.14.12.1
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# Recommended EPICS release: R3.14.12.1
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EPICS_BASE=
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-include $(TOP)/../configure/EPICS_BASE.$(EPICS_HOST_ARCH)
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# The following must be defined for the MXmotor device driver.
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@@ -34,8 +33,8 @@ EPICS_BASE=/corvette/usr/local/epics/base-3.14.12.1
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# <motor>/motorExApp. To build examples, the top Makefile,
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# <motor>/Makefile must also be edited.
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# Recommended IPAC release: R2-10
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IPAC=$(SUPPORT)/ipac-2-11
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# Recommended IPAC release: R2-11
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IPAC=$(SUPPORT)/ipac/R2-11
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# The following is only needed for the motor examples in iocBoot.
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#!MOTOR=$(TOP)
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@@ -37,9 +37,9 @@
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</ul>
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<a name="Overview"></a>
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<h2>Overview</h2> This documentation describes version R6-6 of the EPICS motor
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<h2>Overview</h2> This documentation describes version R6-7 of the EPICS motor
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record, and related EPICS software required to build and use it. Version
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R6-6 of the motor record is compatible with EPICS base R3.14.11 and above.
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R6-7 of the motor record is compatible with EPICS base R3.14.12.1 and above.
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<p>
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The motor record is intended to support motors of all kinds, but currently
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supports only the following variety of motor controllers (in addition to Soft
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@@ -54,7 +54,7 @@ Channel support):
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Newport models MM3000, MM4000/5/6, PM500, ESP300/301/100 and XPSC8.
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</li>
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<li>
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Intelligent Motion Systems, Inc. (IMS) models IM483 and MDrive.
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Schneider Electric (formally IMS) models IM483, MDrive and MForce.
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</li>
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<li>
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Advanced Control Systems, Corp. model MCB-4B.
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@@ -5,7 +5,7 @@
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<meta content="Ronald L. Sluiter" name="Author" />
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<meta content="Synopsis of modifications, fixes and new features for each motor record release."
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name="Description" />
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<title>EPICS Motor Record Release R6-6 Notice</title>
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<title>EPICS Motor Record Release R6-7 Notice</title>
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<meta content="Ronald L. Sluiter" name="author" />
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<meta content="Notification of bug fixes, functional changes and new features." name="description" />
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<meta content="text/html; charset=ISO-8859-1" http-equiv="Content-Type" />
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@@ -15,7 +15,7 @@
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<div style="text-align: center">
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<h1>
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<b>Motor Record Version 6-6 Release Notice</b></h1>
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<b>Motor Record Version 6-6 and 6-7 Release Notice</b></h1>
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</div>
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<div style="text-align: center">
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<h4>
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@@ -23,11 +23,81 @@
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</div>
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<div style="text-align: left">
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<p>
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<b>Aerotech Ensemble Home Search</b>
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<b>Aerotech Ensemble</b>
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</p>
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<p>
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The Home Search ability will be restored in a future bug fix release.
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<ul>
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<li>
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Since the Ensemble network connection requires period communication from the
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host to prevent the Ensemble from closing the network socket, the Ensemble
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support based on the old device driver architecture (phase 1) was removed with
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this release. The asyn motor architecture supports continuous, periodic updates;
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the old architecture does not.
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</li>
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<li>
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With this release, the Aerotech Ensemble driver only supports 4.01.00 Ensemble
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version firmware and above.
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</li>
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<li>
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In order to support SCURVE trajectories, the move commands have been changed
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from MOVE[ABS/INC] to LINEAR. Currently, the SCURVE command can only be set
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from an asyn record (e.g., SCURVE 75).
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</li>
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<li>
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There is a problem with initiating a home search with the Aerotech Ensemble
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motor controller with EPICS. The problem is that the EPICS Ensemble driver uses
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Aerotech's ASCII communication protocol and that protocol blocks all
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communication on ASCII communication ports during a home search. Consequently,
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once a home search is started from EPICS, it is unable to stop it. With release
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R6-6, the home search function was commented out of the Ensemble driver. Users
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that need to perform a home search should do it from Aerotech's IDE software,
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which can abort a home search. The Home Search ability will be restored in a
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future release.
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</li>
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</ul>
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<p>
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<b>OMS</b>
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</p>
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<ul>
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<li>
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<p>
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Watchdog and reboot error checks have been added to both the VME58 and MAXv (with
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firmware ver:1.33 and above) device drivers. The EPICS drivers check for a
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reboot error or Watchdog timeout (MAXv) with every motor status update.
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</p>
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<p>
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If an error occurs, an error message is sent to both the errlog task and the
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console. Since a reboot or watchdog timer trip indicates that the controller
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has rebooted and no longer has valid motor positions, the controller is disabled
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and is no longer available to EPICS until after the VME crate has been rebooted.
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Other OMS boards in the system are unaffected by this scenario.
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</p>
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<p>
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To better communicate this problem to the user, several medm displays have been
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changed. Small displays (motorx_tiny.adl, motorx.adl) will show a yellow border
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around their position readback values. Larger displays (motorx_more.adl,
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motorx_all.adl) will display the message "Controller Error" in yellow. The
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following error message at the console and/or in the IOC errlog is definitive;
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</p>
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<div style="text-align: center">
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<p>
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"***MAXv card #<card>Disabled*** Watchdog Timeout CTR =<ctr>"
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</p>
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<p>
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"***VME58 card #<card>Disabled*** Reboot Detected."
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</p>
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</li>
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<li>
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A third argument was added to the MAXvConfig() call; the SSI based absolute
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encoder bit flag.
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<p>
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MAXvConfig(0, config0, 0x00)
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</p>
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Bit #0 for Axis X, bit #1 for Axis Y, etc.. Set a bit flag to '1' for absolute
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encoder values; '0' for the standard incremental encoder values.
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</li>
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</ul>
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</div>
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</div>
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<div style="text-align: center">
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<h4>
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