forked from epics_driver_modules/motorBase
Ron Sluiter
1813 lines
63 KiB
HTML
1813 lines
63 KiB
HTML
<!DOCTYPE html PUBLIC "-//w3c//dtd html 4.0 transitional//en">
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<html>
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<head>
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<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
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<meta name="GENERATOR" content="Mozilla/4.77 [en] (X11; U; SunOS 5.8 sun4u) [Netscape]">
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<meta name="Author" content="Ronald L. Sluiter">
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<meta name="Description" content="Synopsis of modifications, fixes and new features for each motor record release.">
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<title>EPICS Motor Record Release R6.1 Notice</title>
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<meta name="author" content="Ronald L. Sluiter">
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<meta name="description" content="Notification of bug fixes, functional changes and new features.">
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</head>
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<body>
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<CENTER>
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<H1><B><U>Motor Record Version 6.1 Release Notice</U></B></H1>
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</CENTER>
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<BR>
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<B><U>Requirements</U></B><BR>
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<BR>
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EPICS base R3.14.8.2 or greater. See the "Required Modules" section of the
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Motor Record web page for details.<BR>
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<center>
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<h4><u>Modifications to Existing Features</u></h4>
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</CENTER>
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<DIV align="left">
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<P>
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<U><B>PI C-862 communiation errors</B></U>
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</P>
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<P>
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A 17ms "status update delay" was added to the driver to prevent the controller
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from dropping communication characters. This problem resulted in erroneous
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error responses from the controller.
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</P>
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<P>
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<U><B>motorStatus[xx].adl displays</B></U>
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</P>
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<P>
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All motorStatus[xx].adl displays were modified to show motor position with text
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rather than with bar graphs.
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</P>
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</DIV>
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<CENTER>
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<H4><U>New Features</U></H4>
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</CENTER>
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<DIV align="left">
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<P>
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<U><B>Physik Instrumente GmbH & Co. Model E-710</B></U>
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</P>
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<P>
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Joe Sullivan added support for the Physik Instrumente (PI) GmbH & Co. Model E-710
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motor controller.
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</P>
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</DIV>
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<CENTER>
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<H1><B><U>Motor Record Version 6.0 Release Notice</U></B></H1>
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</CENTER>
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<BR>
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<B><U>Requirements</U></B><BR>
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<BR>
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EPICS base R3.14.8.2 or greater. See the "Required Modules" section of the
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Motor Record web page for details.<BR>
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<center>
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<h4><u>Modifications to Existing Features</u></h4>
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</CENTER>
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<DIV align="left">
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<P>
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<U><B>OMS MAXv Polling Rate</B></U>
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</P>
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<P>
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The OMS MAXv polling rate, which is set from the MAXvSetup() st.cmd command, is
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allowed to be as high as the OS clock rate; i.e., (1/epicsThreadSleepQuantum()).
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</P>
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<P>
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<U><B>Changes to New Focus Device Support</B></U>
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</P>
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<P>
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The New Focus Model 8750 Network Controller device support ("PMNC8750") has been
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changed to "PMNC87xx". It now supports both the 8750 and 8752 models.
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</P>
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</DIV>
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<CENTER>
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<H4><U>New Features</U></H4>
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</CENTER>
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<DIV align="left">
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<P>
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<U><B>Physik Instrumente GmbH & Co. Model C-862</B></U>
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</P>
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<P>
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Mohan Ramanathan and Ron Sluiter added support for the Physik Instrumente (PI)
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GmbH & Co. Model C-862 motor controller.
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</P>
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<P>
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<U><B>ACS Tech80 SPiiPlus</B></U>
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</P>
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<P>
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Joe Sullivan added support for the ACS Tech80 SPiiPlus motor controller.
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</P>
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<P>
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<U><B>Spectra-Physics Encoder Mike</B></U>
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</P>
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<P>
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Joe Sullivan added support for the Spectra-Physics Encoder Mike Controller (Model:
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18011).
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</P>
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</DIV>
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<CENTER>
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<H1><B><U>Motor Record Version 5.9 Release Notice</U></B></H1>
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</CENTER>
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<BR>
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<B><U>Requirements</U></B><BR>
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<BR>
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EPICS base R3.14.8.2 or greater. See the "Required Modules" section of the
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Motor Record web page for details.<BR>
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<center>
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<h4><u>Modifications to Existing Features</u></h4>
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</CENTER>
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<DIV align="left">
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<P>
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<U><B>Soft Motor allocation limit</B></U>
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</P>
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<P>
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Peter Denison (Diamond Light Source) enhanced the Soft Channel device support by
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eliminating the 50 soft motor limit and replacing it with an unlimited linked list.
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</P>
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</DIV>
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<CENTER>
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<H4><U>New Features</U></H4>
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</CENTER>
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<DIV align="left">
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<P>
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<U><B>All motors done/stop/moving utility</B></U>
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</P>
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<P>
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Kevin Peterson's (UNI-CAT) motorUtil task was added to the motor record
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distribution. The motorUtil task monitors and maintains 3 PV's; $(P)alldone, $(P)allstop,
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$(P)moving. motorUtil is a replacement for the all_com_##.db distributed with
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the STD support module. See the motorUtil.db file for details.
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</P>
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<P>
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<U><B>Asyn Motor</B></U>
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</P>
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<P>
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Peter Denison (Diamond), Nick Rees (Diamond) and Mark Rivers (APS) have added a
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new motor record device support architecture based on ASYN; called "asyn motor"
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support. The asyn motor support <I>is an attempt to define a clean, extensible
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API for motor controller drivers to support</I>. This is a preliminary release
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of work in progress. Do not use <I>asynMotor</I> device support at this time, except
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for development and testing purposes only.
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</P>
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<P>
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<U><B>New Focus 8750 Network Controller</B></U>
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</P>
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<P>
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Joe Sullivan added support for the New Focus Model 8750 Network Controller.
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</P>
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<P>
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<U><B>Physik Instrumente (PI) E-662 piezo controller</B></U>
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</P>
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<P>
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Joe Sullivan added support for the Physik Instrumente (PI) GmbH & Co. Model E-662
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piezo controller.
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</P>
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<P>
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<U><B>Newport XPS-C8 asyn motor support</B></U>
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</P>
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<P>
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Mark Rivers added asyn motor support for the Newport XPS-C8 motor controller.
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This is a preliminary release of work in progress. However, it has fewer
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problems than the previous XPS support, so we recommend using the new asyn
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support for the XPS, with the understanding that it is still under development.
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</P>
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<P>
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<U><B>Trajectory Scanning</B></U>
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</P>
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<P>
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Mark Rivers added the Trajectory Scanning software for both the Newport MM4005
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and XPS-C8 motor controllers to the motor record distribution.
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</P>
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<P>
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<U><B>OMS PC68 and PC78 support</B></U>
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</P>
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<P>
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Brian Tieman and Ron Sluiter added support for the standalone, RS-232 versions
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of the OMS PC68 and PC78 model controllers. The same device driver (OMS PC68/78)
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supports both models.
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</P>
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</DIV>
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<CENTER>
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<H1><B><U>Motor Record Version 5.8 Release Notice</U></B></H1>
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</CENTER>
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<BR>
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<B><U>Requirements</U></B><BR>
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<BR>
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EPICS base R3.14.7 or greater. See the "Required Modules" section of the
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Motor Record web page for details.<BR>
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<CENTER>
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<H4><U>New Features</U></H4>
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</CENTER>
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<DIV align="left">
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<P>
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<U><B>Faulhaber MCDC2805</B></U>
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</P>
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<P>
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Mark Rivers added support for the Faulhaber MCDC2805 servo controller.
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</P>
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<P>
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<U><B>Parker Hannifin, Compumotor Division, 6K Series</B></U>
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</P>
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<P>
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Joe Sullivan added support for Parker Hannifin, Compumotor Division, 6K Series
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controllers.
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</P>
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</DIV>
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<CENTER>
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<H1><B><U>Motor Record Version 5.7 Release Notice</U></B></H1>
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</CENTER>
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<BR>
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<B><U>Requirements</U></B><BR>
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<BR>
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EPICS base R3.14.7 or greater. See the "Required Modules" section of the
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Motor Record web page for details.<BR>
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<CENTER>
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<H4><U>Modifications to Existing Features</U></H4>
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</CENTER>
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<DIV align="left">
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<U><B>Initial Position</B></U>
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<P>
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With this release, if the absolute values of both the save/restore's target
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position and the controller's commanded position are greater than the re-try
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deadband (RDBD) at boot-up, then DVAL will be initialized from the controller's
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value. In other words, if the absolute value of the controller's commanded
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position is greater than the re-try deadband at boot-up, than the controller's
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position takes precedence over the save/restore value.
