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<title>Motor Module Known Problems</title>
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<body>
<center><h1>Motor Module: Known problems</h1></center>
<h2>Known problems with Release 6-10 and later</h2>
See issues on github: <a href="https://github.com/epics-modules/motor/issues">https://github.com/epics-modules/motor/issues</a>
<h2>Known problems with Release 6-9</h2>
<h2>Known problems with Release 6-8</h2>
<ol>
<li>
<p>
<b>Soft-travel Limits</b>
</p>
<p>
<ul>
<li>
Although there are a number of improvements with R6-8's support of soft-travel
limits (LVIO), there are also two problems that will remain "Known Problems".
These limitation are as follows:
</li>
<ul>
<li>
Tweaking (TWF/TWR) very small increments with UEIP = Yes while in the invalid
range of the soft-travel limits may put the motor record in a state where the
user cannot tweak in either direction. The solution is to either jog the motor
towards the valid range or increase the tweak increment value (TWV field).
</li>
<li>
Tapping the Jog button can cause the motor to move past the soft-travel limit
when backlash is nonzero.
</li>
</ul>
</ul>
</p>
</li>
<li>
<p>
<b>Newport ESP100/300/301</b>
</p>
<p>
The R6.8 ESP support changes made to "Use MRES rather than controller resolution
to do EGUtoRAWbacktoEGU conversion." do not work. (Model 1 drivers do not always
have access to motor record data.) The most obvious problem with R6.8 ESP
support is the inability to "set" the controller's position.
</p>
<p>
<a href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R6-8/ESPr68.patch">This
patch file</a> rolls back the R6.8 ESP changes and adds one bug fix to
the EPS100/300/301 driver; when a controller error occurs, the driver prints the
error code to the console and sets the RA_PROBLEM bit of the MSTA field. The
motor record patch unconditionally sends a "stop motor" command whenever a
driver sets the RA_PROBLEM bit. Finally, the patch file updates ESP info in the
README file.
</p>
<p>
R6-8-1 includes both the MRES related rollback and the STOP on RA_PROBLEM bug fix.
</p>
</li>
</ol>
<h2>Known problems with Release 6-7</h2>
<ol>
<li>
<p>
<b>Aerotech Ensemble</b>
</p>
<p>
<ul>
<li>
Due to network broadcasting upgrades to Aerotech Ensemble Motion Composer,
starting with motor module R6-7-1, the EPICS Ensemble driver only supports
4.01.002 Ensemble version firmware 4.01.002 and above.
</li>
<li>
The home search from EPICS command was been restored with R6-7-1. In order for
an EPICS home search command to work, the Aerotech Ensemble example program, <i>HomeAsync.abx</i>,
must be compiled and stored in the Ensemble. In addition, the Parameters>System>TaskExecutionSetup
parameter must be set to enable Auxiliary Task execution.
</li>
</ul>
</p>
</li>
<p>
<li>
<p>
<b>Schneider Electric (formally IMS) MDrive</b>
</p>
<p>
Joe Sullivan fixed several bugs in the Schneider Electric MDrive driver
associated with input buffer overflows that arose with newer MDrive firmware (e.g.,
3.003). These bug fixes were 1st released with motor module R6-7-1.
</p>
</li>
</p>
</ol>
<h2>Known problems with Release 6-5</h2>
<ol>
<li>
<p>
<b>Aerotech Ensemble</b>
</p>
<p>
<ul>
<li>
With previous releases the Aerotech Ensemble asyn motor driver would crash the
IOC at boot-up if the Ensemble was not powered up and able to communicate. Fixed
with R6-5-1.
</li>
<li>
The EOT limit switch status was not available except via an Ensemble fault
condition. With release R6-5-1 the status of the EOT limit switches are always
available.
</li>
</ul>
</p>
</li>
<p>
<li>
<p>
<b>OMS MAXv WatchDog Timeout Counter</b>
</p>
<p>
Beginning with R6-5-1 and OMS MAXv firmware ver:1.33, the EPICS MAXv driver reads
the MAXv's Watchdog Timeout Counter at bootup, and with every motor status
update. If the Counter is nonzero, an error message is sent to both the errlog
task and the console. Since a watchdog timer trip indicates that the MAXv has
rebooted and no longer has valid motor positions, the driver disables the
controller. That specific controller is no longer available to EPICS until after
the VME crate has been power cycled. Other MAXv 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 errlog is definitive;
</p>
<p>
<center>
***MAXv card #<i>(card#)</i> Disabled*** Watchdog Timeout CTR =<i>(count)</i>
</center>
</p>
</li>
</p>
<li>
<p>
<b>spec upgrade required</b>
</p>
<p>
The RES field was removed from the motor record with R6-5. Since earlier
versions of Certified Scientific Software's spec used the RES field, an upgrade
to spec version 5.8.06-6 or above is required for spec to work with motor record
R6-5 and above. The problem of using earlier versions of spec with motor record
R6-5 exhibits itself by spec setting the "responsive" parameter to zero and not
allowing any motor motion.
