R7-3-1

R7-3-1 is a release based on the master branch.

Changes since R7-3

Modifications to existing features

• Commit 5eb994d from Mark Rivers: Added readController() functions to asynMotorController

Driver submodules (and noteworthy changes)

Module	Release	Changes
motorAcsMotion	R2-2	Improved homing and workaround for vxWorks build error

R7-3

R7-3 is a release based on the master branch.

Changes since R7-2-2

New features

• Commit c764bd6: Added motorAcsMotion as a submodule
• Pull request #160 from Torsten Bögershausen: Added the Restore Mode (RSTM) field
• Pull request #163: Autosave the RSTM field and allow it to be specified when motor databases are loaded
• Pull request #197: Added model-2-specific databases to work around MOTOR_REC_{OFFSET,RESOLUTION,DIRECTION} errors at iocInit
• Pull request #193 from Jack Harper: Added raw limit (RHLM, RLLM) fields
• Pull request #202 and #204: Added prop(YES) to fields in motorRecord.dbd that should generate DBE_PROPERTY callbacks
• Pull request #122 from Torsten Bögershausen: Addded Acceleration (ACCS) and Acceleration Used (ACCU) fields
• Pull request #203: Changed the Acceleration Used (ACCU) field from a readback to a control

Modifications to existing features

• Pull request #180 from Torsten Bögershausen: Reset UEIP to 'No' if no encoder is present
• Pull request #193 from Jack Harper: Soft limits are synced on MRES changes

Bug fixes

• Pull request #176 from Torsten Bögershausen: Added shareLib.h to motordrvCom.h for compatibility with base 7.0.4
• Pull request #182 from Freddie Akeroyd: Bug fix for negative backlash distance when relative moves are used
• Pull request #167 from Torsten Bögershausen: devMotorAsyn: remove initEvent in init_record()
• Commit c3d6c6e from Mark Rivers: Fixes for DTYP and EGU not displaying correctly in Phoebus
• Pull request #206 from Torsten Bögershausen: Bug fix for RHLM, RLLM when MRES is negative
• Pull request #186 from justincslac: Bug fix for .gitignore that caused the Db dir to be ignored on case-insensitive file systems
• Commit 96509ca from Keenan Lang: Added basic_asyn_motor_settings.req which allows autosaveBuild to work with basic_asyn_motor.db

Documentation

• Commit 382c832 from Mark Rivers: Added "Model 3 EPICS Motor Driver Support" slides
• Pull request #190 from Xiaoqiang Wang: Corrected field types in motorRecord.html

Continuous Integration

• Configured to build with GitHub Actions using ci-scripts v3.0.1

Driver submodules (and noteworthy changes)

All driver modules now use Github Actions for CI builds.

Module	Release	Changes
motorAcs	R1-1-1
motorAcsMotion	R2-1	Added as a motor submodule
motorAcsTech80	R1-0-2
motorAerotech	R1-1-1	Ensemble driver and doCommand.ab bug fixes
motorAMCI	R1-0-2	Replaced printf calls with asynPrint calls in ANG1Driver.cpp
motorAttocube	R1-0-2
motorDeltaTau	R1-0-2
motorFaulhaber	R1-0-2
motorHytec	R1-0-3
motorIms	R1-0-2
motorKohzu	R1-0-2
motorMclennan	R1-1-1
motorMicos	R2-1	Added support for the SMC Taurus
motorMicroMo	R1-0-2
motorMicronix	R1-1
motorMotorSim	R1-2	Added motorSim8x.iocsh. Multiple improvements to example IOC.
motorMXmotor	R1-0-2
motorNewFocus	R1-2-1	Improved example newfocus8742 configuration. iocsh files now installed.
motorNewport	R1-2-1	Added support for the FCL200. ESP300 driver now supports UEIP=Yes. iocsh files now installed.
motorNPoint	R1-1
motorOms	R1-2	Enabled non-VxWorks IOCs & epicsMutexTryLock bug fix
motorOmsAsyn	R1-0-3	Type fixes
motorOriel	R1-0-2
motorParker	R1-1-1
motorPhytron	R1-2	Added encoder options. Bug fixes for deceleration and homing to limts.
motorPI	R1-1-1	Added E-816 example configuration. iocsh files now installed.
motorPIGCS2	R1-2	Added support for E-518 & E-873.3QTU controllers. Added closed loop commands for the E-727. Bug fixes.
motorPiJena	R1-0-2
motorScriptMotor	R1-2	Added Attocube AMC support
motorSmarAct	R2-0	Too many new features to list here; see motorSmarAct release notes
motorSmartMotor	R1-0-2
motorThorLabs	R1-0-2	Added support for Kinesis KDC101 and KST101

R7-2-2

R7-2-2 is a release based on the R7-2-1-bugfix branch.

Changes since R7-2-1

Bug fixes

• Added shareLib.h to asynMotorController.h and asynMotorAxis.h to allow building against asyn R4-41

Driver submodules (and noteworthy changes)

Module	Release	Changes
motorNewport	070c93e	Added epicsExport.h to testSFTPUpload.cpp
motorOms	5219f8c	Fixed epicsMutexTryLock problem described here

R7-2-1

R7-2-1 is a release based on the master branch.