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</P>
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</DIV>
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<CENTER>
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<H4><U>New Features</U></H4>
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</CENTER>
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<DIV align="left">
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<P>
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<U><B>Physik Instrumente (PI) C-630</B></U>
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</P>
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<P>
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Kurt Goetze added support for the Physik Instrumente (PI) model C-630 motion
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controller.
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</P>
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<P>
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<U><B>Physik Instrumente (PI) C-848</B></U>
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</P>
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<P>
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Support added for the Physik Instrumente (PI) C-848 motor controller.
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</P>
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</DIV>
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<CENTER>
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<h1><b><u>Motor Record Version 5.6 Release Notice</u></b></h1>
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</CENTER>
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<BR>
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<b><U>Requirements</u></B><BR>
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<BR>
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EPICS base R3.14.7 or greater. See the "Required Modules" section of the
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Motor Record web page for details.<br>
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<center>
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<h4><u>Modifications to Existing Features</u></h4>
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</CENTER>
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<div align="left">
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<U><B>IMS MDrive Configuration</B></U>
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<P>
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IMS MDrive users must make the following configuration changes to their MDrive's
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as described in the distribution document "motorR5-6/motorApp/ImsSrc/README".
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<UL>
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<LI>
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Configure the limit and home switches.
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</LI>
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<LI>
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Change the MDrives' Echo Mode Flag to two (EM=2).
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</LI>
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</UL>
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</P>
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</div>
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<CENTER>
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<h1><b><u>Motor Record Version 5.5 Release Notice</u></b></h1>
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</CENTER>
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<BR>
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<b><U>Requirements</u></B><BR>
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<BR>
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EPICS base R3.14.7 or greater. See the "Required Modules" section of the
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Motor Record web page for details.<br>
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<center>
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<h4><u>Modifications to Existing Features</u></h4>
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</CENTER>
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<div align="left">
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<U><B>Conversion to ASYN</B></U>
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<P>
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The motor record distribution has been converted from MPF to ASYN R4.1. All
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support for MPF has been removed.
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</P>
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</div>
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<div align="left">
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<U><B>Acceleration Correction</B></U>
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<P>
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Slew acceleration calculations were incorrect. Instead of the correct
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calculation; A = (Vf - Vo) / t, the record was using A = Vf / t, which is
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correct only if Vo (VBAS) is zero. Thanks to Harvey Rarback for pointing out
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this long standing error.
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</P>
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</div>
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<CENTER>
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<h1><b><u>Motor Record Version 5.4 Release Notice</u></b></h1>
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</CENTER>
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<BR>
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<b><U>Requirements</u></B><BR>
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<BR>
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EPICS base R3.14.6 or greater. See the "Required Modules" section of the
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Motor Record web page for details.<br>
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<center>
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<h4><u>Modifications to Existing Features</u></h4>
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</CENTER>
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<div align="left">
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<U><B>Status Updates</B></U>
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<P>
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If the motor record is processed and there are no functions to perform (i.e., no
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current or outstanding move request), then the motor record will perform a status
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update using the STUP field.
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</P>
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</div>
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<center>
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<h4><u>New Features</u></h4>
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</CENTER>
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<div align="left">
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<P>
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<U><B>OMS MAXv device support</B></U>
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</P>
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Device support for Oregon Micro Systems, Inc. MAXv controller was added.
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<P>
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</P>
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<P>
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<U><B>Delta Tau PMAC</B></U>
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</P>
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<P>
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Device support for Delta Tau's PMAC2-VME controller was added.
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</P>
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</div>
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<CENTER>
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<h1><b><u>Motor Record Version 5.3 Release Notice</u></b></h1>
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</CENTER>
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<BR>
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<b><U>Requirements</u></B><BR>
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<BR>
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EPICS base R3.14.5 or greater. See the "Required Modules" section of the
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Motor Record web page for details.<br>
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<center>
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<h4><u>Modifications to Existing Features</u></h4>
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</CENTER>
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<div align="left">
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<U><B>OMS VME58 Servo Limit Switch Problem</B></U>
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<P>
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The motor record would lock-up when a user tried to move off an activated limit
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switch with the OMS VME58 servo motor controller board (i.e., model -8S).
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Although this problem has been resolved there is a design problem with the OMS
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VME58 servo controller that prevents it, in most cases, from moving off an
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activated limit switch. Users are advised to avoid this situation
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</P>
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<U><B>Encoder Resolution (ERES) Polarity</B></U>
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<P>
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Previous releases of the motor record forced the sign of ERES to match the sign
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of MRES. With this release, ERES and MRES may have different signs. This
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allows the user to change the sign of ERES rather than reverse encoder wires
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when the motor and encoder direction are reversed. <B>Warning!</B> This does
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not work with controllers that are doing closed-loop control; e.g., DC motors.
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Reference (D/A) and feedback (encoder) signals must have the same polarity for
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DC motors or the motor will literally run away.
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</P>
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<P>
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<U><B>PID parameter initialization</B></U>
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</P>
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<P>
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PID parameters (i.e., PCOF, ICOF and DCOF fields) were not initialized at boot-up.
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With this release, if the GAIN_SUPPORT bit in the MSTA is true, each nonzero,
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PID parameter will be initialized. For backwards compatibility, zero valued PID
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parameters will not be initialized.
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</P>
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<P>
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<U><B>IMS MDrive Device Driver</B></U>
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</P>
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<P>
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Previous releases of the IMS MDrive device driver did not work. Thanks to Kevin
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M. Peterson (UNI-CAT) for identifying and fixing the errors in previous releases.
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A README file has been added to the ImsSrc directory that documents how the
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MDrive must be initialized before using it with this device driver.
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</P>
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<P>
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<U><B>Three Device Drivers New To R3.14.x</B></U>
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</P>
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<P>
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The following three device drivers have been ported from the R3.13.x compatible
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version of the motor record:
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<UL>
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<LI>
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the Physik Instrumente (PI) GmbH & Co. C-844 motor controller.
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</LI>
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<LI>
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Kevin Peterson's support for the MicroMo MVP 2001 B02 controller.
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</LI>
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<LI>
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Kurt Goetze's support for the Micos MoCo dc controller.
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</LI>
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</UL>
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</P>
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</div>
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|
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<center>
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<h4><u>New Features</u></h4>
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</CENTER>
|
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|
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<div align="left">
|
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<P>
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<U><B>Status Update (STUP)</B></U>
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</P>
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<P>
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The STUP field (Status Update) has been modified due to bug fixes. The STUP
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field functions as follows;
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<ul>
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<LI>
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Valid values for STUP are OFF(0), ON(1) and BUSY(2).
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</LI>
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<LI>
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A Channel Access (CA) client writes ON(1) to the STUP field which causes the
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motor record to set STUP to BUSY(2) and request a single controller status
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update. After the status is updated the record sets STUP to OFF(0).
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</LI>
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<LI>
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CA clients are restricted to writing ON(1) to STUP only when STUP is OFF(0).
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</LI>
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<LI>
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It is the responsibility of the user to restrict the frequency (and thus the
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incurred overhead) at which the CA client writes ON(1) to STUP.
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</LI>
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</UL>
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</P>
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<P>
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With the STUP field it is possible to have another EPICS record periodically
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write ON(1) to the motor record's STUP field. This would result in continuous,
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periodic status updates.
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</P>
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</div>
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<CENTER>
|
|
<h1><b><u>Motor Record Version 5.2 Release Notice</u></b></h1>
|
|
</CENTER>
|
|
|
|
<BR><b><U>Requirements</u></B><BR><BR>
|
|
EPICS base R3.14.4 or greater. See the "Required Modules" section of
|
|
the Motor Record web page for details.<br>
|
|
|
|
<center>
|
|
<h4><u>Modifications to Existing Features</u></h4>
|
|
</CENTER>
|
|
|
|
<div align="left">
|
|
<P>
|
|
<U><B>Newport MM3000 Communication</B></U>
|
|
</P>
|
|
<P>
|
|
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.
|
|
</P>
|
|
|
|
<P>
|
|
<U><B>OMS VX2-006 Spurious Interrupts</B></U>
|
|
</P>
|
|
<P>
|
|
Spurious interrupts were occurring with OMS VX2-006 ver 1.04 controller boards.
|
|
For the sake of throughput, the OMS VME8/44 device driver enables the done (DON_E)
|
|
and input buffer full (IBF_E) interrupts, but disables the transmit buffer empty
|
|
(TBE_E).
|
|
</P>
|
|
<P>
|
|
The OMS boards are RORA VME type interrupters. The "release" register is the
|
|
status register. It contains information on the status of the transmit/receive
|
|
buffer interrupts and the done interrupt. Since the device driver was not using
|
|
the transmit buffer empty interrupt, it was polling the status register when
|
|
sending a command to the controller. With the VX2, if the IRQ became active
|
|
during a status register read cycle, the IRQ was negated at the end of the cycle
|
|
and the CPU board generated a spurious interrupt.