</p>
</li>
<li>
<p>
<b>VxWorks 6.x compiler error</b>
</p>
<p>
The GNU preprocessor assertions in motor.h are deprecated with the VxWorks 6.x
compiler. Test for CPU macros that are compatible with VxWorks 6.x have been
added. This change prevents an "Error: unknown bit order!" compiler error with
VxWorks 6.x. This problem is fixed with R6-5-2 and above. Alternatively, you can
replace &lt;motor&gt;/motorApp/MotorSrc/motor.h with the following copy:&nbsp;<a href="/bcda/synApps/motor/R6-5/motor.h">motor.h</a>
</p>
</li>
<li>
<p>
<b>Aerotech Ensemble Home Search</b>
</p>
<p>
The EPICS Ensemble driver uses Aerotech's ASCII communication protocol. That
protocol blocks all communication on the ASCII comm. port during a home search.
Consequently, once a home search is started from EPICS, it is unable to stop it.
As a result, beginning with R6-5-2, the home search command has been commented
out of the EPICS driver until an Ensemble firmware update resolves this problem.
</p>
</li>
</ol>
<h2>Known problems with Release 6-4</h2>
<ol>
<li>
R6-4 had 64-bit compile problems with the PI E816 and Aerotech Ensemble device
drivers. Fixed with R6-4-1 and above.
</li>
<p>
<li>
Dirk Zimoch (PSI) discovered and fixed a bug in the orginial OMS MAXv driver (R5-4)
that caused the home switch status in the response string to be overwritten.
Fixed with R6-4-2 and above.
<p>
</li>
<p>
<li>
A problem was introduced in R6-4 of the old motor record device drive
architecture. If during the move of one or more motors the motor task did not
issue an OS delay during status updates, it could potentially not respond to any
further motor commands. Fixed with R6-4-2 and above.
</li>
<p>
<li>
There is a bug in these motor record versions (R6-4, R6-4-1, R6-4-2)
that affects motors that have encoders and are configured to do closed-loop
control via retries (i.e. UEIP=Yes and RTRY != 0). Retries are not done
correctly and occasionally motors exceed their maximum retries and are left at
their backlash position; i.e., command position - backlash distance. See the
Release Notice for further error conditions. Fixed with R6-4-3 and above.
</li>
<p>
<LI>
The asynMotor device support in general, and the simulated motor, in particular,
had save/restore related problems. Fixed with R6-4-4 and above.
</LI>
<P>
<LI>
Previous releases of the Aerotech Ensemble device driver had incorrect Jog
speeds, lacked support for a negative PosScaleFactor parameter and did not
detect maximum travel limit switch faults correctly. Fixed with R6-4-4 and above.
</LI>
<P>
</ol>
<h2>Known problems with Release 6-3</h2>
<OL>
<LI>
The OMS VME58 "stale data" problem is caused by the driver communicating via the
ASCII commands while the DPRAM was updating. The OMS VME58 driver was modified
with R6-3 to eliminate this contention and the "stale data delay" was set to
zero. Since then a problem with OMS VME58 2.24-8S version firmware and all 2.35
firmware versions has arisen. When the user sets the motor record's position,
the previous target and readback positions are read from the controller on the
next update.
<P>
With releases after R6-3 (e.g., R6-3-1 and R6-4) the driver searches all VME58
board ID's for either 2.24-8S or any 2.35 version. If any board is found, the "stale
data delay" is set to a non-zero value.
</LI>
<P>
<LI>
A problem was reported by Emma Shepherd (Diamond) with R6-3 if the "Use RDBL
Link" field (URIP) was set to "Yes". The NTM logic was sending stop commands
and issuing the "tdir=.." message to the console if the RDBL link was used. This
error was the result of changing the NTM logic as described in item #11 under R6-3
modifications.
