From d71dfcdee8c59e3c1ff8b78f84e258365e558de7 Mon Sep 17 00:00:00 2001 From: Ron Sluiter Date: Thu, 1 Dec 2011 20:29:32 +0000 Subject: [PATCH] R6-7 update. --- README | 29 +++++++++--- configure/RELEASE | 21 ++++----- documentation/motorRecord.html | 6 +-- documentation/motor_release.html | 78 ++++++++++++++++++++++++++++++-- 4 files changed, 109 insertions(+), 25 deletions(-) diff --git a/README b/README index 67357619..8da6ab36 100644 --- a/README +++ b/README @@ -1,8 +1,8 @@ -Motor Record R6-6 Release Notice +Motor Record R6-7 Release Notice =============================================================================== The motor record software in this release is compatible with EPICS base -R3-14-11. See the /configure/RELEASE file for support module version +R3-14-12-1. See the /configure/RELEASE file for support module version dependencies. @@ -107,15 +107,17 @@ Known Problems reverse encoder wires when the motor and encoder direction are reversed. - There is a peculiarity with the OMS controller boards when they are - configured with MRES and ERES of opposite polarity. Since both the - commanded and feedback positions are set with the same command (LP), - the user must enter the opposite polarity when setting the OMS motor - controllers position. + There is a peculiarity with the OMS (sans MAXv) controller boards when + they are configured with MRES and ERES of opposite polarity. Since + both the commanded and feedback positions are set with the same command + (LP), the user must enter the opposite polarity when setting the OMS + motor controllers position. For example, if MRES is positive and ERES is negative and the user wants to set the current position to 10.00 inches, then -10.00 must be entered in the VAL or DVAL field. + + This limitation does not apply to the MAXv model after release R6-7. 5) There are several known problems with the status update field (STUP); - the motor record gets stuck in the moving state (i.e., DMOV=0) if @@ -161,6 +163,19 @@ Modification Log for R6-7 File modified: motorApp/OmsSrc/drvOms58.cc +3) Added OMS MAXv device drive support for MRES and ERES having different + polarities. See "Known Problems" item #4). + + Files modified: motorApp/OmsSrc/devOmsCom.cc + motorApp/OmsSrc/drvMAXv.cc + +4) With this release, the Aerotech Ensemble driver only supports 4.01.00 + 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). + + Modification Log from R6-5 to R6-6 ================================== diff --git a/configure/RELEASE b/configure/RELEASE index e67262b5..59936847 100644 --- a/configure/RELEASE +++ b/configure/RELEASE @@ -9,22 +9,21 @@ # # Add your declarations here -#!GATEWAY= -SUPPORT=/corvette/home/epics/devel +SUPPORT= -include $(TOP)/../configure/SUPPORT.$(EPICS_HOST_ARCH) # If any motor controller communication mechanism besides the VME backplane is # required, then ASYN must be defined. -# Recommended ASYN release: R4-17 -ASYN=$(SUPPORT)/asyn-4-17 +# Recommended ASYN release: R4-18 +ASYN=$(SUPPORT)/asyn/R4-18 # Need the sequencer and the bust record for the MM4005 and XPS trajectory scanning -# Recommended SNCSEQ release: R2-0-12 -SNCSEQ=$(SUPPORT)/seq-2-0-12 -BUSY=$(SUPPORT)/busy-1-3 +# Recommended SNCSEQ release: R2-1-13 +SNCSEQ=$(SUPPORT)/seq/2-1-3 +BUSY=$(SUPPORT)/busy/R1-4 -# Recommended EPICS release: R3.14.11 -EPICS_BASE=/corvette/usr/local/epics/base-3.14.12.1 +# Recommended EPICS release: R3.14.12.1 +EPICS_BASE= -include $(TOP)/../configure/EPICS_BASE.$(EPICS_HOST_ARCH) # The following must be defined for the MXmotor device driver. @@ -34,8 +33,8 @@ EPICS_BASE=/corvette/usr/local/epics/base-3.14.12.1 # /motorExApp. To build examples, the top Makefile, # /Makefile must also be edited. -# Recommended IPAC release: R2-10 -IPAC=$(SUPPORT)/ipac-2-11 +# Recommended IPAC release: R2-11 +IPAC=$(SUPPORT)/ipac/R2-11 # The following is only needed for the motor examples in iocBoot. #!MOTOR=$(TOP) diff --git a/documentation/motorRecord.html b/documentation/motorRecord.html index 4c48fd08..319c21ab 100644 --- a/documentation/motorRecord.html +++ b/documentation/motorRecord.html @@ -37,9 +37,9 @@ -

Overview

This documentation describes version R6-6 of the EPICS motor +

Overview

This documentation describes version R6-7 of the EPICS motor record, and related EPICS software required to build and use it.  Version -R6-6 of the motor record is compatible with EPICS base R3.14.11 and above. +R6-7 of the motor record is compatible with EPICS base R3.14.12.1 and above.

The motor record is intended to support motors of all kinds, but currently supports only the following variety of motor controllers (in addition to Soft @@ -54,7 +54,7 @@ Channel support): Newport models MM3000, MM4000/5/6, PM500, ESP300/301/100 and XPSC8.

  • - Intelligent Motion Systems, Inc. (IMS) models IM483 and MDrive. + Schneider Electric (formally IMS) models IM483, MDrive and MForce.
  • Advanced Control Systems, Corp. model MCB-4B. diff --git a/documentation/motor_release.html b/documentation/motor_release.html index 7159ff4b..4c7748ca 100644 --- a/documentation/motor_release.html +++ b/documentation/motor_release.html @@ -5,7 +5,7 @@ - EPICS Motor Record Release R6-6 Notice + EPICS Motor Record Release R6-7 Notice @@ -15,7 +15,7 @@

    - Motor Record Version 6-6 Release Notice

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

    @@ -23,11 +23,81 @@

    - Aerotech Ensemble Home Search + Aerotech Ensemble

    - The Home Search ability will be restored in a future bug fix release. +

      +
    • + 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

    +
      +
    • +

      + 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 #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. +
      • +
    +