|
|
</P>
|
|
<P>
|
|
The VME8/44 models somehow prevented the spurious interrupts from occurring by
|
|
latching the IRQ, if and when, the IRQ became active during a status register
|
|
read.
|
|
</P>
|
|
<P>
|
|
This problem has been fixed by using all of the OMS board interrupts (i.e.,
|
|
enable transmit buffer empty). The OMS VME8/44/VX2/VS4 design is limited with
|
|
regard to interrupts by an all or none choice.
|
|
</P>
|
|
|
|
<P>
|
|
<U><B>Backlash Correction Bug Fix</B></U>
|
|
</P>
|
|
<P>
|
|
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.
|
|
</P>
|
|
<P>
|
|
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.
|
|
</P>
|
|
|
|
<P>
|
|
<U><B>Newport ESP300 Device Driver Crash</B></U>
|
|
</P>
|
|
<P>
|
|
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.
|
|
</P>
|
|
<P>
|
|
In addition, the user is required to set MRES to the resolution of the
|
|
controller as explained in the distribution document <I>motor</I>/motorApp/NewportSrc/README.
|
|
</P>
|
|
|
|
<P>
|
|
<U><B>Update Rate Bug Fix</B></U>
|
|
</P>
|
|
<P>
|
|
There were two timing related bugs with the previous release (R5.1). First, the
|
|
update rate was not working properly. The end result was that the motor task
|
|
was polling controllers as fast as possible. Second, there was an error in the
|
|
motor_task function process_messages() that enforces a time delay between
|
|
UNDEFINED or IMMEDIATE type commands (e.g., LOAD_POS, SET_ENC_RATIO, etc.) and
|
|
an INFO type command. One result of this error was that on OMS VME58
|
|
controllersan INFO update after a LOAD_POS command would, intermittently, yield
|
|
the previous position.
|
|
</P>
|
|
|
|
<P>
|
|
<U><B>Backlash Correction after Jogging Bug Fix</B></U>
|
|
</P>
|
|
<P>
|
|
Backlash correction after jogging was not working for controllers that do not
|
|
support multiple position commands on the same command line (e.g., Newport
|
|
ESP300). This has been corrected with this release with one caveat; in contrast
|
|
to the feature described in <I>Backlash Correction Bug Fix</I> above, backlash
|
|
correction is always done after jogging, regardless of the jog acceleration and
|
|
speed parameters
|
|
</P>
|
|
|
|
<P>
|
|
<U><B>DLY field</B></U>
|
|
</P>
|
|
<P>
|
|
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.
|
|
</P>
|
|
<P>
|
|
Since a functioning DLY field performs the same function as the drv<driver>ReadbackDelay
|
|
variables, with the added advantage that the delay can be motor specific, the
|
|
drv<driver>ReadbackDelay variables have been deleted (except for the MM4000).
|
|
</P>
|
|
|
|
</div>
|
|
|
|
|
|
<CENTER>
|
|
<h1><b><u>Motor Record Version 5.1 Release Notice</u></b></h1>
|
|
</CENTER>
|
|
|
|
<b>!WARNING!</b><br>
|
|
|
|
<div style="text-align: left;">
|
|
This release of the motor record contains major modifications. It has not,
|
|
yet, undergone rigorous testing. I highly recommend that user's test this
|
|
release in a safe, non-critical environment before committing themselves to
|
|
using it with their critical applications.<br>
|
|
<br>
|
|
This is the first R3.14 compatible release of the motor record. All of the
|
|
device drivers, with the exception of OMS, are operating system independent (OSI).
|
|
Thanks to Joe Sullivan for his work with the initial port to R3.14.<br>
|
|
</div>
|
|
|
|
<BR><b><U>Requirements</u></B><BR><BR>
|
|
EPICS base R3.14.2 or greater. See the "Required Modules" section of
|
|
the Motor Record web page for details.<br>
|
|
|
|
<center>
|
|
<h4><u>New Features</u></h4>
|
|
</CENTER>
|
|
|
|
<div align="left">
|
|
<U><B>MX Device Driver</B></U><br><br>
|
|
This release includes a device driver for MX. The MX device driver gives
|
|
EPICS user's access to motor controllers that are not currently supported by the
|
|
motor record. An MX example is included with the motor distribution. This
|
|
device driver requires MX release 0.62.0 or greater.<br>
|
|
<br>
|
|
<U><B>Mclennan PM600</B></U><br><br>
|
|
Mark Rivers added support for the Mclennan PM600 controller.<br>
|
|
</div>
|
|
|
|
|
|
<CENTER>
|
|
</h1> <h1><b><u>Motor Record Version 4.7 Release Notice</u></b></h1>
|
|
</CENTER>
|
|
|
|
<b>!WARNING!</b><br>
|
|
|
|
motorRecord.dbd has been modified. This requires rebuilding any and all
|
|
user trees (i.e., <ioctop>) that load the motor record (see README items
|
|
#3 and #4 for details). <h4></h4>
|
|
|
|
<CENTER>
|
|
<h4><u>Modifications to Existing Features</u></h4>
|
|
</CENTER>
|
|
<div align="left">
|
|
<u><b>Redundant DMOV Monitor Postings</b></u><br>
|
|
<br>
|
|
Eliminated redundant DMOV monitor postings. Under certain conditions the
|
|
motor record would post the state of the DMOV field twice. For example,
|
|
with previous releases the motor record would post DMOV=0 twice if backlash
|
|
correction was enabled and the user jogged the motor.<br>
|
|
<br>
|
|
<u><b>OMS VME58 Intermittent Limit Switch Status Error<br>
|
|
<br>
|
|
</b></u>There is a problem with OMS VME58 ver 2.35-8 firmware when used with
|
|
MVME2700 CPU boards. The problem is that the controller board
|
|
intermittently, reports that there is no limit switch error when there is an
|
|
error. This error can occur if the user repeatedly, tries to move in the
|
|
direction of the limit switch when the limit error condition exits. A
|
|
delay has been added to work around the problem.<br>
|
|
|
|
<center>
|
|
<p>
|
|
<b><u>New Features</u></b>
|
|
</p>
|
|
<div align="left">
|
|
<u><b>Motor Synchronized DB Puts</b></u><br>
|
|
<br>
|
|
<i>device directive </i>support has been extended to the PREM and POST fields
|
|
for OMS devices only. The new device directive supports changing the value
|
|
of a database variable. The syntax is as follows:<br>
|
|
<blockquote>
|
|
PREM - @PUT(<i>pvname</i>, <i>pv-value</i>, <i>delay in seconds</i>)@<br>
|
|
</blockquote>
|
|
<blockquote>
|
|
POST - @PUT(<i>pvname</i>, <i>pv-value</i>)@<br>
|
|
</blockquote>
|
|
Note that the PREM supports a delay argument, but that POST does not. The <i>Readback
|
|
settle time field</i> (DLY) should be used to create a time delay after the PV
|
|
specified in the POST field is written. See the <i>Miscellaneous fields</i>
|
|
section of motorRecord.html for further information on the INIT, PREM and POST
|
|
fields.<br>
|
|
<br>
|
|
<u><b>IMS MDrive17 device support</b></u>
|
|
</div>
|
|
</center>
|
|
<br>
|
|
Device driver support for the Intelligent Motion Systems (IMS) MDrive17 model
|
|
motor controller is available with this release.<br>
|
|
<u><b><br>
|
|
Home Velocity<br>
|
|
</b></u><br>
|
|
A home velocity field (HVEL) was added with this release. Like all speed
|
|
related fields, the HVEL is limited by the maximum (VMAX) and base (VBAS)
|
|
velocity fields.<u><b></b></u> In addition, if HVEL is not initialized by
|
|
the user, the motor record sets HVEL to VBAS.<br>
|
|
|
|
</div>
|
|
|
|
<CENTER>
|
|
<h1><b><u>Motor Record Version 4.6 Release Notice</u></b></h1>
|
|
</center>
|
|
|
|
<b>!WARNING!</b><br>
|
|
motorRecord.dbd has been modified. This requires rebuilding any and all
|
|
user trees (i.e., <ioctop>) that load the motor record (see README items
|
|
#3 and #4 for details). <h4></h4>
|
|
<center>
|
|
<h4><u>Modifications to Existing Features</u></h4>
|
|
</center>
|
|
<div align="left">
|
|
<b><u>Soft Channel Device Support<br>
|
|
<br>
|
|
</u></b>
|
|
</div>
|
|
<div align="left">
|
|
A conflict between the requirements specified under <i>Requirements
|
|
Clarification </i>below and the goal of having the same record level
|
|
functionality for all device drivers, including Soft Channel device support, was
|
|
found by Tim Graber.<br>
|
|
</div>
|
|
<div align="left">
|
|
<br>
|
|
</div>
|
|
<div align="left">
|
|
A problem occurred with, for example, the SoftMotorEx.db that is distributed
|
|
with the motor record, when backlash was enabled in the <i>hard motor</i>(a
|
|
motor configured <u>without</u> Soft Channel device support). The result
|
|
was that the <i>soft motor</i> (a motor configured <u>with</u> Soft Channel
|
|
device support) would interpret the hard motor's backlash correction as the
|
|
motor going in the wrong direction, and stop the "hard" motor from completing
|
|
the backlash correction.<br>
|
|
</div>
|
|
<div align="left">
|
|
<br>
|
|
</div>
|
|
<div align="left">
|
|
With this release, the requirements on how the motor record processes a new
|
|
target position while the motor is in motion have been modified based on a new
|
|
field; New Target Monitor (NTM).<br>
|
|
</div>
|
|
<div align="left">
|
|
<blockquote>
|
|
Case #1: The motor record is given a new position, which is in the opposite
|
|
direction from the current motor motion. If NTM is <u>yes,</u> the motor
|
|
is immediately stopped and given a motion command to the new position. If
|
|
NTM is <u>no</u>, the motor completes the previous move before it is given a
|
|
motion command to the new position.<br>
|
|
</blockquote>
|
|
</div>
|
|
<div align="left">
|
|
<blockquote>
|
|
Case #2: The motor record is given a new position, which is in the same
|
|
direction as the current motor motion, but the new position is closer to the
|
|
motor's current position than the original target position. If NTM is <u>yes</u>,
|
|
the motor is stopped after it has gone past the new position; then a command is
|
|
given to return to the new position. If NTM is <u>no</u>, the motor
|
|
completes the previous move before it is given a motion command to the new
|
|
position.<br>
|
|
</blockquote>
|
|
</div>
|
|
<div align="left">
|
|
<blockquote>
|
|
Case #3: The motor record is given a new position, which is in the same
|
|
direction as the current motor motion, but the new position is further from the
|
|
motor's current position than the original position. After the motor
|
|
reaches the original target position and stops, a command is given to the new
|
|
target position. This case is <u>independent</u> of NTM.<br>
|
|
</blockquote>
|
|
</div>
|
|
<div align="left">
|
|
<br>
|
|
</div>
|
|
<div align="left">
|
|
A Soft Channel device support design limitation was discovered by Tim Mooney.