<P>
With releases after R6-3 (e.g., R6-3-1 and R6-4), the NTM logic is restored to
using feedback rather than reference positions. In addition, with release R6-4
and after, an "NTM deadband factor" field (NTMF) is added to allow the user to
set the NTM deadband; NTM deadband = NTMF * (|BDST| + RDBD) NTMF must be >= 2.
If properly configured, the NTM deadband prevents NTM logic from issuing a STOP
command at the end of a DC motor move that overshoots its' target position.
</LI>
<P>
<LI>
The asyn motor device driver architecture does not support the motor record
GET_INFO command. Hence, operations that require a status update (i.e., setting
the position) were not working. This is fixed in R6-4.
</LI>
<P>
<LI>
In the process of fixing the OMS VME58 "stale data" problem described above,
needless delays were added to the code that updated the VME58's DPRAM. These
needless delays can be calculated as follows;
<P>
delay = (n-1) * (1/sysClkRate)
<P>
where, n = # of VME58 boards in the IOC.<BR>
sysClkRate = 60 Hz, unless changed by a sysClkRateSet() from st.cmd.
<P>
These delays are eliminated with R6-4-2 and above.
</LI>
<P>
</OL>
<h2>Known problems with Release 6-2</h2>
<OL>
<LI>
Link errors occurred when building "XPSGatheringMain" for the solaris-sparc-gnu
target. Newport users should upgrade to R6-2-1.
</LI>
<P>
<LI>
Errors occurred in various motorApp's when building for the solaris-sparc (SUNWspro)
target. SUNWspro users should upgrade to R6-2-1.
</LI>
<P>
<LI>
Mark River's found and fixed a bug in the motor record. RDBD was being used in
motor record initialization before the RDBD validation check. This resulted in
motor positions not being initialized from save/restore at boot-up if RDBD was
not included in a save/restore save set. This is fixed in R6-2-2.
</LI>
<P>
<LI>
A bug was introduced into the shell command <B>motorUtilInit</B> affecting these
versions of the motor distribution; R6-2, R6-2-1 and R6-2-2. This bug resulted
in the erroneous error message; "motorUtilInit: Prefix %c: has more than 53
characters. Exiting". Replace &lt;motor&gt;/motorApp/MotorSrc/motorUtil.cc with
the following copy:&nbsp; <A href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R6-2/motorUtil.cc">motorUtil.cc</A>
</LI>
<P>
<LI>
The "alldone" PV in motorUtil.db defaulted to the "moving" state between "iocInit
" and "motorUtilInit", giving the false indication that motors were moving
during boot-up. The "alldone" PV now defaults to the "done" state. Replace &lt;motor&gt;/motorApp/Db/motorUtil.db
with the following copy:&nbsp; <A href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R6-2/motorUtil.db">motorUtil.db</A>
</LI>
<P>
</OL>
<h2>Known problems with Release 6-1</h2>
<OL>
<LI>
The Newport PM500 driver was not issuing the correct command when it queried for
the number of axes at boot up. This resulted in a "PM500 system error" message
on the 1st axis; fixed in R6-2.
</LI>
<LI>
A bug was introduced with R6-0; the OMS device support was overwriting PID
parameter fields during its' normalization calculation; fixed in R6-2.
</LI>
<LI>
There was a bug in the logic that determines the precedence between using the
controller's or save/restore's motor position at boot-up. Negative controller
positions were not handled correctly; fixed in R6-2
</LI>
<LI>
The home request (HOMF/HOMR) were not cleared when a soft-limit violation
occurred; fixed in R6-2.
</LI>
<LI>
Due to releasing R6-1 during Newport development, R6-1 can result in linker
errors on the symbol "xpsgathering". Newport users should upgrade to R6-2.
</LI>
</OL>
<h2>Known problems with Release 6-0</h2>
<OL>
<LI>
The R6-0-bugfix CVS repository branch has become corrupted. Hence, no further
changes will be made (i.e., bug fixes) to the R6-0 branch.
</LI>
<LI>
A bug was introduced with this release. The OMS device support overwrites PID
parameter fields during its' normalization calculation. This is fixed in R6-2.
</LI>
</OL>
<h2>Known problems with Release 5-9</h2>
<OL>
<LI>
An undocumented change was made in R5-4 to two OMS setup functions. Namely, the
unused 2nd argument ("axes per card") was eliminated from omsSetup() and
oms58Setup().
</LI>
<LI>
Since R4-5 the motor record has required that RDBD be >= MRES. The test for
this condition was done using floating point values. This caused an occasional
error that resulted in the record not always issuing a motor move command when
RDBD = MRES and the user issued an incremental move request equal to MRES. This
is fixed with R5-9-1 and R6-0.