Changes since R7-2

Bug fixes

• Motor drivers have been updated to resolve build problems for Windows and VxWorks

Driver submodules (and noteworthy changes)

Module	Release	Changes
motorAcs	R1-1
motorAcsTech80	R1-0-1
motorAerotech	R1-1
motorAMCI	R1-0-1
motorAttocube	R1-0-1
motorDeltaTau	R1-0-1
motorFaulhaber	R1-0-1
motorHytec	R1-0-2	Only build the example IOC on Linux and VxWorks
motorIms	R1-0-1
motorKohzu	R1-0-1
motorMclennan	R1-1
motorMicos	R2-0
motorMicroMo	R1-0-1
motorMicronix	R1-0-1
motorMotorSim	R1-1
motorMXmotor	R1-0-1
motorNewFocus	R1-1-1
motorNewport	R1-1
motorNPoint	R1-0-1
motorOms	R1-1
motorOmsAsyn	R1-0-2	Exclude MAXv support when building example IOC on Windows
motorOriel	R1-0-1
motorParker	R1-1
motorPhytron	R1-1
motorPI	R1-0-1
motorPIGCS2	R1-1
motorPiJena	R1-0-1
motorScriptMotor	R1-1
motorSmarAct	R1-2-1	Include a local definition of rint on fewer platforms
motorSmartMotor	R1-0-1
motorThorLabs	R1-0-1

R7-2

R7-2 is a release based on the master branch.

Changes since R7-1

Modifications to existing features

• CONFIG_SITE now includes $(SUPPORT)/configure/CONFIG_SITE, which overrides CONFIG_SITE.local
• modules/RELEASE.$(EPICS_HOST_ARCH).local is now rebuilt every time the build get into the modules directory
• User displays have been autoconverted

Bug fixes

• asynMotorAxis parameters (motorPowerAutoOnOff_, motorPowerOffDelay_, motorPowerOnDelay_) are now initialized to avoid errors
• The layout of motorxU.adl has been improved

Driver submodules (and noteworthy changes)

Module	Release	Changes
motorAcs	R1-1	iocsh files are now installed at build time
motorAcsTech80	R1-0-1
motorAerotech	R1-1	motorAxisHomed bit is now set in the Ensemble poller
motorAMCI	R1-0-1
motorAttocube	R1-0-1
motorDeltaTau	R1-0-1
motorFaulhaber	R1-0-1
motorHytec	R1-0-1
motorIms	R1-0-1
motorKohzu	R1-0-1
motorMclennan	R1-1	iocsh files are now installed at build time
motorMicos	R2-0	Added support for the SMC Corvus Eco
motorMicroMo	R1-0-1
motorMicronix	R1-0-1
motorMotorSim	R1-1	iocsh files are now installed at build time
motorMXmotor	R1-0-1
motorNewFocus	R1-1-1
motorNewport	R1-1	Added support for the XPS-D
motorNPoint	R1-0-1
motorOms	R1-1	User displays can now be autoconverted at build time
motorOmsAsyn	R1-0-1
motorOriel	R1-0-1
motorParker	R1-1	User displays can now be autoconverted at build time
motorPhytron	R1-1	Error messages are now only printed on status changes
motorPI	R1-0-1
motorPIGCS2	R1-1	Added support for the E-754 and C-885 controllers
motorPiJena	R1-0-1
motorScriptMotor	R1-1	User displays can now be autoconverted at build time
motorSmarAct	R1-2	Added support for the SCU controllers
motorSmartMotor	R1-0-1
motorThorLabs	R1-0-1

R7-1

R7-1 is a release based on the master branch.

Changes since R7-0

Bug fixes

• Req files are now installed to motor's top-level db directory when building against EPICS base 3.14
• RELEASE now allows RELEASE.local files to override settings

Driver submodules (and noteworthy changes)

Module	Release	Changes
motorAcs	R1-0
motorAcsTech80	R1-0
motorAerotech	R1-0-1	Improvements to EnsembleTrajectoryScan
motorAMCI	R1-0
motorAttocube	R1-0
motorDeltaTau	R1-0
motorFaulhaber	R1-0
motorHytec	R1-0
motorIms	R1-0
motorKohzu	R1-0
motorMclennan	R1-0
motorMicos	R1-1	Improvements to SMC Hydra driver
motorMicroMo	R1-0
motorMicronix	R1-0
motorMotorSim	R1-0
motorMXmotor	R1-0
motorNewFocus	R1-1	Improvements to 874xMotorDriver
motorNewport	R1-0-1	Corrected typo that prevented template installation
motorNPoint	R1-0
motorOms	R1-0
motorOmsAsyn	R1-0
motorOriel	R1-0
motorParker	R1-0
motorPhytron	R1-0
motorPI	R1-0
motorPIGCS2	R1-0
motorPiJena	R1-0
motorScriptMotor	R1-0
motorSmarAct	R1-1	Added support for MCS2 controller
motorSmartMotor	R1-0
motorThorLabs	R1-0

R7-0

R7-0 is a release based on the master branch.