|
|
The problem is a result of the modifications made with R4-5 below, where the
|
|
soft motor synchronizes it's target position (i.e., VAL/DVAL/RVAL) with it's
|
|
readback position (RBV/DRBV/RRBV). Given an application where there are
|
|
two or more soft motors driving the system (e.g., slit), when one soft motor is
|
|
moved, the other soft motor <i>sees</i> it's readback changing and synchronizes
|
|
it's target position with it's readback position at the end of the move, thereby
|
|
losing it's target position.<br>
|
|
</div>
|
|
<br>
|
|
<div align="left">
|
|
With this release, the LOCK field has been added to allow the user to enable/disable
|
|
synchronization due to the readback changing.
|
|
</div>
|
|
</center>
|
|
<div align="left">
|
|
<h4><u>Backlash Correction Bug Fixes</u></h4> The following scenario would put
|
|
the motor record into an invalid state. A new target position (i.e., VAL/DVAL/RVAL)
|
|
is written to the motor record under the following conditions;<br>
|
|
<ol>
|
|
<li>
|
|
motion is in progress (i.e., DMOV is false).
|
|
</li>
|
|
<li>
|
|
the new target position is different from the actual position by less than the
|
|
retry deadband (|DIFF| < RDBD).
|
|
</li>
|
|
<li>
|
|
backlash correction is enabled (i.e., BDST is non-zero) and the new move is <b>not</b>
|
|
in the "preferred direction" (preferred direction is the direction in which the
|
|
motor moves during the backlash-takeout part of a motor move).
|
|
</li>
|
|
</ol>
|
|
A bug was introduced in R4.5 when backlash correction was changed. The
|
|
error occurred when a new target position was issued while the motor was moving.
|
|
The motor would move to the new target position at the backlash velocity rather
|
|
than the slew velocity.<br>
|
|
<br>
|
|
Thanks to Kevin M. Peterson, James B. Stevens and John Maclean for their help in
|
|
finding and fixing these bugs. <br>
|
|
<center>
|
|
<p>
|
|
<b><u>New Features</u></b>
|
|
</p>
|
|
</center>
|
|
<h4><u>Newport ESP300 device support</u></h4> Device support for the Newport
|
|
ESP300 motor controller is available with this release.<br>
|
|
<h1></h1>
|
|
</div>
|
|
|
|
<CENTER>
|
|
<h1><b><u>Motor Record Version 4.5 Release Notice</u></b></h1>
|
|
</center>
|
|
<b>!WARNING!</b><br>
|
|
motorRecord.dbd has been modified. This requires you to 'rebuild' any and
|
|
all user trees (i.e., <ioctop>) that load the motor record (see README
|
|
item #2 for details).
|
|
<center>
|
|
<h4><u>Modifications to Existing Features</u></h4>
|
|
</center>
|
|
<b><u>Communication Retries</u></b>
|
|
<p>
|
|
Once a communication error is detected, one retry is attempted (Further retries
|
|
are made, if the position RETRY field is non-zero). If the retry fails,
|
|
then a communication error is reported. No further attempt is made to
|
|
communicate with the controller until subsequent user input (e.g., a new target
|
|
position is entered). This change affects all device drivers using GPIB or
|
|
RS232 serial communication mechanisms (i.e., non-VME Bus boards).
|
|
</p>
|
|
<h4></h4> <h4></h4> <h4><u>Requirements Clarification</u></h4> The requirements
|
|
on how the motor record processes a new target position while the motor is in
|
|
motion have never been specified. The requirements are as follows:<br>
|
|
<blockquote>
|
|
Case #1: The motor record is given a new position, which is in the
|
|
opposite direction from the current motor motion. The motor is immediately
|
|
stopped and given a motion command to the new position.
|
|
</blockquote>
|
|
|
|
<blockquote>
|
|
Case #2: The motor record is given a new position, which is in the same
|
|
direction as the current motor motion, but the new position is closer to the
|
|
motor's current position than the original target position. The motor is
|
|
stopped after it has gone past the new position; then a command is given to
|
|
return to the new position.<br>
|
|
<br>
|
|
Case #3: The motor record is given a new position, which is in the same
|
|
direction as the current motor motion, but the new position is further from the
|
|
motor's current position than the original position. After the motor
|
|
reaches the original target position and stops, a command is given to the new
|
|
target position (Previous motor record versions ignored the new target position.)
|
|
</blockquote>
|
|
|
|
<h4><u>Bug Fix for Driver Power Monitoring error</u></h4> The <i>Driver Power
|
|
Monitoring</i> feature (available only with OMS VME58 controllers) was
|
|
erroneously and randomly being enabled. This resulted in the error message <i>Drive
|
|
power failure at VME58 card# motor# </i>appearing at the VxWorks console.
|
|
<p>
|
|
<b><u>Soft Channel device support modifications</u></b>
|
|
</p>
|
|
|
|
<ul>
|
|
<li>
|
|
Prevent record processing before "interruptAccept" is true. This helps
|
|
prevent alarms.
|
|
</li>
|
|
<li>
|
|
If the readback is changing, but motion was not initiated by this record, then
|
|
reset the motor record's target to actual position (i.e., VAL/DVAL/RVAL = RBV/DRBV/RRBV)
|
|
after the move.
|
|
</li>
|
|
<li>
|
|
Lowered the priority of the "soft_motor task below the "dbCaLink"task.
|
|
This fixes the "DMOV processing before the last DRBV update" problem.<br>
|
|
</li>
|
|
|
|
</ul>
|
|
<b><u>Bug Fix for Array Holes in VMEbus based controllers</u></b>
|
|
<p>
|
|
For VMEbus based motor controllers only (i.e., OMS), a <i>hole</i> in an array
|
|
of VME based motor controller boards caused the system to crash with a memory <i>access
|
|
error</i> on the address of the missing controller. For example, if
|
|
oms58Setup(3, 8, 0x4000, 190, 5, 10) was issued without a board at 0xFFFF5000, a
|
|
bus error would occur if the user attempted to move a motor on the missing board.
|
|
</p>
|
|
|
|
<p>
|
|
This release allows <i>holes </i>in an array of VMEbus based motor controllers.
|
|
</p>
|
|
|
|
<p>
|
|
<b><u>RES Field</u></b>
|
|
</p>
|
|
|
|
<p>
|
|
With previous releases of the motor record, the RES field was set to either ERES
|
|
or MRES, based on whether or not the following statement was true; MSTA
|
|
indicates an encoder is present, AND, UEIP is set to YES. This state (i.e.,
|
|
MSTA indicates an encoder is present, AND, UEIP is set to YES) resulted in the
|
|
record converting all position and velocity related values from EGU's to raw
|
|
encoder counts before sending them to the motor controller. This is the
|
|
manner in which the OMS controllers work (see OMS User's Manual, ER# command).