</LI>
<LI>
A warning message was added with R5-6 when a user attempted to move an OMS motor
with an invalid velocity (slew <= base). Applications that manipulate the
velocity values are unaware of this restriction and create a torrent of
these messages. With release R5-9-1 and R6-0 the OMS device driver will
only output this warning message once.
</LI>
<LI>
Added a work around for OMS PC68/78 firmware error. PC68/78 controllers make an
erroneous response after they are queried with the "?KP" command at boot-up.
This resulted in 1st axis having same position (RP command) as last the axis.
This is fixed with R5-9-1 and R6-0.
</LI>
<LI>
GPIB under ASYN allows only one input EOS character; no output EOS is allowed.
Adjustments were made to the Newport ESP300 driver to accomodate this
restriction with R5-9-1 and R6-0.
</LI>
<LI>
The CVS repository has become out of synch with the R5-9-1 tar file (motorR5-9-1.tar.gz).
Hence, no further changes will be made (i.e., bug fixes) to the R5-9 branch.
</LI>
</OL>
<h2>Known problems with Release 5-8</h2>
<h2>Known problems with Release 5-7</h2>
<h2>Known problems with Release 5-6</h2>
<h2>Known problems with Release 5-5</h2>
<h2>Known problems with Release 5-4</h2>
<ol>
<li>
An undocumented change was made to two OMS setup functions. Namely, the unused
2nd argument ("axes per card") was eliminated from omsSetup() and oms58Setup()
in R5-4.
</li>
</ol>
<h2>Known problems with Release 5-3</h2>
<ol>
<li>
"sorry, not implemented: `tree_list' not supported by dump_type" error when
compiling drvOms.cc and drvOms58.cc under Tornado 2.2. The Tornado 2.2 compiler
(i.e., 2.96) creates errors in devLib.h. The root cause of this "bug" is a
problem with the gcc-2.96 compiler bundled with Tornado 2.2. Unfortunately, to
date, Wind River is only helping with workarounds; not fixing the compiler. Hence,
the following patches are required.
</li>
<ul>
<li>
For R3.14.4-5, replace &lt;base&gt;src/libCom/osi/devLib.h with the following
copy:&nbsp;<a href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R5-3/devLib.h">devLib.h</a>
</li>
<LI>
Edit &lt;motor&gt;/motorApp/OmsSrc/drvOms.cc by uncommenting the lines with the <I>Tornado
2.2</I> comment and commenting out the line with the <I>Tornado 2.0.2</I>
comment.</A>
</LI>
<LI>
Edit &lt;motor&gt;/motorApp/OmsSrc/drvOms58.cc by uncommenting the lines with
the <I>Tornado 2.2</I> comment and commenting out the line with the <I>Tornado
2.0.2</I> comment.</A>
</LI>
</ul>
</ol>
<h2>Known problems with Release 5-2</h2>
<ol>
<li>
"sorry, not implemented: `tree_list' not supported by dump_type" error when
compiling drvOms.cc and drvOms58.cc under Tornado 2.2. The Tornado 2.2 compiler
(i.e., 2.96) creates errors in devLib.h. The root cause of this "bug" is a
problem with the gcc-2.96 compiler bundled with Tornado 2.2. Unfortunately, to
date, Wind River is only helping with workarounds; not fixing the compiler. Hence,
the following patches are required.
</li>
<ul>
<li>
For R3.14.4-5, replace &lt;base&gt;src/libCom/osi/devLib.h with the following
copy:&nbsp;<a href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R5-2/devLib.h">devLib.h</a>
</li>
<li>
Replace &lt;motor&gt;/motorApp/OmsSrc/drvOms.cc with the following
updated copy:&nbsp;<a href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R5-2/drvOms.cc">drvOms.cc</a>
</li>
<li>
Replace &lt;motor&gt;/motorApp/OmsSrc/drvOms58.cc with the following
updated copy:&nbsp;<a href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R5-2/drvOms58.cc">drvOms58.cc</a>
</li>
</ul>
</ol>
<h2>Known problems with Release 4-9</h2>
<ol>
<LI>
PID parameters (i.e., PCOF, ICOF and DCOF fields) were not initialized at boot-up.
With R4.9.1, if the GAIN_SUPPORT bit in the MSTA is true, each nonzero,
PID parameter will be initialized. For backwards compatibility, zero valued PID
parameters will not be initialized.