Changes since R6-11

Stand-alone repositories have been created for most of the support that previously resided in motorApp. These new respositories can be found in epics-motor. The core motor functionality remains in this module.

The new driver repositories have been added to motor as submodules, which reside in the modules subdirectory. When the driver modules are built as submodules, their build products are installed into motor's top-level directories: db, dbd, lib. The locations of vendor-specific files that aren't installed (iocsh scripts, user displays) will differ from previous versions of motor. These files will remain in the vendor's submodule.

The new driver modules can be built outside of the motor module, which results in the installation of the build products into the top-level directory of the driver module.

The recommended EPICS base version is 3.15.6 or later. Submodules that install template files will fail to build against EPICS base 3.14.

Bug fixes

• Multiple fixes for motor displays

Driver submodules (and noteworthy changes)

Module	Release	Changes
motorAcs	R1-0
motorAcsTech80	R1-0
motorAerotech	R1-0
motorAMCI	R1-0
motorAttocube	R1-0
motorDeltaTau	R1-0
motorFaulhaber	R1-0
motorHytec	R1-0
motorIms	R1-0
motorKohzu	R1-0
motorMclennan	R1-0
motorMicos	R1-0
motorMicroMo	R1-0
motorMicronix	R1-0
motorMotorSim	R1-0
motorMXmotor	R1-0
motorNewFocus	R1-0
motorNewport	R1-0	HXP driver updated
motorNPoint	R1-0
motorOms	R1-0
motorOmsAsyn	R1-0
motorOriel	R1-0
motorParker	R1-0
motorPhytron	R1-0	phytron.dbd renamed
motorPI	R1-0
motorPIGCS2	R1-0
motorPiJena	R1-0
motorScriptMotor	R1-0
motorSmarAct	R1-0
motorSmartMotor	R1-0
motorThorLabs	R1-0

R6-11

R6-11 is a release based on the master branch.

Changes since R6-10-1

Modifications to existing features

Pull request #109 motorRecord: Don't stop motor if driver sets RA_PROBLEM true
Pull request #108 motorRecord: Set LVIO=1 if DLLM > DHLM
Pull request #36 motorRecord: Update status of limit switches regardless of movement direction
Pull request #99 motorRecord: Reset the JOGF/JOGR fields when a limit violation occurs
Pull request #56 motorRecord: Recognize stopped motor while jogging
Pull request #84 motorRecord: Keep the sign information of the components of the encoder ratio (MRES and ERES). Drivers made consistent in pull request #98
Pull request #93 OmsAsyn: Synchronize motor position with encoder position before every move
Pull request #103 Aerotech Ensemble: If disabling torque due to a fault, clear motorAxisProblem so that user can jog off limit switch
Commit 74a8ced Aerotech Ensemble: update CountsPerUnit every time torque is enabled to reduce the need for a reboot after parameter file change
Commit c0c5b5b Multiple changes to Aerotech A3200 driver:

1. restored "task number" argument
2. don't check limit switches of virtual axes
3. added single/multi axis move argument

New features

Pull request #114 motorRecord: Added Set Point Deadband field (SPDB) enabling deadbands greater than the MRES
Pull request #95 Added support for AMCI ANF-series controllers (depends on the modbus module: https://github.com/epics-modules/modbus, R2-11 or later)
Pull request #79 Added support for Scriptable Motor Controller (depends on the lua module: https://github.com/epics-modules/lua)

Bug fixes

Pull request #105 Fix for segfault when XPSConfigAxis isn't called before using a motor
Commit df11f3e Corrected a typo in motorSim.iocsh that prevented any motion by setting the DLLM and DHLM to the same value

Documentation updates

Pull request #101, commit 58976fa Made motor documentation compatible with github pages

R6-10-1

R6-10-1 is a bugfix release based on the R6-10-bugfix branch.

Changes since R6-10

The following commits to the master branch have been cherry-picked for this release.

Bug fixes

pull request #60 motor record DLY and STOP fix
pull request #83 asynMotor autoPower fix
pull request #94 Micronix MMC-x00 I/O flush
commit 7493d50 Don't start a new move if URIP=Yes & RDBL link error

Code fixes

commit 4938a51 Fixed casts
commit 23b8c5f Fix for URLS in travis script
commit 75162d1 Fix for example substitutions file
commit 6998c37 Fix typos
commit c1c4407 Corrected EPICS version test
commit 60aa414 Added header files for EPICS 7.0 compatiblity
commit 8409249 Added header files for EPICS 7.0 compatiblity

Documentation updates

commit 6529abb Added R6-10-1 links
commit acf0d00 Added home-search documentation to Aerotech README
commit 4bbba98 Minor improvements to documentation
commit 2cfd494 Added R6-10 documentation

Note: The number of commits to master since this release is not meaningful and should be ignored.

R6-10

Release 6-10