|
|
</p>
|
|
|
|
<p>
|
|
With this release, all raw positions, velocity and acceleration are in terms of
|
|
motor steps. The RES field is preserved for backward compatibility only. With
|
|
this release, the RES field is always equal to MRES. <br>
|
|
</p>
|
|
|
|
<h4><u>Backlash Correction</u></h4> Previous motor record releases put both the
|
|
"slew" and backlash correction moves on the same motor controller command line.
|
|
Some controllers (i.e., OMS) handled this correctly by processing the slew move
|
|
followed by the backlash correction move. Other controllers (i.e, Newport)
|
|
did not handle this correctly and processed the commands immediately, resulting
|
|
in the controller moving to the target position without backlash correction, but
|
|
at the backlash correction velocity.<br>
|
|
<br>
|
|
With this release, backlash correction commands are not issued to the controller
|
|
until after the slew move is completed.<br>
|
|
|
|
<h4><u>Separa</u><b>te +/- Limit Switch status bits</b></h4> The MSTA field has
|
|
been modified by providing separate +/- limit switch status bits. The MSTA
|
|
bits are defined as follows:
|
|
<blockquote>
|
|
<ol>
|
|
<li>
|
|
DIRECTION: (0:Negative, 1:Positive)
|
|
</li>
|
|
<li>
|
|
DONE: motion is complete.
|
|
</li>
|
|
<li>
|
|
PLUS_LS: plus limit switch has been hit.
|
|
</li>
|
|
<li>
|
|
HOMELS: state of the home limit switch.
|
|
</li>
|
|
<li>
|
|
Unused
|
|
</li>
|
|
<li>
|
|
POSITION: closed-loop position control is enabled.
|
|
</li>
|
|
<li>
|
|
Unused
|
|
</li>
|
|
<li>
|
|
HOME: if at home position.
|
|
</li>
|
|
<li>
|
|
PRESENT: encoder is present.
|
|
</li>
|
|
<li>
|
|
PROBLEM: driver stopped polling.
|
|
</li>
|
|
<li>
|
|
MOVING: non-zero velocity present.
|
|
</li>
|
|
<li>
|
|
GAIN_SUPPORT: motor supports closed-loop position control.
|
|
</li>
|
|
<li>
|
|
COMM_ERR: Controller communication error.
|
|
</li>
|
|
<li>
|
|
MINUS_LS: minus limit switch has been hit.<br>
|
|
</li>
|
|
|
|
</ol>
|
|
</blockquote>
|
|
<br>
|
|
|
|
<center>
|
|
<p>
|
|
<b><u>New Features</u></b>
|
|
</p>
|
|
</center>
|
|
|
|
<p>
|
|
<b><u>Advanced Control Systems and Mclennan device driver support</u></b>
|
|
</p>
|
|
|
|
<p>
|
|
Mark Rivers has added device driver support for the following motor controllers:
|
|
</p>
|
|
|
|
<ul>
|
|
<li>
|
|
Advanced Control Systems, Corp. model MCB-4B
|
|
</li>
|
|
<li>
|
|
Mclennan model PM304
|
|
</li>
|
|
|
|
</ul>
|
|
|
|
<center>
|
|
<h1><b><u>Motor Record Version 4.4 Release Notice</u></b></h1>
|
|
</center>
|
|
|
|
<center>
|
|
<h4><u>Modifications to Existing Features</u></h4>
|
|
</center>
|
|
<b><u>Disable Travel Limits</u></b>
|
|
<p>
|
|
The travel limits can be disabled by setting both dial high and low limits equal
|
|
to zero; i.e., DHLM = DLLM = 0.
|
|
</p>
|
|
|
|
<p>
|
|
<b><u>RVAL ignored error</u></b>
|
|
</p>
|
|
|
|
<p>
|
|
A problem was discovered with entering target positions through RVAL. 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. This error
|
|
occured on releases as far back as V3.4.
|
|
</p>
|
|
|
|
<center>
|
|
<b><u>New Features</u></b>
|
|
</center>
|
|
<b><u>Jog velocity and acceleration parameters</u></b>
|
|
<p>
|
|
Two new fields (JVEL and JAR) were added to support jog velocity and
|
|
acceleration parameters. These fields are only supported with Oregon Micro
|
|
Systems, Inc device driver support. The JVEL field allows the user to
|
|
change the jog velocity of the motor on-the-fly.
|
|
</p>
|
|
|
|
<center>
|
|
<h1><b><u>Motor Record Version 4.3 Release Notice</u></b></h1>
|
|
</center>
|
|
This release of the motor record is strictly a bug fix release; no new features
|
|
have been added.
|
|
<p>
|
|
<b><u>STOP field hangs record</u></b>
|
|
</p>
|
|
|
|
<p>
|
|
An error was introduced into the motor record with the release of V4.2 (see
|
|
README file item #14 under V4.2 ). This error occurred if the STOP field
|
|
was activated when the motor was not moving (i.e., MIP = 0). The motor
|
|
record would become "stuck", and not respond to a move request (due to the
|
|
internal state machine associated with IP being set to the "stop" state), until
|
|
the condition was cleared by either a SPMG-stop or some other user action that
|
|
forced the MIP field to zero.
|
|
</p>
|
|
|
|
<p>
|
|
<b><u>HIDEOS support removed</u></b>
|
|
</p>
|
|
|
|
<p>
|
|
HIDEOS is no longer supported. MPF is the only supported alternative to
|
|
HIDEOS. <br>
|
|
|
|
</p>
|
|
|
|
<center>
|
|
<h1><b><u>Motor Record Version 4.2 Release Notice</u></b></h1>
|
|
</center>
|
|
This release of the motor record is compatible with EPICS R3.13.2 and above.
|
|
|
|
<p>
|
|
<b>!WARNING!</b> <br>
|
|
motorRecord.dbd has been modified. This requires you to 'rebuild' any and
|
|
all user trees (i.e., <ioctop>) that load the motor record (see README
|
|
item #20 for details). <br>
|
|
<br>
|
|
|
|
</p>
|
|
|
|
<center>
|
|
<h4><u>Modifications to Existing Features</u></h4>
|
|
</center>
|
|
<b><u>Precedence between field pairs</u></b>
|
|
<p>
|
|
At boot-up, if one field of a field pair (i.e., VMAX/SMAX, VBAS/SBAS, VELO/S,
|
|
BVEL/SBAK) is zero and the other field is nonzero, the nonzero field takes
|
|
precedence. If both fields of a given field pair are nonzero, the RPS
|
|
member of the field pair (i.e., SMAX, SBAS, S, SBAK) takes precedence.
|
|
This requirement was lost with the release of V4.0.
|
|
</p>
|
|
|
|
<p>
|
|
<b><u>Moving Off a Limit Switch with a Oms58 device</u></b>
|
|
</p>
|
|
|
|
<p>
|
|
An error occurs with the OMS VME58 when the user runs the motor into a limit
|
|
switch and then attempts to move away from the limit switch. If either an
|
|
absolute or incremental move is utilized to move away from the limit switch, the
|
|
OMS VME58 ignores the 1st move attempt. Subsequent moves work. In
|
|
addition, the user can jog off a limit switch. This error was hidden in
|
|
most applications if RTRY was nonzero.
|
|
</p>
|
|
|
|
<p>
|
|
<b><u>Separate motion commands for target and backlash moves</u></b>
|
|
</p>
|
|
|
|
<p>
|
|
The record level support assumed that the motor controller would accept two
|
|
motion commands on the same command line. This occurs when backlash
|
|
compensation is enabled. Since the IM483[PL/SM] controller does not have
|
|
this capability, support for a command line "record separator" character was
|
|
added. The record separator is defined as an ASCII (IS2) character = /x1E.
|
|
Currently, only one record separator is allowed in a command line.
|
|
</p>
|
|
|
|
<p>
|
|
<b><u>Errors introduced in V4.0</u></b>
|
|
</p>
|
|
|
|
<p>
|
|
Unfortunately, several errors were introduced into the motor record with V4.0.
|
|
The following have been fixed:
|
|
</p>
|
|
|
|
<ul>
|
|
<li>
|
|
If the "ncards" argument of the omsSetup() function in st.cmd file was not
|
|
accurate (i.e., did not match the actual number of OMS VME8/44 boards in the VME
|
|
crate); the "dbior" command could result in erroneous information or a bus error.
|
|
</li>
|
|
<li>
|
|
Jog request would not work after the state of the UEIP field was changd.
|
|
</li>
|
|
<li>
|
|
Backlash correction was not occurring after a JOG.