</LI>
<LI>
Previous releases of the IMS MDrive device driver did not work. Thanks to Kevin
M. Peterson (UNI-CAT) for identifying and fixing the errors in previous releases.
</LI>
<ul>
<li>
Fixed with R4-9-2.
</li>
</ul>
<LI>
Two bugs were found and fixed with the Newport MM3000 device support. First,
the enable/disable torque control field (CNEN) was not working. Second, an
error was introduced into the Newport MM3000 device driver with R4-8; the driver
was confusing valid responses with the "system error" response from the
controller
</LI>
<ul>
<li>
Fixed with R4-9-3.
</li>
</ul>
<LI>
A retry on initial communication with the Physik Instrumente (PI) C-844 motor
controller was added. The controller was intermittently not responding after an
IOC power-cycle.
</LI>
<ul>
<li>
Fixed with R4-9-4.
</li>
</ul>
<LI>
Modifications were made to the motor record in order to allow a user to
configure it for periodic status updates using the SCAN field.
</LI>
<ul>
<li>
Available with R4-9-4.
</li>
</ul>
<LI>
The motor record would get into an invalid state when it attempted to perform a
backlash correction move in the direction of an activated limit switch.
</LI>
<ul>
<li>
Fixed with R4-9-5.
</li>
</ul>
<LI>
Bug fix for home request re-activating after a limit switch error is cleared.
This release clears the homing and jog request after a LS or travel limit error.
Updated the motorx_all.adl MEDM screen (V2.5) to show the state of the jog
request.
</LI>
<ul>
<li>
Fixed with R4-9-5.
</li>
</ul>
<LI>
A bug was reported by David Maden (PSI) that occurred when a motor was jogged
into a limit switch with the DIR field set to "Neg". Under these conditions, the
motor record was not processing the limit error condition correctly. This
resulted in the motor record not setting either of the limit error indicator
fields (HLS/LLS) and becoming stuck in the "Moving" state.
</LI>
<ul>
<li>
Fixed with R4-9-6.
</li>
</ul>
<LI>
Kevin Peterson (UNI-CAT) and I diagnosed a bug that is in all R3.13 versions of
the motor record distribution. The bug is in the interface between motor record
GPIB capable drivers (i.e., Newport MM4000/5/6, MM3000, PM500, ESP300/100) and
the EPICS base GPIB driver; drvGpib.<BR>
Dynamic memory is allocated and shared with drvGpib by the motor task. The
problem arises here, at the end of ibLinkTask in drvGpib.c;<BR>
plink->deviceStatus[pnode->device] = (*(pnode->workStart))(pnode);<BR>
pnode->workStart is a pointer to gpibIOCallback() in gpibIO.c. When
gpibIOCallback() is done processing it "gives" a semaphore that is "taken" by
either gpibIOSend() and gpibIORecv(). Both gpibIOSend() and gpibIORecv()
immediately free the shared memory.<BR>
This works almost all the time; but occasionally the memory is taken by some
other task and trashed before the line above is executed resulting in a bus
error on "pnode->device".<BR>
As a quick fix, the task priorities of the all GPIB capable controllers has been
lowered below ibLinkTasks priority. This allows ibLinkTask to finish processing
and be waiting for the next GPIB request before the shared memory is de-allocated.
<BR>
All users of the R3.13.x version of the motor record distribution that use GPIB
to communicate to Newport controllers (i.e., Newport MM4000/5/6, MM3000, PM500,
ESP300/100), should upgrade to the R4-9-6 release.
</LI>
<ul>
<li>
Fixed with R4-9-6.
</li>
</ul>
</ol>
<h2>Known problems with Release 4-8</h2>
<OL>
<LI>
Previous releases of the IMS MDrive device driver did not work. Thanks to Kevin
M. Peterson (UNI-CAT) for identifying and fixing the errors in previous releases.
</LI>
<ul>
<li>
Fixed with R4-9-1.
</li>
</ul>
<LI>
Users of the status update field (STUP) should use a later release.
</LI>
<ul>
<li>
Fixed with R4-9 and above.
</li>
</ul>
<LI>
Two bugs were found and fixed with the Newport MM3000 device support. First,
the enable/disable torque control field (CNEN) was not working. Second, an
error was introduced into the Newport MM3000 device driver with R4-8; the driver
was confusing valid responses with the "system error" response from the
controller
</LI>
<ul>
<li>
Fixed with R4-8-1 and above.