|
|
</li>
|
|
<li>
|
|
The motor record would 'hang' in the moving state on the rare occasion when a
|
|
target position (i.e., VAL or DVAL) fell almost exactly half way between two
|
|
integer RVAL values, and the retry feature was enabled (i.e., RTRY is nonzero)
|
|
</li>
|
|
|
|
</ul>
|
|
|
|
<center>
|
|
<h4><b><u>New Features</u></b></h4>
|
|
</center>
|
|
<b><u>Newport PM500 device support</u></b>
|
|
<p>
|
|
Device driver support for the Newport PM500 is available for this release of the
|
|
motor record. This device/driver is based on Mark River's PM500 V2.0
|
|
release.
|
|
</p>
|
|
|
|
<p>
|
|
<b><u>Intelligent Motion Systems, Inc. IM483 device support</u></b>
|
|
</p>
|
|
|
|
<p>
|
|
Device driver support for Intelligent Motion Systems (IMS) IM483[I/IE] is
|
|
available with this release. Two different device/drivers are available
|
|
for the same motor controller. The two device/drivers, IM483PL and
|
|
IM483SM, correspond to the two available IM483 communication modes, <i>party
|
|
line </i>and <i>single mode</i>, respectively (see the IMS Software Reference
|
|
Manual for details). <br>
|
|
|
|
</p>
|
|
|
|
<center>
|
|
<h1><u>Motor Record Version 4.1 Release Notice</u></h1>
|
|
</center>
|
|
Although the motor record software in this release is compatible with EPICS
|
|
baseR3.13.1.1 and above, the directory structure, the "make" files and the
|
|
configuration files are intended for the "unbundled" architecture of EPICS R3.13.2
|
|
and above.
|
|
<center>
|
|
<h4><u>Modifications to Existing Features</u></h4>
|
|
</center>
|
|
|
|
<h4><b><u>OMS VME58 retry problem</u></b></h4> Several errors in the OMS VME58
|
|
driver were found. All the errors caused the same problem. Namely,
|
|
erroneous retries occurred intermittently when multiple axes were commanded to
|
|
move on the same controller. This error occurred because old position data
|
|
was being passed back from the driver after Done was detected. The
|
|
erroneous intermittent retries occurred more often when the Oms setup parameters
|
|
called for a high frequency (e.g., 60 Hz) "polling" rate and OMS board
|
|
interrupts were enabled. <h4><b><u>OMS Stop problem</u></b></h4> A problem with
|
|
issuing a stop command (via either the STOP or SPMG field) was found with <b>all</b>
|
|
OMS boards and <b>all </b>versions of the OMS device drivers. The root
|
|
cause of this problem is a statement in the OMS manual <i>that is not entirely
|
|
correct</i>; the AC and VL commands are not completely queued. <br>
|
|
<br>
|
|
|
|
<center>
|
|
<h1><u>Motor Record Version 4.0 Release Notice</u></h1>
|
|
</center>
|
|
Release 4.0 of the motor record is <u>only</u> compatible with EPICS baseR3.13.1.1
|
|
and above. This document describes changes made to the motor record and
|
|
its' associated device driver support between versions 3.5 and 4.0.
|
|
|
|
<center>
|
|
<h4><u>Modifications to Existing Features</u></h4>
|
|
</center>
|
|
|
|
<h4><b><u>GAIN Field Removed</u></b></h4> Since the GAIN field is redundant (i.e.,
|
|
PID parameters can be set individually) it has been removed. <br>
|
|
<h4><b><u>HOM[F/R] Bug Fix</u></b></h4> Previous releases of the motor
|
|
record had a potential problem associated with the homing function. The
|
|
motorx_all.adl V1.9 MEDM display sets the HOM[F/R] fields on and off,
|
|
corresponding to the user pressing and releasing the respective home button.
|
|
Depending on the <i>pollRate</i> defined in the st.cmd <i>Setup</i> command and
|
|
the speed at which the user toggled the HOM[F/R] buttons; the record level
|
|
software would turn off the DMOV field when the HOM[F/R] button was turned off
|
|
and a motor status update had not yet been received. As a result, when the
|
|
motor completed it's homing function the command positions (i.e., VAL, DVAL,
|
|
RVAL) were not updated.
|
|
|
|
<p>
|
|
All previous motor record releases contained the DMOV problem; the commanded
|
|
position update problem was limited to the previous release (V3.5). With
|
|
this release, a dbPutField to either HOMF or HOMR is valid on a FALSE to TRUE
|
|
transition (i.e., 0 to 1), but a TRUE to FALSE transition (i.e., 1 to 0) will
|
|
result in an error. <i>motorx_all.adl_V2.2</i> (which is included
|
|
with this distribution) sets the HOM[F/R] fields on when the user presses the
|
|
homing button, but is does <b>not</b> set it off when the button is released.
|
|
The motor record clears the HOM[F/R] field when the homing operation is done (i.e.,
|
|
completed or terminated). <br>
|
|
|
|
</p>
|
|
|
|
<h4><u>Initial Position</u></h4> If both the auto restore and controller target
|
|
position values are non-zero at boot-up, then DVAL will be initialized from the
|
|
controller's value. In other words, the controller's target position takes
|
|
precedence over the autorestore value when both systems have non-zero DVAL
|
|
values. As before, it is assumed that a zero target position from
|
|
autorestore or the controller at boot-up are default values, and hence, they are
|
|
ignored in favor of a non-zero value.
|
|
<p>
|
|
Previous releases of the motor record allowed the auto restore to take
|
|
precedence over the controller when initializing the target position (i.e., DVAL).
|
|
<br>
|
|
|
|
</p>
|
|
|
|
<h4><u>Access Security Level</u></h4> In order to support the new VMAX/SMAX
|
|
fields, the Access Security Level for the following fields have been changed
|
|
from one to zero:
|
|
<blockquote>
|
|
<ul>
|
|
<li>
|
|
MRES
|
|
</li>
|
|
<li>
|
|
UREV
|
|
</li>
|
|
<li>
|
|
VBAS
|
|
</li>
|
|
<li>
|
|
SBAS
|
|
</li>
|
|
|
|
</ul>
|
|
</blockquote>
|
|
|
|
<h4><u>MM4000/5 Device Driver</u></h4> Although the previous motor record
|
|
release (V3.5) had device driver support for the MM4000, it is <b>not</b>
|
|
recommended for use with either the MM4000 or the MM4005 controllers. The
|
|
following changes were made to the previous release to create, what is now, the
|
|
MM4000/5 device driver support:
|
|
|
|
<ol>
|
|
<li>
|
|
The MM4000 device driver software supports both the MM4000 and MM4005
|
|
controllers. Driver level software detects and saves which controller it
|
|
is communicating with at boot-up. Currently, there are two functional
|
|
differences between the two models.
|
|
</li>
|
|
|
|
<ol>
|
|
<li>
|
|
The MM4005's position cannot be set by a host. This mean that, for the
|
|
MM4005 only, setting the motor record RVAL or DVAL fields has no effect.
|
|
</li>
|
|
<li>
|
|
Since the MM4005's position cannot be set by EPICS, the initial position of its'
|
|
motors (see <i>Initial Position </i>above) will always be initialized from the
|
|
controller's value.
|
|
</li>
|
|
|
|
</ol>
|
|
<li>
|
|
The MM4005 supports up to eight axes. User access to the controller's
|
|
front panel is required to scroll the front panel display through all eight axes.
|
|
Since <i>remote mode</i> locks out the user from using the controller's front
|
|
panel, the motor record no longer puts the MM4000/5 in <i>remote mode</i> .
|
|
EPICS is unable to communicate with the MM4000/5 controller if it is in <i>local</i>
|
|
<i>mode</i> and the front panel is not at the top menu. A <i>Controller
|
|
communication error</i> bit was allocated in the MSTA field to help aid user's
|
|
in diagnosing a controller communication error. Currently, only the MM4000/5
|
|
device driver sets this error indicator. When the communication error bit
|
|
is set True in the MSTA, the motor record SEVR field is set to INVALID_ALARM and
|
|
the STAT field is set to COMM_ALARM. User's who want their MM4000/5 in
|
|
remote mode at boot-up can add the remote mode command ("MR") to their
|
|
INIT field.
|
|
</li>
|
|
|
|
</ol>
|
|
|
|
<h4><u>Bug Fix for OMS VME58 running on PowerPC</u></h4> Through an odd set of
|
|
circumstances the Oms58 driver was not performing status updates on PowerPC (PPC)
|
|
platforms. All users of the OMS VME58 controller on a PPC platform must
|
|
upgrade to Motor Record version 4.0 for full functionality.
|
|
<center>
|
|
<h4><u>New Features</u></h4>
|
|
</center>
|
|
<b><u>Newport MM3000 Device Support</u></b>
|
|
<p>
|
|
Device driver support for the MM3000 exist for this release of the motor record.
|
|
Note the following differences between the MM4000 and MM3000 device drivers:
|
|
</p>
|
|
|
|
<ul>
|
|
<li>
|
|
The MM3000 does not support a generic <i>Load Position </i>commands. In
|
|
other words, the user can only define the current controller position as being
|
|
the zero position. This limitation is reflected in the motor record device
|
|
support. When the SET field is true, the only valid entry to either the
|
|
DVAL or RVAL fields is zero.
|
|
</li>
|
|
<li>
|
|
The only position units the MM3000 will communicate with the host in, are either
|
|
encoder ticks or stepper motor steps.
|
|
</li>
|
|
|
|
</ul>
|
|
|
|
<h4><u>Uninitialized Oms/Oms58 Driver Error Check</u></h4> With previous release,
|
|
if the Oms or Oms58 driver was some how omitted from the database, a "... card
|
|
does not exist" error message would result. With this release, an explicit
|
|
error check and corresponding error message (i.e., "Oms[58] driver uninitialized.
|
|
") is issued at record initialization if a required driver is not initialized. (Because
|
|
of the particulars of MM[3000/4000] initialization, this is not an issue with
|
|
Newport controllers.) <h4><u>Maximum Velocity Fields (VMAX/SMAX)</u></h4>
|
|
Maximum velocity fields have been added; VMAX in EGU/s units and SMAX in RPS
|
|
units.
|
|
<p>
|
|
In order to support BURT, range checking is done in such a way that any minimum
|
|
(i.e., VBAS/SBAS) or maximum (i.e., VMAX/SMAX) value entered is valid.
|
|
For example, if the minimum is entered and it exceeds the maximum, then the
|
|
maximum is set to the new minimum value. Slew (VELO/S) and backup
|
|
velocity (BVEL/SBAK) fields are forced by the motor record to be within the
|
|
range set by VMAX/SMAX and VBAS/SBAS, inclusively. For example, if VELO is
|
|
entered and it is less than the minimum, then VELO is set to VBAS.
|
|
</p>
|
|
|
|
<p>
|
|
To facilitate software upgrades, a zero VMAX disables maximum velocity error
|
|
checking. Those who use both BURT and VMAX (i.e., nonzero VMAX) should
|
|
insure that VMAX and VBAS are placed before VELO and BVEL in their BURT <i>request
|
|
files. </i>VMAX/SMAX have Access Security Level zero.
|
|
</p>
|
|
|
|
<p>
|
|
<i>motorx_setup_1.7.adl</i> (which is included with this distribution) includes
|
|
support for the maximum velocity fields. <br>
|
|
|
|
</p>
|
|
|
|
<center>
|
|
<h1><u>Motor Record Version 3.5 Release Notice</u></h1>
|
|
</center>
|
|
Release 3.5 of the motor record is only compatible with EPICS baseR3.13.1.1 and
|
|
above. This document describes changes made to the motor record and its'
|
|
associated device driver support between versions 3.4 and 3.5. Those
|
|
changes are as follows:
|
|
<center>
|
|
<h4><u>Modifications to Existing Features</u></h4>
|
|
</center>
|
|
|
|
<h4><u>Command Primitives</u></h4> <b>This feature is available only with OMS
|
|
VME8/44/58 or Newport MM4000 device support (i.e., devOms, devOms58, devMM4000)</b>.
|
|
Three motor record fields are available to the user to send ASCII command
|
|
primitives to the servo control board at fixed, predefined, times. Each of
|
|
the following fields is defined as a character string:
|
|
<blockquote>
|
|
1. INIT - Sent at record initialization. <br>
|
|
2. PREM - Sent before every command string that causes motion. <br>
|
|
3. POST - Sent after a complete motion is finished <b>or when an
|
|
overtravel limit switch is detected</b>.
|
|
</blockquote>
|
|
No error checking is done by the motor record or the device driver to insure
|
|
that the command strings are valid. Command primitives that result in a
|
|
response from the motion control board are valid, but the response is not
|
|
processed. <h4><u>Servo related Fields</u></h4>
|
|
|
|
<ul>
|
|
<li>
|
|
The GAIN field "prompt" has been changed from "Response Gain" to "Combined Gain".
|
|
In addition, valid values for the GAIN field have been changed to [0.0, for
|
|
MM4000 - 0.00005, for OMS] <= GAIN <= 1. For more on PID, see "PID
|
|
Gain Parameters" below.
|
|
</li>
|
|
<li>
|
|
The <i>status enable </i>field (i.e., STEN) has been eliminated; the <i>control
|
|
enable </i>field (i.e., CNEN) is used to both control the torque enable and show
|
|
its' status.
|
|
</li>
|
|
|
|
</ul>
|
|
|
|
<h4><u>Unused Fields Removed</u></h4> The following unused motor record fields
|
|
were deleted: MODE, TRAK, MDEL, ADEL, CVEL, POSM, ALST, MLST <br>
|
|
<br>
|
|
|
|
<center>
|
|
<h4><u>New Features</u></h4>
|
|
</center>
|
|
|
|
<h4><u>Device Directives</u></h4> Device directive definition and processing:
|
|
<ul>
|
|
<li>
|
|
Valid only in the INIT field.
|
|
</li>
|
|
<li>
|
|
Must be identified by the following;
|
|
</li>
|
|
|
|
<blockquote>
|
|
<li>
|
|
First character of INIT string must be a '@'.
|
|
</li>
|
|
<li>
|
|
One or more characters followed by a terminating '@'; i.e., device directives
|
|
must have nonzero length.
|
|
</li>
|
|
<li>
|
|
A valid device directive; currently, only "DPM_ON".
|
|
</li>
|
|
</blockquote>
|
|
<li>
|
|
INIT strings are stripped of valid device directives (including @'s) and tested
|
|
for nonzero length before being sent to the controller. For example, given
|
|
the INIT string, "@DPM_ON@HE", the device directive @DPM_ON@ is stripped out
|
|
before HE is sent to the controller.
|
|
</li>
|
|
|
|
</ul>
|
|
|
|
<h4><u>Driver Power Monitoring</u></h4>
|
|
|
|
<ul>
|
|
<li>
|
|
This feature is only available with the OMS VME58 device support.
|
|
</li>
|
|
<li>
|
|
The 8 User I/O signals are assigned to the 8 possible VME58 axes as follows:
|
|
</li>
|
|
|
|
</ul>
|
|
|
|
<ul>
|
|
|
|
User I/O #0 <> X axis <br>
|
|
|
|
" " 1 <> Y " <br>
|
|
|
|
..................... <br>
|
|
|
|
" " 7 <> S "
|
|
<li>
|
|
Drive-power monitoring defaults to disabled at boot-up. Request enabling
|
|
drive-power monitoring by entering the device directive "@DPM_ON@" command into
|
|
the motor record initialization field (i.e., INIT). The INIT field is
|
|
processed at record initialization (i.e., bootup), hence if there are no errors,
|
|
drive-power monitoring will be enabled after the next bootup.
|
|
</li>
|
|
<li>
|
|
Whenever a request is made to enable drive-power status monitoring, an error
|
|
check is made (using the VME58 "RB" command) to verify that the User I/O has
|
|
been configured as an input. The following message will appear in the
|
|
error log if a configuration error is detected; "Invalid VME58 configuration; RB
|
|
= 0x####", where "####" is the VME58's response to the RB command.
|
|
</li>
|
|
<li>
|
|
When drive-power status monitoring is enabled and a power failure is detected,
|
|
the device driver will respond by activating the the RA_OVERTRAVEL bit in the
|
|
MSTA. This results in either HLS or LLS being activated depending on the
|
|
DIR field. In addition, the following message will appear in the error log; "Drive
|
|
power failure at VME58 card#?? motor#??".
|
|
</li>
|
|
|
|
</ul>
|
|
|
|
<h4><u>Soft Channel Device Support</u></h4> The immediate goals for soft channel
|
|
motor record device support were twofold. First, to solve the problem of
|
|
nonlinear position conversion in the data base, rather than in the record.
|
|
Second, to provide a more flexible motor record interface for Table Records and
|
|
SPEC.