</li>
</ul>
</OL>
<h2>Known problems with Release 4-7</h2>
<ol>
<li>
With release R4-5, DBE_LOG was omitted from the event select mask of all
db_post_events() calls.&nbsp; This prevented archival clients from being
notified of process variable changes.
</li>
<ul>
<li>
Fixed with R4-7-1.
</li>
</ul>
<LI>
Communication with the Newport MM3000 motor controller was getting out of
synchronization whenever the MM3000 responded with an error message. This
problem was resolved by having recv_mess() in drvMM3000.c detect an error
message response, print the error message and then, recursively, call itself.
This restored communication transmit/receive synchronization.
</LI>
<UL>
<li>
Fixed with R4-7-2.
</li>
</UL>
<LI>
With release R4-7, there was a slight (undocumented) modification made to the
way that backlash correction functioned. If a move is in the preferred direction
and the backlash speed and acceleration are the same as the slew speed and
acceleration, then the backlash move is skipped and the motor moves directly to
the target position. Unfortunately, there was a bug in the logic that appeared
only when MRES< 0. When MRES < 0, and the backlash speed and acceleration were
the same as the slew speed and acceleration, the motor record did the opposite
of the requirements; i.e., it did backlash correction when the move was in the
preferred direction and did not do backlash correction when the move was not in
the preferred direction.
</LI>
<UL>
<li>
Fixed with R4-7-2.
</li>
</UL>
<LI>
The Newport ESP300 would randomly crash at boot-up because an internal parameter
("drive_resolution") was not always, under all configurations, initialized. With
this release, the "drive_resolution" is set based on the response to the ESP300
"SU?" command. In addition, the user is required to set MRES to the resolution
of the controller as explained in the new document /motorApp/NewportSrc/README.
</LI>
<UL>
<li>
Fixed with R4-7-2.
</li>
</UL>
<LI>
A bug was introduced in R4-6 while fixing another bug; see item#2 under
Modification Log from R4-5 to R4-6 in the distribution README file. This error
exhibited itself only under the following conditions; BDST != 0, DLY != 0 and a
new target position is issued before the backlash correction move. Under these
conditions the motor record became unresponsive; i.e., it locked up.
</LI>
<UL>
<li>
Fixed with R4-7-3.
</li>
</UL>
<LI>
Although there is no explicit statement in the motor record documentation, most
user's would expect the "Readback settle time" field (DLY) to update the
readback after the delay timeout. It did not do this. With this release, the
readback is updated one time after the timeout.
</LI>
<UL>
<li>
Fixed with R4-7-3.
</li>
</UL>
<LI>
There were problems with the tweak function (TWF/TWR) when the TWV was set to
less than MRES. Under this condition, the following scenario would result. First,
tweak forward (TWF). Since DIFF < MRES, the motor is not moved. Next, tweak
reverse (TWR). Next TWF again. The motor record does not respond; i.e., DVAL
and RVAL are not updated; VAL is not posted. A single tweak, back and forth,
confirms that the motor record is not responding.
</LI>
<UL>
<li>
Fixed with R4-7-4.
</li>
</UL>
<LI>
The motor record would lock-up when a user tried to move off an activated limit
switch with the OMS VME58 servo motor controller board (i.e., model -8S). See "Known
Problems" item #4 in the motor record's distribution README file.
</LI>
<UL>
<li>
Fixed with R4-7-4.
</li>
</UL>
</ol>
<h2>Known problems with Release 4-6</h2>
<ol>
<li>
An uninitialized pointer error check was omitted from ESP300_init_record() in
the devESP300.c file. &nbsp;This resulted in a bus error at boot-up if there was
a failure to connect to the controller. &nbsp;Choose one of the following
methods to applying the bug fix:
</li>
<ul>
<li>
Replace &lt;motor&gt;/motorApp/NewportSrc/devESP300.c with the following
updated copy:&nbsp;<a href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R4-6/devESP300.c">devESP300.c</a>
</li>
<li>
Install motor record version R4-6-1 or above, which includes this bug fix.
</li>
</ul>
<li>
With release 4-5, DBE_LOG was omitted from the event select mask of all
db_post_events() calls.&nbsp; This prevented archival clients from being
notified of process variable changes.
</li>
<ul>
<li>
Fixed with R4-6-2.
</li>
</ul>
<LI>
Communication with the Newport MM3000 motor controller was getting out of
synchronization whenever the MM3000 responded with an error message. This
problem was resolved by having recv_mess() in drvMM3000.c detect an error
message response, print the error message and then, recursively, call itself.
This restored communication transmit/receive synchronization.