|
|
<p>
|
|
New fields have been added to the motor record to support the Soft Channel
|
|
device driver. The new fields are all database links associated with
|
|
existing motor record fields. The new links and their associated fields
|
|
are listed in the table below: <br>
|
|
<br>
|
|
|
|
</p>
|
|
|
|
<center>
|
|
<table border="1" nosave="">
|
|
<tbody>
|
|
<tr align="center" nosave="">
|
|
<td nosave=""><u>Link</u></td>
|
|
<td><u>Link Type</u></td>
|
|
<td> <u>Associated Field</u></td>
|
|
</tr>
|
|
<tr>
|
|
<td>OUT*</td>
|
|
<td>DBOUTPUT</td>
|
|
<td>
|
|
<center>
|
|
DVAL
|
|
</center>
|
|
</td>
|
|
</tr>
|
|
<tr align="center" nosave="">
|
|
<td nosave="">STOO</td>
|
|
<td>DBOUTPUT</td>
|
|
<td align="center" nosave="">STOP</td>
|
|
</tr>
|
|
<tr align="center" nosave="">
|
|
<td nosave="">DINP</td>
|
|
<td>DBINPUT</td>
|
|
<td>DMOV</td>
|
|
</tr>
|
|
<tr>
|
|
<td>RDBL*</td>
|
|
<td>DBINPUT</td>
|
|
<td>
|
|
<center>
|
|
DRBV
|
|
</center>
|
|
</td>
|
|
</tr>
|
|
<tr>
|
|
<td>RINP</td>
|
|
<td>DBINPUT</td>
|
|
<td>
|
|
<center>
|
|
RMP
|
|
</center>
|
|
</td>
|
|
</tr>
|
|
|
|
</tbody>
|
|
</table>
|
|
</center>
|
|
|
|
<center>
|
|
<p>
|
|
* - Not a new field, but a new function provided only by soft channel device
|
|
support.
|
|
</p>
|
|
</center>
|
|
|
|
<p>
|
|
The Soft Channel database links are only processed when the Soft Channel device
|
|
driver is selected. These links are ignored when using any other Motor
|
|
Record device driver. At this time, the above links are <b>not</b>
|
|
dynamically retargetable.
|
|
</p>
|
|
|
|
<p>
|
|
The OUT, DINP and RDBL are monitored for value changes via a CA event task.
|
|
Users must choose either a dial input link (RDBL) or a raw input link (RINP),
|
|
but not both. <br>
|
|
<br>
|
|
|
|
</p>
|
|
|
|
<h4><u>Newport MM4000 Device Support</u></h4> This is <a href="http://cars1.uchicago.edu/software/dev_mm4000.html">Mark
|
|
Rivers MM4000</a> device support ported to the latest motor record release.
|
|
The following are the functional differences between Mark's version 1.01 and<br>
|
|
this release:
|
|
<blockquote>
|
|
<ol>
|
|
<li>
|
|
When either user or dial travel limit values are entered, a validity check is
|
|
made using the travel limit values from the MM4000 control. User and dial
|
|
travel limit values are valid if they are within the travel limits set on the
|
|
front panel of the MM4000 controller. Attempting to enter a travel limit
|
|
outside the MM4000 controller's range results in the travel limit being reset to
|
|
the MM4000's value.
|
|
</li>
|
|
<li>
|
|
Servo support has been extended to the MM4000 controller.
|
|
</li>
|
|
|
|
</ol>
|
|
</blockquote>
|
|
|
|
<h4><u>PID Gain Parameters</u></h4> With this release there are two ways to set
|
|
the motor controllers' PID parameters; either through the <i>Combined Gain </i>field
|
|
(i.e., GAIN) or through the individual PID gain parameter fields (i.e., PCOF,
|
|
ICOF, DCOF). Let the motor controller PID parameters be represented by CKP,
|
|
CKI and CKD; then the relationship between these two methods is as follows:
|
|
<blockquote>
|
|
<u>For the MM4000</u> <u>For all OMS
|
|
controllers</u>
|
|
</blockquote>
|
|
|
|
<ul>
|
|
<li>
|
|
CKP = GAIN
|
|
CKP = 1999.9 * GAIN
|
|
</li>
|
|
<li>
|
|
CKI = 2 * GAIN
|
|
CKI = 2 * 1999.9 * GAIN
|
|
</li>
|
|
<li>
|
|
CKD = 3 * GAIN
|
|
CKD = 3 * 1999.9 * GAIN
|
|
</li>
|
|
|
|
</ul>
|
|
Note that setting any of the individual PID record fields is <b>not</b>reflected
|
|
in the value of the GAIN field. <h4><u>Highland V544 Device Support</u></h4>
|
|
Device support for the Highland V544 is available with this release. This
|
|
version (i.e., version 1.3) is functionally the same as the earlier release (i.e.,
|
|
version 1.2). No new features have been added. <br>
|
|
|
|
<center>
|
|
<h1><u>Motor Record Version 3.4 Release Notice</u></h1>
|
|
</center>
|
|
This document describes changes made to the motor record and its' associated
|
|
device driver support between versions 3.3 and 3.4. Those changes are as
|
|
follows: <h3><u><font size="+0">Device driver design error fix</font></u></h3> A
|
|
design error was discovered in the OMS device drivers (drvOms and drvOms58).
|
|
The EPICS device driver support task (i.e., tmotor) would query the OMS motion
|
|
controller for status information immediately after a motion command.
|
|
Since the state of the controller board was in the midst of changing, this
|
|
sometimes resulted in inconsistent or conflicting status information being
|
|
returned to the motor record. This problem was remedied by enforcing a
|
|
minimum time delay (16.67 ms) between a motion command and a status query.
|
|
|
|
<p>
|
|
It is difficult to enumerate the symptoms associated with this problem.
|
|
Sometimes they exhibited themselves intermittently, other times bad data stayed
|
|
in the record. Several symptoms are as follows:
|
|
</p>
|
|
|
|
<blockquote>
|
|
<ul>
|
|
<li>
|
|
Erroneous motor stops being issued by the device support when changing motor
|
|
direction.
|
|
</li>
|
|
<li>
|
|
Backlash occurring when the motor is moving in the same direction as the sign of
|
|
BDST.
|
|
</li>
|
|
<li>
|
|
DVAL and RBV becoming out-of-synch. RBV would always be an old value from
|
|
the previous move.
|
|
</li>
|
|
|
|
</ul>
|
|
</blockquote>
|
|
|
|
<h3><u><font size="+0">PID Parameter Support for VME58</font></u></h3> The motor
|
|
record classifies a motor as a servo if it has two features; an adjustable
|
|
closed loop position response gain and the ability to enable/disable closed loop
|
|
position control (i.e., motor torque). A motor lacking either of the above
|
|
two features is classified as a stepper and is supported by the standard motor
|
|
record features. The following three motor record fields support servo
|
|
motors:
|
|
<p>
|
|
1. GAIN - Closed loop position response gain of the motor. <br>
|
|
2. CNEN - Enable/disable closed loop position control request. <br>
|
|
3. STEN - Closed loop position control status (i.e., <br>
|
|
enabled/disabled).
|
|
</p>
|
|
|
|
<p>
|
|
Currently, servo support is only available with OMS's VME58 device support (i.e.,
|
|
VME58-[4S/8S/2S2/2S6/4S4/6S2] model boards). At driver initialization, the
|
|
driver automatically detects whether or not the underlying device supports the
|
|
use of the GAIN field and thereby classifies the motor as a stepper or a servo.
|
|
Bit#11 of the MSTA field is set on/off based on the results of this test.
|
|
If the device supports the GAIN field, then bit#11 of the MSTA is set on and all
|
|
of the above servo fields are enabled. Otherwise, they are disabled
|
|
and bit#11 of the MSTA is set off. When the servo fields are disabled,
|
|
they can still be read or written to without an error response.
|
|
</p>
|
|
|
|
<p>
|
|
The VME58 device support allows the closed loop position gain of the motor to be
|
|
set directly through the GAIN field. For the VME58, setting the GAIN field
|
|
value results in the Combined Coefficient command (i.e., KK#) being executed
|
|
with the GAIN field value as the argument to the command. This command, in
|
|
turn, sets the PID loop parameter values (with the OMS VME58, gain changes do
|
|
not take effect until the command velocity is zero).
|
|
</p>
|
|
|
|
<p>
|
|
The user can request that the closed loop position control be enabled or
|
|
disabled by setting the CNEN field nonzero or zero, respectively. <br>
|
|
Likewise, the user can monitor the state of closed loop position control (i.e.,
|
|
enabled/disabled) by reading the STEN field. See the OMS "VME58 Family
|
|
User's Manual" for further details.
|
|
</p>
|
|
|
|
<h3><u><font size="+0">Command primitives feature</font></u></h3> Three motor
|
|
record fields are available to the user that can be used to send ASCII command
|
|
primitives to the servo control board at fixed, predefined, times. Each
|
|
field is defined as a character string.
|
|
|
|
<p>
|
|
1. INIT - Sent at record initialization. <br>
|
|
2. PREM - Sent before every command string that causes motion. <br>
|
|
3. POST - Sent after a complete motion is finished.
|
|
</p>
|
|
|
|
<p>
|
|
No error checking is done by the motor record or the device driver to insure
|
|
that the command strings are valid. Command primitives that result in a
|
|
response from the motion control board are valid, but the response is not
|
|
processed. <br>
|
|
<br>
|
|
|
|
</p>
|
|
<br>
|
|
<br>
|
|
<br>
|
|
<br>
|
|
<br>
|
|
<br>
|
|
<br>
|
|
</body>
|
|
</html>
|