</LI>
<UL>
<li>
Fixed with R4-6-3.
</li>
</UL>
<LI>
The Newport ESP300 would randomly crash at boot-up because an internal parameter
("drive_resolution") was not always, under all configurations, initialized. With
this release, the "drive_resolution" is set based on the response to the ESP300
"SU?" command. In addition, the user is required to set MRES to the resolution
of the controller as explained in the new document /motorApp/NewportSrc/README.
</LI>
<UL>
<li>
Fixed with R4-6-3.
</li>
</UL>
<LI>
A bug was introduced in R4-5-1 while fixing another bug; see item#2 under
Modification Log from R4-5 to R4-5-1 in the distribution README file. This error
exhibited itself only under the following conditions; BDST != 0, DLY != 0 and a
new target position is issued before the backlash correction move. Under these
conditions the motor record became unresponsive; i.e., it locked up.
</LI>
<UL>
<li>
Fixed with R4-6-4.
</li>
</UL>
<LI>
Although there is no explicit statement in the motor record documentation, most
user's would expect the "Readback settle time" field (DLY) to update the
readback after the delay timeout. It did not do this. With this release, the
readback is updated one time after the timeout.
</LI>
<UL>
<li>
Fixed with R4-6-4.
</li>
</UL>
</ol>
<h2>Known problems with Release 4-5</h2>
<ol>
<li>
Soft Channel Device Support - see <a href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R4-5/motor_release.html">Release
Notice.</a>
</li>
<ul>
<li>
Fixed with R4-5-1.<br>
</li>
</ul>
<li>
Backlash Correction Bug Fixes - see <a href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R4-5/motor_release.html">Release
Notice.</a>
</li>
<ul>
<li>
Fixed with R4-5-1<br>
</li>
</ul>
<li>
With release 4-5, DBE_LOG was omitted from the event select mask of all
db_post_events() calls.&nbsp; This prevented archival clients from being
notified of process variable changes.
</li>
<ul>
<li>
Fixed with R4-5-2<br>
</li>
</ul>
<LI>
Communication with the Newport MM3000 motor controller was getting out of
synchronization whenever the MM3000 responded with an error message. This
problem was resolved by having recv_mess() in drvMM3000.c detect an error
message response, print the error message and then, recursively, call itself.
This restored communication transmit/receive synchronization.
</LI>
<UL>
<li>
Fixed with R4-5-3.
</li>
</UL>
<LI>
The Newport ESP300 would randomly crash at boot-up because an internal parameter
("drive_resolution") was not always, under all configurations, initialized. With
this release, the "drive_resolution" is set based on the response to the ESP300
"SU?" command. In addition, the user is required to set MRES to the resolution
of the controller as explained in the new document /motorApp/NewportSrc/README.
</LI>
<UL>
<li>
Fixed with R4-5-3.
</li>
</UL>
<LI>
A bug was introduced in R4-5-1 while fixing another bug; see item#2 under
Modification Log from R4-5 to R4-5-1 in the distribution README file. This error
exhibited itself only under the following conditions; BDST != 0, DLY != 0 and a
new target position is issued before the backlash correction move. Under these
conditions the motor record became unresponsive; i.e., it locked up.
</LI>
<UL>
<li>
Fixed with R4-5-3.
</li>
</UL>
<LI>
Although there is no explicit statement in the motor record documentation, most
user's would expect the "Readback settle time" field (DLY) to update the
readback after the delay timeout. It did not do this. With this release, the
readback is updated one time after the timeout.
</LI>
<UL>
<li>
Fixed with R4-5-3.
</li>
</UL>
<LI>
An error occurred when the SET/USE field was in the SET mode and the FOFF field
was in the FROZEN mode. Under these conditions, if the user entered a new RVAL,
the record ignored every other new RVAL; with every other new DVAL that the user
entered, RVAL was not updated. VAL always worked.
</LI>
<UL>
<li>
Fixed with R4-5-4.
</li>
<li>
Replace &lt;motor&gt;/motorApp/MotorSrc/motorRecord.c with the following updated
copy:&nbsp;<A href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R4-5/motorRecord.c_R4-5-4">motorRecord.c</A>
</li>
</UL>
</ol>
<h2>Known problems with Release 4-4</h2>
<ol>
<li> The "Driver Power Monitoring" feature (available only for OMS VME58
controllers)&nbsp; was erroneously and randomly being enabled.&nbsp; Choose
one of the following methods to applying the bug fix:</li>
<ul>
<li> Make the following modification to &lt;motor&gt;/motorApp/MotorSrc/motordevCom.c:</li>
<ul>
202a203 <br>
&gt;&nbsp;&nbsp;&nbsp;&nbsp; ptrans-&gt;dpm = OFF;
</ul>
<li> Replace &lt;motor&gt;/motorApp/MotorSrc/motordevCom.c with the
following updated copy:&nbsp; <a
href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R4-4/motordevCom.c">
motordevCom.c</a> </li>
<li> Install motor record version R4-4-1 or above, which includes this
bug fix.</li>
</ul>
<li> &nbsp;Code around "safeDoubleToFloat conversion bug" in EPICS R3.13.5.&nbsp;
A bug was introduced into R3.13.5 with the "dbConvert and dbFastLinkConv"
fix (see EPICS base Release Notes for R3.13.5) that resulted in the inability
to set PV fields defined as DBF_FLOAT's to zero.&nbsp; One of the scenarios
where this has caused a problem is when a user tries to disable software
travel limits by setting DHLM = DLLM = 0.&nbsp; Choose the following methods
to applying the bug fix:</li>
<ul>
<li> Replace &lt;motor&gt;/motorApp/MotorSrc/motordevCom.c with the following
updated copy:&nbsp; <a
href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R4-4/motorRecord.c">
motorRecord.c</a> </li>
</ul>
<li>The makeConfigAppInclude.pl perl script distibuted with R4-4 and
R4-4-1 does not support spaces between the macro and the "=" sign in the
config/RELEASE file.</li>
<ul>
<li>Replace &lt;motor&gt;/config/makeConfigAppInclude.pl with the following
updated copy:&nbsp;<a
href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R4-4/makeConfigAppInclude.pl">
makeConfigAppInclude.pl</a> </li>
<li>Replace &lt;motor&gt;/config/makeIocCdCommands.pl with the following
updated copy: <a
href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R4-4/makeIocCdCommands.pl">
makeIocCdCommands.pl</a>&nbsp;</li>
</ul>
<li>The following scenario would put the motor record into an invalid state.
&nbsp;A new target position (i.e., VAL/DVAL/RVAL) is written to the motor
record under the following conditions,<br>
<ul>
<li>motion is in progress (i.e., DMOV is false).</li>
</ul>
<ul>
<li>the new target position is different from the actual position by
less than the retry deadband (|DIFF| &lt; RDBD).</li>
</ul>
<ul>
<li>backlash correction is enabled (i.e., BDST is non-zero) and the
new move is NOT in the "preferred direction" (preferred direction is the
direction in which the motor moves during the backlash-takeout part of a
motor move).</li>
</ul>
Install motor record version 4-4-2 or above to fix this problem.<br>
</li>
</ol>
<h2>Known problems with Release 4-3</h2>
<ol>
<li>
The "Driver Power Monitoring" feature (available only for OMS VME58 controllers)&nbsp;
was erroneously and randomly being enabled.&nbsp; Choose one of the following
methods to applying the bug fix:</li>
<ul>
<li>
Make the following modification to &lt;motor>/motorApp/MotorSrc/motordevCom.c:</li>
<ul>202a203
<br>>&nbsp;&nbsp;&nbsp;&nbsp; ptrans->dpm = OFF;</ul>
<li>
Replace &lt;motor>/motorApp/MotorSrc/motordevCom.c with the following updated
copy:&nbsp; <a href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R4-3/motordevCom.c">motordevCom.c</a></li>
<li>
Install motor record version R4-3-1, which includes this bug fix.</li>
</ul>
<li>
Under certain conditions target positions entered through RVAL were ignored.&nbsp;
If the difference between the current and the next target position (i.e.,
RDIF, DIFF) was less than the retry deadband (RDBD), and the next target
position was in the "preferred direction", then the new RVAL was ignored.&nbsp;
Motor record version R4-3-2 includes the fix for this bug.</li>
</ol>
<h2>Known problems with Release 3-5</h2>
<ol>
<li> Under certain conditions target positions entered through RVAL were
ignored.&nbsp; If the difference between the current and the next target
position (i.e., RDIF, DIFF) was less than the retry deadband (RDBD), and
the next target position was in the "preferred direction", then the new RVAL
was ignored.</li>
</ol>
<ul>
<ul>
<li> Replace motorRecord.c with the following updated copy:&nbsp;<a href="http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R3-5/motorRecord.c">
motorRecord.c</a>
</li>
</ul>
</ul>
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